Positioning device and method for grabbing optical disc by using weighing sensor

Abstract

The invention relates to the technical field of information storage, in particular to a positioning device and method for grabbing an optical disc through a weighing sensor, and provides the positioning device for grabbing the optical disc through the weighing sensor aiming at the problems that existing equipment is high in grabbing and positioning cost, the disc face is polluted due to dust accumulation and the like. A driving seat capable of moving up and down is arranged on the guide rail, a sensor support is arranged on the driving seat, a plurality of vacuum chucks are arranged on the sensor support, a weighing sensor is further arranged on the sensor support, and a signal amplifier used for amplifying output signals of the weighing sensor is further arranged at the upper end of the driving seat; when the bearing frame rotates to enable the supporting table to move to a cleaning station, the supporting table can be turned over by a specified angle, and the upper end face of the supporting table can be cleaned when the brush works; the resistance strain type sensor is arranged, the cost is reduced, the multi-station rotary supporting table integrates multiple stations of feeding, discharging and cleaning, efficiency can be improved, the productivity can be increased, and pollution to the disc face can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of information storage technology, more particularly to the field of optical disc recording processing technology, and especially to a positioning device and method for grabbing optical discs using load cells. BACKGROUND

[0002] In the field of automated optical disc manufacturing and processing, traditional positioning technology has long been plagued by multiple technical bottlenecks. Although optical positioning solutions such as laser ranging sensors are widely used, they have inherent flaws in their physical principles. When processing optical discs with complex printed patterns on the surface, the laser beam signal is attenuated due to ink layer absorption or scattering, resulting in distorted position feedback. For highly transparent disc bases such as light-colored translucent CDs, the laser beam penetrates the medium, causing insufficient reflected signal strength, leading to misjudgment and even positioning failure. These problems force devices to adapt to "unprinted pure color disc surfaces", severely limiting industrial application scenarios. Alternative grating positioning technology can improve accuracy, but it requires precise grating rulers and high-resolution reading heads, resulting in a significant increase in hardware costs. It also imposes strict requirements on the internal space layout of the device, requiring millimeter-level linear guide installation tolerances and shock isolation areas, making it almost impossible to deploy in compact automated production lines. In addition, the disc trays of existing devices generally use fixed designs, requiring full-line downtime for each loading and unloading, and manual intervention for tray replacement, which disrupts the time-consuming process and reduces the overall utilization rate of the device. More seriously, the fixed tray is exposed to the production environment for a long time, causing dust accumulation and disc surface pollution. Manual cleaning requires additional downtime, further exacerbating efficiency losses. The above problems collectively constitute an industry technical impasse: optical positioning is limited by medium characteristics, high-precision solutions are cost-prohibitive, and the stoppage operation mode hinders productivity. Therefore, a positioning device for grabbing optical discs using load cells is designed to address the aforementioned issues. SUMMARY

[0003] The present application provides a positioning device and method for grabbing optical discs using load cells to address the high cost of existing device grabbing positioning, manual intervention for tray replacement, time-consuming interruptions, low overall utilization rate of the device, dust accumulation, and disc surface pollution. The grabbing device reduces costs by incorporating a resistance strain sensor, and integrates multi-station rotary trays for loading, unloading, and cleaning into one, which not only improves efficiency and increases productivity, but also reduces disc surface pollution, effectively solving the problems mentioned in the background technology.

[0004] To solve the above problems, the technical solution adopted by the present application is:

[0005] A positioning device for gripping optical discs using a weighing sensor includes an operating table. The operating table is equipped with a gripping mechanism and a feeding mechanism. The gripping mechanism includes a rotatable linear module with a guide rail. A drive seat capable of vertical movement is mounted on the guide rail. A sensor bracket is mounted on the drive seat, and multiple vacuum suction cups are mounted on the sensor bracket. A weighing sensor is also mounted on the sensor bracket. A signal amplifier for amplifying the output signal of the weighing sensor is also mounted on the upper end of the drive seat. The feeding mechanism includes a rotatable bearing frame with multiple evenly distributed trays. Multiple clamping rods for calibrating optical discs are mounted on the inner walls of each tray. The upper end of the operating table has a loading station, a feeding station, and a cleaning station corresponding to the trays. A rotatable brush is installed in the cleaning station. When the bearing frame rotates, moving the tray to the cleaning station, the tray can rotate at a specified angle, allowing the brush to clean the upper surface of the tray.

[0006] The upper end of the operating platform is equipped with a first motor, the guide rail is fixedly connected to the output end of the first motor, the drive seat is slidably connected to the outer surface of the guide rail, the upper end of the guide rail is equipped with a telescopic rod, and the drive seat is installed on the telescopic end of the telescopic rod.

[0007] The feeding mechanism also includes a second motor fixedly connected to the operating table. A small gear is fixedly connected to the output end of the second motor. A large gear meshes with the outer surface of the small gear. A bearing bracket is coaxially fixed to the upper end of the large gear. Three evenly distributed drive shafts are rotatably connected to the inner wall of the bearing bracket. A connecting plate is fixedly connected to the outer end face of each drive shaft. Each support is fixedly connected to the corresponding connecting plate. A small bevel gear is fixedly connected to the inner end of the outer surface of each drive shaft. An incomplete bevel gear that mates with the small bevel gear is also provided on the upper end of the operating table. A convex locking wheel is fixedly connected to the lower end of the incomplete bevel gear. A locking plate that mates with the convex locking wheel is also fixedly connected to the outer surface of each drive shaft.

