CN104157300B - Detection device and disc grabber with same - Google Patents
Detection device and disc grabber with same Download PDFInfo
- Publication number
- CN104157300B CN104157300B CN201410369506.XA CN201410369506A CN104157300B CN 104157300 B CN104157300 B CN 104157300B CN 201410369506 A CN201410369506 A CN 201410369506A CN 104157300 B CN104157300 B CN 104157300B
- Authority
- CN
- China
- Prior art keywords
- inserted sheet
- inductor
- catching plate
- plate device
- grasping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Automatic Analysis And Handling Materials Therefor (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a detection device and a disc grabber with the same. The detection device comprises a support element, a sensor and a driven element, wherein the driven element is arranged on a rotating shaft of the disc grabber and performs synchronous rotation with the rotating shaft; the sensor is fixed on the support element and corresponds to the driven element in position; different rotation positions of the driven element correspond to different grabbing statuses of a grabbing part; the invention further discloses a disc grabber with the detection device. The disc grabber ad the detection device can be precisely used in a cooperating manner, reduce errors in operation of the disc grabber, and at the same time, improve the loading and unloading efficiencies of discs.
Description
Technical field
Be related to the mechanical arm assembly of CD server, more particularly, to a kind of detection means, have this detection means catching plate device and
Its method loading and unloading CD.
Background technology
CD server is that a kind of mass data storage of the optical, mechanical and electronic integration with standardized CD-ROM as data storage medium sets
Standby.CD server is connected with computer by data communication interface, and makes all light in CD server by the management software of CD server
Data on disk is fully automatically supplied to user.Meanwhile, user can also be easily to the CD write data in CD server.
Therefore, CD server is widely used in the long term archival preservation of data.Existing CD server includes CD casket, CD-ROM drive, manipulator group
Part and control unit, mechanical arm assembly includes plate extractor, catching plate device and gearshift again, and wherein, plate extractor and catching plate device fill
It is loaded on gearshift and can be lifted with gearshift and move horizontally, plate extractor is used for pull or pushes in CD casket
Optical disc tray, catching plate device is used for the crawl CD being placed in optical disc tray the CD ROM support tray being placed into CD-ROM drive.
During writable disc data, the corresponding CD of instruction calls that manipulator is assigned according to control unit.Concrete operations
Cheng Wei：
At the mobile CD casket extremely to be operated of S1, mechanical arm assembly, plate extractor extracts the optical disc tray of this CD casket out；
CD in this pallet is picked up by S2, catching plate device from its central hole, and optical disc tray is back into pass by plate extractor again
Closed position；
CD is transported to the position of target pallet under the drive of gearshift by S3, catching plate device, and catching plate device is by contained light
Disk is put in target pallet；
S4, after target pallet is disposed to it, mechanical arm assembly movement is to target pallet；
S5, catching plate device capture the CD in target pallet, and then under the drive of gearshift, movement is complete to CD casket
Become the placement of CD.
Generally CD is taken out the loading of the operation referred to as CD placing into target pallet from CD casket, by CD from target
The unloading of the operation referred to as CD putting back to CD casket again is taken out in pallet.
Mechanical arm assembly loads and unloads the quality of CD and efficiency is critically depend on catching plate device.Referring to Fig. 1, for saving light
Make an inventory of goods in a warehouse space, the location mode of existing CD is commonly a CD casket internal layer and stacks puts multiple CDs, then to wherein certain
Before Zhang Guangpan carries out data read-write operation, need to rely on catching plate device accurately to capture specified CD and be placed on target pallet, because
How this, accurately capture CD, and it be extremely important to reduce the probability of catching plate device operational error.
The grasping part crawl CD operational error of catching plate device can lead to grab mistake, damage and even lose CD, not only so that grabbing
Disk device operating efficiency reduces, and increases cost.The retracted position of the upper and lower inserted sheet on grasping part correspond to the grasping of grasping part
State, therefore, has one and can judge how upper and lower inserted sheet carries out stretching motion and how correctly to stretch, and can be accurately
The device of cooperation catching plate device normal work is necessary, and this is for the raising degree of accuracy of catching plate device catching plate and the essence of machine
Degree has very important significance.
Content of the invention
The technical problem to be solved is how to overcome existing catching plate device can not detect catching plate device grasping shape
The defect of state.
In order to solve above-mentioned technical problem, the invention provides the detection means in a kind of device for catching plate, it includes：
Support component, inductor and drive element, described drive element is arranged in the rotating shaft of catching plate device and same with rotating shaft
Step rotates, and described inductor is fixing on a support element, and described inductor is corresponding with the position of drive element, described driven unit
The corresponding grasping part in the different turned positions difference grasping state of part.
Further, described inductor includes transmitting terminal and receiving terminal, and described transmitting terminal and receiving terminal are oppositely arranged in parallel,
The measured position of described drive element is located between transmitting terminal and the receiving terminal of inductor.
Further, described support component is support, and one end of described support is connected with inductor, and the other end is fixed on grabs
On the microscope carrier that disk device is located；Described drive element is sensing plate, and described sensing plate has two breach, described two breach its
In breach when being located between the transmitting terminal of inductor and receiving terminal sensing plate be in initial position, now on described catching plate device
Grasping part grasping state be original state；Described catching plate device passes through rotating shaft dynamic drafting board and rotates, and makes sensing plate deviate institute
State initial position, thus detecting the grasping state change of the grasping part on catching plate device, described grasping state includes grasping part
Catching plate and sale at reduced prices state.
Further, described support component is support, and one end of described support is connected with inductor, and the other end is fixed on grabs
On the microscope carrier that disk device is located；Described drive element is sensing plate, described sensing plate has three breach, described inductor number is
Two, left and right two breach on described sensing plate senses plate when being located between the transmitting terminal of two inductors and receiving terminal respectively
It is in initial position, now the grasping state of described catching plate device is original state；Described catching plate device passes through rotating shaft dynamic drafting board
Rotating, so that centre one breach on sensing plate is located in one of between the transmitting terminal of inductor and receiving terminal, thus detecting
Go out the grasping state change of the grasping part on catching plate device, while the upper inserted sheet that described grasping state is included on grasping part stretches out under
Under while inserted sheet is retracted, upper inserted sheet is retracted, inserted sheet stretches out and upper and lower inserted sheet is retracted simultaneously.
