Device for automatically scraping off server GPU peripheral residual glue and scraping method thereof

Abstract

The application provides a device for automatic scraping of residual glue around a server GPU and a glue scraping method thereof, and relates to the technical field of electronic component manufacturing equipment. The device comprises a conveying line, a clamping jaw, a positioning group, a mechanical arm, a scraper group and a glue removing group. The scraper group comprises a motorized turntable and cross-shaped arm tools. Each of the four ends of the arm tools is provided with a group of scraper bodies. The scraper body has a shovel blade surface and an inclined surface, and the intersection of the two surfaces forms a glue scraping tip. The positioning group comprises a transposition turntable and a positioning tool with a rectangular frame edge. The glue removing group comprises two symmetrical groups, each of which comprises a horizontal scraper with a slot angle and a floating group. The application drives four groups of scraper bodies in cross-shaped distribution by a mechanical arm, and synchronizes the double 90-degree rotation of the product transposition turntable and the scraper motorized turntable, so as to realize automatic and high-precision glue scraping of the four sides of the rectangular GPU. Meanwhile, the symmetrical glue removing group automatically cleans the residual glue of the scraper, and improves the glue scraping efficiency and quality as a whole.

Description

Technical Field

[0001] This invention relates to the field of electronic component manufacturing equipment technology, specifically to a device and method for automatically scraping off residual adhesive around rectangular electronic components such as server GPUs. Background Technology

[0002] In the packaging and manufacturing process of high-end electronic components such as server GPUs, excess adhesive often remains around the components, requiring scraping and cleaning. Existing automatic adhesive scraping equipment, such as the automatic adhesive scraping equipment disclosed in CN118080419B, includes a frame assembly and a feeding assembly, a turntable assembly, a first adhesive scraping assembly, a second adhesive scraping assembly, and a discharging assembly mounted on it. The turntable assembly has product stations, and the products are sequentially transferred to the feeding, adhesive scraping, and discharging operation areas by rotation. The products are fixed by negative pressure through a suction plate. However, in such equipment, the adhesive scraping components are fixedly arranged and can only scrape adhesive from specific locations on the product. For rectangular components like server GPUs that require scraping off residual adhesive from all four sides, multiple sets of adhesive scraping components or multiple product transfers are often necessary, resulting in large equipment size and high cost. At the same time, the problem of residual adhesive cleaning by the scraper itself is not solved. After scraping, residual adhesive will adhere to the blade surface. If it is not cleaned in time, it will affect the quality of the next scraping and may even transfer the residual adhesive to the cleaned area of ​​the product. In addition, the product fixing method relies on negative pressure adsorption. For GPU products with uneven surfaces or through holes, the negative pressure fixing effect is unstable. Displacement is prone to occur when the product is rotated to scrape the four sides, affecting the scraping accuracy. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide a device and method for automatically removing residual adhesive around server GPUs. The device employs a robotic arm to drive four sets of scraper bodies arranged in a cross shape, synchronized with the product repositioning turntable and the electric scraper turntable's dual 90° rotation. This achieves automated, high-precision scraping of adhesive from the four sides of a rectangular GPU. Simultaneously, symmetrically arranged adhesive removal groups automatically clean residual adhesive from the scrapers, and a floating group, in conjunction with upper and lower scrapers, achieves secondary cleaning and removal of residual adhesive, thus improving overall scraping efficiency and quality.

