Optical disc picking and placing device

Abstract

The invention relates to an optical disc pick-and-place device which comprises a connecting bottom plate, an electromagnetic control mechanism, a rotating mechanism and a clamping mechanism, one end of the connecting bottom plate is connected with a movable sliding block, the other end of the connecting bottom plate is connected with a clamping seat, and the pick-and-place device can move in a three-dimensional space; an electromagnetic control mechanism is arranged on the connecting bottom plate, the head of an induction piece of the electromagnetic control mechanism extends to the position below the clamping base through the clamping base gap, the tail of the induction piece is located in an induction groove of the electromagnetic sensor, and the head of the induction piece makes contact with the optical disc and drives the tail of the induction piece to move up and down through the lever effect; an electromagnet of the electromagnetic control mechanism is connected with the rotating mechanism through a linkage rod, a clamping mechanism is arranged at the position, corresponding to the interior of the clamping base, of the middle of the rotating mechanism, the clamping mechanism comprises two clamping blocks, the clamping blocks are connected with the inner wall of the clamping base through corresponding springs, and the middle of the rotating mechanism is of a reducing structure; the electromagnetic sensor controls the linkage rod to stretch out and draw back by controlling the electromagnet and then controls the rotating mechanism to rotate, and the variable-diameter structure pushes the clamping block to stretch out and draw back to clamp or release the inner ring of the optical disc.

Description

Technical Field

[0001] The invention belongs to the technical field of optical disc recording and printing, and in particular relates to an optical disc taking and placing device. Background Art

[0002] The structure of intelligent CD libraries and fully automatic burning printers is becoming more and more compact, while the requirements for data security and response time are also getting higher and higher, requiring the target CD to be grabbed quickly, safely and reliably, and transferred to the next operating position. At present, the conventional CD pick-up and placement device adopts a manipulator. This manipulator is a single-claw type, including a single claw and a manipulator guide head, and adopts electromagnetic control. The front end of the electromagnet is provided with a compression spring to control the distance between the single claw and the guide head. When the manipulator grabs the CD, the single claw clamps one side of the inner ring of the CD, and the other side of the inner ring of the CD presses on the guide head of the manipulator, so that the manipulator is supported in the inner ring of the CD. The firmness of grabbing the CD depends on the strength of the compression spring of the manipulator. After long-term and frequent use, the manipulator may lose its grip, that is, the CD falls during the process of moving the CD, which not only damages the CD, but also seriously affects the overall operation of the CD burner or printer. In severe cases, it causes the hardware in the machine to get stuck and forced to shut down. Therefore, the stability of the existing manipulator grabbing the CD is poor, and the reliability of the long-term operation of the equipment cannot be guaranteed. Summary of the invention

[0003] In view of the above problems, the present invention provides a disc pick-up and placement device, comprising a connecting base plate, an electromagnetic control mechanism, a rotating mechanism and a clamping mechanism, wherein one end of the connecting base plate is connected to a moving slider of a manipulator, and the other end is connected to a clamping seat, so that the disc pick-up and placement device can move with the manipulator in a three-dimensional space;

[0004] An electromagnetic control mechanism is provided on the connecting bottom plate. The head of the induction sheet of the electromagnetic control mechanism extends to the bottom of the card seat through the gap of the card seat, and the tail of the induction sheet is in the induction slot of the electromagnetic sensor. The head of the induction sheet contacts the optical disk and drives the tail of the induction sheet to move up and down through the lever action, thereby achieving the purpose of controlling the electromagnetic sensor.

[0005] The electromagnet of the electromagnetic control mechanism is connected to the top of the rotating mechanism through a linkage rod, and a disc guide is provided at the bottom of the rotating mechanism for sensing the disc; a clamping mechanism is provided at a position in the middle of the rotating mechanism corresponding to the inside of the clamping seat, and the clamping mechanism includes at least two clamping blocks, which are connected to the inner wall of the clamping seat through corresponding springs, and the middle of the rotating mechanism has a variable diameter structure; the electromagnetic sensor controls the extension and retraction of the linkage rod by controlling the electromagnet, and then controls the rotation direction of the rotating mechanism through the crank, and the variable diameter structure of the rotating mechanism pushes the clamping block to extend and retract, thereby clamping or releasing the inner ring of the disc.

