WO2015196713A1 - 一种抓盘器及用该抓盘器加载、卸载及回收光盘的方法 - Google Patents

一种抓盘器及用该抓盘器加载、卸载及回收光盘的方法 Download PDF

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Publication number
WO2015196713A1
WO2015196713A1 PCT/CN2014/091744 CN2014091744W WO2015196713A1 WO 2015196713 A1 WO2015196713 A1 WO 2015196713A1 CN 2014091744 W CN2014091744 W CN 2014091744W WO 2015196713 A1 WO2015196713 A1 WO 2015196713A1
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WO
WIPO (PCT)
Prior art keywords
disc
insert
tray
grasper
driving device
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PCT/CN2014/091744
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English (en)
French (fr)
Inventor
朱明�
徐宏
陈黎明
Original Assignee
苏州互盟信息存储技术有限公司
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Application filed by 苏州互盟信息存储技术有限公司 filed Critical 苏州互盟信息存储技术有限公司
Publication of WO2015196713A1 publication Critical patent/WO2015196713A1/zh

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    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B17/00—Guiding record carriers not specifically of filamentary or web form, or of supports therefor
    • G11B17/22—Guiding record carriers not specifically of filamentary or web form, or of supports therefor from random access magazine of disc records

Definitions

  • the present invention relates to a robot assembly for an optical disc library, and more particularly to a gripper and a method for loading, unloading and recycling an optical disc with the gripper.
  • the optical disc library is an opto-mechatronic mass data storage device that uses a standardized optical disc as a data storage medium.
  • the optical disc library is connected to the computer through the data communication interface, and the data on all the optical discs in the optical disc library is automatically provided to the user through the management software of the optical disc library. At the same time, users can easily write data to the disc in the disc library. Therefore, optical disc libraries are widely used for long-term archival preservation of data.
  • the existing optical disc library includes a disc cartridge, an optical disc drive, a robot assembly and a control unit, and the robot assembly further includes a dial, a gripper and a displacement device, wherein the extractor and the gripper are mounted on the displacement device and can be equipped with the displacement device
  • the drawer is used to pull or push the disc tray in the disc tray
  • the gripper is used to grab the disc placed in the disc tray and place it on the disc drive tray of the optical disc drive.
  • the robot When reading and writing the disc data, the robot calls the corresponding disc according to the instruction issued by the control unit.
  • the specific operation process is as follows: the robot component is moved to the disc to be operated, the tray extracts the disc tray of the disc, and the gripper grabs the disc in the tray from the center hole thereof, and the disc drives the disc again. The tray is pushed back to the closed position, and then the gripper transports the disc to the position of the target tray by the displacement device, and the gripper puts the loaded disc into the target tray; after the target tray is processed, the robot assembly Move to the target tray, the grabber grabs the disc in the target tray, and then moves to the disc to move the disc to complete the placement of the disc.
  • the operation of taking out the optical disc from the optical disc and putting it into the target tray is called loading of the optical disc
  • the operation of taking the optical disc out of the target tray and putting it back into the optical disc is called unloading of the optical disc.
  • the robot displacement device drives the gripper carrying N discs to move to the target tray, and puts all the N discs loaded into the target tray;
  • the robot displacement device drives the gripper carrying N-1 discs to move to the original designated disc, and puts the N-1 discs in the disc tray of the original disc, and then the disc tray Close the disc tray.
  • the above-mentioned grasper can realize the function of capturing a plurality of discs at a time, it is necessary to put all the loaded discs into the target tray at the time of placing the disc, and then grab the unused discs again, and the target tray actually acts as a transfer tray. character of. Although this method does solve the problem of pick and place of the stacked optical discs, the speed of the disc change is greatly reduced due to the transfer step. How to shorten the time of grabbing the disc to release the disc and improve the efficiency of the disc change, the improvement of the gripper itself is the key.
  • the technical problem to be solved by the present invention is to provide a gripper and a method of loading and unloading an optical disc using the gripper. It can be quickly divided on the grasper, without the need to use the transfer tray for the disc, which greatly shortens the disc change time and improves the loading efficiency of the disc.
  • the present invention provides a grasper including a bracket, a driving device, a hollow guide post, and a transmission device nested with the guide post, the guide post being fixed on the bracket,
  • the transmission device includes an output shaft, a transmission gear and a rack insert that meshes with the transmission gear, the transmission gear and the rack insert are disposed in the guide post, and the guide post is correspondingly opened for the rack insertion a protruding side hole, the driving device is disposed on the bracket, the upper end of the output shaft is connected to the driving device, and the lower end of the output shaft passes through the bracket into the guiding column to cooperate with the shaft hole of the transmission gear.
  • the rack insert includes an upper insert and a lower insert, wherein the guide post is provided with at least two upper inserts and at least two lower inserts; the driving device drives the transmission gear to rotate through the output shaft, The drive gear drives the upper and lower inserts to move telescopically relative to the guide post such that the upper and lower inserts have different telescopic states.
  • the upper insert and the lower insert each have a protruding end, and the telescopic upper and lower inserts are extended with respect to the telescopic state of the guide post, and the extended end of the upper insert protrudes and the extension of the lower insert.
  • the protruding end of the upper insert is an outwardly extending boss I
  • the height of the boss 1 is smaller than the gap between the two stacked optical discs
  • the boss I and the lower insert The distance between the extended ends of the sheets is slightly larger than the thickness of a single optical disc.
  • the protruding end of the lower insert is an outwardly extending boss II
  • the height of the boss II is smaller than the gap between the two stacked discs
  • the upper tab is convex.
  • the distance between the table I and the boss II of the lower blade is slightly larger than the thickness of the single disk.
  • the guiding column is a hollow cylinder
  • the outer diameter of the cylinder is slightly smaller than the diameter of the central hole of the optical disc
  • the lower end of the cylinder is contracted inward to form a guiding insertion end
  • the side hole is disposed on the cylinder.
  • the size of the side holes is adapted to the size of the protruding ends of the upper and lower inserts.
  • the thickness of the rack portion of the upper insert is larger than the thickness of the protruding end; the thickness of the rack portion of the lower insert is not less than the thickness of the extended end.
  • the number of the upper and lower blades is three, and the upper and the lower blades are parallel to each other; the driving device 3 is a stepping motor, a servo motor or a hydraulic pump.
  • the present invention also provides a method of loading and unloading an optical disc using the above-described grasper, comprising the following steps (where N ⁇ 1):
  • the robot displacement device drives the gripper to move to the designated disc position, and extracts the disc tray of the designated disc ;
  • the grasper moves to the upper side of the disc tray, and the driving device drives the upper and lower inserts of the gripper to be retracted into the guide post, the guide post extending into the center hole of the optical disc placed on the disc tray; the driving device is driven The upper insert protrudes and is inserted into a gap between the Nth optical disc and the (N+1)th optical disc, and the gripper moves upward to cause the upper insert to carry N optical discs;
  • the grasper moves to the top of the target tray, and the driving device drives the insert piece to extend the upper insert to retract, and the N pieces of the optical disk carried by the upper insert piece are moved down and supported by the lower insert piece;
  • the driving device drives the upper insert piece to extend the lower insert piece to retract, and at this time, the extended end of the upper insert piece is inserted between the N-1th optical disc and the Nth optical disc and carries N-1 optical discs, N discs lose the support of the lower insert and fall into the target tray to complete the loading operation of the disc;
  • the grasper moves to the top of the disc tray, and the driving device drives the upper and lower inserts to retract into the guiding column, and the disc contained in the gripper loses the support of the upper insert and falls into the disc tray, and the robot closes the disc tray again. , complete the unloading operation of the disc.
  • steps S4 and S5 the grabber is further moved to other target tray positions, and steps S3 and S4 are repeated to perform the loading operation of the optical disc.
