Optical disc grabbing fixture, grabbing robot and burning system

Abstract

The present invention relates to the field of optical disc burning technology, and specifically to an optical disc grabbing fixture, a grabbing robot and a burning system. The optical disc grabbing fixture adopts two stacked plate structures, and each plate structure is provided with a buckle. When clamping the optical disc, the first buckle and the second buckle can extend into the inner hole of the optical disc. Under the action of the driving structure, the two buckles can move relative to each other to clamp the optical disc with internal support. The arrangement of the two stacked plate structures enables the optical disc grabbing fixture to extend to the optical disc from the side and has a relatively thin thickness. Therefore, it is suitable for grabbing and placing optical discs when the optical disc library has insufficient space, especially suitable for grabbing and placing optical discs in an optical disc library with a small layer height.

Description

Technical Field

[0001] The present invention relates to the technical field of optical disc burning, and in particular to an optical disc grabbing fixture, a grabbing robot and a burning system. Background Art

[0002] In many CD burning application scenarios, robots are often used to grab CDs to replace manual work. The common form of robot clamps is to suck the surface of the CD, but this form has the problem of being too thick and cannot be used in small access spaces. In addition, during the suction process, since the CDs are stacked on the table, there is inevitable adhesion between the CDs, which often leads to the suction of multiple CDs at a time.

[0003] In addition, there are often forms that clamp the outer circle or inner hole of the CD. For the CD grabbing fixture that clamps the outer circle, the fixture structure is still too large, and the requirements for the placement of the grabbed CD are high. This type of CD grabbing fixture is not suitable. For example, in order to store more CDs, the space on both sides of the CD is generally small, but the form of clamping the outer circle generally has requirements on the width of both sides of the CD, so it is not suitable for this dense storage scenario. For the CD grabbing fixture that clamps the inner hole, such as the CD grabbing device disclosed in patent document CN109352641A, it has a driving structure at the axial position of the CD hole. Its structure in this direction is also too large, and it cannot extend into a CD library with a small layer height. Therefore, when facing a CD library with a small layer height (when both the height and width directions are limited), it is difficult to automatically grab and place the CD. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that it is difficult to automatically grab and place optical discs when the optical disc library has insufficient space, thereby providing an optical disc grabbing fixture, a grabbing robot and a burning system.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0006] The present invention provides a CD grabbing clamp, which includes a first plate-like structure, on which a first groove and a first buckle are provided; a second plate-like structure, which is overlapped with the first plate-like structure; a second plate-like structure is provided with a second buckle, and the second buckle passes through the first groove; a driving structure, which is drivingly connected to at least one of the first plate-like structure and the second plate structure; when the CD is clamped, the first buckle and the second buckle are suitable for extending into the inner hole of the CD, and the driving structure controls the relative movement of the first buckle and the second buckle to clamp the CD internally.

[0007] In the above optical disc grabbing fixture, the first groove is a strip groove; the first buckle is located at one end of the first groove.

[0008] In the above optical disc grabbing fixture, the first buckle is located at the outer end of the first groove; when the optical disc is clamped by the inner support, the second buckle moves along the first groove toward the inner end.

[0009] In the above optical disc grabbing clamp, the driving structure includes an electromagnet structure and a tension spring connected to the second plate-shaped structure.

[0010] The optical disc grabbing fixture further comprises a main body frame, in which the driving structure is arranged; the first plate-like structure extends outwardly along the main body frame, and the second plate-like structure is located above the first plate-like structure.

[0011] In the above-mentioned CD grabbing clamp, the electromagnet structure and the tension spring are connected to the second plate-like structure through a push-pull plate; two tension springs are provided, which are respectively arranged on both sides of the electromagnet structure; wherein, when the CD is clamped, the electromagnet structure is powered off, and the second plate-like structure moves under the tension of the tension spring to clamp the CD internally.

[0012] In the above optical disc grabbing fixture, a laser detector is also provided on the main frame, and the laser detector is used to detect whether there is an optical disc at the position to be grabbed.

