CN109308915A - A kind of optical storage system of double-manipulator folding CD casket - Google Patents
A kind of optical storage system of double-manipulator folding CD casket Download PDFInfo
- Publication number
- CN109308915A CN109308915A CN201710623366.8A CN201710623366A CN109308915A CN 109308915 A CN109308915 A CN 109308915A CN 201710623366 A CN201710623366 A CN 201710623366A CN 109308915 A CN109308915 A CN 109308915A
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- China
- Prior art keywords
- casket
- arm assembly
- mechanical arm
- disk
- manipulator
- Prior art date
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Classifications
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B17/00—Guiding record carriers not specifically of filamentary or web form, or of supports therefor
- G11B17/22—Guiding record carriers not specifically of filamentary or web form, or of supports therefor from random access magazine of disc records
- G11B17/26—Guiding record carriers not specifically of filamentary or web form, or of supports therefor from random access magazine of disc records the magazine having a cylindrical shape with vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Disk Changers (AREA)
Abstract
The invention discloses a kind of optical storage systems of double-manipulator folding CD casket, including rotating cage, left mechanical arm assembly, right mechanical arm assembly, left CD-ROM drive component, right CD-ROM drive component, bracket, pedestal, there is multiplayer optical disk casket in rotating cage, bracket is made of lead screw and guide rail, left and right mechanical arm assembly is located at bracket two sides, mechanical arm assembly includes CD manipulator, disk casket retractable mechanical system design hand, opening and closing CD casket process is, mechanical arm assembly is moved on the downside of destination disk casket, disk casket retractable mechanical system design hand disk casket folding finger be moved to CD casket it is with holes pick up the ears it is following, mechanical arm assembly moves up, folding finger moves round about after being inserted into holes pick up the ears, disk casket is opened, mechanical arm assembly moves down, CD is taken out after CD manipulator insertion cd center hole, folding finger is again insertable into picking up the ears after mechanical arm assembly moves up, folding Finger moves closing CD casket, and corresponding CD-ROM drive is successively opened, and CD is successively put into CD-ROM drive by manipulator.
Description
Technical field
The present invention relates to the optical storages of large capacity light storage device field more particularly to a kind of double-manipulator folding CD casket
System.
Background technique
Optical storage is a kind of using CD as the mass data storage means of storage medium, have low energy consumption, it is removable,
The advantages that data retention cycle is long, be very suitable to storage access frequency it is small, need the data of long-term preservation.
In existing memory technology, magnetic storage and electricity storage application are relatively broad, and magnetic storage is mainly that disk, tape are deposited
Storage, electricity storage are mainly hard-disc storage.Wherein, Large Volume Data center mostly uses greatly the mode of magnetic storage, and magnetic storage has first
It weakness, such as requirement to storage environment it is harsh, vulnerable to outside electromagnetic interference, data are easy to be lost, maintenance cost is high.And
Optical storage can be solved these problems fundamentally, and optical storage is using huge capacity compact discs as storage medium, guarantor high to environmental suitability
Deposit data is very stable, maintenance cost is cheap, and therefore, optical storage is becoming the mainstream storage mode of big data field.Optical storage
System is exactly the data storage device using CD as medium, has very high the degree of automation.
Currently, optical storage system relatively mostly uses rotating cage type CD server to carry out stored CD, rotating cage type CD server class device mostly with
PLC, single-chip microcontroller to CD server realize control, mostly in a manner of push-and-pull, rotary dial etc. to CD casket in CD server carry out open and
Closure, has been largely fulfilled the automation control of rotating cage type CD server data center.But rotating cage type CD server at present
Layout on it is not reasonable, positioning accuracy is not high enough, and the access efficiency of CD need to be improved.
Therefore, a kind of double-manipulator folding CD rationally distributed, movement is accurate, disc accessing is high-efficient is needed in the market
The optical storage system of casket.
Summary of the invention
In order to overcome, whole design present in existing rotating cage type optical disc memory apparatus is not compact, disc accessing efficiency is inadequate
The problems such as height, poor access CD flexibility, the present invention provides a kind of optical storage system of double-manipulator folding CD casket, disk caskets
For mounted in pairs in rotating cage, each pair of CD casket is symmetrical about its center line, using two CD-ROM drives of two manipulators in left and right and left and right
The design of component, each manipulator can the CD casket independently to its corresponding side open and close, can also be only
On the spot CD is put into the CD-ROM drive component of corresponding side, when manipulator opening and closing CD casket, to keep rotating cage static not
It is dynamic, manipulator open or close CD casket in a manner of pushing and pulling, to improve the access efficiency of CD, increase whole system
Flexibility, while also improving the reading and writing data speed of system.
