Cable plug-in mounting method and device of server, electronic equipment and storage medium

Abstract

The invention relates to the technical field of program control, in particular to a cable insertion method and device for a server, electronic equipment and a storage medium, and the method comprises the steps: obtaining at least one cable parameter of at least one cable to be inserted into the server; judging whether the at least one cable meets a preset cable grabbing condition or not according to the at least one cable parameter; if the at least one cable meets the preset cable grabbing condition, corresponding inserting actions of at least one cable inserting robot are generated based on the at least one cable parameter, and the inserting actions comprise the inserting moment, the inserting track and the inserting posture; and controlling the at least one cable robot to insert the at least one cable into the server according to the insertion posture and the insertion track at the insertion moment. Therefore, the technical problems that in the related technology, insertion of only one structure can be achieved through machine operation at a time, efficiency is low, and the insertion action is affected due to the fact that action conflicts are prone to being generated when multiple machines are operated at the same time are solved.

Description

Technical Field

[0001] This application relates to the technical field of program control, and particularly to a method, device, electronic device and storage medium for cable insertion and installation of a server. Background Art

[0002] The structure of a large server is complex, with many interfaces, and due to different functions, there are a wide variety of cable types involved, making the cable insertion and installation of the server an inefficient and cumbersome task.

[0003] In related technologies, the efficiency and accuracy of manual cable sorting and matching are both relatively low, and in the wiring step, due to repetitive labor, situations such as installation misalignment or incomplete installation are likely to occur, resulting in significant quality problems after the server is put into use, thereby affecting the actual working efficiency of the server; using machines for sorting and wiring, although it saves labor costs and reduces error rates, it can only achieve the insertion and installation of one interface at a time, with low efficiency, and simultaneous insertion and installation by multiple machines are prone to action conflicts, affecting the actual insertion and installation actions and insertion and installation efficiency.

[0004] Therefore, how to improve the operating efficiency of machines while avoiding action interference during insertion and installation is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] This application provides a method, device, electronic device and storage medium for cable insertion and installation of a server to solve the technical problems in related technologies that machines can only achieve the insertion and installation of one structure at a time, with low efficiency, and simultaneous operation of multiple machines is prone to action conflicts, thus affecting the insertion and installation actions.

[0006] The first aspect of the embodiments of this application provides a method for cable insertion and installation of a server, including the following steps: obtaining at least one cable parameter of at least one cable to be inserted into the server; judging whether the at least one cable meets a preset cable grasping condition according to the at least one cable parameter; and if the at least one cable meets the preset cable grasping condition, generating corresponding insertion actions of at least one cable insertion robot based on the at least one cable parameter, where the insertion actions include insertion time, insertion trajectory and insertion posture, and controlling the at least one cable robot to insert the at least one cable into the server at the insertion time according to the insertion posture and the insertion trajectory.

[0007] According to the above technical means, the embodiment of the present application can first perform grasping determination on the cables. Thus, when at least one cable meets the preset cable grasping condition, insertion actions of at least one cable insertion robot are generated by using cable parameters. In combination with the insertion actions, at least one cable robot is controlled to complete the cable insertion of the server at the insertion moment according to the insertion posture and insertion trajectory. The automatic insertion of the server cables can be realized by using the cable insertion robot, with low labor cost and high accuracy rate. The production quality of the server can be effectively guaranteed, and through the collaborative operation of multiple cable insertion robots, the insertion efficiency can be ensured while the quality is guaranteed.

[0008] Optionally, in an embodiment of the present application, it further includes: if the at least one cable does not meet the preset cable grasping condition, determining the insertion scenario of each cable based on the at least one cable parameter; when the insertion scenario is a preset single-cable multi-insertion scenario, generating a cable error signal to give a cable insertion pause reminder; when the insertion scenario is a preset multi-cable multi-insertion scenario, generating a corresponding cable error reminder based on the cables that do not meet the preset cable grasping condition, and generating the insertion actions based on at least one cable parameter of the cables that meet the preset cable grasping condition.

[0009] According to the above technical means, when the grasping determination of the cable fails in the embodiment of the present application, the corresponding countermeasures can be determined in combination with the insertion scenario. In the preset single-cable multi-insertion scenario, the insertion can be stopped and a cable insertion pause reminder can be given to facilitate timely replacement of the cable. In the preset multi-cable multi-insertion scenario, only the cable insertion robot corresponding to the cable that fails the grasping determination can be stopped, and the other cable insertion robots can be maintained to continue working to ensure the efficiency.

[0010] Optionally, in an embodiment of the present application, the at least one cable parameter includes the cable type and cable length of the at least one cable. Among them, the judgment of whether the at least one cable meets the preset cable grasping condition according to the at least one cable parameter includes: detecting whether the cable type matches the insertion type of the server, and / or detecting whether the cable length is greater than the insertion value determined by the target axis width of the cable insertion robot.

[0011] According to the above technical means, the embodiment of the present application can perform grasping determination according to the cable type and cable length to ensure the correctness of cable matching and the graspability of the cable.

[0012] Optionally, in an embodiment of the present application, generating the insertion actions of at least one cable insertion robot corresponding to the at least one cable parameter includes: determining the insertion posture based on the cable parameter, the claw length of the cable insertion robot, and the target insertion position of the server; determining the insertion moment based on the insertion posture, the cable length, and the target insertion position; generating the insertion trajectory based on the target insertion position, the current grasping posture of the cable insertion robot, and the current port posture of each cable.

[0013] According to the above technical means, the embodiments of the present application can perform insertion postures, insertion moments, and insertion trajectories according to cable parameters, so as to perform targeted insertion action planning for different cable types, cable lengths, and other parameters to ensure effective insertion.

[0014] Optionally, in an embodiment of the present application, determining the insertion moment based on the insertion posture, the cable length, and the target insertion position includes: determining whether the cable length is greater than a length threshold obtained from the distance corresponding to the target inclination angle of the cable insertion robot; if the cable length is less than or equal to the length threshold, and there is at least one cable insertion robot whose insertion posture includes an inclined posture, calculating the target inclination angle of the cable insertion robot, and determining the grasping moment in the insertion moment based on the target inclination angle; calculating the corresponding plug distance based on the target insertion position; determining whether the plug distance is greater than the length threshold; if the plug distance is less than or equal to the length threshold, determining the installation moment in the insertion moment based on the plug angle obtained from the target insertion position.

[0015] According to the above technical means, the embodiments of the present application can use the insertion posture, the cable length, and the target installation position to determine the grasping moment and the installation moment of the cable insertion robot, so as to avoid the situation where the cable cannot be grasped due to the too short cable length and the situation where the cable insertion robots interfere with each other and cannot complete the installation due to the too small plug distance or the angle between the plugs when the number of cable insertion robots is plural.

[0016] Optionally, in an embodiment of the present application, before determining whether the at least one cable meets the preset cable grasping condition according to the at least one cable parameter, the method further includes: judging whether each cable insertion robot meets the preset working condition based on the working parameters of the cable insertion robot; if each cable insertion robot meets the preset working condition, calculating the interference distance of each cable insertion robot based on the working parameters, and judging whether the preset interference condition is met between any two cable insertion robots based on the interference distance; if the preset interference condition is not met between any two cable insertion robots, judging whether the at least one cable meets the preset cable grasping condition.

