CN103507073B - A kind of manipulator being applied to CD server - Google Patents
A kind of manipulator being applied to CD server Download PDFInfo
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- CN103507073B CN103507073B CN201210483412.6A CN201210483412A CN103507073B CN 103507073 B CN103507073 B CN 103507073B CN 201210483412 A CN201210483412 A CN 201210483412A CN 103507073 B CN103507073 B CN 103507073B
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- convex edge
- finger
- manipulator
- server
- clamping structure
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Abstract
Be applied to a manipulator for CD server, comprise and get dish finger for a pair, this is got dish finger and has convex edge, and this convex edge is extended outside finger main body; Get on dish finger and be provided with clamping structure, itself and convex edge homonymy are arranged; Described get for a pair dish finger convex edge and clamping structure be oppositely arranged, this outer end, convex edge thickness is less than the inner thickness in convex edge, can directly holding at the top end face of optical disk cartridge, making optical disk cartridge remain level in clamping process, inclination can not be caused because of only having a bite or a clamping face, rotate and even come off.The design of clamping structure effectively can agree with the buckling curve of optical disk cartridge, ensures the stability of pickup optical disk cartridge.
Description
Technical field
The present invention relates to a kind of robot manipulator structure, especially a kind of new mechanical arm be applied in unattended automation CD server, belongs to field of machinery automation.
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 widely using of multimedia mediums, increasing reader is inclined to the use of multimedia mediums, and CD to have volume little, function capacious, be widely used in the storage of various information, the electronic version, music file, audio-video file, Games Software, functional software etc. of such as books made of paper.Reader uses CD demand day by day to increase, to the management of CD with borrow the new function also becoming library.Library is identical with the mode borrowed with books made of paper for the management of CD, but due to CD volume little, directory information is concentrated, and keeper, storing or in the process of searching, needing the time and efforts costed a lot of money, is also difficult to ensure accuracy.Function of making an inventory for CD wastes time and energy especially, adds the difficulty of management, makes library be difficult to manage a large amount of CD and also borrow.
The patent No. is ZL200910081844.2, patent name is: the concentrated unattended that what the patent of " the automation disc management system based on closed shelves CD server " was breakthrough achieve to CD, self-service borrows and return function, the self-service function such as to make an inventory, open the new technology chapter of CD managing.After this, based on the continuous pursuit to more high accuracy, more 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 priority patent, arm 11 length of disc accessing manipulator 1 is 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 the electric cylinder slide block 14 of arm 41 by installing plate 138, drives electric cylinder slide block 14 driving mechanical hand 13 to move up and down by electric drive unit motor 15.Manipulator 13 includes the manipulator lift cylinder 131 be connected with installing plate 44, Arm expanding cylinder 132 connects CD gripping gas pawl 134, CD gripping gas pawl 134 realizes clamping by clamping cylinder, and CD pushes back cylinder 133 and is arranged at the rear end of CD gripping gas pawl 134 for CD being released CD gripping gas pawl.
Meanwhile, refer to shown in Fig. 3 and Fig. 8, because optical disk cartridge 2 is plastic casing, surrounding is comparatively hard, but is more easily out of shape under the effect being subject to external force the closer to centre.Use above-mentioned gripping gas pawl chucking optical disk box, when chucking power is less, is easy to the outer being only clamped to optical disk cartridge, and whole optical disk cartridge cannot be clamped.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 ensure that CD is in the state of 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, improve targetedly to disc accessing manipulator, especially the improvement at gripping gas pawl place, the CD grabbing action made is more accurate.
The technical solution used in the present invention is: a kind of manipulator being applied to CD server, comprises and gets dish finger for a pair, and this is got dish finger and has convex edge, and this convex edge is extended outside finger main body;
This is got on dish finger and is provided with clamping structure, and itself and convex edge homonymy are arranged; Described get for a pair dish finger convex edge and clamping structure be oppositely arranged.
Wherein, this outer end, convex edge thickness is less than the inner thickness in convex edge.
Wherein, convex edge one side-lower getting dish finger comprises two regions, and 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 lower right is the thickest, but lower right thickness is no more than convex edge stretches out length.
Wherein, this is got in dish finger main body has breach, and breach is arranged between holding block.
Wherein, this 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, buffering notch is provided with between this convex edge and finger main body.
Wherein, this clamping structure surface has anti-skid structure.
Adopt technique scheme, there is following beneficial effect.
First, get the upper outward extending ledge structure of dish finger, can directly holding at the top end face of optical disk cartridge, making optical disk cartridge remain level in clamping process, inclination can not be caused because of only having a bite or a clamping face, rotate and even 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 the state of CD maintenance level always, in the process of optical disk cartridge warehouse-in, can ensure accurately 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 finger main body to its outer end, makes finger to be applicable to any optical disk cartridge.