The technical solution adopted by the present invention to solve the technical problems is: a kind of optical storage of double-manipulator folding CD casket
System, including rotating cage, left mechanical arm assembly, right mechanical arm assembly, left CD-ROM drive component, right CD-ROM drive component, bracket, pedestal, rotating cage
Inside there is multiplayer optical disk casket, separated between every layer of CD casket by dividing plate, every layer of CD casket is all distributed in pairs, each pair of CD casket
All symmetrical about its center line, bracket is made of lead screw and guide rail, and left and right mechanical arm assembly is located at bracket two sides, manipulator
Component includes CD manipulator, disk casket retractable mechanical system design hand, mounting plate, and left and right mechanical arm assembly is separately mounted to mutually independent silk
On thick stick and guide rail, do not interfere between each other, left and right CD-ROM drive components distribution is in bracket two sides, with one a pair of left and right mechanical arm assembly
It answers, CD-ROM drive component is made of multilayer CD-ROM drive, and pedestal includes castor and support plate, and disk casket retractable mechanical system design has transportable on hand
Disk casket opens and closes finger, and right mechanical arm assembly folding CD casket process is that mechanical arm assembly is moved on the downside of destination disk casket, and disk casket is opened
The disk casket folding finger for closing manipulator is moved to the with holes of CD casket and picks up the ears in the following, mechanical arm assembly integrally moves up, folding
Finger moves round about after being inserted into holes pick up the ears, and CD casket is opened, and mechanical arm assembly is moved downward to CD manipulator and inserts
Enter cd center hole, mechanical arm assembly moves up taking-up CD, while disk casket folding finger is again insertable into picking up the ears, the folding of disk casket
Finger is moved to closing CD casket, and mechanical arm assembly moves down again, and the folding finger disengaging of disk casket is with holes to pick up the ears, and then corresponds to CD-ROM drive
It successively opens, CD is successively put into CD-ROM drive by mechanical arm assembly, and the movement that left and right mechanical arm assembly opens and closes CD casket is identical, left and right
Mechanical arm assembly moves independently of each other, by different Serve Motor Controls.
The optical storage system of above-mentioned double-manipulator folding CD casket, the rotating cage includes main shaft, dividing plate, CD
Casket, shaft, CD casket are paired around main shaft and are distributed layer by layer, are separated between every layer of CD casket by dividing plate, the installation of CD casket
Hole is mounted in shaft, and CD casket rotates around the axis, and each pair of CD casket is all symmetrical about its center line, and CD casket is towards far from center
When line direction rotates, CD casket is opened, and to when rotating close to centerline direction, CD casket is closed CD casket.
The optical storage system of above-mentioned double-manipulator folding CD casket, the left and right mechanical arm assembly construction is identical, all wraps
CD manipulator, disk casket retractable mechanical system design hand, mounting plate are included, CD manipulator and disk casket retractable mechanical system design hand are all mounted on mounting plate
On, mounting plate is mounted on guide rail slide block, and CD manipulator is mobile with mounting plate together with disk casket retractable mechanical system design hand.
The optical storage system of above-mentioned double-manipulator folding CD casket, the disk casket retractable mechanical system design hand include servo motor,
Synchronous belt, lead screw, guide rail, disk casket open and close finger, mounting plate, the mounting plate and mechanical arm assembly mounting plate of disk casket retractable mechanical system design hand
It is connected, disk casket folding finger mounted moves on feed screw nut along guide rail, and servo motor drives lead screw positive and negative by synchronous belt
To rotation, disk casket folding finger moves back and forth along guide rail.
There are protrusion in the optical storage system of above-mentioned double-manipulator folding CD casket, disk casket folding finger one end, protrusion
Position can be inserted that CD casket is with holes to pick up the ears.
