WO2016033875A1 - 一种光盘库中利用带双层插片的抓盘器回收光盘的方法 - Google Patents

一种光盘库中利用带双层插片的抓盘器回收光盘的方法 Download PDF

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Publication number
WO2016033875A1
WO2016033875A1 PCT/CN2014/091741 CN2014091741W WO2016033875A1 WO 2016033875 A1 WO2016033875 A1 WO 2016033875A1 CN 2014091741 W CN2014091741 W CN 2014091741W WO 2016033875 A1 WO2016033875 A1 WO 2016033875A1
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disc
optical disc
optical
tray
discs
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PCT/CN2014/091741
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English (en)
French (fr)
Inventor
朱明�
徐宏
宋林峰
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苏州互盟信息存储技术有限公司
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Priority claimed from CN201410443099.2A external-priority patent/CN104240734B/zh
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 WO2016033875A1 publication Critical patent/WO2016033875A1/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

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  • the present invention relates to the carrying of optical disks in an optical disc library, and more particularly to a method for recycling optical discs using a grasper with double-layer inserts in an optical disc library.
  • 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 CD case, an optical drive, a robot and a controller, etc.
  • the robot further includes an extractor, a gripper and a displacement device.
  • the extractor and the gripper are mounted on the displacement device and can be lifted and lowered with the displacement device. Moving horizontally, the extractor is used to pull or push the disc tray in the disc cartridge, and the gripper is used to grab the disc placed in the disc tray and transfer it to the disc drive tray of the optical disc drive.
  • the number of optical discs in the optical disc library has increased, thus placing higher demands on the storage capacity of the optical disc library.
  • the existing optical disc library has gradually abandoned a disc cartridge to store a disc, and instead uses a disc cartridge to store a plurality of discs in a concentric stacking manner. Obviously, this disc storage method significantly improves the disc.
  • the storage capacity of the library makes the optical disk library more efficient, but on the other hand, it also brings many operational difficulties, such as how to accurately find the one that needs to be processed from a stack of discs placed on the stack? How to put it back in place after processing it?
  • the patent application also provides a method for putting the optical disc back into the original optical disc box, the operation steps are as follows: the robot displacement device moves the multi-disc gripper to the position of the corresponding optical disc drive, and the controller sends an instruction to open the optical disc drive tray of the optical disc drive.
  • the multi-disc grasper picks up the disc from the disc drive tray, and then the controller sends a command to close the disc drive tray of the optical disc drive, and the robot shifting device transports the multi-disc gripper carrying the disc back to the original disc box.
  • the drawer pulls out the inner casing of the corresponding optical disc case, and the multi-disc grasper puts the original removed optical disc back and stacks it in the uppermost part of the inner disc of the optical disc case, and finally the drawer pulls the inside of the optical disc case Push back to the closed position.
  • the discs stacked directly in the magazine in the magazine are not fixed in position and order. The physical location of each disc is currently remembered by the controller.
  • the above method solves the problem of grabbing any one of the plurality of optical disks, it also provides a method for recycling the optical disk, that is, based on the powerful processing function and the convenience of operation of the controller in the optical disk library, it is easy to think that The processed optical disc is directly stacked on a plurality of optical discs, and each action is recorded by the controller, and the information of the database is updated according to the order of the optical discs; although this method has certain feasibility, the requirements for the controller High, so that its computing load is large, once one of the records is wrong, the data in the database will be incomplete risk; in addition, in the case of power failure, program stuck, etc., its data is also very easy to lose, and once the data is lost, It is necessary to perform a full scan of all the discs in the optical disc library. At this time, the optical disc library has to be deactivated, taking up manpower and time; thus, the processed disc is placed directly on multiple discs without being put back in place. Poor.
  • the technical problem to be solved by the present invention is to provide a method for recycling an optical disc using a grasper with a double-layer insert in an optical disc library. Put the optical disc in the optical disc library back to the original position after processing, without disturbing the order of the optical discs in the optical disc library, and do not need to update the database information after each disc changing operation, thereby greatly reducing the computing load of the controller and eliminating the The risk of database information loss during the disk change operation.
  • the present invention provides a method for recycling an optical disc using a grasper with a double-layer insert in an optical disc library, comprising the following steps:
  • the plurality of discs stacked in the disc cartridge are sorted from top to bottom, and each disc has a unique position number
  • the grasper loads at least one optical disc in the optical disc case into a corresponding target tray, and the controller records the number of the target tray corresponding to each loaded optical disc and the position number N of the optical disc in the original optical disc box.
  • the controller matches the position number N (N ⁇ 1) of the optical disc in the original optical disc box according to the number of the target tray where the optical disc is located, and counts that the original optical disc box is in the position number N or higher in the current state.