  • the present invention also provides another method of loading and unloading an optical disc using the above-described gripper, comprising the following steps (where N ⁇ 1):
  • the robot displacement device drives the gripper to move to the designated disc position, and extracts the disc tray of the designated disc ;
  • the grasper moves to the upper side of the disc tray, and the driving device drives the upper and lower inserts of the gripper to be retracted into the guide post, and the guide post extends into the center hole of the optical disc placed on the disc tray, and the driving device drives The lower insert protrudes and is inserted into a gap between the Nth optical disc and the (N+1)th optical disc, and the gripper moves upward to cause the lower insert to carry N optical discs;
  • the grasper moves to the top of the target tray, and the driving device drives the upper insert to extend and the lower insert is retracted. At this time, the extended end of the upper insert is inserted between the N-1th disc and the Nth disc and is supported. Carrying N-1 discs, the Nth disc loses the support of the lower insert and falls into the target tray;
  • the grasper moves to the top of the disc tray, and the driving device drives the upper and lower inserts to retract into the guiding column, and the disc contained in the gripper loses the support of the insert and falls into the disc tray, and the robot closes the disc tray again. , complete the unloading operation of the disc.
  • the grabber moves to the top of the other target tray, and the driving device drives the lower insert to extend the upper insert to retract, and the upper insert carries the optical disc as a whole and then moves down.
  • the present invention also provides a method for recycling an optical disc by using the above-mentioned grasper, comprising the following steps:
  • the grasper moves to the top of the disc to be recycled, and the driving device drives the upper and lower inserts of the gripper
  • the guide post is retracted into the guide post, the guide post extends into the central hole of the optical disc to be recovered, and the driving device drives the upper insert or the lower insert to extend outward and hold the disc to be recovered, and the gripper moves upward.
  • the grasper carries the disc and moves back to the original designated disc position, and the robot extracts the disc tray of the designated disc.
  • the grasper moves to the top of the disc tray, and the driving device drives the upper and lower inserts to retract at the same time, and the disc contained in the gripper loses support and falls into the disc tray, and the robot then closes the disc tray.
  • the present invention also provides another method for recycling an optical disc by using the above-mentioned grasper, comprising the following steps:
  • the grasper moves to the upper side of the optical disc to be recovered, and the driving device drives the upper and lower inserts of the gripper to be retracted into the guiding column, and the guiding post extends into the center hole of the optical disc to be recovered, and the driving device drives The upper insert or the lower insert protrudes outwardly and holds the optical disc to be recovered, and the grasper moves upward to cause the upper insert or the lower insert to carry the optical disc;
  • the gripper carries the captured disc to move to other discs to be recycled, and the guiding limit end of the gripper is inserted into the center hole of the disc to be recycled, and the driving device drives the upper and lower inserts to retract at the same time, and the disc is retracted.
  • the optical disk carried on the device is dropped on the optical disk to be recovered, the guiding column is moved down to a certain depth, and the driving device drives the upper or lower insertion piece to extend outwardly and supports the bottommost optical disk, and then grasps the disk. Move up so that the upper or lower insert carries all the discs;
  • the grasper carries the disc and moves back to the original designated disc position, and the robot extracts the disc tray of the designated disc.
  • the grasper moves to the upper side of the disc tray, and the guide post of the gripper is near the center position of the disc tray, and the driving device drives the upper and lower inserts to retract at the same time, and the disc contained in the gripper loses support and falls into the disc. Inside the tray, the robot closes the disc tray again.
  • the present invention has the following beneficial effects:
  • the grasper of the present invention is provided with an upper insert and a lower insert, the upper insert and the lower insert having three working states of mutual cooperation, that is, the upper insert is extended and the lower insert is retracted and inserted.
  • the sheet retracts and the upper and lower inserts are retracted at the same time, and the switching of the three working states can realize that the specified disc is captured from the stacked discs, or the disc is separated on the gripper. Or the operation of putting the loaded disc back into the disc, the operation is accurate and fast, and the working efficiency of the disc library is greatly improved.
  • the grasper of the present invention can not only realize the capture of multiple discs at a time. Function, and in the loading process of the disc, can be directly placed on the grasper, without the need to use the transfer tray for the disc, omitting the disc process of putting the disc down and then grabbing, saving the disc time and improving the disc Loading efficiency.
  • the grasper of the present invention can realize the disk-discharging operation of a single optical disk and the continuous disk-discharging operation of a plurality of optical disks; the recycling operation of a single optical disk can be realized, and the continuous recycling operation of multiple optical disks can also be realized.
  • the gripper has the advantage of being flexible in operation.
  • the grasper of the invention has a clever concept and reasonable structure, can accurately capture the optical disc and can separate the optical disc on the grasper, and the method of loading, unloading and recycling the optical disc by the grasper is simple and easy, and the method is extremely simple. Improve work efficiency.
  • FIG. 1 is a schematic structural view of a prior art optical disc cartridge
  • FIG. 2 is a perspective view of a grasper according to an embodiment of the present invention.
  • FIG. 3 is a front view of a grasper according to an embodiment of the present invention.
  • FIG. 4 is an exploded view showing the structure of a grasper according to an embodiment of the present invention.
  • Figure 5 is a cross-sectional view showing the upper and lower inserts of the grasper simultaneously retracted
  • Figure 6 is a cross-sectional view showing the retraction of the upper insert of the gripper and the lower insert
  • Figure 7 is a cross-sectional view showing the upper insert of the grasper retracting the lower insert
  • Figure 8 is a plan view of the grasping disc of the present invention.
  • Figure 9 is a cross-sectional view taken along line E-E of Figure 8.
  • Figure 10 is a front elevational view of a tab of an embodiment of the present invention.
  • Figure 11 is a front elevational view of another insert of the embodiment of the present invention.
  • the grasper of the present invention comprises a bracket 1 , a driving device 3 , a hollow guiding column 2 and a transmission device nested with the guiding column 2 , and the guiding column 2 is fixed on the bracket 1 .
  • the transmission device comprises an output shaft 7, a transmission gear 4 and a rack insert 5 meshing with the transmission gear 4, the transmission gear 4 and the rack insert 5 being disposed in the guide post 2, the guide post
  • a side hole 6 for extending the rack insert 5 is provided
  • the driving device 3 is arranged on the bracket 1, and the upper end of the output shaft 7 is connected to the driving device 3, and the lower end of the output shaft 7 is connected.
  • the rack insert 5 includes an upper insert 51 and a lower insert 52.
  • the upper insert 51 and the lower insert 52 are located in two planes parallel to each other, and at least two upper inserts are disposed in the guide post 2. Sheet 51 and at least two lower tabs 52.
  • the driving device 3 provides power to the transmission device, and the driving device 3 can be a stepping motor, a servo motor or a hydraulic pump.
  • the driving device 3 drives the transmission gear 4 to rotate by the output shaft 7.
  • the transmission gear 4 drives the upper and lower blades 51 and 52 to move telescopically relative to the guiding column 2 so that the upper and lower blades 51 and 52 have different telescopic states. .
  • the guide post 2 is a hollow cylinder having a diameter smaller than the diameter of the center hole of the optical disk 8 so as to be inserted into the center hole of the optical disk 8 when the optical disk is grasped; the lower end of the cylinder is contracted inward A guide insertion end 9 is formed, which is arranged on the cylinder near the guide insertion end 9.
  • the upper insertion piece 51 and the lower insertion piece 52 respectively have a projecting end, and the side holes 6 provided on the guide post 2 are adapted to the size of the projecting ends of the upper and lower blades 51, 52.
  • the telescopic state of the upper blade 51 and the lower blade 52 with respect to the guide post 2 includes a state in which the projecting end of the upper blade 51 projects and the extended end of the lower blade 52 is retracted (FIG. 6), the upper blade 51.
  • the extended end is retracted and the extended end of the lower blade 52 is extended (FIG. 7) and the extended ends of the upper and lower blades 51, 52 are simultaneously reset (FIG. 5).