It is put the invention has the advantages that the present invention compared with existing light storage device, changes rotating cage inner disc casket
Enter mounting arrangement mode, CD casket is opened and closed respectively using two mutually independent mechanical arm assemblies, with disk casket opening-closing machine
The disk casket folding finger movement of tool hand carrys out opening and closing CD casket, and rotating cage is not necessarily to turn in entire CD casket moving process
It is dynamic, improve the stability of CD casket folding, accelerate CD casket folding speed, improve whole system the folding of CD casket and
Disc accessing efficiency.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is overall structure of the present invention；
Fig. 2 is rotating cage structural schematic diagram of the present invention；
Fig. 3 is rotating cage inner disc casket mounting structure schematic diagram of the present invention；
Fig. 4 is mechanical arm assembly structural schematic diagram of the present invention；
Fig. 5 is CD-ROM drive component structure diagram of the present invention；
Fig. 6 is the right robot manipulator structure schematic diagram of the present invention；
Fig. 7 is disk casket robot manipulator structure schematic diagram of the present invention；
Fig. 8 is CD box structure schematic diagram of the present invention；
Fig. 9 is that the right manipulator of the present invention opens and closes CD casket 1,2 process schematics of movement；
Figure 10 is that the right manipulator of the present invention opens and closes CD casket 3,4 process schematics of movement；
Figure 11 is that the right manipulator of the present invention opens and closes CD casket 5,6 process schematics of movement.
1. rotating cage in figure, 11. main shafts, 12. dividing plates, 13. CD caskets, 131. it is with holes pick up the ears, 132. mounting holes, 14.
Shaft, 2. left manipulators, 3. right manipulators, 31. CD manipulators, 32. disk casket manipulators, 33. mounting plates, 321. servos electricity
Machine, 322. synchronous belts, 323. lead screws, 324. guide rails, 325. disk caskets open and close finger, 326. mounting plates, 4. left CD-ROM drives, 5. right light
It drives, 6. brackets, 61. guide rails, 62. lead screws, 7. pedestals, 71. castors, 72. support plates.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments, and described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
This specification structure depicted in this specification institute accompanying drawings, ratio, size, quantity etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper", "lower", "left", "right", " centre " term in this specification, it is merely convenient to describe
Be illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and is changing technology without essence
It inside holds, when being also considered as the enforceable scope of the present invention.
[embodiment]
A kind of optical storage system of double-manipulator folding CD casket, including rotating cage 1, left mechanical arm assembly 2, right mechanical arm assembly 3,
Left CD-ROM drive component 4, right CD-ROM drive component 5, bracket 6, pedestal 7, there is multiplayer optical disk casket 13 in rotating cage, by being layered between every layer of CD casket
Partition 12 separates, and every layer of CD casket is all distributed in pairs, and each pair of CD casket is all symmetrical about its center line, and bracket 6 is by lead screw 62
Constituted with guide rail 61, right 3 mechanical arm assemblies in a left side 2 are located at 6 two sides of bracket, mechanical arm assembly 2,3 include CD manipulator 31,
Disk casket retractable mechanical system design hand 32, mounting plate 33, left and right mechanical arm assembly 2,3 are separately mounted to mutually independent lead screw 62 and guide rail 61
On, not interfere between each other, left and right CD-ROM drive component 4,5 is distributed in 6 two sides of bracket, it is corresponded with 2,3 mechanical arm assemblies of left and right,
CD-ROM drive component 4,5 is made of multilayer CD-ROM drive, and pedestal 7 includes castor 71 and support plate 72, and having on disk casket retractable mechanical system design hand 32 can
Finger 325 is opened and closed with mobile disk casket, it is that mechanical arm assembly 3 is moved to destination disk that right mechanical arm assembly 3, which opens and closes CD casket process,
On the downside of casket, the disk casket folding finger 325 of disk casket retractable mechanical system design hand 32 is moved to the with holes of CD casket 13 and picks up the ears 131 in the following, mechanical
Hand component 3 is whole to move up, folding finger 325 be inserted into it is with holes pick up the ears to move round about after 131, CD casket 13 is opened,
Mechanical arm assembly 3 is moved downward to CD manipulator 31 and is inserted into cd center hole, and mechanical arm assembly 3 moves up taking-up CD,
For disk casket folding finger 325 again insertable into picking up the ears 131, disk casket folding finger 325 is moved to closing CD casket, mechanical arm assembly simultaneously
3 move down again, disk casket folding finger 325 be detached from it is with holes pick up the ears 131, the entire action process of disk casket folding is as shown, then
Corresponding CD-ROM drive is successively opened, and CD is successively put into CD-ROM drive by mechanical arm assembly 3, and left and right mechanical arm assembly 2,3 opens and closes CD casket 13
Movement it is identical, left and right mechanical arm assembly 2,3 independently of each other move, by different Serve Motor Controls.
