WO2016107256A1 - 撑胀与托载组合式抓盘器 - Google Patents

撑胀与托载组合式抓盘器 Download PDF

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Publication number
WO2016107256A1
WO2016107256A1 PCT/CN2015/092912 CN2015092912W WO2016107256A1 WO 2016107256 A1 WO2016107256 A1 WO 2016107256A1 CN 2015092912 W CN2015092912 W CN 2015092912W WO 2016107256 A1 WO2016107256 A1 WO 2016107256A1
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WIPO (PCT)
Prior art keywords
electromagnet
piece
push
pull rod
linkage
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PCT/CN2015/092912
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English (en)
French (fr)
Inventor
朱明�
徐宏
许长江
邵征宇
陈黎明
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苏州互盟信息存储技术有限公司
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Publication of WO2016107256A1 publication Critical patent/WO2016107256A1/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 invention relates to a robot assembly of an optical disc library, and in particular to an expansion and loading combined gripper.
  • the optical disc library is an optical and mechatronic mass data storage device that uses a standardized optical disc as a data storage medium.
  • the conventional optical disc storage method is to place a disc on a disc, and this method has a small storage capacity and a large space.
  • the defect is gradually replaced by another storage method, that is, a plurality of optical discs are stacked in one disc.
  • This new storage method expands the storage capacity of the optical disc library and saves the space of the optical disc library, but also brings some aspects of the disc.
  • the problem, how to grab a specified disc from multiple stacked discs is a problem that must be overcome with this storage method.
  • the patent application No. 201210008197.4 the patent application entitled "Automatic Grasping Device for Optical Disc Library” proposes a device for randomly capturing any one of a plurality of directly stacked optical discs. Its method of grabbing is:
  • the robot displacement device drives the gripper carrying N discs to move to the target tray (optical drive tray or other disc tray), and put all the N discs contained in the target tray;
  • the robot displacement device drives the gripper carrying N-1 discs to move to the original designated disc box, and puts the N-1 discs contained in the tray of the disc cartridge, and then the tray is closed by the drawer Said 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 can solve the problem of the pick-and-place disk of the stacked optical discs, the speed of the disc change is greatly reduced due to the transfer step.
  • the patent application No. CN201410295020.6 proposes a patent application entitled "A gripper and a method for loading, unloading and recycling the disc with the gripper".
  • the new gripper, the gripper is matched by the upper and lower teeth, so that the disc can be directly placed on the gripper without having to put the disc down and then grab it, thereby improving the disc change efficiency.
  • the upper insert of such a gripper has a projecting end which completes the separation of the disc by inserting into the gap between the stacked discs.
  • This gripper has the following disadvantages:
  • the grasper is only suitable for a specially constructed optical disc (i.e., an optical disc having a center hole edge thickness smaller than the thickness of the main body), which is not applicable to an ordinary optical disc, and limits the application range of the grasper.
  • a specially constructed optical disc i.e., an optical disc having a center hole edge thickness smaller than the thickness of the main body
  • the difference between the thickness of the center hole edge of the optical disc and the thickness of the main body of the optical disc is about 0.2 mm, and when stacked, the gap between the edges of the center holes of the two optical discs is close to 0.2 mm, The protruding end of the upper insert can be inserted into the gap, the thickness of the protruding end must be less than 0.2 mm, and the strength of supporting the plurality of optical discs must be provided, thereby increasing the processing difficulty of the upper insert;
  • the technical problem to be solved by the present invention is to provide a combined grasper and a carrier-type grasper.
  • the grasper adopts a combination of an upper tooth swellable optical disk and a lower toothed carrier optical disk to complete the loading and unloading disk, which expands the applicable range of the grasper, and has low requirements on the alignment accuracy when grasping the optical disk, and also Reduce the difficulty of processing the upper and lower teeth.
  • the present invention provides an expansion and loading combined disc grabber, the gripper comprising an expansion member and a carrier member for extending into a center hole of the optical disc And swelling at the edge of the center hole of the optical disc, the carrier member is located below the bulging member for supporting the optical disc.