  • the thickness of the rack portion of the upper blade 51 is greater than the thickness of the protruding end.
  • the thickness of the rack portion of the lower blade 52 is not less than the thickness of the projecting end.
  • the upper end of the guide post 2 is connected with a flat body portion 10 whose outer bottom surface is flat, and the guide post 2 is fixed to the lower end of the bracket 1 through the disc body portion 10.
  • the guide post 2 is inserted into the central hole of the stacked optical disc, and the bottom surface of the disc body 10 is adhered to the disc surface of the uppermost optical disc 8, so that the stacked discs can be stacked neatly for subsequent operation. .
  • the guide post 2 is respectively provided with three upper inserts 51 and three lower inserts 52 which are parallel to each other, wherein three upper inserts 51 are wound.
  • the transmission gears 4 are arranged clockwise, and the three lower blades 52 are arranged counterclockwise around the transmission gear 4. Normally, the protruding ends of the upper and lower blades are substantially flush with the side holes 6 on the guide post 2.
  • the extended end of the upper blade 51 protrudes from the side hole 6, and the lower end
  • the extended end of the insert 52 is retracted toward the inside of the column 2; when the transmission gear 4 is rotated counterclockwise, the extended end of the upper insertion piece 51 is retracted toward the inside of the column 2, and the extended end of the lower insertion piece 52 is side-to-side
  • the hole 6 is extended.
  • the upper insertion piece 51 may be arranged counterclockwise around the transmission gear 4
  • the lower insertion piece 52 may be arranged clockwise around the transmission gear 4.
  • the projecting end of the upper insert 51 is an outwardly extending boss I 511.
  • the height of the boss I 511 is smaller than the gap between the two stacked discs 8 and can be inserted into the layered disc 8
  • the gap between the lower end of the lower insert is greater than the height of the boss I 511, and the distance between the boss I 511 and the extended end of the lower insert is slightly larger than that of the single disc. thickness. Due to the arrangement of the structure, only the insertion end of the upper insert can be inserted between the upper and lower inserts, so that only the upper insert 51 is used to grasp the optical disc, and the lower insert 52 only participates in the split disc. operating.
  • the loading of the optical disc by the above structure includes the following steps (where N ⁇ 1):
  • the driving device drives the upper and lower blades 51, 52 to simultaneously retract into the guiding column 2, and then the guiding column 2 is inserted into the central hole of the optical disc;
  • the driving device drives the boss I 511 of the upper blade to extend outwardly and is inserted between the Nth optical disk and the N+1th optical disk, and then the guiding column 2 is moved upward to cause the boss I 511 to carry N optical disks. ;
  • the guide post 2 carries N optical discs to move over the target tray, and the driving device drives the upper insert 51 to retract the lower insert 52, and the N discs carried by the upper insert 51 are moved down by the thickness of one disc. After being supported by the extended end of the lower blade 52;
  • the driving device drives the upper blade 51 to extend downward, and the upper blade 51 is inserted into the Nth light. Between the disc and the N-1th disc, the Nth disc falls into the target tray due to the loss of the support of the lower tab 52.
  • the extended state of the protruding end of the insertion piece is extended to the guide post, the extended state of the insertion piece is flush with the side hole of the guide post (ie, the extended end reaches but does not protrude from the side hole).
  • Position is set to 0, and the extended end of the insert is retracted to the inside of the guide post to be set to -1.
  • the upper and lower inserts are stretched and contracted by taking the optical disc with the upper insert as an example. The status and the number of discs corresponding to them are shown in Table 1.
  • the protruding end of the upper blade 51 is an outwardly extending boss I 511
  • the protruding end of the lower blade 52 is an outwardly extending boss II. 521
  • the height of the boss I 511 and the boss II 521 are smaller than the gap between the two discs 8 stacked in layers, and the boss I 511 or the boss II 521 can be inserted between the laminated discs 8 In the gap.
  • the distance between the boss I 511 of the upper blade and the boss II 521 of the lower blade is slightly larger than the thickness of the single optical disk.
  • the position of the upper and lower blades 51, 52 should be set so as not to affect the normal gear transmission. Due to the arrangement of this structure, the lower insert is no longer only involved in the disc separation process, but can also be used to grab and carry the disc.
  • the step of loading the disc by using the lower insert omits the step of dividing the disc, which is more conducive to saving the disc allocation time and improving the loading efficiency of the disc.
  • the maximum distance between the outer side surface of the guiding post 2 and the central circular hole of the optical disc is set to a, between the outer side surface of the guiding post 2 and the data area on the optical disc.
  • the minimum distance is set to b.
  • the extension length of the upper and lower blades 51, 52 with respect to the guide post 2 should be greater than a and less than b. In order to ensure that the upper insert 51 or the lower insert 52 is extended, it is possible to insert the laminated optical disc. The data area of the disc will not be destroyed.
  • the present invention also provides a method for loading and unloading an optical disc in an optical disc library by using the above-mentioned grasper, and if the fourth optical disc among the ten optical discs directly stacked in the optical disc is to be read, the following step:
  • the robot displacement device drives the gripper to move to the designated disc position, and extracts the disc tray of the designated disc cartridge; (the disc tray contains 10 discs, and the fourth disc to be grabbed is in the slave disc 4th position up and down)
  • the grasper moves to the upper side of the disc tray, and the driving device drives the upper and lower inserts of the gripper to be retracted into the guide post, the guide post extending into the center hole of the optical disc placed on the disc tray; the driving device is driven The upper insert extends and inserts into the gap between the fourth optical disc and the fifth optical disc, and the grasper moves upward to cause the upper insert carrier to carry four optical discs;
  • the grasper moves to the top of the target tray, and the driving device drives the insert piece to extend the upper insert piece to retract, and the four pieces of the optical disk carried by the upper insert piece are moved down and supported by the lower insert piece;
  • the driving device drives the upper insert piece to extend and the lower insert piece is retracted. At this time, the extended end of the upper insert piece is inserted between the third optical disc and the fourth optical disc, and three optical discs are carried, and the fourth optical disc is lost. The support of the lower insert falls into the target tray to complete the loading operation of the optical disc;
  • the grasper moves to the top of the disc tray, and the driving device drives the upper and lower inserts to retract into the guiding column, and the disc contained in the gripper loses the support of the upper insert and falls into the disc tray, and the robot closes the disc tray again. , complete the unloading operation of the disc.
  • the steps S4 and S5 further include moving the grabber to other target tray positions, repeating steps S3 and S4 to load the remaining optical discs, and repeating the steps if there are remaining optical discs after the loading is completed.
  • S5 and S6 perform an unloading operation.
  • the present invention also provides another method for loading and unloading an optical disc in an optical disc library by using the above-mentioned gripper, if the sixth optical disc of the ten optical discs directly stacked in the optical disc is to be read, including The following steps:
  • the robot displacement device drives the gripper to move to the designated disc position, and extracts the disc tray of the designated disc cartridge; (the disc tray contains 10 discs, and the sixth disc to be grabbed is in the slave disc 6th position up and down)
  • the grasper moves to the upper side of the disc tray, and the driving device drives the upper and lower inserts of the gripper to be retracted into the guide post, and the guide post extends into the center hole of the optical disc placed on the disc tray, and the driving device drives The lower insert protrudes and is inserted into the gap between the sixth optical disc and the seventh optical disc, and the grasper moves upward to enable the lower insert carrier to carry six optical discs;
  • the grasper moves to the top of the target tray, and the driving device drives the upper insert to extend and the lower insert is retracted. At this time, the extended end of the upper insert is inserted between the fifth optical disc and the sixth optical disc and carried. 5 discs, the 6th disc loses the support of the lower insert and falls into the target tray;
  • the grasper moves to the top of the disc tray, and the driving device drives the upper and lower inserts to retract into the guiding column, and the disc contained in the gripper loses the support of the insert and falls into the disc tray, and the robot closes the disc tray again. , complete the unloading operation of the disc.