[0004] This invention provides the following technical solution: A device for automatically scraping adhesive residue around server GPUs includes a conveyor line, grippers, a positioning group, a robotic arm, a scraper group, and an adhesive removal group. The grippers are used to pick up products from the conveyor line and place them on the positioning group, and to return scraped products to the conveyor line. The positioning group is used to position and clamp the products. The scraper group is mounted on the drive end of the robotic arm and is used to scrape adhesive around the products positioned on the positioning group. The adhesive removal group is used to clean the residual adhesive adhering to the scraper group. In the scraping operation, the grippers pick up the products to be scraped from the conveyor line and place them on the positioning group. The robotic arm drives the scraper group to scrape adhesive from the products positioned on the positioning group. Afterwards, the adhesive removal group cleans the residual adhesive on the scraper group. After completing one cycle, the grippers move the scraped products back to the conveyor line and pick up the next product to be scraped, realizing automated cyclic operation. The scraper assembly includes an electric turntable mounted on the drive end of the robotic arm and a cross-shaped arm fixture mounted on the drive end of the electric turntable. The four ends of the arm fixture are evenly distributed around the rotation axis of the electric turntable, and each end is equipped with a set of scraper bodies. The four sets of scraper bodies correspond to the four rectangular sides of the product and are used to sequentially scrape glue from the four sides of the product. The scraper body has a strip-shaped structure, and the end away from the arm fixture includes a scraping surface and an inclined surface. The scraping surface and the inclined surface intersect to form a strip-shaped glue scraping tip. The positioning assembly includes a transposition turntable and a positioning fixture mounted on the drive end of the transposition turntable. The positioning fixture includes a base platform and a rectangular frame surrounding the base platform for limiting the side of the product. The bottom of the rectangular frame has a gap for the scraper body to pass through to scrape glue onto the end side of the product. The adhesive removal group consists of two symmetrically distributed groups. Each group includes a horizontal scraper and a floating assembly for mounting the horizontal scraper. The end of the horizontal scraper has a set of grooves. One side of the groove is used to contact the scraper surface, and the other side is used to contact the inclined surface. During adhesive removal, the robotic arm moves the scraper body to one end of the horizontal scraper through the arm fixture and inserts the scraper tip into the groove. By driving the scraper body along the strip line of the scraper tip through the groove, the residual adhesive on the inclined surface of the scraper body and the scraper surface is scraped off. This invention employs a robotic arm to drive four sets of scraper bodies arranged in a cross shape. Synchronous 90° rotation of the product repositioning turntable and the electric scraper turntable allows only one set of scrapers to sequentially scrape adhesive from all four sides of a rectangular GPU, eliminating the need for multiple fixed scraping components. This results in a compact structure that saves space and cost. Simultaneously, the positioning fixture utilizes a dual fixing mechanism of rectangular frame edge limiting and movable right-angle block cylinder clamping, overcoming the problem of displacement during product rotation caused by negative pressure adsorption in existing technologies. This ensures the stability of the GPU's position throughout the entire scraping process. Furthermore, two symmetrically distributed adhesive removal groups can simultaneously clean two sets of scraper bodies, achieving high cleaning efficiency. The grooved corner structure of the horizontal scraper precisely fits the scraper body's blade surface and inclined surface, ensuring thorough removal of residual adhesive. The X-axis and Y-axis springs of the floating group provide bidirectional flexible compensation, preventing rigid collisions that could damage the scraper during cleaning. The gap between the upper and lower scraper blades allows for secondary scraping of the horizontal scraper, causing residual adhesive to automatically fall off, forming a complete scraper, horizontal scraper, and residual adhesive removal chain.

[0005] Preferably, the positioning fixture further includes a set of mounting platforms, the bottom of which is mounted on the drive end of the transposition turntable, and the base is mounted on the top of the platform via a suspension. A set of clamping cylinders is also mounted on the mounting platform. The drive end of the clamping cylinders is connected to a set of movable right-angle blocks. The top of the movable right-angle blocks passes through the base and extends into the rectangular frame. Under the drive of the cylinders, the right-angled ends of the movable right-angle blocks align with a set of right-angled corners of the rectangular frame, thereby pressing the product tightly into the rectangular frame. When disassembling, it is only necessary to loosen the clamping cylinders, which is quite convenient.

[0006] Preferably, the floating assembly includes a horizontal push cylinder mounted on a bracket and a base block mounted on the drive end of the horizontal push cylinder. A set of X-axis sliders is slidably mounted on the base block via an X-axis slide rail. One end of the X-axis slider is connected to a side plate of the base block via an X-axis spring. A set of Y-axis sliders is slidably mounted on the X-axis slider via a Y-axis slide rail. One end of the Y-axis slider is connected to a side plate of the X-axis slider via a Y-axis spring. The horizontal scraper is mounted on the Y-axis slider. The elastic pressure not only prevents jamming but also provides better adaptability during glue removal.