  • the grasper includes a support frame, a driving device, a hollow guide post, and a transmission device nested with the guide post, the driving device and the guide post are fixed on the support frame, and the expansion component
  • the carrier member is a lower tooth piece
  • the upper layer tooth piece and the lower layer tooth piece are disposed in the guide column
  • the guide column is correspondingly opened for the upper layer tooth piece and the lower layer tooth piece extension And a retracted side hole
  • the transmission device includes a first transmission mechanism and a second transmission mechanism, the first transmission mechanism drives the upper layer tooth action
  • the second transmission mechanism drives the lower layer tooth action
  • the moving device comprises a first driving device and a second driving device, wherein the first driving device drives the first transmission mechanism to move, and the first transmission mechanism drives the upper tooth plate to protrude from the guiding column, so that the end surface of the upper tooth piece is swollen At the edge of the center hole of the optical disc; the second driving device drives the second transmission mechanism to move, and the second transmission mechanism drives
  • the first transmission mechanism includes a first linkage mechanism, a first transmission shaft and a first transmission gear
  • the first transmission shaft is a hollow structure, and one end of the first transmission shaft is fixed to the first linkage mechanism, and the other end is fixed Entering into the guiding column to cooperate with a shaft hole of the first transmission gear disposed in the guiding column;
  • the upper tooth plate meshes with the first transmission gear, and the guiding column is correspondingly opened for the upper tooth plate a first side hole extending and retracting;
  • the second transmission mechanism includes a second linkage mechanism, a second transmission shaft and a second transmission gear, one end of the second transmission shaft being fixed to the second linkage mechanism, and the other end Passing through the first transmission shaft to cooperate with a shaft hole of a second transmission gear disposed in the guide post;
  • the lower tooth plate meshes with the second transmission gear, and the guide post is correspondingly opened for the A second side hole in which the lower blade extends and retracts.
  • first transmission shaft and the second transmission shaft are coaxially disposed.
  • the first driving device is a first electromagnet
  • the first electromagnet is a push-pull electromagnet
  • the first linkage mechanism comprises a first pull rod and a first linkage piece; one end of the first pull rod Fixed on the first transmission shaft, the other end is connected with the first linkage piece and linked with the first linkage piece, the first linkage piece is connected to the push-pull rod of the first electromagnet and moves coaxially with the push-pull rod
  • the second driving device is a second electromagnet
  • the second electromagnet is a push-pull electromagnet
  • the second linkage mechanism includes a second pulling rod and a second linkage piece; one end of the second pulling rod is fixed to the second transmission On the shaft, the other end is connected with the second linkage piece and interlocked with the second linkage piece, and the second linkage piece is connected to the push-pull rod of the second electromagnet and moves coaxially with the push-pull rod.
  • a push-pull rod limiting member is disposed on the support frame near the first electromagnet and the second electromagnet, and the push-pull rod limiting member is respectively pushed by the first electromagnet and the second electromagnet A tie rod contact for limiting the travel of the electromagnet push-pull rod.
  • the grasper further includes a linkage piece limiting member disposed in parallel with the push-pull rod limiting member, wherein the push-pull rod limiting member and the linkage piece limiting member are provided with the first linkage piece and the a limiting hole through which the second linkage piece passes, the limiting hole is configured to limit displacement of the first linkage piece and the second linkage piece in directions other than the direction of movement of the push-pull rod.
  • the thickness of the upper blade is greater than the thickness of the gap between the two disks placed in a stack.
  • the spacing between the upper and lower teeth is the thickness of one or more optical disks.
  • 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, and the lower end of the cylinder is contracted inward to form a guiding insertion end, the first side hole and the second side The hole is placed on the cylinder near the guide insertion end.
  • the upper and lower teeth each have three teeth, and the upper and lower teeth are parallel to each other.
  • the second electromagnet of the above-mentioned grasper indirectly controls the movement of the lower blade, and the first electromagnet indirectly controls the movement of the upper tooth, and the movement principle of the upper and lower teeth is the same.
