CN113696214A - CD grabbing device of CD printing recorder - Google Patents
CD grabbing device of CD printing recorder Download PDFInfo
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- CN113696214A CN113696214A CN202111251080.4A CN202111251080A CN113696214A CN 113696214 A CN113696214 A CN 113696214A CN 202111251080 A CN202111251080 A CN 202111251080A CN 113696214 A CN113696214 A CN 113696214A
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- sheet metal
- gripper
- metal part
- optical disc
- hole
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- G11B17/022—Positioning or locking of single discs
- G11B17/028—Positioning or locking of single discs of discs rotating during transducing operation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Dot-Matrix Printers And Others (AREA)
Abstract
The invention discloses an optical disk grabbing device of an optical disk printing recorder, which comprises a shell sheet metal part, wherein the top of the shell sheet metal part is provided with a motor, the motor is connected with a first synchronous wheel through the shell sheet metal part, the first synchronous wheel is connected with a second synchronous wheel through a belt, the second connecting wheel is arranged on a fixed sheet metal part, the bottom of one side of the shell sheet metal part is provided with a fixed sheet metal part, the upper end and the lower end of the shell sheet metal part are fixedly connected with a polished rod through buckles, the polished rod is sleeved with a linear bearing joint, and the linear bearing joint is connected with a grabber through a screw The printer is clean and tidy, does not waste electricity, does not need manpower when using control software, is simple to operate and is simple and convenient to use.
Description
Technical Field
The invention relates to the technical field of automatic compact disc burning printers, automatic compact disc burning machines and compact disc printing and burning equipment, in particular to a compact disc grabbing device of a compact disc printing and burning machine.
Background
In the application field of optical disk recording and storing, the optical disk printing and recording machine is a device for automatically recording and printing standard optical disk media, blank optical disks are captured from an optical disk material column of the device, the blank optical disks are recorded and printed in a built-in optical drive and a printer tray, and finally the optical disks are placed in an output optical disk material column, the whole process does not need human intervention, an intelligent mechanical arm automatically completes the whole process, the unattended purpose is really achieved, the labor is liberated, the working error rate is reduced, a computer is arranged in the optical disk printing and recording machine, the equipment is controlled by optical disk printing and recording system software to automatically record and print the optical disks, finished optical disks are filed and stored for a long time, the existing optical disk printing and recording machine comprises a printing device, a mechanical arm device, a built-in optical drive, an optical disk bearing device and a control unit, and the optical disk recording printer is used as an indelible part in the technical field of batch automatic recording and storing along with the arrival of the domestic times, the CD is applied by the broad industry with its large capacity, low cost, safe and reliable advantage and can not be falsified, characteristic that can preserve forever, with the trend of artificial intelligence, CD storage technology has also met the era of full-automatic recording and printing, full-automatic taking and putting the CD device as the CD records and prints the essential part in the realization automation process, at present, the CD that exists on the market snatchs and places the manipulator and has a series of problems, because the CD is very thin, judge that CD thickness can have the error, can appear and snatch the position mistake, the maloperation condition, misoperation can lead to snatching the mistake or damaging, lose the CD even, not only make the efficiency of grabbing the disc device reduce, the precision is relatively poor, and increase the cost, consequently, need to make improvements to CD manipulator structure and snatch the mode.
Disclosure of Invention
In view of the above technical problems in the related art, the present invention provides an optical disc grabbing device for an optical disc printing and recording machine, which can overcome the above disadvantages in the prior art.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows:
the utility model provides a CD prints CD grabbing device of CD-RW, includes the shell sheet metal component, shell sheet metal component bottom is equipped with fixed sheet metal component, the shell sheet metal component is connected with first optical axis through the through-hole of terminal surface from top to bottom, shell sheet metal component openly top is equipped with the motor, the motor axis of rotation inserts the shell sheet metal component is fixed, the motor axis of rotation is connected with first synchronizing wheel, first synchronizing wheel passes through the gear belt and is connected with the second synchronizing wheel, the second synchronizing wheel passes through third spacing screw and first spacing hole is fixed in the fixed sheet metal component, shell sheet metal component top surface middle part is equipped with arm PCB and always controls, the cover has slidable linear bearing joint on the first optical axis, the linear bearing joint front end passes through the fixed screw and is connected with the grabber.
Further, the shell sheet metal component is the cube sheet metal component, the shell sheet metal component openly has the tangent plane, respectively there is circular through-hole above the shell sheet metal component and on the positive top, there is the cutting of C shape and outside 90 bending and contain the spacing hole of second shell sheet metal component left surface bottom, shell sheet metal component bottom surface is equipped with the spacing post of first spacing post and second, first spacing post is used for the fixing device position with the spacing post of second, shell sheet metal component left surface bottom is equipped with the spacing through-hole of first spacing through-hole and second, first optical axis is equipped with first buckle and second buckle respectively with the shell sheet metal component junction outside, first motor is connected to arm PCB total accuse through the motor power supply line.
Furthermore, fixed sheet metal component is the sheet metal component, fixed sheet metal component top is the 90 crimping of turning up, fixed sheet metal component top welding second optical axis, first reset spring nest in the second optical axis, fixed sheet metal component embedding the inside bottom of shell sheet metal component, the second optical axis is worn out from the spacing hole of second, fixed sheet metal component bottom is equipped with first stop screw and second stop screw, first stop screw passes with second stop screw first spacing through-hole with the spacing through-hole of second, closes the power degree through twisting and fixes fixed sheet metal component.
Furthermore, the linear bearing joint is a sheet metal part, a through hole is formed in the middle part of the linear bearing joint, the linear bearing passes through the through hole and is fixed, the first optical axis penetrates through the linear bearing, a grabber PCB master control is arranged in a joint of the linear bearing, a square through hole is arranged at the left side of the linear bearing joint, a second connector on the grabber PCB master controller is exposed out through the square through hole, a notch is arranged on the right side of the linear bearing joint, a first light sensing switch and a ninth light sensing switch on the gripper PCB master control are exposed through the notch, the HOME point on the shell sheet metal part is inserted into and passes through the notch and shields the first light-sensitive switch and the ninth light-sensitive switch, and a first rubber-coated bearing and a second rubber-coated bearing are arranged on the right side of the linear bearing joint and respectively tightly press the inner side and the outer side of the HOME point.
Furthermore, the grabber part is the sheet metal component, grabber part one end through first fixed screw, second fixed screw with linear bearing joint connects, the grabber part is fixed through the third fixed screw on the square through hole, grabber part left side is equipped with the belt fixed slot, gear belt passes and fixes in the belt fixed slot.
Furthermore, a grabber PCB master control is embedded in the grabber part and connected with a second connector through a second connecting wire, the middle part of the grabber part is connected with a first optical disc grab and a second optical disc grab through elliptical through holes, the first optical disc grab and the second optical disc grab are embedded in and perpendicular to the grabber part, the grabber parts outside the first optical disc grab and the second optical disc grab are respectively provided with a third limiting column, a fourth limiting column, a fifth limiting column and a sixth limiting column for fixing, the upper and lower ends of the first optical disc grab and the second optical disc grab are respectively provided with a fourth return spring and a fifth return spring, the fourth return spring and the fifth return spring are hooked on sheet metal parts on two sides of the grabber, the sheet metal parts on two sides are fixed by a first return spring hanging lug and a second return spring hanging lug, the upper and lower ends of the grabber part are respectively fixed with a first L-shaped sheet metal part and a second L-shaped sheet metal part, the left side of the grabber part is provided with a through oval through hole, and the top of the grabber part is embedded with a second motor.
Furthermore, a crescent plastic piece is fixed on the second motor transmission rod and is fixed in the grabber part, the right side of the grabber part is provided with a rectangular groove, a switch transmission rod is embedded in the groove, the top end and the bottom end of the switch transmission rod are respectively provided with a second return spring and a third return spring which assist the switch transmission rod to return, the middle part of the switch transmission rod is provided with a convex square column, the top end and the bottom end of the switch transmission rod are respectively provided with a first gripper metal plate accessory and a second gripper metal plate accessory, the first gripper sheet metal part and the second gripper sheet metal part can move along with the switch transmission rod, the first and second gripper metal plate accessories can change the positions of the first and second optical disk grippers, and the gripper part is covered with a wear-resistant anti-static acrylic plate.
Furthermore, cover on the wear-resisting antistatic acrylic plate and snatch the inductor PCB and always control, the first machine of connecting of positive top welding is always controlled to the inductor PCB of snatch, first machine is always controlled through first connecting wire and snatch PCB and is connected.
Furthermore, the top of the back of the gripper sensor PCB master control is welded with a sixth light sense switch, the bottom of the gripper sensor PCB master control is welded with a seventh light sense switch, the left side of the gripper sensor PCB master control is welded with a thimble type sensing switch, a second light sense switch and an eighth light sense switch, the right side of the gripper sensor PCB master control is welded with a fourth light sense switch, a fifth light sense switch and a third light sense switch, the second light sense switch is opposite to the third light sense switch in position, the first L-shaped sheet metal part is inserted into the sixth light sense switch, the second L-shaped sheet metal part is inserted into the seventh light sense switch, and the convex square column shields the fourth light sense switch or the fifth light sense switch.
Furthermore, the ejector pin type induction switch penetrates through the T-shaped through hole and the oval through hole of the mechanical arm PCB master control and then is perpendicular to the outside, the ejector pin type induction switch is used for detecting whether a gripper contacts an object or not in the process of moving downwards, and a claw plastic cover plate covers the gripper inductor PCB master control.
The invention has the beneficial effects that: snatch the unit through the arm and realized that full-automatic monolithic order snatchs the CD, save the hand time cost, accelerate the job schedule, the arm snatchs the unit and passes through tongs panel beating accessory, all kinds of inductors come control and snatch CD quantity, realize carrying out at every turn and snatch the sola CD, it is quick, accurate, manual disc grasping has been avoided, the disk release manufacturing error, time saving and labor saving, and in the automatic target CD writer of placing, the fingerprint that leaves over on the CD when having avoided manual work to grab the disk, oil stain, dust, indirect increase CD carving success rate and carving quality, make the CD writer, printer inside is clean and tidy, the accessory low energy consumption that the unit of snatching adopted, only the during operation circular telegram, and is pollution-free, waste electricity, the intelligent precision snatchs the artificial debugging in the alternative work, use control software issue batch task can, need not artifically, and is simple to operate, and convenient to use.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a front view of a disc gripping device of a disc printer-recorder according to the present invention.
Fig. 2 is a right side view of a disc catching apparatus of a disc printer-recorder according to the present invention.
Fig. 3 is a top partial exploded view of a disc gripper of a disc printer-recorder according to the present invention.
Fig. 4 is a bottom partial exploded view of the optical disc grabbing device of the optical disc printer-recorder according to the present invention.
FIG. 5 is a partial top view of a gripper of a disk gripping device of a disk printer-writer according to the present invention.
Fig. 6 is a top exploded view of a part of a gripper of a disk gripping device of a disk recorder according to the present invention.
FIG. 7 is a partial top view of a gripper of a disk gripping device of a disk printer-writer according to the present invention.
Fig. 8 is a partial bottom view of a gripper of a disk gripping device of a disk printer-writer according to the present invention.
Fig. 9 is a bottom exploded view of a part of a gripper of a disk gripping device of a disk recorder according to the present invention.
In the figure: a. a housing sheet metal part, a1, a first optical axis, a2, a first buckle, a3, a second buckle, a4, a first motor, a5, a gear belt, a6, a first synchronous wheel, a7, a second synchronous wheel, a8, a first limiting column, a9, a second limiting column, a10, a first limiting through hole, a10, a second limiting through hole, a10, a first limiting hole, a10, a limiting screw hole, a10, an HOME point, b, a fixed sheet metal part, b 10, a second optical axis, b 10, a first return spring, b 10, a second limiting hole, c, a linear bearing joint, c10, a first rubber-coated bearing, c10, a second rubber-coated bearing, c10, a square through hole, c10, a notch, a linear bearing, c10, a claw connecting part, c10, a top belt d, a top belt switch 72, a fifth light-sensitive switch, a light-sensitive switch 10, a light-sensitive switch, d7, a seventh light-sensitive switch, d8, an eighth light-sensitive switch, e, a grabber part, e1, a first optical disk grabber, e2, a second optical disk grabber, e3, an oval through hole, e4, a first grabber sheet metal accessory, e5, a second grabber sheet metal accessory, e6, a convex square column, e10, a second motor, e11, a crescent plastic part, e12, a switch transmission rod, e13, a second return spring, e14, a third return spring, e15, a third limiting column, e16, a fourth limiting column, e17, a fifth limiting column, e17, a sixth limiting column, e17, a first return spring hanger, e17, a second return spring hanger, e17, a first L-shaped sheet metal part, e17, a second L-shaped member, e17, a fourth return spring, e17, a fifth return spring, a first return spring, a second return spring hanger, e17, a first return screw fixing hole 17, a second limit screw 17, a third limit screw 17, s8, a second fixing screw, s9, a third fixing screw, p1, a mechanical arm PCB master control, p2, an FFC flat cable, p3, a motor power supply line, p5, a grabber PCB master control, p6, a grabber inductor PCB master control, p7, the grabber PCB master control, p8, a first connecting line, p9, a second connecting line, p10, a first connecting machine, p11, a wear-resistant anti-static acrylic plate, p12, a second connector, p13, a claw plastic cover plate, p14, a first light sensing switch, p15 and a ninth light sensing switch.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
As shown in fig. 1-9, the optical disc gripping device of an optical disc printing and recording machine according to an embodiment of the present invention includes a housing sheet metal part a, a fixing sheet metal part b is disposed at a bottom end of the housing sheet metal part a, the housing sheet metal part a is connected to a first optical axis a1 through a through hole at an upper portion and a lower portion, a first motor a4 is disposed above a front surface of the housing sheet metal part a, a rotating shaft of the first motor a4 is inserted into the housing sheet metal part a and fixed, a rotating shaft of the motor a4 is connected to a first synchronizing wheel a6, the first synchronizing wheel a6 is connected to a second synchronizing wheel a7 through a gear belt a5, the second synchronizing wheel a7 is fixed in the fixing sheet metal part b through a third limiting screw s6 and a second limiting hole b3, a mechanical arm PCB p1 is disposed in a middle portion of a top surface of the housing sheet metal part a, a slidable linear bearing joint c is sleeved on the first optical axis a1, the front end of the linear bearing joint c is connected with a grabber e through a fixing screw s 9.
In a specific embodiment, shell sheet metal component a is the cube panel beating, shell sheet metal component a openly has the tangent plane, shell sheet metal component a above and openly the top respectively have circular through-hole, there are the cutting of C shape and outside 90 degrees bending and contain first spacing hole a12 in shell sheet metal component a left surface bottom, shell sheet metal component a bottom is equipped with first spacing post a8 and the spacing post a9 of second, first spacing post a8 and the spacing post a9 of second are used for the fixing device position, shell sheet metal component a left surface bottom is equipped with first spacing through-hole a10 and the spacing through-hole a11 of second, first optical axis a1 is equipped with first buckle a2 and second buckle a3 respectively with shell sheet metal component a1 junction outside, first motor a4 is connected to arm PCB total control p1 through motor power supply line p 3.
In a specific embodiment, the fixed sheet metal part b is a sheet metal part, the top end of the fixed sheet metal part b is turned outwards and bent at 90 degrees, the top end of the fixed sheet metal part b is welded with a second optical axis b1, the first return spring b2 is nested in the second optical axis b1 to tighten the gear belt a5, the fixed sheet metal part b is embedded into the lower end of the inside of the shell sheet metal part a, the second optical axis b1 penetrates out of the second limiting hole a12, the bottom end of the fixed sheet metal part b is provided with a first limiting screw s1 and a second limiting screw s2, the first limiting screw s1 and the second limiting screw s2 penetrate through the first limiting through hole a10 and the second limiting through hole a11, and the fixed sheet metal part b is fixed through screwing force.
In a specific embodiment, the linear bearing joint c is a sheet metal part, a through hole is formed in the middle of the linear bearing joint c, the linear bearing c5 is fixed through the through hole, the first optical axis a1 penetrates through the linear bearing c5, a gripper PCB master control p5 is arranged in the linear bearing joint c, a square through hole 1c3 is formed in the left side of the linear bearing joint c, a second connector p12 on the gripper PCB master control p5 is exposed through the square through hole c3, a notch c4 is formed in the right side of the linear bearing joint c, a first light sensing switch p14 and a ninth light sensing switch p15 on the gripper PCB master control p5 are exposed through the notch c4, a HOME position a14 on the shell sheet metal part a is inserted into the notch c4 and shields the first light sensing switch p14 and the ninth light sensing switch p15, a first rubber coating bearing c1 and a first coating rubber bearing c2 are arranged on the right side of the linear bearing joint c, the first encapsulating bearing c1 and the second encapsulating bearing c2 respectively compress the inner side and the outer side of the HOME point a 14.
In a specific embodiment, the grabber portion e is a sheet metal part, one end of the grabber portion e is connected with the linear bearing joint c through a first fixing screw s7 and a second fixing screw s8, the grabber portion e is fixed on the square through hole c3 through a third fixing screw s9, the belt fixing groove c20 is formed in the left side of the grabber portion e, and the gear belt a5 penetrates through the belt fixing groove c20 and is fixed.
In a specific embodiment, a gripper PCB master control p7 is embedded in the gripper portion e, the gripper PCB master control p7 is connected with a second connector p12 through a second connecting line p9, the middle of the gripper portion e is connected with a first optical disc gripper e1 and a second optical disc gripper e2 through oval through holes, a first optical disc gripper e1 and a second optical disc gripper e2 are embedded in and perpendicular to the gripper portion e, the gripper portion e outside the first optical disc gripper e1 and the second optical disc gripper e2 is respectively provided with a third limiting column e15, a fourth limiting column e16, a fifth limiting column e17 and a sixth limiting column e18 for fixing, the upper and lower ends of the first optical disc gripper e1 and the second optical disc gripper e2 are respectively provided with a fourth return spring e24 and a fifth return spring e25, and the fourth return spring e24 and the fifth return spring e25 are hung on two sides of the sheet metal plate, the sheet metal parts with the grippers on the two sides are fixed by a first return spring hanging lug e20 and a second return spring hanging lug e21, a first L-shaped sheet metal part e22 and a second L-shaped sheet metal part e23 are fixed at the upper end and the lower end of a gripper part e respectively, a through oval through hole e3 is formed in the left side of the gripper part e, and a second motor e10 is embedded at the top of the gripper part e.
In a specific embodiment, a crescent plastic part e11 is fixed on the second motor e10 transmission rod, the crescent plastic part e11 is fixed in the grabber part e, a rectangular groove is formed in the right side of the grabber part e, a switch transmission rod e12 is embedded in the groove, a second return spring e13 and a third return spring e14 are respectively arranged at the top end and the bottom end of the switch transmission rod e12, the second return spring e13 and the third return spring e14 assist in resetting the switch transmission rod e12, a convex square column e6 is arranged in the middle of the switch transmission rod e12, a first gripper sheet metal part e4 and a second gripper sheet metal part e5 are respectively arranged at the top end and the bottom end of the switch transmission rod e12, the first gripper sheet metal part e4 and the second gripper sheet metal part e5 can move along with the switch transmission rod e12, and the first gripper sheet metal part e4 and the second gripper sheet metal part e5 can change the first optical disc e1, And the gripper part e is covered with a wear-resistant anti-static acrylic plate p11 at the position of the second compact disc gripper e 2.
In a specific embodiment, the wear-resistant anti-static acrylic board p11 is covered with a gripper sensor PCB master control p6, the top of the front side of the gripper sensor PCB master control p6 is welded with a first connecting machine p10, and the first connecting machine p10 is connected with the gripper PCB master control p7 through a first connecting line p 8.
In a specific embodiment, a sixth light sensing switch d6 is welded on the top of the back of the gripper sensor PCB master control p6, a seventh light sensing switch d7 is welded on the bottom of the gripper sensor PCB master control p6, a thimble type sensing switch d1, a second light sensing switch d2 and an eighth light sensing switch d8 are welded on the left side of the gripper sensor PCB master control p6, a fourth light sensing switch d4, a fifth light sensing switch d5 and a third light sensing switch d3 are welded on the right side of the gripper sensor PCB master control p6, the second light sensing switch d2 is opposite to the third light sensing switch d3, the first L-shaped sheet metal part e22 is inserted into the sixth light sensing switch d6, the second L-shaped sheet metal part e23 is inserted into the seventh light sensing switch d7, and the convex square pillar e6 shields the fourth light sensing switch d4 or the fifth light sensing switch d 5.
In a specific embodiment, the thimble type inductive switch d1 passes through the T-shaped through hole and the oval through hole e3 of the general control p1 of the robot arm PCB and then is perpendicular to the outside, the thimble type inductive switch d1 is used for detecting whether an object is contacted or not in the downward movement of the gripper, and the plastic claw cover plate p13 is covered on the general control p6 of the gripper sensor PCB.
In order to facilitate understanding of the above-described technical aspects of the present invention, the above-described technical aspects of the present invention will be described in detail below in terms of specific usage.
In particular use, according to the invention:
declaring that: hereinafter, the optical disc column, the optical disc, and the recorder are all parts of the optical disc printing recorder device, and are not described in detail in this document.
Device self-checking process: after the equipment is powered on, the mechanical arm PCB master control p1 receives a self-checking instruction, sends a pulse signal to the first motor a4, the first motor a4 starts to rotate counterclockwise, so as to drive the gear belt a5, the whole gripper part e starts to move downwards according to the first optical axis a1 and the HOME position a14, after moving a plurality of units, if the first motor a4, the gear belt a5, the first synchronizing wheel a6 and the second synchronizing wheel a7 are not blocked and the thimble type induction switch d1 does not receive a collision return signal, the whole gripper part e decelerates, the first motor a4 drives the gripper part e to move upwards through the gear belt a5, and when the device moves through the HOME position a14, the first light sensing switch p14 and the ninth light sensing switch p15 are not shielded by a metal plate, and feeds back the signal to the mechanical arm PCB master control p1, then, the mechanical arm PCB master control p1 stops the rotation of the first motor a4 and stops at the position, the device moves for self-checking, then the gripper self-checking process is performed, the gripper PCB master control p5 sends a signal to the gripper PCB master control p7, the second motor e10 starts to rotate, the crescent plastic e11 also rotates to drive the switch transmission rod e12, the crescent plastic e11 rotates to a large circle part to push the switch transmission rod e12, the switch transmission rod e12 moves downwards to drive the first sheet metal accessory e4 and the second sheet metal accessory e5, so as to respectively drive the first optical disc gripper e1 and the second optical disc gripper e2 to be tensioned, if the crescent plastic e11 rotates for 2 cycles, the first optical disc gripper e1 and the second optical disc gripper e2 grip loose and have no resistance for two times, and then the self-checking is completed, if the resistance is received, the mechanical fault or the foreign object blockage is judged, the second motor e10 sends out a buzzing abnormal sound to alarm, the work is stopped, and manual intervention is needed to check at the moment.
Grabbing and placing processes: when the mechanical arm PCB general control p1 receives a disk-grabbing command and sends a pulse signal to the first motor a4, the first motor a4 starts rotating counterclockwise to drive the gear belt a5, the whole grabber part e starts moving downward according to the first optical axis a1 and the HOME position a14, when the central through hole of the grabber part e penetrates through the optical disk column of the optical disk printing and recording machine, the optical disk column obstructs the second optical switch d2 and the third optical switch d3, the grabber part e starts descending at a reduced speed, when the thimble type inductive switch d1 presses on the optical disk column, the grabber part e starts descending at a constant speed, the grabber part e starts descending at a reduced speed again, when the grabber part e presses on the optical disk column, the inner grabber part is lifted, and when the sixth optical switch d6 and the seventh optical switch d7 are not obstructed, the gripper PCB master control p7 feeds back a signal to the robot PCB master control p1, the robot PCB master control p1 sends a pulse signal to the first motor a4 to stop rotating, the gripper part e stops operating to keep the position, at this time, the gripper PCB master control p7 sends a pulse signal to the second motor e10 to drive the crescent plastic e11 to rotate 180 ° clockwise, the crescent plastic e11 rotates to a large circle part to push the switch transmission rod 483e 12, the switch transmission rod e12 moves downwards to drive the first gripper sheet metal accessory e4 and the second gripper sheet metal accessory e5, so as to respectively drive the first compact disc gripper e1 and the second compact disc gripper e2 to expand towards both sides, so that the first compact disc gripper e1 and the second compact disc gripper e2 hook the current compact disc to press the gripped by the first compact disc gripper e 462 and the second compact disc gripper e2, and after the second motor e10 rotates, the gripper p7 feeds back to the robot PCB 1, the mechanical arm PCB master control p1 sends a pulse signal to the first motor a4 to rotate clockwise, the grabber part e rises, when the internal grabbing part is reset through the fourth reset spring e24 and the fifth reset spring e25, the first L-shaped sheet metal part 1e22 and the second L-shaped sheet metal part e23 respectively shield the sixth light sensing switch d6 and the seventh light sensing switch d7 again, the grabber PCB master control p7 receives the signal and checks the state of the thimble type sensing switch d1, and if the internal grabbing part is in a shrinkage state, the optical disc grabbing is determined to be successful; if the optical disc is in the popping state, the optical disc grabbing is judged to be failed, the mechanical arm PCB master control p1 controls the grabber part e to execute the disc grabbing process again, the grabber part e starts to ascend after the optical disc is grabbed, and when the optical disc material column does not shield the second light-sensitive switch d2 and the third light-sensitive switch d3, the optical disc material column stays for several seconds, so that the optical disc adsorbed by static electricity is connected, and redundant optical discs automatically fall off after staying for several seconds and return to the optical disc material column.
When the mechanical arm PCB master control p1 receives a command that a disk is input into a recorder, after the disk is grabbed, the mechanical arm PCB master control p1 controls the grabber part e to rise at an even speed, the mechanical arm PCB master control p1 returns to the HOME point a14 first, the first light sensing switch p14 and the ninth light sensing switch p15 are not shielded by a metal plate, the grabber part e stays at the position, then the grabber part e starts to descend according to a preset distance (namely N units that a motor only rotates and fixes) of the mechanical arm PCB master control p1, the optical drive stops moving after reaching a preset optical drive position, the optical drive pops out an optical drive tray, after the mechanical arm PCB master control p1 receives a disk playing command again, the grabber part e is controlled to move downwards slowly, and after the grabber part e is pressed on the optical drive tray in a whole manner, the inner grabbing part is lifted by the sixth light sensing switch d6 and the seventh light sensing switch d7 and is not shielded, the gripper PCB master control p7 feeds back a signal, the mechanical arm PCB master control p1 receives a disc-gripping command, sends a pulse signal to the first motor a4 to stop rotating, the gripper part e stops operating and keeps the position, at this time, the gripper PCB master control p7 sends a pulse signal to the second motor e10 to drive the crescent plastic piece e11 to rotate 180 degrees clockwise, the crescent plastic piece e11 rotates to the small ring part, the switch transmission rod e12 is reset through the second reset spring e13 and the third reset spring e14, the switch transmission rod e12 moves upwards to drive the first gripper sheet metal part e4 and the second gripper sheet metal part e5, so as to respectively drive the first optical disc gripper e1 and the second optical disc gripper e2 to contract inwards, and the first optical disc gripper 1 and the second optical disc gripper e2 release the optical disc pressed at this time, after the second motor e10 finishes rotating, the gripper PCB master control p7 feeds back to the mechanical arm PCB master control p1, the mechanical arm PCB master control p1 sends a pulse signal to the first motor a4 to rotate clockwise, the gripper part e rises, when the internal gripping part is reset through the fourth reset spring e24 and the fifth reset spring e25, the first L-shaped sheet metal part e22 and the second L-shaped sheet metal part e23 respectively shield the sixth light sense switch d6 and the seventh light sense switch d7 again, the gripper PCB master control p7 receives the signal, checks the state of the thimble type inductive switch d1, and if the state is a popup state, determines that the optical disc is successfully placed; if the compact disc is in a contracted state, the compact disc placing is judged to be failed, at the moment, the mechanical arm PCB master control p1 controls the grabber part e to execute the compact disc placing process again, the grabber part e starts to ascend after the compact disc is placed, the HOME point a14 is returned, and the grabber PCB master control p7 is powered off to be in standby.
In conclusion, by means of the technical scheme of the invention, the full-automatic single-chip sequential optical disk grabbing is realized by the mechanical arm grabbing unit, the labor time cost is saved, the working progress is accelerated, the mechanical arm grabbing unit controls the quantity of the optical disks grabbed by the grabbing sheet metal accessories and various sensors, the single optical disk grabbing is realized each time, the speed and the accuracy are realized, the errors caused by manual disk grabbing and disk releasing are avoided, the time and the labor are saved, the target recorder is automatically placed, the fingerprints, oil stains and dust left on the optical disks when the optical disks are grabbed and released manually are avoided, the optical disk recording success rate and the recording quality are indirectly increased, the inner parts of the recorder and the printer are tidy, the energy consumption of the accessories adopted by the grabbing unit is low, the parts are electrified during the working, the pollution is avoided, the electricity is not wasted, the manual debugging in the working is replaced by the intelligent and accurate grabbing, and the batch tasks are issued by using the control software, no need of manpower, simple operation and convenient use.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a CD grabbing device of CD-ROM writer is printed to CD, its characterized in that, includes shell sheet metal component (a), shell sheet metal component (a) bottom is equipped with fixed sheet metal component (b), through-hole and first optical axis (a1) of shell sheet metal component (a) through upper and lower terminal surface are connected, shell sheet metal component (a) openly top is equipped with first motor (a4), first motor (a4) axis of rotation inserts shell sheet metal component (a) and fixed, first motor (a4) axis of rotation is connected with first synchronizing wheel (a 6), first synchronizing wheel (a 6) is connected with second synchronizing wheel (a 7) through gear belt (a5), second synchronizing wheel (a 7) is fixed through third spacing screw (s 6) and second spacing hole (b 3) in fixed sheet metal component (b), shell sheet metal component (a) top surface middle part is equipped with PCB master control arm (p1), the first optical axis (a1) is sleeved with a slidable linear bearing joint (c), and the front end of the linear bearing joint (c) is connected with the grabber (e) through a fixing screw (s 9).
2. The apparatus of claim 1, wherein the housing sheet metal part (a) is a cubic sheet metal part, the front surface of the housing sheet metal part (a) has a cut surface, the top surface and the top end of the front surface of the housing sheet metal part (a) have circular through holes, the bottom of the left surface of the housing sheet metal part (a) has a C-shaped cut and is bent outward by 90 degrees and has a first limiting hole (a12), the bottom surface of the bottom of the housing sheet metal part (a) has a first limiting post 1(a8) and a second limiting post (a9), the first limiting post 1(a8) and the second limiting post (a9) are used for fixing the apparatus position, the bottom of the left surface of the housing sheet metal part (a) has a first limiting through hole (a10) and a second limiting through hole (a11), the outer sides of the connection between the first optical axis (a1) and the housing sheet metal part (a1) are respectively provided with a first buckle (a 2) and a second buckle (3), the first motor (a4) is connected to a robotic arm PCB master control (p1) by a motor power supply line (p 3).
3. The optical disc grabbing device of an optical disc printer-writer according to claim 2, wherein the fixed sheet metal part (b) is a sheet metal part, the top end of the fixed sheet metal part (b) is turned outwards and bent by 90 °, the top end of the fixed sheet metal part (b) is welded with a second optical axis (b1), a first return spring (b2) is nested in the second optical axis (b1) to tighten the gear belt (a5), the fixed sheet metal part (b) is embedded in the lower end of the inner part of the shell sheet metal part (a), the second optical axis (b1) passes through a second limiting hole (a12), the bottom end of the fixed sheet metal part (b) is provided with a first limiting screw (s1) and a second limiting screw (s2), and the first limiting screw (s1) and the second limiting screw (s2) pass through the first limiting through hole (a10) and the second limiting through hole (a11), and fixing the fixed sheet metal part (b) through the screwing force degree.
4. The apparatus as claimed in claim 1, wherein the linear bearing joint (c) is a metal plate, a through hole is formed in a middle portion of the linear bearing joint, the linear bearing (c5) passes through the through hole and is fixed, the first optical axis (a1) passes through the linear bearing (c5), a gripper PCB master control (p5) is disposed in the linear bearing joint (c), a square through hole (c3) is formed on a left side of the linear bearing joint (c), the second connector (p12) on the gripper PCB master control (p5) is exposed through the square through hole (c3), a notch (c4) is formed on a right side of the linear bearing joint (c), the first light sensing switch (p14) and the ninth light sensing switch (p15) on the gripper PCB (p5) are exposed through the notch (c4), and the HOME point (a14) on the metal plate housing (a) is inserted into and passes through the notch (c4) and shields the first light sensing switch (p14) ) The right side of the linear bearing joint (c) is provided with a first rubber-coated bearing (c1) and a second rubber-coated bearing (c2), and the first rubber-coated bearing (c1) and the second rubber-coated bearing (c2) respectively press the inner side and the outer side of the HOME point (a 14).
5. The apparatus for catching a disc in a disc printer-writer as claimed in claim 4, wherein the catcher portion (e) is a metal plate, one end of the catcher portion (e) is connected to the linear bearing joint (c) by a first fixing screw (s7) and a second fixing screw (s8), the catcher portion (e) is fixed to the square through hole (c3) by a third fixing screw (s9), a belt fixing groove (c20) is formed at the left side of the catcher portion (e), and the gear belt (a5) is inserted into the belt fixing groove (c20) and fixed.
6. The apparatus as claimed in claim 5, wherein the gripper portion (e) has a gripper PCB master control (p7), the gripper PCB master control (p7) is connected to the second connector (p12) via a second connection line (p9), the middle of the gripper portion (e) is connected to the first optical disc gripper (e1) and the second optical disc gripper (e2) via elliptical through holes, the first optical disc gripper (e1) and the second optical disc gripper (e2) are embedded and perpendicular to the gripper portion (e), the gripper portions (e) outside the first optical disc gripper (e1) and the second optical disc gripper (e2) are respectively provided with a third positioning post (e15), a fourth positioning post (e16), a fifth positioning post (e17) and a sixth positioning post (e18) for fixing, and the first optical disc gripper portion (e1) and the second optical disc gripper portion (e2) are respectively provided with a fourth reset spring (e24) at upper and lower ends thereof, and a fourth reset spring (24) is respectively arranged at the first optical disc gripper portion (e1) and the second optical disc gripper portion (e2) and the upper and the lower end thereof are respectively provided with a reset spring (24) and the upper end thereof, The novel gripper comprises a fifth return spring (e25), wherein the fourth return spring (e24) and the fifth return spring (e25) are hooked on sheet metal parts on two sides of the gripper, the sheet metal parts on the two sides of the gripper are fixed by a first return spring hanging lug (e20) and a second return spring hanging lug (e21), a first L-shaped sheet metal part (e22) and a second L-shaped sheet metal part (e23) are respectively fixed at the upper end and the lower end of the gripper part (e), a through oval through hole (e3) is formed in the left side of the gripper part (e), and a second motor (e10) is embedded at the top of the gripper part (e).
7. The optical disc gripping device of the optical disc printer-writer as claimed in claim 6, wherein a crescent plastic part (e11) is fixed on the second motor (e10) transmission rod, the crescent plastic part (e11) is fixed in the gripper portion (e), a rectangular groove is opened on the right side of the gripper portion (e), a switch transmission rod (e12) is embedded in the groove, a second return spring (e13) and a third return spring (e14) are respectively arranged at the top end and the bottom end of the switch transmission rod (e12), the second return spring (e13) and the third return spring (e14) assist the switch transmission rod (e12) to return, a raised square column (e6) is arranged in the middle of the switch transmission rod (e12), a first gripper metal plate part (e4) and a second gripper metal plate part (e5) are respectively arranged at the top end and the bottom end of the switch transmission rod (e12), the first hand grab sheet metal part (e4) and the second hand grab sheet metal part (e5) can move along with the switch transmission rod (e12), the first hand grab sheet metal part (e4) and the second hand grab sheet metal part (e5) can change the positions of the first optical disk hand grab (e1) and the second optical disk hand grab (e2), and the grabber part (e) is covered with a wear-resistant anti-static acrylic plate (p 11).
8. The optical disc grabbing device of optical disc printing and recording machine according to claim 7, wherein said wear-resistant anti-static acrylic plate (p11) is covered with a grabber sensor PCB master control (p6), a first connecting machine (p10) is welded on the top of the front surface of said grabber sensor PCB master control (p6), and said first connecting machine (p10) is connected with said grabber PCB master control (p7) through a first connecting line (p 8).
9. The optical disc grabbing device of the optical disc printing and recording machine according to claim 8, wherein the grabber sensor PCB master controller (p6) is welded with a sixth light sensing switch (d6) on the top of the back surface, the grabber sensor PCB master controller (p6) is welded with a seventh light sensing switch (d7) on the bottom, the grabber sensor PCB master controller (p6) is welded with a thimble type sensing switch (d1), a second light sensing switch (d2) and an eighth light sensing switch (d8) on the left side, the grabber sensor PCB master controller (p6) is welded with a fourth light sensing switch 4(d4), a fifth light sensing switch (d5) and a third light sensing switch (d3) on the right side, the second light sensing switch (d2) is opposite to the third light sensing switch (d 38), the first L-shaped sheet metal part (e22) is inserted into the sixth light sensing switch (d6), and the seventh light sensing switch (d7) is inserted into the seventh sheet metal plate (d 23 d7), the convex square pillar (e6) shields the fourth light sensor switch (d4) or the fifth light sensor switch (d 5).
10. The apparatus as claimed in claim 9, wherein the thimble type inductive switch (d1) passes through the T-shaped through hole of the arm PCB total control (p1) and the oval through hole (e3) and then is perpendicular to the outside, the thimble type inductive switch (d1) is used for detecting whether the object is touched during the downward movement of the gripper, and the gripper sensor PCB total control (p6) is covered with the claw plastic cover plate (p 13).
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| CN202111251080.4A CN113696214B (en) | 2021-10-27 | 2021-10-27 | CD grabbing device of CD printing recorder |
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| CN202111251080.4A CN113696214B (en) | 2021-10-27 | 2021-10-27 | CD grabbing device of CD printing recorder |
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