Handling device and handling method for handling a heat dissipating assembly

Abstract

This application discloses a handling device and method for handling heat dissipation components, relating to the field of liquid-cooled server technology. The heat dissipation component to be handled is placed in a groove of a carrier placed on a buffer platform. The carrier is located on the buffer platform. The heat dissipation component includes: at least one cold plate arranged side by side in a first direction, two liquid infusion pipes connecting the cold plate in a second direction perpendicular to the first direction, and a connecting rod connected to the cold plate, the connecting rod having a handle. The handling device includes: a robotic arm; a lifting mechanism disposed at the operating end of the robotic arm, suitable for lifting the handle; and a clamping mechanism disposed at a distance from the lifting mechanism along the second direction at the operating end, suitable for extending into the groove to clamp the side by side extensions of the two liquid infusion pipes. The robotic arm drives the lifting mechanism and the clamping mechanism to disengage at least one cold plate and two liquid infusion pipes from the groove, thereby handling the heat dissipation component from the buffer platform to the target area.

Description

Technical Field

[0001] This application relates to the field of liquid-cooled server technology, and in particular to a handling device and method for handling heat dissipation components. Background Technology

[0002] Liquid-cooled servers have become crucial computing power providers in major data centers, artificial intelligence, cloud computing, and scientific research. As core equipment supporting various network services, data processing, and business operations, their importance is self-evident. From everyday search engines and social media to complex enterprise business systems, the stable operation of liquid-cooled servers is indispensable. The liquid-cooled heat dissipation components within these servers are manufactured with highly sophisticated processes and are expensive, making them key components for ensuring efficient heat dissipation and stable operation.

[0003] Currently, the assembly of liquid-cooled heat sink components mainly relies on manual operation. Operators need to precisely transport and assemble the components into the motherboard of the liquid-cooled server chassis. However, due to high operator turnover, inexperienced operators may cause damage to the delicate liquid-cooled heat sink components or motherboard due to improper handling during assembly. This not only affects the safety and reliability of the liquid-cooled server but may also lead to a decline in server quality, increasing enterprise costs and the risk of customer complaints. Therefore, improving the automation and standardization of liquid-cooled heat sink assembly has become a crucial issue that the industry urgently needs to address. Summary of the Invention

[0004] This application provides a handling device and method for handling heat dissipation components, in order to solve at least one of the technical problems in the related art, such as low assembly accuracy of liquid-cooled cold plate heat dissipation components caused by manual operation, easy damage to components, low assembly efficiency, and unstable product quality due to differences in operator skills.

[0005] This application provides a transport device for transporting a heat dissipation component. The heat dissipation component to be transported is disposed in a groove of a carrier placed on a buffer platform. The heat dissipation component includes: at least one cold plate arranged side by side in a first direction, an infusion pipe communicating with the cold plate in a second direction perpendicular to the first direction, and a connecting rod connected to the cold plate, the connecting rod having a handle. The heat dissipation component transport device includes: a robotic arm; a lifting mechanism disposed at the operating end of the robotic arm, adapted to lift the handle; and a clamping mechanism disposed at a distance from the lifting mechanism along the second direction at the operating end, adapted to extend into the groove to clamp the parallel extensions of the infusion pipe. The robotic arm drives the lifting mechanism and the clamping mechanism to disengage the cold plate and the infusion pipe from the groove, transporting the heat dissipation component from the buffer platform to a target area.

[0006] This application also provides a method for transporting a heat dissipation component using any of the above-described transport devices, comprising: acquiring a first image of the heat dissipation component to be transported; obtaining at least two feature points in the first image that can characterize the posture of the heat dissipation component; matching the at least two feature points with an environment model to determine the pose of the heat dissipation component; determining the movement path of the robotic arm based on the pose, and generating a drive command based on the movement path; the robotic arm moving the lifting mechanism and the clamping mechanism to a target position in response to the drive command; controlling the lifting mechanism to lift at least one cold plate on the buffer platform and controlling the clamping mechanism to clamp two infusion tubes in response to the target position; and controlling the robotic arm to transport the heat dissipation component to a target area.

[0007] The handling device provided in this application uses a lifting mechanism to raise the handle, thereby lifting the cold plate. A clamping mechanism then holds the infusion tubing. The lifting and clamping mechanisms work together to achieve synchronous handling of the entire heat dissipation assembly. This avoids problems such as cold plate deformation and infusion tubing twisting caused by improper operation or uneven force during traditional manual handling, ensuring the structural integrity and functional stability of the heat dissipation assembly. Using a robotic arm as the driving component controls the working trajectory of the lifting and clamping mechanisms, allowing the cold plate and infusion tubing to smoothly detach from the groove. This reduces vibration and impact during handling, not only reducing reliance on manual operation, but also lowering labor costs and operator workload, especially in repetitive and labor-intensive production environments, while improving the consistency and reliability of handling operations. Attached Figure Description

[0008] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 A perspective view of a heat dissipation component and carrier provided for an embodiment of this application shows the heat dissipation component detached from the carrier;

[0010] Figure 2 This is a top view of a heat dissipation component and a carrier provided in an embodiment of this application, showing the state in which the heat dissipation component is disposed on the carrier;

[0011] Figure 3 A perspective view of a heat dissipation component provided in an embodiment of this application;

[0012] Figure 4A top view of a conveying device provided in an embodiment of this application;

[0013] Figure 5 A perspective view of a conveying device provided in an embodiment of this application;

[0014] Figure 6 for Figure 5 A magnified view of a portion of the image;

[0015] Figure 7 A partial perspective view of a conveying device provided for an embodiment of this application also shows a heat dissipation component and a carrier;

[0016] Figure 8 A partial perspective view of a conveying device provided in an embodiment of this application;

[0017] Figure 9 for Figure 8 An exploded view of a portion of the conveying device shown;

[0018] Figure 10 A perspective view of the lifting mechanism provided in the embodiments of this application;

[0019] Figure 11 A perspective view of the first clamping assembly provided in an embodiment of this application;

[0020] Figure 12 A perspective view of the second clamping assembly provided in an embodiment of this application;

[0021] Figure 13 A flowchart illustrating a method for transporting a heat dissipation component according to an embodiment of this application.

[0022] The above figures include the following reference numerals:

[0023] 1. Handling device; 11. Robotic arm; 111. Mounting base; 112. Flange; 12. Lifting mechanism; 121. Bracket; 1211. First side plate; 122. First drive unit; 123. Lifting component; 1231. First connecting component; 1232. First extension component; 1233. Body; 1234. Limiting component; 1235. Reinforcing rib; 124. First position sensor; 125. Limiting component; 126. Buffer component; 13. Clamping mechanism; 131. First clamping assembly; 1311. First mounting bracket; 1312. Second drive unit; 1313. Spacing part; 1314. Clamping part; 1315. Second connecting component; 1316. Second extension component; 317. Second side plate; 1318. Limiting block; 1319. Buffer block; 1320. Second position sensor; 132. Second clamping assembly; 1321. Second mounting bracket; 1322. Gripper; 1323. Probe; 14. First camera; 15. Distance sensor; 16. Second camera; 17. Solenoid valve; 2. Heat dissipation assembly; 21. Cold plate; 22. Infusion pipeline; 221. Connecting end; 23. Connecting rod; 231. Through hole; 24. Handle; 241. Side wall; 242. Top wall; 25. Connecting pipeline; 3. Carrier; 31. Groove; 32. Receiving slot; 33. Protrusion; 4. Buffer platform; 5. Conveying device; 6. Liquid-cooled server; 7. Chassis carrier. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0025] It should be noted that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "installed," "connected," and "linked" should be interpreted broadly, for example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; they can be internal connections between two elements. The terms "parallel," "perpendicular," and "equal" include the described situation and situations similar to the described situation, the range of which is within an acceptable deviation range, wherein the acceptable deviation range is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, where an acceptable deviation range for approximate parallelism can be, for example, within 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, where an acceptable deviation range for approximate perpendicularity can also be, for example, within 5°. "Equal" includes absolute equality and approximate equality, where an acceptable deviation range for approximate equality can be, for example, a difference between the two equal items being less than or equal to 5% of either one. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Reference Figure 1 As shown, the vehicle has a first direction (Y direction), a second direction (X direction), and a third direction (Z direction). The second direction can be understood as the length direction of the vehicle, the first direction as the width direction, and the third direction as the width direction. Unless otherwise specified, the second direction, first direction, and third direction can be referred to as... Figure 1 As shown.

[0028] The embodiments of this application provide a transport device and a transport method for transporting heat dissipation components. The transport device for transporting heat dissipation components is described in detail below, taking into account its structure and working principle.

[0029] Figure 1A perspective view of a heat dissipation component and carrier provided for an embodiment of this application shows the heat dissipation component detached from the carrier; Figure 2 This is a top view of a heat dissipation component and a carrier provided in an embodiment of this application, showing the state in which the heat dissipation component is disposed on the carrier; Figure 3 A perspective view of a heat dissipation component provided in an embodiment of this application; Figure 4 A top view of a conveying device provided in an embodiment of this application; Figure 5 A perspective view of a conveying device provided in an embodiment of this application; Figure 6 for Figure 5 A magnified view of a portion of the image.

[0030] like Figures 1 to 6 As shown, as one aspect of this application embodiment, a transport device 1 for transporting a heat dissipation component is provided. The heat dissipation component 2 to be transported is disposed in a groove 31 of a carrier 3 placed on a buffer platform 4. The heat dissipation component 2 includes at least one cold plate 21 arranged side-by-side in a first direction, two infusion pipes 22 communicating with the cold plate 21 in a second direction perpendicular to the first direction, and a connecting rod 23 connected to the cold plate 21, wherein the connecting rod 23 has a handle 24. The transport device 1 includes a robotic arm 11, a lifting mechanism 12, and a clamping mechanism 13. The lifting mechanism 12 is disposed at the operating end of the robotic arm 11 and is adapted to lift the handle 24. The clamping mechanism 13 is disposed at the operating end along the second direction, spaced apart from the lifting mechanism 12, and is adapted to extend into the groove 31 to clamp the side-by-side extensions of the infusion pipes 22. The robotic arm 11 drives the lifting mechanism 12 and the clamping mechanism 13, causing the cold plate 21 and the infusion pipes 22 to detach from the groove 31, transporting the heat dissipation component 2 from the buffer platform 4 to the target area.

[0031] According to the embodiment of this application, the handling device 1 lifts the handle 24 via the lifting mechanism 12, causing at least one cold plate 21 to be lifted (moving upwards along a third direction). The infusion pipe 22 is clamped by the clamping mechanism 13. The lifting mechanism 12 and the clamping mechanism 13 cooperate to achieve the overall synchronous handling of the heat dissipation assembly 2, avoiding problems such as deformation of the cold plate 21 and twisting of the infusion pipe 22 caused by improper operation or uneven force during traditional manual handling, thus ensuring the structural integrity and functional stability of the heat dissipation assembly 2. The robotic arm 11 is used as the driving component to control the working trajectory of the lifting mechanism 12 and the clamping mechanism 13, so that the cold plate 21 and the infusion pipe 22 can be smoothly disengaged from the groove 31, reducing vibration and impact during handling. This not only reduces reliance on manual operation, but also reduces labor costs and the labor intensity of operators, especially in production environments with high repetition and high labor intensity, while improving the consistency and reliability of handling operations.

[0032] In the embodiments of this application, such as Figures 1 to 3As shown, the heat dissipation component 2, also known as the liquid-cooled cold plate heat dissipation component, is a component used to dissipate heat from heat-generating elements in electronic devices (e.g., liquid-cooled server 6, battery system, central processing unit (CPU), memory, graphics processing unit (GPU), etc.). The heat-generating element is in contact with at least one cold plate 21, and the heat generated by the heat-generating element is transferred to at least one cold plate 21. Coolant (e.g., water or other cooling medium) flows into the cavity within at least one cold plate 21 from one of the inlet pipes 22, exchanges heat with at least one cold plate 21, carries away the heat generated by at least one heat-generating element, and flows out from another inlet pipe 22, thus achieving heat dissipation for at least one heat-generating element.

[0033] In some embodiments, such as Figures 1 to 3 As shown, the heat dissipation assembly 2 includes a cold plate 21 and two liquid inlet pipes 22. Coolant flows into the cold plate 21 from one of the liquid inlet pipes 22, carrying away the heat generated by the heat-generating element, and flows out from the other liquid inlet pipe 22 to dissipate heat from the heat-generating element.

[0034] In other embodiments, such as Figures 1 to 3 As shown, the heat dissipation assembly 2 includes two cold plates 21 and two liquid inlet pipes 22. The two cold plates 21 are connected in series. Coolant flows into the first cold plate 21 from one of the liquid inlet pipes 22, carrying away the heat generated by the first heating element in contact with the first cold plate 21, then flows into the second cold plate 21, carrying away the heat generated by the second heating element in contact with the second cold plate 21, and finally flows out from the other liquid inlet pipe 22, thus achieving heat dissipation for the first and second heating elements. It should be understood that the embodiments of this application are not limited to this. For example, the heat dissipation assembly 2 may also include multiple cold plates 21 and two liquid inlet pipes 22, and the multiple cold plates 21 may be connected in series, parallel, or a combination of series and parallel connections.

[0035] like Figures 1 to 3 As shown, the heat dissipation assembly 2 may also include at least one connecting pipe 25. The connecting pipe 25 is used to connect two adjacent cold plates 21.

[0036] like Figures 1 to 3 As shown, multiple cold plates 21 are arranged side by side along a first direction, and a connecting rod 23 connects the multiple cold plates 21.

[0037] The outer diameter of the infusion tubing 22 is typically in the millimeter range, for example, it can be 4 mm to 12 mm.

[0038] Two inlet and outlet pipes 22 serve as inlet and outlet pipes, respectively. Each pipe has a fixed end connected to the cold plate 21, a connecting end 221 opposite to the fixed end, and an extension connecting the fixed end and the connecting end 221. A pipe joint can be provided at the connecting end 221. The pipe joint is used to connect to an external cooling system or liquid source device (not shown). Thus, the external cooling system or liquid source device, the two inlet pipes 22, the multiple cold plates, and the connecting pipes 25 form a loop, enabling the circulation of coolant and ensuring the proper functioning of the heat dissipation assembly 2.