[0007] Preferably, an upper scraper and a lower scraper are mounted on the bracket via two sets of support rods. The upper and lower scrapers have strip-shaped mounting holes at both ends and are secured to the support rods by mounting screws passing through the strip-shaped mounting holes. A gap is formed between the upper and lower scrapers to allow the horizontal scraper to pass horizontally. After the horizontal scraper removes the residual adhesive on the scraper body, the horizontal push cylinder is activated to drive the horizontal scraper out of the gap, so that the residual adhesive remaining on the horizontal scraper can be scraped off by the groove edge of the gap.

[0008] Preferably, the upper and lower scrapers are arranged with flared ends facing one end of the floating assembly, while the constricted ends of the upper and lower scrapers are provided with blades that abut against both sides of the horizontal scraper, so that the residual adhesive can be scraped off by the blades when the horizontal scraper is withdrawn.

[0009] Preferably, after the glue is scraped on one side of the product, the product is rotated 90° by the positioning turntable of the positioning group, and the arm fixture is rotated 90° by the electric turntable, so that the new side of the product is opposite to the corresponding scraper body. The robotic arm drives the arm fixture to approach the product again, and a new round of glue scraping treatment on the corresponding side of the product can be performed. The four sides of the product that are distributed in a rectangle correspond to the four scraper bodies for glue scraping treatment respectively.

[0010] The present invention also provides a method for automatically scraping off residual adhesive around a server GPU, using the device described in any of the above-mentioned embodiments, comprising the following steps: S1: The gripper picks up the GPU product to be coated with glue from the conveyor line and places it on the positioning fixture base of the positioning group. The GPU is limited by the rectangular frame. S2: The clamping cylinder drives the movable right-angle block to press the corner of the GPU product into the right-angle corner of the rectangular frame; S3: The robotic arm drives the scraper assembly to approach the product, and the electric turntable rotates the first set of scraper bodies to be opposite to the first side of the product. The scraper tip touches the end of the product, and the robotic arm drives the scraper tip to move along the product surface to scrape off the residual adhesive on the first side. S4: The positioning turntable drives the product to rotate 90°, and at the same time the electric turntable drives the arm fixture to rotate 90°, so that the second side of the product is opposite to the second set of scraper bodies, and repeat step S3 to scrape glue. S5: Repeat step S4 until all four sides of the product have been coated with adhesive. S6: The robotic arm moves the arm fixture between the two sets of horizontal scrapers of the adhesive removal group, so that the two sets of symmetrically distributed adhesive scraping tips are inserted into the corresponding groove corners. The robotic arm drives the scraper body to pass through the groove corners from bottom to top along the strip line of the adhesive scraping tips, scraping off the residual adhesive on the scraper body. Then, the electric turntable drives the arm fixture to rotate 90°, so that the other two sets of symmetrically distributed adhesive scraping tips are inserted into the corresponding groove corners, repeating the action of scraping off the residual adhesive on the scraper body. S7: The horizontal push cylinder drives the horizontal scraper to exit the gap between the upper and lower scrapers, and the blades of the upper and lower scrapers scrape off the residual adhesive remaining on the horizontal scraper. S8: The gripper moves the product that has been coated with glue back to the conveyor line and picks up the next product to be coated with glue, returning to step S1.

