Transfer method and transfer equipment

Abstract

The invention discloses a transferring method and transferring equipment. The transfer method is executed by a processing device. The processing device can perform a transfer method to move the articles out of the cooling tank of the submerged cooling apparatus. The transferring method comprises a first moving step, a descending step, a hanging step, an ascending step, a waiting step and a second moving step. In the first moving step, the descending step and the hanging step, the transferring device is moved to the position above the cooling tank, then a longitudinal moving mechanism and a fixing mechanism of the transferring device are made to operate in sequence, and a hook structure of the fixing mechanism penetrates through a hanging hole of the object. In the ascending step and the waiting step, the longitudinal moving mechanism is controlled to enable the object to leave the cooling tank and wait for the cooling liquid on the object to leave the object. In the second moving step, the article is moved to the target position.

Description

Technical Field

[0001] The present invention relates to a transfer method and a transfer device, and particularly to a transfer method and a transfer device suitable for transferring articles in an immersion cooling device. Background Art

[0002] For the operation of placing and removing servers in the current immersion server cooling system, it mainly relies on manual labor and crane assistance, which is not only inefficient but also costly. Taking a typical server as an example, the traditional operation method requires multiple people to cooperate, and the operators need to monitor the whole process to ensure that the server can be placed or removed safely and accurately. Moreover, the operation process is complicated, resulting in too long system downtime and seriously affecting the operation efficiency. In addition, the accuracy of crane operation is limited, and the server is prone to collide during handling, resulting in equipment damage and increasing maintenance costs.

[0003] As shown above, in the prior art, whether removing the server from the cooling tank or placing the server into the cooling tank, it requires a large amount of manpower and time. Summary of the Invention

[0004] The present invention discloses a transfer method and a transfer device, mainly used to improve the problem that a large amount of manpower and time are required to remove the server from the cooling tank or place the server into the cooling tank by using a crane in the prior art.

[0005] One embodiment of the present invention discloses a transfer method, which is used to be executed by a processing device. The processing device can execute the transfer method to move an article out of a cooling tank of an immersion cooling device. One side of the article has a support structure, and the support structure has a hanging hole. The transfer method includes the following steps: a first moving step: controlling a multi-axis robotic arm to move a transfer device disposed on the multi-axis robotic arm above the cooling tank; a first descending step: controlling a longitudinal moving mechanism of the transfer device to move a holding mechanism connected to the longitudinal moving mechanism in a longitudinal direction towards the cooling tank by a preset distance; a hanging step: controlling a hook structure of a moving member of the holding mechanism to pass through the hanging hole; a first ascending step: controlling the longitudinal moving mechanism to move the holding mechanism with the article hung thereon away from the cooling tank by a preset distance, and guiding the article through two first alignment mechanisms and two second alignment mechanisms to correct the offset of the article in a thickness direction and a width direction; a waiting step: waiting for a preset time to allow the coolant on the article to leave the article; a second moving step: controlling the multi-axis robotic arm to move the article held by the transfer device to a target position.

[0006] Optionally, in the first descending step, first control the longitudinal movement mechanism to move the holding mechanism towards the cooling tank by a first distance at a first speed, and then control the longitudinal movement mechanism to move the holding mechanism towards the cooling tank by a second distance at a second speed; the first speed is greater than the second speed, the first distance is greater than the second distance, and the sum of the first distance and the second distance is the same as the preset distance.

[0007] Optionally, in the first ascending step, first control the longitudinal movement mechanism to move the holding mechanism away from the cooling tank by a first distance, and then control the longitudinal movement mechanism to move the holding mechanism away from the cooling tank by a second distance; the first distance is less than the second distance, and the sum of the first distance and the second distance is the same as the preset distance; wherein, the first distance is less than 20 millimeters.

[0008] Optionally, after the first descending step, an auxiliary moving member and a moving member of the holding mechanism are respectively corresponding to two sides of the support structure; in the hanging step, the processing device controls the hook structure to pass through the hanging hole and controls the auxiliary moving member to move towards the hook structure, so that the auxiliary moving member abuts against one end of the moving member.

[0009] Optionally, in the second moving step, control the multi-axis robotic arm to move the transfer device above another cooling tank located at the target position, and after the second moving step, the following steps are further included: a second descending step: control the longitudinal movement mechanism to move the holding mechanism towards the cooling tank in the longitudinal direction by a preset distance to place the article into the cooling tank; a releasing step: control the holding mechanism to make the hook structure leave the hanging hole; a second ascending step: control the longitudinal movement mechanism to move the holding mechanism away from the cooling tank by a preset distance.

[0010] One embodiment of the present invention discloses a transfer device for taking out an article from a cooling tank of an immersion cooling device or placing the article into the cooling tank. The transfer device includes: a processing device; a main body; a clamping module, which includes: a longitudinal movement mechanism connected to the main body; a holding mechanism connected to the longitudinal movement mechanism. The holding mechanism includes: a driving component; a moving member having a hook structure, the moving member is connected to the driving component, and the driving component can drive the moving member to move relative to the main body; wherein, the processing device can control the longitudinal movement mechanism to move the holding mechanism towards the article disposed in the cooling tank, and the processing device can control the driving component to make the hook structure pass through a hanging hole of a support structure of the article; two first alignment mechanisms are disposed on both sides of the main body, and the two first alignment mechanisms are used to align the offset of the article in a thickness direction; two second alignment mechanisms are disposed on both sides of the main body, the processing device is electrically connected to the two second alignment mechanisms, and the processing device can control the two second alignment mechanisms to approach each other to align the offset of the article in a width direction; wherein, the processing device can control the longitudinal movement mechanism to make the article held by the holding mechanism pass through the two first alignment mechanisms and the two second alignment mechanisms.