[0039] like Figures 1 to 3 As shown, the handle 24 is disposed in the middle of the connecting rod 23. The handle 24 includes two side walls 241 facing each other in the first direction (Y direction) and a top wall 242 connected to the two side walls 241 at one end away from the connecting rod 23.

[0040] like Figure 1 and Figure 2 As shown, the heat dissipation component 2 to be assembled is placed in the groove 31 of the carrier 3. The upper surface of the carrier 3 is recessed downward to form the groove 31. The shape of the groove 31 roughly matches the shape of the heat dissipation component 2 to prevent the heat dissipation component 2 from shaking in the groove 31 and to avoid collision between the heat dissipation component 2 and the carrier 3, thereby preventing damage to the heat dissipation component 2 during storage and transportation.

[0041] With the heat dissipation component 2 positioned in the groove 31 of the carrier 3, the handle 24 protrudes from the upper surface of the carrier 3.

[0042] like Figure 2 As shown, the portion of the groove 31 used to hold the two infusion tubes 22 has multiple protrusions 33 (e.g., 1, 2 or 3) spaced apart along the second direction to prevent the two infusion tubes 22 from contacting each other.

[0043] like Figure 2 As shown, the carrier 3 has multiple receiving grooves 32, and the upper surface of the carrier 3 is recessed downward to form multiple receiving grooves 32, all of which are connected to the groove 31. The clamping end of the clamping mechanism 13 extends into the receiving groove 32 to clamp the two infusion tubes 22.

[0044] According to the embodiment of this application, the handling device 1 uses a lifting mechanism 12 to lift the handle 24, thereby lifting at least one heavier cold plate 21, and a clamping mechanism 13 to clamp two infusion pipes 22, thereby lifting the two lighter infusion pipes 22. This achieves a reasonable distribution of weight, avoiding excessive pressure on a single stress point and the risk of deformation or damage to the heat dissipation component 2 during handling. Dedicated mechanisms are provided for at least one cold plate 21 and two infusion pipes 22 with different weight characteristics, controlling the overall center of gravity distribution of the heat dissipation component 2. This prevents tilting, shaking, or imbalance of the heat dissipation component 2 during handling, improving the stability and safety of the handling process, reducing the frequent adjustment and correction time required in traditional handling methods, and increasing the efficiency of handling the heat dissipation component 2.

[0045] In some illustrative embodiments, such as Figure 4 As shown, the target area can be the upper surface of the liquid-cooled server 6. The transport device 1 lifts the heat dissipation component 2, which is mounted on the buffer platform 4, from the carrier 3 along a third direction and transports it to the liquid-cooled server 6 mounted on the conveyor device 5 (e.g., a high-speed conveyor line) according to a preset path. The liquid-cooled server 6 can also be mounted in the recessed space of the chassis carrier 7.

[0046] The high-speed assembly line adopts an automatic conveyor system with top and bottom circulation. Both ends of the conveyor are equipped with servo-driven automatic lifting mechanisms for chassis carriers 7. The liquid-cooled server 6 is placed in the middle of the chassis carrier 7 and assembled using clamping cylinders on both sides. The bottom steel plate of the fixed end of the robotic arm is fixed to the ground with expansion bolts. The robotic arm is fixed to the support plate of the support base by penetrating and clamping with anti-loosening screws and nuts. The heat dissipation component 2 and carrier 3 are placed on the upper surface of the buffer platform 4 and fixed to the bottom with adhesive. The base plate of the buffer platform 4 is fixed to the ground with expansion bolts.

[0047] The carrier 3 can be made of black anti-static foam material, and the heat dissipation component 2 is the core heat dissipation component of the liquid-cooled server 6.

[0048] According to embodiments of this application, such as Figures 1 to 6 As shown, the operating end of the robotic arm 11 is provided with a mounting base 111. The mounting base 111 can be connected to the robotic arm 11 via a flange 112.

[0049] According to embodiments of this application, such as Figures 1 to 6As shown, the aforementioned transport device 1 also includes a first camera 14 and a controller (not shown in the figure). The first camera 14 is disposed at the operating end and is suitable for acquiring a first image of the heat dissipation component 2 to be transported. The first image includes an image of the upper surface of the heat dissipation component 2. The controller is configured to acquire at least two feature points of the heat dissipation component 2 based on the first image, and determine the pose of the cold plate 21 based on the at least two feature points, so as to control the robotic arm 11 to move the lifting mechanism 12 and the clamping mechanism 13 to the target position according to the pose, and lift the cold plate 21 and clamp the two infusion pipes 22 to transport the heat dissipation component 2 from the carrier 3 on the buffer platform 4 to the target area.

[0050] According to embodiments of this application, the feature points include images of at least two through holes 231 formed on the connecting rod 23. It should be understood that embodiments of this application are not limited thereto.

[0051] The connecting rod 23 has a first surface facing the cold plate 21 and a second surface facing away from the cold plate 21. Multiple through holes 231 penetrate both the first and second surfaces.

[0052] As an example, the connecting rod 23 forms two through holes 231, one through hole 231 located on one side of the handle 24 along the first direction, and the other through hole 231 located on the other side of the handle 24 along the first direction. It should be understood that the embodiments of this application are not limited to this, for example, the two through holes 231 may both be formed on the same side, or the number of through holes 231 may also be 3 or 4.

[0053] As an example, the first camera 14 can be a charge-coupled device (CCD) camera.

[0054] The first camera 14 can also scan the code of the heat dissipation component 2 to be transported. The controller can bind the information of the heat dissipation component 2 to be transported based on the code and record the material information of the heat dissipation component 2.

[0055] According to the embodiment of the present application, the handling device 1 has a first camera 14 set at the operating end to capture a first image of the upper surface of the heat dissipation component 2. The controller uses at least two through holes 231 formed by the first image recognition link 23 as feature points to determine the pose of the heat dissipation component 2 based on the at least two feature points. Then, the controller controls the robotic arm 11 to guide the lifting mechanism 12 and the clamping mechanism 13 to move accurately to the target position, and simultaneously completes the lifting of the cold plate 21 and the clamping of the two infusion pipes 22, thus transporting the heat dissipation component 2 from the carrier 3 of the buffer platform 4 to the target area. This visually guided closed-loop control not only realizes the positioning of the heat dissipation component 2 and the fully automated operation, but also can adapt to the positional deviation of the heat dissipation component 2 in real time through at least two feature points, thereby improving the reliability and flexibility of the handling of the heat dissipation component 2, increasing production efficiency and reducing the need for manual intervention.

[0056] The controller may include a programmable logic controller (PLC) or a central processing unit (CPU), etc.

[0057] According to an embodiment of this application, the conveying device 1 further includes a distance sensor 15, which is adapted to determine the distance in the third direction between the operating end and the heat dissipation assembly 2.

[0058] As an example, distance sensor 15 can be mounted on mounting base 111.

[0059] In this embodiment, by setting a distance sensor 15, real-time measurement of the distance between the operating end and the heat dissipation component 2 in the third direction is achieved. This allows the controller to grasp the actual distance between the operating end and the heat dissipation component 2, enabling control of the movement distance of the robotic arm 11 in the third direction. This ensures that the lifting mechanism 12 and the clamping mechanism 13 can accurately reach the predetermined working height, avoiding operational failures due to height estimation errors. Furthermore, the distance sensor 15 and the planar positioning function of the first camera 14 complement each other, jointly constructing a complete three-dimensional spatial positioning system. The first camera 14 is responsible for identifying the position of the heat dissipation component 2 in the plane formed by the second and first directions, while the distance sensor 15 is responsible for confirming the position in the third direction. The combination of the first camera 14 and the distance sensor 15 enables the handling device 1 to achieve omnidirectional positioning in three-dimensional space, improving handling accuracy.