[0013] In the above optical disc grabbing fixture, the second plate-like structure is provided with a second groove, which is a strip-shaped groove; the first plate-like structure is provided with a limiting guide column, which passes through the second groove and can move in the second groove.

[0014] The present invention further provides a grasping robot, comprising a manipulator and a CD grasping clamp arranged on the manipulator, wherein the CD grasping clamp is the clamp mentioned above.

[0015] The present invention also provides a burning system, which includes an empty CD storage rack, a burner, a burnt CD storage device and a grabbing robot, wherein the grabbing robot is used to grab CDs from the empty CD storage rack and put them into the burner and / or grab CDs from the burner and put them into the burnt CD storage device; wherein the grabbing robot is the above-mentioned robot.

[0016] The technical solution of the present invention has the following advantages:

[0017] 1. The optical disc grabbing fixture provided by the present invention adopts two stacked plate structures, and each plate structure is provided with a buckle. When the optical disc is clamped, the first buckle and the second buckle can be extended into the inner hole of the optical disc. Under the action of the driving structure, the above two buckles can move relative to each other to clamp the optical disc with internal support. The arrangement of the above two stacked plate structures enables the optical disc grabbing fixture to extend from the side to the optical disc and has a relatively thin thickness. Therefore, it is suitable for grabbing and placing optical discs when the optical disc library has insufficient space, especially for grabbing and placing optical discs in optical disc libraries with small layer heights. At the same time, the internal support structure is adopted, and the vibration generated during the internal support process can also effectively vibrate the optical discs that are stuck together.

[0018] 2. The optical disc grabbing clamp provided by the present invention has a driving structure comprising an electromagnet structure and a tension spring structure, wherein the electromagnet structure and the tension spring can be connected to the second plate-like structure via a push-pull plate; the tension springs can be provided in two, which are respectively provided on both sides of the electromagnet structure. When the optical disc is clamped, the electromagnet structure is powered off, and the second plate-like structure moves under the tension of the tension spring to clamp the optical disc with internal support. This arrangement can achieve the clamping action of the optical disc by relying on the tension of the spring during the transfer process of the clamped optical disc. At this time, even if the optical disc grabbing clamp is powered off, the disc will not fall off, thereby improving the stability of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the structure of a CD grabbing fixture provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the use status of the optical disc grabbing clamp provided by an embodiment of the present invention;

[0022] Figure 3 A bottom structural diagram of a CD grabbing fixture provided by an embodiment of the present invention;

[0023] Figure 4 A main frame structure diagram provided for an embodiment of the present invention;

[0024] Figure 5 This is a diagram of the internal structure of the main framework provided for an embodiment of the present invention.

[0025] Description of reference numerals:

[0026] 1-main frame; 2-push-pull plate; 3-electromagnet structure; 4-tension spring; 5-adjustable screw at fixed end; 6-laser detector; 7-optical disc; 10-first plate-like structure; 11-first groove; 12-first buckle; 13-through hole; 14-limiting guide column; 20-second plate-like structure; 21-second buckle; 22-second groove. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] Example 1

[0030] like Figure 1-5 As shown, this embodiment provides an optical disc grabbing fixture, which includes a main frame 1, the main frame 1 has a first plate-like structure 10 extending outward, and optionally, the first plate-like structure 10 is integrally formed with the main frame 1; the first plate-like structure 10 is provided with a first groove 11 and a first buckle 12, wherein, as shown in FIG. Figure 3 and Figure 4 As shown, the first groove 11 can be selected as a strip groove, and the first buckle is located at the outer end of the first groove, and the outer end refers to the end of the first plate-like structure 10 away from the main frame 1; the optical disc grabbing clamp provided in this embodiment also includes a second plate-like structure 20, which is overlapped with the first plate-like structure 10; the second plate-like structure 20 is provided with a second buckle 21, and the second buckle 21 passes through the first groove 11; and a driving structure arranged in the main frame, and the driving structure is connected to the second plate-like structure by driving; optionally, the driving structure includes an electromagnet structure 3 and a tension spring 4 located on both sides of the electromagnet structure, wherein the tension springs on both sides can be installed in the main frame 1 by means of adjustable screws at the fixed end, and the adjustable screws at the fixed end can be selected as horn screws; as Figure 5 As shown, the electromagnet structure 3 and the tension spring 4 can be connected to the second plate-like structure 20 via the push-pull plate 2, wherein the push-pull plate 2 and the second plate-like structure 20 can be integrally formed; when clamping the optical disc, the first buckle 12 and the second buckle 21 are suitable for extending into the inner hole of the optical disc, and the driving structure controls the relative movement of the first buckle and the second buckle to clamp the optical disc 7 internally.