[0017] According to the above technical means, the embodiment of the present application can determine whether each cable insertion robot can normally participate in the insertion work before judging the grasping of the cable.

[0018] Optionally, in an embodiment of the present application, after judging whether the preset interference condition is met between any two cable insertion robots, the method further includes: if the preset interference condition is met between any two cable insertion robots, adjusting the positions of the cable insertion robots based on the interference distance until the preset interference condition is not met between any two cable insertion robots.

[0019] According to the above technical means, when it is determined that each cable insertion robot cannot normally participate in the insertion work, the embodiment of the present application can adjust the positions of each cable insertion robot to ensure the normal work of each cable insertion robot.

[0020] An embodiment of the second aspect of the present application provides a cable insertion device for a server, including: an acquisition module, configured to acquire at least one cable parameter of at least one cable to be inserted into the server; a first judgment module, configured to judge whether the at least one cable meets a preset cable grasping condition according to the at least one cable parameter; and an insertion module, configured to generate corresponding insertion actions of at least one cable insertion robot based on the at least one cable parameter when the at least one cable meets the preset cable grasping condition, where the insertion actions include insertion time, insertion trajectory, and insertion posture, and control the at least one cable robot to insert the at least one cable into the server at the insertion time according to the insertion posture and the insertion trajectory.

[0021] According to the above technical means, the embodiment of the present application can first perform a grasping determination on the cable, so that when at least one cable meets the preset cable grasping condition, the cable parameters are used to generate corresponding insertion actions for at least one cable insertion robot, and in combination with the insertion actions, at least one cable robot is controlled to complete the cable insertion of the server according to the insertion posture and insertion trajectory at the insertion moment. The automatic insertion of the server cable can be realized by using the cable insertion robot, with low labor cost and high accuracy rate, which can effectively guarantee the production quality of the server, and through the collaborative operation of multiple cable insertion robots, the insertion efficiency can be ensured while guaranteeing the quality.

[0022] Optionally, in an embodiment of the present application, it further includes: a determination module, configured to determine the insertion scenario of each cable based on the at least one cable parameter when the at least one cable does not meet the preset cable grasping condition; a first reminder module, configured to generate a cable error signal to perform a cable insertion pause reminder when the insertion scenario is a preset single-cable multi-insertion scenario; a second reminder module, configured to generate a corresponding cable error reminder based on the cable that does not meet the preset cable grasping condition and generate the insertion action based on at least one cable parameter of the cable that meets the preset cable grasping condition when the insertion scenario is a preset multi-cable multi-insertion scenario.

[0023] According to the above technical means, when the grasping determination of the cable fails in the embodiment of the present application, the corresponding countermeasures can be determined in combination with the insertion scenario. In the preset single-cable multi-insertion scenario, the insertion can be stopped and a cable insertion pause reminder can be given to facilitate timely cable replacement. In the preset multi-cable multi-insertion scenario, only the cable insertion robot corresponding to the cable that fails the grasping determination can be stopped, and other cable insertion robots can be maintained to continue working to ensure efficiency.

[0024] Optionally, in an embodiment of the present application, the at least one cable parameter includes the cable type and cable length of the at least one cable, wherein the first judgment module includes: a first detection unit, configured to detect whether the cable type matches the insertion type of the server, and / or a second detection unit, configured to detect whether the cable length is greater than the insertion value determined by the target axis width of the cable insertion robot.

[0025] According to the above technical means, the embodiment of the present application can perform a grasping determination according to the cable type and cable length to ensure the correctness of cable matching and the insertability of the cable.

[0026] Optionally, in an embodiment of the present application, the insertion module includes: a first determination unit configured to determine the insertion posture based on the cable parameters, the claw length of the cable insertion robot, and the target insertion position of the server; a second determination unit configured to determine the insertion moment based on the insertion posture, the cable length, and the target insertion position; and a generation unit configured to generate the insertion trajectory based on the target insertion position, the current grasping posture of the cable insertion robot, and the current port postures of each cable.

[0027] According to the above technical means, the embodiments of the present application can perform insertion postures, insertion moments, and insertion trajectories according to cable parameters, so as to perform targeted insertion action planning for different cable types, cable lengths, and other parameters to ensure effective insertion.

[0028] Optionally, in an embodiment of the present application, the second determination unit includes: a first judgment subunit configured to judge whether the cable length is greater than a length threshold obtained from the distance corresponding to the target inclination angle of the cable insertion robot; a first determination subunit configured to calculate the target inclination angle of the cable insertion robot and determine the grasping moment in the insertion moment based on the target inclination angle when the cable length is less than or equal to the length threshold and at least one of the insertion postures of the cable insertion robots includes an inclined posture; a calculation subunit configured to calculate the corresponding plug distance based on the target insertion position; a second judgment subunit configured to judge whether the plug distance is greater than the length threshold; and a second determination subunit configured to determine the installation moment in the insertion moment based on the plug angle obtained from the target insertion position when the plug distance is less than or equal to the length threshold.

[0029] According to the above technical means, the embodiments of the present application can use the insertion posture, the cable length, and the target installation position to determine the grasping moment and the installation moment of the cable insertion robot, so as to avoid the situation where the cable cannot be grasped due to the too short cable length and the situation where the cable insertion robots interfere with each other and cannot complete the installation due to the too small plug distance or the angle between the plugs when the number of cable insertion robots is plural.

[0030] Optionally, in an embodiment of the present application, it further includes: a second determination module, configured to determine whether each cable insertion robot meets a preset working condition based on the working parameters of the cable insertion robot; a third determination module, configured to calculate an interference distance of each cable insertion robot based on the working parameters and determine whether a preset interference condition is met between any two cable insertion robots when each cable insertion robot meets the preset working condition; a fourth determination module, configured to determine whether the at least one cable meets a preset cable grasping condition when the preset interference condition is not met between any two cable insertion robots.

[0031] According to the above technical means, the embodiment of the present application can determine whether each cable insertion robot can normally participate in the insertion work before determining the grasping of the cable.

[0032] Optionally, in an embodiment of the present application, it further includes: an adjustment module, configured to adjust the position of the cable insertion robot based on the interference distance until the preset interference condition is not met between any two cable insertion robots when the preset interference condition is met between any two cable insertion robots.

[0033] According to the above technical means, the embodiment of the present application can adjust the position of each cable insertion robot when it is determined that each cable insertion robot cannot normally participate in the insertion work to ensure the normal operation of each cable insertion robot.

[0034] An embodiment of the third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the cable insertion method of the server as described in the above embodiment.

[0035] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the cable insertion method of the server as described in the above embodiment.

[0036] An embodiment of the fifth aspect of the present application provides a computer program product, including a computer program, and when the computer program is executed, it is used to implement the cable insertion method of the server as described above.

