Patent Description:
A server is a key component of a data center, and server hardware maintenance is an important part of data center maintenance. Server hardware maintenance is mainly performed in the following scenarios: fault maintenance, component change and capacity expansion, and component recycling of an abandoned server. The server is deployed in a rack. Therefore, the server needs to be shelved or unshelved when the foregoing maintenance is performed. Currently, shelving or unshelving from the rack mainly depends on manual processing. For example, a process of shelving or unshelving the server is performed by manually operating an auxiliary device. However, as a server weight increases and a server density increases, a rack height increases. Consequently, shelving or unshelving from the rack becomes difficult. This is time-consuming and labor-consuming, and has a security risk.

<CIT> discloses techniques for automated replacement of components in a datacenter. A robot is instructed to follow a route to replace parts within a datacenter. Embodiments include predicting a failure rate for a plurality of computer components within a datacenter. A failure time is then predicted for the computer components based on the corresponding failure rate. A route is created that allows the robot to visit the one or more racks containing the computer components that need to be replaced. The robot then replaces the components that require replacing.

<CIT> discloses an automatic guided vehicle (AGV) with a mechanical hand and a control method of the AGV. The AGV comprises an AGV walking part and a control unit. The AGV walking part comprises a rack, a first driving device for driving the AGV walking part to run, multiple universal wheels arranged on the rack, multiple supporting feet arranged on the rack, and a second driving device for driving the supporting feet to rise and fall. The first driving device and the second driving device are both electrically connected with the control unit. The AGV walking part further comprises a damping device arranged on the first driving device and the mechanical hand arranged on the rack, and the mechanical hand is electrically connected with the control unit.

<CIT> discloses a method and system for obstacle detection for an automatic navigation vehicle.

<CIT> discloses an intelligent server equipment shelving robot.

This application provides a device assembly system and method, to implement automatic shelving or unshelving of an apparatus in a rack in a data center, so as to improve maintenance efficiency and security of the data center, and reduce labor costs. Advantageous features are defined in the dependent claims.

Reference numerals:
<NUM>-Device assembly system; <NUM>-Mobile apparatus; <NUM>-Automated guided vehicle; <NUM>-Base; <NUM>-Steering wheel; <NUM>-Universal wheel; <NUM>-Drive structure; <NUM>-Navigation component; <NUM>-Laser radar; <NUM>-Anti-collision strip; <NUM>-Support leg mechanism; <NUM>-Lifting apparatus; <NUM>-Plug in/out apparatus mounting frame; <NUM>-Second drive assembly; <NUM>-First gantry; <NUM>-Second gantry; <NUM>-Third gantry; <NUM>-Straight-line transmission member; <NUM>-Rope structure; <NUM>-Chain; <NUM>-Pulley; <NUM>-Holding mechanism; <NUM>-Fourth drive assembly; <NUM>-Protruding motor; <NUM>-Holding motor; <NUM>-Holding hook; <NUM>-First wall surface; <NUM>-Protruding portion; <NUM>-Plug in/out apparatus; <NUM>-Pose adjustment mechanism; <NUM>-First portion; <NUM>-Second portion; <NUM>-Third portion; <NUM>-Fourth portion; <NUM>-Fifth portion; <NUM>-Fifth drive assembly; <NUM>-Motor; <NUM>-Rotating support inner shaft; <NUM>-Rotating support outer shaft; <NUM>-Sixth drive assembly; <NUM>-Seventh drive assembly; <NUM>-Eighth drive assembly; <NUM>-Plug in/out mechanism; <NUM>-To-be-plugged device accommodating frame; <NUM>-Roller chain; <NUM>-Ninth drive assembly; <NUM>-Hook arm; <NUM>-Hook; <NUM>-Roller; <NUM>-Shutdown component; <NUM>-Tenth drive assembly; <NUM>-Rotating shaft; <NUM>-Cam; <NUM>-First visual mechanism; <NUM>-First sensor; <NUM>-Control apparatus; <NUM>-Rack; and <NUM>-Fixed rod.

As computing power and density of a server increase, a server weight increases accordingly. During operation and maintenance management of a data center, it is time-consuming and labor-consuming to manually shelve or unshelve the server. In particular, a server located at a high location may have a security risk of falling down. A device provided in this application can effectively resolve the foregoing problems, and avoid problems of high implementation difficulty, low efficiency, poor security, and high costs of data center operation and maintenance caused by a manual operation. This application provides a device assembly system, configured to implement automatic assembly of a to-be-assembled device in the data center. Specifically, this includes performing a shelving operation and an unshelving operation on the to-be-assembled device. The to-be-assembled device may be any type of device in a rack, for example, a computing device (for example, a server), a network device (for example, a switch), a storage device (for example, a storage array), and an energy device (for example, a battery or a power supply). The rack in this application is any cabinet that can hold the device. Shelving is a specified operation to place the to-be-assembled device in the rack. Unshelving is to plug the to-be-assembled device at a specified location in the rack out of the rack.

For ease of description, the following embodiments and accompanying drawings of this application are mainly described by using an example in which a to-be-plugged device is the server, the server is assembled in the rack, and an automatic shelving operation and unshelving operation are implemented. In addition, when a device actually assembled by the device assembly system is not the server, adaptation design may be performed on details of a specific structure that is of each apparatus of the system and that depends on the to-be-plugged device, for example, details of a structure of a to-be-plugged device accommodating frame for bearing the to-be-plugged device, and details of a structure of a hook arm.