  • the number of missing discs M (0 ⁇ M ⁇ N), the number of discs that need to be removed from the original disc cartridge before moving the disc to be recovered back to the original position is calculated to be N-1-M sheets;
  • the gripper carries the N-1-M disc to move to the target tray, and the lower insert is used to grab the disc to be recovered from the target tray;
  • the guide post of the grasper is inserted into the central hole of the optical disc, and the upper and lower inserts disposed in the guide post are differently telescopically moved relative to the guide post to realize the optical disc. Grab and drop the operation.
  • the grasper grabs the N-1-M disc from the disc tray by using the upper insert, specifically: the gripper moves to the upper side of the disc tray, and the upper and lower inserts of the gripper are retracted at the same time.
  • the guiding post extends into the center hole of the optical disc placed on the disc tray, and the upper insert of the gripper protrudes and is inserted into the gap between the NM disc and the N-1-M disc, and grasps The disc is moved upwards so that the upper insert holder carries N-1-M discs.
  • the grasper grabs the disc to be recovered from the target tray by using the lower insert. Specifically, the grabber moves to the top of the target tray, and the guide post extends into the center hole of the disc to be recycled placed on the target tray.
  • the upper insert carrying the N-1-M optical disc is brought into contact with the optical disc to be recovered, the lower insert of the grasper extends out of the upper insert, and the optical disc carried by the upper insert and the to-be-recovered The discs are overlapped, and the lower insert is inserted into the bottom of the disc to be recovered to carry all the NM discs.
  • the gripper inserts all the NM discs in the disc cartridge into the disc cartridge. Specifically, the gripper moves to the top of the disc tray, and the upper and lower inserts of the gripper are simultaneously retracted into the guide post. The NM disc contained in the gripper loses the support of the lower insert and falls into the disc tray.
  • the target tray is an optical drive tray or a transfer tray of the optical drive, and each target tray has a unique number.
  • a plurality of discs in the disc cartridge are placed in a concentric stacking manner.
  • the present invention has the following beneficial effects:
  • the order of the optical discs stored in the optical disc case is changed, because in the process of returning the processed optical disc to the original optical disc box, the processed optical disc is directly stacked on the original optical disc.
  • the controller needs to record the operation of each disc in real time to update the disc library database. There is a recording error or inaccurate update, which will cause the entire database to fall into the risk of data confusion.
  • the invention sorts the optical discs in the optical disc case, associates the position number of the optical disc in the optical disc box with the number of the target tray where the optical disc is located, and automatically matches the position number of the optical disc in the original designated optical disc box according to the number of the target tray. Then, the optical disc is put back to the original position, the stacking order of the optical discs in the optical disc box is not changed, and the database information is not updated after the disc changing operation, which greatly reduces the computing load of the controller.
  • the stacking order of the optical discs in the optical disc box is not changed, the database of the optical disc library does not need to be changed in real time, the stability of the database is improved, and the data update failure in the existing optical disc library management system is eliminated. Or the risk of failure or loss of database information caused by controller failure.
  • the method of the invention is simple in operation, easy to implement, and optimizes the optical disc library management system.
  • the method of the present invention uses a grasper with upper and lower inserts to perform loading and recycling operations of the optical disc, and the grasper can not only realize the function of capturing multiple optical discs at a time, but also during the loading process of the optical disc.
  • the disc can be used to grab the disc to be recycled, saving the operation steps of putting the disc down and then grabbing, saving operation time and improving operation efficiency.
  • FIG. 1 is a schematic structural view of a grasper used in Embodiment 2 of the present invention.
  • Figure 2 is a structural exploded view of the grasper used in the second embodiment of the present invention.
  • Figure 3 is a cross-sectional view showing the use of the gripper to grasp the optical disc in the second embodiment of the present invention
  • FIG. 4 is a schematic structural view of an optical disc case according to an embodiment of the present invention.
  • Figure 5 is a schematic structural view of a robot in an embodiment of the present invention.
  • Figure 6 is a schematic flow chart of the method of the present invention.
  • An optical disc library for implementing the present invention comprising a cabinet, a plurality of optical disc cartridges 9, a controller, a robot 10 controlled by a controller, and a plurality of optical disc drives; see FIG. 4, the optical disc cartridge 9 includes a disc cartridge housing 91 and The disc cartridge housing is slidably engaged with the disc tray 92.
  • the disc tray 92 has a plurality of discs 8 stacked in a concentric overlapping manner, and there is no spacer between the discs; the optical disc drive is used for reading and writing the disc.
  • each optical drive has a unique number; as shown in FIG. 5, the robot 10 has an extractor, a gripper and a displacement device, and the robot displacement device drives the drawer and the grasper to be horizontal in the optical disc library.