[0037] Embodiments of the present application can perform grasping determination of cables based on at least one cable parameter of at least one cable to be inserted into a server. Thus, when at least one cable meets the preset cable grasping condition, insertion actions of at least one cable insertion robot are generated using the cable parameters. The insertion actions include insertion time, insertion trajectory, and insertion posture. At least one cable robot is controlled to complete the cable insertion of the server at the insertion time according to the insertion posture and insertion trajectory, so as to realize the automatic insertion of the server cables by using the cable insertion robot, with low labor cost and high accuracy rate, which can effectively guarantee the production quality of the server, and can also ensure the insertion efficiency while guaranteeing the quality through the collaborative operation of multiple cable insertion robots. Thereby, the technical problems in the related art that a machine operation can only realize the insertion of one structure at a time with low efficiency, and the simultaneous operation of multiple machines is prone to action conflicts, thus affecting the insertion action, are solved.

[0038] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0040] Figure 1 is a flowchart of a method for inserting cables into a server according to an embodiment of the present application;

[0041] Figure 2 is a schematic diagram of the overall structure of a cable insertion robot according to an embodiment of the present application;

[0042] Figure 3 is a schematic diagram of the structure of a mounting base according to an embodiment of the present application;

[0043] Figure 4 is a schematic diagram of the installation of a cable insertion robot according to an embodiment of the present application;

[0044] Figure 5 is a schematic diagram of the jaw structure of a cable insertion robot according to an embodiment of the present application;

[0045] Figure 6 is a schematic diagram of coordinate system establishment of a right-side cable insertion robot according to an embodiment of the present application;

[0046] Figure 7 is a schematic diagram of coordinate system establishment of a left-side cable insertion robot according to an embodiment of the present application;

[0047] Figure 8Schematic diagram of the principle of the cable insertion method for a server provided according to an embodiment of the present application;

[0048] Figure 9 Schematic diagram of the principle of calculating the tilt angle of a cable insertion robot provided according to an embodiment of the present application;

[0049] Figure 10 Schematic diagram of the principle of calculating the collaborative working distance of a cable insertion robot provided according to an embodiment of the present application;

[0050] Figure 11 Schematic diagram of the principle of logical judgment for a cable insertion robot to grasp a cable provided according to an embodiment of the present application;

[0051] Figure 12 Schematic diagram of a cable insertion robot grasping a cable provided according to an embodiment of the present application;

[0052] Figure 13 Schematic diagram of the principle of logical judgment for a cable insertion robot to insert a cable provided according to an embodiment of the present application;

[0053] Figure 14 Schematic diagram of a cable insertion robot inserting a cable provided according to an embodiment of the present application;

[0054] Figure 15 Schematic diagram of the structure of a cable insertion device for a server provided according to an embodiment of the present application;

[0055] Figure 16 Schematic diagram of the structure of an electronic device provided according to an embodiment of the present application.

[0056] Among them, 10 - cable insertion device of the server, 100 - acquisition module, 200 - first judgment module, 300 - insertion module; 1601 - memory, 1602 - processor, 1603 - communication interface. Detailed implementation manners

[0057] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0058] The following describes a method, apparatus, electronic device, and storage medium for cable insertion of a server according to an embodiment of the present application. In view of the technical problems in the related art mentioned in the above background art, where machine operation can only achieve the insertion of one structure at a time, with low efficiency, and multiple machines operating simultaneously are prone to action conflicts, thus affecting the insertion action, the present application provides a method for cable insertion of a server. In this method, it is possible to determine the grasping of cables based on at least one cable parameter of at least one cable to be inserted into the server. Thus, when at least one cable meets the preset cable grasping condition, corresponding insertion actions of at least one cable insertion robot are generated using the cable parameters. Among them, the insertion actions include insertion time, insertion trajectory, and insertion posture. Control at least one cable robot to complete the cable insertion of the server at the insertion time according to the insertion posture and insertion trajectory, so as to realize the automatic insertion of server cables using cable insertion robots, with low labor costs and high accuracy, which can effectively guarantee the production quality of the server, and through the collaborative operation of multiple cable insertion robots, the insertion efficiency can be ensured while guaranteeing the quality. Thus, the technical problems in the related art, where machine operation can only achieve the insertion of one structure at a time, with low efficiency, and multiple machines operating simultaneously are prone to action conflicts, thus affecting the insertion action, are solved.

[0059] Specifically, Figure 1 is a schematic flowchart of a method for cable insertion of a server provided by an embodiment of the present application.

[0060] As Figure 1 shown, the method for cable insertion of the server includes the following steps:

[0061] In step S101, at least one cable parameter of at least one cable to be inserted into the server is obtained.

[0062] In the actual execution process, the embodiment of the present application can first confirm the server that needs cable insertion. After confirming the server, use the pre-constructed host computer program to obtain at least one cable parameter of each cable in the MES (Manufacturing Execution System, information management) system. Among them, the cable parameters can include the type of cable, the length of the cable, the identification of the cable, the material of the cable, the port number, etc., so as to perform insertion matching, generate the actual insertion actions of the cable insertion robot, and determine the grasping force and grasping angle of the cable insertion robot in the subsequent process.

[0063] In step S102, it is determined whether at least one cable meets the preset cable grasping condition according to at least one cable parameter.

[0064] Further, the embodiments of the present application can determine whether a cable meets certain grasping conditions according to the obtained cable parameters. When the grasping conditions are met, the cable insertion robot is allowed to grasp the cable. When the grasping conditions are not met, corresponding reminders are given. When the grasping conditions are met, the cable is grasped, and then it is determined whether the cable meets certain installation conditions. When the installation conditions are met, the cable insertion robot is allowed to insert the cable. When the installation conditions are not met, corresponding reminders are given.

[0065] Among them, the grasping conditions may include determining whether the current cable interface matches the server, whether the current cable length allows the cable insertion robot to complete the grasping action, whether the current cable is damaged, whether the standard transmission speed of the current cable meets the server requirements, etc. Specifically, those skilled in the art can make corresponding settings according to the actual situation, and no specific limitation is made here.

[0066] Optionally, in an embodiment of the present application, before determining whether at least one cable meets the preset cable grasping conditions according to at least one cable parameter, it further includes: based on the working parameters of the cable insertion robot, determining whether each cable insertion robot meets the preset working conditions; if each cable insertion robot meets the preset working conditions, calculating the interference distance of each cable insertion robot based on the working parameters, and determining whether the preset interference conditions are met between any two cable insertion robots based on the interference distance; if the preset interference conditions are not met between any two cable insertion robots, determining whether at least one cable meets the preset cable grasping conditions.

[0067] Before making the grasping determination, the embodiments of the present application can determine whether the cable insertion robot can work normally to ensure the normal progress of the insertion process.

[0068] First, the embodiments of the present application can test the cable insertion robot through a trial run. For example, by inputting a pre-edited code and controlling the cable insertion robot to perform actions to observe whether the actual actions of the cable insertion robot are consistent with the code, and then determining whether there is a fault in the cable insertion robot.

[0069] When it is determined that there is no fault in the cable insertion robot, the embodiments of the present application can further verify according to the number of cable insertion robots.

[0070] For example, embodiments of the present application can determine the interference distance at the end of each cable insertion robot according to the working parameters of the cable insertion robot, including data such as the length, width, and height of the jaws of the cable insertion robot, the maximum tilt angle of the cable insertion robot, and the maximum movement range, etc. And through the interference distance, it is judged whether any cable insertion robot will conflict with other cable insertion robots in the insertion action, that is, whether the interference condition is satisfied, and if the interference condition is not satisfied, subsequent cable grasping determination is performed.

