CN106625677A - Folding type hard disk array operation robot - Google Patents
Folding type hard disk array operation robot Download PDFInfo
- Publication number
- CN106625677A CN106625677A CN201611261850.2A CN201611261850A CN106625677A CN 106625677 A CN106625677 A CN 106625677A CN 201611261850 A CN201611261850 A CN 201611261850A CN 106625677 A CN106625677 A CN 106625677A
- Authority
- CN
- China
- Prior art keywords
- hard disk
- joint
- disk array
- mechanical arm
- array operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention provides a folding type hard disk array operation robot, relates to a technology for achieving operations of inserting-in and pulling-out of a hard disk handle bar automatically and aims to solve the problems that in the hard disk array testing process, continuous inserting and pulling cannot be conducted through manual operation and contingency exists in manual operation. A box body is fixed inside an equipment cabinet; a movement control system and a power source conversion system are both arranged inside the box body; the power source conversion system is connected with a power source of the equipment cabinet, the output end of the power source conversion system is connected with a robot body; a mechanical arm is connected to a conveying device, and when the folding type hard disk array operation robot is in a work state, the mechanical arm is located outside the box body; when the folding type hard disk array operation robot is in a rest state, the mechanical arm is located inside the box body; and the movement control system is connected with the mechanical arm. The folding type hard disk array operation robot has the advantages that continuous inserting and pulling of the hard disk handle bar are achieved, operation contingency is avoided, and the robot is effective and reliable; and the folding type hard disk array operation robot is applicable to systemic tests of a large scale of hard disk arrays.
Description
Technical field
The present invention relates to a kind of perform into and out operating technology automatically for realization to hard disk handle bar.
Background technology
At present, in the hard disk hot-plug data access test process for carrying out extensive hard disk array system, need frequent
To hard disk array in any one piece of hard disk handle bar carry out hot plug operations, to coordinate its hard disk array test system and test
The service behaviour of its storage device；Wherein, hard disk is both placed in Handle Bar, and a Handle Bar places a hard disk；At present this
Item carries out hot plug operations work to hard disk handle bar and is completed by artificial operation completely, is primarily present and following mainly asks
Topic：
1st, the continuous plug for specifying hard disk handle bar to perform hundreds of time or even thousands of times cannot be operated；
2nd, hard disk is accurate electronic product, and operating needs to follow certain technology to it in its powered operation process will
Ask, artificial operation cannot be accomplished；
3rd, artificial operation cannot avoid contingency from bringing impact to the test result of hard disk permutation.
Therefore, for the hard disk handle bar automatic plug operation of extensive hard disk array system, in the urgent need to a kind of special
The special purpose robot of development.
Further, since hard disk array cabinet is mainly used to loading hard disk array system, so the peace to hard disk operation robot
Dress space proposes strict demand.
The content of the invention
The invention aims to solve in the test of hard disk array, artificial operation cannot be plugged continuously and manually
There is contingency in operation, it is proposed that a kind of collapsible hard disk array operation robot.
Collapsible hard disk array operation robot of the present invention, including casing, kinetic control system, Power convert system
System and robot body；
The casing is fixed on the inside of hard disk enclosure；
The kinetic control system and power conversion system are arranged at box house；
The power input of the power conversion system is connected with the power output end of hard disk enclosure, power conversion system
Power output end is connected with the power input of robot body；
The robot body includes pedestal, conveyer and mechanical arm；
The pedestal and conveyer are arranged on the inwall of casing, and pedestal 1 is used to carry mechanical arm；
One end of mechanical arm is connected on conveyer, also, when the collapsible hard disk array operation robot is in work
When making state, mechanical arm is located at outside casing；When collapsible hard disk array operation robot is in resting state, mechanical arm position
In box house；
The drive signal output end of the kinetic control system is connected with the driving signal input of mechanical arm.
Collapsible hard disk array operation robot of the present invention is fixed on inside hard disk enclosure, when the continuous plug of needs
During hard disk handle bar, the collapsible hard disk array operation robot enters working condition, and now, kinetic control system 10 is by fortune
The mechanical arm of dynamic control signal control robot body stretches, and after the completion of mechanical arm stretches, kinetic control system 10 is by motion
The mechanical arm of control signal control robot body carries out plugging hard disk handle bar；After continuous plug hard disk handle bar terminates,
The collapsible hard disk array operation robot enters resting state, and now, kinetic control system 10 passes through motion control signal control
The mechanical arm of robot body processed is drawn in, until mechanical arm is drawn in after box house, is terminated.