  • the inner core of the electromagnet sucks the push-pull rod to compress the spring that is sleeved on the push-pull rod, and the push-pull rod drives the linkage piece to move toward the inner core of the electromagnet, and the linkage piece drives the rod to deflect, and the transmission
  • the shaft rotates under the driving of the pull rod, and the driving shaft drives the gear to rotate, thereby driving the upper/lower teeth to extend (or retract) the guiding column; after the electromagnet is de-energized, the spring sleeved on the push-pull rod is reset, and the push-pull rod is driven. Moving away from the inner core of the electromagnet until it reaches the push-pull rod limiter, the linkage piece, the pull
  • the present invention has the following beneficial effects:
  • the grasper adopts a combination of the upper-layer toothed swelled optical disk and the lower-layered toothed-mounted optical disk to complete the pick-and-place disk, so that the application of the grasper is not limited to the special-structured optical disk, and is applicable to other ordinary optical disks, thereby expanding The use range of the grasper makes it highly versatile.
  • the present invention uses the upper blade to swell the optical disk to grasp the disk, and only needs to ensure that the upper tooth can be pressed against the lowermost one of the N optical disks to complete all N optical disks. Grab, because the standard thickness of a single disc is 1.42mm, the thickness of the upper tooth is only less than 1.42mm, which greatly reduces the processing difficulty of the upper tooth.
  • the protruding end of the upper insert must be aligned with a gap of only 0.2 mm between the optical discs in order to smoothly grasp the optical disc, and the upper tooth of the present invention only needs to be aligned with the edge of the optical disc having a thickness of 1.42 mm. , greatly reducing the accuracy requirements for the positioning of the optical disc, and improving the feasibility of the application.
  • the upper and lower teeth of the grasper are controlled by electromagnets respectively.
  • the upper and lower teeth are independent of each other and do not interfere with each other.
  • the upper and lower teeth are telescopically matched, so that the operation of the pick-and-place disc is accurate and fast, and the work is stable and reliable.
  • the invention relies on the electromagnet to attract the end surface of the upper tooth sheet to the edge of the inner hole of the optical disc. This flexible locking manner can ensure that the optical disc does not fall and can avoid damage to the optical disc.
  • Figure 1 is a schematic structural view of a grasper of the present invention
  • FIGS. 2 and 3 are side views of the grasper of the present invention.
  • FIG 4 and 5 are top views of the grasper of the present invention.
  • the present invention provides an expansion and loading combined disc grabber, the gripper comprising an expansion member and a carrier member for extending into a center hole of the optical disc and swelling on the optical disc The center hole edge, the carrier member is located below the inflation member for supporting the optical disk.
  • the grasper of the present invention comprises a support frame 1, an upper tooth piece 7, a lower tooth piece 8, a driving device, a hollow guide column 2 and a transmission device, wherein the driving device and the guiding column are fixed at On the support frame, the upper tooth piece 7 and the lower layer tooth piece 8 are disposed in the guide column, and the guide post is correspondingly provided with a side hole for the upper layer tooth piece 7 and the lower layer tooth piece 8 to extend and retract, and the transmission device includes the first a transmission mechanism and a second transmission mechanism, the first transmission mechanism drives the upper blade 7 to move, the second transmission mechanism drives the lower blade 8; the driving device comprises a first driving device and a second driving device, A driving device drives the first transmission mechanism, and the first transmission mechanism drives the upper tooth plate 7 to extend out of the guiding column 2, so that the end surface of the upper tooth piece is swollen at the edge of the central hole of the optical disk; and the second driving device drives the second transmission machine In the action, the second transmission mechanism drives the lower
  • the first transmission mechanism includes a first linkage mechanism, a first transmission shaft 3 and a first transmission gear 5, the first transmission shaft 3 is a hollow structure, and one end of the first transmission shaft is fixed to the first linkage mechanism. The other end enters the guide post 2 and cooperates with the shaft hole of the first transmission gear 5 disposed in the guide post; the upper blade 7 meshes with the first transmission gear 5, and the guide post 2 correspondingly A first side hole 9 is provided for the upper blade to extend and retract.