<FIG> is a schematic block diagram of a device assembly system according to an embodiment of this application. <FIG> is a schematic diagram of a structure of a device assembly system according to an embodiment of this application. As shown in <FIG> and <FIG>, a device assembly system <NUM> includes a mobile apparatus <NUM>, a lifting apparatus <NUM>, a plug in/out apparatus <NUM>, and a control apparatus <NUM>. The control apparatus <NUM> is separately connected to the mobile apparatus <NUM>, the lifting apparatus <NUM>, and the plug in/out apparatus <NUM>, and is configured to control the mobile apparatus <NUM>, the lifting apparatus <NUM>, and the plug in/out apparatus <NUM>, to act automatically. Specifically, acting automatically includes: The mobile apparatus <NUM> automatically moves to a first location, the lifting apparatus <NUM> automatically lifts the plug in/out apparatus to a target location, and the plug in/out apparatus <NUM> automatically plugs a to-be-plugged device into the target location or plugs the to-be-plugged device out of the target location. The mobile apparatus <NUM> is configured to move the device assembly system to the first location, and specifically includes a navigation device (for example, an automated guided vehicle <NUM> (AGV)). Under control of the control apparatus <NUM>, with reference to a navigation mechanism of the automated guided vehicle <NUM>, the mobile apparatus <NUM> may move to the first location, to perform a plug in/out operation on the to-be-plugged device of this station. The lifting apparatus <NUM> is configured to move the plug in/out apparatus to the target location in a first direction, and the target location is a location for storing a device in a rack, and may be specifically a slot. The lifting apparatus <NUM> is specifically mounted on the mobile apparatus <NUM>, and is connected to a plug in/out apparatus mounting frame <NUM>. The plug in/out apparatus <NUM> is configured to place the device at the target location, or obtain the device from the target location, and the plug in/out apparatus <NUM> is specifically mounted on the plug in/out apparatus mounting frame <NUM>. The lifting apparatus <NUM> may drive the plug in/out apparatus mounting frame <NUM> to move in a first direction Z, that is, the lifting apparatus <NUM> may drive the plug in/out apparatus <NUM> to rise or fall in the first direction Z, and the first direction Z is perpendicular to the ground. The control apparatus <NUM> controls the lifting apparatus <NUM> to drive the plug in/out apparatus <NUM> to rise or fall to a specified location, and the specified location may be specifically a location that is of the plug in/out mechanism <NUM> and that is relative to a slot in which the to-be-plugged device is located. Therefore, the plug in/out apparatus <NUM> is opposite to the slot in which the to-be-plugged device is located in the first direction Z, to facilitate a subsequent plug in/out action. In this solution, the device assembly system <NUM> may be used to implement shelving or unshelving of the to-be-plugged device in a rack <NUM>. This not only reduces difficulty of a manual operation and improves efficiency, but also eliminates a security risk to an operator during the manual operation, and is especially applicable to a scenario in which the rack <NUM> has a high-layer slot.

The plug in/out apparatus <NUM> specifically includes a pose adjustment mechanism <NUM>, a plug in/out mechanism <NUM>, a first visual mechanism <NUM>, and a first sensor <NUM>. The plug in/out mechanism <NUM> implements a specific plug in/out action of the to-be-plugged device. The pose adjustment mechanism <NUM> is connected to the plug in/out mechanism <NUM>, and is configured to adjust a specific pose of the plug in/out mechanism <NUM> in each dimension in a three-dimensional coordinate system, so that the plug in/out mechanism <NUM> can have precise alignment precision. Specifically, precision more precise than millimeter-level alignment precision can be implemented, so that accuracy of the plug in/out operation is improved. In addition, an unnecessary collision may be reduced, which may cause damage to the to-be-plugged device. Specifically, the first visual mechanism <NUM> and/or the first sensor <NUM> may obtain pose information of a current slot, and the control apparatus <NUM> obtains the pose information of the current slot, and controls the pose adjustment mechanism <NUM> based on the pose information of the current slot and pose information of the plug in/out mechanism <NUM>, to adjust a pose of the plug in/out mechanism <NUM>, so that the plug in/out mechanism <NUM> is opposite to the slot of the rack <NUM> with high precision. The control apparatus <NUM> is further configured to control the plug in/out mechanism <NUM> to plug in/plug out the to-be-plugged device, to implement automatic shelving or unshelving of the apparatus in the rack. The first visual mechanism <NUM> may be further configured to: obtain a current slot number and a code of a current to-be-plugged device, and compare the current slot number and the code of the current to-be-plugged device with a number of a slot on which shelving or unshelving needs to be performed and a code of a to-be-plugged device on which shelving or unshelving needs to be performed. A next step of the plug in/out operation is performed only when the current slot number matches the number of the slot on which shelving or unshelving needs to be performed and the code of the current to-be-plugged device matches the code of the to-be-plugged device on which shelving or unshelving needs to be performed. Otherwise, the plug in/out operation is stopped and an alarm signal is generated. This is to prevent incorrect shelving or unshelving. In conclusion, the control apparatus <NUM> may cooperate with the first visual mechanism <NUM> and the first sensor <NUM>, and therefore, the device assembly system <NUM> in this embodiment of this application can implement automatic shelving or unshelving of the apparatus in the rack, so as to replace the manual operation. This has high efficiency, good stability, and high security.