The invention has the beneficial effects as follows the control by kinetic control system to mechanical arm, realizes the company of hard disk handle bar
Continuous plug operation, also, the continuous plug operates unartificial operation, can avoid the contingency for operating；Meanwhile, this is collapsible hard
Disk array operation robot is effectively reliable, to realize that the automation and standardization of extensive hard disk array system test have been provided
The guarantee of effect.
System testing of the present invention suitable for extensive hard disk array.
Description of the drawings
Structures of the Fig. 1 for the collapsible hard disk array operation robot described in specific embodiment one when in running order
Schematic diagram；
Fig. 2 be specific embodiment one described in collapsible hard disk array operation robot in a dormant state when structure
Schematic diagram.
Specific embodiment
Specific embodiment one：With reference to Fig. 1 and Fig. 2 explanation present embodiments, the collapsible hard disk described in present embodiment
Array processing robot, including casing 9, kinetic control system 10, power conversion system 11 and robot body；
The casing 9 is fixed on the inside of hard disk enclosure；Casing 9 take up room for：19 inches wide, 2U is high and 600mm
It is long；
The kinetic control system 10 and power conversion system 11 are arranged inside casing 9；
The power input of the power conversion system 11 is connected with the power output end of hard disk enclosure, power conversion system
11 power output end is connected with the power input of robot body；Power conversion system 11 is used for provide hard disk enclosure
220VAC photovoltaic conversions are the voltage required for robot body；
The robot body includes pedestal 1, conveyer and mechanical arm；
The pedestal 1 and conveyer are arranged on the inwall of casing 9；Pedestal 1 is used to carry mechanical arm；
One end of mechanical arm is connected on conveyer, also, when the collapsible hard disk array operation robot is in work
When making state, mechanical arm is located at outside casing 9, and now, mechanical arm is sent to outside casing 9 by conveyer from pedestal 1；
When collapsible hard disk array operation robot is in off position, the foldable gathering of mechanical arm is positioned over inside casing 9, this
When, mechanical arm is sent at pedestal 1 by conveyer from outside casing 9.；
The drive signal output end of the kinetic control system 10 is connected with the driving signal input of mechanical arm；
In the present embodiment, the mechanical arm for controlling robot body by kinetic control system 10 is moved and real
The now plug to hard disk handle bar is operated；Mechanical arm is drawn in the space of 2U, can operate machine to the collapsible hard disk array
The space of people each 4U up and down is operated.The collapsible hard disk array operation robot integrated level is high, is easily installed, dismantles and removes
Fortune.
Specific embodiment two：Present embodiment is to the collapsible hard disk array operation machine described in specific embodiment one
Device people further limit, in the present embodiment, the mechanical arm include linear joint 2, shoulder joint 3, large arm 4, elbow joint 5,
Forearm 6, wrist joint 7, end-of-arm tooling 8, force snesor, four motors and rotary shaft；
One end of the linear joint 2 is connected on conveyer by rotary shaft, also, the axis and level of rotary shaft
Face is vertical, and linear joint 2 is moved in the horizontal direction for controlling end-of-arm tooling 8；The other end and shoulder joint of linear joint 2
One end of section 3 is connected, also, one end of shoulder joint 3 can surround the other end rotation of linear joint 2, the rotation half of shoulder joint 3
Footpath is 235mm；The other end of shoulder joint 3 is connected with one end of large arm 4；The other end of large arm 4 is connected with one end of elbow joint 5,
Also, one end of elbow joint 5 rotates to the other end around large arm 4, the radius of turn of elbow joint 5 is 300mm；Elbow joint
5 other end is connected with one end of forearm 6；The other end of forearm 6 is connected with one end of wrist joint 7, also, the one of wrist joint 7
End can surround the other end of forearm 6 and rotate；The other end of wrist joint 7 is connected with end-of-arm tooling 8, hard by end-of-arm tooling 8 pairs
Disk Handle Bar carries out plug operation；
The force snesor is arranged on the other end in joint 7 and the junction of end-of-arm tooling 8, and force snesor is used for inspection in real time
The size of operating physical force, when operating physical force is excessive, stops in time the collapsible hard disk battle array when surveying the plug hard disk handle bar of end-of-arm tooling 8
The motion of row operation robot, prevents the stacked hard disk array operation robot when hard disk handle bar is operated due to firmly excessive
Cause hard disk to produce damage, serve the effect of protection hard disk handle bar；Four motors are separately positioned on linear joint 2, shoulder joint
On section 3, elbow joint 5 and wrist joint 7, also, kinetic control system 1) drive signal output end and mechanical arm drive signal
Input is connected；Four motors are respectively used to control, and linear joint 2 rotates, shoulder joint 3 rotates, elbow joint 5 rotates and wrist joint 7
Rotation, so as to control the moving direction of end-of-arm tooling 8.