  • the steps S3 and S4 further include: the grasper moves to the top of the other target tray, and the driving device drives the lower insert to extend the upper insert to retract, and the upper insert carries The five discs are moved down and supported by the lower tabs; the driving device drives the upper tabs to extend and the lower tabs are retracted, and the extended end of the upper tabs is inserted between the fifth disc and the fourth disc.
  • the fifth disc loses the support of the lower insert and falls into the target tray.
  • the remaining discs can continue to be loaded using the above method. If there are remaining discs after the loading is completed, steps S4 and S5 are repeated for the unloading operation.
  • the present invention also provides a method for recycling an optical disc in an optical disc library by using the above-mentioned gripper, comprising the following steps:
  • the grasper moves to the upper side of the optical disc to be recovered, and the driving device drives the upper and lower inserts of the gripper to be retracted into the guiding column, and the guiding post extends into the center hole of the optical disc to be recovered, and the driving device drives The upper insert or the lower insert extends outwardly and holds the optical disc to be recovered, and the grasper moves upward to cause the upper insert or the lower insert to carry the optical disc;
  • the grasper carries the disc and moves back to the original designated disc position, and the robot extracts the disc tray of the designated disc.
  • the grasper moves to the top of the disc tray, and the driving device drives the upper and lower inserts to retract at the same time, and the disc contained in the gripper loses support and falls into the disc tray, and the robot then closes the disc tray.
  • the present invention also provides another method for recycling an optical disc in an optical disc library by using the above-mentioned gripper, comprising the following steps:
  • the grasper moves to the upper side of the optical disc to be recovered, and the driving device drives the upper and lower inserts of the gripper to be retracted into the guiding column, and the guiding post extends into the center hole of the optical disc to be recovered, and the driving device drives The upper insert or the lower insert protrudes outwardly and holds the optical disc to be recovered, and the grasper moves upward to cause the upper insert or the lower insert to carry the optical disc;
  • the gripper carries the captured disc to move to other discs to be recycled, and the guiding limit end of the gripper is inserted into the center hole of the disc to be recycled, and the driving device drives the upper and lower inserts to retract at the same time, and the disc is retracted.
  • the optical disk carried on the device is dropped on the optical disk to be recovered, the guiding column is moved down to a certain depth, and the driving device drives the upper or lower insertion piece to extend outwardly and supports the bottommost optical disk, and then grasps the disk. Move up so that the upper or lower insert carries all the discs;
  • the grasper carries the disc and moves back to the original designated disc position, and the robot extracts the disc tray of the designated disc.
  • the grasper moves to the upper side of the disc tray, and the guide post of the gripper is near the center position of the disc tray, and the driving device drives the upper and lower inserts to retract at the same time, and the disc contained in the gripper loses support and falls into the disc. Inside the tray, the robot closes the disc tray again.
  • the gripper of the present invention can be used in conjunction with an extractor having the patent application number 201410214157.4.