[0011] The beneficial effects of this invention are as follows: This invention provides a device and method for automatically removing residual adhesive around server GPUs. It uses a robotic arm to drive four sets of scraper bodies arranged in a cross shape, and coordinates the synchronous 90° rotation of the product repositioning turntable and the electric scraper turntable to achieve efficient and automated adhesive removal on the four sides of the rectangular GPU. At the same time, the symmetrically arranged adhesive removal group automatically cleans the residual adhesive from the scraper, and the floating group, together with the upper and lower scraper blades, achieves secondary cleaning and removal of residual adhesive, thus improving the overall efficiency and quality of adhesive removal. When adhesive scraping is required, the gripper first picks up the GPU product to be scraped from the conveyor line and places it on the positioning fixture base of the positioning group. The GPU is limited by a rectangular frame. Then, the clamping cylinder drives the movable right-angle block to press the corner of the GPU product into the right-angle corner of the rectangular frame. Next, the robotic arm drives the scraper assembly to approach the product, and the electric turntable rotates the first set of scraper bodies to face the first side of the product. The scraper tip abuts against the end of the product, and the robotic arm moves the scraper tip along the product surface to scrape off the residual adhesive on the first side. Subsequently, the positioning group's transposition turntable drives the product to rotate 90°, and at the same time, the electric turntable drives the arm fixture to rotate 90°, so that the product... The second side of the product is opposite to the second set of scraper bodies. The above scraping steps are repeated until all four sides of the product are scraped. After scraping, the robotic arm moves the two sets of symmetrical scraper bodies to one end of the horizontal scraper of the two sets of glue removal groups, so that the scraper tip is inserted into the groove corner. The robotic arm drives the scraper body to pass through the groove corner from bottom to top along the strip line of the scraper tip, scraping off the residual glue on the scraper body. Finally, the horizontal push cylinder drives the horizontal scraper to exit the gap between the upper and lower scraper blades. The blades of the upper and lower scraper blades scrape off the residual glue remaining on the horizontal scraper. The gripper moves the product that has been scraped back to the conveyor line and picks up the next product to be scraped. This cycle is repeated. Attached Figure Description

[0012] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structural distribution of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention in the adhesive scraping state; Figure 3 This is a schematic diagram of the positioning assembly of the present invention; Figure 4 yes Figure 1 A schematic diagram of the structure after the base platform has been removed. Figure 5 This is a schematic diagram of the symmetrical distribution of the adhesive removal group in this invention; Figure 6 This is a schematic diagram of the structure of a set of adhesive removal units of the present invention; Figure 7 yes Figure 6 A structural diagram from another perspective; Figure 8 This is a schematic diagram of another embodiment of the upper and lower scraper blades of the present invention.

[0013] Markings in the diagram: 1. Conveyor line; 2. Gripper; 3. Positioning assembly; 4. Robotic arm; 5. Scraper assembly; 6. Degumming assembly; 31. Turntable; 32. Positioning fixture; 321. Base platform; 322. Rectangular frame; 323. Opening; 324. Mounting platform; 325. Clamping cylinder; 326. Movable right-angle block; 51. Electric turntable; 52. Arm fixture; 53. Scraper body; 531. Scraper face; 532. Tilting... 533. Inclined surface; 61. Horizontal scraper; 62. Floating assembly; 611. Groove corner; 621. Bracket; 622. Horizontal push cylinder; 623. Base block; 624. X-axis slide rail; 625. X-axis slider; 626. X-axis spring; 627. Y-axis slide rail; 628. Y-axis slider; 629. Y-axis spring; 63. Upper scraper; 64. Lower scraper; 65. Support rod; 66. Strip mounting hole. Detailed Implementation

[0014] Example 1 like Figure 1-7 As shown, a device for automatically scraping residual adhesive around a server GPU includes a conveyor line 1, grippers 2, a positioning group 3, a robotic arm 4, a scraper group 5, and a de-adhesive group 6. The grippers 2 are used to pick up products from the conveyor line 1 and place them in the positioning group 3, and to return scraped products to the conveyor line 1. The positioning group 3 is used to position and clamp the products. The scraper group 5 is mounted on the drive end of the robotic arm 4 and is used to scrape adhesive around the products positioned in the positioning group 3. The de-adhesive group 6 is used to clean residual adhesive adhering to the scraper group 5. During the scraping process, the grippers 2 pick up the product to be scraped from the conveyor line 1 and place it on the positioning group 3. The robotic arm 4 drives the scraper group 5 to scrape adhesive from the product positioned in the positioning group 3. Then, the de-adhesive group 6 cleans the residual adhesive on the scraper group 5. After one cycle, the grippers 2 move the scraped product back to the conveyor line 1 and pick up the next product to be scraped, achieving automated cyclic operation.

[0015] The scraper assembly 5 includes an electric turntable 51 mounted on the drive end of the robotic arm 4 and a cross-shaped arm fixture 52 mounted on the drive end of the electric turntable 51. The four ends of the arm fixture 52 are evenly distributed around the rotation axis of the electric turntable 51, and each end is equipped with a set of scraper bodies 53. The four sets of scraper bodies 53 correspond to the four rectangular sides of the product and are used to sequentially scrape glue from the four sides of the product. The scraper body 53 has a strip-shaped structure, and the end away from the arm fixture 52 includes a scraper surface 531 and an inclined surface 532. The scraper surface 531 and the inclined surface 532 intersect to form a strip-shaped scraper tip 533.

[0016] The positioning group 3 includes a shift turntable 31 and a positioning fixture 32 installed on the drive end of the shift turntable 31. The positioning fixture 32 includes a base 321 and a rectangular frame 322 surrounding the base 321 for limiting the side of the product. The bottom of the rectangular frame 322 has a gap 323 for the scraper body 53 to pass through to scrape glue on the end side of the product.

[0017] The adhesive removal group 6 consists of two symmetrically distributed groups. Each adhesive removal group 6 includes a horizontal scraper 61 and a floating group 62 for mounting the horizontal scraper 61. The end of the horizontal scraper 61 is provided with a set of grooves 611. One side of the groove 611 is used to fit with the scraper surface 531, and the other side is used to fit with the inclined surface 532. During adhesive removal, the robotic arm 4 moves the scraper body 53 to one end of the horizontal scraper 61 through the arm tool 52 and inserts the scraper tip 533 into the groove 611. By driving the scraper body 53 along the strip line of the scraper tip 533 through the groove 611, the residual adhesive on the inclined surface 532 and the scraper surface 531 of the scraper body 53 is scraped off.

[0018] A method for automatically scraping residual adhesive around a server GPU, using the aforementioned equipment, includes the following steps: When scraping is required, the gripper 2 first picks up the GPU product to be scraped from the conveyor line 1 and places it on the base 321 of the positioning fixture 32 of the positioning group 3. The GPU is limited by the rectangular frame 322. Then, the clamping cylinder 325 drives the movable right-angle block 326 to press the corner of the GPU product into the right-angle corner of the rectangular frame 322. Then, the robotic arm 4 drives the scraper group 5 to approach the product. The electric turntable 51 rotates the first set of scraper bodies 53 to face the first side of the product, and the scraper tip 533 abuts against the end side of the product. The robotic arm 4 moves the scraper tip 533 along the product surface to scrape off the residual adhesive on the first side. Subsequently, the positioning turntable 31 of the positioning group 3 drives the product to rotate 90°, and at the same time, the electric turntable 51 drives the arm fixture 52 to rotate 90°, so that the second side of the product is aligned with the second set of scraper bodies 53. Yes, repeat the above scraping steps until all four sides of the product are scraped. After scraping, the robotic arm 4 moves two sets of symmetrical scraper bodies 53 between the two sets of adhesive removal groups 6 horizontal scrapers 61, so that the scraper tip 533 is inserted into the groove corner 611. The robotic arm 4 drives the scraper body 53 to scrape the residual adhesive on the scraper body 53 from bottom to top along the strip line of the scraper tip 533 through the groove corner 611. Then, the electric turntable 51 drives the arm tooling 52 to rotate 9. 0°, so that the other two sets of symmetrically distributed scraper tips 533 are inserted into the corresponding groove corners 611, repeatedly scraping off the residual glue on the scraper body 53. Finally, the horizontal push cylinder 622 drives the horizontal scraper 61 to exit the gap between the upper scraper 63 and the lower scraper 64. The blades of the upper scraper 63 and the lower scraper 64 scrape off the residual glue remaining on the horizontal scraper 61. The gripper 2 moves the product that has been scraped back to the conveyor line 1 and picks up the next product to be scraped, and so on.