  • the robot displacement device further comprises a horizontal rail 101 and a vertical rail 102; the drawer is used for opening and closing the disc cartridge; the gripper has an upper insert and a lower insert for gripping the disc And put the disc operation.
  • the grasper includes a bracket 1, a driving device 3, a hollow guide post 2, and a transmission device nested with the guide post 2, wherein the guide post 2 is fixed on the bracket 1
  • the transmission device comprises an output shaft 7, a transmission gear 4 and a rack insert 5 which meshes with the transmission gear 4.
  • the transmission gear 4 and the rack insert 5 are arranged in the guide post 2, and the guide post 2 is correspondingly opened.
  • the driving device 3 is arranged on the bracket 1, the upper end of the output shaft 7 is connected with the driving device 3, and the lower end of the output shaft 7 is passed through the bracket 1
  • the guide post 2 is matched with the shaft hole of the transmission gear 4;
  • the rack insert 5 includes an upper insert 51 and a lower insert 52, and the guide post 2 is provided with at least two upper inserts 51 and At least two lower inserts 52;
  • the driving device 3 drives the transmission gear 4 to rotate by the output shaft 7, and the transmission gear 4 drives the upper and lower blades 51, 52 to telescopically move relative to the guide post 2 to make the upper and lower sides
  • the inserts 51, 52 have different telescopic states;
  • the telescopic state of the upper tab 51 and the lower tab 52 with respect to the guide post 2 includes a state in which the upper tab 51 is extended and the lower tab 52 is retracted, the upper tab 51 is retracted, and the lower tab 52 is extended.
  • the upper insertion piece 51 and the lower insertion piece 52 each have a protruding end, and the expansion and contraction state of the upper insertion piece 51 and the lower insertion piece 52 with respect to the guide post 2 means the extension of the upper and lower insertion pieces 51, 52.
  • the projecting ends of the upper and lower tabs 51, 52 are sheets which can be inserted into the gap between the stacked discs, thereby realizing the disc alignment of the adjacent discs.
  • the extended state of the tab extension guide post is set to 1
  • the reset state of the tab and the side hole of the guide post is flush (ie, the position where the insert arrives but does not extend out of the side hole) is set to 0, and the insert is reduced.
  • the state inside the back guide column is set to -1, then in the loading process of the optical disc, taking the upper insert to load the optical disc as an example, during the loading process, the telescopic state of the upper and lower inserts and the number of corresponding loaded discs are as follows. Table 1 shows.
  • a method for recycling an optical disc by using the above-mentioned grasper with double-layer inserts in an optical disc library includes the following steps:
  • the plurality of discs stacked in the disc cartridge are sorted from top to bottom, and each disc has a unique position number
  • the grasper loads at least one optical disc in the optical disc case into the corresponding target tray, and the controller records the number of the target tray corresponding to each loaded optical disc and the position number of the optical disc in the original optical disc box N (N) ⁇ 1),
  • the controller matches the position number N of the optical disc in the original optical disc box according to the number of the target tray where the optical disc is located, and counts the number of missing optical discs in the original optical disc box at the position number N or higher.
  • M (0 ⁇ M ⁇ N) sheets calculating the number of optical disks N-1-M sheets that need to be removed from the original optical disc cartridge before moving the optical disc to be recovered back to the original position;
  • the gripper carries the N-1-M disc to move to the target tray, and the lower insert is used to grab the disc to be recovered from the target tray;
  • the grasper is moved to the original disc box, and all the N-M discs contained therein are placed in the disc case.
  • the controller updates the data of the disc cartridge.
  • the controller assigns the sixth disc to the optical disc number F for reading and writing operations
  • the seventh optical disc is allocated to the optical drive numbered G for reading and writing operations, and the steps are as follows:
  • the robot moves to the designated disc cartridge, the extractor pulls out the disc tray of the designated disc cartridge, and the gripper moves to the top of the disc tray, and the drive device drives the upper and lower inserts of the gripper to be retracted at the same time.
  • the guide post extends into a center hole of the optical disc placed on the disc tray; the driving device drives the upper tab to extend and insert into the gap between the seventh disc and the eighth disc, and the gripper is upward
  • the movement causes the upper insert carrier to carry seven optical discs, and the extractor then closes the optical disc tray;
  • the robot moves to the optical drive numbered G
  • the controller controls the optical drive to eject the optical drive tray
  • the grasper moves to the top of the optical drive tray
  • the drive device drives the upper insert to retract the lower insert, and the upper insert carries 7
  • the driving device drives the lower insert to retract the upper insert
  • the upper insert is inserted between the seventh disc and the sixth disc and carries six discs.
  • the seventh optical disc falls into the optical drive tray due to the loss of the support of the lower insert, completes the loading operation of the optical disc; the controller turns off the optical drive;
  • the robot carries 6 discs and moves to the optical drive numbered F.
