Optical disc grabbing fixture, grabbing robot and burning system

Abstract

The present invention relates to the field of optical disc burning technology, and more specifically to an optical disc grabbing fixture, a grabbing robot, and a burning system. The first clamping jaw of the optical disc grabbing fixture has a contoured surface suitable for clamping the inner hole of the optical disc, and the second clamping jaw has a contoured surface suitable for clamping the outer circle of the optical disc. The first body and the second body provided with the two clamping jaws are both plate-like structures and are stacked on each other. When clamping the optical disc, the first clamping jaw extends into the inner hole of the optical disc, and the second body approaches the outer circle of the optical disc. The driving structure controls the relative movement of the first clamping jaw and the second clamping jaw to clamp the optical disc. The arrangement of the two stacked plate-like structures allows the optical disc grabbing fixture to extend from the side toward 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, and is particularly 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 labor. Common robot clamps generally suck the surface of the CD, but this type of clamp is too thick and cannot be used in small access spaces. For example, for some grabbing scenarios where the height space between CDs is small, this type of grabbing cannot meet the grabbing requirements; and 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, there is still a problem that the fixture structure is too large, and the placement of the grasped CD is required to be 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 drive structure at the axial position of the CD hole. Its structure in this direction is also too large, and it cannot be extended 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 solutions adopted by the present invention are as follows:

[0006] The present invention provides a compact disc grabbing clamp, which includes a first clamping jaw, which is provided on a first body, and the first clamping jaw has a contoured surface suitable for clamping the inner hole of the compact disc; a second clamping jaw, which is provided on a second body, and the second clamping jaw has a contoured surface suitable for clamping the outer circumference of the compact disc; a driving structure, which is drivingly connected to at least one of the first body and the second body; when clamping the compact disc, the first clamping jaw extends into the inner hole of the compact disc, and the second body approaches the outer circumference of the compact disc, and the driving structure controls the relative movement of the first clamping jaw and the second clamping jaw to clamp the compact disc.

[0007] Preferably, in the above optical disc grabbing clamp, the first body and the second body are both plate-shaped structures and are stacked on each other.

[0008] In the above optical disc grabbing clamp, the driving structure is drivingly connected to both the first body and the second body. When the optical disc is being grabbed, the driving structure controls the first clamping jaw and the second clamping jaw to move synchronously.

[0009] Preferably, the second body has a guide groove structure, and the guide groove structure is suitable for cooperating with the first body to guide the first body to move relative to the second body.

[0010] In the above-mentioned CD grabbing clamp, the driving structure includes a motor and a rotating member, and the rotating member is connected to the driving shaft of the motor; the two ends of the rotating member are respectively connected to the first body and the second body to drive the first body and the second body; wherein, the rotating member is connected to the first body through a first connecting member, and the rotating member is connected to the second body through a second connecting member.

[0011] Preferably, the rotating member is a strip-shaped structure with long waist holes at both ends; two pins pass through the first connecting member and the second connecting member respectively and cooperate with the long waist holes at both ends to drive the first connecting member and the second connecting member to move.

[0012] In the above-mentioned CD grabbing clamp, the driving structure also includes two tension springs, which are respectively located on both sides of the rotating member and are arranged parallel to the first body and the second body; wherein, the first connecting member and the second connecting member are L-shaped structures opposite to each other, and the two ends of each tension spring are respectively fixed on the first connecting member and the second connecting member.

[0013] The optical disc grabbing fixture further comprises two parallel guide posts, which are respectively located on both sides of the rotating member, and each of the guide posts passes through the first connecting member and the second connecting member.

[0014] The optical disc grabbing fixture further comprises a base; each of the guide posts is movably arranged in the base; and the two pins respectively pass through the two guide posts to drive the two guide posts to move.

[0015] Optionally, the optical disc grabbing fixture further comprises one or more of a signal arrival detector, a disc drop detector and a distance detector.

[0016] Preferably, a first clamping block is provided between the first body and the first connecting member, and a second clamping block is provided between the second body and the second connecting member; wherein a buffer spring in the vertical direction is provided between the first clamping block and the first connecting member, and / or between the second clamping block and the second connecting member.

[0017] The present invention further provides a grabbing robot, comprising a manipulator and a CD grabbing clamp provided on the manipulator, wherein the CD grabbing clamp is the clamp mentioned above.

