CN113035243A

CN113035243A - Optical disk processing system and method

Info

Publication number: CN113035243A
Application number: CN202110172446.2A
Authority: CN
Inventors: 贾朝东; 华翔; 贾然
Original assignee: Shanghai Qiangran Digital Technology Co ltd
Current assignee: Shanghai Qiangran Digital Technology Co ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-06-25
Anticipated expiration: 2041-02-08
Also published as: CN113035243B

Abstract

The invention relates to the technical field of optical disc recording, in particular to an optical disc processing system, which comprises a recording optical disc storage rack, a server, an optical disc driver, an optical disc bracket and a grabbing manipulator, wherein the server, the optical disc driver, the optical disc bracket and the grabbing manipulator are all arranged in the recording optical disc storage rack; the server carries out linkage control on the optical disk drive and the grabbing manipulator; the optical disk drive opens the optical disk tray door in response to the control of the server; the grabbing manipulator grabs the empty optical disc in response to the control of the server; the grabbing manipulator distributes the empty optical disks to the optical disk brackets; the optical disc tray closes the optical disc tray door; the optical disk driver records the empty optical disk; after the recording is finished, opening the optical disc bracket door; and the grabbing manipulator places the recorded compact disc on the recording compact disc storage rack.

Description

Optical disk processing system and method

Technical Field

The invention relates to the technical field of optical disc recording, in particular to an optical disc processing system and a method thereof.

Background

As a solution for large-scale data storage, optical storage has many unique and superior technical features, and compared to magnetic storage and semiconductor storage, optical storage has its own extremely wide application in the fields of data backup, archival storage, secure storage, long-term storage, and the like.

The existing storage device comprises a housing, an optical disc storage device, a disc-changing mechanism, an optical disc drive, an external interface and a controller, wherein the housing is provided with an optical disc access. The CD storage device is used for storing CD, the CD driver is arranged in the shell and is used for reading and writing the CD, and the CD is stored in the grating disk on the rotating wheel. Optical disc storage devices are used to store optical discs. The CD driver is set in the shell to drive the CD to pass in and out on the rotating wheel. The following three points can not be achieved:

1. high density, high volume, high availability optical disc cartridge data management.

2. Higher intelligence of the underlying data.

3. The equipment is safe, efficient and quick to operate.

With the advent of the big data age, the rapid expansion of data scale, and the large-scale clustering and distribution of optical storage systems put higher demands on the storage of a large number of optical discs. Therefore, the application of discs in large-scale optical disc libraries is developed from previous individual storage application of each disc into several or dozens of discs as a whole storage application, which puts higher requirements on the structure responsible for the grabbing, distributing and recording of the optical discs, and the stability, reliability and high efficiency of the operation are particularly important.

So far, most of general optical storage devices are stored in a grating disk mode, a switch positioned below the grating disk triggers a driving motor positioned below a rotating wheel body to eject an optical disk positioned in the grating disk, and the optical disk is separated from the grating disk under the action of gravity. And the CD driver sucks the CD pushed out by the grating disk to carry out recording or reading operation.

The above-mentioned grasping method generally has a problem of insufficient reliability, and has affected the further development of the application of the optical storage technology, for the following reasons:

1. the gap between grating discs on the rotary disc is too large, and the misoperation of a chuck or a plurality of discs is easy to occur.

2. The optical disk is easy to be separated by a fixing measure in the optical grating disk.

3. When the optical disc device moves rapidly, the device will shake, which affects the reliability of the device, increases complex uncertain factors, and hinders the efficient management of multiple optical disc module devices.

Disclosure of Invention

Therefore, the present invention provides an optical disc processing system and method for overcoming the defect in the prior art that the automatic recording and storing of a large number of dense optical discs cannot be realized.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

the specification provides an optical disc processing system, which is characterized by comprising a recording optical disc storage rack, an optical disc storage device, a server, an optical disc drive, an optical disc bracket and a grabbing manipulator, wherein,

one end of the recording optical disc storage rack is provided with an access;

the recording optical disc storage rack is used for storing optical discs;

the server, the optical disk drive, the optical disk bracket and the grabbing manipulator are all arranged in the recording optical disk storage rack;

the server carries out linkage control on the optical disk drive and the grabbing manipulator;

the optical disk drive opens the optical disk tray door in response to the control of the server;

the grabbing manipulator grabs the empty optical disc in response to the control of the server;

the grabbing manipulator distributes the empty optical disks to the optical disk brackets;

the optical disc tray closes the optical disc tray door;

the optical disk driver records the empty optical disk;

after the recording is finished, opening the optical disc bracket door;

and the grabbing manipulator places the recorded compact disc on the recording compact disc storage rack.

Optionally, the system further includes a manipulator controller, and the server controls the grabbing manipulator to move between the recording optical disc storage rack and the optical disc tray through the manipulator controller.

Optionally, the server is further configured to store and update file directory information of the optical disc recorded on the optical disc storage rack and state information of the optical disc drive.

Optionally, the system further includes a client, where a browser is installed on the client; and viewing the file directory information stored in the server and the state information of the optical disc in the optical disc bracket through the browser.