  • the controller controls the optical drive to eject the optical drive tray, and the grasper moves to the top of the optical drive tray, and the drive device drives the upper insert to retract and the lower insert extends.
  • the six discs carried by the gripper are moved down by the lower inserts; the driving device drives the lower inserts to retract the upper inserts, and the upper inserts are inserted between the sixth and fifth discs. Carrying 5 discs, the 6th disc falls into the disc drive tray due to the loss of the support of the lower tab, completing the loading operation of the disc; the controller turns off the optical disc drive;
  • the robot carries the remaining 5 discs and moves back to the original designated disc box.
  • the tray pulls out the disc tray of the specified disc cartridge, and the gripper moves to the top of the disc tray, and the drive device drives the upper and lower inserts while retracting the guide post. Inside, the five discs carried by the gripper all fall into the disc tray due to the loss of support, and the disc drive closes the disc tray.
  • the controller matches the position number 7 of the to-be-recovered optical disc in the original designated optical disc box according to the number G of the optical disc drive where the optical disc to be recovered is located, and then statistically counts the current order in the original designated disc box.
  • the number of the loaded discs before No. 7 is one, and then the number of discs that should be removed from the original designated disc cartridge before the robot recovers the disc is calculated to be five;
  • the robot drives the drawer and the grasper to move to the designated disc cartridge, and the drawer pulls out the disc tray of the designated disc cartridge, and the gripper moves to the top of the disc tray, and the drive device drives the upper and lower of the gripper
  • the tab is simultaneously 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 drives the upper tab to extend and insert into the gap between the fifth disc and the sixth disc , the grasper moves upwards to enable the upper insert carrier to carry five discs, and the extractor then closes the disc tray;
  • the robot carries five discs and moves to the optical drive numbered G.
  • the controller controls the optical drive to eject the optical drive tray.
  • the guide post of the grasper extends into the center hole of the optical disc on the optical drive tray, so that the upper insert
  • the bottom touches the disc to be recycled on the optical drive tray, and the driving device of the gripper drives the lower end of the insert to retract the upper insert, the disc loaded on the upper insert overlaps the disc to be recovered on the optical disc tray, and the lower insert is inserted.
  • the bottom surface of the disc to be recycled is loaded with all 6 discs, and the disc retracting operation is completed; the controller turns off the optical disc drive.
  • the robot carries 6 discs and moves back to the original designated disc box.
  • the extractor pulls out the disc tray of the specified disc box, and the gripper moves to the top of the disc tray to align the loaded disc with the disc tray, and the drive device drives
  • the upper and lower inserts are simultaneously retracted into the guide post, and the six discs carried by the gripper are all dropped into the disc tray due to the loss of support, and the drawer then closes the disc tray.
  • the invention uses the grasper with upper and lower inserts to perform the loading and recycling operation of the optical disc, and the grasping device can not only realize the function of capturing a plurality of optical discs at a time, but also can directly grasp the disc during the loading process of the optical disc.
  • the disc can be used to grab the disc to be recycled, which saves the operation steps of putting the disc down and then grabbing, saving operation time and improving operation efficiency.
  • the loading and recycling optical disc of the present invention does not change the physical position of the optical disc in the optical disc box, and the database of the optical disc library does not need to be changed in real time, thereby improving the stability of the database and eliminating the data in the existing optical disc library management system.
  • the method can be used in multiple parallel read and write processes, and there is no restriction on the order of recovery of the optical discs. These processes do not have to wait for each other, so the method of the present invention is suitable for parallel operation of multiple optical discs of multiple drives, of course,
  • the drive can also be another transfer tray.