  • the grasper of the present invention is provided with an upper insert and a lower insert, the upper insert and the lower insert having three working states of mutual cooperation, that is, the upper insert is extended and the lower insert is retracted and inserted.
  • the sheet retracts and the upper and lower inserts are retracted at the same time, and the switching of the three working states can realize that the specified disc is captured from the stacked discs, or the disc is separated on the gripper. Or the operation of putting the loaded disc back into the disc, the operation is accurate and fast, and the working efficiency of the disc library is greatly improved.
  • the grasper of the present invention can not only realize the function of capturing a plurality of optical discs at a time, but also can directly discriminate on the grasper during the loading process of the optical disc without using the same.
  • the transfer tray is divided into discs, omitting the disc placement process of putting the disc down and then grabbing, saving the disc allocation time and improving the loading efficiency of the disc.
  • the grasper of the present invention can realize the disk-discharging operation of a single optical disk and the continuous disk-discharging operation of a plurality of optical disks; the recycling operation of a single optical disk can be realized, and the continuous recycling operation of multiple optical disks can also be realized.
  • the gripper has the advantage of being flexible in operation.
  • the grasper of the invention has a clever concept and a reasonable structure, can accurately capture the optical disc and can separate the optical disc on the grasper, and the method of loading, unloading and recycling the optical disc by the grasper is simple and easy, Improve work efficiency.

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  • Automatic Disk Changers (AREA)

Abstract

本发明公开了一种抓盘器，包括支架、驱动装置、中空的导向柱以及传动装置，所述传动装置包括输出轴、传动齿轮和与传动齿轮相啮合的齿条插片，所述传动齿轮和齿条插片设置在导向柱内，导向柱上对应地开设有供所述齿条插片伸出的侧孔，所述输出轴的上端与驱动装置连接，输出轴的下端穿过支架进入导向柱内与所述传动齿轮的轴孔相配合，所述齿条插片包括至少两个上插片和至少两个下插片，且所述上、下插片具有相反的伸缩状态；所述驱动装置通过输出轴带动传动齿轮转动，所述传动齿轮驱动上、下插片相对于所述导向柱伸缩运动。本发明还公开了用该抓盘器加载、卸载及回收光盘的方法。本发明能实现在抓盘器上直接分盘，极大的提高了工作效率。

Description

一种抓盘器及用该抓盘器加载、卸载及回收光盘的方法 技术领域
本发明涉及光盘库的机械手组件，尤其涉及一种抓盘器及用该抓盘器加载、卸载及回收光盘的方法。
背景技术
光盘库是一种以标准化光盘为数据存储媒介的光机电一体化的海量数据存储设备。光盘库通过数据通信接口与计算机相连，并通过光盘库的管理软件使光盘库中所有光盘上的数据全自动地提供给用户。同时，用户也可以很方便地向光盘库中的光盘写入数据。因此，光盘库被广泛应用于数据的长期归档保存。现有光盘库包括光盘匣、光驱、机械手组件和控制单元，机械手组件又包括抽盘器、抓盘器以及位移装置，其中，抽盘器和抓盘器装载于位移装置上且可随位移装置进行升降及水平移动，抽盘器用于抽拉或推送光盘匣内的光盘托盘，抓盘器用于抓取放置在光盘托盘中的光盘并将其放置到光驱的光驱托盘上。
读写光盘数据时，机械手根据控制单元下达的指令调用相应的光盘。具体操作过程为：机械手组件移动至待操作的光盘匣处，抽盘器抽出该光盘匣的光盘托盘，抓盘器将该托盘中的光盘从其中心孔处抓起，抽盘器再将光盘托盘推回到关闭位置，然后抓盘器在位移装置的带动下将光盘运送到目标托盘的位置，抓盘器将所载光盘放入目标托盘中；待目标托盘对其处理完毕后，机械手组件移动至目标托盘，抓盘器抓取目标托盘内的光盘，然后在位移装置的带动下移动至光盘匣处完成光盘的放置。通常将光盘从光盘匣取出再放入目标托盘的操作称为光盘的加载，将光盘从目标托盘中取出再放回光盘匣的操作称为光盘的卸载。
机械手组件加载和卸载光盘的质量和效率关键取决于抓盘器。而为节省光盘库空间，现有光盘的存放方式普遍为一个光盘匣内层叠放置多张光盘(参见图1)，那么在对其中某张光盘进行数据读写操作前，需要依靠抓盘器准确抓取指定光盘并放置在目标托盘上，存在取盘和放盘的难题。为此，专利申请号为 201210008197.4申请名称为“用于光盘库的自动抓盘器”的专利申请提出一种可随机抓取多张直接叠放的光盘中的任意一张光盘的装置。其抓盘方法为：
1)机械手组件移动至指定光盘匣处，抽盘器打开指定光盘匣的光盘托盘；
2)抓盘器从上述光盘托盘内抓起N张光盘(N≥1)；
3)机械手位移装置带动载有N张光盘的抓盘器移动至目标托盘处，将所载的N张光盘全部放入目标托盘；
4)抓盘器从目标托盘内抓起N-1张光盘；
5)机械手位移装置带动载有N-1张光盘的抓盘器移动至原指定光盘匣处，将所载的N-1张光盘放入原指定光盘匣的光盘托盘内，再由抽盘器关闭该光盘托盘。
上述抓盘器虽然能实现一次抓取多张光盘的功能，但在放盘时需要将所载光盘全部放入目标托盘内，然后再次抓取不用的光盘，此时目标托盘实际充当了一个中转托盘的角色。虽然这种方法的确能解决对层叠放置的光盘的取放问题，但由于存在中转步骤，因而大大降低了换盘速度。如何缩短抓盘到放盘的时间，提高换盘的效率，抓盘器本身的改进是关键。
发明内容
本发明所要解决的技术问题在于，提供一种抓盘器及用该抓盘器加载和卸载光盘的方法。可在抓盘器上快速分盘，而无需借助中转托盘进行分盘，大大缩短了光盘的换盘时间，提高了光盘的加载效率。
为了解决上述技术问题，本发明提供了一种抓盘器，包括支架、驱动装置、中空的导向柱以及与所述导向柱嵌套配合的传动装置，所述导向柱固定在支架上，所述传动装置包括输出轴、传动齿轮和与所述传动齿轮相啮合的齿条插片，所述传动齿轮和齿条插片设置在导向柱内，导向柱上对应地开设有供所述齿条插片伸出的侧孔，所述驱动装置设置在支架上，所述输出轴的上端与驱动装置连接，输出轴的下端穿过支架进入导向柱内与所述传动齿轮的轴孔相配合，
所述齿条插片包括上插片和下插片，所述导向柱内设置有至少两个上插片和至少两个下插片；所述驱动装置通过输出轴带动传动齿轮转动，所述传动齿轮驱动上、下插片相对于所述导向柱伸缩运动使上、下插片具有不同的伸缩状态。
具体的，所述上插片和下插片各具有一个伸出端，伸缩上插片和下插片相对于导向柱的伸缩状态包括上插片的伸出端伸出且下插片的伸出端缩回的状态、上插片的伸出端缩回且下插片的伸出端伸出的状态以及上、下插片的伸出端同时复位的状态。
