CN110039275B - Six-degree-of-freedom robot-based ETSI cabinet equipment single plate dismounting and mounting device and method - Google Patents

Six-degree-of-freedom robot-based ETSI cabinet equipment single plate dismounting and mounting device and method Download PDF

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CN110039275B
CN110039275B CN201910308613.4A CN201910308613A CN110039275B CN 110039275 B CN110039275 B CN 110039275B CN 201910308613 A CN201910308613 A CN 201910308613A CN 110039275 B CN110039275 B CN 110039275B
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洪峰
潘盛锋
张愿
许俊旺
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Changxun Communications Services Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines

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Abstract

The invention discloses a six-degree-of-freedom robot-based device and a method for dismounting and mounting a single plate of ETSI cabinet equipment, wherein the method comprises the following steps: initializing the pose of the six-degree-of-freedom robot, and clamping the equipment single plate upper and lower knife-shaped wrenches by a pneumatic device in the clamp module; controlling the upper electric screwdriver module and the lower electric screwdriver module, loosening the screws of the equipment veneer, and opening the knife-shaped spanner; controlling a six-degree-of-freedom robot to replace the equipment single plate and moving the equipment single plate to a position corresponding to the cabinet plate groove; and locking the knife-shaped spanner and screwing the equipment veneer screw. The device comprises a six-degree-of-freedom robot module, an electric screwdriver module, a pneumatic two-finger clamp module and a guide rail module. The method and the device provided by the invention finish the maintenance task of the equipment cabinet by using the robot instead of the human, effectively reduce the maintenance cost of the long-term operation of the machine room, and are suitable for the unmanned management system of the server machine room.

Description

Six-degree-of-freedom robot-based ETSI cabinet equipment single plate dismounting and mounting device and method
Technical Field
The invention relates to the technical field of intelligent maintenance of cabinets, in particular to a device and a method for disassembling and installing an ETSI (European Telecommunications standards Institute) cabinet equipment single plate based on a six-degree-of-freedom robot.
Background
The disassembly and assembly of the equipment single board of the cabinet is an important method for maintaining the cabinet, and the stable and quick disassembly and assembly of the equipment single board plays an important role in promoting the cabinet maintenance work to develop into intellectualization and unmanned.
At present, the single board dismounting and mounting tasks of the cabinet equipment are mainly performed manually. The structure optimization method is carried out on the traditional cabinet mechanical structure, such as patents CN207897263U and CN208387087U, and the like, the original cabinet structure is improved, and the sliding device is added, so that the equipment single board is more convenient to disassemble and assemble, and the cabinet maintenance task is not completed by a robot instead of a person. For example, in a cabinet maintenance system based on remote monitoring, such as patents CN105005251A and CN105988447A, a remote monitoring device is connected to a remote client through a dedicated connection network, and the remote monitoring device is configured to detect a state of a single board of a cabinet device, and if the single board of the device fails, the remote client sends a maintenance instruction. The method mainly emphasizes the whole cabinet maintenance system, and does not relate to specific dismounting and mounting devices and methods of single boards of cabinet equipment.
The specific patent references and related documents mentioned above are:
1) and a computer network cabinet convenient for maintenance, patent No. CN 208387087U. The utility model provides a computer network rack convenient to maintain, including the cabinet body, roof, curb plate, qianmen, backplate, bottom plate, the curb plate includes outer panel, interior plate, through the filter screen and the slider of top detachable ventilation unit and both sides, makes the computer network cabinet can reach convenient to detach, abluent maintenance purpose. However, the utility model discloses a device is suitable for the object and is the manual maintenance, and focuses on the inside cleanness of rack, dismantles at the equipment veneer and unanimous with traditional rack with the mounting method.
2) "a system and method for server cabinet maintenance based on industrial robot", patent No. CN 105988447A. The invention provides a system and a method for maintaining a server cabinet based on an industrial robot, wherein the system comprises the server cabinet; the industrial robot is controlled to call a management upper computer of a corresponding program according to the state of each layer of board card of the server cabinet, and the industrial robot is used for plugging and unplugging the board card to the specified layer number of the specified server cabinet according to the instruction of the management upper computer. The server board card is plugged and carried through the industrial robot, the server board card needing to be maintained is pulled out and carried to the old board card placing area, the maintained board card is grabbed from the new board card placing area, and the server board card is plugged back into the cabinet clamping groove. The patent of the invention focuses on introducing the components of the whole monitoring system and the operation flow of the whole system, and does not relate to the key device and method for dismounting and mounting the single board of the equipment.
