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 optical disc grabbing fixture adopts a setting mode of two clamping claw bodies, one of which is inserted into the other, and can be suitable for grabbing and placing optical discs in a small space. The feature is suitable for situations where the height direction space is limited, and the first body can reciprocate in the second body to improve the relative position accuracy of the two clamping claw bodies, thereby improving the grabbing stability of the overall structure. In addition, the optical disc grabbing fixture provided by the present invention adopts an inner hole and outer circle clamping mode, and the vibration generated during the clamping process can also effectively vibrate the optical discs that are stuck together.

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. Common robot clamps are usually in the form of sucking the CD surface, but this type of clamp is too thick and cannot be used in small access spaces. For example, for some CD-to-CD grabbing scenarios with a small height space between the CDs, this type of grabbing cannot meet the grabbing requirements. In addition, during the suction process, since the CDs are stacked on the desktop, 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 comprises: a first clamping jaw, which is arranged on a first body, and the first clamping jaw has a contoured surface suitable for clamping the inner hole of the CD; a second clamping jaw, which is arranged on a second body, and the second clamping jaw has a contoured surface suitable for clamping the outer circumference of the CD; a driving structure, which is drivingly connected to the first body and the second body; when clamping the CD, the first clamping jaw extends into the inner hole of the CD, and the second body approaches the outer circumference of the CD, and the driving structure controls the first clamping jaw and the second clamping jaw to move relatively synchronously to clamp the CD.

[0007] Optionally, in the above optical disc grabbing clamp, the first body and the second body are both plate-like structures and overlap each other.

[0008] Alternatively, in the above optical disc grabbing fixture, the first body and the second body are both plate-shaped structures, wherein a through slot is provided on the second body, and the first body can be movably inserted into the through slot.

[0009] In the above optical disc grabbing fixture, the driving structure is a push-pull rod driving structure. Optionally, the push-pull rod driving structure includes a push-pull rod assembly and a power source for driving the push-pull rod assembly. And wherein, the push-pull rod assembly may include two push-pull rods, which are respectively connected to the ends of the first body and the second body and are perpendicular to the first body and the second body.

[0010] In the above optical disc grabbing clamp, the specific way of connecting the two push-pull rods to the first body and the second body is that the two push-pull rods are connected to the ends of the first body and the second body through a connecting block.

[0011] Optionally, in the above-mentioned CD grabbing clamp, a transmission member and at least one pair of rocker arms are provided between the two push-pull rods, wherein the transmission member is connected to the power source, one end of each pair of rocker arms is respectively hinged to the transmission member, and the other end of each pair of rocker arms is respectively hinged to the two push-pull rods.

[0012] Optionally, in the above-mentioned CD grabbing clamp, the power source includes an electromagnet and a return spring, and the electromagnet and the return spring are respectively connected to the transmission member. When the electromagnet is energized, it drives the transmission member to move upward, drives the two push-pull rods closer together, thereby driving the two clamping claws away from each other; when the electromagnet is de-energized, the transmission member moves downward under the action of the return spring, drives the two push-pull rods away from each other, thereby driving the two clamping claws closer together.

[0013] In the above optical disc grabbing fixture, a horizontally arranged strip hole is provided at the top end of each of the push-pull rods, and the push-pull rod is connected to the main frame of the optical disc grabbing fixture via a pin shaft passing through the strip hole.

[0014] Optionally, in the above optical disc grabbing fixture, detection switches cooperating with each other are respectively arranged on the main frame and the push-pull rod assembly to detect the position of the push-pull rod assembly.

[0015] Optionally, the above-mentioned optical disc grabbing clamp further comprises an optical disc detector for detecting whether there is an optical disc at the position to be clamped.

[0016] 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.

[0017] 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.

[0018] The technical solution of the present invention has the following advantages:

[0019] 1. The optical disc grabbing fixture 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 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 overlapped with each other or one is inserted into the other. When clamping the optical disc, the first clamping jaw extends into the inner hole of the optical disc, and the second body is close to the outer circle of the optical disc. The driving structure controls the relative synchronous movement of the first clamping jaw and the second clamping jaw to clamp the optical disc. The arrangement of the two parallel plate-like structures enables the optical disc grabbing fixture to extend from the side to the optical disc, and has a relatively thin thickness, so 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 optical disc libraries with small 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 the optical discs that are stuck together.