Further, described drive element is coding disk, and described coding disk is alternately provided with transparent area pellucida and impermeable
Bright dark space, and area pellucida and dark space be uniformly distributed, described coding disk has fixed zero, the fixed zero position on described coding disk
When between the transmitting terminal and receiving terminal of inductor, coding disk is in initial position, and now the grasping state of described grasping part is
Original state；Described catching plate device drives coding disk to rotate by rotating shaft, makes coding disk deviate described initial position, thus detecting
The grasping state change of the grasping part on catching plate device, while the upper inserted sheet that described grasping state is included on grasping part stretches out under insert
Under while piece is retracted, upper inserted sheet is retracted, inserted sheet stretches out and upper and lower inserted sheet is retracted simultaneously.
Specifically, described support component is support base, and described support base has through hole and is set in catching plate by this through hole
In the rotating shaft of device, described through hole is coordinated for gap with rotating shaft, and support base does not rotate with catching plate device；Described drive element is coding
Disk, described coding disk is had centre bore and is fixed in the rotating shaft of catching plate device by centre bore, and described coding disk is same with catching plate device
Step rotates.
Further, described support component have one be located at drive element above platform, on the platform with from
The corresponding position of dynamic element opens up jagged, described breach is provided with inductor, described inductor is hall sensor, described
Drive element is permanent magnet, and when catching plate device drives permanent magnet synchronous axial system, the magnetic field that hall sensor senses permanent magnet becomes
Changing, magnetic signal being changed into by angle signal according to changes of magnetic field information, thus detecting the grasping shape of the grasping part on catching plate device
State, while the upper inserted sheet that described grasping state is included on grasping part stretches out under inserted sheet retract, upper inserted sheet retract while under insert
Piece stretches out and upper and lower inserted sheet is retracted simultaneously.
Correspondingly, present invention also offers a kind of catching plate device with this detection means, described catching plate device also includes：Carry
Platform；Driving means, described driving means are arranged on microscope carrier；Transmission mechanism, it include output shaft, travelling gear and with described biography
The grasping part that moving gear is meshed, described grasping part is provided with tooth bar inserted sheet, and it includes two upper inserted sheets and two lower inserted sheets, institute
State inserted sheet and lower inserted sheet is located in two planes being parallel to each other, and described upper and lower inserted sheet has contrary retracted position, described
Travelling gear and grasping part are arranged on output shaft, and the upper end of described output shaft passes through driving means, and lower end passes through support and institute
The axis hole stating travelling gear matches, and described driving means are passed through output shaft band nutating gear and rotated, so that grasping part is entered
The switching of row grasping state.
Further, when described grasping part grasping state is original state, described upper and lower inserted sheet is retracted simultaneously；Drive dress
Put and drive drive element to turn an angle by output shaft, centre one breach on described drive element is located at two sensings
In device between the transmitting terminal of one of inductor and receiving terminal, the receiving terminal of now described one of inductor can receive
Transmitting terminal transmitting signal, then driving means pass through output shaft band nutating gear rotate, be meshed with travelling gear meanwhile
The grasping state of grasping part correspondingly changes, and that is, the upper inserted sheet on grasping part stretches out, lower inserted sheet is retracted or the contracting of upper inserted sheet
Return, lower inserted sheet stretches out, if inductor senses drive element, rotational angle is incorrect, driving means drive drive element to recover
In situ, that is, return to initial position, re-start detection.
Further, when described grasping part grasping state is original state, described upper and lower inserted sheet is retracted simultaneously；Drive dress
Put and drive coding disk to start to turn an angle from fixed zero by output shaft, then the area pellucida on coding disk and dark space have necessarily
Number, accordingly, the signal that the receiving terminal of described inductor receives transmitting terminal transmission has certain number of times, and driving means are led to
Cross output shaft band nutating gear rotate, meanwhile, corresponding to the state of the grasping part that travelling gear is meshed change, that is, grab
Hold that the upper inserted sheet in portion stretches out, lower inserted sheet is retracted or upper inserted sheet is retracted, lower inserted sheet stretches out, if inductor senses coding disk and turns
Dynamic angle is incorrect, then driving means drive coding disk to set back, that is, return to initial position, re-start detection.
Further, when described grasping part grasping state is original state, described upper and lower inserted sheet is retracted simultaneously；Drive dress
Put and drive permanent magnet to turn an angle by output shaft, then inductor senses the changes of magnetic field of permanent magnet, and then magnetic is believed
Number it is converted into angle signal, then driving means are passed through output shaft band nutating gear and rotated, and, are meshed with travelling gear meanwhile
The state of grasping part accordingly changes, that is, the upper inserted sheet on grasping part stretch out, lower inserted sheet retract or upper inserted sheet retract, lower insert
Piece stretches out, if inductor senses permanent magnet, rotational angle is incorrect, and driving means drive permanent magnet to set back, that is, recover
To initial position, re-start detection.
The detection means of the present invention and the catching plate device with this detection means, have the advantages that：
1st, the detection means of the present invention is provided with drive element and inductor, and driving means drive driven unit by output shaft
During part synchronous axial system, inductor can sense the change in location of drive element, the retracted position of the upper and lower inserted sheet on grasping part
Change, so that the grasping state of catching plate device accordingly changes, the ingenious setting of this detection means can be accurate
Detection catching plate device grasping state, reduces the probability of catching plate device operational error；
2nd, compared with existing catching plate device, the catching plate device of the present invention is used with detection means precise match, reduces catching plate device
While operational error, improve loading and the unloading efficiency of CD；
3rd, the catching plate device of the present invention had both enabled sale at reduced prices and the reclaimer operation of single compact disc, also enabled the company of multiple CDs
Continuous sale at reduced prices and reclaimer operation.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art and advantage, below will be to enforcement
Example or description of the prior art in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description are only
It is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of CD casket in prior art；
Fig. 2 is the stereogram of the catching plate device with detection means that the embodiment of the present invention one provides；
Fig. 3 is the Structure explosion diagram of the catching plate device with detection means that the embodiment of the present invention one provides；
Fig. 4 is the front view of the catching plate device with detection means that the embodiment of the present invention one provides；
Fig. 5 is the top view of the catching plate device with detection means that the embodiment of the present invention one provides；
Fig. 6 is the stereogram of the catching plate device with detection means that the embodiment of the present invention two provides；
Fig. 7 is the Structure explosion diagram of the catching plate device with detection means that the embodiment of the present invention two provides；
Fig. 8 is the schematic diagram of the coding disk that the embodiment of the present invention two provides；
Fig. 9 is the stereogram of the catching plate device with detection means that the embodiment of the present invention three provides；
Figure 10 is the Structure explosion diagram of the catching plate device with detection means that the embodiment of the present invention three provides；
Figure 11 is the schematic diagram of the permanent magnet that the embodiment of the present invention three provides；
The top view of the catching plate device with detection means that Figure 12 embodiment of the present invention three provides；
Figure 13 is the I-I profile in Figure 12.