For ease of understanding the device assembly system <NUM> in this application, the following sequentially describes a possible structure of each part with reference to accompanying drawings and embodiments. <FIG> is a schematic diagram of a structure of a mobile apparatus according to an embodiment of this application. As shown in <FIG>, the mobile apparatus <NUM> includes the automated guided vehicle <NUM>, and the automated guided vehicle <NUM> includes a base <NUM>, a steering wheel <NUM>, a universal wheel <NUM>, a drive structure <NUM>, and a navigation component <NUM>. The navigation component <NUM> is connected to the control apparatus <NUM>, and can navigate the automated guided vehicle <NUM> to the first location based on an instruction of the control apparatus <NUM>. In a specific embodiment, the navigation component <NUM> may include laser SLAM (Simultaneous Localization And Mapping, synchronous positioning and map construction), that is, a laser radar <NUM> is disposed in the mobile apparatus <NUM>, and the laser radar <NUM> is used to implement navigation and obstacle avoidance of the automated guided vehicle <NUM>, and a reaction is sensitive. In addition, the automated guided vehicle <NUM> may further include a second visual mechanism and/or a second sensor. The control apparatus <NUM> is connected to the second visual mechanism and the second sensor, and may control the mobile apparatus <NUM>, to avoid an obstacle or stop in an emergency based on a signal of the second visual mechanism and the second sensor. In addition, after the mobile apparatus <NUM> reaches a location near the first location, a location of the mobile apparatus <NUM> may be finely adjusted, to improve accuracy that the mobile apparatus <NUM> reaches the first location. Specifically, the second visual mechanism, the second sensor, and the like may detect an obstacle in a moving path of the mobile apparatus <NUM> and a small component such as a memory module left on the ground, to avoid component damage caused by rolling and damage to the apparatus and the ground. For example, an anti-collision strip <NUM> is disposed circumferentially around the mobile apparatus <NUM>, the anti-collision strip <NUM> is elastic, and the second sensor is inside the anti-collision strip <NUM>. When the anti-collision strip <NUM> touches an obstacle, a signal is triggered, and the control apparatus <NUM> receives the signal of the anti-collision strip <NUM>, and controls, based on the signal of the anti-collision strip <NUM>, the mobile apparatus <NUM> to change a direction or stop moving. In addition to performing navigation by using the laser SLAM, the navigation component <NUM> may further perform navigation by using a magnetic strip and a two-dimensional code. This is not limited in this application.

In a specific movement process of the mobile apparatus <NUM>, the navigation component <NUM> controls, based on the instruction of the control apparatus <NUM>, the drive structure <NUM> to drive the steering wheel <NUM> to rotate, so as to drive the automated guided vehicle <NUM> to move. In this embodiment, the mobile apparatus <NUM> includes two steering wheels <NUM>, and the steering wheels <NUM> are respectively located in a front direction and a rear direction of the mobile apparatus <NUM>. The universal wheel <NUM> is disposed on the circumferential side of the mobile apparatus <NUM>, to improve flexibility and stability of the mobile apparatus <NUM> in the movement process.

<FIG> is a schematic diagram of another structure of a mobile apparatus according to an embodiment of this application. With reference to <FIG>, the mobile apparatus <NUM> may further include a support leg mechanism <NUM>, configured to support the device assembly system at the first location. The support leg mechanism <NUM> includes a first drive assembly and a support leg, and specifically includes a plurality of support legs. The plurality of support legs are connected to the first drive assembly, and the first drive assembly can drive the support legs to extend and retract in the first direction Z. When the mobile apparatus <NUM> is in a moving state, as shown in <FIG>, the support leg is in a shrinking state. When the mobile apparatus <NUM> moves to the first location, the mobile apparatus <NUM> needs to stop and be fastened to the first location. The first drive assembly drives the support leg to extend from the base <NUM>, to support on the ground, as shown in <FIG>, so as to support the entire device assembly system <NUM>. Specifically, the first drive assembly may include a motor or an electric actuator, to drive the support leg to extend or retract. In this solution, when the device assembly system <NUM> reaches the first location, and an apparatus in the rack <NUM> needs to be shelved or unshelved, the first drive assembly drives the support leg to extend out of the base <NUM>, to support on the ground. Compared with using the steering wheel <NUM> and the universal wheel <NUM> as support structures, using the support legs as the support structures has good stability, and is not likely to move. This helps improve security and alignment precision of the device assembly system <NUM>.

In addition, to improve a supporting effect of the mobile apparatus <NUM>, the support leg mechanism <NUM> includes at least four support legs. When the four support legs are included, the four support legs may be arranged in a square manner at four corners of the base <NUM>. Certainly, another arrangement manner may also be used, provided that a stable support structure can be formed. The support mechanism may further include more support legs, to improve support stability. The foregoing support leg assembly may be further configured to adjust a vertical angle of the device assembly system in the first direction. The support leg may have a one-to-one corresponding first drive assembly, and the first drive assembly is connected to the control apparatus <NUM>. Specifically, the control apparatus <NUM> may control a length of a part that is of the support leg driven by each first drive assembly and that extends out of the base <NUM>, so that the length of the part that is of the support leg and that extends out of the base <NUM> may be adjusted, to adapt to a problem that the ground is not flat or the rack <NUM> is not vertically mounted. That the rack <NUM> is not vertically mounted means that an extension direction of the rack is not perpendicular to the ground, that is, a vertical angle of the rack in the first direction is not zero. In this solution, the device assembly system <NUM> may be kept parallel to the rack <NUM>, or the device assembly system <NUM> may be kept at a specified angle. This solution can improve a success rate and reliability of plugging in/plugging out the to-be-plugged device in the device assembly system <NUM>, and improve universality of the device assembly system <NUM>.

