JP2009003980A - Optical disk conveyance device, conveyance position calculation device, control method and control program of optical disk conveyance device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To convey an optical disk to a predetermined conveyance position on a disk tray by easily carrying out positioning even if the conveyance position of the optical disk is changed depending on a device. <P>SOLUTION: An optical disk conveyance device 10 which conveys the optical disk 100 to a disk tray 31 comprises: a support shaft 14 which is long and supports an optical disk conveyance device 10 in a shaft direction; an arm 12 which is prepared rotatably around the support shaft 14 movably along the shaft direction and flexibly in length; a reflection type photosensor 18 prepared in the arm 12; a center position calculation section 81 which rotates, expands and contracts the arm 12 upward of the disk tray, and calculates the center position of the optical disk based on an outer edge position detected by the reflection type photosensor 18 and/or an edge position of a central hole formed at the optical disk; and a holding section 11 which is prepared at the tip of the arm 12 and holds detachably the optical disk 100 based on the calculated center position. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an optical disc transport device that transports an optical disc to a disc tray, a transport position calculation device, an optical disc transport device control method, and a control program.

2. Description of the Related Art Conventionally, an optical disk duplicating apparatus including a recording apparatus that records data on an optical disk such as a CD-R (Recordable) and a printing apparatus that performs printing on a label surface of the optical disk is known (for example, Patent Document 1). reference). In such an optical disc duplicating apparatus, a first stacker on which an unused optical disc used for data recording and printing is loaded, and an optical disc on which data recording and printing on the label surface are carried are loaded. And a transport device that transports the optical disk between the first stacker, the recording device, the printing device, and the second stacker.
The transport device includes a support shaft disposed at a predetermined position with respect to the first stacker, the recording device, the printing device, and the second stacker, and an arm that is vertically movable and rotatable along the support shaft. And a gripping part provided at the tip of the arm part for detachably gripping the optical disc.
JP 2000-260172 A

By the way, the recording apparatus and the printing apparatus have a disk tray for conveying the optical disk into the apparatus. A position where the transport device should transport the optical disk is positioned in accordance with the mounting position of the optical disk on these disk trays.
However, when the recording apparatus or printing apparatus is replaced due to a failure or functional improvement, the position and shape of the disk tray may differ from the apparatus that was originally assembled depending on the replaced apparatus. In such a case, conventionally, according to the disc tray of a new recording device or printing device, it is necessary to manually position the optical disc to be transported to a predetermined placement position. It was.
An object of the present invention is to enable an optical disc to be transported to a predetermined transport position on a disc tray even when the transport position of the optical disc varies depending on the device, and to easily position the optical disc transport device, transport position calculation device, and optical disc transport device A control method and a control program are provided.

In order to solve the above-described problems, an optical disk transport apparatus according to the present invention is an optical disk transport apparatus that transports an optical disk to a disk tray, and is long in a direction perpendicular to the disk surface of the optical disk placed on the disk tray. A support shaft, an arm portion that is rotatable about the support shaft and movable along the axial direction of the support shaft, and is capable of extending and contracting in a direction parallel to the disk surface; and the arm portion And an outer edge detected by the reflection type optical sensor by rotating and expanding / contracting the arm portion on a virtual plane facing the disc surface of the optical disc placed on the disc tray. The center position of the optical disc placed on the disc tray is calculated based on the position and / or the edge position of the center hole formed in the optical disc. A center position calculation unit, and a grip unit provided at a tip of the arm unit and configured to detachably grip the optical disk based on the center position calculated by the center position calculation unit. To do.
According to the above configuration, the optical disk transport device has a support shaft that is long in a direction perpendicular to the disk surface of the optical disk placed on the disk tray, and is rotatable about the support shaft and in the axial direction of the support shaft. And an arm portion that is provided on the support shaft so as to be movable along the disk and is extendable in a direction parallel to the disk surface of the optical disk placed on the disk tray.
A reflective optical sensor is provided on the arm portion. The center position calculation unit rotates and expands / contracts the arm part on a virtual plane facing the disk surface of the optical disk placed on the disk tray, and detects the outer edge position and / or edge of the center hole detected by the reflective sensor. Based on the position, the center position of the optical disk placed on the disk tray is calculated.
As described above, the optical disk placed on the disk tray is based on the outer edge position of the optical disk and / or the edge position of the center hole detected while rotating and expanding / contracting the arm portion formed to be expandable / contractable on the virtual plane. Since the center position of the optical disk is calculated, the optical disk can be transported to a predetermined transport position on the disk tray based on the center position of the optical disk placed on the disk tray even if the transport position of the optical disk varies depending on the device. Based on the center position of the optical disk calculated by the center position calculation unit, it is possible to easily position the transport position when transporting the optical disk to the disk tray.
Here, the disk tray is provided in various apparatuses such as a disk apparatus (recording apparatus, reproducing apparatus, recording / reproducing apparatus) for recording / reproducing data on an optical disk, and a printing apparatus for performing printing on the label surface of the optical disk. The apparatus provided with the disc tray is arbitrary. Further, the mounting surface on which the optical disk of the disk tray is mounted may be provided in the horizontal direction or may be provided in the vertical direction. When the mounting surface of the optical disk of the disk tray is provided in the horizontal direction, the virtual plane is virtually provided in the horizontal direction. Similarly, when the mounting surface of the optical disk is provided in the vertical direction, the virtual plane is virtually provided in the vertical direction. Further, the arm portion becomes a side included in the virtual plane.
An optical disk refers to a recording medium on which information is recorded and reproduced using light (semiconductor laser or the like), and is a CD-DA, CD-ROM, CD-R, CD-RW, DVD-R, Refers to DVD-RW, DVD-RAM, DVD + RW, Blu-ray Disc, HD DVD, etc.

In the above-described configuration, the center position calculation unit uses the reflective optical sensor while rotating the arm unit expanded / contracted to a predetermined expansion / contraction reference amount for detecting the center position of the optical disc on the virtual plane. Based on the two detected outer edge positions and / or the two edge positions, the arm portion is rotated from a predetermined rotation reference position in a direction connecting the center position of the optical disc and the support shaft. A rotation amount calculation unit for obtaining a rotation amount for the rotation, and based on the rotation amount, the arm unit is rotated in a direction connecting the center position of the optical disk and the support shaft, and the arm unit is expanded and contracted. , Opposite to the center position of the optical disk on the virtual plane based on the two outer edge positions and / or the two edge positions detected by the reflective optical sensor An expansion / contraction amount calculation unit for obtaining an expansion / contraction amount for positioning the grip portion at a position where the gripping unit is positioned, and the rotation amount calculated by the rotation amount calculation unit and the expansion / contraction calculated by the expansion / contraction amount calculation unit The center position of the optical disc may be calculated based on the amount.
According to the above configuration, the center position calculation unit includes the rotation amount calculation unit and the expansion / contraction amount calculation unit. The rotation amount calculation unit is configured to rotate the arm unit expanded / contracted to a predetermined expansion / contraction reference amount for detecting the center position of the optical disc on the virtual plane while detecting the two outer edge positions detected by the reflective optical sensor and Based on the two edge positions, a rotation amount for rotating the arm portion in a direction connecting the center position of the optical disk and the support shaft from a predetermined rotation reference position is obtained. The expansion / contraction amount calculation unit, on the other hand, rotates the arm unit in the direction connecting the center position of the optical disk and the support shaft based on the rotation amount calculated by the rotation amount calculation unit, and expands and contracts the arm unit. Based on the two outer edge positions and / or the two edge positions detected by the optical sensor, the expansion / contraction amount for positioning the gripping portion at a position facing the center position of the optical disk on the virtual plane is obtained. In this way, the positioning for easily transporting the optical disc to the disc tray is carried out based on the rotation amount obtained by the rotation amount calculation unit and the expansion / contraction amount obtained by the expansion / contraction amount calculation unit without bothering human hands. It can be carried out.

In the above configuration, the disk surface in the axial direction of the optical disk based on the position of the disk surface detected by the contact sensor while moving the arm portion from the virtual plane to the disk tray side along the support shaft A disk surface position calculation unit that calculates the position of the disk surface.
According to the said structure, the contact sensor is provided in the arm part. The disk surface position calculation unit calculates the position of the disk surface in the axial direction of the support shaft of the optical disk based on the position of the disk surface detected while moving the arm unit from the virtual plane to the disk tray side along the support shaft. calculate. For this reason, when the optical disk is transported to the disk tray, the position of the disk surface in the axial direction can be determined.

In the above configuration, the center position calculation unit is configured to position the arm unit in the axial direction when the arm unit is rotated and expanded / contracted based on the position of the disk surface detected by the disk surface position calculation unit. Is preferably determined.
According to the above configuration, the position of the arm portion in the axial direction when the arm portion is rotated / expanded to calculate (detect) the center position based on the position of the disc surface of the optical disc placed on the disc tray. Is determined. Therefore, for example, the detection accuracy of the outer edge position of the optical disk and the edge position of the center hole formed in the optical disk can be improved by rotating and expanding / contracting the arm portion at a position close to the disk surface.