In the present embodiment, above-mentioned rotating cage includes main shaft 11, dividing plate 12, CD casket 13, shaft 14, and CD casket 13 is pairs of
It is distributed around main shaft 11, is separated between every layer of CD casket 13 by dividing plate 12 layer by layer, the mounting hole 132 of CD casket 13 is mounted on
In shaft 14,14 rotation around the shaft of CD casket 13, each pair of CD casket 13 is all symmetrical about its center line, and CD casket 13 is towards far from
When heart line direction rotates, CD casket 13 is opened, and to when rotating close to centerline direction, CD casket 13 is closed CD casket 13.
In the present embodiment, the above-mentioned construction of left and right mechanical arm assembly 2,3 is similar, all includes CD manipulator 31, the folding of disk casket
Manipulator 32, mounting plate 33, CD manipulator 31 and disk casket retractable mechanical system design hand 32 are all mounted on mounting plate 33, mounting plate installation
On 61 sliding block of guide rail, CD manipulator 31 and disk casket retractable mechanical system design hand 32 are mobile with mounting plate 33 together.
In the present embodiment, above-mentioned disk casket retractable mechanical system design hand 32 includes servo motor 321, synchronous belt 322, lead screw 323, guide rail
324, disk casket opens and closes finger 325, mounting plate 326, the mounting plate 326 and mechanical arm assembly mounting plate 33 of disk casket retractable mechanical system design hand 32
It is connected, disk casket folding finger 325 is mounted on 323 nut of lead screw to be moved along guide rail 324, and servo motor 321 passes through synchronous belt
322 drive the forward and reverse rotation of lead screw 323, and disk casket folding finger 325 moves back and forth along guide rail 324.
In the present embodiment, there is protrusion in above-mentioned disk casket folding 325 one end of finger, and CD casket side with holes can be inserted in boss
Ear 131.
Claims (5)
1. a kind of optical storage system of double-manipulator folding CD casket, including rotating cage (1), left mechanical arm assembly (2), right manipulator
Component (3), left CD-ROM drive component (4), right CD-ROM drive component (5), bracket (6), pedestal (7) have multiplayer optical disk casket (13) in rotating cage, often
It is separated between layer CD casket by dividing plate (12), every layer of CD casket is all distributed in pairs, and each pair of CD casket is all about its center
Line is symmetrical, and bracket (6) is made of lead screw (62) and guide rail (61), and left (2) right (3) mechanical arm assembly is located at bracket (6) two
Side, mechanical arm assembly (2), (3) include CD manipulator (31), disk casket retractable mechanical system design hand (32), mounting plate (33), and left and right is mechanical
Hand component (2), (3) are separately mounted on mutually independent lead screw (62) and guide rail (61), are not interfered between each other, left and right CD-ROM drive
Component (4), (5) are distributed in bracket (6) two sides, correspond with left and right (2), (3) mechanical arm assembly, CD-ROM drive component (4), (5)
It is made of multilayer CD-ROM drive, pedestal (7) includes castor (71) and support plate (72), and having on disk casket retractable mechanical system design hand (32) can move
Dynamic disk casket opens and closes finger (325), and right mechanical arm assembly (3) folding CD casket process is that mechanical arm assembly (3) is moved to target
On the downside of disk casket, disk casket folding finger (325) of disk casket retractable mechanical system design hand (32) is moved to pick up the ears (131) with holes of CD casket (13)
In the following, mechanical arm assembly (3) integrally moves up, folding finger (325) insertion is with holes to pick up the ears to move round about after (131)
Dynamic, CD casket (13) is opened, and mechanical arm assembly (3) is moved downward to CD manipulator (31) insertion cd center hole, manipulator
Component (3) moves up taking-up CD, while disk casket folding finger (325), again insertable into pick up the ears (131), disk casket opens and closes finger
(325) it is moved to closing CD casket, mechanical arm assembly (3) moves down again, and disk casket folding finger (325) is detached from holes pick up the ears
((131) then correspond to CD-ROM drive and successively open, and CD is successively put into CD-ROM drive, left and right mechanical arm assembly by mechanical arm assembly (3)
(2), the movement of (3) folding CD casket (13) is identical, and left and right mechanical arm assembly (2), (3) move independently of each other, is watched by different
Take motor control.