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Abstract

本发明公开了一种光盘库中利用带双层插片的抓盘器回收光盘的方法，该方法给光盘盒中的光盘进行位置排序，将光盘在光盘盒中的位置序号与光盘所在的目标托盘的编号建立联系，根据目标托盘的编号自动匹配出该光盘在原光盘盒中的位置序号，并经过计算得到使该光盘放回原物理位置需移动的光盘数量，进而将光盘放回原位置。本发明不改变光盘盒中光盘的叠放次序，也不需要在换盘操作后更新数据库信息，增加了数据库的稳定性，降低了控制器的运算负荷，优化了光盘库管理系统。

Description

一种光盘库中利用带双层插片的抓盘器回收光盘的方法 技术领域
本发明涉及光盘库中光盘的运载，尤其涉及一种光盘库中利用带双层插片的抓盘器回收光盘的方法。
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盒、光驱、机械手和控制器等，机械手又包括抽盘器、抓盘器以及位移装置，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盒内的光盘托盘，抓盘器用于抓取放置在光盘托盘中的光盘并将其转移到光驱的光驱托盘上。
随着数据管理的需要，光盘库中光盘的数量增多，因而对光盘库的存储能力提出更高的要求。现有光盘库已经逐渐舍弃一个光盘盒存放一张光盘的存盘方式，转而采用一个光盘盒内以同心叠放方式层叠放置多张光盘的存盘方式，显然，这种存盘方式显著地提高了光盘库的存储能力，使光盘库利用效率更高，但另一方面也带来许多操作上的难题，例如怎样精确的从层叠放置的一摞光盘中找出需要处理的那一张光盘？在将其处理完毕后怎样放回原位？
基于上述问题，专利申请号为201310277937.9申请名称为“一种多张直接叠放光盘的随机抓取方法”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方法。其操作步骤如下：
1)机械手移动至指定光盘盒处，打开相应光盘盒中的光盘盒内匣；
2)机械手抓起N(N≥1)张光盘，并关闭光盘盒内匣；
3)载有光盘的机械手移动到目标托盘的位置，并将所载的N张光盘全部放入目标托盘；
4)机械手从目标托盘抓起N-1张光盘；
5)载有N-1张光盘的机械手移回原光盘盒处，打开相应光盘盒中的光盘盒内匣；
6)机械手将抓取的N-1张光盘放回相应的光盘盒内匣，然后关闭光盘盒内匣。
该专利申请同时提供了一种将光盘放回原光盘盒的方法，其操作步骤为：机械手位移装置将多盘抓盘器移动到相应光驱的位置，控制器发指令将该光驱的光驱托盘打开，多盘抓盘器从该光驱托盘中抓起该张光盘，然后控制器发指令将光驱的光驱托盘关闭，机械手位移装置将载有光盘的多盘抓盘器运送回到原光盘盒处，抽盘器抽出相应光盘盒中的光盘盒内匣，多盘抓盘器将原先取出的光盘放回并叠放于该光盘盒内匣内光盘的最上方，最后抽盘器将光盘盒内匣推回到关闭位。该光盘盒内匣内直接叠放的光盘，它们的叠放位置和顺序不是固定的。每张光盘当前所处的物理位置是由控制器记忆的。
上述方法虽然解决了从多张光盘中抓取任意一张光盘的问题，也提供了一种回收光盘的方法，即基于光盘库中控制器强大的处理功能和操作的便利性，容易想到的是将处理完毕的光盘直接叠放在多张光盘之上，由控制器记录每个动作，并根据光盘的顺序变化更新数据库的信息；尽管这种方法有一定的可行度，但对控制器的要求高，使其运算负荷大，一旦其中一次记录出错，数据库中的数据将出现不完整的风险；另外在断电、程序卡死等情况下，其数据也是非常容易丢失的，而数据一旦丢失，就需要对光盘库中的所有光盘进行全面扫描，此时光盘库不得不停用，占用人力和时间；因而将处理完毕的光盘直接放在多张光盘之上而不放回原位的做法是欠佳的。
发明内容
本发明所要解决的技术问题在于提供一种光盘库中利用带双层插片的抓盘器回收光盘的方法。将光盘库中的光盘在处理完毕后放回原位，不打乱光盘库中的光盘顺序，不需要在每次换盘操作后更新数据库信息，大大降低了控制器的运算负荷，消除了在换盘操作过程中数据库信息丢失的风险。
为解决上述问题，本发明提供了一种光盘库中利用带双层插片的抓盘器回收光盘的方法，包括以下步骤：
S1、对光盘盒中叠放的多张光盘由上至下进行位置排序，每张光盘具有唯一的位置序号；
S2、抓盘器将光盘盒内的至少一张光盘加载到对应的目标托盘中，控制器记录每张加载的光盘所对应的目标托盘的编号和该光盘在原光盘盒中的位置序号N，