3) A journal article, "data center unmanned maintenance application based on a complete machine cabinet server", published in 2015, and the article provides a server optical fiber module plugging and unplugging flow chart based on a FANUC robot, a sensor is arranged on a robot paw cylinder, a signal is transmitted through a robot connecting piece, and an upper computer reads the opening and closing conditions of a robot paw. The robot of the maintenance system only uses the two basic cylinder clamps to complete the dismounting and mounting work of the server board card, the requirement on the planning precision of the robot track is high in the whole dismounting and mounting process, the single board main body of the cabinet equipment is in contact with the two basic cylinder clamps, the possibility of damaging parts in the single board of the equipment is high, and the reliability of maintenance is low.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a device and a method for dismounting and mounting an ETSI cabinet equipment single plate based on a six-degree-of-freedom robot.
The purpose of the invention is realized by the following technical scheme:
a six-degree-of-freedom robot-based method for dismounting and mounting single plates of ETSI cabinet equipment comprises the following steps:
step A, initializing the pose of the six-degree-of-freedom robot to enable the rotation axis of the sixth joint of the robot to be parallel to the XOY plane of the basic coordinate system, enabling a pneumatic two-finger clamp module to reach the clamping point of a single-plate knife-shaped wrench of the equipment, and outputting pre-tightening force F by a pneumatic device in the clamp module0The single plate of the clamping device is provided with an upper knife-shaped spanner and a lower knife-shaped spanner which can slide relatively;
and step B, controlling the motor of the upper and lower electric screwdriver modules to rotate anticlockwise to loosen the screws of the equipment single plate so as to enable the upper and lower guide rail modules to displace to l and enable the tail end joint of the robot to displace to l along the positive direction of the X axis of the base coordinate systemrAfter the knife-shaped spanner rotates 90 degrees, the pneumatic device in the pneumatic two-finger clamp module outputs pre-tightening force F1The single plate of the clamping device is provided with an upper knife-shaped spanner and a lower knife-shaped spanner which can not slide relatively;
step C, displacing the tail end joint of the six-degree-of-freedom robot to D along the positive direction of the X axis of the coordinate system1After the equipment single plate is completely separated from the cabinet, controlling a six-degree-of-freedom robot to replace the equipment single plate and moving the equipment single plate to a position corresponding to a plate groove of the cabinet;
d, displacing the tail end joint of the six-degree-of-freedom robot to D along the X-axis negative direction of the coordinate system2When the single board of the equipment is completely inserted into the cabinet, the pneumatic device in the clamp module outputs the pretightening force F0The upper and lower guide rails are displaced by l simultaneouslyAnd (3) displacing the tail end joint of the machine arm along the direction of the negative axis of the X shaft of the base coordinate system by l, locking a knife-shaped wrench, and screwing down the single plate screw of the equipment.
A six-degree-of-freedom robot-based ETSI cabinet equipment single plate dismounting and mounting device comprises: : the device comprises a six-degree-of-freedom robot module, an electric screwdriver module, a pneumatic two-finger clamp module and a guide rail module; the above-mentioned
The six-degree-of-freedom robot module is used for carrying the clamp module and the electric screwdriver module and completing a specified path in space;
the electric screwdriver module is used for screwing and unscrewing the screw which is not detached from the single plate of the equipment up and down;
the pneumatic two-finger clamp module is used for clamping the knife-shaped spanner on the equipment veneer with different output clamping forces;
and the guide rail module is used for decomposing the opening and closing motion of the upper wrench and the lower wrench of the equipment veneer into guide rail linear motion and robot horizontal motion.
One or more embodiments of the present invention may have the following advantages over the prior art:
the invention is based on the high degree of freedom of the six-degree-of-freedom robot, combines the designed special knife-shaped spanner clamp, and decomposes the opening and closing rotary motion of the upper and lower knife-shaped spanners of the equipment single plate into the linear motion of the guide rail and the robot which are mutually vertical, thereby simplifying the space motion track of the robot in the process of disassembly and assembly. The dismounting and mounting method and device for the single plate of the ETSI cabinet equipment based on the six-degree-of-freedom robot finish the dismounting and mounting operation of the single plate of the cabinet equipment by replacing the robot with the robot. The damage to the equipment single board caused by the manual disassembly process is avoided, meanwhile, the risk of server information leakage can be reduced, the data security is improved, the maintenance cost of long-term operation of the machine room is greatly reduced, and the system is suitable for the server machine room unmanned management system.