[0008] Each support platform is equipped with a rotatable first spur gear at its lower end. Each support platform has three evenly distributed second sliders slidably connected to its inner wall. Each clamping rod is slidably connected to the inner wall of the corresponding second slider. When the first spur gear rotates, it can cause multiple clamping rods to move outward and then downward synchronously.

[0009] The upper end of the first spur gear is coaxially fixed with a disc cam, and the inner end of the second slider is fixed with a second sliding pin. The inner wall of the disc cam is provided with multiple variable diameter grooves and arc grooves that cooperate with the second sliding pins.

[0010] The lower end of each disc cam is coaxially fixed with a long cam, and the lower surface of the support is fixed with three evenly distributed U-shaped frames. The inner wall of each U-shaped frame is slidably connected with a rectangular frame, and the inner wall of each rectangular frame is slidably connected with a first slider. The clamping rod is fixed to the inner wall of the corresponding first slider. The inner end face of each first slider is fixed with a first sliding pin. The outer surface of each long cam is provided with multiple arc-shaped horizontal grooves and arc-shaped oblique grooves that cooperate with the first sliding pins.

[0011] The first spur gear has a first spur rack meshing on its outer surface. A long slide plate that is slidably connected to the connecting support plate is fixed to one end face of the first spur rack. The outer end of the bearing bracket is provided with a movable drive disk. An arc-shaped slider is slidably connected to the inner wall of the drive disk. The long slide plate is fixed to the corresponding arc-shaped slider.

[0012] A large disc is fixed to the upper surface of the operating platform, and a drive pin is fixed to the lower end of the outer surface of the drive disc. The upper surface of the large disc is provided with an outer ring groove and an arc groove that cooperate with the drive pin.

[0013] A method of using a device for gripping and positioning optical discs using a weighing sensor includes the following steps;

[0014] S1. Initial state: The linear module is in standby position, the vacuum suction cup is not in contact with the optical disc, the weighing sensor has no load, and the output voltage is the reference value.

[0015] S2. Motion positioning: The control system drives the linear module to move the slider fixing seat, and the vacuum suction cup moves towards the optical disc storage area.

[0016] S3. Contact detection: When the vacuum suction cup contacts the surface of the optical disc, the sensor bracket causes the load cell to deform, and the voltage output by the load cell changes.

[0017] S4. Signal processing: The signal amplifier amplifies the voltage signal output by the weighing sensor and transmits it to the PLC control system.

[0018] S5. Positioning Confirmation: The PLC control system compares the amplified voltage signal with a preset threshold. If the signal reaches the threshold, it confirms that the robot arm has been positioned at the optical disc location; otherwise, it continues to adjust the movement position.

[0019] S6. After precise movement and positioning confirmation, the linear module stops moving according to the PLC control system command, the air circuit starts vacuum adsorption, and begins to grab the optical disc.

[0020] In S3, when the vacuum chuck makes slight contact with the surface of the optical disc, the load cell undergoes a slight deformation, and the output voltage begins to change. As the contact force increases, the elastic body of the load cell undergoes significant deformation, the resistance value of the strain gauge changes more rapidly, and the Wheatstone bridge outputs a larger differential voltage.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] When the vacuum suction cup makes slight contact with the surface of the optical disc, the sensor bracket causes a slight deformation in the load cell, resulting in a change in the output voltage. The load cell, subjected to the reaction force of the vacuum suction cup, undergoes significant deformation of the elastic body, causing a rapid change in the resistance value of the strain gauge. This leads to a larger differential voltage output from the Wheatstone bridge. The signal amplifier amplifies the voltage signal to a identifiable range and transmits it to the PLC control system. The PLC control system compares the amplified voltage signal with a preset threshold to determine if the gripping mechanism has reached the correct position for gripping the optical disc. If the signal reaches the threshold, it confirms that the gripping mechanism has been positioned correctly. If not, it continues to adjust the movement. After positioning confirmation, the linear module, according to the PLC control system's instructions, stops the robot arm's movement, initiates vacuum suction, and begins gripping the optical disc. When the tray rotates to the feeding station, the clamping rod moves upwards and inwards, calibrating the optical disc on the upper part of the tray and moving it to the transmission position. The sensor is positioned at the lower end of the support frame, facilitating the gripping mechanism's CD-ROM gripping operation. As the tray continues to rotate and move to the cleaning station, it reaches the upper part of the brush. At this point, the tray can rotate 180 degrees, with its upper surface facing down. The brush then cleans the upper surface of the tray. The core of this device utilizes a resistance strain gauge load cell, consisting of an aluminum alloy or stainless steel elastomer and a high-sensitivity strain gauge forming a force-to-electricity conversion system. When the gripping mechanism grips the CD-ROM, the sensor detects the clamping pressure distribution in real time, accurately calculating the CD-ROM's centroid offset based on the strain gauge resistance change, completely avoiding interference from optical media characteristics. A multi-station rotating tray system is designed, integrating loading, feeding, and cleaning functions into one unit. A servo motor drives the tray to rotate at a preset rhythm. While the feeding station performs recording or testing, idle stations simultaneously load new discs and remove finished products. When the tray rotates to the cleaning station, residual particles are removed. Attached Figure Description

[0023] Figure 1 This is a three-dimensional model of a positioning device for gripping optical discs using a weighing sensor, according to the present invention.

[0024] Figure 2 This is a first isometric view of a positioning device for gripping an optical disc using a weighing sensor according to the present invention.