[0020] 2. The optical disc grabbing clamp provided by the present invention has a driving structure comprising two push-pull rods arranged perpendicularly to the first body and the second body, which can drive the two bodies to move horizontally under the action of the transmission member and the rocker arm, and realize the stability of the translation of the two clamping jaws through the connecting rod structure; further, a horizontally arranged strip hole is provided at the top of each of the push-pull rods, and the push-pull rod is connected to the main frame of the optical disc grabbing clamp through a pin shaft passing through the strip hole, and the setting method of the pin shaft limits the displacement of the push-pull rod in the direction perpendicular to the two bodies, thereby further increasing the stability of the translation of the clamping jaws.

[0021] 3. The optical disc grabbing clamp provided by the present invention comprises an electromagnet and a reset spring in its driving structure, wherein the attraction of the electromagnet drives the transmission member to move upward, drives the two push-pull rods to approach each other, thereby driving the two clamping claws to move away from each other; when the electromagnet is powered off, the reset spring drives the transmission member to move downward, drives the two push-pull rods to move away from each other, thereby driving the two clamping claws to move closer. During the transmission process of clamping the optical disc, the electromagnet does not need to be energized, and the clamping state of the optical disc can be maintained by relying solely on the pulling force of the reset spring, thereby preventing the disc from falling off due to power failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 A schematic diagram of the structure of a CD grabbing fixture provided by an embodiment of the present invention;

[0024] Figure 2 A structural diagram of a clamping jaw and a push-pull rod assembly in a CD grabbing fixture provided by an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of the structure of two clamping claws in the optical disc grabbing clamp provided by an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of the use status of the optical disc grabbing clamp provided by an embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1-electromagnet, 2-main frame, 3-push-pull rod assembly, 31-swing rod, 32-bar hole, 33-push-pull rod groove, 6-transmission member, 4-first body, 41-first clamping jaw, 42-first connecting block, 5-second body, 51-second clamping jaw, 52-second connecting block, 53-through slot, 6-transmission member, 61-transmission member groove, 71-first detection switch, 72-second detection switch, 8-CD. DETAILED DESCRIPTION

[0029] 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.

[0030] In the description of the present invention, it should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] 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.

[0032] Example 1

[0033] like Figure 1-4 As shown, this embodiment provides a disc grabbing fixture, which includes a main frame 2, an electromagnet 1 as a power source is fixed on the main frame 2, and the electromagnet 1 has a driving shaft, which extends downward into the main frame 2, and the driving shaft is connected to the transmission member 6. Optionally, the above connection method is that the end of the driving shaft is embedded in the transmission member groove 61 to drive the transmission member to move in the up and down direction; the transmission member 6 is preferably a plate-shaped structure, such as Figure 2As shown, strip grooves can be opened on both sides thereof, wherein one end of two pairs of rocker rods 31 can be respectively hinged in the strip grooves, wherein the two pairs of rocker rods 31 are respectively placed on both sides of the transmission member; the other ends of the two pairs of rocker rods 31 are respectively hinged on the push-pull rods, preferably, a push-pull rod groove 33 is opened on the push-pull rod, and the other end of the rocker rod is hinged in the push-pull rod groove 33; the above-mentioned setting method of the push-pull rod assembly 3 can make the two rocker rods 31 located on each side of the transmission member 6 form a four-bar linkage with the push-pull rod and the transmission member 6, thereby improving the stability of the push-pull rod movement on both sides. Optionally, the bottoms of the two push-pull rods are connected to the tail ends of the first body 4 and the second body 5 through the first connecting block 42 and the second connecting block 52 respectively, the head end of the first body 4 is provided with a first clamping claw 41, the first clamping claw is an end protruding block, and it has a contoured surface suitable for clamping the inner hole of the optical disc; the head end of the second body is provided with a second clamping claw 51, the second clamping claw is a groove on the fixed plate, and it has a contoured surface suitable for clamping the outer circle of the optical disc; optionally, the first body 4 and the second body 5 are both plate-like structures, wherein a through groove 53 is provided on the second body 5, and the first body 4 can be movably penetrated in the through groove 53. Through this setting mode, the relative position accuracy between the first body 4 and the second body 5 is improved, thereby improving the grasping stability of the overall structure; when clamping the optical disc, the first clamping claw and the second clamping claw are under the action of the above-mentioned driving structure, the first clamping claw extends into the inner hole of the optical disc, and the second body approaches the outer circle of the optical disc, and the driving structure controls the relative synchronous movement of the first clamping claw and the second clamping claw to clamp the optical disc. The arrangement of the two parallel plate 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 the optical disc library has insufficient space, especially suitable for grabbing and placing optical discs in an optical disc library with a smaller layer height, effectively reducing the space occupied when storing the same number of optical discs. At the same time, since the thickness of the two clamping claws is less than the thickness of a disc, it is possible to effectively avoid grabbing multiple optical discs at one time during the expansion process, and the clamp provided in this embodiment adopts an inner hole and outer circle clamping method during the expansion process, so the vibration generated during the action can also effectively vibrate the optical discs that are stuck together to avoid the phenomenon of taking multiple discs at one time.