Drawings
FIG. 1 is a flow chart of a method for dismounting and mounting a single plate of ETSI cabinet equipment of a six-degree-of-freedom robot;
FIG. 2 is a structural diagram of a single plate dismounting and mounting device of ETSI cabinet equipment based on a six-degree-of-freedom robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings.
As shown in fig. 1, a process of a method for dismounting and mounting a single plate of ETSI cabinet equipment of a six-degree-of-freedom robot includes the following steps:
step 10, initializing the pose of the six-degree-of-freedom robot to enable the rotation axis of the sixth joint of the robot to be parallel to the XOY plane of the basic coordinate system, enabling a pneumatic two-finger clamp module to reach the clamping point of a single-plate knife-shaped wrench of the equipment, and outputting pre-tightening force F by a pneumatic device in the clamp module0The single plate of the clamping device is provided with an upper knife-shaped spanner and a lower knife-shaped spanner which can slide relatively;
step 20, controlling the motor of the upper and lower electric screwdriver modules to rotate anticlockwise to loosen the screws of the equipment single plate so as to enable the upper and lower guide rail modules to displace to l and enable the tail end joint of the robot to displace to l along the positive direction of the X axis of the base coordinate systemrAfter the knife-shaped spanner rotates 90 degrees, the pneumatic device in the pneumatic two-finger clamp module outputs pre-tightening force F1The single plate of the clamping device is provided with an upper knife-shaped spanner and a lower knife-shaped spanner which can not slide relatively;
step 30, displacing the tail end joint of the six-degree-of-freedom robot to D along the positive direction of the X axis of the coordinate system1After the equipment single plate is completely separated from the cabinet, controlling a six-degree-of-freedom robot to replace the equipment single plate and moving the equipment single plate to a position corresponding to a plate groove of the cabinet;
step 40, displacing the tail end joint of the six-degree-of-freedom robot to D along the X-axis negative direction of the coordinate system2When the single board of the equipment is completely inserted into the cabinet, the pneumatic device in the clamp module outputs the pretightening force F0And (3) moving the upper guide rail and the lower guide rail l, simultaneously moving the tail end joint of the machine arm l along the negative axis direction of the X shaft of the base coordinate system, locking a knife-shaped wrench, and screwing down a single plate screw of the equipment.
In the step 10, according to the motion characteristics of the robot, when the base coordinate system is the Z axis and is coincident with the first joint rotation axis of the robot, the X axis is parallel to the rotation axis of the tail end joint of the robot in the initial state, and a right-hand coordinate system O-XYZ is established; and a sixth joint coordinate system of the robot is that the Z axis is coincident with the rotation axis, and the X axis is parallel to the Z axis of the base coordinate system, so that a right-hand coordinate system is established.
The single-plate motion track of the robot initialization and replacement equipment is determined by the rotation angle, the angular velocity and the angular acceleration of each joint of the six-degree-of-freedom robot, a smooth motion control method of the robot is designed, and according to the position and the posture characteristics of the space motion joints of the robot, the rotation matrix of the joint i of the robot under a base coordinate system at any position in the whole maintenance action is RiCoordinate is PiThen, the arbitrary pose of the joint i under the base coordinate system can be expressed as
Figure BDA0002030676420000051
Figure BDA0002030676420000052
According to robot joint i with respect to time node tjDiscrete corner array θ of 0,1,2 … n, ji(tj) Generating a robot space motion track by using a k-order non-uniform B-spline interpolation method, then thetai(tj) Has a node value uk+jFor time node tjAfter normalization, the nodes are represented as:
u0＝u1＝uk＝0
un+k＝un+k+1＝un+k+k＝1，
Figure BDA0002030676420000053
the interpolation curve consists of n + k vertexes djDefining, interpolating theta after n +1 number of numerical pointsi(tj) The k-th non-uniform B-spline curve can be written as:
Figure BDA0002030676420000054
θi(tj) Has a node range of [ u ]k,un+k]Then the n +1 equations that satisfy the condition can be expressed as:
Figure BDA0002030676420000061
the head and tail vertexes are head and tail data points, so that the solved constraint condition is as follows:
Figure BDA0002030676420000062
in the robot smooth motion control, the ith joint of the robot is at the starting time t0Is thetai1The speed is 0, and the acceleration is the maximum starting acceleration a of the joint motorτAt the end of the movement time tnHas a joint angle of thetai2If the speed is 0 and the acceleration is 0, solving conditions of the ith joint motion corner, speed and acceleration of the robot are as follows:
Figure BDA0002030676420000063
output pretightening force F of pneumatic device in clamp module0In the range of 20N to 100N.