The second, get dish finger and usually adopt hard material to make, the cylinder dynamics in addition controlling fingers opening-closing is also comparatively large, 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.Adopt in the present invention and be provided with clamping structure in the finger main body of getting dish finger, clamping structure adopts the soft materials such as rubber blanket or plastic mattress usually, supplements the part that cannot touch optical disk cartridge due to distortion for getting dish finger.The most preferred embodiment of clamping structure adopts and the curved design of optical disk cartridge deformation surface high fit, and rubber structure dish finger top of asking for is laid to below, from top to bottom, from left to right thickness increase gradually.This mode needs to calculate accurately, makes to get on dish finger to have the clamping structure of one deck higher than finger main body.When gripping optical disk cartridge, clamping structure effectively gripping can live CD.Certainly, in order to technique and easy to make, can comprise some holding blocks getting the clamping structure that dish finger surface arranges, holding block from top to bottom interval is arranged, and thickness increases gradually from top to bottom.Holding block can be adjusted to strip, bulk or arbitrary shape as required, ensures that the key area such as upper end, lower end of finger can be kept in touch with CD, and energy holding CD, this mode effectively can reduce difficulty and the requirement of technique, has lower cost.
3rd, the outer end of optical disk cartridge, especially the stiff end of optical disk cartridge lid is the region that optical disk cartridge is the hardest, and this region deformation can not occur, therefore, when the design of getting dish finger.Mounting platform is reserved in one end, and clamping structure design is 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.
4th, get the spaced design coiling the design of the breach on pointing and convex edge, the materials getting dish finger can be reduced, alleviate the weight of finger, the cost of manufacture of further reduction machinery, and effectively energy-conservation.Meanwhile, the design of breach can also balance whole getting and coil the stressed of finger.
5th, the design of this buffering notch effectively can cushion the convex edge of causing in finger closing course and conflict with optical disk cartridge strength, protects convex edge not to be damaged to a certain extent.
6th, clamping structure is provided with anti-skid structure, the stability of pickup optical disk cartridge can be ensured further.
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 gripping gas pawl enlarged diagram in working order 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 schematic diagram acted on optical disk cartridge pointed by one-sided dish of getting.
Figure 10 to Figure 14 is the structural representation of the second preferred embodiment in the present invention.
Figure 15 is the stereogram of the present invention's preferred embodiment again.
Figure 16 is the stereogram of the present invention's preferred embodiment again.
Figure 17 is the stereogram of the present invention's preferred embodiment again.
Detailed description of the invention
Refer to shown in Fig. 4 to Fig. 7, it is the present invention's first preferred embodiment, for convenience of statement, gets scribe refer to for description object with the emphasis improvement part in manipulator.Get scribe in the present embodiment 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.Get scribe for left side to refer to: its design convex edge 31, upper end structure, this convex edge 31 extends laterally from finger main body, and in the present embodiment, convex edge 31 is arranged at the top of finger body, and upper surface, convex edge keeps vertical with finger body.Refer to shown in Fig. 5, watch from the side, the thickness h of this outer end, convex edge 31 is less than the thickness of inner H, and this convex edge medial surface is formed with inclined plane 311 from finger main body to outer end, convex edge.
Meanwhile, as shown in Figure 4, get dish finger 3 convex edge one side-lower and comprise two regions, one is mounting platform 33, and two is clamping structure 32.Left side in this mounting platform 33(Fig. 4) in fact do not point the part of body, on it and for arranging clamping structure 32.Be provided with mounting groove 34, in mounting groove, be reserved with installing hole 35, fix with manipulator for left and right sides finger.And, right side in this clamping structure 32(Fig. 4) 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 is comparatively hard that it take into account optical disk cartridge end, can not arrange rubber blanket, and more hold yielding feature the closer to center, finger main body reserves mounting platform, and with the addition of the design cushion design thickeied gradually near optical disk cartridge center gradually.
As shown in Fig. 5, adopt present design to be by the mode calculated, the bending curve of optical disk cartridge can be calculated, and accordingly rubber blanket is set in finger main body.Even if it should be noted that this clamping structure thickeies gradually from top to bottom, from left to right, bottom-right thickness to exceed 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 fix, manipulator comprises and gets dish finger for a pair, convex edge and the clamping structure of getting dish finger are oppositely arranged, these two mutually corresponding dish finger of getting be arranged on by linking arm 4 and step up on cylinder, realize getting 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 does not support due to center, in the process captured, the closer to the part of center, more easily bend deformation.
If use finger structure of the prior art, point when gripping CD, due to CD comparatively cunning for two, easily cause optical disk cartridge landing, namely allow to catch optical disk cartridge, also cannot ensure the horizontal level of optical disk cartridge, optical disk cartridge cannot be guaranteed from temporal data storehouse to the propelling movement action in CD server.