[0011] Optionally, the processing device can execute a taking-out program, and the taking-out program includes the following steps: a first descending step: controlling the longitudinal movement mechanism to move the holding mechanism along a longitudinal direction towards the cooling tank by a preset distance; a hanging step: controlling the driving component to make the hook structure pass through the hanging hole; a first ascending step: controlling the longitudinal movement mechanism to move the holding mechanism with the article hung thereon away from the cooling tank by a preset distance, and making the article pass through the two first alignment mechanisms and the two second alignment mechanisms to align the offset of the article in a thickness direction and a width direction; a waiting step: waiting for a preset time to allow the coolant on the article to leave the article.

[0012] Optionally, when the processing device executes the first descending step, it first controls the longitudinal movement mechanism to move the holding mechanism towards the cooling tank at a first speed by a first distance, and then controls the longitudinal movement mechanism to move the holding mechanism towards the cooling tank at a second speed by a second distance; the first speed is greater than the second speed, the first distance is greater than the second distance, and the sum of the first distance and the second distance is the same as the preset distance.

[0013] Optionally, when the holding mechanism holds an article and the two first alignment mechanisms clamp both sides of the article, the processing device can execute a placement procedure, which includes the following steps: a second descending step: controlling the longitudinal movement mechanism to move the holding mechanism in the longitudinal direction a preset distance toward the cooling tank to place the article in the cooling tank; a release step: controlling the holding mechanism to move the hook structure away from the hanging hole; a second ascending step: controlling the longitudinal movement mechanism to move the holding mechanism a preset distance away from the cooling tank.

[0014] Optionally, each hook structure includes a longitudinal arm and a transverse arm. The transverse arm is formed by extending from one end of the longitudinal arm. A groove is formed by concaving one side of the transverse arm for accommodating a part of the hanging hole.

[0015] Optionally, the holding mechanism further includes an auxiliary moving member connected to the driving assembly; the auxiliary moving member and the moving member can be controlled by the processing device to move closer to or away from each other; wherein, the processing device can control the hook structure to pass through the hanging hole and control the auxiliary moving member to move toward the hook structure so that the auxiliary moving member abuts against one end of the moving member.

[0016] Optionally, each second alignment mechanism includes a driver, a movable member, and a plurality of guide wheels; the driver is disposed on the main body, the processing device is electrically connected to the driver, the movable member is connected to the driver, and the driver can move the movable member relative to the main body; each guide wheel is rotatably disposed on the movable member; the processing device can control the two drivers to move the two movable members toward each other so that the plurality of guide wheels disposed on the two movable members respectively abut against both sides of the article.

[0017] Optionally, each first alignment mechanism includes a fixing plate, a fixing shaft, a guiding member, and an elastic member. One end of the fixing shaft is fixed to the fixing plate, the guiding member is sleeved on the fixing shaft, one end of the elastic member is fixed to the other end of the fixing shaft, and the other end of the elastic member is fixed to one side of the guiding member. One side of each guiding member facing the fixing plate has an annular guiding surface; wherein, when the holding mechanism holds an article and the holding mechanism passes through the two first alignment mechanisms, the article will abut against the annular guiding surfaces of the respective guiding members, and the respective elastic members will be abutted by the guiding members to generate elastic deformation.

[0018] Optionally, each guiding member is rotatably pivoted to the fixing shaft; when the holding mechanism holds an article and passes through the two first alignment mechanisms, each guiding member can be pushed by the article and rotate relative to the fixing shaft.

[0019] Optionally, each guiding member includes a guiding portion and a holding portion. The outer diameter of the guiding portion gradually decreases from one end close to the elastic member to the other end, and an annular guiding surface is formed on the outer side of the guiding portion. The outer diameter of the holding portion is connected to the end of the guiding portion having the smallest outer diameter, and the outer diameter of the holding portion remains unchanged; the two holding portions are used to abut against both sides of the article clamped by the clamping module.

[0020] In summary, the transfer device of the present invention can replace manual labor and automatically take out or place the articles in the immersion cooling device. Thereby, the labor can be greatly reduced and time can be saved. Moreover, through the design of the first alignment mechanism and the second alignment mechanism, the articles held by the transfer device can be correctly installed in another cooling tank. The transfer method of the present invention can directly take out the articles provided in the immersion cooling device without the participation of personnel. And during the process of taking out the articles, most of the coolant on the articles will fall back into the cooling tank or volatilize into the air. Therefore, it is not easy to occur problems such as the coolant dripping randomly onto the ground.