[0018] The present invention also provides a burning system, which includes an empty CD storage rack, a burner, a burnt CD storage and a grabbing robot, wherein the grabbing robot is used to grab CDs from the empty CD storage rack and place them into the burner and / or grab CDs from the burner and place them into the burnt CD storage; wherein the grabbing robot is the above-mentioned robot.

[0019] The technical solution of the present invention has the following advantages:

[0020] 1. The optical disc grabbing clamp provided by the present invention has a first clamping jaw having a contoured surface suitable for clamping the inner hole of the optical disc, and a second clamping jaw having a contoured surface suitable for clamping the outer circumference of the optical disc. The first body and the second body provided with the two clamping jaws are both plate-like structures and overlap with each other. When clamping the optical disc, the first clamping jaw extends into the inner hole of the optical disc, and the second body approaches the outer circumference of the optical disc. The driving structure controls the relative movement of the first clamping jaw and the second clamping jaw to clamp the optical disc. The arrangement of the two overlapping plate-like structures allows the optical disc grabbing clamp to extend toward the optical disc from the side 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 optical disc libraries with a small layer height. At the same time, the inner hole and outer circumference clamping method is adopted, and the vibration generated during the clamping process can also effectively vibrate the optical discs that are stuck together.

[0021] 2. The optical disc grabbing clamp provided by the present invention has a driving structure including a motor and a rotating member, and the two ends of the rotating member are respectively connected to the first body and the second body to drive the synchronous relative movement of the first body and the second body, thereby improving the stability of the movement of the optical disc grabbing clamp.

[0022] 3. The optical disc grabbing clamp provided by the present invention also includes two tension springs in its driving structure. The tension springs are arranged in parallel with the first body and the second body to provide a force for the first body and the second body to move closer to each other, thereby ensuring that the clamp maintains the clamping state of the optical disc under the tension of the spring, preventing the disc from falling off due to power outages.

[0023] 4. The optical disc grabbing clamp provided by the present invention is provided with a buffer spring between the first clamping block and the first connecting member and / or between the second clamping block and the second connecting member, which can buffer excessive pressure during the process of the clamp grabbing the optical disc to prevent damage to the optical disc to be grabbed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic structural diagram of an optical disc grabbing fixture provided by an embodiment of the present invention;

[0026] Figure 2 A schematic structural diagram of two clamping claws in an optical disc grabbing fixture provided by an embodiment of the present invention;

[0027] Figure 3 A structural diagram of the clamping jaws and the connecting member in the optical disc grabbing fixture provided by an embodiment of the present invention;

[0028] Figure 4 A partial structural diagram of a driving structure in an optical disc grabbing fixture provided by an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of the cooperation between the rotating member and the pin shaft in the optical disc claw taking fixture provided by an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the use status of the optical disc grabbing clamp provided by an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 1-base, 2-first body, 21-first clamping jaw, 3-second body, 31-second clamping jaw, 32-guide groove structure, 4-motor, 41-drive shaft, 5-rotating part, 51-long waist hole, 52-pin shaft, 6-guide column, 7-tension spring, 8-first connecting part, 9-second connecting part, 91-buffer spring, 10-first clamping block, 11-second clamping block, 100-disc drop detector, 101-signal arrival detector and distance detector, 102-optical disc. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0035] 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.