  • the second transmission mechanism includes a second linkage mechanism, a second transmission shaft 4 and a second transmission gear 6.
  • One end of the second transmission shaft 4 is fixed to the second linkage mechanism, and the other end passes through the first transmission shaft 3 Cooperating with a shaft hole of the second transmission gear 6 disposed in the guide post, the first transmission shaft 3 and the second transmission shaft 4 are coaxially disposed; the lower blade 8 is opposite to the second transmission gear 6 Engaging, the guide post 2 is correspondingly provided with a second side hole 10 for the lower layer to extend and retract.
  • the first driving device is a first electromagnet 11
  • the first electromagnet 11 is a push-pull electromagnet
  • the push-pull electromagnet comprises a housing, an electromagnet core disposed in the housing, a push-pull rod, and a spring disposed on the push-pull rod
  • the first linkage mechanism includes a first pull rod 18 and a first linkage piece 19; one end of the first pull rod 18 is fixed on the first transmission shaft 3, and the other end is linked with the first
  • the sheet 19 is coupled and linked with the first linkage piece, and the first linkage piece 19 is coupled to the push-pull rod of the first electromagnet 11 and moves coaxially with the push-pull rod.
  • the second driving device is a second electromagnet 12, and the second electromagnet 12 is a push-pull electromagnet.
  • the push-pull electromagnet comprises a casing, an electromagnet core disposed in the casing, a push-pull rod and a sleeve. a spring on the push-pull rod;
  • the second linkage mechanism includes a second pull rod 20 and a second linkage piece 21; one end of the second pull rod 20 is fixed on the second transmission shaft 4, and the other end is connected to the second linkage piece 21
  • the second linkage piece 21 is coupled to the push-pull rod of the second electromagnet 12 and moves coaxially with the push-pull rod.
  • a push-pull rod limiting member 13 is disposed on the support frame 1 near the first electromagnet 11 and the second electromagnet 12, and the push-pull rod limiting member 13 and the first electromagnet 11 and The push-pull rod contact of the second electromagnet 12 is used to limit the stroke of the electromagnet push-pull rod.
  • the stroke of the electromagnet push-pull rod corresponds to the telescopic length of the upper and lower teeth.
  • the stroke of the electromagnet push-pull rod By adjusting the stroke of the electromagnet push-pull rod, the extension length of the upper and lower teeth can be controlled. It should be noted that the upper and lower teeth are extended. It cannot be detached from the guide post, and in particular, the upper tooth piece has a swelling force capable of bulging from the center hole of the optical disk.
  • the grasper further includes a link limiting member 14 disposed in parallel with the push-pull rod limiting member 13 .
  • the push-pull rod limiting member 13 and the limiting piece limiting member 14 are provided with a limiting hole through which the first linking piece 19 and the second linking piece 21 pass, and the limiting hole is used for limiting the position Displacement of the first link piece 19 and the second link piece 21 in directions other than the direction in which the push-pull rod moves; thereby improving the stability of the movement of the first link piece 19 and the second link piece 21, preventing the first The interlocking piece 19 and the second interlocking piece 21 are swaying while moving.
  • the thickness of the upper tooth piece 7 is larger than the thickness of the gap between the two optical disks placed in the stack. This structure greatly reduces the accuracy requirement for positioning the optical disk and improves the feasibility of the application. Optimally, the thickness of the upper blade 7 is slightly smaller than the thickness of a single optical disk. When the upper blade is used to grasp N disks, the upper blade 7 enters the center hole of the disk and moves down to the opposite side of the Nth disk. At the position, the end face of the upper tooth piece 7 is used to abut against the edge of the center hole of the Nth optical disk. Of course, the thickness of the upper tooth piece 7 may also be the thickness of a plurality of optical disks. When the N pieces of the optical disk in the laminated optical disk are grasped by the same, the upper toothed piece 7 at least swells the Nth optical disk, but does not interfere with the first N+1 discs.
  • the distance between the upper tooth piece 7 and the lower layer tooth piece 8 is the thickness of one optical disk or a plurality of optical disks.