[0021] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, these descriptions and drawings are only used to illustrate the present invention and do not impose any limitation on the protection scope of the present invention. Brief Description of the Drawings

[0022] Figure 1 It is a schematic diagram of one embodiment of the transfer device of the present invention and multiple immersion cooling devices.

[0023] Figure 2 It is a schematic diagram of another embodiment of the transfer device of the present invention and multiple immersion cooling devices.

[0024] Figure 3 It is a schematic diagram of the transfer device of the present invention.

[0025] Figure 4 It is a schematic diagram of the transfer device of the present invention clamping an article provided in a cooling tank.

[0026] Figure 5 It is a side view of the hanging hole of the article held by the holding mechanism of the transfer device of the present invention.

[0027] Figure 6 It is a schematic diagram of the article held by the transfer device of the present invention located between the first alignment mechanisms.

[0028] Figure 7 It is a bottom view of the article held by the transfer device of the present invention located between the first alignment mechanisms.

[0029] Figure 8Front view of an article held by the transfer device of the present invention between the first alignment mechanism and the second alignment mechanism.

[0030] Figure 9 Schematic process diagram of the first embodiment of the transfer method of the present invention.

[0031] Figure 10 Schematic process diagram of the second embodiment of the transfer method of the present invention. Detailed implementation manners

[0032] In the following description, if specific drawings are referred to or as shown in specific drawings, it is only to emphasize that in the subsequent description, most of the relevant content mentioned appears in that specific drawing, but it does not limit that only that specific drawing can be referred to in the subsequent description.

[0033] Please refer to Figures 1 to 3 , Figure 1 Schematic diagram of one embodiment of the transfer device and multiple immersion cooling devices of the present invention, Figure 2 Schematic diagram of another embodiment of the transfer device and multiple immersion cooling devices of the present invention, Figure 3 Schematic diagram of the transfer device of the present invention.

[0034] The transfer device 100 of the present invention is used to take out an article B from a cooling tank A1 of an immersion cooling device A, or to place the article B into the cooling tank A1. The article is, for example, a server, but not limited thereto, and the article can be any electronic product that needs heat dissipation. In practical applications, the transfer device 100 can be connected to a multi-axis robotic arm 300, for example, and the multi-axis robotic arm 300 can be arranged on a base 200, and the base 200 is used to be arranged on the ground. In different embodiments, the transfer device 100 can also include the base 200 and the multi-axis robotic arm 300.

[0035] As Figure 2 shown, in different embodiments, the multi-axis robotic arm 300 can also be arranged on a moving mechanism 400, and the moving mechanism 400 can drive the multi-axis robotic arm 300 to move between different cooling tanks A1. The moving mechanism 400 can include components such as a motor, a slider or a slide rail, etc., but not limited thereto, and any mechanism that can drive the multi-axis robotic arm 300 to move above multiple cooling tanks A1 belongs to the applicable range of the moving mechanism 400.

[0036] The transfer device 100 includes: a processing device 1, a body 2, a clamping module 3, a first alignment mechanism 4, and a second alignment mechanism 5. The processing device 1 is, for example, various computers, processors, servers, etc. The processing device 1 is electrically connected to the multi-axis robotic arm 300, and the processing device 1 can control the multi-axis robotic arm 300 so that the multi-axis robotic arm 300 drives the transfer device 100 to move between different cooling tanks A1.

[0037] The body 2 is fixed to the multi-axis robotic arm 300. The body 2 serves as the main support structure of the entire transfer device 100. The clamping module 3, the first alignment mechanism 4, and the second alignment mechanism 5 are arranged on the body 2. The clamping module 3 includes a longitudinal movement mechanism 31 and a holding mechanism 32. The longitudinal movement mechanism 31 is connected to the body 2. The holding mechanism 32 is connected to the longitudinal movement mechanism 31.

[0038] The longitudinal movement mechanism 31 is connected to the holding mechanism 32, and the processing device 1 can control the longitudinal movement mechanism 31 so that the holding mechanism 32 moves along a longitudinal direction (such as Figure 3 the Z-axis direction shown in the figure). In one embodiment, the longitudinal movement mechanism 31 includes, for example, a slide rail and a slider. The slider can move along the slide rail, and the slider is connected to the holding mechanism 32. The processing device 1 can control the slider to move on the slide rail so that the holding mechanism 32 moves along the longitudinal direction.

[0039] Please refer to Figures 3 to 8 , Figure 4 which is a schematic diagram of the transfer device of the present invention clamping an article arranged in the cooling tank, Figure 5 which is a side view of the hanging hole of the holding mechanism of the transfer device of the present invention holding an article, Figure 6 which is a schematic diagram of the article held by the transfer device of the present invention located between the first alignment mechanisms, Figure 7 which is a bottom view of the article held by the transfer device of the present invention located between the first alignment mechanisms, Figure 8 which is a front view of the article held by the transfer device of the present invention located between the first alignment mechanism and the second alignment mechanism.

[0040] The holding mechanism 32 includes: a driving component 321, a moving part 322, and an auxiliary moving part 323. In different embodiments, the holding mechanism 32 may also not include the auxiliary moving part 323.