[0036] Example 1

[0037] like Figure 1-6 As shown, this embodiment provides a disc grabbing fixture, which includes a base 1, a motor 4 as a driving structure fixed on the base 1, wherein a driving shaft 41 of the motor 4 extends downward into the base 1, and a rotating member 5 is provided in the base. Figure 4 and Figure 5 As shown, the rotating member 5 is preferably a strip-shaped structure, which is connected to the driving shaft 41 of the motor and is driven to rotate by the motor; optionally, long waist holes 51 are respectively opened at both ends of the rotating member, and two pins 52 can pass through the long waist holes 51 at both ends. Two parallel guide posts 6 are also provided on both sides of the rotating member 5, and each guide post 6 is movably inserted into the base 1; specifically, as shown in FIG. Figure 3As shown, each guide post spans the two opposing side walls of the base, is inserted into the two side walls, and can move relative to the side walls. In addition, the optical disc grabbing fixture provided in this embodiment also includes a first connecting member 8 and a second connecting member 9, and the two ends of the rotating member are respectively connected to the first connecting member 8 and the second connecting member 9 through the pin shaft 52; specifically, each pin shaft 52 passes through its corresponding guide post and connecting member to drive the guide post and connecting member to move, wherein the setting method of the long waist hole can make the rotation of the rotating member so that the pin shaft has a certain displacement in the long waist hole, thereby driving the guide post and connecting member to achieve linear motion. Moreover, preferably, the first connecting member and the second connecting member are L-shaped structures facing each other, and each guide post passes through the first connecting member and the second connecting member to ensure the stability of the movement of the guide post and its corresponding connecting member. The first connecting member 8 is connected to the first body 2 via a first clamping block 10. The first body 2 is provided with a first clamping jaw 21 having a contoured surface adapted to engage the inner hole of the optical disc 102. The second connecting member 9 is connected to the second body 3 via a second clamping block 11. The second body 3 is provided with a second clamping jaw 31 having a contoured surface adapted to engage the outer circumference of the optical disc 102. When clamping the optical disc, the first clamping jaw extends into the inner hole of the optical disc, and the second body approaches the outer circumference of the optical disc. The first and second clamping jaws are driven to move synchronously relative to each other to clamp the optical disc 102. Preferably, the first and second bodies are both plate-like structures and are stacked on top of each other.

[0038] The arrangement of the two stacked plate structures allows the optical disc grabbing clamp to extend from the side toward 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 smaller layer heights. At the same time, the inner hole and outer circle clamping method is adopted, and the vibration generated during the clamping process can also effectively vibrate apart the optical discs that are stuck together.

[0039] Optionally, in the above-mentioned optical disc grabbing clamp, the driving structure further includes two tension springs 7, which are located on either side of the rotating member 5, preferably above either side of the rotating member 5, and are arranged parallel to the first body 2 and the second body 3. The two ends of each tension spring are respectively fixed to the opposing first and second connecting members. The tension springs 7 can provide a force for the first and second bodies to move closer together, thereby ensuring that the clamp maintains the optical disc clamped under the tension of the springs, preventing the disc from dropping due to power outages. The movement process of the above-mentioned optical disc grabbing clamp can be: the motor drives the rotating member to rotate, which drives the first and second bodies away from each other via the pin and the connecting members and clamping blocks at both ends, allowing the disc to be approached laterally. The entire clamp is then pressed downward, wherein the first clamping claw on the first body extends into the inner hole of the optical disc, and the second clamping claw on the second body approaches the outer circumference of the optical disc. At this point, the motor unloads the driving force, and the two bodies move closer together under the action of the tension springs on both sides, achieving a clamping method of the inner hole and outer circumference of the two clamping claws to clamp the optical disc 102.

[0040] Alternatively, if Figure 4 As shown, in the above-mentioned optical disc grabbing clamp, a vertical buffer spring 91 may be provided between the second clamping block 11 and the second connecting member 9. This buffer spring 91 can buffer excessive pressure during the clamping process to prevent damage to the disc. Alternatively, the buffer spring may be provided between the first clamping block and the first connecting member to similarly buffer excessive pressure.

[0041] As an alternative embodiment, the optical disc grabbing clamp may not be provided with the tension spring 7, and the optical disc grabbing operation can be achieved by relying on the clamping force provided by the motor drive.

[0042] In the above-mentioned optical disc grabbing clamp, a guide groove structure 32 is provided on the second body 3. The guide groove structure 32 is a step structure, which is suitable for cooperating with the first body 2 to guide the movement of the first body 2 relative to the second body 3 to improve the stability of the clamp claw movement; optionally, a guide groove structure that cooperates with the second body can also be provided on the first body.

[0043] In addition, in order to ensure the stable movement of the first body and the second body, Figure 4 and Figure 6 As shown, an outer guide structure can be provided on the outer side of the second clamping block 11, at the location where it connects to the base 1, to guide the horizontal movement of the second clamping block 11. A groove that mates with the outer guide structure can also be provided on the outer side of the second clamping block. In the aforementioned optical disc grabbing fixture, to restrict the movement of the guide post 6 to a certain range, a pair of limit plates can be provided at the rear end of the base 1. The front limit plate allows the guide post to pass through, while the rear limit plate provides a limit stop, limiting the axial movement of the guide post to a certain range.