  • the distance between the upper blade 7 and the lower blade 8 is the thickness of one disk, it is possible to separate a single disk on the guide post; when the distance between the upper blade 7 and the lower blade 8 is plural
  • the thickness of the optical disc it is possible to separate a plurality of optical discs directly on the guide post by the cooperation of the upper and lower teeth.
  • the upper blade 7 and the lower blade 8 each have three teeth, and the upper blade 7 and the lower blade 8 are parallel to each other.
  • the guide post 2 is a hollow cylinder having a diameter smaller than a diameter of a central hole of the optical disk 17, and a lower end of the cylinder is contracted inward to form a guide insertion end, the first side hole 9 and The second side hole 10 is disposed on the cylinder near the guide insertion end.
  • the inner core of the electromagnet sucks the push-pull rod to compress the spring 15 sleeved on the push-pull rod, and the push-pull rod drives the first linkage piece 19 to The inner core of the electromagnet moves, the first linkage 19 drives the first lever 18 to deflect, the first transmission shaft 3 rotates under the driving of the first rod 18, and the first transmission shaft 3 drives the first transmission gear 5 to rotate.
  • the upper tooth piece 7 is extended to extend out of the guide post; after the first electromagnet 11 is powered off, the spring 15 sleeved on the push-pull rod is reset, and the push-pull rod is moved away from the inner core of the electromagnet until the push-pull rod limit is reached.
  • the first linkage piece is made 19. The first pull rod 18, the first transmission shaft 3 and the first transmission gear 5 are interlocked to retract the upper tooth plate 7 into the guide post.
  • the inner core of the electromagnet attracts the push-pull rod to compress the spring 16 sleeved on the push-pull rod, and the push-pull rod drives the second linkage piece 21 to move toward the inner core of the electromagnet, and the second linkage piece 21, the second pull rod 20 is deflected, the second drive shaft 4 is rotated by the second pull rod 20, and the second drive shaft 4 drives the second transmission gear 6 to rotate, thereby driving the lower tooth piece 8 to retract into the guide post;
  • the electromagnet 12 is powered off, the spring 16 sleeved on the push-pull rod is reset, and the push-pull rod is moved to move away from the inner core of the electromagnet until it reaches the push-pull rod limiting member 13, so that the second interlocking piece 21, The second pull rod 20, the second transmission shaft 4 and the second transmission gear 6 are interlocked, so that the lower tooth piece 8 projects out of the guide post 2.
  • the loading of the optical disc by using the above grasper includes the following steps (where N ⁇ 1):
  • the second electromagnet 12 is energized, the lower tooth 8 is retracted into the guide post 2; the gripper body is moved to the upper side of the disc to be grasped (see Fig. 3), and the disc to be grasped is placed in a stack Multiple discs, the center holes of all discs are aligned uniformly;
  • the gripper moves to the top of the tray of the designated optical disc drive, the first electromagnet 11 is energized, and the upper layer of the strip 7 is ejected and swelled at the position of the N-1th disc (the upper layer 7 and the lower layer)
  • the spacing between the teeth 8 is the thickness of one disc; the second electromagnet 12 is energized, and the lower tooth 8 is retracted into the guiding post 2; the Nth disc is dropped in the tray of the designated optical disc to complete the unloading of the optical disc.
  • the second electromagnet 12 After the second electromagnet 12 is powered off, the lower layer of the toothed piece is ejected, the first electromagnet 11 is powered off, and the upper layer of the toothed piece is retracted, and the N-1 piece of the optical disk is entirely dropped by the lower layer of the tooth piece 8;
  • the gripper moves to the top of the tray of the other designated optical disc drive, and controls the upper stratograph 7 to extend and support. A disk above the disc to be unloaded is swollen, and the lower blade 8 is controlled to be retracted, and the disc to be unloaded falls into the disc drive tray.

