CN103507073A - Mechanical arm applied to optical jukebox - Google Patents
Mechanical arm applied to optical jukebox Download PDFInfo
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- CN103507073A CN103507073A CN201210483412.6A CN201210483412A CN103507073A CN 103507073 A CN103507073 A CN 103507073A CN 201210483412 A CN201210483412 A CN 201210483412A CN 103507073 A CN103507073 A CN 103507073A
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- convex edge
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Abstract
The invention discloses a mechanical arm applied to an optical jukebox. The mechanical arm applied to the optical jukebox comprises a pair of disc taking fingers, wherein each disc taking finger is provided with a protruding edge which extends out of the main body of the disc taking finger, a clamping and fixing structure is arranged on each disc taking finger, the clamping and fixing structures and the protruding edges are arranged on the same side, the protruding edges and the clamping and fixing structures of the pair of disc taking fingers are arranged oppositely, the outer end of each protruding edge is thinner than the inner end of the protruding edge, the protruding edges can be directly clamped on the top end face of an optical disc cartridge, then the optical disc cartridge can be kept horizontal all the time when the optical disc cartridge is clamped, tilting, rotating and even disengaging due to the fact that only one clamping point or only one clamping surface exists are avoided, the mechanical arm can effectively be matched with the bending curve of the optical disc cartridge due to the design of the clamping and fixing structure, and stability of the optical disc cartridge is guaranteed.
Description
Technical field
The present invention relates to a kind of robot manipulator structure, especially a kind of new mechanical arm being applied in unattended automation CD server, belongs to mechanical automation field.
Background technology
Library is the collecting center of the entity data such as books, periodical, newspaper, CD, is exactly the Major Function in library to the collection of these data, arrangement, storage and use for a long time.Along with being widely used of multimedia medium, increasing reader is inclined to the use of multimedia medium, and that CD has volume is little, function capacious, be widely used in the storage of various information, such as the electronic version of books made of paper, music file, audio-video file, Games Software, functional software etc.Reader uses CD demand day by day to increase, to the management of CD with borrow the new function that also becomes library.Library is identical with the mode of borrowing with books made of paper for the management of CD, but because CD volume is little, directory information is concentrated, and keeper is in the process of storing or searching, and the time and efforts that need to cost a lot of money, is also difficult to guarantee accuracy.The function of making an inventory for CD wastes time and energy especially, has increased the difficulty of management, makes library be difficult to a large amount of CDs also to manage and borrow.
The patent No. is ZL200910081844.2, patent name is: the realization that the patent of " the automation disc management system based on closed shelves CD server " is breakthrough to the concentrated unattended of CD, self-service borrows and return function, the self-service function such as make an inventory, opened the new technology chapter of CD managing.After this, based on to more high accuracy, the more continuous pursuit of optimal design, optimal cost, designer constantly improves this system.
Refer to shown in Fig. 1 and Fig. 2, it is the structural representation of disc accessing manipulator in previous patent, arm 11 length of disc accessing manipulator 1 are identical with the height of CD rack, the one side of arm 11 is provided with electric drive unit 12 from top to bottom, what match with electric drive unit is electric cylinder slide block 14, manipulator 13 is installed on by installing plate 138 on the electric cylinder slide block 14 of arm 41, by electric drive unit motor 15, drives electric cylinder slide block 14 driving mechanical hands 13 to move up and down.Manipulator 13 includes the manipulator lift cylinder 131 being connected with installing plate 44, Arm expanding cylinder 132 connects CD gripping gas pawl 134, CD gripping gas pawl 134 is realized clamping by clamping cylinder, and CD pushes back cylinder 133 and is arranged at CD gripping Qi Zhao134 rear end for CD being released to CD gripping gas pawl.
, refer to shown in Fig. 3 and Fig. 8, because optical disk cartridge 2 is plastic casing, surrounding is harder meanwhile, but the more easily distortion under the effect that is subject to external force the closer to centre.Use above-mentioned gripping gas pawl chucking optical disk box, chucking power hour, is easy to only be clamped to the outer of optical disk cartridge, and cannot clamps whole optical disk cartridge.When chucking power is larger, tray salver periphery is easily damaged, and often because optical disk cartridge is subject to outside chucking power distortion (dotted line place), causes gripping gas pawl still cannot firmly grasp tray salver.So, cannot complete the crawl of optical disk cartridge, the design of the gas of gripping simultaneously pawl also cannot guarantee the CD state in level all the time, after tray salver is crooked, even if can firmly grasp CD, also cannot complete the accurate warehouse-in of tray salver.