In the step 20, the displacement l of the upper and lower guide rail modules and the displacement l of the robot tail end joint along the positive direction of the X axis of the base coordinate systemrThe relationship between them is:
l≥lr；
output pretightening force F of pneumatic device in clamp module1In the range of 100N to 200N.
According to the embodiment, the space opening and closing rotating operation of the upper and lower knife-shaped wrenches of the equipment single plate is decomposed into the guide rail linear motion and the robot linear motion which are perpendicular to each other, so that the problem that a robot is directly used for planning a complicated space curve track is avoided, the difficulty in planning the robot track is reduced, and the reliability of the equipment single plate disassembly and the reliability of the equipment single plate according to the process are improved.
As shown in fig. 2, this embodiment further provides an ETSI cabinet equipment single plate dismounting and mounting device based on a six-degree-of-freedom robot, including: the robot comprises a six-degree-of-freedom robot module 1, a guide rail module 2, an electric screwdriver module 3 and a pneumatic two-finger clamp module 4; the above-mentioned
The six-degree-of-freedom robot module is used for carrying the clamp module and the electric screwdriver module and completing a specified path in space;
the electric screwdriver module is used for screwing and unscrewing the screw which is not detached from the single plate of the equipment up and down;
the clamp module is used for clamping the cutter-shaped wrench on the equipment veneer with different output clamping forces;
and the guide rail module is used for decomposing the opening and closing motion of the upper wrench and the lower wrench of the equipment veneer into guide rail linear motion and robot horizontal motion.
The guide rail module 2, the electric screwdriver module 3 and the pneumatic two-finger clamp module 4 are connected with the six-degree-of-freedom robot module 1 through a connecting plate.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. A six-degree-of-freedom robot-based method for dismounting and mounting single plates of ETSI cabinet equipment is characterized by comprising the following steps:
step A, initializing the pose of the six-degree-of-freedom robot to enable the rotation axis of the sixth joint of the robot to be parallel to the XOY plane of the basic coordinate system, enabling a pneumatic two-finger clamp module to reach the clamping point of a single-plate knife-shaped wrench of the equipment, and outputting pre-tightening force F by a pneumatic device in the clamp module0The single plate of the clamping device is provided with an upper knife-shaped spanner and a lower knife-shaped spanner which can slide relatively;
step B, controlling the up-down electric screwdriver dieThe block motor rotates anticlockwise to loosen the screws which are not detached from the single plates of the equipment, so that the upper and lower guide rail modules displace to l, and meanwhile, the tail end joint of the robot displaces to l along the positive direction of the X axis of the base coordinate systemrAfter the knife-shaped spanner rotates 90 degrees, the pneumatic device in the pneumatic two-finger clamp module outputs pre-tightening force F1The single plate of the clamping device is provided with an upper knife-shaped spanner and a lower knife-shaped spanner which can not slide relatively;
step C, displacing the tail end joint of the six-degree-of-freedom robot to D along the positive direction of the X axis of the coordinate system1After the equipment single plate is completely separated from the cabinet, controlling a six-degree-of-freedom robot to replace the equipment single plate and moving the equipment single plate to a position corresponding to a plate groove of the cabinet;
d, displacing the tail end joint of the six-degree-of-freedom robot to D along the X-axis negative direction of the coordinate system2When the single board of the equipment is completely inserted into the cabinet, the pneumatic device in the clamp module outputs the pretightening force F0And (3) moving the upper guide rail and the lower guide rail l, simultaneously moving the tail end joint of the machine arm l along the negative axis direction of the X shaft of the base coordinate system, locking a knife-shaped wrench, and screwing down a single plate screw of the equipment.