[0060] According to an embodiment of this application, the above-mentioned handling device 1 further includes a second camera 16, which is adapted to acquire a second image of the cold plate 21. The second image is acquired after the lifting mechanism 12 and the clamping mechanism 13 lift the heat dissipation component 2 along a third direction. The second image includes an image of the side surface of the cold plate 21.

[0061] In some illustrative embodiments, the second camera 16 may be mounted on the buffer platform 4 and spaced apart from the carrier 3.

[0062] In this embodiment, the second camera 16 acquires an image of the side surface of the cold plate 21 after it has been lifted, enabling all-round visual monitoring of the heat dissipation component 2. By using the second image containing the side surface image of the cold plate 21, if the cold plate 21 tilts, shifts, or deforms during the lifting process, a compensation value can be generated based on the relative position of the cold plate 21 relative to the lifting mechanism 12 in the second direction. Based on the compensation value, the preset moving path of the robotic arm 11 is compensated, and the relative pose deviation between the cold plate 21 and the lifting mechanism 12 is corrected, so that the heat dissipation component 2 can be accurately moved from the buffer platform 4 to the target area (e.g., moving the heat dissipation component 2 onto the liquid-cooled server 6).

[0063] Figure 7 A partial perspective view of a conveying device provided for an embodiment of this application also shows a heat dissipation component and a carrier; Figure 8 A partial perspective view of a conveying device provided in an embodiment of this application; Figure 9 for Figure 8 An exploded view of a portion of the conveying device shown. Figure 10 A perspective view of the lifting mechanism provided in the embodiments of this application.

[0064] According to embodiments of this application, such as Figures 7 to 10 As shown, the lifting mechanism 12 includes a bracket 121, a first drive unit 122, and two lifting members 123. The bracket 121 is disposed at the operating end, the first drive unit 122 is mounted on the bracket 121, and the two lifting members 123 are respectively connected to the first drive unit 122. The two lifting members 123 extend into the handle 24 along the second direction to lift the cold plate upward in a third direction perpendicular to the first and second directions.

[0065] The lifting members 123 are configured to move away from or relative to each other in a first direction under the drive of the first drive unit 122 (i.e., the two lifting members 123 can move closer to or further away from each other in the first direction) to abut against the two side walls 241 of the handle 24 respectively, and abut against the top wall 242 disposed between the two side walls 241 during the movement of the lifting mechanism 12 in a third direction, thereby lifting the cold plate 21.

[0066] The bracket 121 can be detachably connected to the mounting base 111 in a manner such as screwing or snap-fitting.

[0067] The first drive unit 122 can be any of a cylinder, hydraulic cylinder, motor, etc. For example, the first drive unit 122 can be a cylinder with dual output ends, and the lifting mechanism 12 also includes a solenoid valve 17, so as to control the cylinder by driving the solenoid valve 17 through the controller.

[0068] The first drive unit 122 can also drive the two lifting members 123 to move relative to each other in the second direction (i.e., move closer to each other) so as to separate from the two side walls 241 respectively.

[0069] In this embodiment, the two lifting members 123 move in opposite directions along the second direction under the drive of the first driving part 122 and abut against the side walls 241 of the handle 24, restricting the displacement of the handle 24 relative to the two lifting members in the second and first directions. When the lifting mechanism 12 moves along the third direction, the lifting member 123 abuts against the top wall 242 of the handle 24, restricting the displacement of the handle 24 relative to the two lifting members 123 in the third direction. Through the dual action of lateral abutment and top support, the handle 24 is fixed between the two lifting members 123, ensuring that even if vibration, impact or irregular movement is encountered during the handling process, the handle 24 and the lifting member 123 can still maintain close contact and will not produce relative displacement, thereby ensuring the stability and safety of the handling of the cold plate 21.

[0070] According to an embodiment of this application, each lifting member 123 includes a first connector 1231 and a first extension 1232. The first connector 1231 extends upward from the first drive portion 122 in a third direction. The first extension 1232 extends in a second direction from the end of the first connector 1231 opposite to the first drive portion 122 to extend between the two sidewalls 241 to lift the handle 24.

[0071] like Figures 7 to 10 As shown, the first connector 1231 extends along a third direction, and the first extension 1232 extends along a first direction, forming an L-shaped structure. This allows the lifting member 123 to extend between the two side walls 241 of the handle 24, forming stable multi-point contact with the handle 24. The first connector 1231, as the main load-bearing component, effectively absorbs and disperses vertical loads, while the first extension 1232 is responsible for contacting and supporting the side walls 241 of the handle 24 in the first direction. The first connector 1231 and the first extension 1232 work together to construct a three-dimensional lifting member 123 with a clear force transmission path and uniform force distribution, reducing the risk of local deformation or damage caused by stress concentration.

[0072] The first connector 1231 can be a plate-shaped or block-shaped structure.

[0073] like Figures 7 to 10 As shown, the first extension 1232 includes a body 1233 and a limiting member 1234. The body 1233 extends from one end of the first connector 1231 away from the first drive portion 122 in a first direction. The limiting member 1234 extends from one side of the body 1233 near the side wall 241 of the handle 24 in a third direction. The body 1233 may be a plate-like or block-like structure, and the limiting member 1234 may be a generally U-shaped structure. The opening of the U-shaped structure faces the side wall 241 of the handle 24, so that when the lifting assembly is lifting at least one cold plate 21, the side wall 241 of the handle 24 is confined within the opening of the U-shaped structure, limiting the relative position of the handle 24 with respect to the limiting member 1234 in the second direction.

[0074] With at least one cold plate 21 being lifted by the lifting assembly, the surface of the U-shaped structure opposite to the opening abuts against the side wall 241 of the handle 24 to show the relative position of the handle 24 with respect to the restraint 1234 in the first direction.

[0075] In such an embodiment, the size and shape of the first extension 1232 are matched with the size and shape of the side wall 241 of the handle 24, so that the two first extensions 1232 can provide sufficient contact area and ideal clamping force for the two side walls 241 respectively.

[0076] The surface of the U-shaped structure opposite the opening can be a textured or raised surface 33, thereby increasing the coefficient of friction between the surface and the side wall 241 of the handle 24, and further improving the stability of the lifting mechanism 12.

[0077] As an example, each lifting member 123 also includes a reinforcing rib 1235. The reinforcing rib 1235 is connected between the first connecting member 1231 and the body 1233, which improves the overall structural strength and rigidity of the lifting member 123 and effectively prevents bending deformation or structural instability that may occur when the lifting member 123 is subjected to heavy loads.

[0078] According to an embodiment of this application, the lifting mechanism 12 further includes two first position sensors 124, which are respectively installed on two first extensions 1232 and are suitable for confirming whether the two first extensions 1232 are located between the two side walls 241 of the handle 24.