Summary of the invention
The present invention is based on the deficiency of prior art, targetedly disc accessing manipulator is improved, the especially improvement at gripping gas pawl place, the CD grabbing making action is more accurate.
The technical solution used in the present invention is: a kind of manipulator that is applied to CD server, comprise a pair of dish finger got, and this is got dish finger and has ，Gai convex edge, convex edge and extend finger main body outside;
This is got on dish finger and is provided with the homonymy setting of clamping structure ，Qi Yu convex edge; Described a pair of convex edge and the clamping structure of getting dish finger is oppositely arranged.
Wherein outer end, ，Gai convex edge thickness is less than the inner thickness in convex edge.
Wherein, convex edge one side-lower of getting dish finger comprises Liang Ge region, and a side is mounting platform, and its sides adjacent is clamping structure.
Wherein, this clamping structure from top to bottom thickness increases gradually, and thickness increases gradually from left to right, and Hou，Dan lower right, lower right thickness is no more than the convex edge length that stretches out.
Wherein, this is got in dish finger main body has breach, and breach is arranged between holding block.
Wherein ，Gai convex edge is arranged at intervals at the upper end of getting dish finger.
Wherein, this clamping structure is rubber blanket, plastic mattress or silicagel pad.
Wherein between ，Gai convex edge and finger main body, be provided with buffering notch.
Wherein, this clamping structure surface has anti-skid structure.
Adopt technique scheme, there is following beneficial effect.
First, get the upper outward extending convex edge of dish finger structure, directly holding, at the top of optical disk cartridge end face, makes optical disk cartridge in clamping process, remain level, can not cause because only having a bite or a clamping face inclination, rotation even to come off.Because the optical disk cartridge in CD server is horizontal positioned, interval between optical disk cartridge is less, a little rotation of optical disk cartridge will cause optical disk cartridge accurately to put in storage, the present invention adopts the ingehious design of convex edge, make CD maintain the state of level always, in the process of optical disk cartridge warehouse-in, can guarantee accurately to aim at and put in storage.This outer end, convex edge thickness is less than the inner thickness in convex edge, makes convex edge have an inclined plane from pointing main body Xiang Qi outer end, makes finger to be applicable to any optical disk cartridge.
The second, to get dish finger and conventionally adopt hard material to make, the cylinder dynamics of in addition controlling fingers opening-closing is also larger, causes optical disk cartridge to deform in by the process of gripping, especially the part of CD lid and optical disk cartridge by paracentral region.In the present invention, adopt in the finger main body of getting dish finger and be provided with clamping structure, clamping structure adopts the soft materials such as rubber blanket or plastic mattress conventionally, for getting dish finger, supplements the part that cannot touch optical disk cartridge due to distortion.The most preferred embodiment of clamping structure is the curved design adopting with optical disk cartridge deformation surface high fit, and lay to below the rubber structure dish finger top of asking for, from top to bottom, thickness increases gradually from left to right.This mode need to be calculated accurately, makes to get on dish finger to have one deck higher than the clamping structure of finger main body.When gripping optical disk cartridge, clamping structure effectively gripping is lived CD.Certainly, for technique and easy to make, at the clamping structure of getting the setting of dish finger surface, can comprise some holding blocks, holding block from top to bottom interval arranges, and thickness increases gradually from top to bottom.Holding block can be adjusted into strip, bulk or arbitrary shape as required, and the key areas such as the upper end of assurance finger, lower end can be kept in touch with CD, and energy holding CD, and this mode can effectively reduce difficulty and the requirement of technique, has lower cost.
The 3rd, the outer end of optical disk cartridge, the especially stiff end of optical disk cartridge lid are that ，Ci region, optical disk cartridge Ying region deformation can not occur, therefore, when getting the design of dish finger.Mounting platform is reserved in one end, and clamping structure designs at the other end.Mounting platform part can also reserve mounting groove and installing hole, for getting dish finger mounted on the gripping cylinder of manipulator.
The 4th, get breach design on dish finger and the interval design of convex edge, can reduce the materials of getting dish finger, alleviate the weight of finger, further reduce mechanical cost of manufacture, and effectively energy-conservation.Meanwhile, the design of breach can also whole the stressed of dish finger of getting of balance.