2. disk casket pull plug type optical storage data center according to claim 1 control system, which is characterized in that institute
The rotating cage stated includes main shaft (11), dividing plate (12), CD casket (13), shaft (14), and CD casket (13) is paired around main shaft
(11) it is distributed, is separated between every layer of CD casket (13) by dividing plate (12) layer by layer, mounting hole (132) installation of CD casket (13)
On shaft (14), CD casket (13) rotates around the shaft (14), and each pair of CD casket (13) is all symmetrical about its center line, CD casket
(13) towards far from centerline direction rotation when, CD casket (13) is opened, when CD casket (13) is to close to centerline direction rotation, light
Disk casket (13) closure.
3. the optical storage system of double-manipulator folding CD casket according to claim 1, which is characterized in that the left and right
Mechanical arm assembly (2), (3) construction it is similar, all include CD manipulator (31), disk casket retractable mechanical system design hand (32), mounting plate (33),
CD manipulator (31) and disk casket retractable mechanical system design hand (32) are all mounted on mounting plate (33), and it is sliding that mounting plate is mounted on guide rail (61)
On block, CD manipulator (31) and disk casket retractable mechanical system design hand (32) are mobile with mounting plate (33) together.
4. the optical storage system of double-manipulator folding CD casket according to claim 1, which is characterized in that the disk casket
Retractable mechanical system design hand (32) includes servo motor (321), synchronous belt (322), lead screw (323), guide rail (324), disk casket folding finger
(325), the mounting plate (326) of mounting plate (326), disk casket retractable mechanical system design hand (32) is connected with mechanical arm assembly mounting plate (33)
It connects, disk casket folding finger (325) is mounted on lead screw (323) nut along guide rail (324) movement, and servo motor (321) passes through same
Step band (322) drives lead screw (323) forward and reverse rotation, and disk casket folding finger (325) moves back and forth along guide rail (324).
5. the optical storage system of double-manipulator folding CD casket according to claim 1, which is characterized in that the disk casket
There is protrusion in folding finger (325) one end, and CD casket pick up the ears (131) with holes can be inserted in boss.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710623366.8A CN109308915B (en) | 2017-07-27 | 2017-07-27 | Optical storage system of double-manipulator opening and closing optical disc cartridge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710623366.8A CN109308915B (en) | 2017-07-27 | 2017-07-27 | Optical storage system of double-manipulator opening and closing optical disc cartridge |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109308915A true CN109308915A (en) | 2019-02-05 |
| CN109308915B CN109308915B (en) | 2023-06-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710623366.8A Active CN109308915B (en) | 2017-07-27 | 2017-07-27 | Optical storage system of double-manipulator opening and closing optical disc cartridge |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238832A (en) * | 2019-06-11 | 2019-09-17 | 宁夏信通网络科技有限公司 | The invitation system read automatically based on CD |
| CN111554330A (en) * | 2020-06-12 | 2020-08-18 | 北京中科开迪软件有限公司 | Rotary type optical disk storage box with rotary-opening closed type disk box |
| CN112634948A (en) * | 2020-12-29 | 2021-04-09 | 北京中科开迪软件有限公司 | Full-automatic CD data reader |
| CN114283855A (en) * | 2020-09-27 | 2022-04-05 | 上海强然数码科技有限公司 | Storage system |
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| 曹强;严文瑞;姚杰;谢长生;: "一种超大容量自动光盘库的设计与实现" * |
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| CN110238832A (en) * | 2019-06-11 | 2019-09-17 | 宁夏信通网络科技有限公司 | The invitation system read automatically based on CD |
| CN111554330A (en) * | 2020-06-12 | 2020-08-18 | 北京中科开迪软件有限公司 | Rotary type optical disk storage box with rotary-opening closed type disk box |
| CN114283855A (en) * | 2020-09-27 | 2022-04-05 | 上海强然数码科技有限公司 | Storage system |
| CN114283855B (en) * | 2020-09-27 | 2024-06-07 | 上海强然数码科技有限公司 | Storage system |
| CN112634948A (en) * | 2020-12-29 | 2021-04-09 | 北京中科开迪软件有限公司 | Full-automatic CD data reader |
| CN112634948B (en) * | 2020-12-29 | 2023-12-19 | 北京中科开迪软件有限公司 | Full-automatic CD data reader |
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| CN109308915B (en) | 2023-06-13 |
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