进一步的，所述上插片的伸出端为向外延伸的凸台I，所述凸台I的高度小于层状叠放的两张光盘之间的间隙，所述凸台I与下插片的伸出端之间的距离略大于单张光盘的厚度。
更进一步的，所述下插片的伸出端为向外延伸的凸台II，所述凸台II的高度小于层状叠放的两张光盘之间的间隙，所述上插片的凸台I与下插片的凸台II之间的距离略大于单张光盘的厚度。
具体的，所述导向柱为中空圆柱体，所述圆柱体的外圆直径略小于光盘的中心孔直径，圆柱体的下端向内收缩形成导向插入端，所述侧孔设置在圆柱体上靠近导向插入端处，侧孔的大小与上、下插片的伸出端大小相适应。
具体的，所述上插片的齿条部分的厚度大于所述伸出端的厚度；所述下插片的齿条部分的厚度不小于所述伸出端的厚度。
优选的，所述上插片和下插片的数量各为三个，且上插片与下插片相互平行；所述驱动装置3为步进电机、伺服电机或液压泵。
相应的，本发明还提供了一种用上述抓盘器加载和卸载光盘的方法，包括以下步骤(其中N≥1)：
S1、光盘库中，机械手位移装置带动抓盘器移动至指定光盘匣位置，抽出指定光盘匣的光盘托盘；
S2、抓盘器移动至光盘托盘上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入放置在光盘托盘上的光盘的中心孔；驱动装置驱动所述上插片伸出并插入第N张光盘与第N+1张光盘之间的间隙中，抓盘器向上移动使上插片托载N张光盘；
S3、抓盘器移动至目标托盘上方，驱动装置驱动下插片伸出上插片缩回，上插片托载的N张光盘整体下移后由下插片支撑；
S4、驱动装置驱动上插片伸出下插片缩回，此时上插片的伸出端插入第N-1张光盘与第N张光盘之间并托载住N-1张光盘，第N张光盘失去下插片的支撑而落入目标托盘内，完成光盘的加载操作；
S5、抓盘器托载着剩余的光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘；
S6、抓盘器移动至光盘托盘上方，驱动装置驱动上、下插片同时缩回导向柱内，抓盘器所载的光盘失去上插片支撑而落入光盘托盘内，机械手再关闭光盘托盘，完成光盘的卸载操作。
其中，所述步骤S4和S5之间还包括抓盘器移动到其它目标托盘位置，重复步骤S3和S4进行光盘的加载操作。
相应的，本发明还提供了另一种用上述抓盘器加载和卸载光盘的方法，包括以下步骤(其中N≥1)：
S1、光盘库中，机械手位移装置带动抓盘器移动至指定光盘匣位置，抽出指定光盘匣的光盘托盘；
S2、抓盘器移动至光盘托盘上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入放置在光盘托盘上的光盘的中心孔，驱动装置驱动所述下插片伸出并插入第N张光盘与第N+1张光盘之间的间隙中，抓盘器向上移动使下插片托载N张光盘；
S3、抓盘器移动至目标托盘上方，驱动装置驱动上插片伸出下插片缩回，此时上插片的伸出端插入第N-1张光盘与第N张光盘之间并托载住N-1张光盘，第N张光盘失去下插片的支撑而落入目标托盘内；
S4、抓盘器托载着剩余的光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘；
S5、抓盘器移动至光盘托盘上方，驱动装置驱动上、下插片同时缩回导向柱内，抓盘器所载的光盘失去上插片支撑而落入光盘托盘内，机械手再关闭光盘托盘，完成光盘的卸载操作。
其中，所述步骤S3和S4之间还包括：抓盘器移动到其它目标托盘上方，驱动装置驱动下插片伸出上插片缩回，上插片托载的光盘整体下移后由下插片支撑；驱动装置再驱动上插片伸出下插片缩回，此时上插片的伸出端插入最底部的两张光盘之间，最底部的一张光盘失去下插片的支撑而落入目标托盘内。
相应的，本发明还提供了一种用上述抓盘器回收光盘的方法，包括以下步骤：
S1、抓盘器移动至待回收光盘的上方，驱动装置驱动抓盘器的上、下插片 同时缩回导向柱内，所述导向柱伸入所述待回收光盘的中心孔，驱动装置驱动所述上插片或下插片向外伸出并托住待回收光盘，抓盘器向上移动使所述上插片或下插片托载所述光盘；
S2、抓盘器托载着光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘，
S3、抓盘器移动至光盘托盘上方，驱动装置驱动所述上、下插片同时缩回，抓盘器所载的光盘失去支撑落入光盘托盘内，机械手再关闭光盘托盘。
相应的，本发明还提供了另一种用上述抓盘器回收光盘的方法，包括以下步骤：
S1、抓盘器移动至待回收光盘的上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入所述待回收光盘的中心孔，驱动装置驱动所述上插片或下插片向外伸出并托住待回收光盘，抓盘器向上移动使所述上插片或下插片托载所述光盘；
S2、抓盘器载着已抓取的光盘移动至其他待回收光盘处，抓盘器的导向限位端插入待回收光盘的中心孔，驱动装置驱动上、下插片同时缩回，抓盘器上托载的光盘掉落在所述待回收光盘上，导向柱下移一定深度，驱动装置驱动所述上插片或下插片向外伸出并托住最底端光盘，然后抓盘器向上移动使上插片或下插片托载全部光盘；
S3、抓盘器托载着光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘，
S4、抓盘器移动至光盘托盘上方，抓盘器的导向柱靠近光盘托盘的中心位置，驱动装置驱动所述上、下插片同时缩回，抓盘器所载的光盘失去支撑落入光盘托盘内，机械手再关闭光盘托盘。
由于上述技术方案，本发明具有如下有益效果：
1、本发明的抓盘器设置有上插片和下插片，所述上插片和下插片具有三种相互配合的工作状态，即上插片伸出下插片缩回、上插片缩回下插片伸出以及上、下插片同时缩回，通过这三种工作状态的切换可以实现从层叠设置的光盘之中抓取指定张光盘，或在抓盘器上分离光盘，或将所载光盘放回光盘匣内的操作，所述操作精准、快速，极大地提高了光盘库的工作效率。
2、与现有的抓盘器相比，本发明的抓盘器不仅能实现一次抓取多张光盘的 功能，而且在光盘的加载过程中，可直接在抓盘器上分盘，无需借助中转托盘进行分盘，省略了将光盘放下再抓起的分盘过程，节省了分盘时间，提高了光盘的加载效率。
3、本发明的抓盘器既能实现单张光盘的放盘操作，也能实现多张光盘的连续放盘操作；既能实现单张光盘的回收操作，也能实现多张光盘的连续回收操作。该抓盘器具有操作方式灵活的优点。
4、本发明的抓盘器构思巧妙、结构合理，能够准确的抓取光盘并能在抓盘器上分离光盘，利用该抓盘器加载、卸载以及回收光盘的方法简单易行，极大的提高了工作效率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它附图。
图1是现有技术中光盘匣的结构示意图；
图2是本发明实施例提供的抓盘器的立体图；
图3是本发明实施例提供的抓盘器的主视图；
图4是本发明实施例提供的抓盘器的结构爆炸图；
图5是抓盘器的上、下插片同时缩回的断面图；
图6是抓盘器的上插片伸出下插片缩回的断面图；
图7是抓盘器的上插片缩回下插片伸出的断面图；
图8是本发明的抓盘器抓取光盘的俯视图；
图9是图8中的E-E剖面图；
图10是本发明实施例的一种插片的主视图；
图11是本发明实施例的另一种插片的主视图；
图中：1-支架，2-导向柱，3-驱动装置，4-传动齿轮，5-齿条插片，6-侧孔，7-输出轴，8-光盘，9-导向插入端，10-盘体部，51-上插片，52-下插片,511-凸台I，521-凸台II。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参见图2至图4，本发明的抓盘器包括支架1、驱动装置3、中空的导向柱2以及与所述导向柱2嵌套配合的传动装置，所述导向柱2固定在支架1上，所述传动装置包括输出轴7、传动齿轮4和与所述传动齿轮4相啮合的齿条插片5，所述传动齿轮4和齿条插片5设置在导向柱2内，导向柱2上对应地开设有供所述齿条插片5伸出的侧孔6，所述驱动装置3设置在支架1上，所述输出轴7的上端与驱动装置3连接，输出轴7的下端穿过支架1进入导向柱2内与所述传动齿轮4的轴孔相配合。所述齿条插片5包括上插片51和下插片52，所述上插片51和下插片52位于相互平行的两平面内，所述导向柱2内设置有至少两个上插片51和至少两个下插片52。
所述驱动装置3为传动装置提供动力，驱动装置3可以为步进电机、伺服电机或液压泵。所述驱动装置3通过输出轴7带动传动齿轮4转动，传动齿轮4驱动上、下插片51、52相对于所述导向柱2伸缩运动使上、下插片51、52具有不同的伸缩状态。
由于传动齿轮4固定在输出轴7上，又上、下插片与传动齿轮4相啮合，因此，当驱动装置3通过输出轴7带动传动齿轮4转动时，上、下插片在齿轮啮合的作用下转动相同的角度，从而使上、下插片51、52相对于导向柱2作伸缩运动。
参见图9，导向柱2为中空圆柱体，该圆柱体的外圆直径略小于光盘8的中心孔直径，以便于在抓取光盘时插入光盘8的中心孔内；圆柱体的下端向内收缩形成导向插入端9，所述侧孔6设置在圆柱体上靠近导向插入端9处。所述上插片51和下插片52分别具有一个伸出端，所述设置在导向柱2上的侧孔6与上、下插片51、52的伸出端大小相适应。上插片51和下插片52相对于导向柱2的伸缩状态包括上插片51的伸出端伸出且下插片52的伸出端缩回的状态(图6)、上插片51的伸出端缩回且下插片52的伸出端伸出的状态(图7)以及上、下插片51、52的伸出端同时复位的状态(图5)。