<FIG> is a schematic diagram of a structure of a lifting apparatus according to an embodiment of this application. <FIG> is a schematic diagram of a partial structure of a lifting apparatus according to an embodiment of this application. <FIG> is a schematic diagram of another partial structure of a lifting apparatus according to an embodiment of this application. With reference to <FIG>, <FIG>, <FIG>, and <FIG>, the lifting apparatus <NUM> is mounted on the mobile apparatus <NUM>, and may specifically include a second drive assembly <NUM>, a first gantry <NUM>, a second gantry <NUM>, and a third gantry <NUM>. The first gantry <NUM> is fastened to the mobile apparatus <NUM>, and the plug in/out apparatus mounting frame <NUM> is disposed on the third gantry <NUM>. The second drive assembly <NUM> may include a straight-line transmission member <NUM>. The straight-line transmission member <NUM> is located between the first gantry <NUM> and the second gantry <NUM>. For example, the straight-line transmission member <NUM> may be a screw assembly, a sliding block and slide rail cooperation assembly, or the like. Therefore, the second gantry <NUM> is driven to move in the first direction Z relative to the first gantry <NUM>. The second gantry <NUM> is disposed between the first gantry <NUM> and the third gantry <NUM>, and the first gantry <NUM> and the third gantry <NUM> are connected through a rope structure <NUM>. As shown in <FIG>, in an embodiment, as shown in <FIG> and <FIG>, the rope structure <NUM> includes a chain <NUM> and a pulley <NUM>. Two ends of the chain <NUM> are respectively connected to the second gantry <NUM> and the first gantry <NUM>. The pulley <NUM> is located on the second gantry <NUM>. When the second drive assembly <NUM> drives the second gantry <NUM> to move in the first direction Z relative to the first gantry <NUM>, the third gantry <NUM> also moves in the first direction Z under an action of the rope structure <NUM>. As shown in <FIG>, the third gantry <NUM> drives the plug in/out apparatus mounting frame <NUM> to rise. This structure is used, the second drive assembly <NUM> is connected to the control apparatus <NUM>, and the control apparatus <NUM> may control the second drive assembly <NUM> to drive the third gantry <NUM> to move a specified distance in the first direction Z, so that the plug in/out apparatus <NUM> disposed on the plug in/out apparatus mounting frame <NUM> is at an equal height with the slot, to facilitate a subsequent plug in/out operation. In this solution, a movement distance actually driven by the second drive assembly <NUM> may be doubled through the rope structure <NUM>, so that a movement stroke between adjacent gantries is reduced, and overall stability of the structure is improved.

The plug in/out apparatus mounting frame <NUM> may be fastened to the third gantry <NUM>, or may be movably mounted on the third gantry <NUM> by using a third drive assembly. The third drive assembly may drive the plug in/out apparatus mounting frame <NUM> to move in the first direction Z relative to the third gantry <NUM>. In this solution, after a location of the third gantry <NUM> is fixed, the third drive assembly may drive the plug in/out apparatus mounting frame <NUM> to move in the first direction Z relative to the third gantry <NUM>, to improve flexibility and accuracy of the plug in/out apparatus <NUM> in the first direction Z.

The solution in which the lifting apparatus <NUM> uses three-stage gantries is merely used as a possible implementation. In a specific implementation, this is not limited, provided that the lifting apparatus <NUM> can implement that the plug in/out apparatus mounting frame <NUM> moves in the first direction Z.

As shown in <FIG>, the lifting apparatus <NUM> further includes a holding mechanism <NUM>, configured to connect the rack and the device assembly system, so that the rack and the device assembly system form an integral force system. <FIG> is a schematic diagram of a structure of a holding mechanism according to an embodiment of this application. As shown in <FIG>, the holding mechanism <NUM> includes a fourth drive assembly <NUM> and a holding hook <NUM>. After the mobile apparatus <NUM> drives the device assembly system <NUM> to move to the first location, the fourth drive assembly <NUM> is configured to drive the holding hook <NUM> to be fixedly connected to the rack <NUM> bearing the to-be-plugged device, so that the device assembly system <NUM> and the rack <NUM> are fastened as an integral structure. An external pushing force generated by the plug in/out action is converted into an internal driving force in the system, so that a probability that the rack <NUM> and the device assembly system <NUM> fall down can be reduced, impact of a plug in/out impact force on the device assembly system <NUM> is reduced. This improves stability and reliability of a working process of the device assembly system <NUM>.

<FIG> is a schematic diagram of another structure of a holding mechanism according to an embodiment of this application. As shown in <FIG>, in a specific embodiment, an end portion of the holding mechanism <NUM> includes a first wall surface <NUM>, and a position sensor is disposed on the first wall surface <NUM>. The position sensor and the fourth drive assembly <NUM> are separately connected to the control apparatus <NUM>. The control apparatus <NUM> controls the holding mechanism <NUM> to move towards the rack <NUM>, and the position sensor triggers a signal when monitoring the rack <NUM>. The control apparatus <NUM> controls, based on the signal of the position sensor, the fourth drive assembly <NUM> to drive the holding hook <NUM> to be fixedly connected to the rack <NUM>, so that the device assembly system <NUM> and the rack <NUM> are fastened as an integral structure. In this way, falling down is not likely to occur.

As shown in <FIG>, in a specific embodiment, the fourth drive assembly <NUM> includes a protruding motor <NUM> and a holding motor <NUM>, the holding mechanism <NUM> includes a protruding portion <NUM> and the holding hook <NUM>, the holding hook <NUM> is hinged to the protruding portion <NUM>, the protruding motor <NUM> drives the protruding portion <NUM> to extend and retract, and the holding motor <NUM> drives the holding hook <NUM> to swing. The first wall surface <NUM> is located at the protruding portion <NUM>. When the holding mechanism <NUM> needs to be fixedly connected to the rack <NUM>, the protruding motor <NUM> drives the protruding portion <NUM> to move towards the rack <NUM>. When the first wall surface <NUM> extends to a specified location of the rack <NUM>, for example, the rack <NUM> has a fixed rod <NUM>, and the protruding portion <NUM> is opposite to the fixed rod <NUM>, when the first wall surface <NUM> and the fixed rod <NUM> are spaced by a specified distance, the position sensor triggers the signal. The control apparatus <NUM> controls, based on the signal, the holding motor <NUM> to drive the holding hook <NUM> to swing, so that a hook of the holding hook <NUM> and the first wall surface <NUM> form a clamping structure and clamp the fixed rod <NUM>. In this way, the holding mechanism <NUM> is fastened to the fixed rod <NUM>.