In the above configuration, the rotation amount calculation unit is configured to detect the two outer edge positions and / or the two edge positions detected while rotating the arm unit in the forward direction on the virtual plane, and the return path direction. The amount of rotation may be calculated based on the two outer edge positions and / or the two edge positions detected while rotating.
According to the above configuration, the outer edge position and / or the two edge positions detected by the reflective optical sensor while rotating in the forward direction and the reflective optical sensor detected by rotating in the backward direction. Further, the center position of the optical disc can be obtained more correctly based on the two outer edge positions and / or edge positions.

Further, in the above-described configuration, the rotation amount calculation unit is configured to detect the two outer edge positions and / or the two positions detected while rotating the arm unit expanded / contracted to one expansion / contraction reference amount on the virtual plane. Based on the edge position and the two outer edge positions and / or the two edge positions detected while rotating the arm part expanded / contracted to another expansion / contraction reference amount on the virtual plane, the rotation amount is calculated. It may be calculated.
According to the above configuration, the two outer edge positions and / or the two edge positions detected by the reflective optical sensor while rotating the arm part expanded and contracted by one expansion / contraction reference amount, and another predetermined Based on the two outer edge positions and / or edge positions detected by the reflection-type optical sensor while rotating the arm part expanded and contracted to the expansion / contraction reference amount, the center position of the optical disk can be obtained more correctly.

  Further, the transport position calculation device of the present invention includes a support shaft that is long in a direction orthogonal to the disk surface of the optical disk placed on the disk tray, and is rotatable about the support shaft and the axial direction of the support shaft The arm part is provided so as to be movable along the disk surface, and is capable of expanding and contracting in a direction parallel to the disk surface, a reflective optical sensor provided in the arm part, and provided at the tip of the arm part. A transport position calculating device for calculating a transport position of the optical disc in an optical disc transport device for transporting the optical disc to the disc tray, wherein the transport position is calculated on the disc tray. The outer edge position detected by the reflection type optical sensor and / or the arm portion is rotated and expanded / contracted on a virtual plane facing the disk surface of the optical disk. A center position calculation unit that calculates a center position of the optical disk placed on the disk tray based on an edge position of a center hole formed in the optical disk, and the optical disk transport device based on the center position A transport position for transporting the optical disk to the disk tray is calculated.

  The control method of the optical disk transport apparatus according to the present invention includes a support shaft that is long in a direction perpendicular to the disk surface of the optical disk placed on a disk tray, and is rotatable about the support shaft and the support shaft The arm part is provided so as to be movable along the axial direction of the disk, and can be extended and contracted in a direction parallel to the disk surface, a reflective photosensor provided in the arm part, and provided at the tip of the arm part. A method of controlling an optical disk transport apparatus for controlling an optical disk transport apparatus for transporting an optical disk to the disk tray, the gripper being configured to detachably grip the optical disk, and placed on the disk tray The arm portion is rotated and expanded / contracted on a virtual plane facing the disc surface of the optical disc, and the outer edge position and / or the zone detected by the reflective optical sensor are detected. Is a process of calculating the center position of the optical disk placed on the disk tray based on the edge position of the center hole formed in the optical disk, and based on the calculated center position, And a process of gripping the optical disc.

Further, the control program of the present invention includes a support shaft that is long in a direction perpendicular to the disk surface of the optical disk placed on a disk tray, and is rotatable about the support shaft and in the axial direction of the support shaft. An arm part that is movable along a direction parallel to the disk surface, a reflective optical sensor provided on the arm part, and a tip of the arm part. A control program for controlling an optical disc transport device that transports an optical disc to the disc tray, and is opposed to a disc surface of the optical disc placed on the disc tray. The arm portion is rotated and expanded / contracted on a virtual plane, and the outer edge position detected by the reflective optical sensor and / or formed on the optical disc. The center position of the optical disk placed on the disk tray is calculated based on the edge position of the center hole, and the optical disk is gripped by the grip portion based on the calculated center position. To do.
In this case, the control program may be recorded on a computer-readable recording medium.

  According to the present invention, the optical disk can be transported to a predetermined transport position on the disk tray based on the center position of the optical disk placed on the disk tray even when the transport position of the optical disk varies depending on the apparatus. Based on the center position of the optical disk calculated by the position calculation unit, it is possible to easily position the transport position when transporting the optical disk to the disk tray.

Embodiments of the present invention will be described below with reference to the drawings.
[First embodiment]
FIG. 1 shows a schematic configuration of an optical disc duplicating system 1 to which an optical disc transport apparatus 10 according to a first embodiment of the present invention is applied. An optical disc duplicating system 1 shown in FIG. 1 includes a plurality of (two in the illustrated example) recording devices 30 and 40 for recording data by irradiating a recording layer of an optical disc 100 with characters, This is a system that includes a printing device 50 that prints figures, images, and the like and replicates a large number of optical discs 100.

  In addition to the recording devices 30 and 40 and the printing device 50, the optical disc duplicating system 1 includes a first stacker 60 on which a large number of unused optical discs 100 used for data recording and label surface printing are loaded, and a recording device. 30 and 40 and the printing apparatus 50 are provided with a second stacker 70 on which an optical disk 100 on which data recording and label surface printing have been performed is loaded. The optical disk transport apparatus 10 of the present embodiment transports the optical disk 100 loaded on the first stacker 60 to one recording apparatus 30 or the other recording apparatus 40, and data is recorded in one recording apparatus 30 or the other recording apparatus 40. The optical disk 100 on which the recording is performed is conveyed to the printing apparatus 50, and the optical disk 100 on which the label surface is printed in the printing apparatus 50 is conveyed to the second stacker 70. As shown in FIG. 2, the optical disc duplicating system 1 includes a control device 80 that controls the recording devices 30 and 40, the printing device 50, and the optical disc transport device 10.

Each recording device 30, 40 has a disc tray 31 on which the optical disc 100 is placed by the optical disc transport device 10. However, in the illustrated example, the disk tray 31 is shown in one recording device 30, and the disk tray is housed inside the other recording device 40 for the other recording device 40. Since one recording apparatus 30 and the other recording apparatus 40 have substantially the same configuration, the configuration will be described by taking one recording apparatus 30 as an example.
One recording apparatus 30 has an opening 33 formed on the front side of the housing 32, and the disc tray 31 is inserted into the opening 33. As shown in FIG. 1, the base end of the disc tray 31 is inserted into the opening 33 and the optical disc 100 placed on the disc tray 31 with the base end inserted can be exposed to the outside. It is supported by the recording device 30 at the position. The optical disc 100 placed on the disc tray 31 is transported into the recording apparatus 30 by a transport mechanism (not shown).

The printing apparatus 50 also has a disc tray 51 as in the recording apparatuses 30 and 40. An opening 53 is formed on the front side of the casing 52 of the printing apparatus 50, and the disc tray 51 is inserted into the opening 53. The base end of the disc tray 51 is inserted into the opening 53 and supported by the printing apparatus 50 at a position where the optical disc 100 placed on the disc tray 51 can be exposed to the outside. The optical disk 100 placed on the disk tray 51 is transported into the printing apparatus 50 by a transport mechanism (not shown).
In the illustrated example, each of the disk trays 31 and 51 has a recess (not shown) into which the optical disk 100 is fitted, and the optical disk 100 transported by the optical disk transport device 10 is placed on the disk trays 31 and 51. Placed.

  The optical disc 100 is an optical recording medium capable of additionally recording and reproducing data using a laser beam or the like. Specific examples include CD-R, CD-RW, DVD ± R, DVD ± RW, DVD-RAM, and the following. Blu-ray discs called HD DVDs, HD DVDs, etc. These optical recording media are obtained by using one or a plurality of synthetic resin substrates 101 such as polycarbonate. A recording layer, a reflective layer, or the like is laminated on the substrate 101, for example, a diameter of 120 mm (millimeters). ) Disk shape.

An ink receiving layer is provided on the label surface of the optical disc 100, and the printable area 102 is formed by providing the ink receiving layer. The ink receiving layer is configured using, for example, an ink swelling type component mainly composed of a polymer or a gap absorption type component mainly composed of an inorganic pigment. By providing the ink receiving layer forming the predetermined printable area 102 on the label surface in this way, a desired character, figure, image, or the like is printed on the label surface of the optical disc 100 using the printing device 50 such as an ink jet printer. be able to.
Further, a center hole 103 is formed at the center position D of the optical disc 100, and the optical disc transport apparatus 10 in which the periphery of the center hole 103 is a clipping region 104 where the synthetic resin substrate 101 is exposed is the clipping. The optical disc 100 is held in the area 104.