请参见图10、图11，为使上、下插片51、52与传动齿轮4之间的机械传动性能更加稳定，所述上插片51的齿条部分的厚度大于所述伸出端的厚度；所述下插片52的齿条部分的厚度不小于所述伸出端的厚度。
请参见图4，导向柱2的上端连接有外底面平整的盘体部10，导向柱2通过该盘体部10固定在支架1的下端。抓取或卸载光盘过程中，导向柱2插入层叠放置的光盘的中心孔内，盘体部10的底面与最上层光盘8的盘面贴合，可以使层叠放置的光盘叠放整齐，便于后续操作。
请参见图4和图10，作为本发明的一种优选，所述导向柱2内分别设置有相互平行的三个上插片51和三个下插片52，其中三个上插片51绕传动齿轮4呈顺时针排列，三个下插片52绕传动齿轮4呈逆时针排列。常态下，上、下插片的伸出端与导向柱2上的侧孔6基本平齐，当传动齿轮4顺时针转动时，上插片51的伸出端由侧孔6伸出，下插片52的伸出端向导向柱2内缩回；当传动齿轮4逆时针转动时，上插片51的伸出端向导向柱2内缩回，下插片52的伸出端由侧孔6伸出。作为该方式的等同手段，前述上插片51也可以绕传动齿轮4呈逆时针排列，下插片52绕传动齿轮4呈顺时针排列。
所述上插片51的伸出端为向外延伸的凸台I 511，凸台I 511的高度小于层状叠放的两张光盘8之间的间隙并能插入层状叠放的光盘8之间的间隙中，所述下插片的伸出端的高度大于所述凸台I 511的高度，所述凸台I 511与下插片的伸出端之间的距离略大于单张光盘的厚度。由于这种结构的设置，上、下插片中只有上插片的插入端能够插入层叠设置的光盘之间，故只有上插片51用于抓取光盘，下插片52只参与分盘的操作。
利用上述结构进行光盘的加载，包括以下步骤(其中N≥1)：
1)驱动装置驱动上、下插片51、52同时缩回导向柱2内，然后将导向柱2伸入光盘的中心孔内；
2)驱动装置驱动上插片的凸台I 511向外伸出并插入第N张光盘与第N+1张光盘之间，之后导向柱2上移使凸台I 511托载起N张光盘；
3)导向柱2托载着N张光盘移动到目标托盘上方，驱动装置驱动上插片51缩回下插片52伸出，上插片51所载的N张光盘整体下移一个光盘的厚度后由下插片52的伸出端支撑；
4)驱动装置驱动上插片51伸出下插片52缩回，上插片51插入第N张光 盘与第N-1张光盘之间，第N张光盘由于失去下插片52的支撑而落入目标托盘内。
若将插片的伸出端伸出导向柱的伸出状态设为1，插片的伸出端与导向柱的侧孔平齐的复位状态(即伸出端到达但未伸出侧孔的位置)设为0，插片的伸出端缩回导向柱内部的状态设为-1，那么在光盘的加载过程中，以用上插片抓取光盘为例，上、下插片的伸缩状态及其对应托载的光盘数量如表1所示。
表1：
Figure PCTCN2014091744-appb-000001
请参见图11，作为上述结构的进一步改进，所述上插片51的伸出端为向外延伸的凸台I 511，所述下插片52的伸出端为向外延伸的凸台II 521，
所述凸台I 511和凸台II 521的高度均小于层状叠放的两张光盘8之间的间隙，凸台I 511或凸台II 521能插入层状叠放的光盘8之间的间隙中。所述上插片的凸台I 511与下插片的凸台II 521之间的距离略大于单张光盘的厚度。上、下插片51、52的位置设置应以不影响正常的齿轮传动为准。由于这种结构的设置，下插片不再仅仅参与分盘过程，还可用于抓取和托载光盘。
在光盘的加载过程中，以用下插片抓取光盘为例，上、下插片的伸缩状态及其对应托载的光盘数量如表2所示。
表2：
Figure PCTCN2014091744-appb-000002
对比表1、表2可见，利用下插片加载光盘时省略了一步分盘步骤，更利于节约分盘时间，提高光盘的加载效率。
具体的，将导向柱2位于光盘的中心圆孔内时导向柱2的外侧面与光盘的中心圆孔之间的最大距离设为a，导向柱2的外侧面与光盘上的数据区之间的最小距离设为b。那么，所述上、下插片51、52相对于导向柱2的伸出长度应大于a且小于b。以保证上插片51或下插片52伸出后既能插入层叠设置的光盘之 间又不会破坏光盘的数据区。
相应的，本发明还提供了一种利用上述抓盘器在光盘库中加载和卸载光盘的方法，如需读取光盘匣内直接叠放的10张光盘中的第4张光盘，则包括以下步骤：
S1、光盘库中，机械手位移装置带动抓盘器移动至指定光盘匣位置，抽出指定光盘匣的光盘托盘；(该光盘托盘内盛放有10张光盘，需抓取的第4张光盘处于从上往下数的第4个位置)
S2、抓盘器移动至光盘托盘上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入放置在光盘托盘上的光盘的中心孔；驱动装置驱动上插片伸出并插入第4张光盘与第5张光盘之间的间隙中，抓盘器向上移动使上插片托载起4张光盘；
S3、抓盘器移动至目标托盘上方，驱动装置驱动下插片伸出上插片缩回，上插片托载的4张光盘整体下移后由下插片支撑；
S4、驱动装置驱动上插片伸出下插片缩回，此时上插片的伸出端插入第3张光盘与第4张光盘之间并托载住3张光盘，第4张光盘失去下插片的支撑而落入目标托盘内，完成光盘的加载操作；
S5、抓盘器托载着剩余的光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘；
S6、抓盘器移动至光盘托盘上方，驱动装置驱动上、下插片同时缩回导向柱内，抓盘器所载的光盘失去上插片支撑而落入光盘托盘内，机械手再关闭光盘托盘，完成光盘的卸载操作。
进一步的，如需继续加载剩余光盘，上述步骤S4和S5之间还包括抓盘器移动到其它目标托盘位置，重复步骤S3和S4加载余下的光盘，若加载完成后还有剩余光盘则重复步骤S5和S6进行卸载操作。
相应的，本发明还提供了另一种利用上述抓盘器在光盘库中加载和卸载光盘的方法，如需读取光盘匣内直接叠放的10张光盘中的第6张光盘，则包括以下步骤：
S1、光盘库中，机械手位移装置带动抓盘器移动至指定光盘匣位置，抽出指定光盘匣的光盘托盘；(该光盘托盘内盛放有10张光盘，需抓取的第6张光盘处于从上往下数的第6个位置)
S2、抓盘器移动至光盘托盘上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入放置在光盘托盘上的光盘的中心孔，驱动装置驱动下插片伸出并插入第6张光盘与第7张光盘之间的间隙中，抓盘器向上移动使下插片托载起6张光盘；
S3、抓盘器移动至目标托盘上方，驱动装置驱动上插片伸出下插片缩回，此时上插片的伸出端插入第5张光盘与第6张光盘之间并托载住5张光盘，第6张光盘失去下插片的支撑而落入目标托盘内；
S4、抓盘器托载着剩余的光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘；
S5、抓盘器移动至光盘托盘上方，驱动装置驱动上、下插片同时缩回导向柱内，抓盘器所载的光盘失去上插片支撑而落入光盘托盘内，机械手再关闭光盘托盘，完成光盘的卸载操作。
进一步的，如需继续加载剩余光盘，上述步骤S3和S4之间还包括：抓盘器移动到另一目标托盘上方，驱动装置驱动下插片伸出上插片缩回，上插片托载的5张光盘整体下移后由下插片支撑；驱动装置再驱动上插片伸出下插片缩回，此时上插片的伸出端插入第5张光盘与第4张光盘之间，第5张光盘失去下插片的支撑而落入目标托盘内。利用上述方法可继续对剩余光盘进行加载。若加载完成后还有剩余光盘则重复步骤S4和S5进行卸载操作。
相应的，本发明还提供了一种利用上述抓盘器在光盘库中回收光盘的方法，包括以下步骤：
S1、抓盘器移动至待回收光盘的上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入所述待回收光盘的中心孔，驱动装置驱动所述上插片或下插片向外伸出并托住待回收光盘，抓盘器向上移动使上插片或下插片托载所述光盘；
S2、抓盘器托载着光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘，
S3、抓盘器移动至光盘托盘上方，驱动装置驱动所述上、下插片同时缩回，抓盘器所载的光盘失去支撑落入光盘托盘内，机械手再关闭光盘托盘。
相应的，本发明还提供了另一种利用上述抓盘器在光盘库中回收光盘的方法，包括以下步骤：
S1、抓盘器移动至待回收光盘的上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入所述待回收光盘的中心孔，驱动装置驱动所述上插片或下插片向外伸出并托住待回收光盘，抓盘器向上移动使所述上插片或下插片托载所述光盘；
S2、抓盘器载着已抓取的光盘移动至其他待回收光盘处，抓盘器的导向限位端插入待回收光盘的中心孔，驱动装置驱动上、下插片同时缩回，抓盘器上托载的光盘掉落在所述待回收光盘上，导向柱下移一定深度，驱动装置驱动所述上插片或下插片向外伸出并托住最底端光盘，然后抓盘器向上移动使上插片或下插片托载全部光盘；
S3、抓盘器托载着光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘，
S4、抓盘器移动至光盘托盘上方，抓盘器的导向柱靠近光盘托盘的中心位置，驱动装置驱动所述上、下插片同时缩回，抓盘器所载的光盘失去支撑落入光盘托盘内，机械手再关闭光盘托盘。
本发明的抓盘器可以与专利申请号为201410214157.4的抽盘器配合使用。
综上所述，实施本发明实施例具有如下有益效果：
1、本发明的抓盘器设置有上插片和下插片，所述上插片和下插片具有三种相互配合的工作状态，即上插片伸出下插片缩回、上插片缩回下插片伸出以及上、下插片同时缩回，通过这三种工作状态的切换可以实现从层叠设置的光盘之中抓取指定张光盘，或在抓盘器上分离光盘，或将所载光盘放回光盘匣内的操作，所述操作精准、快速，极大地提高了光盘库的工作效率。
2、与现有的抓盘器相比，本发明的抓盘器不仅能实现一次抓取多张光盘的功能，而且在光盘的加载过程中，可直接在抓盘器上分盘，无需借助中转托盘进行分盘，省略了将光盘放下再抓起的分盘过程，节省了分盘时间，提高了光盘的加载效率。
3、本发明的抓盘器既能实现单张光盘的放盘操作，也能实现多张光盘的连续放盘操作；既能实现单张光盘的回收操作，也能实现多张光盘的连续回收操作。该抓盘器具有操作方式灵活的优点。
4、本发明的抓盘器构思巧妙、结构合理，能够准确的抓取光盘并能在抓盘器上分离光盘，利用该抓盘器加载、卸载以及回收光盘的方法简单易行，极大 的提高了工作效率。
以上所揭露的仅为本发明一种较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (13)

  1. 一种抓盘器，其特征在于，包括支架(1)、驱动装置(3)、中空的导向柱(2)以及与所述导向柱(2)嵌套配合的传动装置，所述导向柱(2)固定在支架(1)上，所述传动装置包括输出轴(7)、传动齿轮(4)和与所述传动齿轮(4)相啮合的齿条插片(5)，所述传动齿轮(4)和齿条插片(5)设置在导向柱(2)内，导向柱(2)上对应地开设有供所述齿条插片(5)伸出的侧孔(6)，所述驱动装置(3)设置在支架(1)上，所述输出轴(7)的上端与驱动装置(3)连接，输出轴(7)的下端穿过支架(1)进入导向柱(2)内与所述传动齿轮(4)的轴孔相配合，
    所述齿条插片(5)包括上插片(51)和下插片(52)，所述导向柱(2)内设置有至少两个上插片(51)和至少两个下插片(52)；所述驱动装置(3)通过输出轴(7)带动传动齿轮(4)转动，所述传动齿轮(4)驱动上、下插片(51,52)相对于所述导向柱(2)伸缩运动使上、下插片(51,52)具有不同的伸缩状态。
  2. 根据权利要求1所述的抓盘器，其特征在于，所述上插片(51)和下插片(52)各具有一个伸出端，所述上插片(51)和下插片(52)相对于导向柱(2)的伸缩状态包括上插片(51)的伸出端伸出且下插片(52)的伸出端缩回的状态、上插片(51)的伸出端缩回且下插片(52)的伸出端伸出的状态以及上、下插片(51,52)的伸出端同时复位的状态。
  3. 根据权利要求2所述的抓盘器，其特征在于，所述上插片(51)的伸出端为向外延伸的凸台I(511)，所述凸台I(511)的高度小于层状叠放的两张光盘(8)之间的间隙，所述凸台I(511)与下插片的伸出端之间的距离略大于单张光盘的厚度。
  4. 根据权利要求3所述的抓盘器，其特征在于，所述下插片(52)的伸出端为向外延伸的凸台II(521)，所述凸台II(521)的高度小于层状叠放的两张光盘(8)之间的间隙，所述上插片的凸台I(511)与下插片的凸台II(521)之间的距离略大于单张光盘的厚度。
  5. 根据权利要求1-4任意一项所述的抓盘器，其特征在于，所述导向柱(2)为中空圆柱体，所述圆柱体的外圆直径略小于光盘(8)的中心孔直径，圆柱体的下端向内收缩形成导向插入端(9)，所述侧孔(6)设置在圆柱体上靠近导向插入端(9)处，侧孔(6)的大小与上、下插片(51,52)的伸出端大小相适应。
  6. 根据权利要求5所述的抓盘器，其特征在于，所述上插片(51)的齿条部分的厚度大于所述伸出端的厚度；所述下插片(52)的齿条部分的厚度不小于所述伸出端的厚度。
  7. 根据权利要求6所述的抓盘器，其特征在于，所述上插片(51)和下插片(52)的数量各为三个，且上插片(51)与下插片(52)相互平行；
    所述驱动装置3为步进电机、伺服电机或液压泵。
  8. 一种用上述1-7任意一项所述的抓盘器加载和卸载光盘的方法，其特征在于，包括以下步骤：
    S1、光盘库中，机械手位移装置带动抓盘器移动至指定光盘匣位置，抽出指定光盘匣的光盘托盘；
    S2、抓盘器移动至光盘托盘上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入放置在光盘托盘上的光盘的中心孔；驱动装置驱动所述上插片伸出并插入第N张光盘与第N+1张光盘之间的间隙中，抓盘器向上移动使上插片托载N张光盘；
    S3、抓盘器移动至目标托盘上方，驱动装置驱动下插片伸出上插片缩回，上插片托载的N张光盘整体下移后由下插片支撑；
    S4、驱动装置驱动上插片伸出下插片缩回，此时上插片的伸出端插入第N-1张光盘与第N张光盘之间并托载住N-1张光盘，第N张光盘失去下插片的支撑而落入目标托盘内，完成光盘的加载操作；
    S5、抓盘器托载着剩余的光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘；
    S6、抓盘器移动至光盘托盘上方，驱动装置驱动上、下插片同时缩回导向 柱内，抓盘器所载的光盘失去上插片支撑而落入光盘托盘内，机械手再关闭光盘托盘，完成光盘的卸载操作。
  9. 根据权利要求8所述方法，其特征在于，所述步骤S4和S5之间还包括抓盘器移动到其它目标托盘位置，重复步骤S3和S4进行光盘的加载操作。
  10. 一种用上述1-7任意一项所述的抓盘器加载和卸载光盘的方法，其特征在于，包括以下步骤：
    S1、光盘库中，机械手位移装置带动抓盘器移动至指定光盘匣位置，抽出指定光盘匣的光盘托盘；
    S2、抓盘器移动至光盘托盘上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入放置在光盘托盘上的光盘的中心孔，驱动装置驱动所述下插片伸出并插入第N张光盘与第N+1张光盘之间的间隙中，抓盘器向上移动使下插片托载N张光盘；
    S3、抓盘器移动至目标托盘上方，驱动装置驱动上插片伸出下插片缩回，此时上插片的伸出端插入第N-1张光盘与第N张光盘之间并托载住N-1张光盘，第N张光盘失去下插片的支撑而落入目标托盘内；
    S4、抓盘器托载着剩余的光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘；
    S5、抓盘器移动至光盘托盘上方，驱动装置驱动上、下插片同时缩回导向柱内，抓盘器所载的光盘失去上插片支撑而落入光盘托盘内，机械手再关闭光盘托盘，完成光盘的卸载操作。
  11. 根据权利要求10所述方法，其特征在于，所述步骤S3和S4之间还包括：抓盘器移动到其它目标托盘上方，驱动装置驱动下插片伸出上插片缩回，上插片托载的光盘整体下移后由下插片支撑；驱动装置再驱动上插片伸出下插片缩回，此时上插片的伸出端插入最底部的两张光盘之间，最底部的一张光盘失去下插片的支撑而落入目标托盘内。
  12. 一种用上述1-7任意一项所述的抓盘器回收光盘的方法，其特征在于， 包括以下步骤：
    S1、抓盘器移动至待回收光盘的上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入所述待回收光盘的中心孔，驱动装置驱动所述上插片或下插片向外伸出并托住待回收光盘，抓盘器向上移动使所述上插片或下插片托载所述光盘；
    S2、抓盘器托载着光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘，
    S3、抓盘器移动至光盘托盘上方，驱动装置驱动所述上、下插片同时缩回，抓盘器所载的光盘失去支撑落入光盘托盘内，机械手再关闭光盘托盘。
  13. 一种用上述1-7任意一项所述的抓盘器回收光盘的方法，其特征在于，包括以下步骤：
    S1、抓盘器移动至待回收光盘的上方，驱动装置驱动抓盘器的上、下插片同时缩回导向柱内，所述导向柱伸入所述待回收光盘的中心孔，驱动装置驱动所述上插片或下插片向外伸出并托住待回收光盘，抓盘器向上移动使所述上插片或下插片托载所述光盘；
    S2、抓盘器载着已抓取的光盘移动至其他待回收光盘处，抓盘器的导向插入端插入待回收光盘的中心孔，驱动装置驱动上、下插片同时缩回，抓盘器上托载的光盘掉落在所述待回收光盘上，导向柱下移一定深度，驱动装置驱动所述上插片或下插片向外伸出并托住最底端光盘，然后抓盘器向上移动使上插片或下插片托载全部光盘；
    S3、抓盘器托载着光盘移回原指定光盘匣位置，机械手抽出指定光盘匣的光盘托盘，
    S4、抓盘器移动至光盘托盘上方，抓盘器的导向柱靠近光盘托盘的中心位置，驱动装置驱动所述上、下插片同时缩回，抓盘器所载的光盘失去支撑落入光盘托盘内，机械手再关闭光盘托盘。
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