[0079] Two first position sensors 124 can be respectively installed on two limiting members 1234 to confirm whether the two limiting members 1234 are located between the two side walls 241 of the handle 24.

[0080] In this embodiment, by installing first position sensors 124 on the two lifting members 123 respectively, it is possible to detect and confirm in real time whether the lifting member 123 is accurately located between the two side walls 241 of the handle 24, thus ensuring the accuracy of the lifting position and avoiding problems such as unstable clamping or gripping failure caused by position offset.

[0081] According to embodiments of this application, such as Figure 10 As shown, the bracket 121 has a first side plate 1211 extending in a third direction, and the lifting mechanism 12 also includes a limiting member 125 disposed on the first side plate 1211, which is adapted to limit the extension distance of at least one first connector 1231.

[0082] The limiting member 125 can be a limiting screw, and the limiting member 125 can be installed on the first side plate 1211 by means of thread engagement. The side of the limiting member 125 near the first connector 1231 can be positioned using a hexagonal nut to limit the length dimension of the limiting screw.

[0083] In some illustrative embodiments, the limiting member 125 can be aligned with the first connector 1231, limiting the extension distance of the first connector 1231 by restricting the displacement of the first connector 1231.

[0084] In such an embodiment, such as Figure 4 and Figure 10 As shown, by setting the limiting member 125, the maximum opening size of the two lifting members 123 in the first direction can be limited. When the conveying device 1 is moving the heat dissipation component 2 to the liquid-cooled server 6, the two lifting members 123 can be prevented from interfering with the motherboard components of the liquid-cooled server 6, and the excessive movement of the lifting mechanism 12 can also prevent structural damage or operational errors caused by excessive movement.

[0085] According to embodiments of this application, such as Figure 10 As shown, the lifting mechanism 12 also includes a buffer 126 disposed on the first side plate 1211, which is suitable for buffering the vibration caused by the first connecting member 1231 hitting the limiting member 125.

[0086] The buffer end of the buffer 126 is closer to the first connector 1231 than the limiting end of the limiting member 125. This allows the first connector 1231 to be buffered by the buffer 126 before contacting the limiting member 125 as it moves closer to the limiting member 125. This allows the impact force to be gradually absorbed and dispersed by the buffer 126, thus avoiding instantaneous high-intensity impact.

[0087] In an alternative embodiment, the buffer 126 may be disposed at the end of the limiting member 125 near the first connector 1231.

[0088] As an example, the buffer 126 can be made of a flexible material, such as rubber, polyurethane, or spring materials.

[0089] In this embodiment, by setting the buffer 126, the vibration and impact force caused when the first connecting member 1231 hits the limiting member 125 can be absorbed, reducing the noise and vibration during the operation of the lifting mechanism 12, improving the stability and operating accuracy of the lifting mechanism 12, and providing a more stable, reliable and low-maintenance-cost operating guarantee for the entire handling device.

[0090] According to embodiments of this application, such as Figures 7 to 9As shown, the clamping mechanism 13 includes a plurality of clamping components spaced apart along the second direction, each clamping component being adapted to clamp different parts of the extensions of the two infusion tubes 22 in the second direction.

[0091] In this embodiment, by arranging multiple clamping components at intervals in the second direction, different parts of the extensions of the two infusion pipes 22 are clamped by the multiple clamping components, forming multi-point clamping. This avoids the pipe shaking or displacement problems that may be caused by single-point clamping, improves the clamping stability of the infusion pipes 22, and ensures the fixed state of the heat dissipation component 2 during transportation.

[0092] Figure 11 A perspective view of the first clamping component provided in an embodiment of this application.

[0093] According to embodiments of this application, such as Figures 7 to 9 and Figure 11 As shown, the plurality of clamping assemblies includes a first clamping assembly 131 adapted to clamp the connecting ends 221 of two infusion tubing 22, wherein the connecting ends 221 extend in a second direction and are close to each other. The first clamping assembly 131 includes a first mounting bracket 1311, a second drive portion 1312, a spacer portion 1313, and two clamping portions 1314. The first mounting bracket 1311 is disposed at the operating end, the second drive portion 1312 is mounted on the first mounting bracket 1311, the spacer portion 1313 extends upward from the first mounting bracket 1311 in a third direction perpendicular to the first and second directions, and the two clamping portions 1314 are movably disposed on the first mounting bracket 1311 in the first direction and are configured to move relative to or away from each other under the drive of the second drive portion 1312 to cooperate with the spacer portion 1313 to release or clamp the two connecting ends 221.

[0094] According to an embodiment of this application, two clamping portions 1314 are respectively located on both sides of the spacer portion 1313 in a first direction.

[0095] The first mounting bracket 1311 can be detachably connected to the mounting base 111 (e.g., screwed or snap-fit).

[0096] In this embodiment, a stable clamping structure is formed by the three-point engagement of the spacer 1313 and the two clamping parts 1314, which can prevent the connection ends 221 of the two infusion tubes 22 from shaking or shifting during transportation. At the same time, the spacer 1313 keeps the two infusion tubes 22 apart during clamping, preventing direct contact between the two infusion tubes 22 and avoiding deformation of the two infusion tubes 22 during handling.

[0097] The second drive unit 1312 can be any of a cylinder, hydraulic cylinder, motor, etc. For example, the second drive unit 1312 can be a cylinder with dual output ends. The first clamping assembly 131 also includes a solenoid valve to control the cylinder by driving the solenoid valve through a controller.

[0098] The spacer 1313 can be plate-shaped or block-shaped. At the end of the spacer 1313 opposite to the first mounting bracket 1311, both sides along the first direction are recessed inward to form arc-shaped grooves. The groove surface matches the outer contour of the connector on the infusion pipeline 22. Thus, when the two clamping parts 1314 cooperate with the spacer 1313, they can form an arc-shaped contact surface that matches the outer contour of the infusion pipeline 22. This not only increases the clamping contact area and disperses the clamping pressure, effectively preventing damage or deformation to the surface of the infusion pipeline 22, but also improves the positioning accuracy of the infusion pipeline 22 through the guiding effect of the arc-shaped grooves, ensuring the stability and reliability of the clamping process.

[0099] According to an embodiment of this application, each clamping portion 1314 includes a second connector 1315 and a second extension 1316. The second connector 1315 extends upward from the second drive portion 1312, and the second extension 1316 extends from the end of the second connector 1315 opposite to the second drive portion 1312 near the spacer portion 1313, so that, driven by the second drive portion 1312, the connecting end 221 is clamped between the second extension 1316 and the spacer portion 1313.

[0100] The second connector 1315 is a plate-shaped or block-shaped structure.

[0101] The side of the second extension 1316 closest to the infusion tube 22 is recessed inward to form an arc-shaped structure that matches the outer contour of the connecting end 221. This further increases the contact area between the connecting end 221 and the second extension 1316, disperses the clamping pressure, and further improves the stability and reliability of the clamping process.

[0102] In this embodiment, the second connector 1315 extends upward from the second drive portion 1312, and the second extension 1316 extends from the end of the second connector 1315 toward the spacer portion 1313, forming an L-shaped structure. The second extension 1316 cooperates with the spacer portion 1313 to form a surrounding clamping of the connection end 221, so that the clamping force can be evenly distributed on the surface of the infusion tubing 22, avoiding deformation or damage to the infusion tubing 22 caused by local stress concentration. The L-shaped structure also provides good rigid support and positioning reference, ensuring stable clamping of the connection end 221 even when encountering vibration or impact during transportation.