In figure：1- microscope carrier, 2- driving means, 3- output shaft, 4- inductor, 41- transmitting terminal, 42- receiving terminal, 5- senses
Plate, 6- support, 7- CD, 8- disk body section, 9- tooth bar inserted sheet, the upper inserted sheet of 91-, inserted sheet under 92-, 10- grasping part, 11- driving cog
Wheel, 12- coding disk, 13- support base, 14- bracing frame, 15- area pellucida, 16- dark space, 17- fixed zero, 18- centre bore, 19- is suddenly
That inductor, 20- platform, 21- permanent magnet.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of not making creative work all its
His embodiment, broadly falls into the scope of protection of the invention.
Embodiment one：
Refer to Fig. 2 to Fig. 5, the catching plate device with detection means of the present invention, described catching plate device includes：Microscope carrier 1；Drive
Device 2, described driving means 2 are arranged on microscope carrier 1；Transmission mechanism, it include output shaft 3, travelling gear 11 and with described biography
The grasping part 10 that moving gear 11 is meshed, described travelling gear 11 and grasping part 10 are arranged on output shaft 3, described output shaft 3
Upper end pass through driving means 2, lower end matched through support 6 with the axis hole of described travelling gear 11, and described driving means 2 are logical
Cross output shaft 3 band nutating gear 11 to rotate, so that grasping part 10 carries out the switching of grasping state；Detection means, it includes：
Support component, inductor 4 and drive element, described drive element is arranged on the output shaft 3 of catching plate device and synchronous with output shaft 3
Rotate, described inductor 4 is fixing on a support element, and described inductor 4 is corresponding with the position of drive element, described driven unit
The different grasping states in the corresponding grasping part in different turned positions 10 of part.
Described driving means 2 provide power for transmission device, and driving means 2 can be stepper motor, servomotor or liquid
Press pump.
Described grasping part 10 is provided with tooth bar inserted sheet 9, and it includes two upper inserted sheets 91 and two lower inserted sheets 92, described slotting
Piece 91 and lower inserted sheet 92 are located in two planes being parallel to each other, and described upper and lower inserted sheet has contrary retracted position.
Grasping part 10 upper end on catching plate device is connected with the smooth disk body section of outer bottom 8, and this disk body section 8 is passed through in grasping part 10
It is fixed on the lower end of microscope carrier 1.During described detection means detection catching plate device grasping state, grasping part 10 insert layer stacks
The in the hole of the CD 7 put, fitted with the card of the superiors CD 7 in the bottom surface of disk body section 8, the CD that stacking is placed can be made to stack
Neatly, it is easy to subsequent operation.
Described inductor 4 includes transmitting terminal 41 and receiving terminal 42, and described transmitting terminal 41 and receiving terminal 42 are oppositely arranged in parallel,
The measured position of described drive element is between the transmitting terminal 41 of inductor 4 and receiving terminal 42.
Described support component is support 6, and one end of described support 6 is connected with inductor 4, and the other end is fixed on microscope carrier 1；
Described drive element is sensing plate 5, described sensing plate 5 has three breach, described inductor 4 number is two, described quilt
When left and right on location two breach is located between the transmitting terminal 41 of two inductors and receiving terminal 42 respectively, drive element is in
Initial position, now the grasping state of the grasping part 10 on described catching plate device is original state；Described catching plate device passes through output shaft 3
Drive drive element to rotate, so that centre one breach on drive element is located in one of the transmitting terminal 41 of inductor and receive
Between end 42, thus detecting the grasping state change of grasping part 10.
The present invention is comprised the following steps with described detection means detection catching plate device grasping state, its method of operating：
S1, mechanical arm assembly drive catching plate device mobile to specifying CD casket position, and plate extractor extracts the light specifying CD casket out
Disk in pallet, is contained with M and opens CD 7 in this optical disc tray；
S2, catching plate device movement are to above optical disc tray, when described drive element is located at initial position, upper on grasping part 10
Inserted sheet 91 and lower inserted sheet 92 are retracted simultaneously；
S3, driving means 2 by output shaft 3 drive drive element turn an angle towards left side inductor, described from
Central indentation on dynamic element is located in two inductors 4 between the transmitting terminal 41 of left side inductor and receiving terminal 42, now institute
The receiving terminal 42 stating left side inductor can receive the signal of transmitting terminal 41 transmitting, then driving means 2 pass through output shaft 3 drive biography
Moving gear 11 rotates, and, corresponding to the state of the grasping part 10 that travelling gear 11 is meshed changes, that is, on grasping part 10 meanwhile
Upper inserted sheet 91 stretch out and insert that N opens CD 7 and N+1 opens between CD 7, lower inserted sheet 92 is retracted, and drags load N to open CD 7；
S4, driving means 2 by output shaft 3 drive drive element turn an angle towards right side inductor, described from
Dynamic element is promptly restored to initial position, and with respect to the angle rotating afterwards, now the corresponding angle of initial position is initial angle
Degree, continues thereafter with the transmitting that the central indentation rotating up on described drive element is located at right side inductor in two inductors 4
Between end 41 and receiving terminal 42, now the receiving terminal 42 of described right side inductor can receive the signal of transmitting terminal 41 transmitting, then
Driving means 2 carry nutating gear 11 to rotate by output shaft 3, meanwhile, the shape of the grasping part 10 being meshed with travelling gear 11
State accordingly changes, and that is, the upper inserted sheet 91 on grasping part 10 is retracted, and lower inserted sheet 92 stretches out, then the N going up the dragged load of inserted sheet 91 opens
CD is displaced downwardly to lower inserted sheet 92, and drags load by lower inserted sheet 92；
S5, repeat step S3, except for the difference that, now the upper inserted sheet 91 on grasping part 10 stretches out and inserts N-1 and opens CD
And N opens between CD, lower inserted sheet 92 is retracted, then go up inserted sheet 91 drag load N-1 open CD, N open CD due to lose support and
Fall in target pallet.