S3、光盘处理完毕后，控制器根据该光盘所在的目标托盘的编号匹配出该光盘在原光盘盒中的位置序号N(N≥1)，统计当前状态下原光盘盒中处于该位置序号N以上的缺少的光盘数量M(0≤M≤N)张，计算得到将该待回收光盘移回原位置前需要从原光盘盒中移走的光盘数量N-1-M张；
S4、抓盘器移至原光盘盒处，利用上插片从光盘托盘中抓起N-1-M张光盘；
S5、抓盘器载着N-1-M张光盘移至所述目标托盘处，利用下插片从目标托盘中抓起待回收光盘；
S6、抓盘器移至原光盘盒处，将所载的N-M张光盘全部放入光盘盒中，完成该张光盘的回收，控制器更新该光盘盒的相关数据。
进一步地，在回收光盘过程中，所述抓盘器的导向柱插入光盘的中心孔，通过设置在导向柱内的上插片和下插片相对于导向柱作不同的伸缩运动实现对光盘的抓起、放下操作。
所述步骤S4中抓盘器利用上插片从光盘托盘中抓起N-1-M张光盘具体为：抓盘器移动至光盘托盘上方，抓盘器的上、下插片同时缩回导向柱内，导向柱伸入放置在光盘托盘上的光盘的中心孔内，抓盘器的上插片伸出并插入第N-M张光盘与第N-1-M张光盘之间的间隙中，抓盘器向上移动使上插片托载起N-1-M张光盘。
所述步骤S5中抓盘器利用下插片从目标托盘中抓起待回收光盘具体为：抓盘器移动至目标托盘上方，导向柱伸入放置在目标托盘上的待回收光盘的中心孔，使托载着N-1-M张光盘的上插片与所述待回收光盘接触，抓盘器的下插片伸出上插片缩回，上插片托载的光盘与所述待回收光盘重叠，下插片插入待回收光盘底部托载起全部N-M张光盘。
所述所述步骤S6中抓盘器将所载的N-M张光盘全部放入光盘盒中具体为：抓盘器移动至光盘托盘上方，抓盘器的上、下插片同时缩回导向柱内，抓盘器所载的N-M张光盘失去下插片的支撑而落入光盘托盘中。
更进一步地，所述目标托盘为光驱的光驱托盘或中转托盘，每个目标托盘具有唯一编号。所述光盘盒中的多张光盘以上下同心叠放方式放置。
由于上述技术方案，本发明具有如下有益效果：
1、在现有的光盘库管理系统中，光盘盒中存储的光盘的顺序是变化的，因为在将处理后的光盘返回原光盘盒的过程中，是将处理后的光盘直接叠放在原光盘盒内装光盘的上层，为了能继续准确调用相应的光盘，需要控制器实时记录对每张光盘的操作来更新光盘库数据库，存在一次记录错误或更新不准确就会导致整个数据库陷入数据混乱的风险。本发明给光盘盒中的光盘进行位置排序，将光盘在光盘盒中的位置序号与光盘所在的目标托盘的编号建立联系，根据目标托盘的编号自动匹配出该光盘在原指定光盘盒中的位置序号，进而将光盘放回原位置，不改变光盘盒中光盘的叠放次序，也不需要在换盘操作后更新数据库信息，大大降低了控制器的运算负荷。
2、本发明加载和回收光盘中，不改变光盘盒中光盘的叠放次序，光盘库的数据库不需要实时改变，提高了数据库的稳定性，消除了现有光盘库管理系统中因数据更新失败或控制器故障造成数据库信息失效或丢失的风险。
3、本发明方法操作简单、易于实施，优化了光盘库管理系统。
4、本发明方法中使用带上、下插片的抓盘器进行光盘的加载和回收操作，该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，在光盘回收过程中，可带盘抓取待回收的光盘，节省了将光盘放下后再抓起的操作步骤，节约了操作时间，提高了操作效率。
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是本发明实施例二中所使用的抓盘器的结构示意图；
图2是本发明实施例二中所使用的抓盘器的结构爆炸图；
图3是本发明实施例二中使用抓盘器抓取光盘的剖视图；
图4是本发明实施例中光盘盒的结构示意图；
图5是本发明实施例中机械手的结构示意图；
图6是本发明方法的流程示意图；
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，51-上插片，52-下插片，9-光盘盒，91-光盘盒外壳，92-光盘托盘，10-机械手，101-水平导轨，102-垂直导轨。
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。
一种用于实施本发明的光盘库，包括机柜、若干光盘盒9、控制器、受控制器控制的机械手10和若干个光驱；参见图4，所述光盘盒9包括光盘盒外壳91及与光盘盒外壳滑动配合的光盘托盘92，该光盘托盘92内以上下同心叠置方式层叠放置有多张光盘8，且各光盘之间没有衬垫物；所述光驱用于对光盘进行读写操作，且每个光驱具有唯一编号；如图5所示，所述机械手10具有抽盘器、抓盘器和位移装置，所述机械手位移装置带动抽盘器和抓盘器在光盘库中作水平和垂直移动，机械手位移装置又包括水平导轨101及垂直导轨102；所述抽盘器用于打开和关闭光盘盒；所述抓盘器具有上插片和下插片，用于对光盘进行抓盘和放盘操作。