[0006] Optionally, one end of the connecting base plate connected to the movable slider is a fixed end, and one end connected to the clamping seat is a clamping end. The clamping seat is cylindrical, and a through hole is provided at the center of the clamping end to allow the top of the rotating mechanism and the head of the sensor plate to pass through the through hole.

[0007] Optionally, the electromagnetic control mechanism includes an electromagnet, a linkage rod, an electromagnetic sensor and an induction sheet, the electromagnet and the electromagnetic sensor are arranged near the fixed end of the connection base plate, the linkage rod is parallel to the induction sheet, and the heads of the linkage rod and the induction sheet are both directed to the clamping end of the connection base plate;

[0008] The head of the linkage rod is connected to the top of the rotating mechanism through a crank to drive the rotating mechanism to rotate clockwise or counterclockwise; the electromagnetic sensor has a sensing groove recessed toward the clamping end on the side facing the sensing sheet to accommodate the tail of the sensing sheet.

[0009] Further optionally, the crank includes a connecting column one, a connecting column two and a horizontal connecting plate one, the connecting column one and the connecting column two are both vertically arranged, the top of the connecting column one is rotatably connected to the head of the linkage rod through a step screw, the bottom of the connecting column one is fixedly connected to one end of the connecting plate one, the other end of the connecting plate one is fixedly connected to the top of the connecting column two, the connecting column two is connected to the top of the rotating mechanism through a screw, and the bottom of the connecting column two is rotatably connected to the top of the center through hole of the clamping seat; the connecting column one, the connecting column two and the connecting plate one are integrally formed.

[0010] Further optionally, the sensing piece is sickle-shaped, the head of the sensing piece extends downward and passes through the through hole of the connecting base plate, the middle part of the sensing piece is connected to the fixing seat by a rotating screw, the fixing seat is vertically arranged on the upper surface of the connecting base plate, and the sensing piece can rotate with the rotating screw as a fulcrum.

[0011] Optionally, a through hole is provided at the center of the clamping seat and passes through the clamping seat for placing the rotating mechanism; the clamping seat includes an upper base and a lower cover plate, and the bottom of the base is provided with a plurality of upwardly recessed mounting grooves, one mounting groove corresponds to the installation of a spring and a clamping block, a single mounting groove is arranged along the radial direction of the clamping seat, and a plurality of mounting grooves are arranged along the circumferential direction of the central through hole of the clamping seat.

[0012] Optionally, the rotating mechanism includes a rolling bearing, a rotating camshaft and a CD guide head from top to bottom, the rolling bearing is fixed to the upper part of the inner wall of the base and is arranged horizontally; the top of the rotating camshaft is fixedly connected to the connecting column 2 by bolts; the interior of the CD guide head is hollow to accommodate the rotating camshaft and the block; the top of the CD guide head is fixedly connected to the inner wall of the center through hole of the base.

[0013] Further optionally, the upper part of the optical disc guide head is cylindrical, and a through groove is provided on the side corresponding to the position of the card block, the through groove corresponds to the card block one by one, and the card block can enter and exit the optical disc guide head through the through groove; the middle and lower parts of the optical disc guide head are truncated cone-shaped with a larger upper part and a smaller lower part, which is convenient for inserting into the inner ring of the optical disc; the lowest position of the head of the sensor sheet is not lower than the lowest point of the optical disc guide head.

[0014] Further optionally, the portion of the rotating camshaft facing the block has a diameter-changing structure, and the diameter-changing structure is a vertical oblong body, and its cross section is an oblong.