[0071] It should be noted that the interference condition can be determined by the interference distance between any two cable insertion robots, the included angle of the tilt angles, the width of the end axis of the cable insertion robot, and the total height of the upper part of the axis and the jaws.

[0072] Optionally, in an embodiment of the present application, after determining whether the preset interference condition is satisfied between any two cable insertion robots, it further includes: if the preset interference condition is satisfied between any two cable insertion robots, the position of the cable insertion robot is adjusted based on the interference distance until the preset interference condition is not satisfied between any two cable insertion robots.

[0073] In some embodiments, if there is an interference situation between any two cable insertion robots, embodiments of the present application can adjust the position of the cable insertion robot according to the interference distance. Among them, the position adjustment can include the adjustment of the installation position, or the adjustment of the angle of the robotic arm, so as to ensure that any two cable insertion robots will not interfere with each other.

[0074] Optionally, in an embodiment of the present application, at least one cable parameter includes the cable type and cable length of at least one cable. Among them, judging whether at least one cable meets the preset cable grasping condition according to at least one cable parameter includes: detecting whether the cable type matches the insertion type of the server, and / or detecting whether the cable length is greater than the insertion value determined by the target axis width of the cable insertion robot.

[0075] As a possible implementation manner, the grasping determination conditions of embodiments of the present application can include various types. For example, detecting whether the cable type matches the insertion type of the server to avoid incorrect cable insertion, or in the case of interface matching, there is a difference in interface depth, resulting in a situation where there is a gap in the connection between the cable and the server. Among them, the cable type can be obtained from the cable parameters, or the cable identification can be determined by the cable parameters and obtained by identifying the cable identification;

[0076] Another example is to detect whether the cable length is greater than the insertion value determined by the target axis width of the cable insertion robot, that is, whether the cable length is long enough for the cable insertion robot to complete the insertion action.

[0077] Taking two in-line cable insertion robots as an example, the insertion value can be the width of the smallest axis of the cable insertion robot. For example, when the cable length is too short and less than the width of the smallest axis, it means that even if the cable insertion robot makes the maximum angle deflection on the premise of ensuring a distance that does not meet the interference condition, it is impossible for the two grippers of the two cable insertion robots to grasp both ends of the cable. In this case, the grasping condition is not met.

[0078] The distance between the two cable insertion robots does not meet the interference condition. At this time, if you want the two cable insertion robots to simultaneously grasp both ends of the cable for insertion, the cable length needs to be greater than the width of the smallest axis of the two cable insertion robots. Otherwise, when one cable insertion robot grasps one end of the cable, the other cable insertion robot cannot grasp the other end of the cable.

[0079] In step S103, if at least one cable meets the preset cable grasping condition, corresponding insertion actions of at least one cable insertion robot are generated based on at least one cable parameter. Among them, the insertion actions include insertion time, insertion trajectory, and insertion posture, and at least one cable robot is controlled to insert at least one cable into the server according to the insertion posture and insertion trajectory at the insertion time.

[0080] It should be noted that the insertion actions in the embodiments of the present application include the cable grasping action and the cable installation action.

[0081] After determining that the cable can be grasped, the embodiments of the present application can generate the insertion actions of the cable insertion robot using the cable parameters, so as to control the cable insertion robot to grasp the cable along the grasping trajectory and in accordance with the insertion posture at the appropriate grasping time, and at the appropriate installation time, control the cable insertion robot to install the cable along the installation trajectory and in accordance with the installation posture, so as to perform targeted insertion of different cables, avoiding problems such as cable damage, one end falling off, or interference between the actions of cable insertion robots due to abnormal forces at both ends during the cable insertion process, and improving the insertion efficiency.

[0082] It should be noted that according to the different cable lengths, the embodiments of the present application can also combine the working parameters of the cable insertion robot to generate the grasping action, so as to ensure that the cable insertion robot can complete the cable grasping without interference and ensure that the cable will not be damaged during the grasping process and affect its quality.

[0083] Optionally, in an embodiment of the present application, generating corresponding insertion actions of at least one cable insertion robot based on at least one cable parameter includes: determining an insertion posture based on the cable parameter, the claw length of the cable insertion robot, and the target insertion position of the server; determining an insertion moment based on the insertion posture, the cable length, and the target insertion position; and generating an insertion trajectory based on the target insertion position, the current grasping posture of the cable insertion robot, and the current port posture of each cable.

[0084] During the actual execution process, the insertion action can be generated by multiple parameters.

[0085] Among them, the insertion posture can be determined by the cable parameter, the claw length (jaw length) of the cable insertion robot, and the target insertion position of the server, that is, according to the port type of the cable, the comprehensive restrictions determined by combining the claw length and the cable length, and the target insertion positions of both ends of the cable on the server, determine at what angle and with what force the cable insertion robot inserts the cable.

[0086] The insertion moment can be determined by the insertion posture, the cable length, and the target insertion position. For example, when the number of cable insertion robots is two and they jointly grasp the same cable, it is possible to determine whether the two cable insertion robots can perform simultaneous grasping based on the cable length. After grasping, calculate the distance between the cable plugs on the server according to the target insertion position, and based on the insertion posture, the cable length, and the distance between the cable plugs, the embodiments of the present application can calculate whether the two cable insertion robots will interfere with each other when installing simultaneously due to the distance between the cable plugs being too close. In the case where the cable length is insufficient or the distance between the cable plugs is too close, set the sequence of sequential grasping and installation for the two cable insertion robots, that is, first control one cable insertion robot to insert one end of the cable, and after one end is inserted, then complete the insertion of the other end.

[0087] The insertion trajectory can be determined by the target insertion position, the current grasping posture of the cable insertion robot, and the current port posture of each cable, that is, the movement trajectory of the cable insertion robot when changing from the current grasping posture to the posture where the cable can be inserted into the target insertion position. For example, establish a coordinate axis with the initial position of the jaw of the cable insertion robot as the origin. If the current port posture, that is, the port orientation is the positive direction of the x-axis, and the target insertion position is the negative direction of the x-axis, then the insertion trajectory can be to adjust the jaw posture towards the negative direction of the x-axis and adjust the height of the jaw so that the port of the cable matches the target insertion position.

[0088] Optionally, in an embodiment of the present application, determining the insertion moment based on the insertion posture, cable length, and target insertion position includes: determining whether the cable length is greater than a length threshold obtained from the distance corresponding to the target inclination angle of the cable insertion robot; if the cable length is less than or equal to the length threshold and there is at least one cable insertion robot whose insertion posture includes an inclined posture, calculating the target inclination angle of the cable insertion robot, and determining the grasping moment in the insertion moment based on the target inclination angle; calculating the corresponding plug distance based on the target insertion position; determining whether the plug distance is greater than the length threshold; if the plug distance is less than or equal to the length threshold, determining the installation moment in the insertion moment based on the plug angle obtained from the target insertion position.

[0089] The embodiment of the present application can determine the grasping moment by combining the insertion posture and the cable length.

[0090] Taking the example of two cable insertion robots simultaneously grasping both ends of an arbitrary cable.