[0025] Figure 3 This is a second isometric view of a positioning device for gripping an optical disc using a weighing sensor according to the present invention.

[0026] Figure 4 This is a schematic diagram of the drive base installation of a positioning device for gripping optical discs using a weighing sensor according to the present invention.

[0027] Figure 5 This is a sensor bracket diagram of a positioning device for gripping optical discs using a weighing sensor according to the present invention.

[0028] Figure 6 This is a schematic diagram of the mounting platform of a positioning device for gripping optical discs using a weighing sensor according to the present invention.

[0029] Figure 7 This is a schematic diagram of the drive disk installation of a positioning device for gripping optical discs using a weighing sensor according to the present invention.

[0030] Figure 8 This is a schematic diagram of an incomplete bevel gear installation of a positioning device for gripping optical discs using a weighing sensor according to the present invention.

[0031] Figure 9 This is a schematic diagram of the large disc structure of a positioning device for gripping optical discs using a weighing sensor according to the present invention.

[0032] Figure 10 This is a schematic diagram of the first spur gear installation in a positioning device for gripping optical discs using a weighing sensor according to the present invention.

[0033] Figure 11 This is a schematic diagram of the installation of a long cam in a positioning device for gripping optical discs using a weighing sensor, according to the present invention.

[0034] Figure 12 This is a schematic diagram of the installation of a disc cam in a positioning device for gripping an optical disc using a weighing sensor, according to the present invention.

[0035] Numbering in the diagram: 1-Operating console, 2-CD burner, 3-First motor, 4-Guide rail, 5-Telescopic rod, 6-Drive base, 7-Bearing bracket, 8-Second motor, 9-Small gear, 10-Large gear, 11-Drive disk, 12-Drive shaft, 13-Short guide rod, 14-Incomplete bevel gear, 15-Small bevel gear, 16-Cam lock wheel, 17-Locking plate, 18-Large disc, 19-Drive pin, 20-Outer ring groove, 21-Arc groove, 22-Connecting support plate, 23-Long slide plate, 24-Arc slider, 25-First motor 26-Rack and pinion, 27-First spur gear, 28-Support platform, 29-First sliding pin, 30-Rectangular frame, 31-First slider, 32-U-shaped frame, 33-Clamping rod, 34-Second slider, 35-Connecting plate, 36-Second sliding pin, 37-Disc cam, 38-Variable diameter groove, 39-Circular arc groove, 40-Arc-shaped inclined groove, 41-Arc-shaped transverse groove, 42-Brush, 43-Signal amplifier, 44-Weighing sensor, 45-Sensor bracket, 46-Vacuum suction cup, 47-Support shaft, 48-Support cylinder. Detailed Implementation

[0036] The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0037] like Figures 1-12As shown, the present invention provides a positioning device for gripping optical discs using a weighing sensor, including an operating table 1. The operating table 1 is equipped with a gripping mechanism and a feeding mechanism. The gripping mechanism includes a rotatable linear module, which includes a guide rail 4. A drive seat 6 that can move up and down is provided on the guide rail 4. A sensor bracket 45 is provided on the drive seat 6. Multiple vacuum suction cups 46 are provided on the sensor bracket 45. A weighing sensor 44 is also provided on the sensor bracket 45. The upper end of the drive seat 6 is also provided with a device for amplifying the output signal of the weighing sensor 44. The signal amplifier 43; the feeding mechanism includes a rotatable bearing frame 7, on which multiple evenly distributed trays 27 are provided. The inner wall of each tray 27 is provided with multiple clamps 33 for calibrating optical discs. The upper end of the operating table 1 is provided with a loading station, a feeding station and a cleaning station corresponding to the trays 27. The cleaning station is provided with a rotatable brush 42. When the bearing frame 7 rotates and moves the tray 27 to the cleaning station, the tray 27 can be rotated at a specified angle. When the brush 42 is working, it can clean the upper surface of the tray 27.

[0038] like Figures 1-8As shown, the operating table 1 supports the entire device. A CD burner 2 for burning optical discs is placed on top of the operating table 1. The feeding mechanism supports and transports the optical discs. The discs are placed on the tray 27. Multiple clamps 33 are used to center the discs on the tray, ensuring they are positioned at the designated location on the tray 27. This allows for more precise positioning when the gripping mechanism picks up the discs. The control system drives the linear module, i.e., the drive base 6, to move up and down. The vacuum suction cup 46 moves towards the upper position of the tray 27 in the optical disc storage area, i.e., the feeding station. When the vacuum suction cup 46 slightly contacts the surface of the optical disc, the sensor bracket 45 causes a slight deformation in the weighing sensor 44, resulting in a change in the output voltage. The weighing sensor 44 withstands the vacuum... The suction cup 46 reacts, causing significant deformation of the elastic body. This intensifies the change in resistance of the strain gauge, resulting in a large differential voltage output from the Wheatstone bridge. The signal amplifier 43 amplifies the voltage signal to a identifiable range and transmits it to the PLC control system. The PLC control system compares the amplified voltage signal with a preset threshold to determine if the gripping mechanism has reached the correct position for grasping the optical disc. If the signal reaches the threshold, it confirms that the gripping mechanism has been positioned correctly. If not, it continues to adjust its position. After positioning confirmation, the linear module, according to the PLC control system's instructions, stops the robot arm's movement, initiates vacuum suction, and begins grasping the optical disc. After grasping, when the linear module rotates to the designated position, it drives the optical disc to move... When the optical disc is placed on the optical disc drive of the burner 2, the optical disc can be placed on the optical disc drive by controlling the drive seat 6, vacuum chuck 46, etc. The burner 2, weighing sensor 44, vacuum chuck 46, signal amplifier 43, PLC system, etc. are all existing technologies and will not be described in detail. The feeding mechanism is used to transfer the tray 27, optical disc, etc. When the bearing frame 7 rotates, it can drive the tray 27 to rotate and move to the designated area. When the tray 27 rotates to the loading station, the clamping rod 33 is at the lowest and outermost end, which facilitates the placement of the optical disc on the tray 27. When the tray 27 rotates to the feeding station, the clamping rod 33 can move upward and inward to calibrate the optical disc on the tray 27. The optical disc is moved to the lower end of the sensor bracket 45, facilitating the gripping mechanism's gripping operation. As the tray 27 continues to rotate and move to the cleaning station, it moves to the upper end of the brush 42. At this point, the tray 27 can rotate 180 degrees, with its upper surface facing down. When the brush 42 rotates, it can clean the upper surface of the tray 27. The core of this device uses a resistance strain gauge load cell 44, which consists of an aluminum alloy or stainless steel elastomer and a high-sensitivity strain gauge to form a force-to-electricity conversion system. When the gripping mechanism grips the optical disc, the sensor detects the clamping pressure distribution in real time and accurately calculates the optical disc's centroid offset by measuring the strain gauge resistance change, completely avoiding interference from optical media characteristics.The multi-station rotating tray system 27 integrates loading, feeding, and cleaning functions into one unit. A servo motor drives the tray 27 to rotate at a preset pace. When the feeding station performs recording or inspection, idle stations simultaneously load new trays and remove finished products. When the tray 27 rotates to the cleaning station, residual particles are removed.

[0039] The upper end of the operating table 1 is provided with a first motor 3, the guide rail 4 is fixedly connected to the output end of the first motor 3, the drive seat 6 is slidably connected to the outer surface of the guide rail 4, the upper end of the guide rail 4 is provided with a telescopic rod 5, and the drive seat 6 is installed on the telescopic end of the telescopic rod 5.

[0040] like Figures 4-5 As shown, the first motor 3 is fixed on the upper surface of the operating table 1. The function of the first motor 3 is to provide rotational power to the guide rail 4, that is, to provide rotational power to the linear module. The motor is existing technology and will not be described in detail. The guide rail 4 is fixed on the output shaft of the first motor 3. When the first motor 3 is started, it can drive the guide rail 4 to rotate and move. The drive seat 6 is slidably connected to the outer surface of the guide rail 4. When working, the telescopic rod 5 can control the drive seat 6 to move up and down, thereby controlling the sensor bracket 45 to move up and down. The telescopic rod 5 is preferably an electric rod. The telescopic rod 5 is existing technology and will not be described in detail.

[0041] The feeding mechanism also includes a second motor 8 fixedly connected to the operating table 1. A small gear 9 is fixedly connected to the output end of the second motor 8. A large gear 10 meshes with the outer surface of the small gear 9. A bearing bracket 7 is coaxially fixedly connected to the upper end of the large gear 10. Three evenly distributed drive shafts 12 are rotatably connected to the inner wall of the bearing bracket 7. A connecting plate 22 is fixedly connected to the outer end face of each drive shaft 12. Each support platform 27 is fixedly connected to the corresponding connecting plate 22. A small bevel gear 15 is fixedly connected to the inner end of the outer surface of each drive shaft 12. An incomplete bevel gear 14 that cooperates with the small bevel gear 15 is also provided at the upper end of the operating table 1. A convex locking wheel 16 is fixedly connected to the lower end of the incomplete bevel gear 14. A locking plate 17 that cooperates with the convex locking wheel 16 is also fixedly connected to the outer surface of the drive shaft 12.

[0042] like Figures 7-8As shown, the second motor 8 is fixed to the large disc 18, which is fixed to the operating table 1. This is equivalent to the second motor 8 being fixed to the operating table 1. When the second motor 8 starts, it can drive the small gear 9, large gear 10, bearing bracket 7, etc., to rotate synchronously, meaning the corresponding drive shaft 12, connecting plate 22, and support platform 27 can move circumferentially. A support shaft 47 is fixed to the inner wall of the center of the incomplete bevel gear 14. The support shaft 47 is fixed to the operating table 1, and it supports and limits the incomplete bevel gear 14, preventing it from rotating. A support cylinder 48 is fixed to the inner wall of the large gear 10 and bearing bracket 7. The support cylinder 48 is rotatably connected to the outer surface of the support shaft 47. When the large gear 10 rotates, it can drive... The drive shaft 12 and its support 7 rotate synchronously, which is equivalent to the large gear 10 being coaxially fixed with the bearing support 7. When the drive shaft 12 rotates, it can drive the connecting plate 22, the support platform 27, etc. to rotate and move. When the second motor 8 starts, it can drive the shaft 12 support 7, the small bevel gear 15, the support platform 27, etc. to move circumferentially. Even if the support platform 27 moves to the designated loading station, feeding station, and cleaning station, the toothed part of the incomplete bevel gear 14 is set to correspond to the cleaning station, and the convex locking wheel 16 is set to correspond to the loading station and the feeding station. When the small bevel gear 15 moves circumferentially and causes the support platform 27 to move from the loading station to the feeding station, the small bevel gear 15 will meet the toothless part of the incomplete bevel gear 14, and the convex locking wheel 16 can engage with the locking plate 17. The locking plate 17, small bevel gear 15, drive shaft 12, and support platform 27 are engaged, restricting the synchronous rotation of these components. This ensures the support platform 27 can move horizontally from the loading station to the feeding station. When the bearing bracket 7 continues to rotate, causing the support platform 27 to move from the feeding station to the cleaning station, the small bevel gear 15, during its circumferential movement, can encounter the toothed portion of the incomplete bevel gear 14. Furthermore, the locking plate 17 can disengage from the cam lock wheel 16. Under the circumferential movement of the small bevel gear 15 and the engagement of the incomplete bevel gear 14, the small bevel gear 15 and drive shaft 12 can be driven to rotate, causing the corresponding support platform 27 to flip. When it reaches the designated position in the cleaning station, i.e., the center position, the support platform 27 can flip 180 degrees, meaning the upper surface of the support platform 27 faces downwards. At this time, the brush 42 can clean the upper surface of the tray 27. The upper end of the operating table 1 is also equipped with a drive motor. The brush 42 is fixed to the output end of the drive motor. When the drive motor starts, the brush 42 can rotate. When the bearing bracket 7 continues to rotate and the tray 27 moves from the cleaning station to the loading station, the small bevel gear 15 and the incomplete bevel gear 14 mesh, which can make the tray 27 rotate 180 degrees again, so that the upper surface of the tray 27 continues to be horizontal and can support the optical disc again. After the small bevel gear 15 and the incomplete bevel gear 14 disengage, the locking plate 17 can mesh with the convex locking wheel 16 again, that is, fix the tray 27 to maintain a horizontal state again. At this time, it is convenient to place the optical disc on the tray 27.

[0043] Each support platform 27 is provided with a rotatable first spur gear 26 at its lower end. Each support platform 27 has three evenly distributed second sliders 34 slidably connected to its inner wall. Each clamping rod 33 is slidably connected to the inner wall of the corresponding second slider 34. When the first spur gear 26 rotates, it can cause multiple clamping rods 33 to move outward and then downward synchronously.

[0044] like Figures 10-11 As shown, the clamping rod 33 can slide up and down on the inner wall of the second slider 34. The second slider 34 can slide synchronously inward or outward on the inner wall of the tray 27. That is, when the second slider 34 moves inward or outward, it can drive the clamping rod 33 to move inward or outward synchronously. With the cooperation of the first spur gear 26 and the clamping rod 33, when the first spur gear 26 rotates at the designated work position, it can drive the corresponding clamping rod 33 to work. That is, when the tray 27 is in the loading position, the clamping rod 33 is in the bottom and outermost position, which makes it convenient for the user to place the optical disc on the upper surface of the tray 27. When the tray 27 moves from the loading station to the feeding station, the first spur gear 26 rotates in the forward direction, driving multiple clamping rods 33 to move upward. After reaching the top, they move inward, aligning the optical disc on the tray 27 so that it is accurately positioned directly below the vacuum suction cup 46 when it reaches the feeding station. When the tray 27 moves from the feeding station to the cleaning station, the first spur gear 26 rotates in the reverse direction, causing the clamping rods 33 to move outward to the top and then downward, preventing interference during cleaning of the tray 27.

[0045] The upper end of the first spur gear 26 is coaxially fixed with a disc cam 37, and the inner end of the second slider 34 is fixed with a second sliding pin 36. The inner wall of the disc cam 37 is provided with a plurality of variable diameter grooves 38 and arc grooves 39 that cooperate with the second sliding pins 36.

[0046] like Figures 11-12As shown, a rotating shaft is fixed to the inner wall of the center of the first spur gear 26 and the disc cam 37. The rotating shaft is rotatably connected to the inner wall of the support platform 27. A connecting plate 35 is fixed to the inner end face of the second slider 34. The second sliding pin 36 is fixed to the inner wall of the corresponding connecting plate 35, which is equivalent to the second sliding pin 36 being fixed to the corresponding second slider 34. When the first spur gear 26 rotates, it can drive the disc cam 37 to rotate synchronously. When the disc cam 37 rotates, through the meshing of the second sliding pin 36 and the variable diameter groove 38, it can drive the second sliding pin 36, the second slider 34, the clamping rod 33, etc. to move synchronously outward. When the disc cam 37 continues to rotate, it can cause the second sliding pin 36 to enter the inner wall of the arc groove 39. At this time, the second sliding pin 36, the second slider 34, the clamping rod 33, etc. move synchronously outward to the top position. At this time, when the first spur gear 26 and the disc cam 37 continue to rotate, the clamping rod 33 no longer moves outward, which can provide a period of time for the clamping rod 33 to move downward.

[0047] The lower end of each disc cam 37 is coaxially fixed with a long cam 28. The lower surface of the support 27 is fixed with three evenly distributed U-shaped frames 32. The inner wall of each U-shaped frame 32 is slidably connected with a rectangular frame 30. The inner wall of each rectangular frame 30 is slidably connected with a first slider 31. The clamping rods 33 are fixed to the inner wall of the corresponding first slider 31. The inner end face of each first slider 31 is fixed with a first sliding pin 29. The outer surface of each long cam 28 is provided with multiple arc-shaped horizontal grooves 41 and arc-shaped oblique grooves 40 that cooperate with the first sliding pins 29.