S6, catching plate device support load N-1 open CD and are moved back to former specified CD casket position, and plate extractor extracts the CD specifying CD casket out
Pallet；
S7, repeat step S2, now upper and lower inserted sheet retract simultaneously, catching plate device will be ask the N-1 carrying to open CD and put into CD
In pallet, then this optical disc tray is closed by plate extractor.
Wherein, if inductor 4 senses that in step S3, S4 or S5, drive element rotational angle is incorrect, driven unit
Part returns to initial position, re-executes step S3, S4 or S5, until drive element turns to correct angle.Described driven unit
The incorrect situation of part rotational angle is as described below：
1) receiving terminal 42 of described inductor 4 is not received by the signal of transmitting terminal 41 transmitting；
2) driving means 2 drive drive element to turn an angle towards left side inductor by output shaft 3, described driven
The right breach of element is located in two inductors 4 between the transmitting terminal 41 of left side inductor and receiving terminal 42, that is, described driven
Element rotational angle is excessive；
3) driving means 2 drive drive element to turn an angle towards right side inductor by output shaft 3, described driven
The left side breach of element is located in two inductors 4 between the transmitting terminal 41 of right side inductor and receiving terminal 42, that is, described driven
Element rotational angle is excessive.
The detection means of the embodiment of the present invention, the catching plate device with this detection means and its application, have beneficial effect as follows
Really：
1) three breach are provided with the drive element of the present invention, corresponding catching plate device has three kinds of different states, then leads to
Cross the end positions that two inductors of setting correspond to three breach respectively, when drive element rotates, by judging two inductors
Or the receiving terminal of one of inductor of two inductors receives the signal of transmitting terminal transmitting detecting catching plate device catching plate state,
Device is simple and arranges ingenious；
2) compared with existing catching plate device, the catching plate device of the present invention is used with detection means precise match, reduces catching plate device
While operational error, improve loading and the unloading efficiency of CD；
3) the catching plate device of the present invention had both enabled sale at reduced prices and the reclaimer operation of single compact disc, also enabled the company of multiple CDs
Continuous sale at reduced prices and reclaimer operation.
Embodiment two：
Refer to Fig. 6 to Fig. 8, the catching plate device with detection means of the present invention, described catching plate device includes：Microscope carrier 1；Drive
Device 2, described driving means 2 are arranged on microscope carrier 1；Transmission mechanism, it include output shaft 3, travelling gear 11 and with described biography
The grasping part 10 that moving gear 11 is meshed, described travelling gear 11 and grasping part 10 are arranged on output shaft 3, described output shaft 3
Upper end pass through driving means 2, lower end matched through support 6 with the axis hole of described travelling gear 11, and described driving means 2 are logical
Cross output shaft 3 band nutating gear 11 to rotate, so that grasping part 10 carries out the switching of grasping state；Detection means, it includes：
Support component, inductor 4 and drive element, described drive element is arranged on the output shaft 3 of catching plate device and synchronous with output shaft 3
Rotate, described inductor 4 is fixing on a support element, and described inductor 4 is corresponding with the position of drive element, described driven unit
The different grasping states in the corresponding grasping part in different turned positions 10 of part.
Described driving means 2 provide power for transmission device, and driving means 2 can be stepper motor, servomotor or liquid
Press pump.
Described grasping part 10 is provided with tooth bar inserted sheet 9, and it includes two upper inserted sheets 91 and two lower inserted sheets 92, described slotting
Piece 91 and lower inserted sheet 92 are located in two planes being parallel to each other, and described upper and lower inserted sheet has contrary retracted position.
Grasping part 10 upper end on catching plate device is connected with the smooth disk body section of outer bottom 8, and this disk body section 8 is passed through in grasping part 10
It is fixed on the lower end of microscope carrier 1.During described detection means detection catching plate device grasping state, grasping part 10 insert layer stacks
The in the hole of the CD 7 put, fitted with the card of the superiors CD 7 in the bottom surface of disk body section 8, the CD that stacking is placed can be made to stack
Neatly, it is easy to subsequent operation.
Described inductor 4 includes transmitting terminal 41 and receiving terminal 42, and described transmitting terminal 41 and receiving terminal 42 are oppositely arranged in parallel,
The measured position of described drive element is between the transmitting terminal 41 of inductor 4 and receiving terminal 42.
Described drive element is coding disk 12, and described coding disk 12 is alternately provided with transparent area pellucida 15 and opaque
Dark space 16, and area pellucida 15 and dark space 16 be uniformly distributed, when transmitting terminal 41 transmission signal of described inductor 4, on coding disk 12
Area pellucida 15 will not block signal transmission so that described receiving terminal 42 can receive signal, and the dark space 16 on coding disk 12
Then can block signal transmission so that described receiving terminal 42 can not receive signal, can be by judging connecing of described inductor 4
Receiving end 42 receives the number of times of the signal of transmitting terminal 41 transmission, and then judges whether coding disk 12 rotational angle is correct.
There is fixed zero 17 on described coding disk 12, and described dead-center position is arranged on area pellucida 15, on described coding disk 12
Fixed zero 17 when being between the transmitting terminal 41 of inductor 4 and receiving terminal 42 coding disk 12 be in initial position, described
The grasping state of the grasping part 10 on catching plate device is original state, when driving means 2 drive coding disk 12 to rotate by output shaft 3
When, code-disc deviates described initial position, thus detecting the grasping state change of grasping part 10.
Described support component is support base 13, and described support base 13 can be fixed in driving means 2 it is also possible to be fixed on
On bracing frame 14, support frame as described above 14 lower end is fixed on microscope carrier 1；Described support base 13 have through hole and by this through hole sheathed
On the output shaft 3 of catching plate device, described through hole is coordinated for gap with output shaft 3, and support base 13 does not rotate with catching plate device；Described volume
Code-disc 12 is had centre bore 18 and is fixed on the output shaft 3 of catching plate device by centre bore 18, and described coding disk 12 is with catching plate device
Synchronous axial system.