[0091] If neither of the two cable insertion robots needs to grasp at an inclined angle, that is, neither of their insertion postures includes an inclined posture, the two cable insertion robots can grasp simultaneously.

[0092] When only one cable insertion robot needs to grasp at an inclined angle, calculate the maximum allowable angle and determine the maximum angle, that is, the target inclination angle. If the calculated target inclination angle is greater than the inclination angle required for the cable insertion robot to perform insertion, the two cable insertion robots can perform insertion simultaneously; otherwise, the two cable insertion robots insert separately one after another.

[0093] When the two cable insertion robots are both inclined at an angle, calculate the target inclination angle and determine whether the target inclination angle is greater than the inclination angles required by the two cable insertion robots. When the target inclination angles are both greater than the inclination angles required by the two cable insertion robots, the two cable insertion robots can perform insertion simultaneously; otherwise, the two cable insertion robots insert separately one after another.

[0094] The embodiment of the present application can also determine the insertion moment according to the plug distance. Among them, the plug distance can be calculated according to the template position of the server, the length threshold can be determined by the target inclination angle of the cable insertion robot, and the target inclination angle is the maximum inclination angle of the cable insertion robot under the cable length limit.

[0095] Here, taking the insertion working condition where two cable insertion robots respectively grasp both ends of a cable as an example, it is elaborated in multiple cases.

[0096] When the plug distance is greater than the length threshold, at this time, no matter how the cable insertion robots adjust the inclination angle, there will be no mutual interference affecting the simultaneous insertion process. During insertion, each cable insertion robot can perform multi-angle actions.

[0097] When the plug distance is less than or equal to the length threshold, due to the limitation of the plug distance, the cable insertion robot may not be able to perform multi-angle movements freely or may interfere with each other. At this time, the embodiment of the present application can make a further determination based on the insertion value, that is, the minimum axis width.

[0098] When the plug distance is less than or equal to the minimum axis width, it indicates that the probability of interference between cable insertion robots is extremely high. At this time, simultaneous insertion of two cable insertion robots is not allowed.

[0099] When the plug distance is greater than the minimum circumference width and less than or equal to the length threshold, it indicates that there is a probability of interference between cable insertion robots. At this time, the embodiment of the present application analyzes the plug angle according to the target installation position and determines the installation moment according to the plug angle.

[0100] At this time, if the plug directions of the two cable insertion robots are both vertical, that is, the insertion postures are both vertical postures, there will be no mutual interference between the two cable insertion robots, and simultaneous insertion can be performed at this time.

[0101] If the plug directions of the two cable insertion robots are not both vertical, that is, one plug direction is vertical and the other is horizontal, the maximum angle allowing the cable insertion robot to move can be calculated, and then the installation moment can be determined according to the maximum angle. For example, when the maximum angle ≥ 90°, installation can be performed simultaneously; when the maximum angle is less than 90°, installation is performed successively.

[0102] Optionally, in an embodiment of the present application, it further includes: if at least one cable does not meet the preset cable grasping condition, determine the insertion scenario of each cable based on at least one cable parameter; in the case where the insertion scenario is a preset single-cable multi-insertion scenario, generate a cable error signal to remind of the suspension of cable insertion; in the case where the insertion scenario is a preset multi-cable multi-insertion scenario, generate a corresponding cable error reminder based on the cable that does not meet the preset cable grasping condition, and generate an insertion action based on at least one cable parameter of the cable that meets the preset cable grasping condition.

[0103] It can be understood that when the cable does not meet the grasping condition, different countermeasures can be obtained according to the insertion scenario of the cable.

[0104] In some embodiments, when the insertion scenario is a single-cable multi-insertion scenario, that is, a scenario where two cable insertion robots simultaneously grasp both ends of a cable and perform insertion respectively. At this time, if the cable models do not match or the cable length is insufficient, the two cable insertion robots cannot perform subsequent work, and a cable error signal can be generated to remind of the suspension of cable insertion to facilitate technicians to confirm problems and make technical adjustments.

[0105] In some other embodiments, when the insertion scenario is a multi-line and multi-error scenario, that is, when multiple cable insertion robots are used to respectively grasp one end of different cables, first insert one end of the cable, and after the insertion is completed, then grasp the other end of the cable for insertion. At this time, the embodiments of the present application can pause the work of the cable insertion robot corresponding to the unmatched cable and give a cable error reminder, while other cable insertion robots maintain normal insertion work.

[0106] Optionally, in an embodiment of the present application, when controlling at least one cable robot to insert at least one cable into the server according to the insertion posture and insertion trajectory at the insertion moment, it further includes: when the number of cable robots is plural, determining the collaborative working interval of each cable insertion robot based on the interference distance and the cable length; maintaining each cable robot within the corresponding collaborative working interval until the insertion action is completed.

[0107] It should be noted that in order to avoid interference between multiple cable insertion robots during the insertion action, it is necessary to constantly adjust the positions of the cable insertion robots according to the cable length and the interference distance until all the cables are inserted.

[0108] Among them, in order to avoid interference, the interference distance is used to limit the distance between adjacent cable insertion robots. And in the working condition where two cable insertion robots grasp the same cable and install it, in order to avoid the situation that the cable length is insufficient and the insertion cannot be carried out, the distance limit also needs to refer to the cable length.

[0109] Taking the example of two cable insertion robots inserting one cable at the same time, combined with Figures 2 to 13 as shown, the working principle of the cable insertion method for the server in the embodiments of the present application is described.

[0110] As Figures 2 to 5 shown, it is a possibility of the structure of a cable insertion robot, which can be applied to the double-end plugging of a single cable to cope with the working condition where the plugs at both ends of the cable need to be inserted inside the server, and the cable length and insertion position are not unified, and it is difficult for a single robot or a three-axis servo motor to achieve this cable insertion.

[0111] As Figure 2 shown, two cable insertion robots can be respectively fixed on both sides of the installation base, and the relative distance between the jaws is adjusted through a robotic arm with an adjustable angle to ensure that during the insertion action of the cable insertion robot, it can be adjusted at any time according to the cable length and the interference distance.

[0112] Among them, the installation base can be as Figure 3 shown. Since the bases of the cable insertion robots installed on both sides are relatively long (the installation method can be asFigure 4 As shown in the figure, it affects the reach range of the robot during collaborative operations. To reduce the impact of the base length, the bases of the two cable insertion robots are placed as close as possible. Considering space savings and ensuring stable installation, the embodiment of the present application can be designed as shown in Figure 3 the installation base shown. In the installation base, the yellow part is the fixed base, and the black part is the base housing. The fixed base is used to install the two cable insertion robots, and the base housing is used for cable routing and aesthetics of the cable insertion robots.

[0113] Among them, the gripper of the cable insertion robot can be as shown in Figure 5 the figure, which is used to grip various cable connectors to ensure that they do not loosen during the movement and installation of the cables.

[0114] Before being put into use, as shown in Figure 6 and Figure 7 the figure, the embodiment of the present application can use the same fixed point as the reference point for the two cable insertion robots for calibration, and establish a coordinate system in the same direction at the gripper positions of the two cable insertion robots, so as to establish the relative position relationship between the two cable insertion robots subsequently.