[0048] like Figures 9-12As shown, the rectangular frame 30 can slide up and down on the inner wall of the U-shaped frame 32, and the first slider 31 can slide inward or outward on the inner wall of the rectangular frame 30. That is, through the U-shaped frame 32, the rectangular frame 30, the first slider 31, and the second slider 34, the clamping rod 33 can be limited to move up and down and inward or outward on the inner wall of the support platform 27, and the two movements do not interfere with each other. When the first spur gear 26 and the long cam 28 rotate, the first sliding pin 29 will not move up or down due to the meshing of the first sliding pin 29 with the arc-shaped transverse groove 41, providing a period of time for the clamping rod 33 to move inward or outward. When the long cam 28 rotates to the point that the first sliding pin 29 enters the inner wall of the arc-shaped inclined groove 40, the first sliding pin 29 can move upward, that is, the corresponding rectangular frame 30, the first slider 31, the clamping rod 33, etc. can move upward synchronously. The interaction between the long cam 28 and the first sliding pin 29 and the disc cam 37 and the second sliding pin 36 In coordination, when the first spur gear 26 rotates in the reverse direction, the disc cam 37 rotates, and under the meshing of the second sliding pin 36 and the variable diameter groove 38, the clamping rod 33 can move outward. At this time, the first sliding pin 29 meshes with the arc-shaped transverse groove 41 of the long cam 28, that is, the corresponding clamping rod 33 will not move up or down. When the disc cam 37 rotates to the point where the second sliding pin 36 enters the inner wall of the arc groove 39, under the meshing of the second sliding pin 36 and the arc groove 39, the clamping rod 33 moves to the outermost end state, and at this time it no longer moves outward. At the same time, the long cam 28 can rotate until the first sliding pin 29 enters the inner wall of the arc-shaped inclined groove 40. That is, when the long cam 28 rotates, the first sliding pin 29 and the clamping rod 33 can move upward, that is, the clamping rod 33 can first move outward, and after moving outward to the top, it moves downward. Similarly, when the first spur gear 26 rotates in the forward direction, the clamping rod 33 can first move upward, and after moving upward to the top, it moves inward.

[0049] The first spur gear 26 has a first spur rack 25 meshing on its outer surface. The first spur rack 25 has a long slide plate 23 fixedly connected to one end face of each side, which is slidably connected to the connecting support plate 22. The outer end of the bearing bracket 7 is provided with a movable drive disk 11. The inner wall of the drive disk 11 is slidably connected to an arc-shaped slider 24. The long slide plate 23 is fixedly connected to the corresponding arc-shaped slider 24.

[0050] like Figures 8-10As shown, the long slide plate 23 can slide inward or outward on the inner wall of the connecting plate 22; multiple short guide rods 13 are fixedly connected to the inner end face of the drive disk 11, and the short guide rods 13 are slidably connected to the inner wall of the bearing frame 7, which can limit the drive disk 11 to move only at the outer end of the bearing frame 7, that is, to move inward or outward at the outer end of the bearing frame 7; the arc-shaped slider 24 can slide circumferentially on the inner wall of the drive disk 11, that is, when the drive disk 11 moves inward or outward, it can drive the long slide plate 23 and the first straight rack 25 to move inward or outward. When the first straight rack 25 moves, it can drive the first straight gear 26 to rotate forward and backward. And when the drive shaft 12, the connecting plate 22, the support platform 27, etc. are flipped, the arc-shaped slider 24 can slide circumferentially on the inner wall of the drive disk 11, and always maintains a connection with the drive disk 11; that is, when the drive disk 11 moves, it can drive the first straight gear 26 to rotate back and forth.

[0051] A large disc 18 is fixedly connected to the upper surface of the operating table 1, and a drive pin 19 is fixedly connected to the lower end of the outer surface of the drive disc 11. The upper surface of the large disc 18 is provided with an outer ring groove 20 and an arc groove 21 that cooperate with the drive pin 19.

[0052] like Figures 9-10 As shown, the large disc 18 is fixed to the upper surface of the operating table 1 by multiple cylindrical rods. When the bearing bracket 7 rotates, it enables the drive disc 11, drive pin 19, and support 27 to move synchronously in a circular motion. When the drive pin 19 moves in a circular motion and meshes with the outer ring groove 20, the drive pin 19 and drive disc 11 will not move inward or outward, meaning the first spur gear 26 will not rotate, and the clamping rod 33 will be in a designated position and will not work. When the drive pin 19 moves in a circular motion and meshes with the arc groove 21, the drive pin 19 and drive disc 11 can move inward or outward, driving the first spur gear 26 to rotate in both directions, and the corresponding clamping rod 33 will work. The arc groove 21 is set corresponding to the loading station and the feeding station, and the outer ring groove 20 is set corresponding to the cleaning station. That is, when the bearing bracket 7 rotates, when the support 27 rotates, the drive pin 19 and drive disc 11 will not move inward or outward, meaning the first spur gear 26 will not rotate, and the clamping rod 33 will be in a designated position and will not work. When the tray 27 moves from the feeding station to the cleaning station, the drive pin 19 engages with the arc groove 21, allowing the clamping rod 33 to move outward and then downward, thus retracting into the tray 27. This prevents the clamping rod 33 from interfering with the brush 42 during grinding of the tray 27. When the tray 27 moves from the cleaning station to the loading station, the drive pin 19 engages with the outer ring groove 20, meaning the drive pin 19 will not move and the first spur gear 26 will not rotate. At this time, the clamping rod 33 is in a stable state at the outermost and lowest end. When the tray 27 moves from the loading station to the feeding station, the drive pin 19 engages with the arc groove 21, allowing the first spur gear 26 to rotate again, meaning the corresponding clamping rod 33 can move upward and then inward. This allows for center alignment of the optical disc on the upper end of the tray 27.