The present invention is comprised the following steps with described detection means detection catching plate device grasping state, its method of operating：
S1, mechanical arm assembly drive catching plate device mobile to specifying CD casket position, and plate extractor extracts the light specifying CD casket out
Disk in pallet, is contained with M and opens CD 7 in this optical disc tray；
S2, catching plate device movement are to above optical disc tray, when described coding disk 12 is located at original state, upper on grasping part 10
Inserted sheet 91 and lower inserted sheet 92 are retracted simultaneously；
S3, driving means 2 drive coding disk 12 to rotate one from fixed zero 17 initially towards certain orientation by output shaft 3
Determine angle, then correspond to the area pellucida 15 on coding disk 12 and there is certain number dark space 16, the receiving terminal 42 of described inductor 4 receives
The signal that transmitting terminal 41 sends has certain number of times, and driving means 2 carry nutating gear 11 to rotate by output shaft 3, meanwhile, with
The state of the grasping part 10 that travelling gear 11 is meshed accordingly changes, and that is, the upper inserted sheet 91 on grasping part 10 stretches out and inserts
N opens CD and N+1 opens between CD, and lower inserted sheet 92 is retracted, and drags load N to open CD；
S4, driving means 2 drive coding disk 12 to rotate one from fixed zero 17 initially towards rightabout by output shaft 3
Determine angle, described coding disk 12 is promptly restored to initial position, continue thereafter with the area pellucida 15 rotating up on corresponding coding disk 12
There is certain number with dark space 16, the signal that the receiving terminal 42 reception transmitting terminal 41 of described inductor 4 sends has certain number of times,
Driving means 2 carry nutating gear 11 to rotate by output shaft 3, meanwhile, the shape of the grasping part 10 being meshed with travelling gear 11
State accordingly changes, and that is, the upper inserted sheet 91 on grasping part 10 is retracted, and lower inserted sheet 92 stretches out, then the N going up the dragged load of inserted sheet 91 opens
CD is displaced downwardly to lower inserted sheet 92, and drags load by lower inserted sheet 92；
S5, repeat step S3, except for the difference that, now the upper inserted sheet 91 on grasping part 10 stretches out and inserts N-1 and opens CD
And N opens between CD, lower inserted sheet 92 is retracted, then go up inserted sheet 91 drag load N-1 open CD, N open CD due to lose support and
Fall in target pallet.
S6, catching plate device support load N-1 open CD and are moved back to former specified CD casket position, and plate extractor extracts the CD specifying CD casket out
Pallet；
S7, repeat step S2, now upper and lower inserted sheet retract simultaneously, catching plate device will be ask the N-1 carrying to open CD and put into CD
In pallet, then this optical disc tray is closed by plate extractor.
Wherein, if inductor 4 sense coding disk 12 rotational angle in step S3, S4 or S5 incorrect when, that is, described
The number of times that the receiving terminal 42 of inductor 4 receives the signal that transmitting terminal 41 sends is incorrect, then coding disk 12 returns to initial position,
Re-execute step S3, S4 or S5, until coding disk 12 turns to correct angle.Described coding disk 12 rotational angle is incorrect
Situation is as described below：
Driving means 2 drive coding disk 12 to turn an angle by output shaft 3, area pellucida 15 He on corresponding coding disk 12
There is certain number dark space 16, and the number of times that the receiving terminal 42 of described inductor 4 receives the signal of transmitting terminal 41 transmitting is not right, that is,
Described drive element rotational angle is excessive or too small.
The detection means of the embodiment of the present invention, the catching plate device with this detection means and its application, have beneficial effect as follows
Really：
1) have fixed zero on the coding disk of the present invention it is not necessary to every time set initial position, even and if power down, also not
The judgement of initial position can be affected, conveniently solution is provided for the fortuitous event occurring；
2) transparent area pellucida and opaque dark space are alternately provided with described coding disk, can be by judging described sensing
Just whether the receiving terminal of device receives the number of times of the signal of transmitting terminal transmission, and then easily judge coding disk rotational angle
Really.
3) compared with existing catching plate device, the catching plate device of the present invention is used with detection means precise match, can be very accurate
Ground judges the rotational angle correctness of drive element, while reducing catching plate device operational error, improve the loading of CD with
Unloading efficiency；
4) the catching plate device of the present invention had both enabled sale at reduced prices and the reclaimer operation of single compact disc, also enabled the company of multiple CDs
Continuous sale at reduced prices and reclaimer operation.
Embodiment three：
Refer to Fig. 9 to Figure 13, the catching plate device with detection means of the present invention, described catching plate device includes：Microscope carrier 1；Drive
Dynamic device 2, described driving means 2 are arranged on microscope carrier 1；Transmission mechanism, it include output shaft 3, travelling gear 11 and with described
The grasping part 10 that travelling gear 11 is meshed, described travelling gear 11 and grasping part 10 are arranged on output shaft 3, described output shaft
3 upper end passes through driving means 2, and matched through support 6 with the axis hole of described travelling gear 11 in lower end, described driving means 2
Nutating gear 11 is carried to rotate by output shaft 3, so that grasping part 10 carries out the switching of grasping state；Detection means, its bag
Include：Support component, inductor 4 and drive element, described drive element be arranged on the output shaft 3 of catching plate device and with output shaft 3
Synchronous axial system, described hall sensor 19 is fixing on a support element, the position phase of described hall sensor 19 and drive element
Corresponding, the different grasping states in the corresponding grasping part in different turned positions 10 of described drive element.
Described driving means 2 provide power for transmission device, and driving means 2 can be stepper motor, servomotor or liquid
Press pump.
Described grasping part 10 is provided with tooth bar inserted sheet 9, and it includes two upper inserted sheets 91 and two lower inserted sheets 92, described slotting
Piece 91 and lower inserted sheet 92 are located in two planes being parallel to each other, and described upper and lower inserted sheet has contrary retracted position.
Grasping part 10 upper end on catching plate device is connected with the smooth disk body section of outer bottom 8, and this disk body section 8 is passed through in grasping part 10
It is fixed on the lower end of microscope carrier 1.During described detection means detection catching plate device grasping state, grasping part 10 insert layer stacks
The in the hole of the CD 7 put, fitted with the card of the superiors CD 7 in the bottom surface of disk body section 8, the CD that stacking is placed can be made to stack
Neatly, it is easy to subsequent operation.
Described support component has a platform 20 being located above drive element, with drive element on described platform 20
Corresponding position opens up jagged, described breach is provided with inductor, the size of described breach is not less than the size of inductor,
Described inductor is hall sensor 19, and described drive element is permanent magnet 21, the distance of hall sensor 19 and permanent magnet 21
As far as possible little, generally less than 5cm, when catching plate device drives permanent magnet 21 synchronous axial system by output shaft 3, hall sensor 19 is felt
Measure the changes of magnetic field of permanent magnet 21, magnetic signal is changed into by angle signal according to changes of magnetic field information, thus detecting grasping
The grasping state in portion 10.