[0041] The driving component 321 is connected to the moving part 322, and the driving component 321 can be controlled so that the moving part 322 moves relative to the body 2. For example, the moving part 322 can be driven by the driving component 321 and move along Figure 3The movement in the Y-axis direction as shown. In one embodiment, the driving component 321 includes, for example, a motor, a slider, a screw, etc. The moving member 322 is fixedly connected to the slider, and the motor can drive the screw to move the slider and the moving member 322 relative to the body 2. Any component that can be used to move the moving member 322 belongs to one embodiment of the driving component 321.

[0042] As Figures 3 to 5 shown, one end of the moving member 322 has a hook structure. In practical applications, each hook structure may include a longitudinal arm 3221 and a transverse arm 3222. The transverse arm 3222 extends from one end of the longitudinal arm 3221 in a certain direction, and the transverse arm 3222 and the longitudinal arm 3221 can form a structure similar to an L shape. A groove 32221 is formed by concave inward on one side of the transverse arm 3222, and the groove 32221 is used to accommodate a part of a hanging hole B11 (as Figure 1 shown) of a support structure B1 of the article B (as Figure 1 shown). The auxiliary moving member 323 is connected to the driving component 321. The auxiliary moving member 323 and the moving member 322 can be controlled by the processing device 1 and move closer to or away from each other.

[0043] As Figure 3 and Figure 7 shown, two first guiding mechanisms 4 are arranged on the body 2, and the two first guiding mechanisms 4 are located on both sides of the body 2. Each first guiding mechanism 4 includes: a fixing plate 41, two fixing shafts 42, two guiding members 43 and two elastic members 44. The fixing plate 41 is fixed to the body 2. One end of the fixing shaft 42 is fixed to the fixing plate 41. The guiding member 43 is sleeved on the fixing shaft 42, and each guiding member 43 is rotatably pivoted to the fixing shaft 42. One end of the elastic member 44 is fixed to the other end of the fixing shaft 42, and the other end of the elastic member 44 is fixed to one side of the guiding member 43. One side of each guiding member 43 facing the fixing plate 41 has an annular guiding surface 4311. Among them, each guiding member 43 can move relative to the fixing shaft 42 along the Figure 3 Y-axis direction as shown, and each elastic member 44 can be elastically deformed along the Figure 3 Y-axis direction as shown.

[0044] In practical applications, each guiding member 43 may include a guiding portion 431 and a holding portion 432. The outer diameter of the guiding portion 431 gradually decreases from the end close to the elastic member 44 to the other end, and an annular guiding surface 4311 is formed on the outer side of the guiding portion 431. The outer diameter of the holding portion 432 is connected to the end of the guiding portion 431 with the smallest outer diameter, and the outer diameter of the holding portion 432 does not change. The two holding portions 432 are used to abut against both sides of the article B clamped by the clamping module 3.

[0045] In practical applications, the vertical distance in the Y-axis direction of the connection position of each holding part 432 and the guiding part 431 from the fixing plate 41 is slightly smaller than the thickness of the article B. Therefore, when the article B passes through the two first guiding mechanisms 4, one side of the article B will abut against each annular guiding surface 4311. Figure 3 As shown in FIGS. and

[0046] , each second guiding mechanism 5 includes a driver 51, a movable member 52, and a plurality of guide wheels 53. The driver 51 is disposed on the main body 2, and the processing device 1 is electrically connected to the driver 51. The movable member 52 is connected to the driver 51, and the driver 51 can move the movable member 52 relative to the main body 2. The driver 51 includes components such as a motor, an oil cylinder, or a pneumatic cylinder, and the driver 51 can drive the movable member 52 to move through gears, belts, screws, or related transmission parts.

[0046] As Figure 3 shown, each guide wheel 53 is rotatably disposed on the movable member 52. The processing device 1 can control the two drivers 51 to move the two movable members 52 in a direction approaching each other, so that the plurality of guide wheels 53 disposed on the two movable members 52 respectively abut against both sides of the article B. In practical applications, the two movable members 52 can be driven by the driver 51 and move in the X-axis direction as shown in Figure 3 in a direction approaching or moving away from each other.

[0047] The processing device 1 can execute a taking-out program, and the taking-out program includes a lowering step, a hanging step, a rising step, and a guiding step. As shown in FIGS. Figure 4 and Figure 5 , the lowering step is: controlling the longitudinal movement mechanism 31 to move the holding mechanism 32 in the longitudinal direction (such as the Z-axis direction in Figure 4 ) by a preset distance in a direction approaching the cooling tank A1. Figure 3 The hanging step is: controlling the driving assembly 321 to enable the hook structure to pass through the hanging hole B11 of the supporting structure B1 of the article B. In practical applications, in the hanging step, the processing device 1 can simultaneously control the moving member 322 and the auxiliary moving member 323 to move in a direction approaching each other. Thus, when the hook structure passes through the hanging hole B11, the auxiliary moving member 323 will correspondingly abut against one end of the moving member 322, and the moving member 322 and the auxiliary moving member 323 will jointly form a U-shaped structure, and the hanging hole B11 will be correspondingly hung on the U-shaped structure.