[0053] A method of using a device for gripping and positioning optical discs using a weighing sensor includes the following steps;

[0054] S1. Initial state: The linear module is in standby position, the vacuum suction cup 46 is not in contact with the optical disc, the weighing sensor 44 has no load, and the output voltage is the reference value.

[0055] S2. The mobile positioning and control system drives the linear module to move the slider fixing seat and the vacuum suction cup moves 46 to the optical disc storage area.

[0056] S3. Contact detection: When the vacuum suction cup 46 contacts the surface of the optical disc, the sensor bracket 45 causes the load cell 44 to deform, and the voltage output by the load cell 44 changes.

[0057] S4. Signal processing: Signal amplifier 43 amplifies the voltage signal output by the weighing sensor 44 and transmits it to the PLC control system.

[0058] S5. Positioning Confirmation: The PLC control system compares the amplified voltage signal with a preset threshold. If the signal reaches the threshold, it confirms that the robot arm has been positioned at the optical disc location; otherwise, it continues to adjust the movement position.

[0059] S6. After precise movement and positioning confirmation, the linear module stops moving according to the PLC control system command, the air circuit starts vacuum adsorption, and begins to grab the optical disc.

[0060] In S3, when the vacuum chuck 46 makes slight contact with the surface of the optical disc, the load cell 44 undergoes a slight deformation, and the output voltage begins to change. As the contact force increases, the elastic body of the load cell 44 undergoes significant deformation, the resistance value of the strain gauge changes more rapidly, and the Wheatstone bridge outputs a larger differential voltage.

[0061] In use, when the vacuum suction cup 46 slightly contacts the surface of the optical disc, the sensor bracket 45 causes the weighing sensor 44 to undergo a slight deformation, and the output voltage begins to change. The weighing sensor 44 bears the reaction force of the vacuum suction cup 46, causing the elastic body to deform significantly. The resistance value of the strain gauge changes more rapidly, and the Wheatstone bridge outputs a larger differential voltage. The signal amplifier 43 amplifies the voltage signal to a recognizable range and transmits it to the PLC control system. The PLC control system compares the amplified voltage signal with a preset threshold to determine whether the gripping mechanism has reached the correct position for gripping the optical disc. If the signal reaches the threshold, it confirms that the gripping mechanism has been positioned to the optical disc. If not, it continues to adjust the movement position. After positioning confirmation, the linear module stops moving according to the PLC control system command, starts vacuum suction, and begins gripping the optical disc. When the tray 27 rotates to the feeding station, the clamping rod 33 can move upward and inward to calibrate the optical disc at the top of the tray 27 and move the optical disc to the feeding station. The sensor bracket 45 is positioned at its lower end, facilitating the gripping mechanism's CD-ROM gripping operation. When the tray 27 continues to rotate and move to the cleaning station, i.e., when the tray 27 moves to the upper position of the brush 42, the tray 27 can rotate 180 degrees, with its upper surface facing down. When the brush 42 rotates, it can clean the upper surface of the tray 27. The core of this device uses a resistance strain gauge load cell 44, which consists of an aluminum alloy or stainless steel elastomer and a high-sensitivity strain gauge forming a force-to-electricity conversion system. When the gripping mechanism grips the CD-ROM, the sensor detects the clamping pressure distribution in real time and accurately calculates the CD-ROM's centroid offset based on the strain gauge resistance change, completely avoiding interference from optical media characteristics. A multi-station rotating tray 27 system is designed, integrating loading, feeding, and cleaning functions into one unit. A servo motor drives the tray 27 to rotate at a preset rhythm. When the feeding station performs recording or testing, the idle station simultaneously completes new disc loading and finished product removal. When the tray 27 rotates to the cleaning station, residual particles are removed.

Claims

1. A positioning device for picking up optical discs using a load cell, comprising an operating table (1), characterized in that: The operation platform (1) is provided with a grabbing mechanism and a feeding mechanism. The grabbing mechanism comprises a rotatable linear module, the linear module comprises a guide rail (4), the guide rail (4) is provided with a driving seat (6) capable of moving up and down, the driving seat (6) is provided with a sensor support (45), the sensor support (45) is provided with a plurality of vacuum suction cups (46), the sensor support (45) is further provided with a weighing sensor (44), the upper end of the driving seat (6) is further provided with a signal amplifier (43) for amplifying the output signal of the weighing sensor (44); the feeding mechanism comprises a rotatable bearing frame (7), the bearing frame (7) is provided with a plurality of uniformly distributed supporting tables (27), the inner walls of the supporting tables (27) are each provided with a plurality of clamping rods (33) for calibrating optical discs, the upper end of the operation platform (1) is provided with a feeding station, a feeding station and a cleaning station corresponding to the supporting tables (27), the cleaning station is provided with a rotatable brush (42), when the bearing frame (7) rotates to move the supporting table (27) to the cleaning station, the supporting table (27) can be turned by a specified angle, and the upper end surface of the supporting table (27) can be cleaned when the brush (42) is working.

2. The positioning device for picking up the optical disc using the load cell according to claim 1, wherein: The upper end of the operation platform (1) is provided with a first motor (3), the guide rail (4) is fixedly connected to the output end of the first motor (3), the driving seat (6) is slidably connected to the outer surface of the guide rail (4), and the upper end of the guide rail (4) is provided with a telescopic rod (5), and the driving seat (6) is mounted on the telescopic end of the telescopic rod (5).

3. The positioning device for picking up an optical disc using a load cell according to claim 1, wherein: The feeding mechanism further comprises a second motor (8) fixedly connected to the operation platform (1), a pinion (9) fixedly connected to the output end of the second motor (8), a large gear (10) meshing with the outer surface of the pinion (9), a bearing frame (7) coaxially fixedly connected to the upper end of the large gear (10), three uniformly distributed driving shafts (12) rotatably connected to the inner wall of the bearing frame (7), a connecting plate (22) fixedly connected to the outer side end surface of each driving shaft (12), the supporting tables (27) are fixedly connected to the corresponding connecting plates (22), a small bevel gear (15) fixedly connected to the inner side end of the outer surface of each driving shaft (12), and an incomplete bevel gear (14) matched with the small bevel gear (15) is further arranged at the upper end of the operation platform (1), a convex locking wheel (16) fixedly connected to the lower end of the incomplete bevel gear (14), and a locking plate (17) matched with the convex locking wheel (16) is further fixedly connected to the outer surface of each driving shaft (12).

4. The positioning device for picking up the optical disc using the load cell according to claim 3, wherein: The lower end of each supporting table (27) is provided with a rotatable first straight gear (26), three uniformly distributed second sliding blocks (34) are slidably connected to the inner wall of each supporting table (27), and each clamping rod (33) is slidably connected to the inner wall of the corresponding second sliding block (34). When the first straight gear (26) rotates, the plurality of clamping rods (33) can be moved outward and then downward synchronously.

5. A positioning device for picking up an optical disc using a load cell as claimed in claim 4, characterized in that: The upper end of each first straight gear (26) is coaxially fixedly connected with a disc cam (37), the inner side end of each second sliding block (34) is fixedly connected with a second sliding pin (36), and the inner wall of each disc cam (37) is provided with a plurality of variable-diameter grooves (38) and circular arc grooves (39) matched with the second sliding pin (36).

6. A positioning device for picking up an optical disc using a load cell as claimed in claim 5, characterized in that: The lower end of the disc cam (37) is coaxially fixed with a long cam (28), the lower end surface of the support table (27) is fixed with three uniformly distributed U-shaped frames (32), the inner wall of the U-shaped frame (32) is slidably connected with a rectangular frame (30), the inner wall of the rectangular frame (30) is slidably connected with a first sliding block (31), the clamping rod (33) is fixed on the inner wall of the corresponding first sliding block (31), the first sliding block (31) is fixed with a first sliding pin (29) on the inner side end surface, and a plurality of arc-shaped transverse grooves (41) and arc-shaped inclined grooves (40) matched with the first sliding pin (29) are formed in the outer surface of the long cam (28).

7. A positioning device for gripping an optical disc using a weighing sensor as described in claim 4, characterized in that: The outer surface of the first straight gear (26) is engaged with a first straight rack (25), the long slide plate (23) slidably connected with the connecting support plate (22) is fixed on one side end surface of the first straight rack (25), and the outer side end of the bearing frame (7) is provided with a movable driving disc (11), the inner wall of the driving disc (11) is slidably connected with an arc-shaped sliding block (24), and the long slide plate (23) is fixed on the corresponding arc-shaped sliding block (24).

8. The positioning device for picking up an optical disc using a load cell according to claim 7, wherein: The upper end surface of the operation table (1) is fixed with a large disc (18), the lower end of the outer surface of the driving disc (11) is fixed with a driving pin (19), and the upper end surface of the large disc (18) is provided with an outer ring groove (20) and an arc-shaped groove (21) matched with the driving pin (19).

9. The method of using a load cell to grasp and position a disc as recited in claim 1, wherein: The method comprises the following steps: S1, initial state, the linear module is in standby position, the vacuum chuck (46) does not contact the optical disc, the weighing sensor (44) has no load, and the output voltage is a reference value; S2, moving positioning, the control system drives the linear module to move the slide block fixing seat, and the vacuum chuck (46) moves to the optical disc storage area; S3, contact detection, when the vacuum chuck (46) contacts the surface of the optical disc, the sensor support (45) drives the weighing sensor (44) to deform, and the voltage output by the weighing sensor (44) changes; S4, signal processing, the voltage signal output by the weighing sensor (44) is amplified by the signal amplifier (43) and then transmitted to the PLC control system; S5, positioning confirmation, the PLC control system compares the amplified voltage signal with the preset threshold value, if the signal reaches the threshold value, it is confirmed that the mechanical hand has been positioned to the optical disc position; if not, continue to adjust the moving position; S6, accurate movement, after positioning confirmation, the linear module stops moving according to the instruction of the PLC control system, the vacuum adsorption is started, and the optical disc is started to be grabbed.

10. The method of using a load cell to grasp and position a disc as recited in claim 9, wherein: In S3, when the vacuum chuck (46) slightly contacts the surface of the optical disc, the weighing sensor (44) deforms slightly, and the output voltage starts to change; as the contact force increases, the elastic body of the weighing sensor (44) deforms obviously, the resistance value of the resistance strain gauge changes intensively, and the Wheatstone bridge outputs a larger differential voltage.

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