The optical disk transport apparatus 10 includes a handling unit 11 (gripping unit) 11 that holds the clipping region 104 of the optical disc 100, an arm 12 that supports the handling unit 11, and a drive unit 13 that drives the arm 12 (see FIG. 2). And. As shown in FIG. 2, the drive unit 13 includes a moving mechanism 13 a that moves the arm 12 up and down along a rod-shaped guide (support shaft) 14, a rotating mechanism 13 b that rotates around the guide 14, and an arm And an expansion / contraction mechanism 13c that expands and contracts the length of the first stacker 60, the recording devices 30 and 40, and the printing device 50 in a state where the optical disc 100 is gripped by the handling unit 11 under the control of the transport control unit 15. , Transported between the second stackers 70.
As shown in FIG. 1, the guide 14 is long in the direction perpendicular to the disk surface of the optical disk 100 placed on the disk trays 31 and 51 (vertical direction in the illustrated example), and is supported by the support base 16. . Further, the arm 12 is formed in a long direction in a direction parallel to the disk surface of the optical disk 100 placed on the disk trays 31 and 51 (horizontal direction in the illustrated example), and the length can be expanded and contracted in the long direction. It is configured.

  As shown in FIGS. 3 and 4, the arm 12 includes an arm main body 12 a and an arm expansion / contraction part 12 b that is included in the arm main body 12 a and is provided so as to protrude from the arm main body 12 a. If the arm expansion / contraction part 12b protrudes outward from the arm body 12a by the expansion / contraction mechanism 13c (see FIG. 2) of the drive unit 13, the length of the arm 12 is extended, and the arm expansion / contraction part 12b protruding outward is inward. When retracted, the length of the arm 12 is contracted. However, the handling part 11 is provided at the tip of the arm extendable part 12b.

Further, the optical disk transport device 10 includes a contact sensor 17 provided in the vicinity of the handling unit 11 and a reflective optical sensor 18 (see FIG. 2).
The contact sensor 17 detects when the optical disk 100 comes into contact with the contact sensor 17 when the arm 12 moves from the upper side of the disk trays 31 and 51 toward the disk trays 31 and 51 along the axial direction of the guide 14. Is. The contact sensor 17 is connected to a control device (transport position calculation device) 80 via the I / F unit 19, and the control device 80 guides the optical disc 100 on the disc trays 31 and 51 based on this detection signal. The height position of the disk surface in the axial direction can be detected.

The reflection type optical sensor 18 is disposed on the surface of the handling unit 11 facing the optical disc 100, and the like. The light projection unit 18a projects light toward the mounting surface of the optical disc 100 of the disc trays 31 and 51, and the projection unit 18a. A light receiving unit 18b is provided for detecting light reflected from the disc trays 31 and 51 and the disc surface of the optical disc 100 by the light emitted from the optical unit 18a. The light projecting unit 18a includes a light source (not shown) such as an LED light source.
The reflective optical sensor 18 is connected to the control device 80 via the I / F unit 19. The control device 80 acquires the intensity of the reflected light detected by the reflective optical sensor 18, and the reflected light is detected. Based on the intensity change or the like, the outer edge positions P ₁ , P ₂ , Q ₁ , Q _{2 of the} optical disc 100 and the edge position of the center hole 103 of the optical disc 100, that is, the edge portion of the disc surface, as shown in FIGS. It can be detected.

Next, the control device 80 will be described. The control device 80 includes a microprocessor unit, a RAM, a ROM, and the like (not shown), and controls the transport device 10, the recording devices 30 and 40, and the printing device 50 that constitute the optical disc duplicate system 1. For example, according to various control programs stored in the ROM, the control device 80 performs various calculations by the MPU using a part of the RAM as a work area, and executes various processes such as a center position calculation process described later in cooperation with these. To do.
As shown in FIG. 2, the control device 80 includes a center position calculation unit 81 as a functional configuration for executing the center position calculation process. Further, the control device 80 has a center position storage unit 82 for storing the center position D (see FIGS. 3 and 4) of the optical disc 100 placed on the disk trays 31 and 51 calculated by the center position calculation unit 81. is doing.

The center position calculation unit 81 includes a rotation amount calculation unit 81a, an expansion / contraction amount calculation unit 81b, and a disk surface position calculation unit 81c.
Rotation amount calculating unit 81a, as shown in FIG. 3, while rotating the arm 12 of a predetermined length L ₀ that is stretchable to a predetermined expansion and contraction reference quantity for detecting the center position D of the optical disc 100 on the virtual plane Based on the _two outer edge positions P ₁ and P ₂ of the optical disk 100 detected by the reflective optical sensor 18, the arm 12 is moved from the predetermined rotation reference position P ₀ to the center position D of the optical disk 100 and the center of the guide 14. A rotation amount (θ ₃ ) for rotating in the direction connecting the position G (the rotation center of the arm 12) is obtained. However, the rotation reference position P ₀ can be arbitrarily determined.
Hereinafter, a case where the center position D of the optical disk 100 placed on the disk tray 31 of one recording apparatus 30 is mainly obtained will be described as an example. However, the other recording apparatus 40 and printing apparatus 50 are similarly described. The center position D of the optical disc 100 placed on the disc tray 51 can be obtained.

Here, as shown in FIG. 3, with respect to one recording apparatus 30, the arm 12 with the center position H of the handling unit 11 positioned at a preset rotation reference position P ₀ is placed above the disk tray 31. Opposite to the disk surface (label surface) of the optical disk 100 placed on the tray 31, it is rotated on a virtual plane (hereinafter referred to as "virtual plane") including the arm 12 as a side. At this time, the amount by which the arm 12 is rotated in order to detect the outer edge positions P ₁ and P ₂ of the optical disc 100 is, for example, 90 degrees or the like so that two outer edge positions P ₁ and P ₂ can be detected. The amount of movement may be set in advance, or the arm 12 may be rotated until _two outer edge positions P ₁ and P ₂ are detected.
The virtual plane is a virtual plane including the arm 12 as a side when the height position (position in the axial direction) of the arm 12 is fixed at a predetermined position, and the optical disk placed on the disk tray 31. 100 is a flat surface facing the disk surface.

A specific procedure for obtaining the rotation amount (θ ₃ ) will be described. First, is rotated so as to position the center position H of the handling unit 11 to a predetermined rotational reference position P _0, the rotation reference position P ₀ from the arm 12 in one direction (in the arrow A, B, C The outer edge positions P ₁ and P ₂ of the optical disc 100 are detected at two locations by the reflection type optical sensor 18 (see FIG. 2) provided in the handling unit 11. As illustrated, for example, when it is assumed that the reflective optical sensor 18 is disposed at the center position H of the handling unit 11, the outer edge position P ₁ and the outer edge position P ₂ are detected in order. The rotation amount calculation unit 81a includes an amount (angle θ ₁ ) by which the arm 12 is rotated from the rotation reference position P ₀ to a position where the _first outer edge position P ₁ of the optical disc 100 is detected in the rotation direction of the arm 12. Based on the amount of rotation (angle θ ₂ ) from the outer edge position P ₁ to the next position where the outer edge position P ₂ is detected, the arm 12 is moved from the rotation reference position P ₀ to the center position D of the optical disc 100 and the guide 14. A rotation amount (θ ₃ ) for rotating in the direction connecting the center position G is obtained.
However, θ ₃ = θ ₁ + θ ₂ × (1/2).

Next, the expansion / contraction amount calculation unit 81b will be described. The expansion / contraction amount calculation unit 81b rotates the arm 12 in a direction connecting the center position D of the optical disc 100 and the center position G of the guide 14 based on the rotation amount (θ ₃ ) calculated by the rotation amount calculation unit 81a. Then, the center position H of the handling unit 11 is positioned at a position facing the center position D of the optical disc 100 on the virtual plane based on the two detected outer edge positions Q ₁ and Q ₂ while expanding and contracting the arm 12. The amount of expansion / contraction (L ₃ ) of the arm 12 for the purpose is calculated.
A specific procedure for obtaining the expansion / contraction amount (L ₃ ) will be described. As shown in FIG. 4, the arm expansion / contraction part 12b is included in the arm main body 12a at a position where the direction of the arm 12 is adjusted to the direction passing through the center position D of the optical disk 100 placed on the disk tray 31. The outer edge positions Q ₁ and Q ₂ of the optical disc 100 are detected at two locations by the reflection type optical sensor 18 provided in the handling unit 11 while projecting the portion 12b to the outside of the arm body 12a. Here, as shown in the illustrated example, it is assumed that the outer edge position Q ₁ and the outer edge position Q ₂ are sequentially detected by the expansion and contraction of the arm 12. The expansion and contraction amount when obtained by stretching the arms 12 to the position of detecting the edge positions Q ₁ (here, assumed as "L _1"), to detect the outer edge position Q ₂ from the detected position outer edge position Q ₁ Based on the amount of extension (L ₂ ) of the arm 12 so far, the expansion / contraction amount (L ₃ ) of the arm 12 for positioning the center position H of the handling unit 11 at the center position D of the optical disc 100 is obtained.
However, L ₃ = L ₁ + L ₂ × (1/2).
Based on the rotation amount (θ ₃ ) and the expansion / contraction amount (L ₃ ) obtained as described above, a position facing the center position D of the optical disc 100 placed on the disc tray 31 on the virtual plane is obtained. .