Abstract

本发明公开一种撑胀与托载组合式抓盘器，所述抓盘器包括撑胀部件和托载部件，所述撑胀部件用于伸入光盘的中心孔并撑胀在光盘的中心孔边缘，所述托载部件位于所述撑胀部件的下方，用于托载光盘。本发明的抓盘器采用上层齿片撑胀光盘、下层齿片托载光盘的组合方式来完成取放盘，扩大了抓盘器的适用范围，对抓取光盘时的对位精度要求低，同时还降低了对上、下层齿片的加工难度。

Description

撑胀与托载组合式抓盘器 技术领域
本发明涉及光盘库的机械手组件，尤其涉及一种撑胀与托载组合式抓盘器。
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，传统的光盘存储方式为一个光盘匣放置一张光盘，由于这种方式存在存储容量小、占用空间大的缺陷，因而逐渐被另一存储方式取代，即一个光盘匣内层叠放置多张光盘，这种新型存储方式扩充了光盘库的存储容量、节省了光盘库空间，但也带来了一些取盘方面的问题，如何从多张层叠放置的光盘中抓取指定的某一张光盘是采用这种存储方式必须要克服的难题。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盒处，抽盘器打开指定光盘盒的光盘托盘；
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(光驱托盘或其他盘盒托盘)处，将所载的N张光盘全部放入目标托盘中；
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盒处，将所载的N-1张光盘放入该光盘盒的托盘内，再由抽盘器关闭所述托盘。
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。虽然这种方法能解决对层叠放置的光盘的取放盘问题，但由于存在中转步骤，因而大大降低了换盘速度。
进一步地，为提高换盘速度，专利申请号为CN201410295020.6申请名称为“一种抓盘器及用该抓盘器加载、卸载及回收光盘的方法”的专利申请提出一种 新型抓盘器，该抓盘器通过上、下齿片配合，可以实现直接在抓盘器上分盘，而不必将光盘放下后再抓起，从而提高换盘效率。这种抓盘器的上插片具有一个伸出端，该伸出端通过插入层叠放置的光盘之间的空隙中来完成光盘的分离，这种抓盘器存在以下不足：
1)该抓盘器只适用于特殊构造的光盘(即中心孔边缘厚度小于主体厚度的光盘)，对普通光盘不适用，限制了该抓盘器的应用范围。
2)在现有的特殊构造光盘中，光盘的中心孔边缘厚度与光盘主体厚度的差值约为0.2mm，在层叠放置时，两张光盘的中心孔边缘之间的间隙接近0.2mm，为使得上插片的伸出端能插入这个间隙中，所述伸出端的厚度必须小于0.2mm，且必须具备托载多张光盘的强度，因而增加了上插片的加工难度；
3)抓取光盘前，必须保证上插片的伸出端恰好对准两张光盘之间的间隙，由于该间隙不大于0.2mm，因而对定位精度提出了非常高的要求，在实施上存在一定难度；在定位不准确的情况下，不仅不能顺利分离光盘，还存在刮伤光盘的风险。
发明内容
本发明所要解决的技术问题在于，提供一种撑胀与托载组合式抓盘器。所述抓盘器采用上层齿片撑胀光盘、下层齿片托载光盘的组合方式来完成取放盘，扩大了抓盘器的适用范围，对抓取光盘时的对位精度要求低，同时还降低了对上、下层齿片的加工难度。
为了解决上述技术问题，本发明提供了一种撑胀与托载组合式抓盘器，所述抓盘器包括撑胀部件和托载部件，所述撑胀部件用于伸入光盘的中心孔并撑胀在光盘的中心孔边缘，所述托载部件位于所述撑胀部件的下方，用于托载光盘。