Optionally, the server performs linkage control on the optical disc drive and the grabbing manipulator, and further includes:

the optical disk drive controls to open the optical disk tray door in response to the inquiry of the server;

the grabbing manipulator grabs the recorded optical disc on the recording optical disc storage rack in response to the control of the server;

the grabbing manipulator distributes the recorded optical disk to the optical disk bracket;

the optical disc tray closes the optical disc tray door;

the server controls the optical disk drive to check the content of the recorded optical disk;

after the checking is finished, opening the optical disc bracket door;

and the grabbing manipulator places the checked optical disc on the recording optical disc storage rack.

Optionally, before the server performs linkage control on the optical disc drive and the pick-up manipulator, the system further includes: the server is network configured such that the server and the robot are connected by a route.

Optionally, the entrance and exit can be used for people to enter and exit.

Optionally, the optical disc storage device includes a plurality of optical disc columns, each of the plurality of optical disc columns is provided with a plurality of optical disc slots, and an opening is formed at one end of each optical disc slot, which is close to the grabbing manipulator.

Optionally, an electric control clamping jaw is arranged at the tail end of the grabbing manipulator, and the height difference of the electric control clamping jaw for grabbing the optical disk is the thickness of the central hole arm of the optical disk.

Optionally, the thickness is 0.5cm to 10 cm.

The present specification also provides a method based on an optical disc processing system, the method comprising:

the grabbing manipulator distributes the grabbed empty optical disks to the optical disk bracket;

the optical disc tray closes the optical disc tray door;

the optical disk driver records the empty optical disk;

after the recording is finished, opening the optical disc bracket door;

Through the scheme provided by the specification, the chuck problem caused by rapid movement when the optical disc rapidly moves can be reduced through the operation of the grabbing manipulator; through high-density and accurate control, the automatic management of mass data through the optical disc bracket according to the user requirements can be realized, and the management efficiency is improved; the network connection between the server and the grabbing manipulator enables the bottom layer data to be more intelligent.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a first block diagram of a processing system according to an embodiment of the present invention;

FIG. 2 is a first schematic structural diagram of an optical disc processing system according to an embodiment of the present invention;

FIG. 3 is a second schematic structural diagram of an optical disc processing system according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an empty optical disc storage rack according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a structure of a recordable optical disc storage rack according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a disc tray according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an optical disc grabbing clamp according to a first embodiment of the present invention;

fig. 8 is a bottom structure view of the optical disc grabbing clamp according to the first embodiment of the present invention;

fig. 9 is a schematic structural view of a disc catching clamp according to a second embodiment of the present invention;

fig. 10 is a schematic structural view of two clamping jaws of the optical disc gripping clamp according to the second embodiment of the present invention;

fig. 11 is a structural diagram of a clamping jaw mating connector in the optical disc gripping clamp according to the second embodiment of the present invention;

fig. 12 is a partial structural view of a driving structure in the optical disc gripping apparatus according to the second embodiment of the present invention;

fig. 13 is a schematic structural view of a disc catching clamp according to a third embodiment of the present invention;

fig. 14 is a structural diagram of a push-pull rod assembly engaged with a clamping jaw in the optical disc gripping apparatus according to the third embodiment of the present invention;

fig. 15 is a schematic structural view of two clamping jaws of the optical disc gripping clamp according to the third embodiment of the present invention.

Description of reference numerals:

1-base, 2-workbench, 21-optical disc bracket, 211-groove, 212-U-shaped groove, 3-grabbing manipulator, 4-empty optical disc storage rack, 41-empty optical disc storage rack base, 42-empty optical disc storage rack side wall, 5-recording optical disc storage rack, 51-storage rack base, 52-upright column, 53-spacer, 6-optical disc grabbing clamp and 61-main body frame; 62-a push-pull plate; 63-electromagnet configuration; 64-a tension spring; 65-fixed end adjustable screw; 66-a laser detector; 610-a first body, 611-a first groove; 612-a first jaw; 613-through holes; 614-limit guide post; 620-a second body; 621-a second jaw; 622-second groove, 7-disc.

61 ' -base, 62 ' -first body, 621 ' -first jaw, 63 ' -second body, 631 ' -second jaw, 632 ' -guide slot structure, 64 ' -motor, 641 ' -drive shaft, 65 ' -rotation member, 652 ' -pin, 66 ' -guide post, 67 ' -tension spring, 68 ' -first connection member, 69 ' -second connection member, 691 ' -buffer spring, 610 ' -first clamping block, 611 ' -second clamping block.

61 ' -electromagnet, 62 ' -main frame, 63 ' -push-pull rod assembly, 631 ' -pendulum rod, 632 ' -bar hole, 633 ' -push-pull rod groove, 66 ' -transmission piece, 64 ' -first body, 641 ' -first jaw, 642 ' -first connecting block, 65 ' -second body, 651 ' -second jaw, 652 ' -second connecting block, 653 ' -through slot, 661 ' -transmission piece groove, 671 ' -first detection switch, 672 ' -second detection switch.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1, the present specification provides an optical disc processing system, which includes a recording optical disc storage rack 5, a server 01, an optical disc drive 02, an optical disc tray 21, and a grasping robot 3, wherein an entrance is disposed at one end of the recording optical disc storage rack 5; the recording optical disc storage rack 5 is used for storing optical discs; the server, the optical disk drive, the optical disk bracket 21 and the grabbing manipulator 3 are all arranged in the recording optical disk storage rack 5; the server, the mechanical arm controller and the optical disk drive are all connected through a network, wherein the network can be a wireless network or a wired network, and preferably, the network is a local area network.