[0103] According to an embodiment of this application, the first mounting bracket 1311 has a second side plate 1317 extending in a third direction, and the first clamping assembly 131 further includes a limiting block 1318. The limiting block 1318 is disposed on the second side plate 1317 and is adapted to limit the extension distance of at least one second connector 1315.

[0104] According to an embodiment of this application, the dimension of the receiving groove 32 of the carrier 3 in the second direction is larger than the dimension of the limiting member 1234 in the second direction, so as to allow the limiting member 1234 to extend into the receiving groove 32 and translate within the receiving groove 32 in the second direction to clamp the two infusion tubes 22.

[0105] The limiting block 1318 can be a limiting screw, and the limiting block 1318 can be installed on the second side plate 1317 by means of thread engagement. The side of the limiting block 1318 near the second connector 1315 can be positioned using a hexagonal nut to limit the length dimension of the limiting screw.

[0106] In some illustrative embodiments, the limiting block 1318 can be aligned with the second connector 1315 to limit the extension distance of the second connector 1315 by restricting the displacement of the second connector 1315.

[0107] In such an embodiment, by setting the limiting block 1318, the maximum opening size of the two second extensions 1316 in the first direction can be limited. When the transport device 1 transports the heat dissipation component 2 to the liquid-cooled server 6, the two second extensions 1316 can be prevented from interfering with the motherboard components in the liquid-cooled server 6, and the excessive movement of the two clamping parts 1314 can also prevent structural damage or operational errors caused by excessive movement.

[0108] The first clamping assembly 131 also includes a buffer block 1319. The buffer block 1319 is disposed on the second side plate 1317 and is suitable for buffering the vibration caused by the second connector 1315 impacting the limiting block 1318.

[0109] The buffer end of the buffer block 1319 is closer to the second connector 1315 than the limiting end of the limiting block 1318. This allows the second connector 1315 to be buffered by the buffer block 1319 before contacting the limiting block 1318 as it moves closer to the limiting block 1318. This allows the impact force to be gradually absorbed and dispersed by the buffer block 1319, thus avoiding instantaneous high-intensity impact.

[0110] In an alternative embodiment, the buffer block 1319 may be disposed at one end of the limiting block 1318 near the second connector 1315.

[0111] As an example, the buffer block 1319 can be made of a flexible material, such as rubber, polyurethane, or spring materials.

[0112] In this embodiment, by setting a buffer block 1319, the vibration and impact force caused when the second connector 1315 hits the limiting block 1318 can be absorbed, reducing the noise and vibration during the operation of the lifting mechanism 12, improving the stability and operating accuracy of the lifting mechanism 12, and providing a more stable, reliable and low-maintenance-cost operating guarantee for the entire handling device.

[0113] According to an embodiment of this application, the first clamping assembly 131 further includes at least one second position sensor 1320, which is mounted on at least one second extension 1316 and is adapted to determine whether the connecting end 221 is located between the clamping portion 1314 and the spacer portion 1313.

[0114] Two second position sensors 1320 can be installed on two second extensions 1316 respectively to confirm whether the two infusion tubes 22 are located between the two second extensions 1316 and the spacer 1313.

[0115] In this embodiment, by installing second position sensors 1320 on the two clamping parts 1314 respectively, it is possible to detect and confirm in real time whether the infusion tubing 22 is accurately located between the two second extensions 1316 and the spacer 1313, ensuring the accuracy of the clamping connection end 221 and avoiding the problem of clamping instability or grasping failure caused by position offset.

[0116] Figure 12 A perspective view of the second clamping component provided in an embodiment of this application.

[0117] According to embodiments of this application, such as Figures 7 to 9 ,as well as Figure 12 As shown, the plurality of clamping assemblies also include a second clamping assembly 132 disposed in a second direction between the first clamping assembly 131 and the lifting mechanism 12. The second clamping assembly 132 includes a second mounting bracket 1321 and two grippers 1322. The second mounting bracket 1321 is disposed at the operating end, and the two grippers 1322 are disposed on the second mounting bracket 1321. The two grippers 1322 are suitable for clamping or releasing the portions of the two infusion tubes 22 located between the cold plate 21 and the connecting end 221.

[0118] The second mounting bracket 1321 can be detachably connected to the mounting base 111 (e.g., screwed or snap-fit).

[0119] In some illustrative embodiments, the clamping mechanism 13 may include a second clamping component 132.

[0120] Alternatively, the clamping mechanism 13 may include two or three second clamping components 132. It should be understood that the embodiments of this application are not limited thereto, and the number of second clamping components 132 may also be four or five.

[0121] The gripper 1322 can be a pneumatic gripper, an electric gripper, or a hydraulic gripper. When the gripper 1322 is a pneumatic gripper, the second gripping assembly 132 can share a solenoid valve with the first gripping assembly 131 to achieve synchronous control of the first gripping assembly 131 and the second gripping assembly 132.

[0122] In such an embodiment, by providing at least one second clamping component 132 between the first clamping component 131 and the lifting mechanism 12, multi-point support for the infusion pipeline 22 is formed, which effectively disperses the weight of the infusion pipeline 22 and the stress generated during transportation. It is especially suitable for long or heavy infusion pipelines 22 and can prevent the infusion pipeline 22 from sagging or deforming.

[0123] By using multiple clamps to hold the two infusion pipes 22 between the cold plate 21 and the connecting end 221, the two infusion pipes 22 can be prevented from making direct contact, thus avoiding deformation of the two infusion pipes 22 during the moving process.

[0124] According to an embodiment of this application, each second clamping assembly 132 may further include two flexible probes 1323, one end of each probe 1323 being connected to two grippers 1322. With the two grippers 1322 clamping the two infusion tubing 22, the other ends of the two probes 1323 are respectively positioned on the two infusion tubing 22, thus confirming that the two infusion tubing 22 are respectively clamped by the two grippers 1322.

[0125] According to the disclosed embodiment of the handling device 1, the lifting mechanism 12 and multiple clamping components can all be independently modular designs, and can be detachably connected to the mounting base 111 disposed at the operating end of the robotic arm 11. The modular design facilitates maintenance and replacement; when a component wears out, it can be replaced individually without the entire device being scrapped, reducing maintenance costs and equipment downtime, and providing a reliable guarantee for the efficient and safe handling of the heat dissipation component 2. Furthermore, the modular design of the lifting mechanism 12 and multiple clamping components can be replaced according to the size of the heat dissipation component 2 to match heat dissipation components 2 of different sizes, improving the flexibility of the handling device 1.

[0126] Figure 13 A flowchart illustrating a method for transporting a heat dissipation component according to an embodiment of this application.

[0127] As another aspect of the embodiments of this application, a method for transporting a heat dissipation component using any of the above-described transport devices is provided, such as... Figure 13As shown, the handling method includes operations S130 to S135.

[0128] In operation S130, a first image of the heat dissipation component to be transported is acquired, and at least two feature points in the first image that can characterize the posture of the heat dissipation component are obtained.

[0129] In operation S131, the pose of the heat dissipation component is determined by matching at least two feature points with the environment model.

[0130] In operation S132, the movement path of the robotic arm is determined based on the pose, and drive commands are generated based on the movement path.

[0131] When operating S133, the robotic arm responds to the drive command and moves the lifting mechanism and gripping mechanism to the target position;

[0132] In operation S134, in response to the lifting mechanism and clamping mechanism being in the target position, the lifting mechanism is controlled to lift at least one cold plate located on the buffer platform, and the clamping mechanism is controlled to clamp two infusion tubing.

[0133] Operating S135 controls the robotic arm to move the heat dissipation components to the target area.

[0134] According to embodiments of this application, the environment model is pre-built and stored in the processor.

[0135] In this embodiment, by acquiring a first image of the heat dissipation component and extracting at least two feature points, and combining this with an environmental model for matching analysis, the spatial pose of the heat dissipation component is determined. The robotic arm movement path generated based on the pose of the heat dissipation component avoids the limitations of traditional fixed path planning and is applicable to complex and ever-changing production environments. The handling method provided in this application embodiment achieves full-process intelligentization from visual perception to path planning to execution control. It can automatically generate optimal drive commands based on the real-time acquired pose of the heat dissipation component. The robotic arm responds to the drive commands and moves precisely to the target position, reducing reliance on manual intervention and improving the automation level of the handling process. The coordinated control of the lifting mechanism and the clamping mechanism ensures that after reaching the target position, the two actions of lifting the cold plate and clamping the infusion pipeline can be completed simultaneously or sequentially, improving the operational efficiency of handling the heat dissipation component.

[0136] According to an embodiment of this application, before controlling the robotic arm to move the heat dissipation component to the liquid-cooled server located in the target area, the method further includes:

[0137] The control lifting mechanism raises the cold plate, and the control clamping structure lifts the two infusion pipes. After the heat dissipation component is separated from the carrier, a second image of the cold plate is acquired. The second image includes a side view of the heat dissipation component. The side view can be an image in a plane presented in a second direction and a third direction.

[0138] Based on the second image, a side view of the cold plate, including a cold plate, is obtained as a positioning point to determine the relative position of the cold plate with respect to the lifting mechanism in the second direction.

[0139] Compensation values ​​are generated based on the relative position, and the preset moving path of the robotic arm is compensated based on the compensation values ​​to correct the relative pose deviation between the cold plate and the target area.

[0140] In this embodiment, by acquiring a side view of the cold plate and extracting positioning points, the relative positional deviation between the cold plate and the clamping assembly can be determined. Compensation values ​​can be generated based on the detected relative positional deviation to correct the preset transfer path in real time, eliminating accumulated errors during assembly and ensuring precise docking of the cold plate and the liquid-cooled server. This avoids assembly failure or component damage due to positional deviations. Furthermore, this handling method can adapt to different batches and specifications of heat dissipation components, exhibiting versatility and adaptability, and improving the flexibility of the production line.

[0141] The Hamming distance between a feature point and the binary string of the corresponding feature point in the template is calculated as follows:

[0142] (1);

[0143] Where A is the binary string of the feature point; B is the binary string of the corresponding feature point in the template; D(A, B) represents the Hamming distance between binary strings A and B; A i It is the i-th bit of binary string A; B i is the i-th bit of the binary string B; ⊕ represents the XOR operation; n is the length of the binary string.

[0144] Hamming distance can be used to measure the similarity or matching degree between collected feature points and corresponding feature points in a template. The smaller the Hamming distance, the more similar the two feature points are.

[0145] The environment model includes templates and a liquid-cooled server model. The template is a pre-built image containing feature point information of the heat dissipation components. Template creation is accomplished through deep learning and at least 500,000 test iterations. The template is used to match the first actual captured image to identify and locate the heat dissipation components. The liquid-cooled server model refers to a precise model of the liquid-cooled server motherboard and its surrounding environment. The server model includes information such as motherboard integrated circuit routing, the size and height characteristics of each component, and layout, used to assist the positioning algorithm and ensure that the heat dissipation components can be accurately placed in the designated locations on the motherboard.

[0146] Suppose A(x, y) is the coordinate of a point in the learned template. A region centered at point A(x, y) with a diameter of (2m+l) is selected as the relevant window H. Assume H is within the template, and its position after horizontal movement is x, and its position after vertical movement is y. The resulting search region location map N is obtained after rotation by an angle η (η represents the angle difference between the first image and the template). H Define H and N H Related functions:

[0147] (2);

[0148] When K(H, N) H When the value of ) is at its minimum, we can consider H and N to be... H It matches.

[0149] Here, m represents the window scaling parameter. m is linearly related to the radius r of the feature point (i.e., the radius r of the through-hole 231) and the sharpness of the actual feature (i.e., the through-hole 231). When the feature point becomes larger or the actual feature is sharper, m increases relatively, expanding the window range, i.e., m = r. This is suitable for windows with a diameter d = 2 × r at the level of millions of pixels. When the feature point becomes smaller or the actual feature is blurry, m decreases relatively, shrinking the window range, i.e., m = 0.5r. This is suitable for windows with a diameter d = 2 × r at the level of tens of millions of pixels.

[0150] After determining that the first image matches the template, the two-dimensional information of two feature points can be obtained from the first image. The offset value of the first image relative to the template can be obtained by decoding the relevant parameters. The offset can be obtained from formulas (3) and (4):

[0151] (3);

[0152] (4);

[0153] Where η represents the angle difference between the first image and the template, xs and ys represent the width and height of the template, and xm and ym represent the position of the midpoint of the template.

[0154] The feature point matching process is as follows:

[0155] Read the reference image and the target image, and convert them into grayscale images. The reference image corresponds to the feature point image in the template, and the target image corresponds to the actual acquired image.

[0156] Initialize the feature detector using the Oriented Fast and Rotated BRIEF (ORB) feature point detection and descriptor extraction algorithm;

[0157] Feature points are detected from both the reference image and the target image using an ORB detector, and their descriptors are computed. A descriptor is a mathematical representation of a feature point. The reference image is the image within the target image, and the target image is the first image.

[0158] Initialize the brute-force matcher (BFMatcher), using the Hamming distance (NORM_HAMMING) as the matching metric, and enable cross-checking to improve matching accuracy.

[0159] The descriptors in the reference image and the target image are matched to find similar feature point pairs.

[0160] The matching results are sorted according to the matching distance; the smaller the distance, the higher the matching degree.

[0161] Select the top 10 (or 5 or 20, this number can be adjusted as needed) best matching results and plot these matching point pairs on the image to form the matching result image.

[0162] As an example, the processor issues a movement command, and the robotic arm responds to the movement command, driving the lifting mechanism and clamping structure to move above the cache platform. First, the first camera automatically identifies the code of the heat dissipation component, and the controller binds information to the heat dissipation component and records the material information of the heat dissipation component.

[0163] The first camera captures the first image of the heat dissipation component. Based on the first image, the controller determines the real-time position coordinates of the heat dissipation component relative to the operating end. At the same time, the distance sensor measures the height of the heat dissipation component relative to the operating end in real time and determines the height value that the lifting mechanism and the clamping mechanism should lower based on the height. When the distance sensor detects that the height value reaches the preset value, the controller controls the clamping structure and the lifting mechanism to clamp the infusion pipeline and at least one cold plate, respectively.