The disk surface position calculation unit 81c allows the contact sensor 17 to move the arm 12 along the guide 14 from the virtual plane where the outer edge positions P ₁ , P ₂ , Q ₁ , and Q ₂ of the optical disk 100 are detected toward the disk tray 31 side. Based on the position in contact with the disc surface, the position (height) of the disc surface in the axial direction of the guide 14 of the optical disc 100 is calculated.
As described above, the virtual plane is described as a virtual plane including the arm 12 as a side when the height position of the arm 12 is fixed to a predetermined position. However, the height position is closer to the disk surface. The accuracy in detecting the outer edge positions P ₁ , P ₂ , Q ₁ , Q ₂ of the optical disc 100 is preferably improved.
Based on the rotation amount θ ₃ , the expansion / contraction amount L ₃ determined as described above, and the height position of the disk surface of the optical disk 100, the center position calculation unit 81 performs the center position of the optical disk 100 placed on the disk tray 31. D is obtained.

The center position storage unit 82 includes a rotation amount storage area 82a, an expansion / contraction amount storage area 82b, and a disk surface position storage area 82c, which are obtained by the rotation amount calculation unit 81a, the expansion / contraction amount calculation unit 81b, and the disk surface position calculation unit 81c, respectively. The amount of rotation (θ ₃ ), the amount of expansion / contraction (L ₃ ), and the height position of the disk surface of the optical disk 100 are stored in association with each device 30, 40, 50.

  Hereinafter, the operation of the present embodiment including the center position calculation process executed by the control device 80 will be described with reference to FIG. However, here, a process for obtaining the center position D of the optical disc 100 placed on the disc tray 31 of one recording apparatus 30 will be described. Further, when performing this processing, the operator has pulled out the disk tray 31 of one recording apparatus 30 to a predetermined position outside the housing 32, and the optical disk 100 is placed on the disk tray 31 in advance. It shall be.

First, when an instruction to perform center position calculation processing is input to the control device 80 via an operation unit (not shown) or the like, the control device 80 sends a control signal to the transport control unit 15 of the optical disc transport device 10 to handle the handling unit 11. The arm 12 is rotated so that the center position H is positioned on the extension line between the predetermined rotation reference position P ₀ and the center position G of the guide 14 (step S1). Then, by stretching the only arm 12 preset predetermined stretch reference quantity to detect a center position D of the optical disc 100, the length of the arm 12 with a predetermined length L ₀ (step S2). Then, the height position of the arm 12 is adjusted to a predetermined height reference position set in advance (step S3). However, the rotation reference position P ₀ , the expansion / contraction reference amount, and the predetermined height reference position for adjusting the height position of the arm 12 are set in advance as default values when the center position D of the optical disc 100 is detected. It is a thing. When the arrangement positions of the recording apparatuses 30 and 40 and the printing apparatus 50 with respect to the optical disc transport apparatus 10 are substantially determined, based on the arrangement positions, the rotation reference position P ₀ , the expansion / contraction reference amount and the arm 12 are determined. The height reference position is set.

Next, the control device 80 sends a control signal to the optical disk transport device 10 and rotates the arm 12 having a predetermined length L ₀ by the transport control unit 15 while rotating the arm 12 above the disk tray 31 (on the virtual plane). Then, the outer peripheral positions P ₁ and P ₂ of the optical disk 100 are detected by the reflection type optical sensor 18 (step S4). Based on the two detected outer edge positions P ₁ and P ₂ , as described above, when the outer edge position P ₁ is _first detected, the amount of rotation (θ ₁ ) of the arm 12 is detected first. The arm 12 is moved from the rotation reference position P ₀ to the center position of the optical disc 100 on the basis of the amount (θ ₂ ) of the rotation of the arm 12 from the outer edge position P ₁ to the next detection of the outer edge position P _2. A rotation amount (θ ₃ ) for rotating in the direction connecting D and the center position G of the guide 14 is obtained, and the rotation amount (θ ₃ ) is stored in the rotation amount storage area 82 a of the center position storage unit 82 ( Step S5).

Next, based on the rotation amount (θ ₃ ) obtained in step S5, the arm 12 is rotated in a direction connecting the center position D of the optical disc 100 and the center position G of the guide 14 (step S6), and the arm 12 is expanded and contracted. Then, for example, as shown in FIG. 4, _two outer edge positions Q ₁ and Q ₂ of the optical disc 100 are detected (step S7). Based on these two outer edge positions Q ₁ and Q ₂ , the expansion / contraction amount (L ₁ ) by which the arm 12 is expanded and contracted when the outer edge position Q ₁ is _first detected in the extending direction, and the following from the outer edge position Q ₁ The center position H of the handling unit 11 is opposed to the center position D of the optical disc 100 in the virtual space based on the expansion / contraction amount (L ₂ ) obtained by expanding / contracting the arm 12 until the outer edge position Q ₂ is detected. The expansion / contraction amount (L ₃ ) for moving to the position is obtained, and the expansion / contraction amount (L ₃ ) is stored in the expansion / contraction amount storage area 82b of the center position storage unit 82 (step S8).
However, the arm 12 is configured to be extendable and retractable with a length capable of detecting the outer edge positions Q ₁ and Q ₂ of the optical disc 100, that is, a length longer than the diameter (120 mm) of the optical disc 100.

Then, the arms 12 extend and retract by telescoping reference amount set as a default value for detecting a center position D of the optical disc 100 described above and a predetermined length L ₀ (step S9), and the contact provided in the handling portion 11 The arm 12 is lowered to the disc tray 31 side until the sensor 17 is turned on (step S10). When the contact sensor 17 is turned on (step S11: Y), the position where the operation is stopped and the contact sensor 17 is turned on (the position of the arm 12 in the guide axial direction) is stored as the height position of the disk surface ( Step S12), the process ends.

Based on the rotation amount (θ ₃ ) and the expansion / contraction amount (L ₃ ) obtained as described above, a position facing the center position D of the optical disc 100 on the virtual plane is obtained, and then obtained in steps S9 to S11. Based on the height position of the disk surface, the center position D of the optical disk 100 placed on the disk tray 31 is obtained. Based on the center position D of the optical disk 100 obtained in this way, the control device 80 controls the optical disk transport device 10 so that the center position H of the handling unit 11 matches the center position D of the optical disk 100. 100 is gripped and transported to the printing apparatus 50, or the optical disk 100 transported from the first stacker 60 is transported to the position.
Although one recording apparatus 30 has been described here, the center position D of the optical disk 100 placed on each disk tray 51 can be determined for the other recording apparatus 40 and printing apparatus 50 by the same procedure.
In addition, the order which performs step S1, S2, S3 shown in FIG. 5 is not limited to the example of illustration, These orders may be changed suitably.

According to the present embodiment described above, the outer edge positions P ₁ and P _{2 of} the optical disc 100 detected by the reflection type optical sensor 18 by rotating and expanding / contracting the arm 12 configured to be extendable / contracted on a virtual plane. Since the control device 80 calculates the center position D of the optical disk 100 placed on the disk tray 31, the transport position of the optical disk 100 varies depending on the type of the recording device 30, 40, printing device 50, or the like. Based on the center position D of the optical disk 100 placed on the disk tray 31, the transport position when the optical disk 100 is transported to the disk tray 31 can be easily determined.
Further, when the recording apparatuses 30 and 40 and the printing apparatus 50 are replaced with new apparatuses, even if the arrangement positions of the new apparatuses are the same, the position of the disc tray and the placement position of the optical disc 100 on the disc tray are the same. May be different. Even in such a case, since the center position D of the optical disk 100 placed on the disk tray of the new apparatus can be calculated as described above, the recording apparatus in which the replaced apparatus was originally assembled. Even when the transport position of the optical disk 100 is different from that of the printers 30, 40 and the printing apparatus 50, the transport position of the optical disk 100 can be easily positioned based on the center position D of the optical disk 100 placed on the disk tray of the new apparatus. Can do.

Further, according to the above embodiment, rotation amount calculating unit 81a is rotating the arm 12 of a predetermined length L ₀ that is stretchable to a predetermined expansion and contraction reference quantity for detecting the center position D of the optical disc 100 on the virtual plane The center position D of the optical disc 100 and the center position G of the guide 14 are connected from the rotation reference position P ₀ based on the _two outer edge positions P ₁ and P ₂ detected by the reflective optical sensor 18 while moving. A rotation amount (θ ₃ ) for rotating the arm 12 in the direction is obtained. Therefore, if the arm 12 is rotated from the rotation reference position P ₀ by this rotation amount (θ ₃ ), the arm 12 is rotated in the direction connecting the center position D of the optical disc 100 and the center position G of the guide 14. Can be made.

On the other hand, the expansion / contraction amount calculation unit 81b rotates the arm 12 in a direction connecting the center position D of the optical disc 100 and the center position G of the guide 14 based on the rotation amount (θ ₃ ) calculated by the rotation amount calculation unit 81a. The handling unit is moved to a position facing the center position D of the optical disc 100 on the virtual plane based on the _two outer edge positions Q ₁ and Q ₂ detected by the reflective optical sensor 18 while moving the arm 12 to expand and contract. The amount of expansion / contraction (L ₃ ) for positioning the center position H of 11 is obtained.
In this way, it is opposed to the center position D of the optical disc 100 on the virtual plane based on the rotation amount (θ ₃ ) obtained by the rotation amount calculation unit 81a and the expansion / contraction amount (L ₃ ) obtained by the expansion / contraction amount calculation unit 81b. It is possible to perform positioning when the center position H of the handling unit 11 is positioned at the position to be operated.