The 5th, the design of this buffering notch can effectively cushion the convex edge of causing in finger closing course and conflict with optical disk cartridge strength, protects to a certain extent convex edge not to be damaged.
The 6th, on clamping structure, be provided with anti-skid structure, can further ensure the stability of picking up optical disk cartridge.
Accompanying drawing explanation
Fig. 1 is the structural representation of disc accessing manipulator in prior art.
Fig. 2 is the plan structure schematic diagram of disc accessing manipulator in prior art.
Fig. 3 is the enlarged diagram in working order of gripping gas pawl of existing disc accessing manipulator.
Fig. 4 to Fig. 7 is the structural representation of the first preferred embodiment in the present invention.
Fig. 8 is the structural representation of optical disk cartridge.
Fig. 9 is that the one-sided dish finger of getting acts on the schematic diagram on optical disk cartridge.
Figure 10 to Figure 14 is the structural representation of the second preferred embodiment in the present invention.
Figure 15 is the present invention's stereogram of a preferred embodiment again.
Figure 16 is the present invention's stereogram of a preferred embodiment again.
Figure 17 is the present invention's stereogram of a preferred embodiment again.
The specific embodiment
Refer to shown in Fig. 4 to Fig. 7, it is first preferred embodiment of the present invention, and for convenience of statement, the emphasis improvement part of take in manipulator is got scribe and referred to as description object.In the present embodiment, get scribe and refer to 3 employing rectangular structure, arranged on left and right sides is got scribe and is referred to that 3 cooperatively interact, and completes the gripping function of manipulator.Take left side gets scribe and refers to as example: extend laterally from pointing main body its 31 structure ，Gai convex edges 31, design convex edge, upper end, and in the present embodiment, convex edge 31 is arranged at the top of finger body, and upper surface, convex edge is vertical with the maintenance of finger body.Refer to shown in Fig. 5, the thickness ，Gai convex edge medial surface of watching from the side the thickness h of 31 outer ends, ，Gai convex edge to be less than inner H is formed with inclined plane 311 from pointing main body to outer end, convex edge.
Meanwhile, as shown in Figure 4, get dish finger 3 convex edge one side-lowers and comprise Liang Ge region, one is that mounting platform 33, two is clamping structure 32.Left side in this mounting platform 33(Fig. 4) in fact do not point a part for body, on it and for clamping structure 32 is set.On it, be provided with mounting groove 34, in mounting groove, be reserved with installing hole 35，Gong left and right sides finger and fix with manipulator.And, this clamping structure 32(Tu4Zhong right side) be rubber blanket or other soft materials pads (plastic mattress or silicagel pad etc.), its from top to bottom and from left to right thickness increase gradually, final formation upper end and left end thin (it is thin that left side finger and right side finger are left end), the rubber blanket that lower right is the thickest.This embodiment is optimized design, it has considered that optical disk cartridge end is harder, rubber blanket can not be set, and the closer to center, more hold yielding feature, at finger, reserved mounting platform in main body, and added gradually near optical disk cartridge center and the design cushion design of thickening gradually.
As shown in Fig. 5, adopting present design is to calculate the bending curve of optical disk cartridge by the mode of calculating, and in finger main body, rubber blanket is set accordingly.Even it should be noted that this clamping structure from top to bottom, from left to right gradually thickening, bottom-right thickness is can not surpass the outward extending length in convex edge 31.
Shown in Fig. 9, the linking arm 4 of manipulator is got scribe by screw and this and is referred to that 3 is fixing, on manipulator, comprise a pair of dish finger of getting, convex edge and the clamping structure of getting dish finger are oppositely arranged, these two mutually the corresponding dish finger of getting by linking arm 4, be arranged on and step up on cylinder, realize and get stepping up and unclamping action of dish finger.
Refer to shown in Fig. 8, it is the structural representation of existing optical disk cartridge 2, and generally the left side stiff end 21 of optical disk cartridge is made for rigid plastics, the disk cover 22 of optical disk cartridge is because center is not supported, in the process capturing, the closer to the part of center, deformation more easily bends.
If use finger structure of the prior art, two fingers are when gripping CD, because CD is more sliding, easily cause optical disk cartridge landing, allow to catch optical disk cartridge, also cannot guarantee the horizontal level of optical disk cartridge, cannot guarantee optical disk cartridge from temporal data storehouse to the propelling movement action in CD server.
Above-described embodiment has adopted the design of convex edge and clamping structure, effectively solved the technical problem of existing existence, as shown in Figure 9, when getting dish finger 3 crawl optical disk cartridge, manipulator points by getting dish the both sides that push to optical disk cartridge, step up cylinder and step up to get dish finger, convex edge 31 holdings are on the upper surface of optical disk cartridge, getting dish finger gradually in closed process, existence due to the inclined plane 311 of convex edge, make to get dish finger and have applicability widely, even if the upper surface injustice of optical disk cartridge or model are different, convex edge also can be clamped in its surface smoothly.In addition, the setting of clamping structure, makes to get dish finger completely can be according to the distortion of optical disk cartridge near cd centre's end and CD is lived in gripping, stops its downslide.Refer to shown in Figure 10, clamping structure from top to bottom, from left to right gradually thickening design, can perfectly suit the distortion that optical disk cartridge produces due to the power of being squeezed.Simultaneously, because optical disk cartridge left-hand end is the edge that hard material is made, can not produce distortion, above-mentioned mounting platform 33 points by getting dish two rear flank that push optical disk cartridge at manipulator, mounting platform 33 is corresponding with this side, do not form direct clamping effect, and clamping structure is positioned at the inboard of optical disk cartridge, really coordinates convex edge 31 to complete the action of clamping.
Refer to shown in Figure 10 to Figure 14, it is another preferred embodiment of the present invention, wherein clamping structure comprises some holding blocks, holding block arranges to interval, below from pointing main body top, in this embodiment, comprise the first holding block 51 that is positioned at upper end and the second holding block 52 that is positioned at lower end, the thickness of the second holding block 52 is greater than the thickness of the first holding block 51, and the thickness of the second holding block is no more than the convex edge length that stretches out.Certainly, can also comprise more holding blocks, as shown in figure 16, holding block interval arranges, and the holding block thickness of below is thicker than the thickness of top holding block gradually.For suiting compact disk deformation in the first embodiment completely, this scheme is not only implemented conveniently, without the crooked sphere of accurate calculation, is also more prone to realize in technique.For left thickness difference, also can due between interval and balance chucking power.This scheme can be saved the paved surface of clamping structure, and convenient enforcement, guarantees the fixing effect of key position point.
Refer to shown in Figure 15, get in the finger main body of coiling finger and be provided with breach 36, corresponding, the clamping structure on it also has breach.The design of reserved breach 36, can balance point accepting in operation process, also can effectively reduce the weight of pointing guaranteeing to fix on the basis of effect, effectively energy-conservation, thereby reduces cost of manufacture and the operating cost of instrumentarium.
In like manner, refer to shown in Figure 17, the upper end that dish is pointed main body also can being arranged on of interval be got in described convex edge 31, guarantees that finger two ends hold optical disk cartridge top.
In addition, refer between Tu5，Gai convex edge 31 and finger main body and be provided with buffering notch 38, the design of this notch 38 can effectively cushion the strength conflict that the convex edge of causing in finger closing course holds optical disk cartridge top, protects to a certain extent convex edge not to be damaged.
The clamping structure of mentioning in the present invention and holding block can be rubber blanket, plastic mattress or silicagel pad, and its shape can be for square, also can be irregularly shaped for circle, triangle etc., it can evenly arrange, also can irregularly arrange, as long as guarantee the thick design in Bao， lower end, upper end.In addition, on clamping structure and holding block, anti-skid structure is set, as protruding lines, bump design, increases the frictional force of pointing, and further guarantees the stability of finger.
Claims (10)
1. be applied to a manipulator for CD server, comprise a pair of dish finger of getting, it is characterized in that:
This is got dish finger and has ，Gai convex edge, convex edge and extend finger main body outside;
This is got on dish finger and is provided with the homonymy setting of clamping structure ，Qi Yu convex edge;
Described a pair of convex edge and the clamping structure of getting dish finger is oppositely arranged.
2. the manipulator that is applied to CD server as claimed in claim 1, is characterized in that:
This outer end, convex edge thickness is less than the inner thickness in convex edge.
3. the manipulator that is applied to CD server as claimed in claim 1, is characterized in that:
Convex edge one side-lower of getting dish finger comprises Liang Ge region, and a side is mounting platform, and its sides adjacent is clamping structure.
4. the manipulator that is applied to CD server as claimed in claim 3, is characterized in that:
This clamping structure from top to bottom thickness increases gradually, and thickness increases gradually from left to right, and Hou，Dan lower right, lower right thickness is no more than the convex edge length that stretches out.