The present invention is comprised the following steps with described detection means detection catching plate device grasping state, its method of operating：
S1, mechanical arm assembly drive catching plate device mobile to specifying CD casket position, and plate extractor extracts the light specifying CD casket out
Disk in pallet, is contained with M and opens CD 7 in this optical disc tray；
S2, catching plate device movement are to above optical disc tray, upper on grasping part 10 when described permanent magnet 21 is located at initial position
Inserted sheet 91 and lower inserted sheet 92 are retracted simultaneously；
S3, driving means 2 drive permanent magnet 21 to turn an angle towards certain orientation by output shaft 3, then Hall sense
Answer device 19 to sense the changes of magnetic field of permanent magnet 21, and then magnetic signal is converted into angle signal, if rotational angle is correct, drive
Dynamic device 2 carries nutating gear 11 to rotate by output shaft 3, meanwhile, the state of the grasping part 10 being meshed with travelling gear 11
Accordingly change, that is, the upper inserted sheet 91 on grasping part 10 stretches out and inserts that N opens CD and N+1 opens between CD, lower insert
Piece 92 is retracted, and drags load N to open CD；
S4, driving means 2 drive permanent magnet 21 to turn an angle towards rightabout by output shaft 3, then Hall sense
Answer device 19 to sense the changes of magnetic field of permanent magnet 21, and then magnetic signal is converted into angle signal, if rotational angle is correct, drive
Device 2 carries nutating gear 11 to rotate by output shaft 3, meanwhile, the state phase of the grasping part 10 being meshed with travelling gear 11
Should change, that is, the upper inserted sheet 91 on grasping part 10 is retracted, lower inserted sheet 92 stretches out, then the N going up the dragged load of inserted sheet 91 opens CD
It is displaced downwardly to lower inserted sheet 92, and load is dragged by lower inserted sheet 92；
S5, repeat step S3, except for the difference that, now the upper inserted sheet 91 on grasping part 10 stretches out and inserts N-1 and opens CD
And N opens between CD, lower inserted sheet 92 is retracted, then go up inserted sheet 91 drag load N-1 open CD, N open CD due to lose support and
Fall in target pallet.
S6, catching plate device support load N-1 open CD and are moved back to former specified CD casket position, and plate extractor extracts the CD specifying CD casket out
Pallet；
S7, repeat step S2, now upper and lower inserted sheet retract simultaneously, catching plate device will be ask the N-1 carrying to open CD and put into CD
In pallet, then this optical disc tray is closed by plate extractor.
Wherein, if hall sensor 19 sense permanent magnet 21 rotational angle in step S3, S4 or S5 incorrect when,
Permanent magnet 21 returns to initial position, re-executes step S3, S4 or S5, until permanent magnet 21 turns to correct angle.
The detection means of the embodiment of the present invention, the catching plate device with this detection means and its application, have beneficial effect as follows
Really：
1) the utilization permanent magnet of the present invention and corresponding hall sensor use cooperatively, when permanent magnet rotates, inductor sense
The magnetic signal that should arrive is converted into angle signal immediately, judges whether to grasping part shape by judging rotational angle correctness
The change of state；
2) compared with existing catching plate device, the catching plate device of the present invention is used with detection means precise match, can be very accurate
Ground judges the rotational angle correctness of permanent magnet, while reducing catching plate device operational error, improves the loading of CD and unloads
Carry efficiency；
3) the catching plate device of the present invention had both enabled sale at reduced prices and the reclaimer operation of single compact disc, also enabled the company of multiple CDs
Continuous sale at reduced prices and reclaimer operation.
The above is the preferred embodiment of the present invention it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (8)
1. the detection means in a kind of device for catching plate is it is characterised in that described detection means includes support component, inductor
(4) and drive element, described drive element be arranged in the rotating shaft of catching plate device and with rotating shaft synchronous axial system, described inductor (4)
Fixing described inductor (4) is corresponding with the position of drive element on a support element, and the different of described drive element rotate position
Put corresponding grasping part (10) difference grasping state；
Described inductor (4) includes transmitting terminal (41) and receiving terminal (42), described transmitting terminal (41) phase parallel with receiving terminal (42)
To setting, described drive element is located between transmitting terminal (41) and the receiving terminal (42) of inductor (4)；
Described support component is support (6), and one end of described support (6) is connected with inductor (4), and the other end is fixed on catching plate device
On the microscope carrier (1) being located；Described drive element is sensing plate (5), and described sensing plate (5) has two breach, described two scarce
When one of breach of mouth is located between the transmitting terminal (41) of inductor (4) and receiving terminal (42), sensing plate (5) is in initially
Position, now the grasping state of the grasping part (10) on described catching plate device is original state；Described catching plate device is driven by rotating shaft
Sensing plate (5) rotates, and makes sensing plate (5) deviate described initial position, thus detecting grabbing of grasping part (10) on catching plate device
Hold state change, described grasping state includes catching plate and the sale at reduced prices state of grasping part (10).
2. the detection means in a kind of device for catching plate is it is characterised in that described detection means includes support component, inductor
(4) and drive element, described drive element be arranged in the rotating shaft of catching plate device and with rotating shaft synchronous axial system, described inductor (4)
Fixing described inductor (4) is corresponding with the position of drive element on a support element, and the different of described drive element rotate position
Put corresponding grasping part (10) difference grasping state；
Described inductor (4) includes transmitting terminal (41) and receiving terminal (42), described transmitting terminal (41) phase parallel with receiving terminal (42)
To setting, described drive element is located between transmitting terminal (41) and the receiving terminal (42) of inductor (4)；
Described support component is support (6), and one end of described support (6) is connected with inductor (4), and the other end is fixed on catching plate device
On the microscope carrier (1) being located；Described drive element is sensing plate (5), and described sensing plate (5) has three breach, described inductor
(4) number is two, and left and right two breach on described sensing plate (5) is located at the transmitting terminal (41) of two inductors (4) respectively
When and receiving terminal (42) between, sensing plate (5) is in initial position, and now the grasping state of described catching plate device is original state；Institute
State catching plate device and pass through rotating shaft dynamic drafting board (5) rotation, make centre one breach on sensing plate (5) be located in one of sensing
Between the transmitting terminal (41) of device (4) and receiving terminal (42), thus detecting the grasping state change of the grasping part (10) on catching plate device
Change, while the upper inserted sheet (91) that described grasping state is included on grasping part (10) stretches out under inserted sheet (92) retract, upper inserted sheet
(91) under while retraction, inserted sheet (92) stretches out and upper inserted sheet (91) and lower inserted sheet (92) are retracted simultaneously.