[0019] In the adhesive scraping operation, the positioning fixture 32 also includes a set of mounting platforms 324, the bottom of which is mounted on the drive end of the transposition turntable 31, and the base platform 321 is mounted on it via a suspension. A set of clamping cylinders 325 are also mounted on the mounting platform 324. The drive end of the clamping cylinders 325 is connected to a set of movable right-angle blocks 326. The top of the movable right-angle blocks 326 passes through the base platform 321 and extends into the rectangular frame edge 322. Under the drive of the cylinders, the right-angled ends of the movable right-angle blocks 326 are aligned with a set of right-angled corners of the rectangular frame edge 322, thereby pressing the product tightly into the rectangular frame edge 322. When disassembling, it is only necessary to loosen the clamping cylinders 325, which is quite convenient.

[0020] The floating assembly 62 includes a horizontal push cylinder 622 mounted on a bracket 621 and a base block 623 mounted on the drive end of the horizontal push cylinder 622. A set of X-axis sliders 625 are slidably mounted on the base block 623 via an X-axis slide rail 624. One end of the X-axis sliders 625 is connected to a side plate of the base block 623 via an X-axis spring 626. A set of Y-axis sliders 628 are slidably mounted on the X-axis sliders 625 via a Y-axis slide rail 627. One end of the Y-axis sliders 628 is connected to a side plate of the X-axis sliders 625 via a Y-axis spring 629. The horizontal scraper 61 is mounted on the Y-axis sliders 628. The elastic pressure not only prevents jamming but also improves adaptability during glue removal.

[0021] A set of upper scraper blades 63 and a set of lower scraper blades 64 are mounted on the bracket 621 via two sets of support rods 65. The upper scraper blades 63 and lower scraper blades 64 are provided with strip-shaped mounting holes 66 at both ends, and are locked to the support rods 65 by mounting screws passing through the strip-shaped mounting holes 66. A gap is formed between the upper scraper blades 63 and lower scraper blades 64 to allow the horizontal scraper blade 61 to pass horizontally. After the horizontal scraper blade 61 scrapes off the residual adhesive on the scraper body 53, the horizontal push cylinder 622 is activated to drive the horizontal scraper blade 61 to exit the gap, so that the residual adhesive remaining on the horizontal scraper blade 61 can be scraped off by the groove edge of the gap.

[0022] After the glue is scraped off one side of the product, the product is driven to rotate 90° by the positioning turntable 31 of the positioning group 3, and the arm fixture 52 is driven to rotate 90° by the electric turntable 51, so that the new side of the product is opposite to the corresponding scraper body 53. The robotic arm 4 drives the arm fixture 52 to approach the product again, and a new round of glue scraping treatment on the corresponding side of the product can be performed. The four sides of the product, which are distributed in a rectangle, correspond to the four scraper bodies 53 for glue scraping treatment respectively.

[0023] Example 2 like Figure 8 As shown, a device for automatically scraping off residual adhesive around a server GPU is described. In this embodiment, unlike the previous embodiment, the upper scraper 63 and the lower scraper 64 are arranged with flared ends facing the floating group 62, while the constricted ends of the upper scraper 63 and the lower scraper 64 are provided with blades that abut against both sides of the horizontal scraper 61, thereby achieving the effect of scraping off residual adhesive by the blades when the horizontal scraper 61 is withdrawn.

[0024] The working principle of this invention is as follows: This invention provides a device and method for automatically removing residual adhesive around a server GPU. It uses a robotic arm 4 to drive four sets of scraper bodies 53 arranged in a cross shape. The product repositioning turntable 31 and the electric scraper turntable 51 rotate synchronously at 90° to achieve efficient and automated adhesive removal on the four sides of the rectangular GPU. At the same time, the adhesive removal group 6 arranged symmetrically automatically cleans the residual adhesive from the scraper. The floating group 62, together with the upper scraper 63 and the lower scraper 64, achieves secondary cleaning and removal of residual adhesive, thus improving the overall efficiency and quality of adhesive removal.