[0115] For example, the embodiment of the present application can first establish the coordinate system of the right cable insertion robot. As shown in Figure 6 the figure, point the center position of the gripper finger to the calibration needle to make the XYZ axis directions, and then as shown in Figure 7 the figure, establish the coordinate system of the left cable insertion robot, and point the center position of the gripper finger to the calibration needle to keep the XYZ axis directions consistent with the coordinate system of the right cable insertion robot.

[0116] Based on the above structure, as shown in Figure 8 the figure, the embodiment of the present application can include the following steps:

[0117] Step S801: Obtain the cable parameters of the cable. The embodiment of the present application can pre-write a host computer program, and use the host computer to obtain cable parameters such as the model and length of the cable in the MES system.

[0118] Among them, the host computer can use the corresponding API (Application Programming Interface) interface of the MES system, use the corresponding programming language and communication protocol to obtain data such as the cable length, and access the corresponding address in the MES system through the GET method to obtain the corresponding cable parameter information, such as the cable length and cable type.

[0119] After obtaining the cable parameters, the host computer can send information such as the cable model and cable length obtained to the cable insertion robot through the communication method of the SDK (Software Development Kit) of the cable insertion robot.

[0120] Step S802: Determine whether the grasping condition is met.

[0121] Before judging the grasping condition, first clarify the operation logic of the cable insertion robot in the embodiment of the present application.

[0122] As Figure 9 shown, in the embodiment of the present application, the calibration point of the gripper coordinates of the cable insertion robot can be set as pbase0. According to the tilt angle, the following formula is constructed: pspace = dy * cosA + dx * cos(90 - A).

[0123] Furthermore, the included angle is obtained as

[0124] where pspace is the interference distance at the end of the cable insertion robot, dx is half of the width of the end axis, dy is the total height of the upper part of the axis and the gripper, and A is the tilt angle of the end axis.

[0125] According to the above method for calculating the interference distance of a single cable insertion robot, as Figure 10 shown, in the embodiment of the present application, it can be calculated that if two cable insertion robots cooperate without interference, the minimum distance that the two cable insertion robots should maintain is pspace0 = pspace * 2 = (dy * cosA + dx * cos(90 - A)) * 2. It can be deduced that when A = 0 degrees, pspace0 is the maximum value, that is, 2dy. When A > 90 degrees, the distance pspace0 will be less than the width of the axis, that is, 2dx. That is to say, in order to ensure that two cable insertion robots can cooperate, the embodiment of the present application can adjust the distance between the two cable insertion robots according to the tilt angle of the end axis at all times.

[0126] Based on the above operation logic, the embodiment of the present application can judge whether to grasp the cable.

[0127] As Figure 11 shown, when the cable needs to be grasped and inserted by the robot, the cable insertion robot should first judge whether the current cable meets the grasping condition and execute the corresponding result according to the grasping condition.

[0128] The cable insertion robot can judge according to the cable length Lline transmitted by the host computer. When the cable length is less than or equal to the width of the minimum axis, that is, Lline ≤ 2dx, the cable insertion robot can determine that the current cable length is too short to meet the grasping condition, transmit the result to the host computer for processing, and enter step S804; otherwise, enter step S803.

[0129] Step S803: Calculate the way to grasp the cable. As Figure 11 shown, in the embodiment of the present application, the cable insertion robot can judge according to the cable length Lline transmitted by the host computer. When the cable length is greater than the distance when the inclination angle of the cable insertion robot is the largest, that is, pspace0 is 2dy, and Lline > 2dy, at this time, the cable length is sufficient for two cable insertion robots to make arbitrary angle changes while ensuring non-interference with each other. At this time, multi-angle actions can be performed during grasping and installation.

[0130] The cable insertion robot can judge according to the cable length Lline transmitted by the host computer. When the cable length is greater than the width of the minimum axis 2dx, that is, Lline > 2dx, but less than or equal to the maximum inclination angle of the cable insertion robot, that is, Lline ≤ 2dy, it is necessary to calculate the maximum inclination angle allowed for the cable insertion robot at this time. For example, when the cable length is too short, the cable insertion robot needs to tilt inward to ensure that both cable insertion robots can grasp one end of the cable. In order to avoid mutual interference between the two cable insertion robots, it is necessary to distinguish whether the two cable insertion robots tilt at the same time:

[0131] When neither of the two cable insertion robots needs to tilt to grasp, it means that the cable can be grasped without redundant length. For example, the two cable insertion robots can perform vertical grasping. At this time, the two cable insertion robots can grasp simultaneously;

[0132] When only one cable insertion robot needs to tilt to grasp, the embodiment of the present application can calculate the maximum angle allowed for the cable insertion robot to tilt: And judge the grasping conditions according to the maximum angle and the grasping angle required by the cable insertion robot or according to whether the two cable insertion robots will interfere with each other at the maximum angle. If the calculated maximum angle A meets the grasping conditions, the two cable insertion robots grasp simultaneously; if the maximum angle A does not meet the grasping conditions, the two cable insertion robots grasp separately one after another;

[0133] When the two cable insertion robots tilt at the same time, the embodiment of the present application can also calculate the maximum angle A = And use the calculated maximum angle A to perform the above determination again. If the maximum angle A meets the grasping condition, two cable insertion robots are used to grasp simultaneously; if the maximum angle A does not meet the grasping condition, the two cable insertion robots are used to grasp separately one after another.

[0134] Among them, the schematic diagram of grasping the cable can be as Figure 12 shown. One cable insertion robot is installed on each side of the fixed base, and each gripper of the two cable insertion robots grasps the cable to be inserted.

[0135] It should be noted that during the grasping process, the positions of the cable insertion robots relative to each other are judged in real time. On the premise of ensuring non-interference with each other, the distance pspace0 needs to be kept less than the cable length Lline all the time to avoid over-pulling the cable or only grasping one end of the cable.

[0136] Step S804: Transmit and report a pause warning. In the embodiment of the present application, the current work of the cable insertion robot can be paused and reported to give a process pause warning for timely processing and response.

[0137] Step S805: Synchronously run while grasping the cable.

[0138] When the two cable insertion robots synchronously run while grasping the cable, they need to obtain each other's positions in real time to perform corresponding synchronous operations or avoid interference actions.

[0139] For example, in the embodiment of the present application, the two cable insertion robots can communicate with each other to obtain the real-time positions and the relative positions between them in a pre-constructed coordinate system. Among them, when constructing the coordinate system, the position at the fixed calibration point can be set as the coordinate zero point position of the cable insertion robot, and the coordinate directions are the same.

[0140] During the operation, in the embodiment of the present application, the distance pspace0 between the two cable insertion robots can be calculated to make the cable insertion robots always keep pspace0 less than the length Lline of the cable, that is, pspace0 < Lline.

[0141] Step S806: Calculate the cable insertion action.

[0142] As Figure 13 shown, after the grasping determination, when the cable insertion robots install the cable in the server, the distance pspace0 between the two cable insertion robots is calculated in real time to make the cable insertion robots keep pspace0 less than the length Lline of the cable, and the distance Lplug between the cable plugs (ports) of the server also needs to be judged.