However, the length of the arm 12 is preferably set in advance so that the light projecting unit 181 projects light at a position that avoids the edge position of the center hole 103 of the optical disc 100 during rotation. By setting the length of the arm 12 at the time of rotation in this way, the optical disc 100 is detected regardless of the edge portion of the disc surface detected by the reflective optical sensor 18 being the edge position of the center hole 103. The amount of rotation for rotating the arm 12 in the direction connecting the center position D of the optical disc 100 and the center position G of the guide 14 from the rotation reference position P ₀ in step S5. (Θ ₃ ) can be obtained more accurately.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. The optical disc transport device and optical disc duplicate system of the second embodiment are substantially the same as the configurations of the optical disc transport device 10 and optical disc duplicate system 1 of the first embodiment, so that the same reference numerals are given here. A description of the configuration is omitted.
In the second embodiment, unlike the first embodiment, when the center position D of the optical disc 100 is detected, the rotation amount (θ ₃ ) is obtained, and then, as shown in FIG. It is characterized in that (L ₆ ) is obtained based on the edge positions R ₁ and R ₂ of the center hole 103 formed in the optical disc 100. In the second embodiment, in order to improve the detection accuracy when the outer edge positions P ₁ and P ₂ of the optical disk 100 and the edge positions R ₁ and R ₂ of the center hole 103 are detected, first, the disk tray 31 is used. The height position of the disk surface of the optical disk 100 placed on the disk is detected.

  The operation of the second embodiment will be described with reference to FIG. However, as in the first embodiment, a process for obtaining the center position D of the optical disc 100 placed on the disc tray 31 of one recording apparatus 30 will be described. Further, when performing this process, the disc tray 31 of one recording device 30 is pulled out to a predetermined position outside the housing 32 by the operator, and the optical disc 100 is previously placed on the disc tray 31. It shall be.

When an instruction to execute center position calculation processing is input to the control device 80 via an operation unit (not shown) or the like, the control device 80 sends a control signal to the transport control unit 15 of the optical disk transport device 10, and the center of the handling unit 11. The arm 12 is rotated so that the position H is positioned on an extension line between the predetermined rotation reference position P ₀ and the center position H of the guide 14 (step S21) (see FIG. 3). Then, by stretching the only arm 12 preset predetermined stretch reference quantity to detect a center position D of the optical disc 100, the length of the arm 12 to a predetermined length L ₀ (step S22), and the arm 12 high The height position is adjusted to a preset predetermined height reference position (step S23).
However, the rotation reference position P ₀ , the expansion / contraction reference amount, and the predetermined height reference position are set in advance as default values when the center position D of the optical disc 100 is detected in the same manner as in the first embodiment. It is.

Next, the arm 12 is rotated by a preset rotation amount for detecting the disk surface, and is adjusted so that the handling unit 11 is positioned above the disk surface of the optical disk 100 placed on the disk tray 31 (step S24). ). Then, the arm 12 is lowered to the disc tray 31 side until the contact sensor 17 provided in the handling unit 11 is turned on (step S25). When the contact sensor 17 is turned on (step S26: Y), the position at which the arm 12 stops moving and the contact sensor 17 is turned on (the position of the arm 12 in the axial direction of the guide 14) is the height position of the disk surface. (Step S27).
However, the amount of rotation for detecting the disk surface is a position avoiding the center hole 103 of the optical disk 100 with reference to the position of the disk tray of the previously assembled apparatus, and the handling unit 11 is located above the disk surface. Set to be located.

Next, on the basis of the height position of the disk surface detected in step S27, the control device 80 has a predetermined outer edge position detection distance set in advance from the disk surface where the height position of the arm 12 is above the disk surface. It is moved to a position separated by a distance (step S28). In step S28, the arm 12 is moved so that the center position H of the handling part 11 is located at a predetermined rotation reference position P ₀ at the moved height position (step S29). Then, the control device 80 sends a control signal to the optical disk transport device 10, and the reflective control sensor 18 rotates the optical disk 100 while the arm 12 having a predetermined length L ₀ is rotated above the disk tray 31 by the transport control unit 15. The two outer edge positions P ₁ and P ₂ are detected (step S30) (see FIG. 3). Next, based on the two detected outer edge positions P ₁ and P ₂ , the amount (θ ₁ ) by which the arm 12 was rotated when the outer edge position P ₁ was first detected, and the first detected position. Based on the amount (θ ₂ ) that the arm 12 is rotated from the outer edge position P ₁ until the next outer edge position P ₂ is detected, the arm 12 is moved from the rotation reference position P ₀ to the center position D of the optical disc 100. A rotation amount (θ ₃ ) for rotating in the direction connecting the center position G of the guide 14 is obtained, and the rotation amount (θ ₃ ) is stored in the rotation amount storage area 82a of the center position storage unit 82 (step S31). ).

Next, based on the rotation amount (θ ₃ ) obtained in step S31, the arm 12 is rotated in a direction connecting the center position D of the optical disc 100 and the center position G of the guide 14 (step S32), and the arm 12 is expanded and contracted. For example, as shown in FIG. 6, _two edge positions R ₁ and R ₂ of the center hole 103 of the optical disc 100 are detected (step S33). Based on these two edge positions R ₁ and R ₂ , the amount of expansion / contraction (L ₄ ) by which the arm 12 is expanded and contracted when the edge position R ₁ is _first detected in the expansion direction, and the next from the edge position R ₁ The center position H of the handling unit 11 is opposed to the center position D of the optical disc 100 in the virtual space based on the expansion / contraction amount (L ₅ ) obtained by expanding / contracting the arm 12 until the edge position R ₂ is detected. The expansion / contraction amount (L ₆ ) for moving to the position is obtained, and the expansion / contraction amount (L ₆ ) is stored in the expansion / contraction amount storage area 82b of the center position storage unit 82 (step S34).

Based on the height position, rotation amount (θ ₃ ), and expansion / contraction amount (L ₆ ) of the disc surface obtained as described above, the center position D of the optical disc 100 placed on the disc tray 31 is obtained.
Similarly to the first embodiment, the center position D of the optical disk 100 placed on each disk tray 51 can be obtained for the other recording apparatus 40 and printing apparatus 50 by the same procedure. However, the order in which steps S21, S22, and S23 shown in FIG. 7 are performed is not limited to the illustrated example, and the order may be changed as appropriate. Further, if the operation of S24 is performed after the operation of S21, the order of performing the operation of S24 is not limited to the illustrated example. Similarly, either the operation of step S28 or step S29 may be performed first.

According to the second embodiment, before detecting the outer edge positions P ₁ and P _{2 of} the optical disc 100 and the edge positions R ₁ and R ₂ of the center hole 103, the optical disc 100 is placed on the disc tray 31 in steps S24 to S27. Since the height position of the disc surface of the optical disc 100 is detected and the axial position of the guide 14 when the arm 12 is rotated and expanded / contracted based on this height position is adjusted, these The outer edge positions P ₁ and P ₂ and the edge positions R ₁ and R ₂ can be detected from positions with high detection accuracy.
Further, since the center position D of the optical disk 100 is obtained based on the edge positions R ₁ and R ₂ of the center hole 103, the center of the optical disk 100 can be obtained even when the length of the arm 12 that can be expanded and contracted is short. The position D can be determined. That is, in the first embodiment, when the arm 12 is expanded and contracted in the direction connecting the center position D of the optical disc 100 and the center position G of the guide 14, the arm extendable portion 12 b extends from the arm body 12 a to at least the optical disc 100. It is necessary to extend longer than the diameter (120 mm). On the other hand, in the second embodiment, the extendable length of the arm 12 can be shortened compared to the first embodiment, and the center position D of the optical disc 100 and the center position of the guide 14 can be reduced. In the direction connecting with G, it is only necessary that the handling unit 11 can be expanded and contracted within a range in which two edge positions R ₁ and R ₂ of the center hole 103 of the optical disc 100 can be detected.

[Third embodiment]
Next, a third embodiment of the present invention will be described. The optical disc transport apparatus and optical disc duplicate system of the third embodiment are substantially the same as the configurations of the optical disc transport apparatus 10 and optical disc duplicate system 1 of the first embodiment, and therefore the same reference numerals are given here. A description of the configuration is omitted.
However, in the third embodiment, as shown in FIG. 8, the length of the arm body 12 a is supported by the guide 14 and is longer than the center hole 103 of the optical disc 100 placed on the disc tray 31. The length is such that the center position H of the handling part 11 is located on the guide 14 side. Further, when the arm extending / contracting portion 12b is projected from the arm main body 12a for the longest time, the center position H of the handling portion 11 is closer to the one recording device 30 than the central hole 103 of the optical disc 100 placed on the disc tray 31. The length is such that is located.
In the third embodiment, the expansion / contraction amount of the arm 12 that makes the length of the arm 12 the shortest is defined as one expansion / contraction reference amount, and the length of the arm 12 at this time is defined as the minimum length L ₇ . Further, the amount of expansion and contraction of the arm 12, such as the length of the arm 12 is the longest and the other telescopic reference amount, the maximum length L ₈ the length of the arm 12 at this time.