<FIG> is a schematic diagram of a structure of a plug in/out apparatus according to an embodiment of this application. With reference to <FIG> and <FIG>, the plug in/out apparatus <NUM> includes a pose adjustment mechanism <NUM>, a plug in/out mechanism <NUM>, a first visual mechanism <NUM>, and a first sensor <NUM>. The pose adjustment mechanism <NUM> is configured to adjust the pose of the plug in/out mechanism <NUM> in a plurality of dimensions in the three-dimensional coordinate system. The plug in/out mechanism <NUM> is configured to grip a to-be-plugged device, and drive the to-be-plugged device to be plugged in a slot or plugged out of the slot. The pose adjustment mechanism <NUM> is mounted on the plug in/out apparatus mounting frame <NUM> of the lifting apparatus <NUM>, the plug in/out mechanism <NUM> is mounted on the pose adjustment mechanism <NUM>, and the first visual mechanism <NUM> and the first sensor <NUM> are mounted on the plug in/out mechanism <NUM>. The control apparatus <NUM> is separately connected to the first visual mechanism <NUM>, the first sensor <NUM>, and the pose adjustment mechanism <NUM>. The first visual mechanism <NUM> and the first sensor <NUM> are configured to obtain a current location of the plug in/out mechanism <NUM> and a target location of the to-be-plugged device or the slot. The control apparatus <NUM> may calculate a deviation between the current location of the plug in/out mechanism <NUM> and the target location based on information of the first visual mechanism <NUM> and the first sensor <NUM>, and control the pose adjustment mechanism <NUM> to adjust the pose of the plug in/out mechanism <NUM> in the plurality of dimensions in the three-dimensional coordinate system, so that the location of the plug in/out mechanism <NUM> is opposite to the to-be-plugged device or the slot, to improve accuracy of an action of the plug in/out apparatus <NUM>, and reduce a case such as structural damage caused by an alignment deviation.

In a specific embodiment, each of <FIG> is a schematic diagram of a partial structure of a pose adjustment mechanism according to an embodiment of this application. As shown in <FIG>, the pose adjustment mechanism <NUM> includes a first portion <NUM>, a second portion <NUM>, a third portion <NUM>, a fourth portion <NUM>, and a fifth portion <NUM> that are disposed in sequence. The first portion <NUM> is fastened to the plug in/out apparatus mounting frame <NUM>, and the plug in/out mechanism <NUM> is mounted on the fifth portion <NUM>. A fifth drive assembly <NUM> is connected between the first portion <NUM> and the second portion <NUM>. The fifth drive assembly <NUM> drives the second portion <NUM> to rotate relative to the first portion by using the first direction Z as an axis, to adjust a rotation angle of the plug in/out apparatus <NUM>, so that the plug in/out mechanism <NUM> is aligned with the target location in a rotation direction that rotation is performed by using the first direction Z as the axis. A sixth drive assembly <NUM> is connected between the second portion <NUM> and the third portion <NUM>. The sixth drive assembly <NUM> drives the third portion <NUM> to move relative to the second portion <NUM> in a second direction Y, to adjust an adjustment location of the plug in/out mechanism <NUM> in the second direction Y, so that the plug in/out mechanism <NUM> is aligned with the target location in the second direction Y. The third portion <NUM> includes a first end and a second end, the fourth portion <NUM> includes a third end and a fourth end, the first end of the third portion <NUM> is hinged to the third end of the fourth portion <NUM>, and a hinged shaft extends in the second direction Y. A seventh drive assembly <NUM> is connected between the second end of the third portion <NUM> and the fourth end of the fourth portion <NUM>. The seventh drive assembly <NUM> drives the fourth portion <NUM> to swing relative to the third portion <NUM>, to adjust a horizontal tilt angle of the plug in/out mechanism <NUM>, so that the plug in/out mechanism <NUM> is parallel to the target location in a horizontal direction. An eighth drive assembly <NUM> is connected between the fifth portion <NUM> and the fourth portion <NUM>. The eighth drive assembly <NUM> drives the fifth portion <NUM> to move relative to the fourth portion <NUM> in a third direction X, to adjust a location of the plug in/out mechanism <NUM> in the third direction X, so that the plug in/out mechanism <NUM> is aligned with the target location in the third direction X. Specifically, the fifth drive assembly <NUM>, the sixth drive assembly <NUM>, the seventh drive assembly <NUM>, and the eighth drive assembly <NUM> are separately connected to the control apparatus <NUM>, and the control apparatus <NUM> controls the fifth drive assembly <NUM>, the sixth drive assembly <NUM>, the seventh drive assembly <NUM>, and the eighth drive assembly <NUM> based on a signal of the first visual mechanism <NUM> and the first sensor <NUM>, to adjust the location of the plug in/out mechanism <NUM> in various directions and angles, so as to improve alignment precision between the plug in/out mechanism <NUM> and the target location, and improve working reliability of the plug in/out apparatus <NUM>. Specifically, the first direction Z, the second direction Y, and the third direction X are perpendicular to each other.

In a specific embodiment, the fifth drive assembly <NUM>, the sixth drive assembly <NUM>, the seventh drive assembly <NUM>, and the eighth drive assembly <NUM> may be disposed in different sequences. For example, the sixth drive assembly <NUM> may be disposed between the first portion <NUM> and the second portion <NUM>, to adjust a location of the second portion <NUM> relative to the first portion <NUM> in the second direction Y. In conclusion, the pose adjustment mechanism <NUM> may implement location adjustment in various directions, locations of drive assemblies in various directions may be adjusted based on an actual requirement.