[0143] For example, when the distance between the cable plugs is greater than the distance when the inclination angle of the cable insertion robot is at its maximum, i.e., Lline > 2dy, it means that the cable length is sufficient for the two cable insertion robots to move freely simultaneously. At this time, the two cable insertion robots can perform the installation simultaneously;

[0144] When the distance between the cable plugs is less than or equal to the width of the minimum axis of the cable insertion robot, i.e., Lplug ≤ 2dx, in order to avoid excessive tilting of the angles when the two cable insertion robots work simultaneously, which may cause excessive pulling or dislodging of the cable, the two cable insertion robots need to be installed separately one after another. That is, after one end of the cable is installed, the installation operation of the other end of the cable is carried out;

[0145] When the distance between the cable plugs is greater than the width of the minimum axis of the cable insertion robot, i.e., Lplug > 2dx, and the insertion directions are the same, such as both being installed in the vertical direction, it means that neither of the two cable insertion robots needs to tilt at a large angle and the cable will not be excessively pulled. At this time, the two cable insertion robots can perform the installation simultaneously;

[0146] When the distance between the cable plugs is greater than the width of the minimum axis of the cable insertion robot, i.e., Lplug > 2dx, but the included angle between the two plug directions is 90°, that is, one plug is in the vertical direction and the other plug is in the horizontal direction, the embodiment of the present application can calculate the maximum angle allowed for the cable insertion robot to move according to the formula When A ≥ 90°, the cable insertion robots can perform the installation operation simultaneously; when A < 90°, the two cable insertion robots need to be installed separately one after another. That is, when one cable insertion robot installs one end of the vertical connector cable, the other cable insertion robot waits. After the vertical connector is installed, the other cable insertion robot then performs the installation operation of one end of the horizontal cable.

[0147] Among them, the cable insertion process can be as Figure 14 shown. In the figure, the server is placed in front of the cable insertion robot. The jaws of the two cable insertion robots grab the cable and install the cable at the target installation position of the server.

[0148] According to the cable insertion method of the server proposed by the embodiments of the present application, it is possible to perform grasping determination of the cable based on at least one cable parameter of at least one cable to be inserted into the server, so that when at least one cable meets the preset cable grasping condition, the insertion actions of at least one cable insertion robot are generated by using the cable parameters. Among them, the insertion actions include the insertion time, the insertion trajectory, and the insertion posture. Control at least one cable robot to complete the cable insertion of the server at the insertion time according to the insertion posture and the insertion trajectory, so as to realize the automatic insertion of the server cable by using the cable insertion robot, with low labor cost and high accuracy, which can effectively guarantee the production quality of the server, and can also ensure the insertion efficiency while guaranteeing the quality through the collaborative operation of multiple cable insertion robots. Thus, the technical problems in the related art are solved, such as the machine operation can only achieve the insertion of one structure at a time, with low efficiency, and the simultaneous operation of multiple machines is prone to action conflicts, thus affecting the insertion actions.

[0149] Next, a cable insertion device for a server according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0150] Figure 15 It is a block diagram of a cable insertion device for a server according to an embodiment of the present application.

[0151] As Figure 15 shown, the cable insertion device 10 of the server includes: an acquisition module 100, a first judgment module 200, and an insertion module 300.

[0152] Specifically, the acquisition module 100 is used to acquire at least one cable parameter of at least one cable to be inserted into the server.

[0153] The first judgment module 200 is used to judge whether at least one cable meets the preset cable grasping condition according to at least one cable parameter.

[0154] The insertion module 300 is used to generate the insertion actions of at least one cable insertion robot corresponding to at least one cable parameter when at least one cable meets the preset cable grasping condition. Among them, the insertion actions include the insertion time, the insertion trajectory, and the insertion posture, and control at least one cable robot to insert at least one cable into the server at the insertion time according to the insertion posture and the insertion trajectory.

[0155] Optionally, in an embodiment of the present application, the cable insertion device 10 of the server further includes: a determination module, a first reminder module, and a second reminder module.

[0156] Among them, the determination module is used to determine the insertion scenario of each cable based on at least one cable parameter when at least one cable does not meet the preset cable grasping condition.

[0157] The first reminder module is used to generate a cable error signal in the case where the insertion scenario is a preset single-line multi-insertion scenario, so as to perform a cable insertion pause reminder.

[0158] The second reminder module is used to, in the case where the insertion scenario is a preset multi-line multi-insertion scenario, generate a corresponding cable error reminder based on the cables that do not meet the preset cable grasping conditions, and generate an insertion action based on at least one cable parameter of the cables that meet the preset cable grasping conditions.

[0159] Optionally, in an embodiment of the present application, the at least one cable parameter includes the cable type and cable length of at least one cable, wherein the first determination module 200 includes: a first detection unit and / or a second detection unit.

[0160] Among them, the first detection unit is used to detect whether the cable type matches the insertion type of the server.

[0161] The second detection unit is used to detect whether the cable length is greater than the insertion value determined by the target axis width of the cable insertion robot.

[0162] Optionally, in an embodiment of the present application, the insertion module 300 includes: a first determination unit, a second determination unit, and a generation unit.

[0163] Among them, the first determination unit is used to determine the insertion posture based on the cable parameter, the claw length of the cable insertion robot, and the target insertion position of the server.

[0164] The second determination unit is used to determine the insertion time based on the insertion posture, the cable length, and the target insertion position.

[0165] The generation unit is used to generate an insertion trajectory based on the target insertion position, the current grasping posture of the cable insertion robot, and the current port posture of each cable.

[0166] Optionally, in an embodiment of the present application, the second determination unit includes: a first judgment subunit, a first determination subunit, a calculation subunit, a second judgment subunit, and a second determination subunit.

[0167] Among them, the first judgment subunit is used to judge whether the cable length is greater than the length threshold obtained from the distance corresponding to the target inclination angle of the cable insertion robot.

[0168] The first determination subunit is used to calculate the target inclination angle of the cable insertion robot and determine the grasping time in the insertion time based on the target inclination angle in the case where the cable length is less than or equal to the length threshold and there is at least one insertion posture of the cable insertion robot that includes an inclined posture.

[0169] A calculation subunit, configured to calculate a corresponding plug distance based on a target insertion position.

[0170] A second determination subunit, configured to determine whether the plug distance is greater than a length threshold.

[0171] A second determination subunit, configured to, when the plug distance is less than or equal to the length threshold, determine an installation moment in the insertion moment based on a plug angle obtained from the target insertion position.

[0172] Optionally, in an embodiment of the present application, the cable insertion device 10 of the server further includes: a second determination module, a third determination module, and a fourth determination module.

[0173] Among them, the second determination module is configured to determine whether each cable insertion robot meets a preset working condition based on the working parameters of the cable insertion robot.

[0174] The third determination module is configured to, when each cable insertion robot meets the preset working condition, calculate an interference distance of each cable insertion robot based on the working parameters, and determine whether a preset interference condition is met between any two cable insertion robots based on the interference distance.

[0175] The fourth determination module is configured to, when the preset interference condition is not met between any two cable insertion robots, determine whether at least one cable meets a preset cable grasping condition.

[0176] Optionally, in an embodiment of the present application, the cable insertion device 10 of the server further includes: an adjustment module.