Further, in the third embodiment, each of the two positions detected while rotating the arm 12 having the minimum length L ₇ expanded and contracted to the one expansion / contraction reference amount above the disc tray 31 in the forward direction and the backward direction. The outer edge positions S ₁₁ , S ₂₁ , S ₁₂ , S ₂₂ and two arms detected while rotating the arm 12 having the maximum length L ₈ expanded / contracted to another expansion / contraction reference amount in the forward direction and the backward direction, respectively. Based on the outer edge positions T ₁₁ , T ₂₁ , T ₁₂ , T ₂₂ , the arm 12 is rotated from the rotation reference position T ₀ in the direction connecting the center position D of the optical disc 100 and the center position G of the guide 14. The rotation amount (θ ₃ ) is obtained. By detecting the outer edge positions S ₁₁ , S ₂₁ , S ₁₂ , S ₂₂ , T ₁₁ , T ₂₁ , T ₁₂ , and T ₂₂ of the optical disc 100 in the forward direction and the backward direction, the outer edge position is detected by the reflective optical sensor 18. The error can be minimized and the two outer edge positions S ₁₁ , S ₂₁ , T ₁₁ , T ₂₁ detected in the forward direction, and the two outer edge positions S ₁₂ , S ₂₂ detected in the return direction. , T ₁₂ , T ₂₂ , the rotation amount θ ₃ is obtained, whereby the direction connecting the center position D of the optical disc 100 and the center position G of the guide 14 can be detected more accurately.
Similarly, the arm 12 expanded and contracted to two different lengths L ₇ and L ₈ of one expansion reference amount and the other expansion reference amount is rotated in the forward direction and the return direction, respectively, and is reflected. By detecting the outer edge positions S ₁₁ , S ₂₁ , S ₁₂ , S ₂₂ , T ₁₁ , T ₂₁ , T ₁₂ , T ₂₂ of the optical disk 100 by the optical sensor 18, the rotation amount can be obtained more accurately.

The operation of the third embodiment will be described below with reference to FIG.
When an instruction to execute center position calculation processing is input to the control device 80 via an operation unit (not shown) or the like, the control device 80 sends a control signal to the transport control unit 15 of the optical disk transport device 10, and the center of the handling unit 11. position H rotates the arm 12 so as to be positioned on an extended line connecting the center position G of the predetermined rotational reference position S ₀ and the guide 14 (step S41). Then, by stretching the only arm 12 preset one telescopic reference quantity which is to detect the center position D of the optical disc 100, the minimum length L ₇ of the length of the arm 12 (step S42) (see FIG. 8 ). Next, the arm 12 is rotated by a preset rotation amount for detecting the disk surface, and the handling unit 11 is adjusted to be positioned above the disk surface of the optical disk 100 placed on the disk tray 31 (step). S43). Next, the height position of the arm 12 is adjusted to a predetermined height reference position set in advance (step S44), and the arm 12 is moved to the disc tray 31 until the contact sensor 17 provided in the handling unit 11 is turned on. (Step S45). When the contact sensor 17 is turned on (step S46: Y), the position at which the arm 12 stops moving and the contact sensor 17 is turned on (the position of the arm 12 in the axial direction of the guide 14) is the height position of the disk surface. (Step S47).

Next, based on the height position of the disk surface detected in step S47, the control device 80 has a predetermined outer edge position detection distance set in advance from the disk surface where the height position of the arm 12 is above the disk surface. Is moved to a position separated by a distance (step S48). In step S48, the center position H of the handling unit 11 to a predetermined rotational reference position S ₀ moves the arm 12 so as to be located in a mobile height position (step S49). Then, the control device 80 sends a control signal to the optical disk transport device 10, while the transport control unit 15 rotates the arm 12 in the forward direction above the disk tray 31, while the reflection type optical sensor 18 rotates the outer edge of the optical disk 100. Two positions S ₁₁ and S ₂₁ are detected (step S50) (see FIG. 8). Next, two outer edge positions S ₂₂ and S ₁₂ of the optical disk 100 are detected while rotating the arm 12 in the backward direction above the disk tray 31, and the arm 12 is returned to the rotation reference position S ₀ (step S51). .

Then, the arm 12 is expanded and contracted in the other telescopic reference amount is the maximum length L _8, the aligning the center position H of the handling unit 11 to rotate the reference position T ₀ (S52). Then, the arm 12 is rotated above the disk tray 31 in the forward direction from the rotation reference position T _0, and the outer edge positions T ₁₁ and T ₁₂ of the optical disk 100 are detected by the reflection type optical sensor 18 (step S53). . Next, two outer edge positions T ₂₂ and T ₁₂ of the optical disk are detected while rotating the arm 12 in the backward direction above the disk tray 31 (step S54).
Based on the detected outer edge positions S ₁₁ , S ₂₁ , S ₁₂ , S ₂₂ , T ₁₁ , T ₂₁ , T ₁₂ , T _{22 of} the optical disk 100, correction of the detection error of the outer edge position of the optical disk 100 is performed. The amount of rotation (θ ₁₁ , θ ₁₂ ) of the arm 12 when the outer edge positions S ₁₁ , S ₂₂ , T ₁₁ , T ₂₂ are first detected in the rotation direction and the first detection in the rotation direction The amount (θ ₂₁ , θ ₂₂₎ that the arm 12 is rotated from the outer edge positions S ₁₁ , S ₂₂ , T ₁₁ , T ₂₂ to the next detection of the outer edge positions S ₁₂ , S ₂₁ , T ₁₂ , T _21. ) To obtain a rotation amount (θ ₃ ) for rotating the arm 12 in the direction connecting the center position D of the optical disc 100 and the center position G of the guide from the rotation reference positions S ₀ and T ₀ . the amount of rotation (theta ₃₎ is stored in the rotation amount storage area 82a of the center position memory 82 (step 55).

Next, based on the rotation amount (θ ₃ ) obtained in step S55, the arm 12 is rotated in a direction connecting the center position D of the optical disc 100 and the center position G of the guide 14 (step S56), and the arm 12 is moved. While contracting from the maximum length L ₈ to the minimum length L ₇ , _two edge positions U ₁ and U ₂ of the center hole 103 of the optical disc 100 are detected (step S57) (see FIG. 10). Based on the two edge positions U ₁ and U ₂ , the contraction amount L ₉ that contracts the arm 12 when the edge position U ₁ is _first detected in the contraction direction, and the next edge from the edge position U ₁ Based on the contracted amount (L ₁₀ ) of contracting the arm 12 until the position U ₂ is detected, the center position H of the handling unit 11 is set to a position facing the center position D of the optical disc 100 in the virtual space. The expansion / contraction amount (L ₁₁ ) for movement is obtained, and the expansion / contraction amount (L ₁₁ ) is stored in the expansion / contraction amount storage area 82b of the center position storage unit 82 (step S58).

Based on the height position, rotation amount (θ ₃ ), and expansion / contraction amount (L ₁₁ ) of the disc surface obtained as described above, the center position D of the optical disc 100 placed on the disc tray 31 is obtained.
Similarly to the first embodiment and the second embodiment, the transport position of the optical disc 100 can be determined for the other recording apparatus 40 and printing apparatus 50 by the same procedure as that shown in FIG.
Moreover, the order which performs step S41-S44 shown in FIG. 9 is not limited to the example of illustration, These orders may be changed suitably.

According to the third embodiment, the outer edge positions S ₁₁ , S ₂₁ , S ₁₂ , S ₂₂ , T ₁₁ , T ₂₁ , T ₁₂ , T _{22 of} the optical disc 100 and the edge positions U ₁ , U of the center hole 103 are used. ₂ is detected, the height position of the disk surface of the optical disk 100 placed on the disk tray 31 is detected, and the axis of the guide 14 when the arm 12 is rotated and expanded / contracted based on this height position. Since the height position in the direction is adjusted, the outer edge positions S ₁₁ , S ₂₁ , S ₁₂ , S ₂₂ , T ₁₁ , T ₂₁ , T ₁₂ , T ₂₂ and the edge position U ₁ of the center hole 103 are adjusted. Detection accuracy can be improved.
In the above embodiment, the two outer edge positions S ₁₁ detected by the reflective optical sensor 18 while rotating the arm 12 having the minimum length L ₇ by expanding and contracting to one expansion reference amount in the forward direction, Based on S ₂₁ and the two outer edge positions S ₁₂ and S ₂₂ detected by the reflection type optical sensor 18 while rotating the arm 12 in the backward direction, a detection error caused by a difference in detection direction is corrected. Thus, the center position D of the optical disc 100 can be obtained more correctly. Also, the outer edge positions S ₁₁ and S ₂₁ of the optical disc 100 in both the forward direction and the return direction in both the case where the length of the arm 12 is expanded and contracted to one expansion reference amount and the case where the length of the arm 12 is expanded and contracted to another expansion reference amount. , S ₁₂ , S ₂₂ , T ₁₁ , T ₂₁ , T ₁₂ , T ₂₂ are detected, so that the center position D of the optical disc 100 can be obtained more accurately.

