CN117900810A - Automatic flexible lossless insertion method and device for memory bank - Google Patents
Automatic flexible lossless insertion method and device for memory bank Download PDFInfo
- Publication number
- CN117900810A CN117900810A CN202410299533.8A CN202410299533A CN117900810A CN 117900810 A CN117900810 A CN 117900810A CN 202410299533 A CN202410299533 A CN 202410299533A CN 117900810 A CN117900810 A CN 117900810A
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- memory
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- memory bank
- slot
- strips
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- 238000012966 insertion method Methods 0.000 title claims description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims abstract description 25
- 238000003780 insertion Methods 0.000 claims abstract description 20
- 230000037431 insertion Effects 0.000 claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 1
Classifications
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an automatic flexible lossless inserting method and an automatic flexible lossless inserting device for a memory bank, wherein the position of an inserting groove is positioned through a vision system, the memory bank is clamped through a clamp and is moved to the position above the inserting groove; pre-pressing the memory strip, and pressing the memory strip into the clamping groove along the direction of the slot until the golden finger of the memory strip reaches the joint of the elastic sheet in the slot; then, the memory strips are pressed in place until locking mechanisms at two sides of the slot are locked, and the insertion of the memory strips is completed; when the memory strips are pressed in place, the memory strips are pressed vertically according to constant pressure, and if the memory strips are not pressed in place, the memory strips are alternately pressed by swinging up and down; according to the flexible control technology for inserting and transporting the memory strips, the memory strips are guided into the clamping grooves to be pre-pressed by presetting the contact force and the movement track in all directions, so that the situation that the positions of the memory strips and the clamping grooves are not aligned due to visual positioning deviation can be avoided, and product damage caused by forced insertion into the clamping grooves is avoided.
Description
Technical Field
The invention relates to the technical field of memory bank installation, in particular to an automatic flexible lossless inserting method and an automatic lossless inserting device for memory banks.
Background
Memory bank installation is an important process in server assembly. At present, most of the installation procedures of the memory bank of the server are carried out manually. Slower speed and lower efficiency. In the process of manual installation, many process data cannot be quantized, so that the quality of products is uneven, and the quality consistency is poor. The manual installation is caused by skill difference, working strength fatigue and the like, and the force is overlarge in the assembly process, the force direction is not correct, so that the stress of the server main board exceeds the standard, and the factor for damaging the main board is increased. Too little effort is also present, does not press in place, produces the defective products risk. The memory strips with different brands and different capacities are similar in appearance, and are easy to mix due to manual installation, so that defective products are caused.
Meanwhile, the current automatic insertion method of the memory bank of the server is to insert the memory bank by clamping the memory bank running position mode by a visual guiding executing mechanism. When the visual value is inaccurate or the accuracy is insufficient, the memory bar is not aligned with the slot position in the process of inserting the memory, and the execution mechanism moves strictly according to a preset position track in the position control mode. If resistance is encountered during the movement of the actuator, so that the position tracking error of the actuator becomes larger, the actuator will strive to "increase the moment" to track the preset track, and the rigid movement mode of the position mode is easy to cause damage of the memory bar and the motherboard during the installation process
Disclosure of Invention
The technical purpose is that: the invention discloses an automatic flexible lossless inserting method and an automatic flexible lossless inserting device for a memory bank.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:
an automatic flexible lossless insertion method for a memory bank comprises the following steps:
S01, positioning the position of the slot through a vision system, clamping the memory strip through a clamp, and moving the memory strip to the position above the slot;
s02, prepressing the memory strip, and pressing the memory strip into the clamping groove along the direction of the slot until the golden finger of the memory strip reaches the joint of the elastic sheet in the slot;
S03, performing in-place press mounting on the memory strips until locking mechanisms at two sides of the slot are locked, and completing the insertion of the memory strips; when the memory strips are pressed in place, the memory strips are pressed vertically according to constant pressure, and if the memory strips are not pressed in place, the memory strips are alternately pressed by swinging up and down.
Preferably, in step S02, when the memory bank is pre-pressed, the flexible movement positioning is performed between the memory bank and the slot, and the flexible movement positioning process includes:
S021, the inserting direction of the memory strip is marked as a Z-axis direction, and the other two directions perpendicular to the Z-axis direction are an X-axis direction and a Y-axis direction, wherein the X-axis direction is parallel to the length direction of the clamping groove; setting contact force in all directions in the process of inserting the memory bank and positioning ending conditions;
S022, driving the memory strip to move through the clamp, and completing the positioning of the memory strip and the slot when the memory strip moves downwards to reach the positioning end condition.
Preferably, in step S021, a cube space is established by using the space in which the memory bank moves in the slot, and the bottom boundary of the cube space is used as a positioning ending condition; cube space Box1 = { (p1.x-0.6, (p1.x+0.6), (p1.y-0.5), (p1.y+0.5), (p1.z-n+1), (p1.z+0.5) }, P1 is the starting point of the memory bank beginning to insert above the slot, p1.x, p1.y and p1.z are the coordinate values of P1 in the moving coordinate system of the memory bank, and n is the distance from the slot upper end face to the spring plate joint end face.
Preferably, in step S021, the contact force in the X direction and the contact force in the Y direction are 0n, the contact force in the z direction is a constant value P, and the magnitude of P is 20% of the insertion force of the memory bank.
Preferably, in step S03, when the memory bank is vertically press-fitted, the memory bank is press-fitted with a pressure greater than 10% of the insertion force of the memory bank, and whether the memory bank is press-fitted in place is determined by the press-fit motion coordinates; and controlling the pressure head to keep the pressure unchanged for the memory strips which are not pressed in place, and alternately pressing the two ends of the memory strips in a left-right swinging way.
Preferably, when the invention is used for swinging press fitting, the center of the pressure head is taken as a swinging center point, the pressure head rotates clockwise and anticlockwise around the Y-axis direction, and the rotation maximum speed is 5 degrees/s; the swing amplitude is +/-7.25 degrees until the swing center point coincides with the set vertical press fit end point coordinates.
The invention also discloses a memory bank inserting device, which uses the memory bank automatic flexible nondestructive inserting method, and comprises a clamping mechanism for clamping the memory bank and a pressure head mechanism which is arranged in parallel with the clamping mechanism, wherein the clamping mechanism and the pressure head mechanism are both fixed on a mounting plate at the moving end of the manipulator, and a visual positioning system for positioning the slot position is arranged on the mounting plate; and a six-dimensional force sensor for detecting the integral stress of the mounting plate is arranged between the mounting plate and the moving end of the manipulator.
The beneficial effects are that: the automatic flexible lossless inserting method and the inserting device for the memory bank have the following beneficial effects:
1. According to the flexible control technology for inserting and transporting the memory strips, the memory strips are guided into the clamping grooves to be pre-pressed by presetting the contact force and the movement track in all directions, so that the situation that the positions of the memory strips and the clamping grooves are not aligned due to visual positioning deviation can be avoided, and product damage caused by forced insertion into the clamping grooves is avoided.
2. The invention can effectively solve the problem that the memory strip slightly deforms by pre-pressing and then in-place press mounting, when the two sides of the memory strip are warped with a little amplitude, the pressure and the speed are limited, so that the engagement process of the golden finger of the memory strip and the golden finger of the clamping groove has self-adaptive time, and the damage to the golden finger caused by the fact that the main engagement is not performed is avoided.
3. When the memory strips are pressed in place, the memory strips which cannot be vertically pressed in place under the set pressure can be pressed in place by swinging and alternating pressing, so that the stress area can be reduced and the local pressure can be increased under the condition of unchanged pressure, and the process can ensure that the memory strips are pressed in place by a slot carrier board (PCBA) under the safe internal stress; and is suitable for the situation that the insertion resistance is large but the internal stress of the memory bar installation is low.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic diagram of a memory bank according to the present invention;
FIG. 2 is a schematic diagram of a memory slot structure according to the present invention;
FIG. 3 is a diagram illustrating a memory stripe pre-compaction entering a slot according to the present invention;
FIG. 4 is a schematic diagram of a movement trace of the memory bank pre-compaction process according to the present invention;
FIG. 5 is a schematic diagram of a memory bank mounting apparatus according to the present invention;
FIG. 6 is a diagram illustrating the swing of the memory bank ram mechanism of the present invention;
Wherein, 1-clamping mechanism, 2-pressure head mechanism, 3-manipulator, 4-mounting panel, 5-vision positioning system, 6-six-dimensional force transducer.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown, but in which the invention is not so limited.
The invention discloses an automatic flexible lossless insertion method for a memory bank, wherein the structures of the memory bank and a slot are shown in fig. 1 and 2, a guide groove for assisting in pressing the memory bank is arranged between the end faces A and B of the slot from two ends, and lock catches are arranged at two ends of the guide groove; the inserting method of the invention comprises the following steps:
S01, positioning the position of the slot through a vision system, clamping the memory strip through a clamp, and moving the memory strip to the position above the slot;
s02, prepressing the memory strip, and pressing the memory strip into the clamping groove along the direction of the slot until the golden finger of the memory strip reaches the joint of the elastic sheet in the slot;
When the memory bank is pre-pressed, flexible movement positioning is performed between the memory bank and the slot, and the flexible movement positioning process comprises the following steps:
S021, as shown in FIG. 3, the insertion direction of the memory bank is marked as a Z-axis direction, and the other two directions perpendicular to the Z-axis direction are an X-axis direction and a Y-axis direction, wherein the X-axis direction is parallel to the length direction of the clamping groove; setting contact force in all directions in the process of inserting the memory bank and positioning ending conditions; in a specific embodiment, when the memory bank is preloaded, the contact force in the X direction and the contact force in the Y direction are 0N, the contact force in the Z direction is a fixed value P, and the size of P is 20% of the insertion and extraction force of the memory bank; establishing a cube space by using the moving space of the memory bar in the slot, and taking the bottom boundary of the cube space as a positioning ending condition; in the embodiment of the invention, the distance between the end face A and the end face B of the slot is 9mm, the cube space Box1 = { (P1.X-0.6, (P1.X+0.6), (P1.Y-0.5), (P1.Y+0.5), (P1.Z-n+1), (P1.Z+0.5) }, P1 is the starting point of the insertion of the memory bank above the slot, and P1.X, P1.Y and P1.Z are coordinate values of P1 in a moving coordinate system of the memory bank;
When the flexible motion is performed to position, as shown in fig. 4, the invention sets the memory bar to linearly reciprocate along the X direction, the maximum speed of the movement is 2mm/s, the distance of the linear reciprocation is 1mm, and the amplitude is +/-0.5 mm; the Z-direction moving speed is less than 3mm/s, and the pressure maintaining time is 1s; when the memory bar is driven to move to the P1 point, the memory bar reciprocates along the X direction in the A1 height area to perform slot position, the prepressing insertion process is controlled through contact force arranged in each direction, and when the memory bar reaches the A2 height area, the memory bar is indicated to enter the slot to keep the X direction and Y direction positions unchanged.
S022, after the memory bank and the slot are positioned, driving the memory bank to move through the clamp, and when the memory bank moves downwards to reach the positioning end condition, positioning the memory bank and the slot is completed.
S03, performing in-place press mounting on the memory strips until locking mechanisms at two sides of the slot are locked, and completing the insertion of the memory strips; when the memory strips are pressed in place, the memory strips are pressed vertically according to constant pressure, and if the memory strips are not pressed in place, the memory strips are alternately pressed by swinging up and down.
When the memory bar is vertically pressed, the memory bar is pressed by a pressure which is 10 percent higher than the insertion and extraction force of the memory bar, and whether the memory bar is pressed in place or not is judged through the press-fit motion coordinates; and controlling the pressure head to keep the pressure unchanged for the memory strips which are not pressed in place, and alternately pressing the two ends of the memory strips in a left-right swinging way.
When the swing press fitting is carried out, the center of the press head is taken as a swing center point, the press head rotates clockwise and anticlockwise around the Y-axis direction, and the rotation maximum speed is 5 degrees/s; the swing amplitude is +/-7.25 degrees until the swing center point coincides with the set vertical press-fit end point coordinates, and all press-fit actions are finished until the lock catches at the two ends of the memory bank interpolation slot are locked.
The invention also discloses a memory bank inserting device, which uses the memory bank automatic flexible nondestructive inserting method, and comprises a clamping mechanism 1 for clamping the memory bank and a pressure head mechanism 2 which is arranged in parallel with the clamping mechanism 1, wherein the clamping mechanism 1 and the pressure head mechanism 2 are both fixed on a mounting plate 4 at the moving end of a manipulator 3, and a visual positioning system 5 for positioning the slot position is arranged on the mounting plate 4; a six-dimensional force sensor 6 for detecting the whole stress of the mounting plate 4 is arranged between the mounting plate 4 and the moving end of the manipulator 3.
As shown in fig. 5 and 6, the present invention can complete the pre-pressing and in-place force control of the memory bank by using a single six-dimensional force sensor 6, and meanwhile, the clamping mechanism 1 can adopt any clamp capable of clamping the memory bank in the prior art, the slot position with the insertion is positioned by the verse positioning system 5, the clamped memory bank is driven by the manipulator 3 to move to the upper part of the insertion position, and the insertion of the memory bank is completed according to the insertion method of the present invention.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (7)
1. The automatic flexible lossless insertion method for the memory bank is characterized by comprising the following steps of:
S01, positioning the position of the slot through a vision system, clamping the memory strip through a clamp, and moving the memory strip to the position above the slot;
s02, prepressing the memory strip, and pressing the memory strip into the clamping groove along the direction of the slot until the golden finger of the memory strip reaches the joint of the elastic sheet in the slot;
S03, performing in-place press mounting on the memory strips until locking mechanisms at two sides of the slot are locked, and completing the insertion of the memory strips; when the memory strips are pressed in place, the memory strips are pressed vertically according to constant pressure, and if the memory strips are not pressed in place, the memory strips are alternately pressed by swinging up and down.
2. The automatic flexible lossless insertion method for memory banks according to claim 1, wherein in step S02, when memory banks are pre-pressed, flexible movement positioning is performed between the memory banks and the slots, and the flexible movement positioning process includes:
S021, the inserting direction of the memory strip is marked as a Z-axis direction, and the other two directions perpendicular to the Z-axis direction are an X-axis direction and a Y-axis direction, wherein the X-axis direction is parallel to the length direction of the clamping groove; setting contact force in all directions in the process of inserting the memory bank and positioning ending conditions;
S022, driving the memory strip to move through the clamp, and completing the positioning of the memory strip and the slot when the memory strip moves downwards to reach the positioning end condition.
3. The method for automated, flexible and lossless insertion of memory banks according to claim 2, wherein in step S021, a cube space is created with the memory bank moving space in the slot, and the bottom boundary of the cube space is used as a positioning end condition; cube space Box1 = { (p1.x-0.6, (p1.x+0.6), (p1.y-0.5), (p1.y+0.5), (p1.z-n+1), (p1.z+0.5) }, P1 is the starting point of the memory bank beginning to insert above the slot, p1.x, p1.y and p1.z are the coordinate values of P1 in the moving coordinate system of the memory bank, and n is the distance from the slot upper end face to the spring plate joint end face.
4. The method for automatically and flexibly inserting and mounting the memory bank according to claim 2, wherein in the step S021, the contact force in the X direction and the contact force in the Y direction are 0n, the contact force in the z direction is a constant value P, and the magnitude of P is 20% of the insertion and removal force of the memory bank.
5. The automatic flexible lossless insertion method for the memory bank according to claim 2, wherein in the step S03, when the memory bank is vertically pressed, the memory bank is pressed with a pressure greater than 10% of the insertion force of the memory bank, and whether the memory bank is pressed in place is judged by the press-fit motion coordinates; and controlling the pressure head to keep the pressure unchanged for the memory strips which are not pressed in place, and alternately pressing the two ends of the memory strips in a left-right swinging way.
6. The automatic flexible lossless inserting method for the memory bank according to claim 5, wherein when the swinging press fitting is performed, the pressing head is rotated clockwise and anticlockwise around the Y-axis direction by taking the center of the pressing head as a swinging center point, and the rotation maximum speed is 5 degrees/s; the swing amplitude is +/-7.25 degrees until the swing center point coincides with the set vertical press fit end point coordinates.
7. The memory bank inserting device is characterized by comprising a clamping mechanism (1) for clamping a memory bank and a pressure head mechanism (2) which is arranged in parallel with the clamping mechanism (1), wherein the clamping mechanism (1) and the pressure head mechanism (2) are both fixed on a mounting plate (4) at the moving end of a manipulator (3), and a visual positioning system (5) for positioning the slot position is arranged on the mounting plate (4); a six-dimensional force sensor (6) for detecting the integral stress of the mounting plate (4) is arranged between the mounting plate (4) and the moving end of the manipulator (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410299533.8A CN117900810B (en) | 2024-03-15 | 2024-03-15 | Automatic flexible lossless insertion method and device for memory bank |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410299533.8A CN117900810B (en) | 2024-03-15 | 2024-03-15 | Automatic flexible lossless insertion method and device for memory bank |
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| Publication Number | Publication Date |
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| CN117900810A true CN117900810A (en) | 2024-04-19 |
| CN117900810B CN117900810B (en) | 2024-07-26 |
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| CN202410299533.8A Active CN117900810B (en) | 2024-03-15 | 2024-03-15 | Automatic flexible lossless insertion method and device for memory bank |
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| JP2011129782A (en) * | 2009-12-18 | 2011-06-30 | Hitachi High-Tech Instruments Co Ltd | Method of mounting electronic component |
| CN105226450A (en) * | 2015-11-04 | 2016-01-06 | 苏州工业园区特创电子有限公司 | The floating plug-in and pull-off device of memory bar intelligence |
| CN108258565A (en) * | 2018-01-12 | 2018-07-06 | 昆山精讯电子技术有限公司 | A kind of wiring board autopatching mechanism |
| CN208241067U (en) * | 2018-06-12 | 2018-12-14 | 江苏特创科技有限公司 | A kind of mainboard adapter automatic plug-pull device |
| CN112596585A (en) * | 2020-12-29 | 2021-04-02 | 曙光信息产业股份有限公司 | Memory bank assembling clamp and memory bank mounting method |
| WO2022052404A1 (en) * | 2020-09-09 | 2022-03-17 | 苏州浪潮智能科技有限公司 | Memory alignment and insertion method and system based on machine vision, device, and storage medium |
| CN115189205A (en) * | 2022-05-23 | 2022-10-14 | 福建宏泰智能工业互联网有限公司 | Automatic memory bank plugging and unplugging method |
| CN218426814U (en) * | 2022-10-24 | 2023-02-03 | 江苏立讯机器人有限公司 | Floating type pressing device |
-
2024
- 2024-03-15 CN CN202410299533.8A patent/CN117900810B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011129782A (en) * | 2009-12-18 | 2011-06-30 | Hitachi High-Tech Instruments Co Ltd | Method of mounting electronic component |
| CN105226450A (en) * | 2015-11-04 | 2016-01-06 | 苏州工业园区特创电子有限公司 | The floating plug-in and pull-off device of memory bar intelligence |
| CN108258565A (en) * | 2018-01-12 | 2018-07-06 | 昆山精讯电子技术有限公司 | A kind of wiring board autopatching mechanism |
| CN208241067U (en) * | 2018-06-12 | 2018-12-14 | 江苏特创科技有限公司 | A kind of mainboard adapter automatic plug-pull device |
| WO2022052404A1 (en) * | 2020-09-09 | 2022-03-17 | 苏州浪潮智能科技有限公司 | Memory alignment and insertion method and system based on machine vision, device, and storage medium |
| CN112596585A (en) * | 2020-12-29 | 2021-04-02 | 曙光信息产业股份有限公司 | Memory bank assembling clamp and memory bank mounting method |
| CN115189205A (en) * | 2022-05-23 | 2022-10-14 | 福建宏泰智能工业互联网有限公司 | Automatic memory bank plugging and unplugging method |
| CN218426814U (en) * | 2022-10-24 | 2023-02-03 | 江苏立讯机器人有限公司 | Floating type pressing device |
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| CN117900810B (en) | 2024-07-26 |
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