The server carries out linkage control on the optical disk drive and the grabbing manipulator 3; the optical disk drive opens the optical disk tray door in response to the control of the server; the grabbing manipulator 3 grabs the empty optical disc in response to the control of the server; the grabbing manipulator 3 distributes the empty optical disc to the optical disc tray 21; the optical disc tray closes the optical disc tray door; the optical disc drive 02 records the empty optical disc; after the recording is finished, opening the optical disc bracket door; the grabbing manipulator 3 places the recorded optical disk on the recording optical disk storage rack 5; and closing the optical disc bracket door after the optical disc taking and placing mechanical arm takes out the recorded optical disc. Specifically, the server responds to a request of a user/operator, wherein the request can be a request for recording an optical disc, and sends an instruction for opening a door of the optical disc tray to the optical disc drive; meanwhile, the grabbing manipulator 3 is sent to grab the empty compact disc and put the compact disc into the specified position of the compact disc bracket 21. The number of the optical disc drives may be one or more, for example, six or 10, and is not limited herein, so that the designated location is the location of the optical disc drive specifically used for recording the empty optical disc. After the recording is finished, the mechanical arm controller controls the grabbing mechanical arm 3 to grab the recorded optical disc from the specified position of the optical disc bracket 21, and place the recorded optical disc on the recording optical disc storage rack 5. Wherein an empty disc is placed on the inscribing disc storage rack 5, and may also be placed on the empty disc storage rack 4 (shown in fig. 2). Optionally, the step of grabbing the empty optical disc by the grabbing manipulator in response to the control of the server, the grabbing manipulator may grab the empty optical disc from the optical disc storage rack 5, and may also grab the empty optical disc from the empty optical disc storage rack 4.

Optionally, the system further includes a manipulator controller, and the server 01 controls the grabbing manipulator 3 to move between the recording disc storage rack 5 and the disc tray 21 through the manipulator controller 03.

Optionally, the server is further configured to save and update file directory information of the optical disc recorded on the optical disc storage rack and state information of the optical disc drive 02. The server 01 can preset and record the storage positions of all empty optical discs, and timely record the state of the optical discs, the file directories, the storage positions of the recorded optical discs and other information in the recording and storage processes of the optical discs.

Optionally, the system further includes a client, where a browser is installed on the client; the file directory information stored in the server and the status information of the optical disc in the optical disc tray 21 are checked through the browser. The client is connected with the server 01 in a wired or wireless manner, the client can be a notebook computer, a mobile terminal and the like, and a user/operator can check recording and storage information, data storage information, system running conditions and the like of an optical disc in the optical disc processing system in real time through a browser. The position or sequence of picking and placing the optical discs on the recording optical disc storage rack 5 by the mechanical arm can also be set through the browser, for example, the optical discs can be picked and placed from top to bottom or in a clockwise direction. The system can also be set through the browser, for example, when the data cache exceeds a preset value, a program for recording the optical disc is triggered, that is, the optical disc tray door is opened, and the mechanical hand 3 is grabbed to pick and place the optical disc. For example, the recording speed of the optical disc is set, and the predetermined time is set. Specifically, the setting of the writing speed of the optical disc allows the time for ending writing of the optical disc to be determined according to the preset writing speed of the optical disc because the storage capacity of the optical disc is fixed, so that a subsequent optical disc storage process can be started; the preset time is a flow that after the optical disc is recorded for the preset time, the optical disc is considered to be recorded, so that the grabbing mechanical arm 3 is triggered to grab the recorded optical disc and place the optical disc on the recorded optical disc storage rack 5 for storage. The state information of the optical disc includes information of the optical disc in a used state, an unused state, and the like.

Optionally, in order to view the content in the recorded optical disc, the server 01 performs linkage control on the optical disc drive 02 and the grabbing manipulator 3, and further includes: the optical disc drive 02 controls to open the optical disc tray door in response to the inquiry of the server 01; the grabbing manipulator 3 grabs the recorded optical disc on the recording optical disc storage rack in response to the control of the server 01; the grabbing manipulator 3 distributes the recorded optical disc to the optical disc bracket 21; the disc tray 21 closes the disc tray door; the server 01 controls the optical disc drive 02 to check the content of the recorded optical disc; after the checking is finished, opening the optical disc bracket door; and the grabbing manipulator 3 places the checked optical disc on the recording optical disc storage rack 5. Specifically, the user/operator searches for information such as the number and/or name of the optical disc to be viewed through the browser of the client, and sends a request for searching for the information such as the number and/or name of the optical disc to be viewed to the server 01, and since the server 01 stores information such as the number and/or name of the optical disc and mapping information of the corresponding position of the optical disc in the recording optical disc storage rack 5, the grasping manipulator 3 can grasp a recorded optical disc, the content of which the user/operator wants to query, at the corresponding position on the recording optical disc storage rack 5 in response to the control of the server 01, and place the captured optical disc into the optical disc tray 21 from which the optical disc drive is ejected, so that the user/operator can view the content of the recorded optical disc.

Optionally, before the server 01 performs linkage control on the optical disc drive 02 and the pick-up manipulator 3, the system further includes: the server 01 is network-configured so that the server 01 and the grasping robot 3 are connected by a route. The system further comprises a system controller, wherein the system controller is used for supplying power and controlling the system, specifically, the system controller supplies power to the server 01, the mechanical arm controller 03, the grabbing manipulator 3 and the optical disk drive 02 and performs basic setting on the server 01, the mechanical arm controller 03 and the optical disk drive 02, and the setting includes setting which instruction sent by the server is used for corresponding operation of the mechanical arm controller 03 and the optical disk drive 02 and the like.

Optionally, the entrance and exit can be used for people to enter and exit. The entrance and exit can be used for people to enter and exit, on one hand, the entrance and exit are convenient for users/operators to enter and exit, on the other hand, the space for recording the optical disc storage rack is larger, and therefore more optical discs can be stored.

Optionally, the recording optical disc storage rack 5 includes a plurality of optical disc columns, each of the optical disc columns is provided with a plurality of optical disc slots, and an opening is formed at one end of each optical disc slot, which is close to the grabbing manipulator 3.

Optionally, an electronic control clamping jaw is arranged at the tail end of the grabbing manipulator 3, and the height difference of the electronic control clamping jaw for grabbing the optical disk is the thickness of the central hole arm of the optical disk.

Optionally, the thickness is 0.5cm to 10 cm.

Optionally, the grabbing manipulator 3 is a six-axis mechanical arm. The six-shaft mechanical arm is added, so that the mechanical operation is safer, more efficient and faster.

By the system, the chuck problem caused by rapid movement when the optical disc rapidly moves can be reduced by the operation of the grabbing manipulator 3; through high-density and accurate control, the automatic management of mass data through the optical disc bracket 21 according to the user requirements can be realized, and the management efficiency is improved; the network connection between the server and the grabbing manipulator 3 and the like enables the bottom layer data to be more intelligent; the six-shaft mechanical arm is added, so that the mechanical operation is safer, more efficient and faster.

the grabbing manipulator 3 grabs the empty optical disc in response to the control of the server;

the grabbing manipulator 3 distributes the grabbed empty optical disks to the optical disk bracket;

the optical disc tray closes the optical disc tray door;

the optical disk driver records the empty optical disk;

after the recording is finished, opening the optical disc bracket door;

and the grabbing manipulator 3 places the recorded optical disk on the recording optical disk storage rack.

The method is a corresponding method implemented based on the system, and the specific process is not described herein again.

Example 1

As shown in fig. 2-6, the present embodiment provides an optical disc processing system, which includes a base 1, and optionally, as shown in fig. 2, the base 1 is a circular base; a workbench 2 is arranged on the base 1, the workbench 2 can be positioned in the middle of the circular base, a recorder can be arranged in the workbench, and a compact disc bracket 21 of a compact disc drive of the recorder can extend out of the workbench 2; a grabbing mechanical arm 3 is arranged on the workbench, a disc grabbing clamp 6 is arranged at the working end of the grabbing mechanical arm, optionally, a plurality of empty disc storage racks 4 are arranged around the grabbing mechanical arm 3, and a plurality of recording disc storage racks 5 are arranged around the workbench 2; the recording optical disc storage rack 5 has a plurality of rows, and each row of recording optical disc storage rack has a plurality of horizontally arranged slots. Through the setting mode that the empty optical disk storage rack and the recording optical disk storage rack are internally and externally surrounded by the grabbing manipulator, the space around the manipulator is fully utilized, the compact disk intensive storage form of a limited space is realized, the integrated integration of automatic recording and automatic storage sorting in an optical disk recording scene is realized, the overall efficiency is improved, the occupied space is reduced, and the full process automation except the manual optical disk taking and placing is realized.

When the optical disk recording is carried out, the optical disk grabbing clamp 6 clamps a single optical disk 7 from the empty optical disk storage rack 4 and puts the single optical disk into an optical drive of a recorder; when the optical disc recording is completed, the optical disc grabbing clamp takes out an optical disc from an optical drive of the recorder, extends into the horizontally-arranged clamping groove from the side surface, and places the optical disc into the horizontally-arranged clamping groove, wherein the laterally-extending is a storage form of placing the optical disc library from the top in the prior art, specifically, an opening of the horizontally-arranged clamping groove is positioned on the side surface of the horizontally-arranged clamping groove, and the opening can enable a working end of the grabbing clamp and the optical disc to enter. The optical disk processing system can realize the automatic processing of the recording of the compact disk, and the arrangement mode of the plurality of horizontal clamping grooves can realize the fine classification and other operations, and the optical disks are respectively accommodated in the horizontal clamping grooves, thereby reducing the risk of mutual abrasion among the optical disks.

Optionally, in the optical disc processing system, the recording optical disc storage rack 5 includes a plurality of horizontally disposed spacers 53, and the horizontally disposed slots are formed between the horizontally disposed spacers 53; preferably, the optical disc recording storage rack 5 further comprises a storage rack base 51, two sides of the storage rack base 51 are provided with upright columns 52, and the upright columns 52 are provided with a plurality of embedded grooves arranged in parallel; wherein the spacer 53 is snapped into the insertion groove.

Optionally, in the optical disc processing system, the workbench may be an integrated base of a mechanical arm, and the recorder, the refrigeration air conditioner and the control system may be integrated in the space, so that the appearance attractiveness is improved and the waste of the space is avoided.

Optionally, in the optical disc processing system, the height of the horizontally disposed card slot is 0.5cm to 10cm, so that each card slot only accommodates one optical disc, different positions of different optical discs can be realized, and further fine sorting of the optical discs can be realized; in addition, the height of the horizontal clamping groove is selected to be 0.5cm-10cm, and the online storage capacity can be increased in a shelf with the same circumference.

In the above optical disc processing system, the recorder includes at least one optical disc drive, as shown in fig. 3 and 6, six optical disc drives are provided, and each optical disc drive has an optical disc tray 21 capable of ejecting; the disc tray 21 is provided with a groove 211 and a U-shaped groove 212, wherein the groove 211 is suitable for placing a disc, and the U-shaped groove 212 is a through groove suitable for a disc driving shaft in the recorder to pass through when the disc tray 21 is located in the recorder. Through the arrangement mode of the optical drive, the U-shaped groove 212 is arranged on the ejected optical disk bracket 21 without a driving shaft, so that at least one clamping jaw of the optical disk grabbing clamp can conveniently extend into an inner hole of the optical disk, and the clamping action of the optical disk is completed.

The optical disc processing system provided by this embodiment realizes the automation of the whole process from the capturing and recording of optical discs to the storage of optical discs and the on-line selection of optical discs, in the whole recording process, only the initial optical disc to be recorded needs to be manually placed at the corresponding station, specifically, the empty optical disc storage rack 4, and the specified optical disc needs to be taken from the corresponding recording optical disc storage rack 5, and all the intermediate processes do not need manual intervention, thereby realizing the automation of the whole process.

The work flow of the optical disc processing system provided by this embodiment is as follows:

the whole stack of optical discs can be withdrawn from the area after being manually placed in the optical disc position (empty optical disc storage rack 4), and the equipment starts to enter a working state after the equipment starting button is pressed. The manipulator moves to the corresponding empty optical disk storage rack 4 according to the internal instruction of the system, and the optical disk at the station is grabbed and placed in the recorder; after the optical disc in the recorder is completely recorded, the mechanical arm automatically takes out the optical disc in the recorder and places the optical disc on the corresponding recording optical disc storage rack 5 according to the system instruction. The reciprocating is carried out in the way; when the corresponding optical disc stored in the optical disc library is needed manually, the optical disc information can be selected in the system, and at this time, the manipulator can find the optical disc stored on the recording optical disc storage rack 5 according to the system instruction, and can grab the optical disc to the corresponding empty optical disc storage rack 4 to wait for the manual removal of the optical disc.

Example 2

This embodiment provides an optical disc gripping jig 6, which is suitable for the gripping robot of the optical disc processing system in embodiment 1. As shown in fig. 7-7, the optical disc grasping fixture 6 includes a first clamping jaw 612 disposed on the first body 610, wherein the first clamping jaw 612 has a contoured surface adapted to engage with an inner hole of an optical disc; the second clamping jaw 621 is arranged on the second body 620, and the second clamping jaw 621 also has a profiling surface suitable for an inner hole of an optical disc; when the optical disc is clamped, the first clamping jaw and the second clamping jaw both extend into an inner hole of the optical disc, and the driving structure controls the first clamping jaw and the second clamping jaw to move relatively so as to clamp the optical disc.

Specifically, the optical disc grasping fixture 6 provided in the present embodiment includes a main body frame 61, the main body frame 61 has a first body 610 extending outward, the first body 610 is preferably a plate-shaped structure, and optionally, the first body 610 is integrally formed with the main body frame 61; the first body 610 is provided with a first groove 611 and a first clamping jaw 612, wherein the first groove 611 can be a strip-shaped groove, the first clamping jaw 612 is located at an outer end of the first groove 611, and the outer end refers to an end of the first body 610 away from the main body frame 61; the optical disc grabbing clamp provided by the present embodiment further includes a second body 620, which is also a plate-shaped structure and is overlapped with the first body 610; the second body 620 is provided with a second clamping jaw 621, and the second clamping jaw 621 penetrates through the first groove 611; the driving structure is arranged in the main body frame and is in driving connection with the second body; optionally, the driving structure comprises the electromagnet structure 3 and the extension springs 64 positioned at two sides of the electromagnet structure, wherein the extension springs 64 at two sides can be installed in the main body frame 61 through fixed end adjustable screws, and the fixed end adjustable screws can be selected to be claw screws; the electromagnet structure 63 and the extension spring 64 may be connected to the first body 620 through the push-pull plate 62, wherein the push-pull plate 62 and the second body 620 may be integrally formed; when the optical disc is clamped, the first clamping jaw 612 and the second clamping jaw 621 are adapted to extend into inner holes of the optical disc, and the driving structure controls the first clamping jaw 612 and the second clamping jaw 621 to move relatively to clamp the optical disc by the inner support. The arrangement mode of the two superposed plate-shaped structures ensures that the optical disk grabbing clamp can extend to the optical disk from the side surface and has relatively thin thickness, thereby being suitable for grabbing and placing the optical disk under the condition of insufficient space of the optical disk library, in particular suitable for grabbing and placing the optical disk in the optical disk library with small layer height; meanwhile, the inner supporting structure is adopted, and the optical disks which are adhered together can be effectively vibrated by vibration generated in the inner supporting process.

In the optical disc grabbing clamp, when optical discs are clamped, the electromagnet structure is powered off, the second body moves under the action of the tensile force of the extension spring to clamp the optical discs by the inner support, the clamping action of the optical discs can be realized by the tensile force of the spring in the transferring process of clamping the optical discs, and at the moment, the discs cannot fall off even if the optical disc grabbing clamp is powered off, so that the stability of the clamp is improved.

Alternatively, the drive structure may be selected from a cylinder, motor or other drive structure.

Optionally, in the above optical disc grabbing clamp, the driving structure may be further in driving connection with the first body, or in connection with both the first body and the second body, so as to control the operation of the clamp.

In the above optical disc grabbing clamp, when the inner support clamps the optical disc, the second clamping jaw moves towards the inner end along the first groove, where the inner end refers to the end of the first body 610 close to the main body frame 61.

As an alternative, the first jaw may also be located at an inner end of the first slot, the second jaw moving along the first slot towards an outer end.

Optionally, in the above optical disc grabbing clamp, the second body 620 is located above the first body 610, and the first clamping jaw 612 and the second clamping jaw 621 both extend downward, before the optical disc grabbing, two plate-like structures of the clamp stacked on each other may be pressed flat to the surface of the optical disc, preferably to the rough surface of the optical disc, to ensure the stability of the optical disc before the optical disc grabbing, at this time, the two clamping jaws extend into the inner hole of the optical disc, and then clamp the optical disc by internal bracing under the action of the driving structure.

Alternatively, in the above-mentioned optical disc gripping jig, the main body frame is further provided with a laser detector 66, and the laser detector 66 may extend in a downward direction through a through hole 613 formed in the main body frame for detecting whether or not there is an optical disc at the position to be gripped.

Preferably, in the optical disc grabbing clamp, a second groove 622 is formed in the second body 620, and the second groove 622 is a strip-shaped groove; the first body 610 is provided with a limiting guide post 614, and the limiting guide post 614 passes through the second groove 622 and can move in the second groove 622 to increase the stability of the relative movement of the two plate-shaped structure bodies.

Example 3

As shown in fig. 9-11, the present embodiment provides an optical disc grabbing clamp, which includes a base 61 ', a motor 64' as a driving structure is fixed on the base 61 ', wherein a driving shaft 641' of the motor 64 'extends downward into the base 61', a rotating member 65 'is disposed in the base, the rotating member 65' is preferably in a strip-shaped structure, and the rotating member 65 'is connected to the driving shaft 641' of the motor and driven by the motor to rotate; alternatively, the two ends of the rotating member are respectively provided with a long waist hole, and the two pin shafts 652' can respectively penetrate through the long waist holes at the two ends. Two guide posts 66 'arranged in parallel are further arranged on two sides of the rotating member 65', and each guide post 66 'is movably arranged in the base 61' in a penetrating way; specifically, as shown in fig. 11, each guide post spans two opposite side walls of the base, is disposed through the two side walls, and is movable relative to the side walls. In addition, the optical disc grabbing clamp provided by this embodiment further includes a first connecting piece 68 ' and a second connecting piece 69 ', and two ends of the rotating piece are respectively connected with the first connecting piece 68 ' and the second connecting piece 69 ' through the pin 52 '; specifically, each pin 652' passes through its corresponding guide post and connecting piece respectively to drive the guide post and connecting piece to move, wherein, the long waist hole is arranged in such a way that the rotation of the rotating piece can be achieved, so that the pin has a certain displacement in the long waist hole, thereby driving the guide post and connecting piece to achieve linear motion. And, preferably, the first connecting piece and the second connecting piece are in mutually opposite L-shaped structures, and each guide column passes through the first connecting piece and the second connecting piece so as to ensure the stability of the movement of the guide column and the corresponding connecting piece. The first connecting piece 68 'is connected to the first body 62' through the first clamping block 610 ', a first clamping jaw 621' is arranged on the first body 62 ', and the first clamping jaw 621' has a profiling surface suitable for clamping an inner hole of an optical disc; the second connecting piece 69 ' is connected to the second body 63 ' through the second clamping block 611 ', and a second clamping jaw 631 ' is arranged on the second body 63 ', and the second clamping jaw has a profiling surface suitable for clamping the outer circle of the optical disc; when the optical disc is clamped, the first clamping jaw extends into an inner hole of the optical disc, the second body is close to the outer circle of the optical disc, and the first clamping jaw and the second clamping jaw are driven to move relatively and synchronously so as to clamp the optical disc. Preferably, the first body and the second body are each of a plate-like structure and are stacked on each other.

The arrangement mode of the two superposed plate-shaped structures ensures that the optical disk grabbing clamp can extend to the optical disk from the side surface and has relatively thin thickness, thereby being suitable for grabbing and placing the optical disk under the condition of insufficient space of the optical disk library, in particular suitable for grabbing and placing the optical disk in the optical disk library with small layer height; meanwhile, the clamping mode of the excircle of the inner hole is adopted, and the optical disks which are adhered together can be effectively vibrated by vibration generated in the clamping process.

Optionally, in the above-mentioned optical disc grabbing clamp, the driving structure further includes two extension springs 67 ' respectively located at two sides of the rotating member 65 ', preferably above two sides of the rotating member 65 ', and arranged in parallel with the first body 62 ' and the second body 63 ', and two ends of each extension spring are respectively fixed to the first connecting member and the second connecting member which are opposite to each other. The extension spring 67' can provide a force for the first body and the second body to approach each other, so that the clamp can be ensured to maintain the clamping state of the optical disc under the action of the tensile force of the spring, and the phenomenon of disc falling in power failure is prevented. The motion process of the optical disc grabbing clamp can be that the motor drives the rotating part to rotate, the rotating part drives the first body and the second body to be away from each other through the pin shaft and the connecting parts at two ends, the clamping block drives the first body and the second body to be away from each other, the side face of the first body can be close to an optical disc, then the whole clamp is pressed downwards, wherein the first clamping jaw on the first body stretches into an inner hole of the optical disc, the second clamping jaw on the second body is close to an outer circle of the optical disc, the motor unloads driving force at the moment, the two bodies are close to each other under the action of.

Alternatively, in the above optical disc gripping clamp, a buffer spring 691 'in the vertical direction may be further provided between the second clamping block 611' and the second connecting member 69 ', and the buffer spring 691' may buffer an excessive pressure during the process of clamping the optical disc by the clamp, so as to prevent the optical disc to be clamped from being damaged. In addition, the buffer spring can be arranged between the first clamping block and the first connecting piece to play a role of buffering excessive pressure.

As an alternative embodiment, the optical disc gripping clamp may not be provided with the extension spring 67', and the optical disc gripping operation may be achieved by a clamping force provided by driving of the motor.

In the above optical disc grabbing clamp, the second body 63 'is provided with a guide groove structure 632', the guide groove structure 632 'is a step structure, and is adapted to cooperate with the first body 62' to guide the first body 62 'to move relative to the second body 63', so as to improve the stability of the movement of the clamping jaws of the clamp; alternatively, a guide groove structure matched with the second body can be arranged on the first body.

In addition, in order to ensure stable movement of the first and second bodies, an outer guide structure may be provided at the outer side of the second clamping block 611 ' at a position connected to the base 61 ' to guide horizontal movement of the second clamping block 611 ', and a groove engaged with the outer guide structure may be further provided at the outer side of the second clamping block. In the above-mentioned optical disc grabbing clamp, in order to limit the guide post 66 'to move only within a certain range, a pair of limiting plates may be disposed at the rear end of the base 61', the limiting plate at the front end may allow the guide post to pass through, and the limiting plate at the rear end provides a limiting terminal to axially limit the guide post to move within a certain range.

Optionally, in the above optical disc grabbing clamp, a disc dropping detector may be further disposed, facing the direction of the clamped optical disc, for detecting a disc dropping during the clamping process. In addition, a signal in-place detector and a distance detector can be arranged, the signal in-place detector and the distance detector can be used for detecting the position of the clamp away from the optical disc to be clamped so as to provide basis for the movement distance of the clamp, and the signal in-place detector can be arranged so as to control the pressing and clamping operations of the clamp when the clamp runs to the preset position.

Example 4

As shown in fig. 13-14, the present embodiment provides a disc gripping jig, which includes a main frame 62 ", an electromagnet 61" as a power source is fixed on the main frame 62 ", and the electromagnet 61" has a driving shaft extending downward into the main frame 62 ", the driving shaft is connected to a driving member 66", alternatively, the end of the driving shaft is inserted into a driving member recess 661 "to drive the driving member to move in the up-and-down direction; the transmission member 66 "is preferably a plate-shaped structure, and as shown in fig. 14, two sides of the transmission member may be opened in a strip-shaped groove, wherein one end of each of the two pairs of swing rods 631" may be hinged in the strip-shaped groove, and wherein the two pairs of swing rods 631 "are disposed on two sides of the transmission member, respectively; the other ends of the two pairs of swing rods 631 "are respectively hinged to the push-pull rod, preferably, a push-pull rod groove 633" is formed in the push-pull rod, and the other ends of the swing rods are hinged to the push-pull rod groove 633 "; the push-pull rod assembly 63 ″ is arranged in such a way that the two swing rods 631 on each side of the transmission member 66 ″ form a four-bar linkage with the push-pull rod and the transmission member 66 ″ so as to improve the stability of the movement of the push-pull rods on both sides. Alternatively, the bottom portions of the two push-pull rods are respectively connected with the tail ends of the first body 64 "and the second body 65" through a first connecting block 642 "and a second connecting block 652", the head end of the first body 64 "is provided with a first clamping jaw 641", and the first clamping jaw is a protruding end block and is provided with a profiling surface suitable for clamping the inner hole of the optical disk; the head end of the second body is provided with a second clamping jaw 651' which is a groove on the fixing plate and is provided with a profiling surface suitable for clamping the excircle of the optical disk; optionally, the first body 64 "and the second body 65" are both plate-shaped structures, wherein the second body 65 "is provided with a through groove 653", the first body 64 "is movably inserted into the through groove 653", and by this arrangement, the relative position precision between the first body 64 "and the second body 65" is improved, so as to improve the grabbing stability of the whole structure; when the optical disc is clamped, the first clamping jaw and the second clamping jaw extend into an inner hole of the optical disc under the action of the driving structure, the second body is close to the outer circle of the optical disc, and the driving structure controls the first clamping jaw and the second clamping jaw to move synchronously relative to each other so as to clamp the optical disc. The arrangement mode of the two parallel plate-shaped structures ensures that the optical disk grabbing clamp can extend to the optical disk from the side surface and has relatively thin thickness, so that the optical disk grabbing clamp is suitable for grabbing and placing the optical disk under the condition of insufficient space of the optical disk library, is particularly suitable for grabbing and placing the optical disk in the optical disk library with small layer height, and effectively reduces the occupied space when the same number of optical disks are stored; simultaneously, because the thickness of two clamping jaws is less than the thickness of a set of CD, so at the in-process that struts, can effectively avoid once snatching a plurality of CDs to the anchor clamps that this embodiment provided adopt the joint mode of hole excircle at the in-process that struts, so produced vibrations in the action in-process also can shake the CD that the adhesion is together effectively and open, avoid once getting many dishes phenomenon.

As an alternative embodiment, in the above optical disc grabbing clamp, the first body and the second body are both plate-shaped structures and are stacked on each other, and the two stacked plate-shaped structures are arranged in a manner that the optical disc grabbing clamp can extend from the side surface to the optical disc and has a relatively thin thickness, so that the optical disc grabbing clamp is suitable for grabbing and placing the optical disc under the condition of insufficient space of the optical disc library, and is particularly suitable for grabbing and placing the optical disc in the optical disc library with a small layer height;

optionally, in the above optical disc grabbing clamp, the power source further includes a return spring, the return spring is connected to the transmission member, the electromagnet 61 ″ is powered on to drive the transmission member 66 ″ to move upwards, and drive the two push-pull rods to approach each other, so as to drive the two clamping jaws to move away from each other; when the electromagnet is powered off, the transmission piece 66 ″ moves downwards under the action of the return spring to drive the two push-pull rods to move away from each other, so that the two clamping jaws are driven to approach each other; in the process of clamping the optical disk and conveying the optical disk, the electromagnet is not needed to be electrified, the clamping state of the optical disk can be kept only by the tension of the reset spring, and the phenomenon of disk falling in case of power failure can be prevented.

Optionally, in the above optical disc grasping fixture, a horizontally disposed strip-shaped hole 632 ″ is disposed at a top end of each push-pull rod, the push-pull rod passes through the strip-shaped hole 632 ″ and is connected to the main frame 62 of the optical disc grasping fixture by a pin, and by the arrangement of the pin, the displacement of the push-pull rod in a direction perpendicular to the two bodies is limited, thereby further increasing the stability of the translation of the clamping jaws.

As an alternative embodiment, in the above optical disc capturing clamp, the swinging rods 631 "between the two push-pull rods may be arranged in one, three or more pairs, wherein the transmission member 66" is connected to the power source, one end of each pair of swinging rods 631 "is hinged to the transmission member 66", and the other end of each pair of swinging rods 631 "is hinged to the two push-pull rods; the number and position of the swing rods 631 ″ can be determined according to the length of the actual push-pull rod, so long as the two push-pull rods can move stably.

As an alternative embodiment, in the above optical disc gripping apparatus, the power source may be a motor or an air cylinder.

Alternatively, in the above-mentioned optical disc grabbing clamp, the main frame 62 "and the push-pull rod assembly 63" are respectively provided with mutually matched detection switches, wherein the main frame 62 "is provided with a first detection switch 671", which may be a detection switch sensor, and the push-pull rod assembly 63 "is provided with a second detection switch 672", which may be a detection switch detection plate; during detection, the second detection switch can move towards or away from the first detection switch, so that different position signals can be acquired to detect the position of the push-pull rod assembly.

Optionally, in the above optical disc grabbing clamp, an optical disc detector may be further disposed, facing the direction of the optical disc to be clamped, for detecting whether the optical disc exists at the position to be clamped.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. An optical disc processing system, comprising a recording optical disc storage rack, a server, an optical disc drive, an optical disc tray, and a grabbing manipulator, wherein:

one end of the recording optical disc storage rack is provided with an access;

the recording optical disc storage rack is used for storing optical discs;

the optical disc tray closes the optical disc tray door;

the optical disk driver records the empty optical disk;

after the recording is finished, opening the optical disc bracket door;

2. The system of claim 1, further comprising a robot controller, wherein the server controls the pick robot to move between the recording disc storage rack and the disc tray via the robot controller.

3. The system of claim 2, wherein the server is further configured to save and update the file directory information of the recorded optical disc on the recorded optical disc storage rack and the status information of the optical disc drive.

4. The system of claim 3, further comprising a client, the client having a browser installed thereon;

and viewing the file directory information stored in the server and the state information of the optical disc in the optical disc bracket through the browser.

5. The system according to any one of claims 1 to 4, wherein the server performs linkage control of the optical disk drive and the grasping robot, and further comprises:

the optical disc tray closes the optical disc tray door;

after the checking is finished, opening the optical disc bracket door;

6. The system of claim 1, wherein before the server performs the coordinated control of the optical disc drive and the pick-up robot, the system further comprises:

the server is network configured such that the server and the robot are connected by a route.

7. The system of claim 1, wherein the access opening is accessible by a person.

8. The system of claim 1, wherein the optical disc storage device comprises a plurality of optical disc columns, each of the plurality of optical disc columns having a plurality of optical disc slots disposed therein, the optical disc slots having an opening disposed at an end thereof adjacent to the grasping robot.

9. The system according to claim 8, wherein the end of the grabbing manipulator is provided with an electrically controlled clamping jaw, and the height difference of the electrically controlled clamping jaw for grabbing the optical disk is the thickness of the central hole arm of the optical disk.

10. A method based on an optical disc processing system, the method comprising:

the optical disc tray closes the optical disc tray door;

the optical disc bracket records the empty optical disc;

after the recording is finished, opening the optical disc bracket door;