[0015] Optionally, the card connection mechanism includes two card blocks and two springs, the card block is an inverted L-shape and is integrally formed, the spring is horizontally arranged in the mounting groove, one end of the spring is connected to the vertical inner wall of the mounting groove away from the center through hole, the other end of the spring is connected to one end of the horizontal part of the card block, the other end of the horizontal part of the card block is connected to the top of the vertical part of the card block, and the bottom of the vertical part of the card block is not lower than the bottom end of the through groove of the corresponding optical disc guide head, so that the card block can enter and exit the through groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a CD-ROM taking and placing device;

[0017] Figure 2 for Figure 1 A top view schematic diagram of

[0018] Figure 3 is a schematic side view of a disc taking and placing device;

[0019] Figure 4 It is a schematic diagram of the connection between the crank and the rotating mechanism;

[0020] Figure 5 is a bottom schematic diagram of the optical disc retrieval device;

[0021] Figure 6 Schematic diagram of the sensor.

[0022] In the accompanying drawings, 1-connecting base plate, 2-card seat, 3-sensing plate, 4-sensing slot, 5-electromagnet, 6-linking rod, 7-CD guide head, 8-card block, 9-spring, 10-crank, 11-clamping end, 12-electromagnetic sensor, 13-through slot, 14-connecting column one, 15-connecting column two, 16-connecting column three, 17-connecting plate one, 18-connecting plate two, 19-fixed seat, 20-lower fork plate, 21-upper fork plate, 22-base, 23-cover plate, 24-installing slot, 25-through slot, 26-rolling bearing, 27-rotating camshaft. DETAILED DESCRIPTION

[0023] This embodiment provides a disc taking and placing device, such as Figure 1-Figure 6As shown, it includes a connecting base plate 1, an electromagnetic control mechanism, a rotating mechanism and a clamping mechanism. One end of the connecting base plate 1 is connected to a moving slider of a manipulator, and the other end is connected to a clamping seat 2, so that the optical disc picking and placing device can move with the manipulator in a three-dimensional space;

[0024] An electromagnetic control mechanism is provided on the connecting bottom plate 1. The head of the induction sheet 3 of the electromagnetic control mechanism extends to the bottom of the clamping seat 2 through the gap of the clamping seat 2. The tail of the induction sheet 3 is in the induction slot 4 of the electromagnetic sensor 12. The head of the induction sheet contacts the optical disk and drives the tail of the induction sheet to move up and down through the lever action, thereby achieving the purpose of controlling the electromagnetic sensor 12.

[0025] The electromagnet 5 of the electromagnetic control mechanism is connected to the top of the rotating mechanism through the linkage rod 6, and a CD guide head 7 is provided at the bottom of the rotating mechanism for sensing the CD; a clamping mechanism is provided at the middle of the rotating mechanism corresponding to the position inside the clamping seat 2, and the clamping mechanism includes at least two clamping blocks 8, and the clamping blocks 8 are connected to the inner wall of the clamping seat 2 through corresponding springs 9. The middle part of the rotating mechanism has a variable diameter structure; the electromagnetic sensor 12 controls the extension and retraction of the linkage rod 6 by controlling the electromagnet 5, and then controls the rotation direction of the rotating mechanism through the crank 10. The variable diameter structure of the rotating mechanism pushes the clamping block 8 to extend and retract, thereby clamping or releasing the inner ring of the CD.

[0026] Optionally, one end of the connecting base plate 1 connected to the movable slider is a fixed end, and one end connected to the clamping seat 2 is a clamping end 11. The clamping seat 2 is cylindrical, and the edge of the clamping end 11 corresponding to the clamping seat 2 is arc-shaped and flush with the edge of the clamping seat 2. The center of the circle on the connecting base plate 1 corresponding to the arc edge of the clamping end 11 vertically corresponds to the center of the circle of the clamping seat 2, and a through hole is provided at the center of the clamping end 11 to allow the top of the rotating mechanism and the head of the sensor plate 3 to pass through the through hole.

