CN111653294B - Disc picking and placing device and operation method thereof - Google Patents
Disc picking and placing device and operation method thereof Download PDFInfo
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- CN111653294B CN111653294B CN202010580181.5A CN202010580181A CN111653294B CN 111653294 B CN111653294 B CN 111653294B CN 202010580181 A CN202010580181 A CN 202010580181A CN 111653294 B CN111653294 B CN 111653294B
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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
- G11B17/02—Details
- G11B17/038—Centering or locking of a plurality of discs in a single cartridge
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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
- G11B17/08—Guiding record carriers not specifically of filamentary or web form, or of supports therefor from consecutive-access magazine of disc records
- G11B17/12—Guiding record carriers not specifically of filamentary or web form, or of supports therefor from consecutive-access magazine of disc records with axial transfer to the turntable from a stack with a vertical axis
Abstract
A disc picking and placing device comprises a picking and placing body and a quantity measuring unit. The pick-and-place body is used for clamping or unloading at least one disc. The quantity measuring unit is arranged on the pick-and-place piece body and used for measuring the quantity of the discs clamped on the pick-and-place piece body, and the quantity measuring unit comprises a movable piece and an optical distance measuring device. The movable member is supported on the disc and moves as the number of the discs changes. The optical distance measuring device is used for emitting a light beam, and the optical distance measuring device receives the light beam reflected by the movable part so as to detect the number of the discs.
Description
The application is a divisional application.
Application date of the original application: 2017.11.07 application No.: 201711083853.6
The invention name is as follows: disc picking and placing device and operation method thereof
Technical Field
The present invention relates to a pick-and-place device, and more particularly, to a pick-and-place device for a disc and an operation method thereof.
Background
In a disc database using discs as data storage media, the disc database generally includes a plurality of disc drives, a disc library for placing a plurality of discs, and a disc pick-and-place device. The disk picking and placing device is used for picking up and unloading disks and transporting the disks between the disk library and the disk drive, for example, picking up the disks from the disk library and moving and unloading the disks to the disk drive, or picking up the disks from the disk drive and moving and unloading the disks to the disk library. In order to improve the carrying efficiency of the discs, the disc picking and placing device can clamp and carry a plurality of discs at one time, for example, the disc picking and placing device can pick up a plurality of discs from the disc library, carry and unload the discs to the respective corresponding disc machines; the disk picking and placing device can also pick up the disks placed in each disk machine and clamp the disks on the disk picking and placing device, and then the clamped disks are placed back in the disk library.
Although the disc picking and placing device can clamp a plurality of discs and transport the plurality of discs at a time, the disc drive can generally read only a single disc, so that how to unload the single disc from the plurality of discs clamped by the disc picking and placing device to each disc drive is one of the subjects of the skilled in the art.
In addition, in order to determine the number of discs gripped by the disc gripping device, the conventional disc gripping device corresponds to the total height of the gripped discs by the movement amount of the probe, and the total height of the gripped discs is used as a basis for determining the number of the gripped discs. The judging method is that a probe structure is additionally arranged on one side of the disc picking and placing device, so that the probe can be abutted against the surface of a clamped disc. However, the probe directly contacts the surface of the disk, which is likely to cause scratching or damage to the disk.
Disclosure of Invention
The invention relates to a disc picking and placing device and an operation method thereof, which are used for picking and unloading discs.
The invention discloses a disc taking and placing device which comprises a disc taking and placing body and a quantity measuring unit. The pick-and-place body is used for clamping or unloading at least one disc. The quantity measuring unit is arranged on the pick-and-place piece body and used for measuring the quantity of the discs clamped on the pick-and-place piece body, and the quantity measuring unit comprises a movable piece and an optical distance measuring device. The movable member is supported on the disc and moves as the number of the discs changes. The optical distance measuring device is used for emitting a light beam, and the optical distance measuring device receives the light beam reflected by the movable part so as to detect the number of the discs.