[0048] As shown in FIGS. and

[0050] , the rising step is: controlling the longitudinal movement mechanism 31 to move the holding mechanism 32 in the longitudinal direction (such as the Z-axis direction in Figure 4 ) by a preset distance in a direction away from the cooling tank A1. Figure 4 And Figure 5 The guiding step is: controlling the two second guiding mechanisms 5 to move the two movable members 52 in a direction approaching each other, so that the plurality of guide wheels 53 disposed on the two movable members 52 respectively abut against both sides of the article B, and guiding the article B. Figure 4 In the guiding step, the processing device 1 can control the two second guiding mechanisms 5 to move the two movable members 52 in a direction approaching each other, so that the plurality of guide wheels 53 disposed on the two movable members 52 respectively abut against both sides of the article B, and guiding the article B.

[0049] In practical applications, in the guiding step, the processing device 1 can control the two second guiding mechanisms 5 to move the two movable members 52 in a direction approaching each other, so that the plurality of guide wheels 53 disposed on the two movable members 52 respectively abut against both sides of the article B, and guiding the article B.

[0050] As Figure 6 and Figure 7As shown, the ascending step is as follows: Control the longitudinal movement mechanism 31 to move the holding mechanism 32 with the article B suspended away from the cooling tank A1 by a preset distance. In the ascending step, the end of the article B provided with the support structure B1 will successively pass through two first alignment mechanisms 4 and two second alignment mechanisms 5. In the ascending step, during the process of the article B passing through the two first alignment mechanisms 4, each guiding member 43 can be pushed by the article B to rotate relative to the fixed shaft 42, and the article B will abut against the annular guiding surface 4311 of each guiding member 43, and each guiding member 43 will push against the elastic member 44 to cause the elastic member 44 to elastically deform. The restoring force generated by the elastic deformation of the elastic member 44 will cause the guiding member 43 to tightly abut against the article B. Thus, the offset of the article B in the Y-axis direction can be corrected.

[0051] As Figure 8 shown, after the ascending step, the height position of the support structure B1 of the article B will exceed the height positions of the two second alignment mechanisms 5. In the alignment step, the processing device 1 will control the two drivers 51 to move the two movable members 52 Figure 8 towards each other in the X-axis direction in

[0052] such a way that the plurality of guide wheels 53 included in the two second alignment mechanisms 5 abut against both sides of the article B. Thus, the offset of the article B in the X-axis direction can be corrected. Figure 7 and Figure 8 shown, after the alignment step, the movement range of the article B in the Y-axis direction will be restricted by the plurality of guiding members 43, the movement range of the article B in the X-axis direction will be restricted by the two second alignment mechanisms 5, and the movement range of the article B in the Z-axis direction will be restricted by the clamping module 3. Therefore, after the alignment step, the movement ranges of the article B in the X, Y, and Z axes will all be restricted.

[0053] When the holding mechanism 32 holds the article B and the two second alignment mechanisms 5 clamp both sides of the article B, the processing device 1 can execute a placement program, and the placement program includes the following steps:

[0054] A second descending step: Control the longitudinal movement mechanism 31 to move the holding mechanism 32 in the longitudinal direction towards the cooling tank A1 by a preset distance to place the article B into the cooling tank A1;

[0055] A release step: Control the drive assembly 321 to cause the hook structure of the movable member 322 to leave the hanging hole B11;

[0056] A second ascending step: Control the longitudinal movement mechanism 31 to move the holding mechanism 32 away from the cooling tank A1 by a preset distance.

[0057] As described above, by designing the article B to pass successively through two first alignment mechanisms 4 and two second alignment mechanisms 5, the offsets of the article B in the X-axis direction and the Y-axis direction can be effectively corrected. Thereby, the transfer device 100 can firmly hold the article B, and subsequently, the transfer device 100 can correctly place the article B into another cooling tank A1. In other words, if the article B does not pass through the first alignment mechanism 4 and the second alignment mechanism 5, the article B held by the clamping module 3 may have offset problems in the X-axis direction and / or the Y-axis direction. As a result, when the transfer device 100 places the article B it holds into another cooling tank A1, there may be a problem that the article B collides with the cooling tank A1.

[0058] In summary, the transfer device of the present invention can replace manual labor to automatically take out or place the articles in the immersion cooling device. Thereby, the labor can be greatly reduced and time can be saved. Moreover, through the design of the first alignment mechanism and the second alignment mechanism, the articles held by the transfer device can be correctly installed in another cooling tank.

[0059] Please refer to Figure 9 , which is a process schematic diagram of the first embodiment of the transfer method of the present invention. The transfer method of the present invention is used to be executed by a processing device. The processing device can execute the transfer method to move an article out of a cooling tank of an immersion cooling device. One side of the article has a support structure, and the support structure has a hanging hole. The transfer method includes the following steps:

[0060] A first moving step S11: controlling a multi-axis robotic arm to move the transfer device disposed on the multi-axis robotic arm above the cooling tank;

[0061] A first descending step S12: controlling a longitudinal movement mechanism of the transfer device to move a holding mechanism connected to the longitudinal movement mechanism in a longitudinal direction towards the cooling tank by a preset distance;

[0062] A hanging step S13: controlling a moving member of the holding mechanism to move in a transverse direction so that a hook structure of the moving member passes through the hanging hole;

[0063] A first ascending step S14: controlling the longitudinal movement mechanism to move the holding mechanism with the article hung thereon away from the cooling tank by a preset distance, and guiding the offsets of the article in the thickness direction and the width direction through two first alignment mechanisms and two second alignment mechanisms;

[0064] A waiting step S15: waiting for a preset time to allow the coolant on the article to leave the article;

[0065] A second moving step S16: Control the multi-axis robotic arm to move the article held by the transfer device to a target position.