3. the detection means in a kind of device for catching plate is it is characterised in that described detection means includes support component, inductor
(4) and drive element, described drive element be arranged in the rotating shaft of catching plate device and with rotating shaft synchronous axial system, described inductor (4)
Fixing described inductor (4) is corresponding with the position of drive element on a support element, and the different of described drive element rotate position
Put corresponding grasping part (10) difference grasping state；
Described inductor (4) includes transmitting terminal (41) and receiving terminal (42), described transmitting terminal (41) phase parallel with receiving terminal (42)
To setting, described drive element is located between transmitting terminal (41) and the receiving terminal (42) of inductor (4)；
Described support component is support base (13), and described support base (13) has through hole and is set in catching plate device by this through hole
In rotating shaft, described through hole is coordinated for gap with rotating shaft, and support base (13) does not rotate with catching plate device；Described drive element is coding disk
(12), described coding disk (12) is had centre bore (18) and is fixed in the rotating shaft of catching plate device by centre bore (18), described volume
Code-disc (12) is with catching plate device synchronous axial system；Transparent area pellucida (15) and opaque dark is alternately provided with described coding disk (12)
Area (16), and area pellucida (15) and dark space (16) be uniformly distributed；Described coding disk (12) has fixed zero (17), described coding disk
(12) coding disk (12) the place when fixed zero (17) on is between the transmitting terminal (41) and receiving terminal (42) of inductor (4)
In initial position, now the grasping state of the grasping part (10) on described catching plate device is original state；Described catching plate device passes through to turn
Axle drives coding disk (12) to rotate, and makes coding disk (12) deviate described initial position, thus detecting the grasping part on catching plate device
(10) grasping state change, while the upper inserted sheet (91) that described grasping state is included on grasping part (10) stretches out under inserted sheet
(92) retract, while upper inserted sheet (91) is retracted under inserted sheet (92) stretch out and upper inserted sheet (91) and lower inserted sheet (92) contract simultaneously
Return.
4. the detection means in a kind of device for catching plate is it is characterised in that described detection means includes support component, inductor
(4) and drive element, described drive element be arranged in the rotating shaft of catching plate device and with rotating shaft synchronous axial system, described inductor (4)
Fixing described inductor (4) is corresponding with the position of drive element on a support element, and the different of described drive element rotate position
Put corresponding grasping part (10) difference grasping state；
Described support component has a platform (20) being located above drive element, goes up and drive element in described platform (20)
Corresponding position opens up jagged, and described breach is provided with inductor, and described inductor is hall sensor (19), described from
Dynamic element is permanent magnet (21), and when catching plate device drives permanent magnet (21) synchronous axial system, hall sensor (19) senses permanent magnetism
Magnetic signal is changed into angle signal according to changes of magnetic field information by the changes of magnetic field of iron (21), thus detecting on catching plate device
The grasping state of grasping part (10), while the upper inserted sheet (91) that described grasping state is included on grasping part (10) stretches out under inserted sheet
(92) retract, while upper inserted sheet (91) is retracted under inserted sheet (92) stretch out and upper inserted sheet (91) and lower inserted sheet (92) contract simultaneously
Return.
5. a kind of catching plate device with the detection means described in claim 1-4 any one is it is characterised in that described catching plate device
Also include：Microscope carrier (1), driving means (2) and transmission mechanism, described driving means (2) are arranged on microscope carrier (1), described transmission
Mechanism includes output shaft (3) and travelling gear (11), and described travelling gear (11) is meshed with described grasping part (10), described grabs
Hold portion (10) and be provided with tooth bar inserted sheet (9), it includes two upper inserted sheets (91) and two lower inserted sheets (92), described upper inserted sheet (91)
It is located in two planes being parallel to each other with described lower inserted sheet (92), and described upper inserted sheet (91) and described lower inserted sheet (92) have phase
Anti- retracted position, described travelling gear (11) and grasping part (10) are arranged on output shaft (3), described output shaft (3) upper
Through driving means (2), matched through support (6) with the axis hole of described travelling gear (11) in lower end, described driving means at end
(2) nutating gear (11) is carried to rotate by output shaft (3), so that the upper inserted sheet (91) of grasping part (10) and lower inserted sheet (92)
Make stretching motion, accordingly, the grasping state of grasping part (10) switches over；
Described stretching motion include while inserted sheet (91) stretches out under inserted sheet (92) retract, upper inserted sheet (91) retract while under
Inserted sheet (92) stretches out and upper inserted sheet (91) and lower inserted sheet (92) are retracted simultaneously.
6. the catching plate device with detection means according to claim 5 is it is characterised in that described grasping part (10) grasp shape
When state is original state, described upper inserted sheet (91) and described lower inserted sheet (92) are retracted simultaneously；Driving means (2) pass through output shaft
(3) dynamic drafting board (5) turns an angle, and centre one breach on described sensing plate (5) is located in two inductors (4)
Between the transmitting terminal (41) of one of inductor and receiving terminal (42), the receiving terminal (42) of now described one of inductor
The signal that transmitting terminal (41) is launched can be received, then driving means (2) carry nutating gear (11) to rotate by output shaft (3),
Meanwhile, the grasping state of the grasping part (10) being meshed with travelling gear (11) is correspondingly changed, that is, on grasping part (10)
Upper inserted sheet (91) stretch out, lower inserted sheet (92) is retracted or upper inserted sheet (91) is retracted, lower inserted sheet (92) stretches out.
7. the catching plate device with detection means according to claim 5 is it is characterised in that described grasping part (10) grasp shape
When state is original state, described upper inserted sheet (91) and described lower inserted sheet (92) are retracted simultaneously；Driving means (2) pass through output shaft
(3) coding disk (12) is driven to start to turn an angle from fixed zero (17), then the area pellucida (15) on coding disk (12) and secretly
There is certain number in area (16), and accordingly, the receiving terminal (42) of described inductor (4) receives the signal that transmitting terminal (41) sends
There is certain number of times, driving means (2) carry nutating gear (11) to rotate by output shaft (3), meanwhile, with travelling gear (11)
The state of the grasping part (10) being meshed accordingly changes, that is, the upper inserted sheet (91) on grasping part (10) stretch out, lower inserted sheet
(92) retract or upper inserted sheet (91) is retracted, lower inserted sheet (92) stretches out.