In the present embodiment, by the association of linear joint 2, shoulder joint 3, large arm 4, elbow joint 5, forearm 6 and wrist joint 7
Allocation and transportation are dynamic, and plug operation of the hard disk handle bar in rack is completed under the auxiliary of end-of-arm tooling 8.The mechanical material of mechanical arm is adopted
With aluminium alloy, the weight of mechanical arm is about 11Kg, and the gross weight of the collapsible hard disk array operation robot is 20Kg.
Specific embodiment three：Present embodiment is to the collapsible hard disk array operation machine described in specific embodiment two
Device people further limit, and in the present embodiment, the linear joint 2, shoulder joint 3, elbow joint 5 and wrist joint 7 are respectively provided with
Electromagnetic brake piece；
The brake signal input of the electromagnetic brake piece is connected with the brake signal output end of kinetic control system 10.
In the present embodiment, make mechanical arm that there is power-off to keep the function of attitude by electromagnetic brake piece.
Specific embodiment four：Present embodiment is to the collapsible hard disk array operation machine described in specific embodiment two
Device people further limit, and in the present embodiment, the kinetic control system 10 includes that master controller, joint motor drive
Device, force snesor acquisition system and upper machine communication system；
The communication signal input of the master controller is connected with the communication signal output end of upper machine communication system；Institute
State the mode that the communication signal input of master controller is connected with the communication signal output end of upper machine communication system to adopt
TCP/IP network communications；Upper machine communication system is used to be input into the action directive of mechanical arm；The joint control of master controller
Signal output part processed is connected with the control signal input of joint motor driver；The force signal output of force snesor acquisition system
End is connected with the force signal output end of master controller；
The drive signal output end of the joint motor driver is connected respectively with the driving signal input of four motors；
The collection signal input part of the force snesor acquisition system is connected with the collection signal output part of force snesor.
In the present embodiment, sent out in the form of TCP/IP network communications to master controller by upper machine communication system
Cloth manipulator motion is instructed, and master controller is instructed to joint motor driver according to manipulator motion and sends control signal, is closed
Section motor driver sends drive signal to four motors respectively according to control signal, and four motors are transported according to drive signal
It is dynamic, so as to realize mechanical arm in end-of-arm tooling 8 free movement, and then complete the continuous plug to hard disk handle bar and operate.
By force snesor acquisition system gather end-of-arm tooling 8 plug hard disk handle bar when operating physical force, when operating physical force it is excessive
When, sensor acquisition system produces force signal and signal in this is sent into master controller, and master controller is by joint electricity
Machine driver control mechanical arm stop motion, prevent the stacked hard disk array operation robot operate hard disk handle bar when due to
It is firmly excessive to cause hard disk to produce damage, serve the effect of protection hard disk handle bar.
Claims (4)
1. collapsible hard disk array operation robot, it is characterised in that turn including casing (9), kinetic control system (10), power supply
Change system (11) and robot body；
The casing (9) is fixed on the inside of hard disk enclosure；
It is internal that the kinetic control system (10) and power conversion system (11) are arranged at casing (9)；
The power input of the power conversion system (11) is connected with the power output end of hard disk enclosure, power conversion system
(11) power output end is connected with the power input of robot body；
The robot body includes pedestal (1), conveyer and mechanical arm；
The pedestal (1) and conveyer are arranged on the inwall of casing (9), and pedestal 1 is used to carry mechanical arm；
One end of mechanical arm is connected on conveyer, also, when the collapsible hard disk array operation robot is in work shape
During state, it is outside that mechanical arm is located at casing (9)；When collapsible hard disk array operation robot in a dormant state when, mechanical arm position
It is internal in casing (9)；
The drive signal output end of the kinetic control system (10) is connected with the driving signal input of mechanical arm.
2. collapsible hard disk array operation robot according to claim 1, it is characterised in that the mechanical arm includes moving
Movable joint (2), shoulder joint (3), large arm (4), elbow joint (5), forearm (6), wrist joint (7), end-of-arm tooling (8), force snesor,
Four motors and rotary shaft；
One end of the linear joint (2) is connected on conveyer by rotary shaft, also, the axis and horizontal plane of rotary shaft
Vertically；The other end of linear joint (2) is connected with one end of shoulder joint (3), also, one end of shoulder joint (3) can be around shifting
The other end rotation of movable joint (2)；The other end of shoulder joint (3) is connected with one end of large arm (4)；The other end of large arm (4) with
One end of elbow joint (5) is connected, also, one end of elbow joint (5) rotates to the other end around large arm (4)；Elbow joint
(5) the other end is connected with the one end of forearm (6)；The other end of forearm (6) is connected with one end of wrist joint (7), also, wrist is closed
One end of section (7) can surround the other end of forearm (6) and rotate；The other end of wrist joint (7) is connected with end-of-arm tooling (8)；
The force snesor is arranged on the other end in joint (7) and the junction of end-of-arm tooling (8)；Four motors are separately positioned on
On linear joint (2), shoulder joint (3), elbow joint (5) and wrist joint (7), also, the drive signal of kinetic control system (10)
Output end is connected respectively with the driving signal input of four motors.
3. collapsible hard disk array operation robot according to claim 2, it is characterised in that the linear joint (2),
Shoulder joint (3), elbow joint (5) and wrist joint (7) are respectively provided with electromagnetic brake piece；
The brake signal input of the electromagnetic brake piece is connected with the brake signal output end of kinetic control system (10).
4. collapsible hard disk array operation robot according to claim 2, it is characterised in that the kinetic control system
(10) including master controller, joint motor driver, force snesor acquisition system and upper machine communication system；
The communication signal input of the master controller is connected with the communication signal output end of upper machine communication system；Control at center
The joint control signal output part of device processed is connected with the control signal input of joint motor driver；Force snesor acquisition system
Force signal output end be connected with the force signal output end of master controller；
The drive signal output end of the joint motor driver is connected respectively with the driving signal input of four motors；
The collection signal input part of the force snesor acquisition system is connected with the collection signal output part of force snesor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261850.2A CN106625677A (en) | 2016-12-30 | 2016-12-30 | Folding type hard disk array operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261850.2A CN106625677A (en) | 2016-12-30 | 2016-12-30 | Folding type hard disk array operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625677A true CN106625677A (en) | 2017-05-10 |
Family
ID=58837975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611261850.2A Pending CN106625677A (en) | 2016-12-30 | 2016-12-30 | Folding type hard disk array operation robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106625677A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775655A (en) * | 2017-10-18 | 2018-03-09 | 北京甘为乐博科技有限公司 | A kind of foldable chess playing robot |
| CN108045532A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | A kind of underwater electric machinery arm operation gondola and application method |
| CN113927615A (en) * | 2021-11-12 | 2022-01-14 | 内蒙古工业大学 | Gesture passively-adapted bottle cap pulling tool at tail end of mechanical arm |
| EP4309611A1 (en) * | 2022-07-20 | 2024-01-24 | Cyber Surgery, S.L. | Parking robot system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775655A (en) * | 2017-10-18 | 2018-03-09 | 北京甘为乐博科技有限公司 | A kind of foldable chess playing robot |
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| CN108045532A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | A kind of underwater electric machinery arm operation gondola and application method |
| CN113927615A (en) * | 2021-11-12 | 2022-01-14 | 内蒙古工业大学 | Gesture passively-adapted bottle cap pulling tool at tail end of mechanical arm |
| EP4309611A1 (en) * | 2022-07-20 | 2024-01-24 | Cyber Surgery, S.L. | Parking robot system |
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Application publication date: 20170510 |
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