[0027] Optionally, the electromagnetic control mechanism includes an electromagnet 5, a linkage rod 6, an electromagnetic sensor 12 and an induction sheet 3, the electromagnet 5 and the electromagnetic sensor 12 are arranged near the fixed end of the connection base plate 1, the linkage rod 6 is parallel to the induction sheet 3, and the heads of the linkage rod 6 and the induction sheet 3 are both pointing to the clamping end 11 of the connection base plate 1;

[0028] The head of the linkage rod 6 is connected to the top of the rotating mechanism through a crank 10, which is used to drive the rotating mechanism to rotate clockwise or counterclockwise; the electromagnetic sensor 12 has a sensing groove 4 recessed toward the clamping end 11 on the side facing the sensing sheet 3, which is used to accommodate the tail of the sensing sheet 3.

[0029] Further optionally, the crank 10 includes a connecting column 14, a connecting column 15 and a horizontal connecting plate 17, the connecting column 14 and the connecting column 15 are both vertically arranged, the top of the connecting column 14 is rotatably connected to the head of the linkage rod 6 through a step screw, the bottom of the connecting column 14 is fixedly connected to one end of the connecting plate 17, the other end of the connecting plate 17 is fixedly connected to the top of the connecting column 2 15, the connecting column 2 15 is connected to the top of the rotating mechanism through screws, and the bottom of the connecting column 2 15 is rotatably connected to the top of the center through hole of the clamping seat 2; the connecting column 14, the connecting column 15 and the connecting plate 17 are integrally formed.

[0030] Further optionally, the sensing piece 3 is sickle-shaped, the head of the sensing piece 3 extends downward and passes through the through hole of the connecting bottom plate 1, the sensing piece 3 is arranged upright, that is, the side of the sensing piece 3 is arranged vertically, the middle part of the sensing piece 3 is connected to the fixing seat 19 by rotating screws, the fixing seat 19 is vertically arranged on the upper surface of the connecting bottom plate 1, and the sensing piece 3 can rotate with the rotating screw as a fulcrum;

[0031] Further optionally, the tail of the induction sheet 3 is forked, with two upper and lower forked plates, the two forked plates are on the same vertical plane, and there is an empty space between the two forked plates;

[0032] The two bifurcated plates are both horizontal, the lower bifurcated plate 20 and the head of the induction plate 3 are in the same straight line, and the upper bifurcated plate 21 is above the induction plate 3 .

[0033] Further optionally, the two side surfaces of the sensing slot 4 parallel to the sensing sheet 3 are respectively located on both sides of the sensing sheet 3, and corresponding positions of the two side surfaces of the sensing slot 4 are respectively provided with a signal transmitter and a signal receiver, and the connection line between the signal transmitter and the signal receiver is horizontal; when the tail of the sensing sheet 3 blocks or does not block the connection line, the electromagnet 5 controls the linkage rod 6 to move forward or backward, thereby driving the rotating mechanism to rotate.

[0034] Optionally, a through hole penetrating the card seat 2 is provided at the center of the card seat 2 for placing the rotating mechanism; the card seat 2 includes an upper base 22 and a lower cover plate 23, and a plurality of upwardly recessed mounting grooves 24 are provided at the bottom of the base 22, and one mounting groove 24 is correspondingly installed with one spring 9 and one clamping block 8, a single mounting groove 24 is arranged along the radial direction of the card seat 2, and a plurality of mounting grooves 24 are arranged along the circumference of the central through hole of the card seat 2;

[0035] One end of the mounting groove 24 is connected to the central through hole of the card seat 2; the inner space of the mounting groove 24 is connected to the outer space below the base 22, that is, the position of the bottom surface of the base 22 corresponding to the mounting groove 24 is vacant.

[0036] Further optionally, a through slot 25 penetrating the card socket 2 is provided beside the central through hole of the card socket 2, allowing the head of the sensor sheet 3 to pass through the card socket 2 from the through slot 25, and the through slot 25 is connected to the central through hole.

[0037] Further optionally, the shape of the cover plate 23 corresponds to the setting of the base 22, and the cover plate 23 can protect the installation groove 24 and the spring 9 and the block 8 inside it; the cover plate 23 is detachably connected to the base 22 by a plurality of screws, which is convenient for installing and maintaining the rotating mechanism and the clamping mechanism.

[0038] Optionally, the rotating mechanism includes a rolling bearing 26, a rotating camshaft 27 and a CD guide head 7 from top to bottom, the rolling bearing 26 is fixed to the upper part of the inner wall of the base 22 and is arranged horizontally; the top of the rotating camshaft 27 is fixedly connected to the connecting column 15 by bolts; the interior of the CD guide head 7 is hollow, for accommodating the rotating camshaft 27 and the block 8; the top of the CD guide head 7 is fixedly connected to the inner wall of the center through hole of the base 22.

[0039] Further optionally, the rolling bearing 26 is located below the bottom of the connecting column 15, and the inner diameter of the rolling bearing 26 is not less than the outer diameter of the rotating camshaft 27; the height of the top of the optical disc guide head 7 is between the height of the rolling bearing 26 and the block 8, and the inner wall of the central through hole of the base 22 has a circle of outwardly protruding grooves for installing the rolling bearing 26 and the top of the optical disc guide head 7, and the grooves are located above each mounting groove 24.

[0040] Further optionally, the upper part of the optical disc guide head 7 is cylindrical, and a through groove 13 is provided on the side corresponding to the position of the block 8, the through groove 13 corresponds to the block 8 one by one, and is adapted to the shape of the block 8, so that the block 8 can enter and exit the optical disc guide head 7 through the through groove 13; the middle and lower parts of the optical disc guide head 7 are in the shape of a truncated cone with a larger upper part and a smaller lower part, which is convenient for inserting into the inner ring of the optical disc, and the middle and lower parts of the optical disc guide head 7 can be solid or hollow; the lowest position of the head of the sensor plate 3 is not lower than the lowest point of the optical disc guide head 7.

[0041] Further optionally, the portion of the rotating camshaft 27 facing the block 8 has a diameter-changing structure, and the diameter-changing structure is a vertical oblong body, and its cross section is an oblong.

[0042] Optionally, the clamping mechanism includes two clamping blocks 8 and two springs 9, the clamping block 8 is an inverted L-shape and is integrally formed, the spring 9 is horizontally arranged in the mounting groove 24, one end of the spring 9 is connected to the vertical inner wall of the mounting groove 24 away from the central through hole, the other end of the spring 9 is connected to one end of the horizontal part of the clamping block 8, the other end of the horizontal part of the clamping block 8 is connected to the top of the vertical part of the clamping block 8, and the bottom of the vertical part of the clamping block 8 is not lower than the bottom end of the through groove 13 of the corresponding optical disc guide head 7, so that the clamping block 8 can enter and exit the through groove 13.

[0043] When in use, the connecting base follows the manipulator and the moving slider to move on the XYZ three-dimensional track, and the connecting base maintains a horizontal posture. At this time, the sensing plate 3 is also horizontal, and the lower fork plate 20 at the tail of the sensing plate is in the sensing slot 4 and between the signal transmitter and the signal receiver, blocking its signal. The electromagnet 5 is controlled by the electromagnetic sensor 12 and is powered off (i.e., it remains in its original state). At this time, the two ends of the long axis of the rotating camshaft 27 point to the two blocks 8 respectively, and the two arc sides of the rotating camshaft 27 respectively push the corresponding blocks 8 out of the optical disc guide 7. At this time, both springs 9 are compressed.

[0044] When it is necessary to grab a CD, the connecting base is moved to the top of a stack of CDs, the top CD is the target CD, a sensing device (such as an infrared sensor) can be set at the bottom of the CD guide 7, and a matching sensor is set at the center of the inner circle space of the CD to sense and determine whether the CD guide 7 has reached the center of the CD.