The invention also discloses an operation method of the disc picking and placing device, the disc picking and placing device comprises a disc picking and placing body and a movable piece, the disc picking and placing body is used for clamping or unloading at least one disc, and the movable piece is supported on the disc and moves along with the change of the number of the discs. The operation method comprises the following steps: emitting a light beam and receiving the light beam reflected by the movable member to detect the number of the discs; and judging whether the number of the discs clamped on the pick-and-place body is in accordance with the correct number of the discs.
Drawings
Fig. 1A and 1B are schematic external views of a disc picking and placing device according to an embodiment of the present invention.
Fig. 1C and fig. 1D are schematic external views of a picking member and a picking member according to an embodiment of the invention.
Fig. 2A is a schematic view of the disc picking and placing device in the first operating state and a partial enlarged view of the disc abutting portion.
Fig. 2B is a schematic view of the disc picking and placing device in the second operation state and a partial enlarged view of the disc abutting portion.
Fig. 2C is a schematic view of the disc picking and placing device in the third operating state and a partial enlarged view of the disc abutting portion.
Fig. 2D is a schematic view of the disc picking and placing device in a fourth operation state and a partial enlarged view of the disc abutting portion.
Fig. 3A and 3B are schematic external views of a disc picking and placing device according to another embodiment of the present invention.
Wherein, the reference numbers:
10: disc 10C: center circular hole
10S: edge 11: first disc
12: second disc 20: carrying disc
21: disk drives 100, 101: disc taking and placing device
111: taking and placing the sheet body 110: support body
120: the picking member 121: elastic rod
122: first bearing part 123: second bearing part
123 a: tapered tip 124: first trench
125: second groove 130: driver
132: the motor 134: central gear
136: driven gear 140: quantity measuring unit
141: movable member 142: movable rod
143: support bar 144: reflecting plate
145: optical distance measuring device 146: debugging unit
150: the sheet pulling member 151: elastic rod
152: the wedge 153: bearing part
P1: first site P2: the second part
P3: third site P4: the fourth part
L: light beam
Detailed Description
The following embodiments are provided for illustrative purposes only and are not intended to limit the scope of the present invention. The following description will be given with the same/similar reference numerals as used for the same/similar elements.
Fig. 1A and 1B are schematic external views of a disc picking and placing device 100 before and after picking according to an embodiment of the present invention. Fig. 1C and fig. 1D are schematic external views of the picking member 120 and the picking member 150 according to an embodiment of the invention. Fig. 2A to 2D are schematic views of the disc picking and placing device 100 in the first, second, third and fourth operating states and partial enlarged views of the disc contacting portions, respectively.
Referring to fig. 1A and 1B, a disc picking and placing device 100 according to an embodiment of the present invention is used for picking and holding a plurality of discs 10 and sequentially unloading the discs 10 to a plurality of disc drives. The disc picking and placing device 100 of the present embodiment includes a supporting body 110, a plurality of picking members 120 and a driver 130. The supporting body 110 has a central column 112, the central column 112 can be inserted into the central circular holes 10C of the stacked discs 10, and the picking members 120 can elastically abut against the edge 10S (outer edge) of the disc, so that the disc picking and placing device 100 can pick or place the disc.
In the embodiment, the picking member 120 is disposed on the supporting body 110, and the picking member 120 is disposed around the supporting body 110 and elastically abuts against the edges 10S of the discs 10 to form a positioning structure having at least three positioning points, and the distance from the picking member 120 to the center of the disc is about the radius of the disc 10, so that the picking member 120 can tightly abut against the disc 10. The pick-up member 120 can not only hold and unload the disc, but also provide an elastic guiding effect to prevent the disc 10 from shaking or deflecting during the loading process.
Referring to fig. 1B and fig. 1C, the picking member 120 includes an elastic rod 121, a first bearing portion 122 and a second bearing portion 123, the elastic rod 121 is a circular rod in the embodiment, but may be in other shapes, and the invention is not limited thereto. Each elastic rod 121 extends to the edge 10S of the discs 10 in parallel, the first bearing portion 122 and the second bearing portion 123 are located on the elastic rods 121, and the first bearing portion 122 and the second bearing portion 123 are partially overlapped in the axial direction (Z direction) of the elastic rods 121 and are spaced apart from each other by a certain distance. This spacing is about the thickness of a single disc or 1.5 times the thickness of a disc. The first bearing portion 122 and the second bearing portion 123 are integrally formed on the elastic rod 121, or are externally disposed on the elastic rod 121.