Above-described embodiment have employed the design of convex edge and clamping structure, effectively solve the technical problem of existing existence, as shown in Figure 9, when getting dish finger 3 and capturing optical disk cartridge, manipulator pushes to the both sides of optical disk cartridge by getting dish finger, step up cylinder to step up to get dish finger, convex edge 31 holding is on the upper surface of optical disk cartridge, getting in dish finger process closed gradually, due to the existence of the inclined plane 311 of convex edge, make to get dish finger and have applicability widely, even if the upper surface of optical disk cartridge is uneven or model is 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 CD is lived in gripping according to the distortion of optical disk cartridge near cd centre's end, stops it and glide.Refer to shown in Figure 10, the design that clamping structure thickeies, from left to right gradually from top to bottom, perfectly can 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 makes, distortion can not be produced, above-mentioned mounting platform 33 points getting dish two rear flank pushing 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, the real action coordinating convex edge 31 to complete 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 is arranged to interval, below above finger main body, the first holding block 51 being positioned at upper end and the second holding block 52 being positioned at lower end is comprised in this embodiment, 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 convex edge and stretches out length.Certainly, can also comprise more holding blocks, as shown in figure 16, holding block interval is arranged, and the holding block thickness of below is thicker than the thickness of top holding block gradually.Relative to suiting for compact disk deformation in the first embodiment completely, this scheme is not only implemented conveniently, to bend sphere without the need to accurate calculation, technique is also more prone to realize.For left thickness difference, also can due between interval and balance chucking power.The program can save the paved surface of clamping structure, and convenient enforcement, ensures the fixing effect of key position point.
Refer to shown in Figure 15, get dish finger finger main body on be provided with breach 36, accordingly, the clamping structure on it also has breach.The design of future insufficiency 36, can balance finger accepting in operation process, also ensureing to fix on the basis of effect, can effectively reduce the weight of finger, effectively energy-conservation, thus reduces cost of manufacture and the operating cost of instrumentarium.
In like manner, refer to shown in Figure 17, the upper end that main body pointed by dish being also arranged on of interval can be got in described convex edge 31, ensures that finger two ends hold optical disk cartridge top.
In addition, refer to Fig. 5, be provided with and cushion notch 38 between this convex edge 31 and finger main body, the design of this notch 38 effectively can cushion the strength conflict that the convex edge of causing in finger closing course holds optical disk cartridge top, protects convex edge not to be damaged to a certain extent.
The clamping structure mentioned in the present invention and holding block can be rubber blanket, plastic mattress or silicagel pad, and its shape can be square, also can be that circle, triangle etc. are irregularly shaped, it can evenly be arranged, also can irregularly arrange, as long as ensure that upper end is thin, the design that lower end is thick.In addition, clamping structure and holding block arrange anti-skid structure, as the lines of projection, bump design, increases the frictional force of finger, ensures the stability of finger further.
Claims (10)
1. be applied to a manipulator for CD server, comprise and get dish finger for a pair, it is characterized in that:
Each dish finger of getting has convex edge, and this convex edge is extended outside finger main body;
Each get dish finger on be provided with clamping structure, its be arranged on convex edge below finger main body on;
Described each get dish finger be oppositely arranged, each get dish finger on convex edge and clamping structure be oppositely arranged.
2. be applied to the manipulator of CD server as claimed in claim 1, it is characterized in that:
This outer end, convex edge thickness is less than the inner thickness in convex edge.
3. be applied to the manipulator of CD server as claimed in claim 1, it is characterized in that:
Convex edge one side-lower getting dish finger comprises two regions, and side is mounting platform, and its sides adjacent is clamping structure.
4. be applied to the manipulator of CD server as claimed in claim 3, it is characterized in that:
This clamping structure from top to bottom thickness increases gradually, and thickness increases gradually from left to right, and lower right is the thickest, but lower right thickness is no more than convex edge stretches out length.
5. be applied to the manipulator of CD server as claimed in claim 3, it is characterized in that:
This clamping structure comprises some holding blocks, and each holding block is arranged to interval, below above finger main body, and thickness increases from top to bottom gradually, and bottom thickness is no more than convex edge stretches out length.
6. be applied to the manipulator of CD server as claimed in claim 5, it 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 being applied to CD server as described in claim arbitrary 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 being applied to CD server as described in claim arbitrary in claim 1 to 6, is characterized in that: this clamping structure is rubber blanket, plastic mattress or silicagel pad.
9. the manipulator being applied to CD server as described in claim arbitrary in claim 1 to 6, is characterized in that: be provided with buffering notch between this convex edge and finger main body.
10. the manipulator being applied to CD server as described in claim arbitrary 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 CN103507073A (en) | 2014-01-15 |
| CN103507073B true 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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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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 |
-
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 |
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| CN103507073A (en) | 2014-01-15 |
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