In a specific embodiment, as shown in <FIG>, the fifth drive assembly <NUM> may include a motor <NUM>, a rotating support inner shaft <NUM>, and a rotating support outer shaft <NUM>. The rotating support inner shaft <NUM> is fixedly connected to the second portion <NUM>, the rotating support outer shaft <NUM> is fixedly connected to the first portion <NUM>, and the rotating support inner shaft <NUM> is rotatably connected to the rotating support outer shaft <NUM>, for example, a roll ball is disposed between the rotating support inner shaft <NUM> and the rotating support outer shaft <NUM>. As shown in <FIG>, the sixth drive assembly <NUM>, the seventh drive assembly <NUM>, and the eighth drive assembly <NUM> each are a straight-line drive assembly, for example, include a sliding block and slide rail assembly, a cylinder assembly, and a screw assembly. This is not limited in this application. In addition, the fifth drive assembly <NUM>, the sixth drive assembly <NUM>, the seventh drive assembly <NUM>, and the eighth drive assembly <NUM> may further include a limiting structure such as a limiting block or a photoelectric sensor, to prevent a structure of a part or another component from being damaged due to excessive movement of the part.

<FIG> is a schematic diagram of a partial structure of a plug in/out mechanism according to an embodiment of this application. With reference to <FIG> and <FIG>, the plug in/out mechanism <NUM> includes a to-be-plugged device accommodating frame <NUM>, a ninth drive assembly <NUM>, and at least one group of hook arms <NUM>. The to-be-plugged device accommodating frame <NUM> is configured to: bear and accommodate the to-be-plugged device. Each group of hook arms <NUM> includes two hook arms <NUM> that are disposed opposite to each other. The two hook arms <NUM> are arranged at two ends of the to-be-plugged device accommodating frame <NUM> in the third direction X, so that each group of hook arms <NUM> can be connected to the to-be-plugged device from two sides of the to-be-plugged device, to move the location of the to-be-plugged device, and plug the to-be-plugged device located on the to-be-plugged device accommodating frame into the target location, or plug out the to-be-plugged device located at the target location to the to-be-plugged device accommodating frame. The ninth drive assembly <NUM> is connected to the control apparatus <NUM>, and the control apparatus <NUM> controls the ninth drive assembly <NUM> to drive the hook arm <NUM> to extend and retract in the second direction Y. The hook arm <NUM> has a hook <NUM> that adapts to the to-be-plugged device, so that the hook <NUM> of the hook arm <NUM> may be clamped with the to-be-plugged device, to pull the to-be-plugged device. A server is used as an example, the hook <NUM> of the hook arm <NUM> adapts to a pull hook of the server, so that the server located in the rack <NUM> may be pulled to the to-be-plugged device accommodating frame <NUM> and moves to a specified location. Alternatively, a server on the to-be-plugged device accommodating frame <NUM> may be pushed into the slot of the rack <NUM>.

As shown in <FIG>, the to-be-plugged device accommodating frame <NUM> includes a roller chain <NUM>, so that when the to-be-plugged device moves on the to-be-plugged device mounting frame <NUM>, friction of the to-be-plugged device can be reduced. This is convenient to use the hook arm <NUM> to push and pull the to-be-plugged device on the to-be-plugged device accommodating frame <NUM>, and can reduce damage to the to-be-plugged device.

<FIG> is a schematic diagram of another partial structure of a plug in/out mechanism according to an embodiment of this application. With reference to <FIG> and <FIG>, in a specific embodiment, the plug in/out mechanism <NUM> includes n groups of hook arms <NUM>, where n ≥ <NUM>. The n groups of hook arms <NUM> are arranged in the first direction Z, to adapt to to-be-plugged devices of different specifications and sizes. For example, if the to-be-plugged device is the server, the device assembly system <NUM> in this application may adapt to servers of different U slots, for example, <NUM> U, <NUM> U, and <NUM> U servers of different specifications, where U is a unit indicating an external dimension of a server, and <NUM> U = <NUM>. At least n - <NUM> groups of hook arms <NUM> of the n groups of hook arms <NUM> are connected to a tenth drive assembly <NUM>, and the tenth drive assembly <NUM> is connected to the control apparatus <NUM>. The control apparatus <NUM> may control the tenth drive assembly <NUM> to drive the at least one group of hook arms <NUM> in the at least n - <NUM> groups of hook arms <NUM> to extend and retract. In this solution, a corresponding hook arm <NUM> may be selected to extend based on a size and a specification of the to-be-plugged device, to improve compatibility of the device assembly system <NUM> in this application. For example, in a process of shelving or unshelving the server, when a <NUM> U server is shelved or unshelved, only one group of hook arms <NUM> may be kept extending out, and other hook arms <NUM> are extended in, to perform a plug in/out action, and no structural interference occurs. When a <NUM> U server is shelved or unshelved, the control apparatus <NUM> may control the tenth drive assembly <NUM> to drive hook arms <NUM> adjacent to hook arms <NUM> that are already in an extending state to extend, so that the two groups of hook arms <NUM> jointly act, and perform a shelving or an unshelving operation on the <NUM> U server. In conclusion, the corresponding hook arms <NUM> may be controlled to extend based on the to-be-plugged device.