2. The method for dismounting and mounting a single plate of ETSI cabinet equipment based on a six-degree-of-freedom robot as claimed in claim 1, wherein said step A specifically comprises: when the base coordinate system is a Z axis and is coincident with a first joint rotation axis of the robot, the X axis is parallel to the rotation axis of the tail end joint of the robot in an initial state, and a right-hand coordinate system O-XYZ is established; and a sixth joint coordinate system of the robot is that the Z axis is coincident with the rotation axis, and the X axis is parallel to the Z axis of the base coordinate system, so that a right-hand coordinate system is established.
3. The method for dismounting and mounting ETSI cabinet equipment single plate based on six-degree-of-freedom robot as claimed in claim 2, wherein the initialized pose of the six-degree-of-freedom robot and the motion track of the replacement equipment single plate are determined by the rotation angle, angular velocity and angular acceleration of each joint of the six-degree-of-freedom robot, the smooth motion control method of the robot is designed, and according to the pose characteristics of the spatial motion joints of the robot, the rotation matrix of the robot joint i under the base coordinate system at any position in the whole maintenance action is RiAnd a seatMarked PiThen, the arbitrary pose of the joint i under the base coordinate system can be expressed as
Figure FDA0002715482480000011
Figure FDA0002715482480000021
According to robot joint i with respect to time node tjDiscrete corner array θ of 0,1,2 … n, ji(tj) Generating a robot space motion track by using a k-order non-uniform B-spline interpolation method, then thetai(tj) Has a node value uk+jFor time node tjAfter normalization, the nodes are represented as:
u0＝u1＝uk＝0
un+k＝un+k+1＝un+k+k＝1，
Figure FDA0002715482480000022
the interpolation curve consists of n + k vertexes djDefining, interpolating theta after n +1 number of numerical pointsi(tj) The k-th non-uniform B-spline curve can be written as:
Figure FDA0002715482480000023
θi(tj) Has a node range of [ u ]k,un+k]Then the n +1 equations that satisfy the condition can be expressed as:
Figure FDA0002715482480000024
the head and tail vertexes are head and tail data points, so that the solved constraint condition is as follows:
Figure FDA0002715482480000025
4. the method for disassembling and assembling ETSI cabinet equipment single plate based on six-degree-of-freedom robot as claimed in claim 3, wherein in the robot smooth motion control, the ith joint of the robot is at the starting time t0Is thetai1The speed is 0, and the acceleration is the maximum starting acceleration a of the joint motorτAt the end of the movement time tnHas a joint angle of thetai2If the speed is 0 and the acceleration is 0, solving conditions of the ith joint motion corner, speed and acceleration of the robot are as follows:
Figure FDA0002715482480000031
5. the method for disassembling and assembling ETSI cabinet equipment single plate based on six-degree-of-freedom robot as claimed in claim 1, wherein in step A, the pneumatic device in the clamp module outputs pretightening force F0In the range of 20N to 100N.
6. The method for disassembling and assembling ETSI cabinet equipment single plate based on six-degree-of-freedom robot as claimed in claim 1, wherein in step B, the displacement l of the upper and lower guide rail modules and the displacement l of the robot end joint along the positive direction of the X axis of the base coordinate systemrThe relationship between them is:
l≥lr；
output pretightening force F of pneumatic device in clamp module1In the range of 100N to 200N.
7. The installation apparatus for dismounting and mounting single plate of ETSI cabinet equipment based on six-degree-of-freedom robot as claimed in any of claims 1-6, wherein said apparatus comprises: the device comprises a six-degree-of-freedom robot module, an electric screwdriver module, a pneumatic two-finger clamp module and a guide rail module; the above-mentioned
The six-degree-of-freedom robot module is used for carrying the clamp module and the electric screwdriver module and completing a specified path in space;
the electric screwdriver module is used for screwing and unscrewing the screw which is not detached from the single plate of the equipment up and down;
the pneumatic two-finger clamp module is used for clamping the knife-shaped spanner on the equipment veneer with different output clamping forces;
and the guide rail module is used for decomposing the opening and closing motion of the upper wrench and the lower wrench of the equipment veneer into guide rail linear motion and robot horizontal motion.
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