[0045] After the CD guide head 7 corresponds to the center of the CD, the sliding block is moved to drive the connecting base to descend. The conical lower part of the CD guide head 7 first penetrates into the inner circle of the CD. When the connecting base continues to descend, the head of the sensor sheet presses against the upper surface of the CD and is forced to rise. The sensor sheet 3 uses the rotating screw as a fulcrum, and the lower fork plate 20 at the tail of the sensor sheet descends. The space between the upper and lower fork plates corresponds to the signal transmitter and signal receiver of the sensing slot 4, that is, the sensor sheet 3 does not block the signal transmission path. The electromagnet 5 is controlled by the electromagnetic sensor 12 and energized, and the linkage rod 6 is attracted by the magnetic force of the electromagnet 5 and moves backward (i.e., moves toward the electromagnet 5). The linkage rod 6 pulls the rotating camshaft 27 to rotate through the crank 10, so that the two ends of the short axis of the rotating camshaft 27 point to the two blocks 8 respectively, and the two straight sides of the rotating camshaft 27 face the two blocks 8 respectively. The two springs 9 are stretched and push the two blocks 8 through the corresponding through grooves 13 and into the optical disc guide 7 respectively. The blocks 8 still contact the side of the rotating camshaft 27, and the outer diameter becomes smaller relative to the optical disc guide 7, which does not hinder the optical disc guide 7 from continuing to be inserted into the inner ring of the optical disc.

[0046] The connecting bottom plate 1 continues to descend until the lower surface of the cover plate 23 contacts the upper surface of the target optical disc. At this time, the head of the induction sheet is lifted again, and the upper fork plate 21 at the tail of the induction sheet descends into the induction slot 4, that is, between the signal transmitter and the signal receiver, blocking its signal, and the electromagnet 5 is powered off. The linkage rod 6 is not attracted by the magnetic force and moves forward (that is, away from the electromagnet 5). The linkage rod 6 pulls the rotating camshaft 27 through the crank 10 to rotate again and return to the original state. The two arc sides of the rotating camshaft 27 respectively push the corresponding block 8 out of the optical disc guide 7, and the block 8 presses against the inner ring of the target optical disc. Since the head of the induction sheet is pressed against the upper surface of the optical disc, the induction sheet 3 is immobile, and the upper fork plate 21 is always in the induction slot 4, then the block 8 is immobile and can always clamp the inner ring of the optical disc, completing the grabbing of the optical disc.

[0047] The moving slider drives the connecting bottom plate 1 to rise, the optical disc guide head 7 clamps the optical disc and moves, and the moving slider moves to the position where the optical disc will be placed. The bottom of the upper fork plate 21 is hinged to the induction plate 3, and the upper fork plate 21 or the induction plate 3 is equipped with an electromagnetic control device, which can control the upper fork plate 21 to rotate up and down. At this time, the electromagnetic control device controls the upper fork plate 21 to rotate upward or downward, so that the upper fork plate 21 does not hinder the signal in the induction slot 4, and the linkage rod 6 pulls the rotating cam shaft 27 through the crank 10 to rotate again, so that the block 8 retracts into the optical disc guide head 7, and the inner ring of the optical disc loses support and falls to the target position, completing the release of the optical disc.

[0048] The present invention uses an electromagnetic control method and device to control the extension or retraction of the two clamping blocks 8 to change the outer diameter of the optical disc guide 7, thereby clamping or releasing the inner ring of the optical disc. The length of the induction plate head is reasonably set so that when the induction plate head is lifted, the lower fork plate descends by a suitable distance (that is, it will not abut against the upper surface of the connecting bottom plate and cannot descend).

[0049] When grabbing a CD, a stack of CDs are stacked up and down, and a circle of protrusions is generally set on the upper surface of the CD near the edge of the inner ring to prevent the upper and lower adjacent CDs from being close to each other and scratching each other. When the clamping block extends out of the CD guide and clamps the inner ring of the CD, due to the certain length of the clamping block, two or more CDs may be clamped at the same time. To solve this problem, the prior art is to accurately control the size of the clamping block so that the bottom of the clamping block can just clamp one CD, but this method not only requires accurate control of the movement of the movable slider, but also the risk of the clamped CD falling. The present invention provides the following solution.