[0177] Among them, the adjustment module is configured to, when the preset interference condition is met between any two cable insertion robots, adjust the positions of the cable insertion robots based on the interference distance until the preset interference condition is not met between any two cable insertion robots.

[0178] It should be noted that the foregoing explanation of the embodiment of the cable insertion method of the server is also applicable to the cable insertion device of the server in this embodiment, and will not be elaborated here.

[0179] The cable insertion device of the server proposed according to the embodiments of the present application can perform grasping determination of cables based on at least one cable parameter of at least one cable to be inserted into the server. Thus, when at least one cable meets the preset cable grasping conditions, corresponding insertion actions of at least one cable insertion robot are generated using the cable parameters. Among them, the insertion actions include insertion time, insertion trajectory, and insertion posture. Control at least one cable robot to complete the cable insertion of the server at the insertion time according to the insertion posture and insertion trajectory, so as to realize the automatic insertion of the server cables by the cable insertion robot, with low labor cost and high accuracy rate, which can effectively guarantee the production quality of the server, and can also ensure the insertion efficiency while guaranteeing the quality through the collaborative operation of multiple cable insertion robots. Thereby, it solves the technical problems in the related art that the machine operation can only achieve the insertion of one structure at a time, with low efficiency, and the simultaneous operation of multiple machines is prone to action conflicts, thus affecting the insertion actions.

[0180] Figure 16 The structural schematic diagram of the electronic device provided by the embodiments of the present application. The electronic device may include:

[0181] A memory 1601, a processor 1602, and a computer program stored on the memory 1601 and executable on the processor 1602.

[0182] When the processor 1602 executes the program, it implements the cable insertion method of the server provided in the above embodiments.

[0183] Furthermore, the electronic device further includes:

[0184] A communication interface 1603, used for communication between the memory 1601 and the processor 1602.

[0185] The memory 1601 is used to store a computer program executable on the processor 1602.

[0186] The memory 1601 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0187] If the memory 1601, the processor 1602, and the communication interface 1603 are implemented independently, the communication interface 1603, the memory 1601, and the processor 1602 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 16 only a thick line is used to represent it in Figure 16 , but it does not mean that there is only one bus or one type of bus.

[0188] Optionally, in a specific implementation, if the memory 1601, the processor 1602, and the communication interface 1603 are integrated on a single chip, the memory 1601, the processor 1602, and the communication interface 1603 can communicate with each other through an internal interface.

[0189] The processor 1602 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0190] This embodiment also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the cable insertion method of the server as described above is implemented.

[0191] The embodiments of the present application also provide a computer program product, including a computer program. When the computer program is executed by a processor, the cable insertion method of the server provided by the embodiments of the present invention is implemented.

[0192] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0193] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0194] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or N executable instructions for implementing a customized logical function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of this application belong.

[0195] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in combination with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or N wirings, a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then stored in a computer memory.

[0196] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or combinations thereof. In the above-described embodiments, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0197] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0198] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, may exist physically alone for each unit, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0199] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A cable insertion method for a server, characterized in that: The following steps are involved: Obtaining at least one cable parameter of at least one cable to be inserted into the server; Determining whether the at least one cable meets a preset cable grabbing condition according to the at least one cable parameter; as well as If the at least one cable meets the preset cable grabbing condition, an insertion action of at least one corresponding cable insertion robot is generated based on the at least one cable parameter, wherein the insertion action includes an insertion time, an insertion trajectory and an insertion posture, and the at least one cable robot is controlled to insert the at least one cable into the server at the insertion time according to the insertion posture and the insertion trajectory.

2. The method according to claim 1, characterized in that Also includes: If the at least one cable does not meet the preset cable grabbing condition, determining an insertion scenario for each cable based on the at least one cable parameter; When the plug-in scenario is a preset single-line multi-plug scenario, a cable error signal is generated to provide a cable plug-in pause reminder; When the insertion scenario is a preset multi-line multi-plug scenario, a corresponding cable error reminder is generated based on a cable that does not meet the preset cable grabbing condition, and the insertion action is generated based on at least one cable parameter of a cable that meets the preset cable grabbing condition.

3. The method according to claim 2, characterized in that The at least one cable parameter includes a cable type and a cable length of the at least one cable, wherein judging whether the at least one cable meets a preset cable grabbing condition according to the at least one cable parameter includes: Check whether the cable type matches the server's plug-in type, and / or It is detected whether the cable length is greater than an insertion value determined by a target axis width of the cable insertion robot.

4. The method according to claim 3, characterized in that The generating of the corresponding insertion action of at least one cable insertion robot based on the at least one cable parameter comprises: Determining the insertion posture based on the cable parameters, the claw length of the cable insertion robot and the target insertion position of the server; Determining the insertion time based on the insertion posture, the cable length and the target insertion position; The insertion trajectory is generated based on the target insertion position, the current grasping posture of the cable insertion robot and the current port posture of each cable.

5. The method according to claim 4, characterized in that The determining the insertion time based on the insertion posture, the cable length and the target insertion position includes: Determining whether the cable length is greater than a length threshold obtained by a distance corresponding to a target inclination angle of the cable insertion robot; If the cable length is less than or equal to the length threshold, and the insertion posture of at least one cable insertion robot includes an inclined posture, calculating a target inclination angle of the cable insertion robot, and determining a grasping moment in the insertion moment based on the target inclination angle; Calculating a corresponding plug distance based on the target plug-in position; Determining whether the plug distance is greater than the length threshold; If the plug distance is less than or equal to the length threshold, the installation time in the insertion time is determined based on the plug angle obtained from the target insertion position.

6. The method according to claim 1, characterized in that Before judging whether the at least one cable meets a preset cable grabbing condition according to the at least one cable parameter, the method further includes: Based on the working parameters of the cable insertion robots, determining whether each cable insertion robot meets preset working conditions; If each of the cable insertion robots meets the preset working condition, then the interference distance of each of the cable insertion robots is calculated based on the working parameters, and based on the interference distance, it is determined whether any two cable insertion robots meet the preset interference condition; If the preset interference condition is not satisfied between any two cable insertion robots, it is determined whether the at least one cable satisfies a preset cable grabbing condition.

7. The method according to claim 6, characterized in that After determining whether any two cable insertion robots satisfy the preset interference condition, the method further includes: If the preset interference condition is satisfied between any two cable insertion robots, the positions of the cable insertion robots are adjusted based on the interference distance until the preset interference condition is no longer satisfied between any two cable insertion robots.

8. A cable insertion device for a server, characterized in that: include: An acquisition module, used for acquiring at least one cable parameter of at least one cable to be inserted into the server; A judging module, configured to judge whether the at least one cable satisfies a preset cable grabbing condition according to the at least one cable parameter; as well as An insertion module is used to generate an insertion action of at least one corresponding cable insertion robot based on the at least one cable parameter when the at least one cable meets the preset cable grasping condition, wherein the insertion action includes an insertion time, an insertion trajectory and an insertion posture, and control the at least one cable robot to insert the at least one cable into the server at the insertion time according to the insertion posture and the insertion trajectory.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the cable insertion method for a server as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the cable insertion method of a server as described in any one of claims 1 to 7.

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