Referring to fig. 1C, in order to make the elastic rod 121 have sufficient flexibility, at least one first groove 124 (e.g., an arc-shaped groove) and/or at least one second groove 125 (e.g., an arc-shaped groove) is formed on a surface of the elastic rod 121, the first groove 124 faces a first direction (e.g., an X direction), the second groove 125 faces a second direction (e.g., a Y direction), the first direction is different from the second direction (e.g., perpendicular to or parallel to each other), the first groove 124 extends in a first plane, the second groove 125 extends in a second plane, the first plane is substantially parallel to a stress direction of the elastic rod 121, and the first plane and the second plane are substantially parallel and not coplanar. The first plane and the second plane are substantially parallel to the radial direction of the elastic rod 121 or inclined at a certain angle, so that when the elastic rod 121 holds the disc 10 and is pushed out by the disc 10, the elastic rod 121 can be flexibly bent through the first groove 124 and the second groove 125, and the elastic rod returns to the upright state after the external force disappears.
The first groove 124 and the second groove 125 may be formed by wire-cutting the elastic rod 121, and the elastic rod 121 may be made of metal or plastic, and has a flexible characteristic after wire-cutting, so as to increase elasticity. Of course, the elastic rod 121 may also generate sufficient elasticity by the characteristics or structure of the material itself, which is not limited in the present invention.
In an embodiment, the widths of the first bearing part 122 and the second bearing part 123 are equal to or greater than 1/4 circumference of the elastic rod 121, the first bearing part 122 includes a first portion P1 and a second portion P2, the second bearing part 123 includes a third portion P3 and a fourth portion P4, wherein the second portion P2 and the third portion P3 overlap each other, the second portion P2 and the third portion P3 are located between the first portion P1 and the fourth portion P4, and the first portion P1 and the fourth portion P4 do not overlap each other in the axial direction. For example, the first supporting portion 122 and the second supporting portion 123 have 1/2 widths overlapping each other, and the remaining 1/2 widths do not overlap each other.
In this embodiment, the disc picking and placing device 100 can drive each elastic rod 121 to rotate by the driver 130 to enter the first operating state, the second operating state, the third operating state or the fourth operating state, so that the first bearing portion 122 and the second bearing portion 123 move to the disc releasing position or the disc holding position, thereby completing the disc picking or placing operation.
Referring to fig. 1A, the driver 130 includes a motor 132, a central gear 134 and a plurality of driven gears 136, the central gear 134 and the driven gears 136 are disposed on the supporting body 110 and are engaged with each other, the motor 132 drives the central gear 134 and the driven gears 136 to rotate, so that the disc picking and placing apparatus 100 is switched among a first operation state, a second operation state, a third operation state and a fourth operation state. In addition to the gear transmission, the driver 130 may also adopt a belt transmission or directly drive the picking member 120 and the pick-up member 150 by a plurality of motors, which is not limited in the present invention.
In addition, referring to fig. 1B and fig. 1D, the disc picking and placing device 100 may further include a picking member 150. The pick-up member 150 includes an elastic rod 151, a wedge 152, and a bearing part 153. The elastic rod 151 is a round rod in the embodiment, however, other shapes are also possible, and the invention is not limited thereto. The elastic rod 151 is fixedly coupled to one of the driven gears 136 and rotates with the driven gear 136. The carrying portion 153 functions as the first carrying portion 122, and is movable to a disc fixing position or a disc releasing position. The driver 130 can drive the picking member 120 and the picking member 150 to rotate at the same time, so that the disc picking and placing device 100 can pick discs through the picking member 150 when the disc picking and placing device performs disc placing operations. In addition, the picking member 150 may also have a first groove 124 and/or a second groove 125 formed thereon, such as on each picking member 120, for generating a flexible bending effect when holding the disc 10.
Referring to fig. 2A to 2D, an operation method of the disc picking and placing device 100 is shown. First, in fig. 2A, a plurality of discs 10 are placed on a tray 20 of a disc library, including a first disc 11 and a second disc 12 from bottom to top. When the disc picking and placing device 100 is to pick up a plurality of discs 10, the elastic rods 121 are driven to rotate, so that the disc picking and placing device 100 enters a first operation state. In the first operation state, the center post 112 is inserted into the center hole of the plurality of discs 10, and each picking member 120 elastically abuts against the edge of the disc 10, and at this time, the first bearing portion 122 and the second bearing portion 123 are located at the disc releasing position, that is, the first bearing portion 122 and the second bearing portion 123 are both dislocated from the edge 10S of the disc 10 without overlapping, so as to prepare for the disc picking operation.
Next, in fig. 2B, the driver 130 drives each picking member 120 to rotate, so that the disc picking and placing device 100 enters a second operation state, in which the first bearing portion 122 is located at the disc holding position, and the second bearing portion 123 is located at the disc releasing position, that is, the first portion P1 of the first bearing portion 122 overlaps with the edge of the first disc 11, and the second bearing portion 123 is misaligned with and does not overlap with the edge of the first disc 11, so that the plurality of discs 10 can bear on the first bearing portion 122 in the second operation state, at this time, the position of the first bearing portion 122 corresponds to the lower side of the first disc 11, so as to complete the operation of the disc picking and placing device 100 for clamping the plurality of discs 10. Then, the disc picking and placing device 100 can move the plurality of discs 10 to a corresponding disc drive 21 for preparing the disc picking and placing operation.
In fig. 2C, when the disc picking and placing apparatus 100 intends to unload the disc 10, the driver 130 drives each picking member 120 to rotate, so that the disc picking and placing apparatus 100 enters a third operating state, in which the first carrying portion 122 is located at the disc holding position, and the second carrying portion 123 is located at the disc holding position, that is, the second portion P2 of the first carrying portion 122 corresponds to the edge of the first disc 11, and the third portion P3 of the second carrying portion 123 corresponds to the edge of the second disc 12, and can be inserted between the first disc 11 and the second disc 12 (as shown in fig. 2C), or the third portion P3 of the second carrying portion 123 can directly abut against the edge of the second disc 12, so as to produce a holding effect on the second disc 12. When the second bearing portion 123 directly abuts against the edge of the second disc 12, the edge of the disc is not damaged because the elastic rod 121 has flexibility.
In one embodiment, the second bearing portion 123 has a tapered tip 123a, and when the second bearing portion 123 is in the third operating state, the tapered tip 123a is inserted into the gap between the first disc 11 and the second disc 12 to support the second disc 12.
Next, in fig. 2D, the driver 130 drives each picking member 120 to rotate, so that the disc picking and placing apparatus 100 enters a fourth operating state, in which the first carrying portion 122 is located at the disc releasing position, and the second carrying portion 123 is located at the disc holding position, that is, the first carrying portion 122 is offset from the edge of the first disc 11 and is not overlapped, and the fourth portion P4 of the second carrying portion 123 is overlapped with the edge of the second disc 12 to generate a holding effect, so that the first disc 11 cannot bear on the first carrying portion 122 in the fourth operating state and is unloaded, thereby completing the disc placing operation. Then, the disc picking and placing device 100 can move the plurality of discs 10 to the next corresponding disc drive 21 for the next disc picking and placing operation.
In fig. 2D, when the disc picking and placing apparatus 100 enters the fourth operating state from the third operating state, the driver 130 drives the elastic rod 151 of the pick-up member 150 to rotate to the disc pick-up position. The elastic rod 151 is provided with a wedge 152 at the disc-picking position, and the wedge 152 is used to separate the first disc 11 from the second disc 12. As shown in fig. 1D and fig. 2D, the width of the wedge 152 gradually increases from one end to the other end, and when one end of the wedge 152 is inserted between two adjacent discs and rotates, the width of the gap between two adjacent discs can be relatively increased along with the increase of the width of the wedge 152, so that the disc picking and placing device 100 completes the picking operation.
In one embodiment, when the discs 10 are stacked, if there is not enough gap width between the discs or there is no printing ink on the surfaces of the discs, electrostatic adsorption is easily generated after a period of storage in a high temperature and high humidity environment, which may cause the discs 10 to be unable to be separated, so the disc picking and placing apparatus 100 of the present embodiment adds the disc-shifting member 150 and uses the wedge 152 to increase the gap width between the discs 10, so that the discs 10 can be separated against the electrostatic adsorption force, which is favorable for unloading the discs 10.
In this embodiment, when the disc picking and placing device 100 is going to unload the disc 10 next time, the driver 130 drives each elastic rod 121 to rotate in reverse direction, so that the disc picking and placing device 100 returns to the second operation state (see fig. 2B) from the fourth operation state, and then drives each elastic rod 121 to rotate in forward direction, so that the disc picking and placing device 100 enters the fourth operation state from the second operation state, so as to complete a disc placing operation. Repeating the above steps can complete the next film placing action, and so on. After all the discs 10 are unloaded, the driver 130 drives the elastic rods 121 to rotate reversely, so that the disc picking and placing device 100 returns to the first operating state (see fig. 2A), and at this time, the first bearing portion 122 and the second bearing portion 123 are both located at the disc releasing position, and then the disc picking operation is performed again.
The disc picking and placing device 100 and the operation method thereof according to the above embodiments of the present invention utilize the driver to drive the plurality of picking members for picking and placing the disc. Compared with the conventional method of clamping the disc by the clamping structure on the central column, the assembly structure of the disc picking and placing device 100 of the present embodiment is simplified, and the operation of picking and placing the disc is effectively and rapidly performed to reduce the error rate and avoid scratching or damaging the disc.
Fig. 3A and 3B are schematic external views of a disc picking and placing device 101 according to another embodiment of the present invention. Referring to fig. 3A, the disc picking and placing device 101 includes a picking and placing body 111 and a number measuring unit 140. The pick-and-place body 111 is used to clamp or unload at least one disc 10, and the pick-and-place body 111 may be the disc pick-and-place device 100 described in the above embodiments or other types of disc pick-and-place devices, for example, the center post 112 of the pick-and-place body 111 may be inserted into the center hole of the disc 10, and a clamping mechanism (not shown) is used to clamp the edge of the center hole of the disc 10 to pick up or unload the disc 10, so as to perform the action of picking or placing the disc.
In addition, the number measuring unit 140 is disposed on the pick-and-place body 111 for measuring the number of the discs 10 clamped on the pick-and-place body 111. The quantity measuring unit 140 includes a movable member 141 and an optical distance measuring device 145, and the movable member 141 is supported on the disc 10 and moves as the quantity of the disc 10 changes. The optical distance measuring device 145 emits a light beam L and receives the light beam L reflected by the movable member 141 to detect the number of the discs 10. The optical distance measuring device 145 may be a laser distance measuring device or an infrared distance measuring device, but the invention is not limited thereto, the optical path of the light beam L is related to the height of the disc 10, and the number measuring unit 140 can further know the number of the disc 10 according to the height of the disc 10.
As shown in fig. 3A and 3B, when the number of discs 10 decreases, the height of the movable member 141 also decreases, so the number measuring unit 140 can calculate the height of the movable member 141 according to the reflection signal received by the optical distance measuring device 145 to obtain the number of discs 10. In addition, the quantity measuring unit 140 may calculate whether the height of the movable member 141 descending after each piece placement is the thickness of one disc through the reflection signal received by the optical distance measuring device 145 to determine whether the number of pieces placed by the piece taking and placing body 111 is a single disc.
Referring to fig. 3A, the movable member 141 is disposed on the center post 112, and the center post 112 can be inserted into the central circular hole 10C of the disc. The center post 112 has a hollow therein. The movable member 141 includes a movable rod 142, a support rod 143, and a reflection plate 144.
The movable rod 142 is disposed in the central column 112, and one end of the movable rod 142 is located outside the central column 112 and is supported on the uppermost disc 10, wherein the movable rod 142 moves with the number of discs 10. The support rod 143 is disposed in the central column 112 and vertically connected to the movable rod 142. The reflective plate 144 is disposed on the supporting rod 143 for reflecting the light beam L. In the present embodiment, the movable bar 142, the support bar 143, and the reflection plate 144 are connected to each other in an i-shaped structure. Although the movable rod 142 contacts the disc 10, the movable rod 142 is supported at the central circular hole of the disc 10, which is the disc clamping area and not the data area, the movable rod 142 can be designed to be a circular arc surface or the surface of the movable rod is made of soft material to avoid scratching the disc 10, and even if the central circular hole of the disc 10 contacts the movable rod 142, the data area of the disc 10 will not be scratched or damaged.
The disc pick-and-place apparatus 101 may further include a debug unit 146. The error detecting unit 146 is connected to the number measuring unit 140 for determining whether the number of the discs held by the disc picking and placing device 101 is correct, and further controlling the disc picking and placing device 101 to pick and/or place the discs. In the present embodiment, the error detecting unit 146 determines whether the operation of picking up or placing the disc is erroneous according to the number of discs provided by the number measuring unit 140, and then determines the next step.
The operation steps of the disc picking and placing device 101 are as follows. First, before picking up the disc, the disc picking and placing device 101 sets the correct number of discs to be picked up, and it is assumed that 12 discs to be picked up are set by the disc picking and placing device 111 before picking up the disc, i.e. the correct number of discs is 12. Then, the pick-and-place body 111 picks up the disc 10 and clamps the disc on the pick-and-place body 111. When the error detecting unit 146 determines that the number of the discs 10 clamped on the pick-and-place body 111 does not conform to the correct number of discs, for example, the number of the discs which are too large or too small is picked up, the pick-and-place body 111 performs the pick-and-place operation again; when the number of the discs clamped on the disc taking and placing body 111 is judged to be in accordance with the correct number of the discs, the disc taking and placing body 111 is moved to a corresponding disc machine to prepare for disc taking.
Similarly, the disc picking and placing device 101 can set the correct number of discs after disc placement before disc placement. It is assumed that before the disc is placed, the disc picking and placing device 101 sets 1 disc to be unloaded, i.e. the number of correct discs after the disc is placed is set to 11. After the pick-and-place body 111 is used for placing the disc, when the number of the discs clamped on the pick-and-place body 111 is judged to be in accordance with the correct number of the discs, the pick-and-place body 111 is moved to another corresponding disc machine and is ready for next disc placement; when the number of the discs clamped on the pick-and-place body 111 is determined not to be in accordance with the correct number of discs, for example, too many or too few discs are unloaded, the pick-and-place body 111 retrieves the unloaded discs 10 and performs the pick-and-place operation again.
The disc picking and placing device 101 can repeat the above steps until all discs 10 clamped on the picking and placing body 111 are unloaded.
The disc picking and placing device and the operation method thereof disclosed in the above embodiments of the present invention use optical ranging as the basis for determining the number of discs, and accordingly perform disc picking/placing actions and error detection. In addition, the invention adopts optical ranging, and does not need to reserve a space for installing the probes, thereby avoiding the need of adding an additional assembly structure when the probes are used as the basis for judging the quantity, and avoiding the problem of disc scratching or damage caused by direct contact between the disc and the probes.
In summary, although the present invention has been described with reference to the above embodiments, the present invention is not limited thereto. Those skilled in the art to which the invention pertains will appreciate that various modifications and improvements can be made without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention is subject to the scope defined by the claims.
Claims (5)
1. A disc picking and placing device is characterized by comprising:
the pick-and-place body is used for clamping or unloading at least one disc; and
the quantity measuring unit is arranged on the pick-and-place piece body and used for measuring the quantity of the at least one disc clamped on the pick-and-place piece body, and the quantity measuring unit comprises:
a movable member supported on at least one disc and moving with the number of the discs, the movable member being disposed on a center post insertable into a center hole of the disc, the movable member comprising:
the movable rod is arranged in the central column, one end of the movable rod is positioned outside the central column and is supported on the discs, and the movable rod moves along with the change of the number of the discs;
the support rod is arranged in the central column and is vertically connected with the movable rod; and
the reflecting plate is arranged on the supporting rod and used for reflecting the light beam; and
an optical distance measuring device for emitting a light beam, the optical distance measuring device receiving the light beam reflected by the movable member to detect the number of the discs.
2. The disc picking and placing device according to claim 1, further comprising a debugging unit connected to the number measuring unit for determining whether the number of the discs clamped on the picking and placing body matches the correct number of discs.
3. The disc picking and placing device of claim 2, wherein before picking the disc, the correct number of discs to be picked is set, wherein after picking the disc, when the error detecting unit determines that the number of discs clamped on the picking and placing body does not accord with the correct number of discs, the picking and placing body performs the disc picking operation again, and when determining that the number of discs clamped on the picking and placing body accords with the correct number of discs, the picking and placing body moves to a corresponding disc machine and performs the disc placing; and
before the pick-up body is used for picking up the discs, the correct number of the discs after the discs are put is set, wherein after the pick-up body is used for putting the discs, when the number of the discs clamped on the pick-up body is judged to be in accordance with the correct number of the discs, the pick-up body is moved to another corresponding disc machine for carrying out the disc putting, and when the number of the discs clamped on the pick-up body is judged not to be in accordance with the correct number of the discs, the pick-up body takes back the unloaded discs and carries out the disc putting again.
4. An operation method of a disc picking and placing device comprises a picking and placing body and a movable piece, wherein the picking and placing body is used for clamping or unloading at least one disc, the movable piece is supported on the disc and moves along with the change of the number of the discs, the movable piece comprises a movable rod, a support rod and a reflecting plate, one end of the movable rod is positioned outside a central column and supported on the disc, the support rod is arranged in the central column and vertically connected with the movable rod, and the reflecting plate is arranged on the support rod, and the operation method comprises the following steps:
the movable piece is arranged on the central column, and the central column can be inserted into the central round hole of the disc;
emitting a light beam and receiving the light beam reflected by the movable member to detect the number of the discs; and
judging whether the number of the discs clamped on the pick-and-place body is in accordance with the correct number of the discs.
5. The operating method according to claim 4, wherein before picking up the disc, the correct number of discs to be picked up is set, wherein after picking up the disc, when the number of discs clamped on the disc picking up body is determined not to be in accordance with the correct number of discs, the disc picking up body performs a disc picking up operation again, and when the number of discs clamped on the disc picking up body is determined to be in accordance with the correct number of discs, the disc picking up body moves to a corresponding disc machine and carries out disc picking up; and
before the pick-up body is used for picking up the discs, the correct number of the discs after disc picking-up is set, wherein after the pick-up body is used for picking up the discs, when the number of the discs clamped on the pick-up body is judged to be in accordance with the correct number of the discs, the pick-up body is moved to another corresponding disc machine for disc picking-up, and when the number of the discs clamped on the pick-up body is judged not to be in accordance with the correct number of the discs, the pick-up body takes back the unloaded discs and carries out disc picking-up again.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201762562549P | 2017-09-25 | 2017-09-25 | |
| US62/562,549 | 2017-09-25 | ||
| CN201711083853.6A CN109559762B (en) | 2017-09-25 | 2017-11-07 | Disc picking and placing device and operation method thereof |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711083853.6A Division CN109559762B (en) | 2017-09-25 | 2017-11-07 | Disc picking and placing device and operation method thereof |
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| CN111653294A CN111653294A (en) | 2020-09-11 |
| CN111653294B true CN111653294B (en) | 2022-02-01 |
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| CN202010580181.5A Active CN111653294B (en) | 2017-09-25 | 2017-11-07 | Disc picking and placing device and operation method thereof |
| CN201711083853.6A Active CN109559762B (en) | 2017-09-25 | 2017-11-07 | Disc picking and placing device and operation method thereof |
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| CN110821928B (en) * | 2019-10-18 | 2022-04-19 | 四川航天川南火工技术有限公司 | Light and thin piece assembling system for igniter powder surface |
| CN112061794B (en) * | 2020-09-01 | 2022-08-23 | 广东智源机器人科技有限公司 | Separating mechanism and feeding device |
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| CN109559762B (en) | 2020-07-24 |
| CN109559762A (en) | 2019-04-02 |
| CN111653294A (en) | 2020-09-11 |
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