[0164] First condition: When the first clamping component grips the connection end, the second position sensor will detect the infusion tubing and feed the detection information back to the controller.

[0165] Second condition: When the liquid lifting mechanism raises the handle, the first position sensor will detect the handle and feed the detection information back to the controller.

[0166] Third condition: When the grippers in the second clamping assembly grasp the infusion tubing, the flexible probe will detect the infusion tubing and feed the detection information back to the controller.

[0167] When the first, second, and third conditions are all met, the controller sends a command to the robotic arm, which then moves the heat dissipation components to the second camera for secondary visual recognition and positioning.

[0168] The second camera acquires a second image of the heat dissipation component. Based on the second image, the controller confirms the position coordinates of the heat dissipation component, determines the relative position of the cold plate with respect to the first clamping part in the second direction, generates a compensation value based on the relative position, and compensates the preset moving path of the clamping component based on the compensation value to correct the relative pose deviation between the cold plate and the clamping component. This completes the automated intelligent clamping and moving of the heat dissipation component into the liquid-cooled server motherboard, completing one cycle of automated intelligent clamping and moving action. Then, the above action process is repeated to form a precise, efficient, stable and reliable closed-loop control logic.

[0169] The foregoing has provided a detailed description of a handling device and method for handling heat dissipation components provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A transport device for transporting a heat dissipation component, wherein the heat dissipation component to be transported is disposed in a groove of a carrier placed on a buffer platform, the heat dissipation component comprising: The device comprises at least one cold plate arranged side-by-side in a first direction, two infusion pipes communicating with the cold plate in a second direction perpendicular to the first direction, and a connecting rod connected to the cold plate, the connecting rod having a handle; characterized in that the conveying device includes: robotic arm; A lifting mechanism, located at the operating end of the robotic arm, is used to lift the handle; A clamping mechanism, spaced apart from the lifting mechanism along the second direction at the operating end, is adapted to extend into the groove to clamp the parallel extensions of the infusion tubing; The robotic arm drives the lifting mechanism and the clamping mechanism to disengage the cold plate and the infusion pipe from the groove, and transports the heat dissipation component from the buffer platform to the target area. The lifting mechanism includes: A bracket is mounted on the operating end; The first drive unit is mounted on the bracket; Two lifting members are respectively connected to the first driving part, and the two lifting members extend into the handle along the second direction to lift the cold plate upward in a third direction perpendicular to the first and second directions; The clamping mechanism includes: a plurality of clamping components spaced apart along a second direction, each clamping component being adapted to clamp different portions of the extensions of the two infusion tubings in a second direction; the plurality of clamping components include a first clamping component adapted to clamp the connecting ends of the two infusion tubings, wherein the connecting ends extend in the second direction and are close to each other; the plurality of clamping components further include a second clamping component spaced apart in the second direction between the first clamping component and the lifting mechanism; The first clamping component includes: A first mounting bracket is disposed at the operating end; The second drive unit is mounted on the first mounting bracket; The spacer extends upward from the first mounting bracket in a third direction perpendicular to the first and second directions; Two clamping portions are movably disposed on the first mounting bracket in a first direction and are configured to move relative to or away from each other under the drive of the second driving portion, so as to cooperate with the spacer portion to release or clamp the two connecting ends.

2. The conveying device according to claim 1, characterized in that, The lifting member is configured to move in opposite directions or relative to each other in a first direction under the drive of the first driving unit, so as to abut against the two side walls opposite to each other in the first direction of the handle, and abut against the top wall disposed between the two side walls during the movement of the lifting mechanism in a third direction, thereby lifting the cold plate.

3. The conveying device according to claim 2, characterized in that, Each of the aforementioned lifting components includes: A first connector extends upward from the first drive portion in the third party; A first extension extends in the second direction from one end of the first connector opposite to the first drive portion to extend between the two sidewalls to lift the handle.

4. The conveying device according to claim 3, characterized in that, The lifting mechanism also includes: Two first position sensors are respectively mounted on the two first extensions, and are adapted to confirm whether the two first extensions are located between the two sidewalls.

5. The conveying device according to claim 4, characterized in that, The support has a first side plate extending along the third direction, and the lifting mechanism further includes: A limiting member, disposed on the first side plate, is used to limit the extension distance of at least one of the first connecting members; A buffer element, disposed on the first side plate, is suitable for buffering vibrations caused by the first connecting member impacting the limiting member.

6. The conveying device according to claim 1, characterized in that, Each of the clamping portions includes: The second connector extends upward from the second drive unit in the third party; The second extension extends from one end of the second connector away from the second drive portion and close to the spacer portion, so that, driven by the second drive portion, the connecting end is clamped between the second extension and the spacer portion.

7. The conveying device according to claim 6, characterized in that, The first mounting bracket has a second side plate extending along the third direction, and the first clamping assembly further includes: A limiting block, disposed on the second side plate, is used to limit the extension distance of at least one of the second connecting members; A buffer block, disposed on the second side plate, is used to buffer the vibration caused by the second connector impacting the limiting block.

8. The conveying device according to claim 6, characterized in that, The first clamping component further includes: At least one second position sensor, mounted on at least one second extension, is adapted to determine whether the connecting end is located between the clamping portion and the spacer portion.

9. The conveying device according to claim 1, characterized in that, The second clamping assembly includes: A second mounting bracket is disposed at the operating end; Two grippers are disposed on the second mounting bracket, and the two grippers are adapted to clamp or release the two infusion tubing located between the cold plate and the connecting end.

10. The conveying device according to any one of claims 1-9, characterized in that, Also includes: A first camera, located at the operating terminal, is used to capture a first image of the heat dissipation component to be transported, the first image including an image of the upper surface of the heat dissipation component; The controller is configured to acquire at least two feature points of the heat dissipation component based on the first image, and determine the pose of the cold plate based on the at least two feature points, so as to control the robotic arm to move the lifting mechanism and the clamping mechanism to the target position according to the pose, and lift the cold plate and clamp the two infusion pipes to transport the heat dissipation component from the carrier on the buffer platform to the liquid-cooled server located in the target area.

11. The conveying device according to claim 10, characterized in that, The feature points include images of at least two through holes formed on the connecting rod; And / or, the conveying device further includes: A distance sensor is used to determine the distance between the operating terminal and the heat dissipation component in a third direction; A second camera is used to acquire a second image of the cold plate. The second image is acquired after the lifting mechanism and the clamping mechanism lift the heat dissipation component in a third direction. The second image includes an image of a side surface of the cold plate.

12. A method for transporting a heat dissipation component using the transport device according to claim 10 or 11, characterized in that, The transport method includes: Acquire a first image of the heat dissipation component to be transported, and obtain at least two feature points in the first image that can characterize the posture of the heat dissipation component; The pose of the heat dissipation component is determined by matching at least two feature points with the environment model. Based on the pose, the movement path of the robotic arm is determined, and drive commands are generated based on the movement path; The robotic arm responds to the drive command and moves the lifting mechanism and the clamping mechanism to the target position; In response to the lifting mechanism and the clamping mechanism being in the target position, the lifting mechanism is controlled to lift at least one of the cold plates located on the buffer platform, and the clamping mechanism is controlled to clamp the two infusion tubing. The robotic arm is controlled to move the heat dissipation component to the target area.

Images