8. the catching plate device with detection means according to claim 5 is it is characterised in that described grasping part (10) grasp shape
When state is original state, described upper inserted sheet (91) and described lower inserted sheet (92) are retracted simultaneously；Driving means (2) pass through output shaft
(3) permanent magnet (21) is driven to turn an angle, then inductor (4) senses the changes of magnetic field of permanent magnet (21), and then by magnetic
Signal is converted into angle signal, then driving means (2) carry nutating gear (11) to rotate by output shaft (3), meanwhile, with transmission
The state of the grasping part (10) that gear (11) is meshed accordingly changes, that is, the upper inserted sheet (91) on grasping part (10) stretch out,
Lower inserted sheet (92) is retracted or upper inserted sheet (91) is retracted, lower inserted sheet (92) stretches out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410369506.XA CN104157300B (en) | 2014-07-30 | 2014-07-30 | Detection device and disc grabber with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410369506.XA CN104157300B (en) | 2014-07-30 | 2014-07-30 | Detection device and disc grabber with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104157300A CN104157300A (en) | 2014-11-19 |
| CN104157300B true CN104157300B (en) | 2017-02-08 |
Family
ID=51882782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410369506.XA Active CN104157300B (en) | 2014-07-30 | 2014-07-30 | Detection device and disc grabber with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104157300B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104575535B (en) * | 2014-12-31 | 2017-01-18 | 苏州互盟信息存储技术有限公司 | Compact disc gripper with positioning function and method for positioning center of compact disc tray |
| CN104715768A (en) * | 2014-12-31 | 2015-06-17 | 苏州互盟信息存储技术有限公司 | Supporting and carrying combined type disc clamp |
| CN105751229B (en) * | 2016-01-13 | 2018-07-24 | 北京中科开迪软件有限公司 | A kind of automatic catching plate device for optical disc memory apparatus |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6120230A (en) * | 1997-08-25 | 2000-09-19 | Advanced Digital Information Corporation | Roller-inserter for use with cartridge style information storage media |
| US6549358B1 (en) * | 2000-04-28 | 2003-04-15 | International Business Machines Corporation | Ehanced gripper for transporting cartridges in an information storage library |
| CN1734615A (en) * | 2004-08-11 | 2006-02-15 | 咏腾科技工业股份有限公司 | Disk changing system, optical disk management system, disk taking and abnormal shut down recovery process |
| CN102222515A (en) * | 2010-04-14 | 2011-10-19 | 深圳市爱思拓信息存储技术有限公司 | Automatic expanding mechanism and automatic extracting device for extracting optical disk tablets |
| CN102568506A (en) * | 2012-01-12 | 2012-07-11 | 苏州互盟信息存储技术有限公司 | Automatic disk grabbing device for compact-disk server |
| CN103761982A (en) * | 2014-01-28 | 2014-04-30 | 苏州互盟信息存储技术有限公司 | Disk grabbing device and method for grabbing optical disks through disk grabbing device randomly |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7193810B2 (en) * | 2003-08-15 | 2007-03-20 | Quantum Corporation | Automated storage library gripper with finger position detector |
| US8665554B2 (en) * | 2012-01-11 | 2014-03-04 | Oracle International Corporation | Ratcheting gripper for a storage library |
-
2014
- 2014-07-30 CN CN201410369506.XA patent/CN104157300B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6120230A (en) * | 1997-08-25 | 2000-09-19 | Advanced Digital Information Corporation | Roller-inserter for use with cartridge style information storage media |
| US6549358B1 (en) * | 2000-04-28 | 2003-04-15 | International Business Machines Corporation | Ehanced gripper for transporting cartridges in an information storage library |
| CN1734615A (en) * | 2004-08-11 | 2006-02-15 | 咏腾科技工业股份有限公司 | Disk changing system, optical disk management system, disk taking and abnormal shut down recovery process |
| CN102222515A (en) * | 2010-04-14 | 2011-10-19 | 深圳市爱思拓信息存储技术有限公司 | Automatic expanding mechanism and automatic extracting device for extracting optical disk tablets |
| CN102568506A (en) * | 2012-01-12 | 2012-07-11 | 苏州互盟信息存储技术有限公司 | Automatic disk grabbing device for compact-disk server |
| CN103761982A (en) * | 2014-01-28 | 2014-04-30 | 苏州互盟信息存储技术有限公司 | Disk grabbing device and method for grabbing optical disks through disk grabbing device randomly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104157300A (en) | 2014-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104157300B (en) | Detection device and disc grabber with same | |
| CN103787016B (en) | Intelligent sample management system | |
| CN108217038A (en) | A kind of robot and its method for carrying container | |
| CN104091605A (en) | Disk grabber and method for uploading, unloading and recycling optical disks through disk grabber | |
| CN109765217A (en) | Chemiluminescence detector, consumption material box automatic conveying device and its transmission method | |
| CN110040634A (en) | A kind of control method of multilayer stack type large and heavy objects access tackling system | |
| CN206456846U (en) | A kind of automatic stereowarehouse | |
| CN101863362A (en) | Intelligent access device | |
| CN208891890U (en) | A kind of locker and its turnover device | |
| CN105781166A (en) | Automatic control system and method for underground bicycle garage | |
| CN203638507U (en) | Intelligent sample management system | |
| CN104715766B (en) | Two-axis drive disk grabbing device and method for continuously recycling multiple optical disks through disk grabbing device | |
| CN106743042B (en) | A kind of annular multilayer object intellectual access optimization devices and methods therefor | |
| CN107422270A (en) | Battery core barcode scanning inner walkway mechanism and battery core fluid injection automated production equipment | |
| CN201838093U (en) | Intelligent access appliance | |
| CN206409001U (en) | A kind of piler | |
| JP2009292596A (en) | Automatic library | |
| CN102556438B (en) | Not-full packing method and system of electric energy meter workbin | |
| CN104528246B (en) | A kind of random storage stereo garage | |
| CN2819327Y (en) | Safety self-helping article returning machine | |
| CN202346270U (en) | Intelligent stereoscopic garage of bearing | |
| CN105242651B (en) | A kind of slow cooling line rotating device and its autocontrol method | |
| CN207071677U (en) | Pouring ladle hangs and takes system and casting system automatically | |
| CN111276167B (en) | Data exchange device and method between internal and external networks based on optical disk | |
| CN109533822A (en) | A kind of panel detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |