GB2537409A - DVD Handling robot - Google Patents

Abstract

An apparatus for printing images on a plurality of optical mediums includes a 2-axis robotic arm module 16 with a first proximity sensor 85, a plurality of raw optical medium storage containers 13, at least one printing module and a control unit 29. The printing module comprises a printing unit 18, 21 and a printed optical medium storage unit 24, 27. The printed optical medium storage unit is provided below the each printing unit. The printing unit 18 comprises an optical medium transfer mechanism 53, a printing mechanism 50, a second proximity sensor 58 and a third proximity sensor 59. The printed optical medium storage unit comprises a plurality of printed optical medium storage containers. The control unit is connected to the robotic arm module and to the at least one printing unit. The apparatus has a smaller footprint because of its compact configuration, where in the raw optical medium storage containers are placed above a portion of the printing units and the printing units are placed directly above the printed optical medium storage units.

Description

DVD HANDLING ROBOT

The application relates to printing of discs. In particular, the application relates to mass printing of optical mediums.

The optical mediums refer to data storage device in the form of a flat disc, which is usually circular, although other shapes are possible. The disc has pits that represent binary data, wherein each pit represents a binary value of zero or one. These pits are usually read using a laser.

US 7145841 B1 provides a system for duplication of binary data onto Compact Disc-Recordable (CD-R) disks or discs. The system includes a copy unit, a host computer, and computer software.

The software is installed in the host computer to provide a user interface and to direct the transfer of data from the host computer to the copy unit. The copy unit includes a set of multiple stacked recordable disc drives and a microprocessor electronically connected to an activating mechanism of a pivotal transport tower and to the set of multiple stacked recordable disc drives. A robotic disc holding means on the pivotal transport tower is encompassed by a set of disc spindle members arranged in a symmetric semi-circular pattern around the central tower. The disc holding means is connected to the pivotal transport tower with an elevator mechanism for lifting and for transporting compact discs among the disc spindle members and one selected recordable disc drive member from the stacked recordable disc drive members.

It is an object of the application to provide an improved apparatus for printing images on a plurality of optical mediums.

The images comprise photographs, pictures, or texts, wherein these images are provided as a layer of ink on the optical mediums.

The application provides an apparatus for printing images on a plurality of optical mediums.

The optical mediums can use different disc storage formats such as data Digital Versatile Discs (DVDs) format, Blue-ray 10 Discs (BDs) format, or Compact Discs (CDs) format for storing digitally encoded video, audio, or data.

The apparatus includes a robotic arm module, a plurality of raw optical medium storage containers, one or more printing modules, each printing module includes a printing unit with a corresponding printed optical medium storage units, and a control unit.

In particular, the robotic arm module comprises a rod and an arm with an optical medium holding mechanism, a rotary actuator, a linear actuator, and a first proximity sensor. The rod is placed essentially vertical while the arm is placed essentially horizontal.

The vertical rod has an elongated body in which a part of the elongated body is attached to the horizontal arm.

The horizontal arm also has an elongated body. One end of the body is attached with the optical medium holding mechanism, which is used for retrieving a raw optical medium. The raw optical medium refers to an optical medium, wherein images can be printed on a major surface of the optical medium.

The horizontal arm is also connected to the vertical rod such that the horizontal arm can rotate about a vertical axis of the vertical rod. The connection also allows the horizontal arm to move vertically up or down along the vertical rod.

The rotary actuator is used to rotate the horizontal arm about a vertical axis of the vertical rod. The rotary actuator can use an electric motor, a servomotor, or a stepper motor to rotate the horizontal arm to a desired angular position. The ro-tary actuator is electrically connected to the control unit, wherein the control unit can activate the rotary actuator to rotate the horizontal arm to a selected raw optical medium storage container.

Similarly, the linear actuator can move the horizontal arm up or down vertically. The linear actuator may include a Direct Current (DC) linear motor or other types of motor. The linear actuator is also electrically connected to the control unit, wherein the control unit provides electrical energy for acti-vating the linear actuator.

The first proximity sensor is provided in the vicinity of the optical medium holding mechanism and it has a short operating range for detecting a presence of a nearby raw optical medium.

This proximity sensor is electrically connected to the control unit. When the proximity sensor detects the presence of the nearby raw optical medium, it sends a detection signal to the control unit. The detection signal provides an indication for the control unit to activate the horizontal arm to pick up the nearby optical medium.

In a general sense, the operating range of the first proximity sensor depends on the types of sensing mechanism used in the proximity sensor. As an example, the proximity sensor can use capacitance for detecting a nearby optical medium.

The raw optical medium storage containers are used for receiv5 ing stacks of raw optical mediums, wherein centers of the respective raw optical medium storage containers are arranged equidistantly with respect to the vertical axis of the vertical rod. This arrangement allows the horizontal arm of the robotic arm module to access and to retrieve optical mediums, which are stored in the raw optical medium storage containers.

The printing units are placed below and are also placed adjacent to the raw optical medium storage containers.

The printing unit comprises an optical medium transfer mechanism, a printing mechanism, a second proximity sensor, and a third proximity sensor.

The optical medium transfer mechanism is placed below a prede- termined raw optical medium storage container, which is selected from the plurality of raw optical medium storage containers mentioned above. The optical medium transfer mechanism is used for transporting a raw optical medium from the predetermined raw optical medium storage container to the print-ing mechanism.

The printing mechanism is electrically connected to the control unit, which provides electrical energy to activate the printing mechanism for printing images on the transported raw 30 optical medium.

The second proximity sensor is provided in the vicinity of the predetermined raw optical medium storage container for detecting a predetermined height of a stack of raw optical mediums in the predetermined raw optical medium storage container. The height of the stack of the raw optical mediums in the predetermined raw optical medium storage container decreases as the printing transfer mechanism transports the raw optical mediums from the raw optical medium storage container to the printing mechanism for printing. The second proximity sensor also sends a signal regarding the height of the stack of the raw optical mediums to the control unit. The signal provides an indication to the control unit for activating the horizontal arm to transport more raw optical mediums from a selected raw optical medium storage container to the predetermined the raw optical medium storage container.

The third proximity sensor acts to detect a presence of the horizontal arm at a predetermined location of the predetermined raw optical medium storage container. The third proximity sensor then sends a detection signal to the control unit. The detection signal provides an indication to the control unit to activate the horizontal arm for releasing a raw opti-cal medium to the storage container.

The printed optical medium storage unit is provided below the each printing unit and it comprises a plurality of printed optical medium storage containers.

Each printed optical medium storage container has a hollow cylindrical body. A lower end of the body is attached with a cover while an upper end of the body has an opening that is provided for receiving a printed optical medium from the printing mechanism.

The apparatus advantageously allows continuous printing with minimal operator assistance. In addition, the apparatus has a smaller footprint because of its compact configuration, where-in the raw optical medium storage containers are placed above a portion of the printing units and the printing units are placed directly above the printed optical medium storage units.

In one aspect of the application, the plurality of raw optical medium storage containers comprises eight raw optical medium storage containers. Each raw optical medium storage container can accommodate a hundred pieces of optical mediums. In use, this allows an operator loads or places up to eight hundred pieces of raw optical mediums in the raw optical medium storage containers. Since most customer orders are for printing of less than eight hundred pieces of optical mediums, the operator needs to load the optical mediums only once. During print-ing, the operator is free or available to perform other tasks.

As seen above, this configuration advantageously allows the operator to fulfill most customer orders with only one loading of raw optical mediums into the raw optical medium storage 20 containers, which is different from other configurations.

The raw optical medium storage container can include a set of guiding rods, such as three or four guiding rods for easy implementation. The guiding rods may be adapted such that they 25 can contain a stack of up to a hundred pieces of optical medi-111tts.

In one implementation, the vertical rod is pivotable about its vertical axis. The vertical rod and the horizontal arm are connected such that they rotate together in the same rotational direction and at the same speed.

The rotary actuator is often adapted such that it acts to rotate the vertical rod to a desired position.

The optical medium holding mechanism may have a device for contacting an optical medium and a vacuum system that provides a low-pressure region for sucking the optical medium to the device. The rotary actuator can then rotate the horizontal arm to a desired location for the optical medium holding mechanism to retrieve an optical medium from the raw optical medium storage container.

The printed optical medium storage unit may further comprise a circular rotatable baseplate and an actuator for rotating the circular baseplate about a vertical axis of the baseplate.

A plurality of printed optical medium storage containers can be provided on the circular rotatable baseplate for storing printed optical mediums. The plurality of printed optical medium storage containers can comprise just four or more cylindrical printed optical medium storage containers.

The centers of the printed optical medium storage containers can be arranged equidistantly with respect to the center of the circular rotatable baseplate, although other configurations are possible.

The control unit can also be adapted to activate the actuator of the printed optical medium storage unit. In particular, the rotatable baseplate is mechanically coupled to the actuator, which is electrically connected to the control unit. Upon activation by the control unit, the actuator rotates the circu-lar baseplate about a vertical axis of the baseplate, causing one of the printed optical medium storage containers moves to a predetermined angular position next to the printing mechanism for receiving printed optical mediums.

In one implementation, the printing module includes a movable platform. The movable platform can be provided below the printing unit.

The movable platform allows the printing unit to be located at different positions. For example, the printing unit can be located at a position where a uses can easily access to parts of the disc printing unit for servicing these parts. The printing unit can also be located at a position for printing of discs.

In another implementation, the movable platform is adapted for moving both the printing unit and a raw optical medium storage container that corresponds to the printing unit.

Fig. 1 illustrates a front view of a disc printing appa-ratus, Fig. 2 illustrates a side view of the disc printing appa-ratus of Fig. 1, Fig. 3 illustrates a top view of the disc printing appa-ratus of Fig. 1, Fig. 4 illustrates a schematic view of a robotic arm module and an printed disc storage unit of the disc printing apparatus of Fig. 1, Fig. 5 illustrates a flow chart of a method of operating the disc printing apparatus of Fig. 1, and Fig. 6 illustrates a front view of a variant of the disc printing apparatus of Fig. 1.

In the following description, details are provided to de-scribe embodiments of the application. It shall be apparent to one skilled in the art, however, that the embodiments may be practiced without such details.

Some parts of the embodiment have similar parts. The similar parts may have the same names or similar part numbers with an alphabet symbol. The description of one similar part also applies by reference to another similar part, where appropriate, thereby reducing repetition of text without limiting the disclosure.

Figs. 1 and 2 show a disc printing apparatus 10.

The disc printing apparatus 10 comprises a raw disc storage unit 13 with a robotic arm module 16, two disc printing units 18 and 21 with two corresponding printed disc storage units 24 and 27, and a control unit 29.

The raw disc storage unit 13 is placed above the disc printing units 18 and 21 and also adjacent to the disc printing units 18 and 21. The disc printing units 18 and 21 are placed directly above the printed disc storage units 24 and 27. The printed disc storage units 24 and 27 are positioned below the corresponding disc printing units 18 and 21. The robotic arm module 16 is placed in a central opening 39 of the raw disc storage unit 13. The control unit 29 is electrically connected to the robotic arm 16, to the two disc printing units 18 and 21, and to the printed disc storage units 24 and 27.

As better illustrated in Fig. 4, the robotic arm module 16 includes a two-axis robotic arm that comprises a rotatable vertical arm rod 70 with a first drive motor 73, as well as a vertically movable horizontal arm 75 with a second drive motor 78, and a disc holding mechanism 80. The vertical arm rod 70 is also called a vertical rod.

A first end 76 of the horizontal arm 75 is attached to a part of the vertical arm rod 70 while a second end 77 of the horizontal arm 75 is attached to the disc holding mechanism 80.

The vertical arm rod 70 is placed in a central opening 39 of the baseplate 30 of the raw disc storage unit 13. The central opening 39 is better illustrated in Fig. 3. The vertical arm rod 70 is attached to the first drive motor 73 such that the first drive motor 73 can rotate the vertical arm rod 70 about a vertical axis of the vertical arm rod 70. The first drive motor 73 is electrically connected to the control unit 29.

The horizontal arm 75 is attached to the vertical arm rod 70 such that they are rotatable in the same rotational direction at the same rotational speed. The horizontal arm 75 is also attached to the vertical arm rod 70 such that the second drive motor 78 can move the horizontal arm 75 vertically in the up and down direction with respect to the vertical arm rod 70. The second drive motor 78 is electrically connected to the control unit 29.

The disc holding mechanism 80 is separated from the vertical arm rod 70 by a predetermined distance d. The disc holding mechanism SO comprises a disc holding means 63, a disc holding 25 means proximity sensor 85, and a vacuum system 88.

The disc holding means proximity sensor 85 is placed near the disc holding means 83. The disc holding means proximity sensor 85 is electrically connected to the control unit 29. The vacu30 um system 88 is connected to the disc holding means 83.

The vacuum system 88 includes a vacuum pump 94 with a vacuum sensor 90 and an air hose 96 with a vacuum valve 92. The disc holding means 83 is connected to one end of the air hose 96.

The vacuum pump 94, the vacuum sensor 90, and the vacuum valve 92 are electrically connected to the control unit 29.

Referring to the raw disc storage unit 13, it has a fixed hor-izontal baseplate 30, as better seen in Figs. 1 and 2. The raw disc storage unit 13 also has six sets of vertical guiding rods 31 to 36, as better seen in Figs. 3. Each set has three guiding rods.

For the set of guiding rods 31, lower end parts of the vertical guiding rods 31 are attached to an upper major surface 38 of the horizontal baseplate 30. The connections are done such that the attachment areas are separated from each other by an essentially equal pre-determined distance. Put differently, the attachment areas of are located on vertexes or corners of a triangle with a geometric center. The geometric center is separated from the vertical arm rod 70 by the predetermined distance d.

In particular, the attachment is done such that the baseplate 30 and the guiding rods 31 form a raw disc storage container 41. The guiding rods 31 are also adapted such that they can contain a stack of up to a hundred pieces of discs, which comply with Digital Versatile Disc (DVD) format. In a general sense, the discs can comply with formats, such as Compact Disc (CD).

For the other guiding rods 32 to 36, they are connected to the baseplate 30 in a manner that is similar to the guiding rods 31.

Referring to the disc printing unit 18, it comprises a printing mechanism 50, a disc transfer mechanism 53 with a raw disc staging container 55, as shown in Fig. 1. The disc printing unit 18 also includes a first printing unit proximity sensor 58, and a second printing unit proximity sensor 59, as shown in Fig. 4.

The printing mechanism 50 is attached to the disc transfer mechanism 53, which is placed below the raw disc staging container 55. The printing mechanism 50 and the disc transfer mechanism 53 are electrically connected to the control unit 29.

The raw disc staging container 55 is positioned adjacent to the baseplate 30. The raw disc staging container 55 has three corresponding vertical guiding rods 56.

The guiding rods 56 are arranged similar to the guiding rods 31 of the raw disc storage container 41 of the raw disc storage unit 13. The guiding rods 56 are located on vertexes of a triangle with a geometric center, which is separated from the vertical arm rod 70 of the robotic arm module 16 by the above-mentioned predetermined distance d. The three guiding rods 56 are also arranged such that they can contain a stack of up to a hundred pieces of discs.

The printing unit proximity sensors 58 and 59 are placed in the vicinity of the raw disc staging container 55, wherein the second printing unit proximity sensor 59 is placed above the first printing unit proximity sensor 58. The printing unit proximity sensors 58 and 59 are electrically connected to the control unit 29.

The disc printing unit 21 comprises a printing mechanism 60, a disc transfer mechanism 63 with a raw disc staging container 65, a first printing unit proximity sensor 68, and a second printing unit proximity sensor 69. The printing mechanism 60 is placed opposite to the printing mechanisms 58 of the disc printing unit 18. Parts of the disc printing unit 21 are ar-ranged similar to the parts of the disc printing unit 18.

Referring to the printed disc storage unit 24, it includes a horizontal rotatable baseplate 97 with a drive motor 99 and four cylindrical printed disc storage containers 101.

The rotatable baseplate 97 is circular in shape and is mechan-ically coupled to the drive motor 99 such that the drive motor 99 can rotate the baseplate 97 about its vertical axis. The drive motor 99 is electrically connected to the control unit 29.

The rotatable baseplate 97 has four circular recessed portions 105, which are positioned on an upper surface of the baseplate 97. The four circular recessed portions 105 are positioned such that they are at an equal predetermined distance from a center part of the rotatable circular baseplate 97.

The printed disc storage containers 101 are inserted in the circular recessed portions 105. Each printed disc storage container 101 has a hollow cylindrical body. One end of the body is attached with a cover while the other end of the body has an opening that is adapted for receiving discs. Each printed disc storage container 101 can a stack of up to a hundred pieces of discs.

Similarly, the printed disc storage unit 27 includes a hori-zontal rotatable baseplate 117 with a drive motor 119 and four cylindrical printed disc storage containers 121. Parts of the printed disc storage unit 27 are arranged similar to the parts of the printed disc storage unit 24.

Referring to the control unit 29, it comprises a processor 128 that is electrically connected to the robotic arm 16, to the two disc printing units 18 and 21, and to the printed disc 5 storage units 24 and 27.

As a whole, the disc printing apparatus 10 is configured such that the raw disc storage unit 13, the two disc printing units 18 and 21, and the printed disc storage units 24 and 27 are placed at different levels such that its footprint or space requirement is advantageously reduced.

In use, each raw disc storage container 41 to 46 is used for receiving a plurality of discs from a user, wherein the re-15 ceived discs are arranged in a stack. The discs are intended for transferring later, to the printing units 18 and 21.

The robotic arm module 16 acts for transporting the discs from the raw disc storage containers 41 to 46 to the raw disc staging 20 containers 55 and 65.

In particular, the first drive motor 73 is intended to rotate the vertical arm rod 70 together with the horizontal arm 75 in the same rotational direction, in either clockwise or anti-clockwise direction when activated by the control unit 29. The angular rotation of the horizontal arm 75 may be restricted, for instance, to a maximum of 360 degrees, for easier design.

The second drive motor 78 moves the horizontal arm 75 verti30 cally up or down when activation by the control unit 29.

The disc holding means 83 is used for contacting and for picking a disc. The vertical arm rod 70 and the horizontal arm 75 act to position the disc holding means 83 to an area of the raw disc storage containers 41 to 46 or to an area of the raw disc staging containers 55 and 65.

The disc holding means proximity sensor 85 has a short operat-ing range and is intended for detecting a presence of a disc, which is placed in the vicinity of the disc holding means 83. When the presence of the disc is detected, the disc holding means proximity sensor 83 then sends a detection signal to the control unit 29.

The vacuum system 88 allows the disc holding means 83 to adhere to the disc.

In particular, the air hose 96 acts as a conduit that allows 15 air to flow between the disc holding means 83 and the vacuum pump 94.

The vacuum pump 94 serves to remove the air from the air hose 96 when the vacuum pump 94 is activated by the control unit 29.

The vacuum valve 92 provides an open state or a closed state.

In the open state, the vacuum valve 92 allows air to move through the air hose 96 between the disc holding means 83 and the vacuum pump 94. In the closed state, the vacuum valve 92 blocks air from moving through the air hose 96 between the disc holding means 83 and the vacuum pump 94.

The vacuum sensor 90 is used for measuring air pressure in the 30 air hose 96 and for sending the air pressure measurement to the control unit 29.

Operationally, the disc holding mechanism 80 provides an active mode and a passive mode.

In the active mode, the vacuum pump 94 is activated while the vacuum valve 92 is actuated to the open state. This results in a low-pressure region around the disc holding means 83. The low-pressure region serves to pull a disc, in the vicinity of the disc holding means 83, towards the disc holding means 83. In other words, the low-pressure region causes the disc to adhere to the disc holding means 83.

The disc holding means 83 can then move the disc from one location, such as the raw disc storage containers 41 to 46, to another location such as the raw disc staging container 55 or 65.

In the passive mode, the vacuum pump 94 is activated while the vacuum valve 92 is actuated to the closed state. This serves to remove the above low pressure region from the disc holding means 83. Any disc, which is placed next to the disc holding means 83, is then not pulled or pushed towards the disc hold-ing means 83. This thereby causes the disc holding mean 83 to release the disc.

Referring to the printing unit 18, the raw disc staging container 55 is intended for receiving a plurality of discs from 25 a user or from the disc holding means 83.

The first printing unit proximity sensor 58 is used for detecting a presence of disc in the raw disc staging container 55. This detection of disc and the position of the proximity sensor 58 can be used to determine the number of discs in the raw disc staging container 55.

The second printing unit proximity sensor 59 is intended for detecting a presence of the disc holding means 63 and for sending a presence detection signal to the control unit 29. The control unit 29 can then actuate the disc holding mechanism 80 to release the disc.

The disc transfer mechanism 53 is intended for transporting a bottom disc from the raw disc staging container 55 to the printing mechanism 50 for printing. The bottom disc is positioned at a lowest part of the stack of discs in the raw disc staging container 55.

The printing mechanism 50 is used for marking or printing images or texts on a major surface of a disc. The printing mechanism 50 may use inkjet or thermal printing methods for printing.

The disc transfer mechanism 53 also transports the printed discs from the printing mechanisms 50 to the corresponding printed disc storage container 101.

The disc printing units 18 and 21 have similar functions.

Referring to the printed disc storage unit 24, the printed disc storage container 101 is used for receiving a plurality of printed discs from the printing unit 18.

The rotatable baseplate 97 is intended for moving a selected printed disc storage container 101 to a designated position for receiving the printed discs from the disc printing unit 18.

The drive motor 99 acts to rotate the baseplates 97, upon the activation of the control unit 29.

Similarly, the printed disc storage units 24 and 27 have similar functions.

The control unit 29 has a program for operating the disc printing apparatus 10. In particular, the program includes instructions to activate the vacuum pump 94, to activate the vacuum valve 92, to activate the first drive motor 73, to activate the second drive motor 78, and to activate the drive motor 99 or 119, at an appropriate time.

The disc printing apparatus 10 provides several advantages.

The disc printing apparatus 10 is configured such that it allows processing of customer orders with minimal operator as-15 sistance for higher operating efficiency.

The disc printing apparatus 10 is configured such that it can print up to eight hundred discs with a single machine set-up. An operator can load the raw disc storage unit 13 with up to 600 discs and can load the raw disc staging containers 55 and 65 with up to two hundred discs. The operator can thus load the disc printing apparatus 10 with up to eight hundred discs, which is sufficient to meet most customer orders. In short, the operator just needs to attend to the disc printing appa-ratus 10 once to fulfill most customer orders. The operator just needs to attend to the disc printing apparatus 10 when the disc printing apparatus 10 has completed printing the entire customer order. This also allows the operator have more time to perform other tasks.

This is different from other disc printing device, which has a smaller disc printing capacity, say a maximum printing capacity of 700 or 600 discs. In this case, the operator often loads the disc printing device with only a partial customer order quantity. The operator would need to attend to the disc printing device again later for loading the remaining customer order quantity. Such a disc printing device hence has lower efficiency.

This is different from other disc printing device, which has a larger disc printing capacity, say a maximum disc printing capacity of 900 or 1,000 discs. Such a disc printing device may be more costly because of its larger disc printing capacity.

However, the additional disc printing capacity is seldom utilized because most customer orders are for less than 800 discs.

The two printing units 18 and 21 can also print different 15 discs at the same time, thereby increasing overall printing rate.

In a general sense, different implementations of two-axis robot are possible. In one implementation, the robot comprises a vertical arm rod and a horizontal arm, wherein one end of the horizontal arm is attached to the upper end of the vertical arm rod. The arm rod is rotatable and vertically movable, driven by two distinct drive motors that separately enable the vertical movement and rotation movement of the vertical arm rod. The horizontal arm is attached to the vertical arm rod such that both the arm rod and the horizontal arm move together in the same vertical and rotation direction.

Different implementations of the raw disc storage containers 41 to 46 are possible. Each set of guiding rods 31 to 36 can be replaced by a spindle that is attached to the upper surface of the fixed baseplate 30. The spindle protrudes vertically from the baseplate 30. Each spindle is used for inserting into central holes of discs, thereby allowing the discs to be placed in a stack.

Each raw disc storage container 41 to 46 can be adapted to hold a different number of discs, instead of holding just one hundred pieces of discs.

Likewise, the number of printed disc storage containers 101 and 121 may also be varied, according to the requirement of 10 the user.

Different mechanisms for picking up the discs are possible. Instead of using the disc holding means 83 with air suction pressure, a mechanical gripper with fingers can be used to 15 pick the discs.

In one embodiment, the printing unit proximity sensors 58, 59, 68 and 69, and the disc holding means proximity sensor 85 use capacitance for detecting presence of a nearby disc. The near-by disc would change the capacitance around the proximity sensor 85, thus indicating the presence of the nearby disc.

In a general sense, the proximity sensors 58, 59, 68, 69 and 85 can use other means to detect the presence of a disc. The 25 other means include Eddy-current, inductive, laser, magnetic, optical, and thermal infrared.

In a special implementation, these proximity sensors 58, 59, 68, 69 and 85 have a cylindrical shape with a diameter of 30 about 18 millimeter (mm), a detection distance of 10 mm, a working voltage of 6 to 36 volt DC (Direct Current).

Different methods of operating the disc printing apparatus 10 are possible.

Fig. 5 shows a flow chart 200 of one method of operating the disc printing apparatus 10.

The flow chart 200 includes a step 202 of a user loading or placing a plurality of discs into the raw disc staging containers 55 and 65 and the raw disc storage containers 41 to 46.

The discs in the raw disc storage containers 41 to 46 are then lifted or retrieved, one at a time, by the disc holding means 83 of the robotic arm module 16, in a step 208.

The robotic arm module 16 then transports the discs to an area 15 that is in close proximity to the respective raw disc staging containers 55 and 65 in order to release the discs into said raw disc staging containers 55 and 65, in a step 210.

The disc transfer mechanisms 53 and 63 later transport the discs in the corresponding raw disc staging containers 55 and 65 to the corresponding printing mechanisms 50 and 60, in a step 212.

The printing mechanisms 50 and 60 afterward mark surfaces of 25 the discs, in a step 215.

After this, the disc transfer mechanisms 53 and 63 transport the printed discs from the corresponding printing mechanisms 50 and 60 to the corresponding printed disc storage containers 101 and 121, in a step 218.

In summary, the step 210 is done in order to fill the raw disc staging containers 55 and 65 with discs while the step 218 is done to deplete the discs in the raw disc staging containers 55 and 65.

When the printed disc storage container 101 or 121 is full, the corresponding rotatable baseplate 95 or 117 rotates to position another empty printed disc storage container 101 or 121 for receiving the printed discs from the printing mechanisms 50 and 60, in a step 220.

Fig. 6 shows a variant of the disc printing apparatus 10. Fig. 6 shows a disc printing apparatus 10a.

The disc printing apparatus 10a has parts similar to parts of the disc printing apparatus 10. The similar parts have similar 15 configuration.

The disc printing apparatus 10a includes two disc printing units 18a and 21a, and a horizontal supporting plate 11. The disc printing units 18a and 21a are placed on the supporting 20 plate 11.

The disc printing unit 18a includes a movable platform 19. A lower surface of the platform 19 is attached with two or more wheels 20. The wheels 20 are placed on an upper flat surface 25 of the supporting plate 11.

Similarly, the disc printing unit 21a includes a movable platform 22. A lower surface of the platform 22 is attached with two or more wheels 23. The wheels 23 are placed on the upper 30 surface of the supporting plate 11.

In use, the wheels 20 and 23 allow the platform 19 and 22 to move towards or away from the supporting plate 11. In other words, the movable platforms 19 and 22 can move the corre-sponding disc printing units 18a and 21a to different positions. For example, the disc printing units 18a and 21a can be positioned so that a user can easily access to parts of the disc printing units 18a and 21a for servicing these parts.

Although the above description contains much specificity, this should not be construed as limiting the scope of the embodiments but merely providing illustration of the foreseeable embodiments. The above stated advantages of the embodiments should not be construed especially as limiting the scope of the embodiments but merely to explain possible achievements if the described embodiments are put into practice. Thus, the scope of the embodiments should be determined by the claims and their equivalents, rather than by the examples given.

REFERENCE NUMBERS

disc printing apparatus 10a disc printing apparatus 11 supporting plate 13 raw disc storage unit 16 robotic arm module 18 disc printing unit 18a disc printing unit 19 movable platform 20 wheels 21 disc printing unit 21a disc printing unit 22 movable platform 23 wheels 24 printed disc storage unit 27 printed disc storage unit 29 control unit fixed baseplate 31 guiding rods 32 guiding rods 33 guiding rods 34 guiding rods guiding rods 36 guiding rods 38 upper major surface 39 central opening 41 raw disc storage container 42 raw disc storage container 43 raw disc storage container 44 raw disc storage container raw disc storage container 46 raw disc storage container printing mechanism 53 disc transfer mechanism raw disc staging container 56 guiding rods 58 first printing unit proximity sensor 59 second printing unit proximity sensor 60 printing mechanism 63 disc transfer mechanism raw disc staging container 66 guiding rods 68 first printing unit proximity sensor 69 second printing unit proximity sensor vertical arm rod 73 drive motor horizontal arm 76 first end 77 second end 78 drive motor disc holding mechanism 83 disc holding means holding means proximity sensor 88 vacuum system vacuum sensor 92 vacuum valve 94 vacuum pump 96 air hose 97 rotatable baseplate 99 drive motor 101 printed disc storage container circular recessed portion 117 rotatable baseplate 119 drive motor 121 printed disc storage container circular recessed portion 128 processor flow chart 202 step 205 step 208 step 210 step 212 step 215 step 218 step 220 step

Claims (12)

1. CLAIMS1. An apparatus for printing images on a plurality of opti-cal mediums, the apparatus comprising a robotic arm module that comprises - a vertical rod, - a horizontal arm with an optical medium holding mechanism, the horizontal arm being connected to the vertical rod, - a rotary actuator for rotating the horizontal arm about a vertical axis of the vertical rod, - a linear actuator for moving the horizontal arm vertically, and - a first proximity sensor being provided in the vicinity of the optical medium holding mecha-nism for detecting a presence of a raw optical medium, a plurality of raw optical medium storage containers for receiving stacks of raw optical mediums, centers of the respective raw optical medium storage containers be-ing arranged equidistantly with respect to the vertical axis of the vertical rod, at least one printing module, each printing module comprises a printing unit and a printed optical medium storage unit, the printed optical medium storage unit be-ing provided below the each printing unit, the printing unit comprising - an optical medium transfer mechanism being provided below a predetermined raw optical medium storage container, which is selected from the plurality of raw optical medium storage containers, - a printing mechanism, wherein the optical medium transfer mechanism is provided for transporting a raw optical medium from the pre-determined raw optical medium storage container to the printing mechanism, the printing mechanism being provided for printing images on the raw optical medium, - a second proximity sensor being provided for detecting a predetermined height of a stack of raw optical mediums in the predetermined raw optical medium storage container, and - a third proximity sensor being provided for detecting a presence of the horizontal arm at a predetermined location of the predetermined raw optical medium storage container, the printed optical medium storage unit comprising - a plurality of printed optical medium storage containers, the printed optical medium storage container being provided for receiving a printed optical medium from the printing mechanism, and a control unit, which is connected to the robotic arm module and to the at least one printing unit.
2. 2. The apparatus according to claim 1, wherein the plurality of raw optical medium storage containers comprises eight raw optical medium storage containers.
3. 3. The apparatus according to claim 1 or 2, wherein the raw optical medium storage container comprises a set of guiding rods.
4. 4. The apparatus according to one of the above-mentioned claims, wherein the vertical rod is pivotable about its vertical axis.
5. 5. The apparatus according to claim 4, wherein the rotary actuator acts to rotate the vertical rod.
6. 6. The apparatus according to one of the above-mentioned claims, wherein the optical medium holding mechanism comprises - a device for contacting an optical medium, and - a vacuum system for sucking the optical medium to the device.
7. 7. The apparatus according to one of the above-mentioned claims, wherein the printed optical medium storage unit further comprises a circular rotatable baseplate and - an actuator for rotating the circular baseplate about a vertical axis of the baseplate.
8. 8. The apparatus according to claim 7, wherein a plurality of printed optical medium storage containers are provided on the circular rotatable baseplate.
9. 9. The apparatus according to one of claim 7 or 8, wherein centers of the printed optical medium storage containers are arranged equidistantly with respect to a center of the circular rotatable baseplate.
10. 10. The apparatus according to one of the claim 7 to 9, wherein the control unit is also adapted to activate the actuator of the printed optical medium storage unit.
11. 11. The apparatus according to one of the above-mentioned claims, wherein the printing module further comprises a movable platform for moving the printing unit.
12. 12. The apparatus according to claim 11, wherein the movable platform is further adapted for moving a raw optical medium storage container that corresponds to the printing unit.