5. the manipulator that is applied to CD server as claimed in claim 3, is characterized in that:
This clamping structure comprises some holding blocks, and each holding block arranges from pointing main body top to interval, below, and thickness increases from top to bottom gradually, and below thickness is no more than the convex edge length that stretches out.
6. the manipulator that is applied to CD server as claimed in claim 5, is characterized in that:
This is got in dish finger main body has breach, and described breach is arranged between adjacent holding block.
7. the manipulator that is applied to CD server as described in arbitrary claim in claim 1 to 6, is characterized in that: this convex edge is arranged at intervals at the upper end of getting dish finger.
8. the manipulator that is applied to CD server as described in arbitrary claim in claim 1 to 6, is characterized in that: this clamping structure is rubber blanket, plastic mattress or silicagel pad.
9. the manipulator that is applied to CD server as described in arbitrary claim in claim 1 to 6, is characterized in that: between this convex edge and finger main body, be provided with buffering notch.
10. the manipulator that is applied to CD server as described in arbitrary claim in claim 1 to 6, is characterized in that: this clamping structure surface has anti-skid structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210483412.6A CN103507073B (en) | 2012-11-23 | 2012-11-23 | A kind of manipulator being applied to CD server |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210483412.6A CN103507073B (en) | 2012-11-23 | 2012-11-23 | A kind of manipulator being applied to CD server |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103507073A true CN103507073A (en) | 2014-01-15 |
| CN103507073B CN103507073B (en) | 2015-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210483412.6A Expired - Fee Related CN103507073B (en) | 2012-11-23 | 2012-11-23 | A kind of manipulator being applied to CD server |
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| Country | Link |
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| CN (1) | CN103507073B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352641A (en) * | 2018-11-27 | 2019-02-19 | 吉林省众森永益科技有限公司 | Optical disk gripping device |
| CN109877867A (en) * | 2019-04-23 | 2019-06-14 | 珠海格力智能装备有限公司 | Fixture and robot with it |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5513947A (en) * | 1992-01-13 | 1996-05-07 | Storage Technology Corporation | Tractor mechanism for robotic magnetic tape cartridge handling system |
| US5762391A (en) * | 1993-10-22 | 1998-06-09 | Sez Semiconductor-Equipment Zubehor Fur Die Halbleiterfertigung Gesellschaft M.B.H. | Gripper for disk-shaped articles |
| CN101551665A (en) * | 2009-04-13 | 2009-10-07 | 北京理工大学 | An automatic CD management system based on a closed-shelf jukebox |
| CN102152293A (en) * | 2011-03-25 | 2011-08-17 | 北京联合大学生物化学工程学院 | Book shelving and unshelving robot |
| CN202910871U (en) * | 2012-11-23 | 2013-05-01 | 北京理工大学 | Mechanical arm applied in optical disk warehouse |
-
2012
- 2012-11-23 CN CN201210483412.6A patent/CN103507073B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5513947A (en) * | 1992-01-13 | 1996-05-07 | Storage Technology Corporation | Tractor mechanism for robotic magnetic tape cartridge handling system |
| US5762391A (en) * | 1993-10-22 | 1998-06-09 | Sez Semiconductor-Equipment Zubehor Fur Die Halbleiterfertigung Gesellschaft M.B.H. | Gripper for disk-shaped articles |
| CN101551665A (en) * | 2009-04-13 | 2009-10-07 | 北京理工大学 | An automatic CD management system based on a closed-shelf jukebox |
| CN102152293A (en) * | 2011-03-25 | 2011-08-17 | 北京联合大学生物化学工程学院 | Book shelving and unshelving robot |
| CN202910871U (en) * | 2012-11-23 | 2013-05-01 | 北京理工大学 | Mechanical arm applied in optical disk warehouse |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352641A (en) * | 2018-11-27 | 2019-02-19 | 吉林省众森永益科技有限公司 | Optical disk gripping device |
| CN109352641B (en) * | 2018-11-27 | 2023-08-25 | 吉林省众森永益科技有限公司 | Optical disk gripping device |
| CN109877867A (en) * | 2019-04-23 | 2019-06-14 | 珠海格力智能装备有限公司 | Fixture and robot with it |
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| Publication number | Publication date |
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| CN103507073B (en) | 2015-11-11 |
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Granted publication date: 20151111 Termination date: 20181123 |