[Fourth embodiment]
Next, a fourth embodiment of the present invention will be described. The optical disc transport apparatus and optical disc duplicate system of the fourth embodiment are substantially the same as the configurations of the optical disc transport apparatus 10 and optical disc duplicate system 1 of the first embodiment, so that the same reference numerals are given here. A description of the configuration is omitted.
In the first to third embodiments, the outer edge position of the optical disk 100 is detected by rotating the arm 12 having a predetermined length that is expanded and contracted to a predetermined predetermined expansion / contraction reference amount on the disk tray 31. However, in the fourth embodiment, the length of the arm 12 is adjusted after detecting the approximate position of the center hole 103 of the optical disc 100 placed on the disc tray 31, and the outer edge position V of the optical disc 100 is adjusted. ₁ and V ₂ (see FIG. 13) are detected.

Hereinafter, the operation of the fourth embodiment will be described with reference to FIGS. 11 and 12.
When an instruction to execute center position calculation processing is input to the control device 80 via an operation unit (not shown) or the like, the control device 80 sends a control signal to the transport control unit 15 of the optical disk transport device 10, and the center of the handling unit 11. The arm 12 is rotated so that the position H is located on the extended line connecting the predetermined rotation reference position V ₀ and the center position G of the guide 14 (step S61) (see FIG. 12). Then, by stretching only arm 12 a predetermined stretch reference amount set in advance, the length of the arm 12 to a predetermined length L _12, center position H of the handling portion 11 is positioned at a predetermined rotational reference position V ₀ (Step S62). At this time, the predetermined length L ₁₂ is such a length that the reflection type optical sensor 18 provided at the center position H of the handling unit 11 passes above the center hole 103 of the optical disc 100 by rotating the arm 12. Say it.

Next, as shown in FIG. 12, the arm 12 is rotated from the rotation reference position V ₀ by a predetermined rotation amount (θ ₄ ) for detecting the disk surface, and placed on the disk tray 31. Adjustment is made so that the handling unit 11 is positioned above the disk surface of the optical disk 100 (step S63). Next, the height position of the arm 12 is adjusted to a predetermined height reference position set in advance (step S64), and the arm 12 is moved to the disc tray 31 until the contact sensor 17 provided in the handling unit 11 is turned on. (Step S65). When the contact sensor 17 is turned on (step S66: Y), the movement of the arm 12 is stopped and the position where the contact sensor 17 is turned on is stored as the height position of the disk surface (step S67).

  Next, based on the height position of the disk surface detected in step S67, the control device 80 has a predetermined outer edge position detection distance preset from the disk surface where the height position of the arm 12 is above the disk surface. Is moved to a position separated by a distance (step S68). Then, based on the approximate arrangement position of the disc tray 31, it is rotated to a position where the center position H of the handling portion 11 is predicted to be located in the center hole 103 of the optical disc 100 (step S69). Next, the edge position of the center hole 103 is detected while contracting the length of the arm 12 (step S70). If the edge position is not detected (step S71: N), the position of the arm 12 and the length of the arm 12 are adjusted (step S72), and the edge position of the center hole 103 is detected again while the arm 12 is contracted. (Step S70) When the edge position is detected repeatedly (Step S71: Y), the arm 12 is contracted, and the reflective optical sensor 18 provided at the center position H of the handling unit 11 is moved to the center hole of the optical disc 100. The position is positioned on the guide 14 side with respect to 103 (step S73).

Next, as shown in FIG. 13, the arm 12 is rotated so that the center position H of the handling portion 11 is positioned on an extension line connecting a predetermined rotation reference position V ₀ and the center position G of the guide 14 ( Step S74). Then, two outer edge positions V ₁ and V ₂ (not shown) of the optical disc 100 are detected by the reflection type optical sensor 18 while the arm 12 is rotated in the forward direction above the disc tray 31 by the transport control unit 15. (Step S75). Next, the outer edge positions V ₂ and V ₁ of the optical disk 100 are detected while rotating the arm 12 in the backward direction above the disk tray 31 (step S76). Based on the outer edge positions V ₁ and V ₂ of the optical disc 100 detected in steps S75 and S76, correction of the detection error of the outer edge position of the optical disc 100 is performed, and the rotation reference position V ₀ and the outer edge detected first. the amount of rotation of the arm 12 between the position V ₁ (θ ₁₎ and the amount of rotation of the arm 12 between the first and then detected as the outer edge position V ₁ detected outer edge position V ₂ (θ ₂₎ Based on the above, a rotation amount (θ ₃ ) for rotating the arm 12 in the direction connecting the rotation reference position V ₀ , the center position D of the optical disc 100 and the center position G of the guide 14 is obtained, and the rotation amount Is stored in the rotation amount storage area 82a of the center position storage unit 82 (step S77).

Next, based on the rotation amount (θ ₃ ) obtained in step S77, the arm 12 is rotated in a direction connecting the center position D of the optical disc 100 and the center position G of the guide 14 (step S78), and the arm 12 is expanded and contracted. Then, two edge positions of the center hole 103 of the optical disc 100 are detected (step S79). Based on these two edge positions, an expansion / contraction amount for moving the center position H of the handling unit 11 to a position opposite to the center position D of the optical disc 100 in the virtual space is obtained, and the expansion / contraction amount is obtained as the center position storage unit. 82 is stored in the expansion / contraction amount storage area 82b (step S80).

The center position D of the optical disk 100 placed on the disk tray 31 is obtained based on the height position, rotation amount, and expansion / contraction amount of the disk surface obtained as described above.
Similarly to the first to third embodiments, the transport position of the optical disc 100 can be determined for the other recording apparatus 40 and printing apparatus 50 by the same procedure as that shown in FIG.
Moreover, the order which performs step S61-S64 shown in FIG. 11 is not limited to the example of illustration, These orders may be changed suitably.

According to the fourth embodiment described above, the approximate position of the center hole 103 of the optical disc 100 placed on the disc tray 31 is detected, the length of the arm 12 is adjusted, and the arm 12 is rotated. When the outer edge positions V ₁ and V ₂ of the optical disk 100 are detected by being moved, the reflection type optical sensor 18 is prevented from passing over the center hole 103 of the optical disk 100, so that the edge position of the center hole 103 is set to the optical disk 100. It is possible to prevent erroneous detection of the outer edge position.

However, the present invention is not limited to the first to fourth embodiments described above, and can of course be changed as appropriate without departing from the spirit of the present invention.
For example, in the first to fourth embodiments, when the amount of rotation for rotating the arm 12 in the direction connecting the center position D of the optical disk and the center position G of the guide 14 is obtained, the arm 12 is The configuration for detecting the two outer edge positions while rotating above the tray 31 has been described. However, by detecting the two edge positions of the center hole 103, the arm 12 is moved based on the two edge positions. The amount of rotation for rotating in the direction connecting the center position D of the optical disk and the center position G of the guide 14 may be obtained. Moreover, you may obtain | require these rotation amount and expansion-contraction amount using both an edge position and an outer edge position.

  In the above embodiment, the reflection type optical sensor 18 has been described as being capable of detecting the edge of the disk surface of the optical disk on which the disk tray 31 is mounted based on the intensity change of the reflected light. The disc surface edge detected on the basis of the change in the intensity of the reflected light may be distinguished from the outer edge position of the optical disc 100 or the edge position of the center hole 103 for detection. In the area around the center hole 103, that is, the clipping area 104, as described above, a transparent synthetic resin substrate surrounds the center hole 103 with a predetermined width. For this reason, when the outer edge position is detected by measuring the change in the intensity of the reflected light by scanning the disk surface of the optical disk 100 through the center hole 103 by the reflection type optical sensor 18 in advance through experiments or the like. By examining in advance the intensity change of the reflected light and the intensity change when the edge position of the center hole 103 is detected, the outer edge position and the edge position can be distinguished and detected.

  In the above description, the disk trays 31 and 51 constituting the optical disk duplicating system 1 are described as being provided in the recording apparatuses 30 and 40 and the printing apparatus, but the apparatus in which the disk tray is provided is arbitrary. Further, the placement surface on which the optical disc 100 of the disc tray 31 is placed may be provided in the horizontal direction or may be provided in the vertical direction. When the mounting surface of the optical disc 100 of the disc tray 31 is provided in the horizontal direction, the virtual plane is virtually provided in the horizontal direction. Similarly, when the mounting surface of the optical disc 100 is provided in the vertical direction, the virtual plane is virtually provided in the vertical direction. Further, the arm 12 becomes a side included in the virtual plane.

FIG. 1 shows a schematic configuration of the optical disc duplicating system 1. However, the optical disc duplicating system 10, the recording devices 30, 40, and the printing device 50 are accommodated in a single casing in a predetermined positional relationship. Of course, it may be configured as a device.
In the above-described embodiment, the control device 80 that controls the entire optical disc duplicating system 1 is exemplified as the configuration including the center position calculation unit 81 and the center position storage unit 82. However, the optical disc transport device 10 itself has these centers. The position calculation unit 81 and the center position storage unit 82 may have the same functional configuration.