[0034] As an alternative embodiment, in the above optical disc grabbing fixture, the first body and the second body are both plate-like structures and are stacked on each other. The arrangement of the two stacked plate-like structures can also enable the optical disc grabbing fixture to extend from the side toward the optical disc and have a relatively thin thickness, so 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.

[0035] Optionally, in the above-mentioned CD grabbing clamp, the power source also includes a reset spring, and the reset spring is connected to the transmission member. When the electromagnet 1 is energized, the transmission member 6 is driven to move upward, driving the two push-pull rods to approach each other, thereby driving the two clamping claws to move away from each other; when the electromagnet is de-energized, the transmission member 6 is moved downward under the action of the reset spring, driving the two push-pull rods to move away from each other, thereby driving the two clamping claws to move closer; during the transmission process of clamping the CD, the electromagnet does not need to be energized, and the clamping state of the CD can be maintained by relying solely on the pulling force of the reset spring, which can prevent the CD from falling off due to power outages.

[0036] Optionally, in the above-mentioned CD grabbing clamp, a horizontally arranged strip hole 32 is provided at the top end of each push-pull rod, and the push-pull rod is connected to the main frame 2 of the CD grabbing clamp through a pin shaft passing through the strip hole 32. Through the setting of the pin shaft, the displacement of the push-pull rod in the direction perpendicular to the two main bodies is limited, thereby further increasing the stability of the translation of the clamping claws.

[0037] As a replaceable embodiment, in the above-mentioned CD grabbing clamp, the rocker rod 31 between the two push-pull rods can be set as one pair, three pairs or more pairs, wherein the transmission member 6 is connected to the power source, one end of each pair of rocker rods 31 is respectively hinged to the transmission member 6, and the other end of each pair of rocker rods 31 is respectively hinged to the two push-pull rods; the number and position of the rocker rods 31 can be determined according to the actual length of the push-pull rods, as long as the stable movement of the two push-pull rods can be guaranteed.

[0038] As an alternative implementation, in the above-mentioned optical disc grabbing clamp, the power source may also be selected as a motor or a cylinder.

[0039] Optionally, in the above-mentioned CD grabbing clamp, detection switches that cooperate with each other are respectively arranged on the main frame 2 and the push-pull rod assembly 3, wherein the main frame 2 is provided with a first detection switch 71, which can be a detection switch sensor, and the push-pull rod assembly 3 is provided with a second detection switch 72, which can be a detection switch detection plate; when performing detection, the second detection switch can move toward or away from the first detection switch, thereby obtaining different position signals to detect the position of the push-pull rod assembly.

[0040] Optionally, in the above optical disc grabbing clamp, an optical disc detector may be further provided, which is arranged in the direction of the optical disc to be clamped and is used to detect whether there is an optical disc at the position to be clamped.