[0050] Optionally, a partition protruding outward is provided at the bottom of the vertical part of the card block. The partition is made of flexible material and can be bent. The root of the partition is connected to the side of the card block facing the outside of the optical disc guide head. In a natural state, the head of the partition points to the inner ring of the optical disc. The thickness of the partition gradually decreases from the root to the head. Preferably, the head of the partition is a pointed end to facilitate insertion into the gap between two adjacent inner rings of the optical discs.

[0051] When in use, before grabbing the optical disc, after the electromagnet is powered off, most of the partition part retracts into the optical disc guide head together with the card block, and the head of the partition part protrudes out of the optical disc guide head. As the optical disc guide head descends, the partition part will contact the inner ring of the optical disc, and the inner ring of the optical disc will press the tip of the head of the partition part, causing the tip to bend upward. When the tip moves to the gap between the inner rings of the two adjacent optical discs, the tip straightens and inserts into the gap. At this time, the optical disc guide head may continue to move down a few millimeters, and the tip of the partition part will slightly tilt upward, which can slightly lift the top optical disc. When the electromagnet is powered on and the card block extends out of the optical disc guide head, the partition part first extends out and inserts into the gap between the two optical discs. Since the thickness of the partition part gradually increases toward its root, the partition part can separate the two optical discs and lift the top optical disc upward, so that the subsequent extended card block can clamp the inner ring of the top optical disc, thereby accurately grabbing a optical disc.

[0052] During the movement of the disc, the separator can hold the inner ring of the disc at the bottom to provide auxiliary support to prevent the disc from falling. When the disc is moved into place, the block shrinks again, and the tip of the separator is not enough to support the weight of the disc, which does not affect the disc from falling to the predetermined position.

Claims

1. A CD-ROM loading and unloading device, characterized in that: It includes a connecting bottom plate, an electromagnetic control mechanism, a rotating mechanism and a clamping mechanism, one end of the connecting bottom plate is connected to a moving slider of a manipulator, and the other end is connected to a clamping seat, so that the optical disc taking and placing device can move with the manipulator in a three-dimensional space; An electromagnetic control mechanism is provided on the connecting bottom plate. The head of the induction sheet of the electromagnetic control mechanism extends to the bottom of the card seat through the gap of the card seat, and the tail of the induction sheet is in the induction slot of the electromagnetic sensor. The head of the induction sheet contacts the optical disk and drives the tail of the induction sheet to move up and down through the lever action, thereby achieving the purpose of controlling the electromagnetic sensor. The electromagnet of the electromagnetic control mechanism is connected to the top of the rotating mechanism through a linkage rod, and a disc guide is provided at the bottom of the rotating mechanism for sensing the disc; a clamping mechanism is provided at a position in the middle of the rotating mechanism corresponding to the inside of the clamping seat, and the clamping mechanism includes at least two clamping blocks, which are connected to the inner wall of the clamping seat through corresponding springs, and the middle of the rotating mechanism has a variable diameter structure; the electromagnetic sensor controls the extension and retraction of the linkage rod by controlling the electromagnet, and then controls the rotation direction of the rotating mechanism through the crank, and the variable diameter structure of the rotating mechanism pushes the clamping block to extend and retract, thereby clamping or releasing the inner ring of the disc.

2. The optical disc loading and unloading device according to claim 1, characterized in that: The end of the connecting base plate connected to the movable slider is a fixed end, and the end connected to the clamping seat is a clamping end. The clamping seat is cylindrical, and a through hole is provided at the center of the clamping end to allow the top of the rotating mechanism and the head of the sensor sheet to pass through the through hole.