[0031] The optical disc grabbing fixture provided in this embodiment adopts two stacked plate structures, and each plate structure is provided with a buckle. When the optical disc is being grabbed, the first buckle and the second buckle can be inserted into the inner hole of the optical disc. Under the action of the driving structure, the two buckles can move relative to each other to clamp the optical disc with internal support. The arrangement of the two stacked plate structures enables the optical disc grabbing fixture to extend from the side to the optical disc and has a relatively thin thickness. Therefore, it is suitable for grabbing and placing optical discs when there is insufficient space in the optical disc library, especially for grabbing and placing optical discs in the optical disc library with a small layer height. At the same time, the internal support structure is adopted, and the vibration generated during the internal support process can also effectively vibrate the optical discs that are stuck together.

[0032] In the above-mentioned CD grabbing clamp, when the CD is being clamped, the electromagnet structure is powered off, and the second plate-like structure moves under the tension of the tension spring to clamp the CD with internal support. This arrangement can achieve the clamping action of the CD by relying on the tension of the spring during the transfer process of the clamped CD. At this time, even if the CD grabbing clamp is powered off, the CD will not fall off, thereby improving the stability of the clamp.

[0033] As an alternative implementation, the driving structure may be selected to be a cylinder, a motor or other driving structures.

[0034] Optionally, in the above optical disc grabbing clamp, the driving structure may also be drivingly connected to the first plate-like structure, or simultaneously connected to the first plate-like structure and the second plate-like structure, so as to control the operation of the clamp.

[0035] In the above optical disc grabbing fixture, when the inner support clamps the optical disc, the second buckle moves along the first groove toward the inner end, wherein the inner end refers to the end of the first plate-like structure 10 close to the main frame 1.

[0036] As an alternative implementation, the first buckle may also be located at the inner end of the first slot, and the second buckle moves along the first slot toward the outer end.

[0037] Optionally, in the above-mentioned CD grabbing clamp, the second plate-like structure 20 is located above the first plate-like structure 10, and the first buckle 12 and the second buckle 21 both extend downward. Before grabbing the CD, the two overlapping plate-like structures of the clamp can be pressed flat against the surface of the CD 7, preferably the rough surface of the CD, to ensure the stability of the CD before clamping. At this time, the two buckles extend into the inner hole of the CD, and then the CD 7 is clamped internally under the action of the driving structure.

[0038] Optionally, in the above optical disc grabbing fixture, a laser detector 6 is further provided on the main frame, and the laser detector 6 can extend downward through a through hole 13 on the main frame to detect whether there is an optical disc at the position to be grabbed.

[0039] Preferably, in the above-mentioned CD grabbing clamp, a second groove 22 is provided on the second plate-like structure 20, and the second groove 22 is a strip groove; a limiting guide column 14 is provided on the first plate-like structure 10, and the limiting guide column 14 passes through the second groove 22 and can move in the second groove to increase the stability of the relative movement of the two plate-like structures.