参见图1-3，所述抓盘器包括支架1、驱动装置3、中空的导向柱2以及与导向柱2嵌套配合的传动装置，其中，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；
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伸出且下插片52缩回的状态、上插片51缩回且下插片52伸出的状态以及上、下插片51、52同时复位的状态。
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的伸缩状态是指上、下插片51、52的伸出端相对于导向柱2的伸缩状态。具体地，上、下插片51、52的伸出端为薄片，能够插入层叠放置的光盘之间的间隙中，从而实现对相邻光盘的分盘。
若将插片伸出导向柱的伸出状态设为1，插片与导向柱的侧孔平齐的复位状态(即插片到达但未伸出侧孔的位置)设为0，插片缩回导向柱内部的状态设为-1，那么在光盘的加载过程中，以用上插片加载光盘为例，在加载过程中上、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 PCTCN2014091741-appb-000001
参见图6，一种光盘库中利用上述带双层插片的抓盘器回收光盘的方法，包括以下步骤：
S1、对光盘盒中叠放的多张光盘由上至下进行位置排序，每张光盘具有唯一的位置序号；
S2、抓盘器将光盘盒内的至少一张光盘加载到对应的目标托盘中，控制器记录每张加载的光盘所对应的目标托盘的编号和该光盘在原光盘盒中的位置序号N(N≥1)，
S3、光盘处理完毕后，控制器根据该光盘所在的目标托盘的编号匹配出该光盘在原光盘盒中的位置序号N，统计当前状态下原光盘盒中处于该位置序号N以上的缺少的光盘数量M(0≤M≤N)张，计算得到将该待回收光盘移回原位置前需要从原光盘盒中移走的光盘数量N-1-M张；
S4、抓盘器移至原光盘盒处，利用上插片从光盘托盘中抓起N-1-M张光盘；
S5、抓盘器载着N-1-M张光盘移至所述目标托盘处，利用下插片从目标托盘中抓起待回收光盘；
S6、抓盘器移至原光盘盒处，将所载的N-M张光盘全部放入光盘盒中，完 成该张光盘的回收，控制器更新该光盘盒的相关数据。
下面列举具体实施例对上述方法进行详细说明。例如光盘库中需读写光盘盒中叠放的12张光盘中的第6张光盘和第7张光盘，控制器将所述第6张光盘分配给编号为F的光驱进行读写操作，将所述第7张光盘分配给编号为G的光驱进行读写操作，则执行步骤如下：
1)光盘库中，机械手移动至指定光盘盒处，抽盘器抽出该指定光盘盒的光盘托盘，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7张光盘与第8张光盘之间的间隙中，抓盘器向上移动使上插片托载起7张光盘，抽盘器再关闭该光盘托盘；
2)机械手移动至编号为G的光驱处，控制器控制该光驱弹出光驱托盘，抓盘器移动至光驱托盘上方，驱动装置驱动上插片缩回下插片伸出，上插片承载的7张光盘整体下移后由下插片支撑；驱动装置驱动下插片缩回上插片伸出，上插片恰好插入第7张光盘与第6张光盘之间并托载住6张光盘，第7张光盘由于失去下插片的支撑而落入光驱托盘内，完成该光盘的加载操作；控制器关闭光驱；
3)机械手载着6张光盘移动至编号为F的光驱处，控制器控制该光驱弹出光驱托盘，抓盘器移动至该光驱托盘上方，驱动装置驱动上插片缩回下插片伸出，抓盘器承载的6张光盘整体下移后由下插片支撑；驱动装置驱动下插片缩回上插片伸出，上插片恰好插入第6张光盘与第5张光盘之间并托载住5张光盘，第6张光盘由于失去下插片的支撑而落入光驱托盘内，完成该光盘的加载操作；控制器关闭光驱；
4)机械手载着剩余的5张光盘移回原指定光盘盒处，抽盘器抽出指定光盘盒的光盘托盘，抓盘器移动至该光盘托盘上方，驱动装置驱动上下插片同时缩回导向柱内，抓盘器所载的5张光盘由于失去支撑而全部落入该光盘托盘内，抽盘器再关闭该光盘托盘。
若编号为G的光驱先于编号为F的光驱处理完毕，则回收该光盘的操作如下:
(1)控制器根据待回收光盘所在的光驱的编号G匹配出该待回收光盘在原指定光盘盒中的位置序号7，然后统计统计出当前状态下原指定光盘盒中处于序 号7以前的已加载出去的光盘的数量1张，进而计算得到机械手回收该光盘前应从原指定光盘盒中移走的光盘数量为5张；
(2)机械手带动抽盘器和抓盘器移动至指定光盘盒处，抽盘器抽出指定光盘盒的光盘托盘，抓盘器移动至该光盘托盘上方，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5张光盘与第6张光盘之间的间隙中，抓盘器向上移动使上插片托载起5张光盘，抽盘器再关闭该光盘托盘；