[0025] When a scraping operation is required, the gripper 2 first picks up the GPU product to be scraped from the conveyor line 1 and places it on the base 321 of the positioning fixture 32 of the positioning group 3. The GPU is limited by the rectangular frame 322. Then, the clamping cylinder 325 drives the movable right-angle block 326 to press the corner of the GPU product into the right-angle corner of the rectangular frame 322. Then, the robotic arm 4 drives the scraper group 5 to approach the product. The electric turntable 51 rotates the first set of scraper bodies 53 to face the first side of the product, and the scraper tip 533 abuts against the end of the product. The robotic arm 4 drives the scraper tip 533 to move along the product surface to scrape off the residual glue on the first side. Then, the positioning group 3's shifting turntable 31 drives the product to rotate 90°, and at the same time, the electric turntable 51 drives the arm fixture 52 to rotate 90°, so that the second side of the product faces the second set of scraper bodies 53. The above scraping steps are repeated until all four sides of the product are scraped off. After the glue scraping is completed, the robotic arm 4 moves two sets of symmetrical scraper bodies 53 between the two sets of glue removal groups 6 horizontal scrapers 61, so that the glue scraping tip 533 is inserted into the groove corner 611. The robotic arm 4 drives the scraper body 53 to pass through the groove corner 611 from bottom to top along the strip line of the glue scraping tip 533, scraping off the residual glue on the scraper body 53. Then, the electric turntable 51 drives the arm tool 52 to rotate 90°, so that the other two sets of symmetrically distributed glue scraping tips 533 are inserted into the corresponding groove corners 611, repeating the action of scraping off the residual glue on the scraper body 53. Finally, the horizontal push cylinder 622 drives the horizontal scraper 61 to exit the gap between the upper scraper 63 and the lower scraper 64. The blades of the upper scraper 63 and the lower scraper 64 scrape off the residual glue remaining on the horizontal scraper 61. The gripper 2 moves the product that has been scraped back to the conveyor line 1 and picks up the next product to be scraped, and so on.

[0026] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for automatically scraping off residual adhesive around a server GPU, characterized in that, The system includes a conveyor line, grippers, a positioning assembly, a robotic arm, a scraper assembly, and a glue removal assembly. The grippers are used to pick up products from the conveyor line and place them in the positioning assembly, as well as to return the products to the conveyor line. The positioning assembly is used to position and clamp the products. The scraper assembly is mounted on the robotic arm drive end and is used to scrape glue around the product. The glue removal assembly is used to clean residual glue from the scraper assembly. The scraper assembly includes an electric turntable mounted on the robotic arm drive end and a cross-shaped arm fixture mounted on the electric turntable drive end. The four ends of the arm fixture are evenly distributed around the rotation axis of the electric turntable, and each end is equipped with a set of scraper bodies. The four sets of scraper bodies are distributed... The scraper body is strip-shaped, with a strip-shaped scraping tip formed by the intersection of the scraping surface and the inclined surface at one end. The positioning group includes a shifting turntable and a positioning fixture. The positioning fixture includes a base and a rectangular frame surrounding the base. The bottom of the rectangular frame has a gap for the scraper body to pass through. The adhesive removal group consists of two symmetrical groups. Each adhesive removal group includes a horizontal scraper and a floating group. The end of the horizontal scraper has a groove corner, and the two sides of the groove corner are respectively attached to the scraping surface and the inclined surface. During adhesive removal, the robotic arm moves the scraper body to one end of the horizontal scraper so that the scraping tip is inserted into the groove corner, and drives the scraper body to pass through the groove corner along the strip-shaped direction of the scraping tip to scrape off the residual adhesive.

2. The device for automatically scraping off residual adhesive around a server GPU according to claim 1, characterized in that, The positioning fixture also includes an installation platform, the bottom of which is installed on the drive end of the transposition turntable, and the base is installed above it via a suspension. A clamping cylinder is also installed on the installation platform, and the drive end of the clamping cylinder is connected to a movable right-angle block. The top of the movable right-angle block passes through the base and extends into the rectangular frame. Under the drive of the cylinder, the right-angle end of the movable right-angle block aligns with the right-angle corner of the rectangular frame, thereby pressing the product tightly within the rectangular frame.