[0066] For the detailed descriptions of the processing device, multi-axis robotic arm, transfer device, longitudinal moving mechanism, holding mechanism, moving member, and hook structure, please refer to the descriptions of the foregoing embodiments and will not be elaborated herein.

[0067] It should be noted that since the cooling tank A1 of the immersion cooling device A is filled with coolant, after the first rising step S14, it is necessary to use the waiting step S15 to volatilize the coolant on the article B into the air or flow it back into the cooling tank A1. Such a design can make the article B have relatively less residual coolant, or even no residual coolant on the article B. The preset time in the waiting step S15 can be designed according to actual needs. For example, relevant personnel can determine the specific time of the preset time through repeated experiments.

[0068] On the contrary, if the above waiting step S15 is not executed, the article B is likely to have residual coolant, or the coolant on the article B is likely to fall on the ground or other areas other than the cooling tank A1 during the movement of the multi-axis robotic arm, which may lead to other problems (such as problems with the coolant corroding the surface coating of some components).

[0069] In practical applications, in the first rising step S14, the longitudinal moving mechanism 31 will pass through two first guiding mechanisms 4 and two second guiding mechanisms 5, and the article B will be correspondingly located between the two first guiding mechanisms 4 and the two second guiding mechanisms 5. In the first descending step S12, the holding mechanism 32 will pass through the two first guiding mechanisms 4 and the two second guiding mechanisms 5. Thus, in the first rising step S14, the article B located between the two first guiding mechanisms 4 and the two second guiding mechanisms 5 can be held and guided by the two first guiding mechanisms 4 and the two second guiding mechanisms 5 in the thickness direction (such as Figure 7 the Y-axis direction as shown) and the width direction (such as Figure 8 the X-axis direction as shown) for offset conditions. Therefore, through the design of the first guiding mechanism 4 and the second guiding mechanism 5, it can be ensured that the article B is not likely to shake and shift during the movement with the multi-axis robotic arm. By this means, it is possible to greatly avoid the situation of collision and position offset of the article B during the movement with the multi-axis robotic arm.

[0070] The transfer method of the present invention can directly take out the items placed in the cooling tank of the immersion cooling device, and during the taking-out process, there is no need for manual intervention. In this way, the efficiency of taking out the items from the immersion cooling device can be greatly improved, and the probability of collision problems occurring during the transfer of the items can be greatly reduced.

[0071] In one variant embodiment of the transfer method of the present invention, in the first descending step S12, first control the longitudinal movement mechanism to make the holding mechanism 32 move a first distance towards the cooling tank A1 at a first speed, and then control the longitudinal movement mechanism to make the holding mechanism 32 move a second distance towards the cooling tank A1 at a second speed; the first speed is greater than the second speed, the first distance is greater than the second distance, and the sum of the first distance and the second distance is the same as the preset distance. Such a design can effectively improve the speed of the overall transfer process. In practical applications, the longitudinal movement mechanism can include a servo motor, so that the longitudinal movement mechanism can drive the holding mechanism 32 to move along the longitudinal direction at different speeds. The specific values of the first speed, the first distance, the second speed, and the second distance can be obtained through repeated experiments according to the actual situation and are not limited herein.

[0072] In one variant embodiment of the transfer method of the present invention, in the first ascending step S14, first control the longitudinal movement mechanism to make the holding mechanism 32 move a first distance away from the cooling tank A1 at a first speed, and then control the longitudinal movement mechanism to make the holding mechanism 32 move a second distance away from the cooling tank A1 at a second speed. The first distance is less than the second distance, the sum of the first distance and the second distance is the same as the preset distance, and the first speed is less than the second speed. Among them, the first distance is less than 20 millimeters. In practical applications, the specific value of the first distance can be determined according to the type of the item and the connection relationship between the item B and the cooling tank A1, etc.

[0073] Specifically, when article B is a server, the multiple connectors and / or locating pins included in the server will be connected to the corresponding connectors or locating holes in cooling tank A1. Therefore, when removing the server from cooling tank A1, it is necessary to first disengage the connectors and / or locating pins of the server from the corresponding connectors and / or locating holes in cooling tank A1. Only in this way can it be ensured that the server can be smoothly removed from cooling tank A1. Therefore, through the above design of first driving the holding mechanism 32 by the longitudinal movement mechanism to move a first distance at a first speed, the connectors and / or locating pins of the server can be separated from the corresponding connectors and / or locating holes in cooling tank A1, and then it can be ensured that the server can be smoothly removed from cooling tank A1. It should be noted that in the ascending step S14, if it is desired to increase the torque of the longitudinal movement mechanism driver (such as a motor) to facilitate separation, the limit of the maximum torque of the driver should be considered. If the limit of the maximum torque of the driver is exceeded, it may cause damage to the driver. Therefore, in practice, designs such as adjusting mechanisms (such as increasing the separation surface angle, reducing the friction coefficient, etc.) can be used in combination, or other auxiliary mechanisms (such as pneumatic grippers) can be used in combination to assist in separation, thereby reducing the burden on the driver.