[0041] Example 2

[0042] The present embodiment provides a grasping robot, which includes a manipulator and a disc grasping clamp provided on the manipulator, wherein the disc grasping clamp is the clamp described in Embodiment 1. In the grasping process of the grasping robot provided in the present embodiment, the manipulator drives the clamp to the grasping position, and the disc detector detects whether there is a disc in the current grasping position. If there is, the clamp starts to move and executes the grasping command. The specific mechanical action process is as follows: the electromagnet is powered off, and the electromagnet reset spring drives the push-pull rod assembly (connecting rod mechanism) to move, and at this time drives the first body and the second body to move toward the center of the clamp. Correspondingly, the first clamp and the second clamp overlap with the inner ring and the outer ring of the disc respectively, and realize the clamping (the inner and outer rings are clamped tightly), and at this time the grasping action of the disc is completed. In the placement process, during the gripping process of the robot, the first body and the second body are pulled by the reset spring to achieve action. At this time, the electromagnet is in a de-energized state. If placement is required, the robot first drives the clamp to the corresponding placement position. After it is in place, the electromagnet is energized. After energization, the first body and the second body move in opposite directions of the center line of the clamp. Accordingly, the first jaw and the second jaw respectively detach from the inner circle and outer circle of the optical disc to achieve the placement action.

[0043] Example 3

[0044] 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.

[0045] 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 first clamping jaw is provided on the first body. The first clamping jaw is provided at the head end of the first body. The first clamping jaw is an end protruding block. 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 head end of the second body is provided with the second clamping jaw. The second clamping jaw is a groove structure. The second clamping jaw has a contoured surface suitable for clamping the outer circumference of the optical disk. A driving structure, which is drivingly connected to the first body and the second body; when clamping the optical disc, the first clamping claw extends into the inner hole of the optical disc, and the second body approaches the outer circle of the optical disc, and the driving structure controls the first clamping claw and the second clamping claw to move synchronously relative to each other to clamp the optical disc; Wherein, the first body and the second body are both plate-like structures and overlap each other; the second body is provided with a through slot, and the first body can be movably inserted into the through slot.

2. The optical disc grabbing fixture according to claim 1, characterized in that: The driving structure is a push-pull rod driving structure.

3. The optical disc grabbing fixture according to claim 2, characterized in that: The push-pull rod driving structure includes a push-pull rod assembly and a power source for driving the push-pull rod assembly.

4. The optical disc grabbing fixture according to claim 3, characterized in that: The push-pull rod assembly includes two push-pull rods, which are respectively connected to the ends of the first body and the second body and are perpendicular to the first body and the second body.

5. The optical disc grabbing fixture according to claim 4, characterized in that: The two push-pull rods are connected to the ends of the first body and the second body through a connecting block.

6. The optical disc grabbing fixture according to claim 4, characterized in that: A transmission member and at least one pair of rocker arms are provided between the two push-pull rods, wherein the transmission member is connected to the power source, one end of each pair of rocker arms is hinged to the transmission member, and the other end of each pair of rocker arms is hinged to the two push-pull rods.

7. The optical disc grabbing fixture according to claim 6, characterized in that: The power source includes an electromagnet and a return spring, and the electromagnet and the return spring are respectively connected to the transmission member. When the electromagnet is energized, the transmission member is driven to move upward, and the two push-pull rods are driven to approach each other, thereby driving the two clamping jaws away from each other; when the electromagnet is de-energized, the transmission member is moved downward under the action of the return spring, and the two push-pull rods are driven to move away from each other, thereby driving the two clamping jaws to approach each other.

8. The optical disc grabbing fixture according to claim 4, characterized in that: A horizontally arranged strip hole is arranged at the top end of each of the push-pull rods, and the push-pull rod is connected to the main frame of the optical disc grabbing fixture via a pin shaft passing through the strip hole.

9. The optical disc grabbing fixture according to claim 8, characterized in that: The main frame and the push-pull rod assembly are respectively provided with detection switches that cooperate with each other to detect the position of the push-pull rod assembly.

10. The optical disc grabbing fixture according to claim 1, characterized in that: The optical disc detector is also included, which is used to detect whether there is an optical disc at the position to be clamped.

11. 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 1-10.

12. A recording system, comprising an empty optical disc storage rack, a recording machine, a recording optical disc storage device 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 recording machine and / or grab an optical disc from the recording machine and put it into the recording optical disc storage device; characterized in that: The grasping robot is the robot described in claim 11.

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