In the above description, the case where the control program for realizing each of the above functions is stored in the ROM in advance has been described. However, the control program is recorded on a computer (CPU) -readable recording medium. It may be. With such a configuration, when the program is read from the storage medium by the computer and the computer executes processing according to the read program, the same operations and effects as those in the above embodiments can be obtained.
Here, the storage medium is a semiconductor storage medium such as RAM or ROM, a magnetic storage type storage medium such as FD or HD, an optical reading type storage medium such as the optical disc 100, or a magnetic storage type / optical reading type such as MO. Any type of storage medium can be used as long as it is a computer-readable storage medium regardless of electronic, magnetic, optical, or other reading methods.
It is also possible to configure such that a control program is downloaded, installed and executed via a communication network such as the Internet or a LAN and a communication interface unit.

1 is a schematic diagram of an optical disc duplicate system according to the present embodiment. It is a function structure of the optical disk duplicate system which concerns on this embodiment. It is a schematic diagram for demonstrating the calculation method of the rotation amount of 1st embodiment. It is a schematic diagram for demonstrating the calculation method of the expansion-contraction amount of 1st embodiment. It is a flowchart which shows operation | movement of 1st embodiment. It is a schematic diagram for demonstrating the calculation method of the expansion-contraction amount of 2nd embodiment. It is a flowchart which shows operation | movement of 2nd embodiment. It is a schematic diagram for demonstrating the calculation method of the rotation amount of 3rd embodiment. It is a flowchart which shows operation | movement of 3rd embodiment. It is a schematic diagram for demonstrating the calculation method of the expansion-contraction amount of 3rd embodiment. It is a flowchart which shows operation | movement of 4th embodiment. It is a figure for demonstrating the detection method of the approximate position of the center hole of an optical disk. It is a figure for demonstrating the calculation method of the rotation amount of 4th embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Optical disk duplication system, 10 ... Optical disk conveying apparatus, 11 ... Handling part (gripping part), 12 ... Arm (arm part), 14 ... Guide (support shaft), 15 ... Conveyance control part, 17 ... Contact sensor, 18 ... Reflection type optical sensor, 18a ... light projecting unit, 18b ... light receiving unit, 30, 40 ... recording device, 31, 51 ... disk tray, 50 ... printing device, 60 ... first stacker, 70 ... second stacker, 80 ... control Device (conveyance position calculation device), 81... Center position calculation unit, 81a... Rotation amount calculation unit, 81b... Expansion / contraction amount calculation unit, 81c ... disk surface position calculation unit, 82 ... center position storage unit, 82a. , 82b ... stretch amount storage area, 82c ... disk surface position storage area, 100 ... optical disc, 103 ... center hole, 104 ... clipping _{region, P 1, P 2, Q} 1, Q 2, V 1 _{V 2, S 11, S 12} , S 21, S 22, T 11, T 12, T 21, T 22 ... outer edge position of the optical _{disk, R 1, R 2, U} 1, U 2 ... center hole of the edge position, P ₀ , S ₀ , T ₀ , V ₀ ... Rotation reference position.

Claims (9)

An optical disk transport device for transporting an optical disk to a disk tray,
A support shaft elongated in a direction perpendicular to the disk surface of the optical disk placed on the disk tray;
An arm portion provided so as to be rotatable about the support shaft and movable along the axial direction of the support shaft, and capable of extending and contracting in a direction parallel to the disk surface;
A reflective optical sensor provided in the arm portion;
The arm portion is rotated and expanded / contracted on a virtual plane facing the disc surface of the optical disc placed on the disc tray, and formed on the optical disc and / or the outer edge position detected by the reflective optical sensor. A center position calculator for calculating the center position of the optical disk placed on the disk tray based on the edge position of the center hole,
A gripping part that is provided at a tip of the arm part and detachably grips the optical disc based on the center position calculated by the center position calculation part;
An optical disk transport device comprising: The optical disk transport device according to claim 1,
The center position calculator is
The two outer edge positions detected by the reflection type optical sensor and / or the two arm positions that are expanded and contracted to a predetermined expansion / contraction reference amount for detecting the center position of the optical disk are rotated on the virtual plane. Alternatively, based on the two edge positions, a rotation amount calculation unit for obtaining a rotation amount for rotating the arm unit from a predetermined rotation reference position in a direction connecting the center position of the optical disc and the support shaft. When,
Based on the amount of rotation, the arm unit is rotated in a direction connecting the center position of the optical disc and the support shaft, and the arm unit is expanded and contracted, and the two points detected by the reflective optical sensor are detected. Based on the outer edge position and / or the two edge positions, an expansion / contraction amount calculation unit for obtaining an expansion / contraction amount for positioning the grip portion at a position facing the center position of the optical disc;
With
Calculating a center position of the optical disc based on the rotation amount calculated by the rotation amount calculation unit and the expansion / contraction amount calculated by the expansion / contraction amount calculation unit;
An optical disk transport device characterized by the above. In the optical disk conveying apparatus according to claim 1 or 2,
A contact sensor provided in the arm part;
The position of the disk surface in the axial direction of the optical disk is calculated based on the position of the disk surface detected by the contact sensor while moving the arm portion along the support axis from the virtual plane to the disk tray side. A disk surface position calculation unit for
An optical disk transport device comprising: In the optical disk conveying apparatus according to claim 3,
The center position calculation unit determines a position of the arm unit in the axial direction when the arm unit is rotated and expanded / contracted based on the position of the disk surface calculated by the disk surface position calculation unit. ,
An optical disk transport device characterized by the above. In the optical disk conveying apparatus according to any one of claims 2 to 4,
The rotation amount calculation unit rotates the arm unit in the outward direction on the imaginary plane while rotating the outer edge position and / or the two edge positions detected in the backward direction. Calculating the amount of rotation based on the two detected outer edge positions and / or the two edge positions;
An optical disk transport device characterized by the above. In the optical disc conveying apparatus according to any one of claims 2 to 5,
The rotation amount calculation unit is configured to detect the two outer edge positions and / or the two edge positions detected while rotating the arm unit expanded / contracted to one expansion / contraction reference amount on the virtual plane, Calculating the amount of rotation based on the two outer edge positions and / or the two edge positions detected while rotating the arm portion expanded / contracted to the expansion / contraction reference amount on the virtual plane;
An optical disk transport device characterized by the above. A support shaft that is long in a direction perpendicular to the disk surface of the optical disk placed on the disk tray, and that is rotatable about the support shaft and movable along the axial direction of the support shaft; An arm portion whose length can be expanded and contracted in a direction parallel to the surface, a reflective optical sensor provided on the arm portion, and a grip portion provided at the tip of the arm portion to detachably hold the optical disc. A transport position calculating device for calculating a transport position of the optical disc in an optical disc transport device for transporting the optical disc to the disc tray,
The arm portion is rotated and expanded / contracted on a virtual plane facing the disc surface of the optical disc placed on the disc tray, and formed on the optical disc and / or the outer edge position detected by the reflective optical sensor. A center position calculation unit that calculates the center position of the optical disk placed on the disk tray based on the edge position of the center hole.
Calculating a transport position when the optical disk is transported to the disk tray by the optical disk transport device based on the center position;
A transport position calculation device characterized by the above. A support shaft that is long in a direction perpendicular to the disk surface of the optical disk placed on a disk tray, and is rotatable about the support shaft and movably along the axial direction of the support shaft, An arm portion whose length can be expanded and contracted in a direction parallel to the disk surface, a reflective optical sensor provided in the arm portion, a grip portion provided at the tip of the arm portion and detachably gripping the optical disc; An optical disc transport device control method for controlling an optical disc transport device for transporting an optical disc to the disc tray,
The arm portion is rotated and expanded / contracted on a virtual plane facing the disc surface of the optical disc placed on the disc tray, and formed on the optical disc and / or the outer edge position detected by the reflective optical sensor. Calculating the center position of the optical disk placed on the disk tray based on the edge position of the center hole,
A process of gripping the optical disc by the gripper based on the calculated center position;
A control method for an optical disk transport device comprising: A support shaft that is long in a direction perpendicular to the disk surface of the optical disk placed on a disk tray, and is rotatable about the support shaft and movably along the axial direction of the support shaft, An arm portion whose length can be expanded and contracted in a direction parallel to the disk surface, a reflective optical sensor provided in the arm portion, a grip portion provided at the tip of the arm portion and detachably gripping the optical disc; A control program for controlling an optical disk transport device for transporting an optical disk to the disk tray,
The arm portion is rotated and expanded / contracted on a virtual plane facing the disc surface of the optical disc placed on the disc tray, and formed on the optical disc and / or the outer edge position detected by the reflective optical sensor. Based on the edge position of the center hole, the center position of the optical disk placed on the disk tray is calculated,
Causing the optical disc to be gripped by the grip portion based on the calculated center position;
A control program characterized by

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