[0040] Example 2

[0041] The present embodiment provides a grasping robot, which includes a manipulator and a CD grasping fixture provided on the manipulator, wherein the CD grasping fixture is the fixture described in Example 1. In the grasping process of the grasping robot provided by the present embodiment, the manipulator drives the CD grasping fixture to the grasping position detection position (generally located above the CD), and the laser detector detects whether there is a CD at the current position. If so, the manipulator performs the next action, that is, starts to move to the grasping position and waits for the grasping signal. After the fixture receives the grasping signal, the electromagnet is powered off, and the push-pull plate is pulled back into position by the preset tension spring (the push-pull clamping block welded on the push-pull plate follows the movement of the push-pull plate). At this time, the inner circle (inner hole) of the CD is clamped by the push clamping block and the fixed clamping block to realize the grasping action. After completing the whole set of actions, the manipulator moves to rotate the CD to the corresponding position. In the placement process, when the robot is grabbing, the push-pull plate relies on the spring tension to achieve movement. At this time, the electromagnet is in a de-energized state. If placement is required, the robot first drives the fixture to the corresponding placement position. After it is in place, the electromagnet is re-powered, and the push-pull plate will be pushed to the initial position by the energized electromagnet. The push-pull clamp on the push-pull plate also follows the push-pull plate and returns to the initial position. At this time, the inner circle of the CD is no longer supported by the fixture, so it will detach from the fixture, thereby achieving the placement of the CD.

[0042] Example 3

[0043] This embodiment provides a burning system, which includes an empty CD storage rack, a burner, a burnt CD storage device, and the grabbing robot described in Example 2, wherein the grabbing robot is used to grab CDs from the empty CD storage rack and put them into the burner, and to grab CDs from the burner and put them into the burnt CD storage device.

[0044] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A CD grabbing fixture, characterized in that: include: A main frame, wherein the main frame has a first plate-like structure extending outward, the first plate-like structure is integrally formed with the main frame; the first plate-like structure is provided with a first groove and a first buckle; A second plate-like structure, which is overlapped with the first plate-like structure; a second buckle is provided on the second plate-like structure, and the second buckle passes through the first slot; The driving structure is drivingly connected to at least one of the first plate-like structure and the second plate-like structure; when the optical disc is clamped, the first buckle and the second buckle are suitable for extending into the inner hole of the optical disc, and the driving structure controls the relative movement of the first buckle and the second buckle to clamp the optical disc internally.

2. The optical disc grabbing fixture according to claim 1, characterized in that: The first slot is a strip-shaped slot; the first buckle is located at one end of the first slot.

3. The optical disc grabbing fixture according to claim 2, characterized in that: The first buckle is located at the outer end of the first slot; when the inner support clamps the optical disc, the second buckle moves along the first slot toward the inner end.

4. The optical disc grabbing fixture according to any one of claims 1 to 3, characterized in that: The driving structure includes an electromagnet structure and a tension spring connected to the second plate-shaped structure.

5. The optical disc grabbing fixture according to claim 4, characterized in that: It also includes that the driving structure is arranged in the main frame; and the second plate-like structure is located above the first plate-like structure.

6. The optical disc grabbing fixture according to claim 5, characterized in that: The electromagnet structure and the tension spring are connected to the second plate-like structure via a push-pull plate; two tension springs are provided, which are respectively arranged on both sides of the electromagnet structure; wherein, when the optical disc is clamped, the electromagnet structure is powered off, and the second plate-like structure moves under the tension of the tension spring to clamp the optical disc internally.

7. The optical disc grabbing fixture according to claim 5, characterized in that: The main frame is also provided with a laser detector, which is used to detect whether there is an optical disk at the position to be grasped.

8. The optical disc grabbing fixture according to any one of claims 1 to 3, characterized in that: The second plate-like structure is provided with a second groove, which is a strip-shaped groove; the first plate-like structure is provided with a limiting guide column, which passes through the second groove and can move in the second groove.

9. A grabbing robot, comprising a manipulator and a CD grabbing fixture provided on the manipulator, characterized in that: The optical disc grabbing clamp is the clamp described in any one of claims 1-8.

10. A burning system, comprising an empty optical disc storage rack, a burner, a burnable optical disc storage and a grabbing robot, wherein the grabbing robot is used to grab an optical disc from the empty optical disc storage rack and put it into the burner and / or grab an optical disc from the burner and put it into the burnable optical disc storage; characterized in that: The grasping robot is the robot described in claim 9.

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