3. The device for automatically scraping off residual adhesive around a server GPU according to claim 1, characterized in that, The floating assembly includes a horizontal push cylinder mounted on a bracket and a base block mounted on the drive end of the horizontal push cylinder; an X-axis slider is slidably mounted on the base block via an X-axis slide rail, and one end of the X-axis slider is connected to a side upright plate of the base block via an X-axis spring; a Y-axis slider is slidably mounted on the X-axis slider via a Y-axis slide rail, and one end of the Y-axis slider is connected to a side upright plate of the X-axis slider via a Y-axis spring; and a horizontal scraper is mounted on the Y-axis slider.

4. The device for automatically scraping off residual adhesive around a server GPU according to claim 3, characterized in that, The bracket is supported by two rods, on which an upper scraper and a lower scraper are mounted. Both ends of the upper and lower scrapers are provided with strip-shaped mounting holes and are locked to the rods with mounting screws. A gap is formed between the upper and lower scrapers to allow the horizontal scraper to pass horizontally. After the horizontal scraper removes the residual glue on the scraper body, the horizontal push cylinder is activated to drive the horizontal scraper to exit the gap, and the residual glue remaining on the horizontal scraper is scraped off by the groove edge of the gap.

5. The device for automatically scraping off residual adhesive around a server GPU according to claim 4, characterized in that, The upper and lower scrapers are configured to flare outwards towards one end of the floating assembly, with their constricted ends having blades that abut against both sides of the horizontal scraper.

6. The device for automatically scraping off residual adhesive around a server GPU according to claim 1, characterized in that, After the glue is scraped off one side of the product, the product is rotated 90° by the positioning turntable of the positioning group, and the arm fixture is rotated 90° by the electric turntable, so that the new side of the product is facing the corresponding scraper body. The robotic arm then drives the arm fixture to approach the product again to perform a new round of glue scraping. The four sides of the product are scraped off by the four scraper bodies respectively.

7. A method for automatically scraping off residual adhesive around a server GPU, using the device described in any one of claims 1-6, characterized in that, Includes the following steps: S1: The gripper picks up the GPU product to be coated with glue from the conveyor line and places it on the positioning fixture base of the positioning group. The GPU is limited by the rectangular frame. S2: The clamping cylinder drives the movable right-angle block to press the corner of the GPU product into the right-angle corner of the rectangular frame; S3: The robotic arm drives the scraper assembly to approach the product, and the electric turntable rotates the first set of scraper bodies to be opposite to the first side of the product. The scraper tip touches the end of the product, and the robotic arm drives the scraper tip to move along the product surface to scrape off the residual adhesive on the first side. S4: The positioning turntable drives the product to rotate 90°, and at the same time the electric turntable drives the arm fixture to rotate 90°, so that the second side of the product is opposite to the second set of scraper bodies, and repeat step S3 to scrape glue. S5: Repeat step S4 until all four sides of the product have been coated with adhesive. S6: The robotic arm moves the arm fixture between the two sets of horizontal scrapers of the adhesive removal group, so that the two sets of symmetrically distributed adhesive scraping tips are inserted into the corresponding groove corners. The robotic arm drives the scraper body to pass through the groove corners from bottom to top along the strip line of the adhesive scraping tips, scraping off the residual adhesive on the scraper body. Then, the electric turntable drives the arm fixture to rotate 90°, so that the other two sets of symmetrically distributed adhesive scraping tips are inserted into the corresponding groove corners, repeating the action of scraping off the residual adhesive on the scraper body. S7: The horizontal push cylinder drives the horizontal scraper to exit the gap between the upper and lower scrapers, and the blades of the upper and lower scrapers scrape off the residual adhesive remaining on the horizontal scraper. S8: The gripper moves the product that has been coated with glue back to the conveyor line and picks up the next product to be coated with glue, returning to step S1.

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