Specifically, when the tenth drive assembly <NUM> is formed, the tenth drive assembly <NUM> may include a drive motor (not shown in the figure), a rotating shaft <NUM>, and a reset member (not shown in the figure). The rotating shaft <NUM> is connected to the drive motor, and the drive motor can drive the rotating shaft <NUM> to rotate. Cams <NUM> that are in a one-to-one correspondence with the at least n - <NUM> groups of hook arms <NUM> are disposed on the rotating shaft <NUM>, and the cam <NUM> includes an arc protruding part. The protruding part of each cam <NUM> corresponds to different center angles. For example, the center angles may be increased sequentially. The hook arm <NUM> has a passive shaft bearing that abuts against the cam <NUM>. The cam <NUM> may drive the passive shaft bearing to move, to drive the hook arm <NUM> to swing and extend in sequence. The reset members are connected to the at least n - <NUM> groups of hook arms <NUM> in a one-to-one correspondence, and the reset member is configured to drive the hook arm <NUM> to reset and retract when a non-protruding part of the cam <NUM> abuts against the passive shaft bearing.

Alternatively, in another embodiment, the tenth drive assembly <NUM> may include drive structures <NUM> that are in a one-to-one correspondence with the at least n - <NUM> groups of hook arms <NUM>, to separately drive the corresponding hook arms <NUM> to extend based on a requirement.

A roller <NUM> is disposed at an end portion of the hook arm <NUM>. When the plug in/out mechanism <NUM> hooks the to-be-plugged device, the roller <NUM> may abut against the to-be-plugged device, so that the hook arm <NUM> presses the to-be-plugged device in the second direction Y, and a clamping buckle between the to-be-plugged device and the rack <NUM> is detached. In this way, the hook <NUM> of the hook arm <NUM> can pull the to-be-plugged device out of the slot of the rack <NUM>. For example, the to-be-plugged device is the server, the server is connected to the rack <NUM> by using a clamping buckle, and the rack <NUM> has an abutting pressure towards the server in a direction towards the device assembly system <NUM>. The roller <NUM> may abut against the server, to offset the abutting pressure, so as to facilitate unlocking of the clamping buckle between the server and the rack <NUM>. The roller <NUM> structure is against the server. This may reduce damage to the server.

In addition, a shutdown component <NUM> is further disposed on an end surface of the hook arm <NUM>. The shutdown component <NUM> may be specifically a protrusion structure, and can shut down the to-be-plugged device. When the to-be-plugged device to be unshelved is still in an energized state, for example, the to-be-plugged device is the server, and in a scenario in which remote shutdown fails, the control apparatus <NUM> may control the ninth drive assembly <NUM> to drive the hook arm <NUM> to extend in the second direction Y, so that the shutdown component <NUM> abuts against a shutdown button of the to-be-plugged device for at least m seconds, to forcibly shut down and power off. Specifically, a specific value of the m seconds may be set based on performance of the to-be-plugged device.

The following describes a specific use process of the device assembly system <NUM> in this embodiment of this application with reference to a method embodiment of shelving or unshelving an apparatus in a rack.

<FIG> is a flowchart of a method for shelving or unshelving an apparatus in a rack according to an embodiment of this application. With reference to <FIG>, the method for shelving or unshelving an apparatus in a rack in this embodiment of this application is implemented by using the device assembly system <NUM> in the foregoing embodiment, and may specifically include the following steps.

Step S101: The control apparatus <NUM> receives an operation and maintenance instruction, and the operation and maintenance instruction includes an operation type, a rack number, a slot number, and a code of a to-be-plugged device.

The operation type may specifically include a shelving instruction and an unshelving instruction. The control apparatus first identifies the operation type, and then performs a corresponding shelving operation or unshelving operation.

Step S102: The control apparatus <NUM> controls, based on the operation and maintenance instruction, the mobile apparatus <NUM> to move to the first location, and the first location identifies a rack in which a device is assembled.

The mobile apparatus <NUM> may be the mobile apparatus <NUM> in any one of the foregoing embodiments, includes the automated guided vehicle <NUM>, and may automatically drive to the first location based on information about a station.

Step S103: The control apparatus <NUM> controls the first visual mechanism <NUM> to scan, to obtain a current rack number, and verifies whether the current rack number is consistent with the rack number in the operation and maintenance instruction.

Step S104: The control apparatus <NUM> controls the lifting apparatus <NUM> to drive the plug in/out apparatus <NUM> to move to the target location in the first direction Z after verifying that the current rack number is consistent with the rack number in the operation and maintenance instruction, where the target location is a slot for storing a device in the rack, and the first direction Z is perpendicular to the ground.

The lifting apparatus <NUM> drives the plug in/out apparatus <NUM> in the first direction Z, so that the hook arm <NUM> of the plug in/out apparatus <NUM> is at or basically at an equal height with the slot on which the shelving or unshelving operation needs to be performed. In a specific embodiment, the control apparatus <NUM> may obtain, through mapping based on slot information in the operation and maintenance instruction, a location in which the plug in/out apparatus <NUM> needs to be located in the first direction Z, to control the plug in/out apparatus <NUM> to move to the specified location.

Step S105: The control apparatus <NUM> controls the first visual mechanism <NUM> to scan, to obtain the current slot number and the code of the current to-be-plugged device, and verifies whether the current slot number and the code of the current to-be-plugged device are consistent with the slot number and the code of the to-be-plugged device in the operation and maintenance instruction.

In this solution, the current slot number and the code of the current to-be-plugged device are verified, to ensure operation accuracy and prevent a misoperation. Only when the current slot number matches the slot number in the operation and maintenance instruction, and the code of the current to-be-plugged device matches the code of the to-be-plugged device in the operation and maintenance instruction, the next step of the plug in/out operation is performed. Otherwise, the plug in/out operation is stopped and the alarm signal is generated, for example, an alarm indicator is on or a buzzer sounds, to remind an operator to perform processing.

Step S106: After verifying that the current slot number and the code of the current to-be-plugged device are consistent with the slot number and the code of the to-be-plugged device in the operation and maintenance instruction, the control apparatus <NUM> obtains the pose information of the current slot and the current pose information of the plug in/out mechanism, and controls, based on the pose information of the current slot and the current pose information of the plug in/out mechanism, the pose adjustment mechanism <NUM> of the plug in/out apparatus <NUM> to adjust the pose of the plug in/out mechanism <NUM>, to enable the hook arm <NUM> of the plug in/out mechanism <NUM> to be aligned with the slot.

In this solution, feedback information of the first visual mechanism <NUM> and/or the first sensor <NUM> is used, so that the control apparatus <NUM> may control the pose adjustment mechanism <NUM> to adjust the pose of the plug in/out mechanism <NUM> in the plurality of dimensions in the three-dimensional coordinate system. In this way, the location of the plug in/out apparatus <NUM> can be higher, to enable the hook arm <NUM> to be aligned with the slot. Specifically, precision more precise than millimeter-level alignment precision can be reached, to improve a success rate and reliability of plugging in/plugging out. This does not easily damage the to-be-plugged device or a surrounding structure.

Step S107: The control apparatus <NUM> controls the hook arm <NUM> to extend, to plug the to-be-plugged device into the slot, or plug the to-be-plugged device out of the slot.

When the operation type in the operation and maintenance instruction is a shelving task, the plug in/out mechanism <NUM> of the device assembly system <NUM> moves the to-be-plugged device to the slot of the rack <NUM>. Specifically, the plug in/out mechanism <NUM> may have the to-be-plugged device accommodating frame, and the to-be-plugged device is accommodated on the to-be-plugged device accommodating frame. When the hook arm <NUM> of the plug in/out mechanism <NUM> is aligned with the slot, the hook arm <NUM> may drive the to-be-plugged device to plug the to-be-plugged device into the slot, to implement shelving of the to-be-plugged device in the rack <NUM>.

When the operation type in the operation and maintenance instruction is an unshelving task, after the hook arm <NUM> of the plug in/out mechanism <NUM> of the device assembly system <NUM> is aligned with the slot, the control apparatus <NUM> controls the hook arm <NUM> to extend, and makes the hook <NUM> of the hook arm <NUM> clamp with the pull hook of the to-be-plugged device, to pull out the to-be-plugged device in the slot, and pull the to-be-plugged device to the to-be-plugged device accommodating frame <NUM> of the plug in/out mechanism <NUM>. Then, the control apparatus <NUM> controls the lifting apparatus <NUM> to drive the plug in/out apparatus <NUM> to reset in the first direction Z, and the mobile apparatus <NUM> drives the to-be-plugged device to be transported to a specified location.

After the step S102, the method may further include step S1021. S1021: The control apparatus <NUM> controls the at least four support legs of the support leg mechanism <NUM> to extend, and level the mobile apparatus <NUM>. Specifically, the support leg has a one-to-one corresponding first drive assembly, and the first drive assembly is connected to the control apparatus <NUM>. The control apparatus <NUM> may control the length of the part that is of the support leg driven by each first drive assembly and that extends out of the base <NUM>, so that the length of the part that is of the support leg and that extends out of the base <NUM> may be adjusted, to adapt to the problem that the ground is not flat or the rack <NUM> is not vertically mounted, so that the device assembly system <NUM> may be kept parallel to the rack <NUM>. That is, in this application, that the mobile apparatus <NUM> is leveled means that the device assembly system <NUM> may be kept parallel to the rack <NUM>, or any state that meets a requirement. This can improve a success rate and reliability of plugging in/plugging out the to-be-plugged device in the device assembly system <NUM>, and improve universality of the device assembly system <NUM>.

After the step S104, the method may further include step S1041. S1041: The control apparatus <NUM> controls the holding hook <NUM> of the holding mechanism <NUM> to be fixedly connected to the rack <NUM> bearing the to-be-plugged device. In this solution, the device assembly system <NUM> and the rack <NUM> can be fastened as an integral structure. An external pushing force generated by the plug in/out action is converted into an internal driving force in the system, so that a probability that the rack <NUM> and the device assembly system <NUM> fall down can be reduced, impact of the plug in/out impact force on the device assembly system <NUM> is reduced. This improves stability and reliability of a working process of the device assembly system <NUM>.

Claim 1:
A device assembly system (<NUM>) for implementing automatic shelving or unshelving of an apparatus in a rack in a data center, wherein the system comprises a control apparatus (<NUM>), a mobile apparatus (<NUM>), a lifting apparatus (<NUM>), and a plug in/out apparatus (<NUM>), wherein
the control apparatus (<NUM>) is configured to control, based on an operation and maintenance instruction, the mobile apparatus (<NUM>), the lifting apparatus (<NUM>), and the plug in/out apparatus (<NUM>) to complete an operation of the operation and maintenance instruction, and the operation and maintenance instruction instructs the system to complete an operation of assembly of a device;
the mobile apparatus (<NUM>) is configured to move the system to a first location, and the first location identifies a rack (<NUM>) in which the device is assembled;
the lifting apparatus (<NUM>) is configured to move the plug in/out apparatus (<NUM>) to a target location in a first direction (Z), the target location is a location for storing the device in the rack (<NUM>), and the first direction (Z) is perpendicular to the ground; and
the plug in/out apparatus (<NUM>) is configured to place the device at the target location, or obtain the device from the target location,
characterized in that
the lifting apparatus (<NUM>) comprises a holding mechanism (<NUM>), configured to connect the rack (<NUM>) and the device assembly system; and the holding mechanism (<NUM>) comprises a fourth drive assembly (<NUM>) and a holding hook (<NUM>), and the fourth drive assembly (<NUM>) is configured to drive the holding hook (<NUM>) to be fixedly connected to the rack (<NUM>).