[0074] In one variant embodiment of the transfer method of the present invention, after the descending step S12, an auxiliary moving member 323 and a moving member 322 of the holding mechanism 32 are corresponding to both sides of the support structure B1; in the hanging step S13, the processing device controls the hook structure to pass through the hanging hole B11, and controls the auxiliary moving member 323 to move in the direction of the hook structure, so that the auxiliary moving member 323 abuts against one end of the moving member 322.

[0075] Please refer to Figure 10 , which shows a process schematic diagram of the second embodiment of the transfer method of the present invention. The difference between this embodiment and the foregoing embodiment is that: in the second moving step S16, a multi-axis robotic arm is controlled to move the transfer device above another cooling tank located at the target position, and after the second moving step S16, the following steps are further included:

[0076] A second descending step S17: controlling the longitudinal movement mechanism to move the holding mechanism in the longitudinal direction towards the cooling tank by a preset distance to place the article into the cooling tank;

[0077] A releasing step S18: controlling the moving member to make the hook structure leave the hanging hole;

[0078] A second ascending step S19: controlling the longitudinal movement mechanism to move the holding mechanism away from the cooling tank by a preset distance.

[0079] In summary, the transfer method of the present invention can directly take out the items placed in the immersion cooling equipment without the participation of personnel. During the process of taking out the items, most of the coolant on the items will fall back into the cooling tank or volatilize into the air, and it is not easy to occur problems such as the coolant dripping randomly onto the ground.

[0080] The above are only the preferred and feasible embodiments of the present invention, and do not limit the patent scope of the present invention. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present invention are included in the protection scope of the present invention.

Claims

1. A transfer method, characterized in that: The transfer method is used to be performed by a processing device, and the processing device can perform the transfer method to move an object out of a cooling tank of an immersion cooling device, one side of the object has a supporting structure, and the supporting structure has a hanging hole. The transfer method includes the following steps: A first moving step: controlling a multi-axial robot arm to move a transfer device disposed on the multi-axial robot arm to above the cooling tank; a first descending step: controlling a longitudinal moving mechanism of the transfer device to move a holding mechanism connected to the longitudinal moving mechanism along a longitudinal direction toward the cooling slot by a preset distance; A hanging step: controlling a hook structure of a movable member of the holding mechanism to pass through the hanging hole; a first ascending step: controlling the longitudinal moving mechanism to move the holding mechanism on which the article is hung to a predetermined distance in a direction away from the cooling tank, and allowing the article to pass through two first guiding mechanisms and two second guiding mechanisms to correct the deviation of the article in a thickness direction and a width direction; A waiting step: waiting for a preset time to allow the coolant on the object to leave the object; A second moving step: controlling the multi-axis robot arm to move the object held by the transfer device to a destination position.

2. The transfer method according to claim 1, characterized in that: In the first descending step, the longitudinal moving mechanism is first controlled to make the holding mechanism move a first distance toward the cooling groove at a first speed, and then the longitudinal moving mechanism is controlled to make the holding mechanism move a second distance toward the cooling groove at a second speed; the first speed is greater than the second speed, the first distance is greater than the second distance, and the sum of the first distance and the second distance is the same as the preset distance.

3. The transfer method according to claim 1, characterized in that: In the first ascending step, the longitudinal moving mechanism is first controlled to move the holding mechanism a first distance away from the cooling groove, and then the longitudinal moving mechanism is controlled to move the holding mechanism a second distance away from the cooling groove; the first distance is smaller than the second distance, and the sum of the first distance and the second distance is the same as the preset distance; wherein the first distance is smaller than 20 mm.

4. The transfer method according to claim 1, characterized in that: After the first descending step, an auxiliary movable part of the fixing mechanism and the movable part correspond to the two sides of the supporting structure; in the hanging step, the processing device controls the hook structure to pass through the hanging hole, and controls the auxiliary movable part to move in the direction of the hook structure so that the auxiliary movable part abuts against one end of the movable part.

5. The transfer method according to claim 1, characterized in that: In the second moving step, the multi-axial robot arm is controlled to move the transfer device to above another cooling tank located at the target position, and after the second moving step, the following steps are further included: a second descending step: controlling the longitudinal moving mechanism to move the holding mechanism along the longitudinal direction toward the cooling groove by the preset distance to place the article into the cooling groove; A releasing step: controlling the holding mechanism so that the hook structure leaves the hanging hole; a second ascending step: controlling the longitudinal moving mechanism so that the holding mechanism moves the preset distance in a direction away from the cooling slot.

6. A transfer device, characterized in that: The transfer device is used to take an object out of a cooling tank of an immersion cooling device, or to place the object into the cooling tank; the transfer device comprises: a processing device; one body; A clamping module, comprising: a longitudinal movement mechanism connected to the body; a holding mechanism connected to the longitudinal moving mechanism, the holding mechanism comprising: a driving assembly; a moving member having a hook structure, the moving member being connected to the driving assembly, the driving assembly being capable of driving the moving member to move relative to the body; Wherein, the processing device can control the longitudinal moving mechanism so that the holding mechanism moves toward the object disposed in the cooling tank, and the processing device can control the driving assembly so that the hook structure passes through a hanging hole of a supporting structure of the object; Two first guiding mechanisms are disposed on both sides of the body, and the two first guiding mechanisms are used to guide the deviation of the article in a thickness direction; Two second guiding mechanisms are arranged on both sides of the body, the processing device is electrically connected to the two second guiding mechanisms, and the processing device can control the two second guiding mechanisms to approach each other to correct the deviation of the article in a width direction; Wherein, the processing device can control the longitudinal moving mechanism so that the article held by the holding mechanism passes through two first guiding mechanisms and two second guiding mechanisms.

7. The transfer device according to claim 6, characterized in that: The processing device can perform a retrieval procedure, the retrieval procedure comprising the following steps: A first descending step: controlling the longitudinal moving mechanism to move the holding mechanism along a longitudinal direction toward the cooling slot by a preset distance; A hanging step: controlling the driving assembly to allow the hook structure to pass through the hanging hole; A first ascending step: controlling the longitudinal moving mechanism so that the holding mechanism on which the article is hung moves the preset distance in the direction away from the cooling groove, and the article passes through two first guiding mechanisms and two second guiding mechanisms to correct the deviation of the article in a thickness direction and a width direction; a waiting step: waiting for a preset time so that the coolant on the article leaves the article.

8. The transfer device according to claim 7, characterized in that: When the processing device executes the first descending step, it first controls the longitudinal moving mechanism so that the holding mechanism moves a first distance toward the cooling groove at a first speed, and then controls the longitudinal moving mechanism so that the holding mechanism moves a second distance toward the cooling groove at a second speed; the first speed is greater than the second speed, the first distance is greater than the second distance, and the sum of the first distance and the second distance is the same as the preset distance.

9. The transfer device according to claim 7, characterized in that: When the holding mechanism holds the article and the two first guiding mechanisms clamp the two sides of the article, the processing device can perform an insertion procedure, which includes the following steps: a second descending step: controlling the longitudinal moving mechanism to move the holding mechanism along the longitudinal direction toward the cooling groove by the preset distance to place the article into the cooling groove; A releasing step: controlling the holding mechanism so that the hook structure leaves the hanging hole; a second ascending step: controlling the longitudinal moving mechanism so that the holding mechanism moves the preset distance in a direction away from the cooling slot.

10. The transfer device according to claim 6, characterized in that: Each of the hook structures includes a longitudinal arm and a transverse arm. The transverse arm is formed by extending from one end of the longitudinal arm. One side of the transverse arm is concave to form a groove, and the groove is used to accommodate a part of the hanging hole.

11. The transfer device according to claim 6, characterized in that: The holding mechanism also includes an auxiliary movable member, which is connected to the driving component; the auxiliary movable member and the movable member can be controlled by the processing device to approach or move away from each other; wherein the processing device can control the hook structure to pass through the hanging hole, and control the auxiliary movable member to move in the direction of the hook structure so that the auxiliary movable member abuts against one end of the movable member.

12. The transfer device according to claim 6, characterized in that: Each of the second guiding mechanisms includes a driver, a movable part and a plurality of guide wheels; the driver is arranged on the main body, the processing device is electrically connected to the driver, the movable part is connected to the driver, and the driver can move the movable part relative to the main body; each of the guide wheels is rotatably arranged on the movable part; the processing device can control two of the drivers to move the two movable parts in a direction close to each other, so that the plurality of guide wheels arranged on the two movable parts respectively press against the two sides of the object.

13. The transfer device according to claim 6, characterized in that: Each of the first guiding mechanisms includes a fixed plate, a fixed shaft, a guide member and an elastic member, one end of the fixed shaft is fixed to the fixed plate, and the guide member is sleeved on the fixed shaft. One end of the elastic member is fixed to the other end of the fixed shaft, and the other end of the elastic member is fixed to one side of the guide member, and each guide member has an annular guide surface on the side facing the fixed plate; wherein, when the object is hung on the holding mechanism and the holding mechanism passes through the two first guiding mechanisms, the object will press against the annular guide surface of each guide member, and each elastic member will be pressed against by the guide member, thereby generating elastic deformation.

14. The transfer device according to claim 13, characterized in that: Each of the guide members is rotatably pivoted to the fixed shaft; when the object is hung on the holding mechanism and passes through the two first guiding mechanisms, each of the guide members can be pushed by the object and rotate relative to the fixed shaft.

15. The transfer device according to claim 14, characterized in that: Each of the guide members includes a guide portion and a holding portion, the outer diameter of the guide portion gradually decreases from one end close to the elastic member to the other end, and the annular guide surface is formed on the outer side of the guide portion. The outer diameter of the holding portion is connected to the end of the guide portion with the smallest outer diameter, and the outer diameter of the holding portion does not change; the two holding portions are used to abut against the two sides of the object clamped by the clamping module.

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