[0044] Alternatively, if Figure 6 As shown, the optical disc gripping fixture may also be provided with a disc drop detector 100, which is positioned toward the clamped optical disc 102 and is used to detect disc drop during the gripping process. Furthermore, a signal arrival detector and a distance detector 101 may also be provided to detect the distance between the gripper and the optical disc to be gripped, thereby providing a basis for the gripper's movement distance. Furthermore, the signal arrival detector may be provided to control the gripper's downward pressure and clamping operations when the gripper reaches a preset position.

[0045] Example 2

[0046] This embodiment provides a gripping robot, comprising a manipulator and a disc gripping clamp mounted on the manipulator, wherein the disc gripping clamp is the clamp described in Example 1. During a gripping process, the manipulator drives the disc gripping clamp to a gripping position detection position, which is generally located above the disc. The manipulator then performs the next action, namely, begins to move to the gripping position and then begins gripping the disc. During the gripping process, the first clamping jaw extends into the inner hole of the disc, the second body approaches the outer circumference of the disc, and the drive structure controls the relative movement of the first clamping jaw and the second clamping jaw to clamp the disc.

[0047] Example 3

[0048] This embodiment provides a burning system, which includes an empty CD storage rack, a burner, a burned CD storage 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 burned CD storage.

[0049] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A CD grabbing fixture, characterized in that: include: A first clamping jaw is provided on the first body, wherein the first clamping jaw has a contoured surface suitable for clamping the inner hole of the optical disc; A second clamping jaw is provided on the second body, the second clamping jaw having a contoured surface suitable for clamping the outer circumference of the optical disc; wherein the first body and the second body are both plate-shaped structures and are stacked on each other; a drive structure drivingly connected to at least one of the first body and the second body; when clamping an optical disc, the first clamping jaw extends into the inner hole of the optical disc and the second body approaches the outer circumference of the optical disc, and the drive structure controls the relative movement of the first clamping jaw and the second clamping jaw to clamp the optical disc; wherein the drive structure includes a motor and a rotating member, the rotating member being connected to the drive shaft of the motor; the two ends of the rotating member being respectively connected to the first body and the second body to drive the first and second bodies; wherein the rotating member is connected to the first body via a first connecting member, and the rotating member is connected to the second body via a second connecting member; A base, the motor of the driving structure is fixed on the base, wherein the driving shaft of the motor extends downward into the base, and the rotating part is provided in the base.

2. The optical disc grabbing fixture according to claim 1, characterized in that: The driving structure is drivingly connected to both the first body and the second body. When the optical disc is clamped, the driving structure controls the first clamping claw and the second clamping claw to move synchronously.

3. The optical disc grabbing fixture according to claim 1, characterized in that: The second body has a guide groove structure, and the guide groove structure is suitable for cooperating with the first body to guide the first body to move relative to the second body.

4. The optical disc grabbing fixture according to claim 1, wherein: The rotating member is a strip-shaped structure with long waist holes at both ends. Two pins pass through the first connecting member and the second connecting member respectively and cooperate with the long waist holes at both ends to drive the first connecting member and the second connecting member to move.

5. The optical disc grabbing fixture according to claim 4, characterized in that: The driving structure further includes two tension springs, which are respectively located on both sides of the rotating member and are arranged parallel to the first body and the second body; The first connecting member and the second connecting member are in an L-shaped structure facing each other, and both ends of each tension spring are fixed on the first connecting member and the second connecting member respectively.

6. The optical disc grabbing fixture according to claim 5, characterized in that: It also includes two parallel guide posts, which are respectively located on both sides of the rotating member, and each of the guide posts passes through the first connecting member and the second connecting member.

7. The optical disc grabbing fixture according to claim 6, characterized in that: It also includes a base; each of the guide columns is movably arranged in the base; and the two pins pass through the two guide columns respectively to drive the two guide columns to move.

8. The optical disc grabbing fixture according to claim 1, wherein: It also includes one or more of a signal arrival detector, a disk drop detector, and a distance detector.

9. The optical disc grabbing fixture according to claim 1, characterized in that: A first clamping block is provided between the first body and the first connecting member, and a second clamping block is provided between the second body and the second connecting member; wherein a buffer spring in the vertical direction is provided between the first clamping block and the first connecting member, and / or between the second clamping block and the second connecting member.

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

11. A recording system comprising an empty optical disc storage rack, a recording machine, a recording 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 place it in the recording machine and / or grab an optical disc from the recording machine and place it in the recording optical disc storage; characterized in that: The grasping robot is the robot according to claim 10.

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