(3)机械手载着5张光盘移动至编号为G的光驱处，控制器控制该光驱弹出光驱托盘，抓盘器的导向柱伸入该光驱托盘上的光盘的中心孔内，使上插片的底部接触光驱托盘上的待回收光盘，抓盘器的驱动装置驱动下插片伸出上插片缩回，上插片托载的光盘与光驱托盘上的待回收光盘重叠，下插片插入待回收光盘底面托起全部6张光盘，完成带盘抓盘操作；控制器关闭光驱。
(4)机械手载着6张光盘移回原指定光盘盒处，抽盘器抽出指定光盘盒的光盘托盘，抓盘器移动至光盘托盘上方使所托载的光盘对准光盘托盘，驱动装置驱动上下插片同时缩回导向柱内，抓盘器所载的6张光盘由于失去支撑而全部落入该光盘托盘内，抽盘器再关闭该光盘托盘。
参考上述操作步骤回收编号为F的光驱内的光盘。
本发明使用带上、下插片的抓盘器进行光盘的加载和回收操作，该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，在光盘回收过程中，可带盘抓取待回收的光盘，节省了将光盘放下后再抓起的操作步骤，节约了操作时间，提高了操作效率。
综上所述，本发明加载和回收光盘中，不改变光盘盒中光盘的物理位置，光盘库的数据库不需要实时改变，提高了数据库的稳定性，消除了现有光盘库管理系统中因数据更新失败或控制器故障造成数据库信息失效或丢失的风险。该方法可用于多个并行的读写进程中，对光盘的回收顺序没有任何限制，这些进程彼此之间不必相互等待，所以本发明方法适合多个驱动器多张光盘的并行操作，当然，所述驱动器也可以为其他中转托盘。
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 (7)

  1. 一种光盘库中利用带双层插片的抓盘器回收光盘的方法，其特征在于，包括以下步骤：
    S1、对光盘盒中叠放的多张光盘由上至下进行位置排序，每张光盘具有唯一的位置序号；
    S2、抓盘器将光盘盒内的至少一张光盘加载到对应的目标托盘中，控制器记录每张加载的光盘所对应的目标托盘的编号和该光盘在原光盘盒中的位置序号N；
    S3、光盘处理完毕后，控制器根据该光盘所在的目标托盘的编号匹配出该光盘在原光盘盒中的位置序号N，统计当前状态下原光盘盒中处于该位置序号N以上的缺少的光盘数量M张，计算得到将该待回收光盘移回原位置前需要从原光盘盒中移走的光盘数量N-1-M张；
    S4、抓盘器移至原光盘盒处，利用上插片从光盘托盘中抓起N-1-M张光盘；
    S5、抓盘器载着N-1-M张光盘移至所述目标托盘处，利用下插片从目标托盘中抓起待回收光盘；
    S6、抓盘器移至原光盘盒处，将所载的N-M张光盘全部放入光盘盒中，完成该张光盘的回收，控制器更新该光盘盒的相关数据。
  2. 根据权利要求1所述的方法，其特征在于，在回收光盘过程中，所述抓盘器的导向柱插入光盘的中心孔，通过设置在导向柱内的上插片和下插片相对于导向柱作不同的伸缩运动实现对光盘的抓起、放下操作。
  3. 根据权利要求2所述的方法，其特征在于，所述步骤S4中抓盘器利用上插片从光盘托盘中抓起N-1-M张光盘具体为：
    抓盘器移动至光盘托盘上方，抓盘器的上、下插片同时缩回导向柱内，导向柱伸入放置在光盘托盘上的光盘的中心孔内，抓盘器的上插片伸出并插入第N-M张光盘与第N-1-M张光盘之间的间隙中，抓盘器向上移动使上插片托载起N-1-M张光盘。
  4. 根据权利要求3所述的方法，其特征在于，所述步骤S5中抓盘器利用下插片从目标托盘中抓起待回收光盘具体为：
    抓盘器移动至目标托盘上方，导向柱伸入放置在目标托盘上的待回收光盘的中心孔，使托载着N-1-M张光盘的上插片与所述待回收光盘接触，抓盘器的下插片伸出上插片缩回，上插片托载的光盘与所述待回收光盘重叠，下插片插入待回收光盘底部托载起全部N-M张光盘。
  5. 根据权利要求4所述的方法，其特征在于，所述所述步骤S6中抓盘器将所载的N-M张光盘全部放入光盘盒中具体为:
    抓盘器移动至光盘托盘上方，抓盘器的上、下插片同时缩回导向柱内，抓盘器所载的N-M张光盘失去下插片的支撑而落入光盘托盘中。
  6. 根据权利要求1-5任意一项所述的方法，其特征在于，所述目标托盘为光驱的光驱托盘或中转托盘，每个目标托盘具有唯一编号。
  7. 根据权利要求5或6所述的方法，其特征在于，所述光盘盒中的多张光盘以上下同心叠放方式放置。
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