3. The optical disc loading and unloading device according to claim 2, characterized in that: The electromagnetic control mechanism includes an electromagnet, a linkage rod, an electromagnetic sensor and an induction sheet. The electromagnet and the electromagnetic sensor are arranged near the fixed end of the connection base plate. The linkage rod is parallel to the induction sheet. The heads of the linkage rod and the induction sheet both point to the clamping end of the connection base plate. The head of the linkage rod is connected to the top of the rotating mechanism through a crank to drive the rotating mechanism to rotate clockwise or counterclockwise; the electromagnetic sensor has a sensing groove recessed toward the clamping end on the side facing the sensing sheet to accommodate the tail of the sensing sheet.

4. The optical disc taking and placing device according to claim 3, characterized in that: The crank includes a connecting column 1, a connecting column 2 and a horizontal connecting plate 1. The connecting column 1 and the connecting column 2 are both vertically arranged. The top of the connecting column 1 is rotatably connected to the head of the linkage rod through a step screw. The bottom of the connecting column 1 is fixedly connected to one end of the connecting plate 1, and the other end of the connecting plate 1 is fixedly connected to the top of the connecting column 2. The connecting column 2 is connected to the top of the rotating mechanism through a screw, and the bottom of the connecting column 2 is rotatably connected to the top of the central through hole of the clamping seat.

5. The optical disc loading and unloading device according to claim 2, characterized in that: The sensing piece is sickle-shaped, the head of the sensing piece extends downward and passes through the through hole of the connecting base plate, the middle part of the sensing piece is connected to the fixing seat by rotating screws, the fixing seat is vertically arranged on the upper surface of the connecting base plate, and the sensing piece can rotate with the rotating screws as a fulcrum.

6. The optical disc loading and unloading device according to claim 1, characterized in that: A through hole penetrating the card seat is provided at the center of the card seat for placing the rotating mechanism; the card seat includes an upper base and a lower cover plate, and a plurality of upwardly recessed mounting grooves are provided at the bottom of the base, wherein one mounting groove corresponds to a spring and a clamping block, a single mounting groove is arranged along the radial direction of the card seat, and a plurality of mounting grooves are arranged along the circumferential direction of the central through hole of the card seat.

7. The optical disc loading and unloading device according to claim 6, characterized in that: The rotating mechanism includes a rolling bearing, a rotating camshaft and a CD guide head from top to bottom. The rolling bearing is fixed to the upper part of the inner wall of the base and is arranged horizontally; the top of the rotating camshaft is fixedly connected to the connecting column 2 by bolts; the interior of the CD guide head is hollow for accommodating the rotating camshaft and the block; the top of the CD guide head is fixedly connected to the inner wall of the central through hole of the base.

8. The optical disc loading and unloading device according to claim 7, characterized in that: The upper part of the optical disc guide head is cylindrical, and a through groove is provided on the side corresponding to the position of the card block, the through groove corresponds to the card block one by one, and the card block can enter and exit the optical disc guide head through the through groove; the middle and lower parts of the optical disc guide head are truncated cones with larger upper parts and smaller lower parts, which are convenient for inserting into the inner ring of the optical disc; the lowest position of the head of the induction sheet is not lower than the lowest point of the optical disc guide head.

9. The optical disc loading and unloading device according to claim 7, characterized in that: The portion of the rotating cam shaft facing the block has a diameter-changing structure, and the diameter-changing structure is a vertical oblong body, and its cross section is an oblong.

10. The optical disc loading and unloading device according to claim 8, characterized in that: The clamping mechanism includes two clamping blocks and two springs. The clamping block is inverted L-shaped and integrally formed. The spring is horizontally arranged in the mounting groove. One end of the spring is connected to the vertical inner wall of the mounting groove away from the central through hole, and the other end of the spring is connected to one end of the horizontal part of the clamping block. The other end of the horizontal part of the clamping block is connected to the top of the vertical part of the clamping block. The bottom of the vertical part of the clamping block is not lower than the bottom end of the through groove of the corresponding optical disc guide head, so that the clamping block can enter and exit the through groove.

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