进一步地，所述抓盘器包括支撑架、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，所述驱动装置和导向柱固定在支撑架上，所述撑胀部件为上层齿片，所述托载部件为下层齿片，所述上层齿片和下层齿片设置在导向柱内，所述导向柱上对应地开设有供所述上层齿片和下层齿片伸出和缩进的侧孔；所述传动装置包括第一传动机构和第二传动机构，所述第一传动机构驱动所述上层齿片动作，所述第二传动机构驱动所述下层齿片动作；所述驱 动装置包括第一驱动装置和第二驱动装置，所述第一驱动装置驱动第一传动机构动作，第一传动机构带动上层齿片伸出所述导向柱，从而使上层齿片的端面撑胀在光盘的中心孔边缘；所述第二驱动装置驱动第二传动机构动作，第二传动机构带动下层齿片伸出所述导向柱，从而利用下层齿片托载光盘。
具体地，所述第一传动机构包括第一联动机构、第一传动轴和第一传动齿轮，所述第一传动轴为中空结构，第一传动轴的一端与第一联动机构固定，另一端进入导向柱内与设置在导向柱内的第一传动齿轮的轴孔配合；所述上层齿片与所述第一传动齿轮相啮合，所述导向柱上对应地开设有供所述上层齿片伸出和缩进的第一侧孔；所述第二传动机构包括第二联动机构、第二传动轴和第二传动齿轮，所述第二传动轴的一端与第二联动机构固定，另一端穿过第一传动轴后与设置在导向柱内的第二传动齿轮的轴孔配合；所述下层齿片与所述第二传动齿轮相啮合，所述导向柱上对应地开设有供所述下层齿片伸出和缩进的第二侧孔。
进一步地，所述第一传动轴与第二传动轴为同轴设置。
优选地，所述第一驱动装置为第一电磁铁，所述第一电磁铁为推拉式电磁铁，所述第一联动机构包括第一拉杆和第一联动片；所述第一拉杆的一端固定在第一传动轴上，另一端与第一联动片连接并与第一联动片联动，所述第一联动片连接在第一电磁铁的推拉杆上并随推拉杆同轴移动；所述第二驱动装置为第二电磁铁，所述第二电磁铁为推拉式电磁铁，所述第二联动机构包括第二拉杆和第二联动片；所述第二拉杆的一端固定在第二传动轴上，另一端与第二联动片连接并与第二联动片联动，所述第二联动片连接在第二电磁铁的推拉杆上并随推拉杆同轴移动。
进一步地，在所述支撑架上靠近第一电磁铁和第二电磁铁处设置有推拉杆限位件，所述推拉杆限位件分别与所述第一电磁铁和第二电磁铁的推拉杆接触，用于限制所述电磁铁推拉杆的行程。
所述抓盘器还包括与所述推拉杆限位件平行设置的联动片限位件，所述推拉杆限位件和联动片限位件上开设有供所述第一联动片和所述第二联动片穿过的限位孔，所述限位孔用于限制所述第一联动片和所述第二联动片除沿所述推拉杆运动方向以外的其他方向的位移。
优选地，所述上层齿片的厚度大于层叠放置的两张光盘之间的间隙厚度。
优选地，所述上层齿片与下层齿片之间的间距为一张光盘或多张光盘的厚度。
进一步地，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，所述第一侧孔和第二侧孔设置在圆柱体上靠近导向插入端处。
优选地，所述上层齿片和下层齿片各具有三个齿片，且上层齿片与下层齿片相互平行。
上述抓盘器的第二电磁铁间接控制下层齿片运动，第一电磁铁间接控制上层齿片运动，上、下层齿片的运动原理相同。具体为：电磁铁通电后，电磁铁的内芯吸合推拉杆使套接在推拉杆上的弹簧压缩，推拉杆带动联动片向电磁铁的内芯方向移动，联动片又带动拉杆偏转，传动轴在拉杆的带动下转动，传动轴驱动齿轮转动，进而带动上层/下层齿片伸出(或缩进)导向柱；电磁铁断电后，套接在推拉杆上的弹簧复位，带动推拉杆向远离电磁铁的内芯的方向移动，直至抵在推拉杆限位件上，使联动片、拉杆、传动轴和齿轮发生联动动作，从而使上层/下层齿片缩进(或伸出)导向柱。
由于上述技术方案，本发明具有如下有益效果：
1、抓盘器采用上层齿片撑胀光盘、下层齿片托载光盘的组合方式来完成取放盘，使抓盘器的应用不局限于特殊构造的光盘，对其他普通光盘同样适用，从而扩大了该抓盘器的使用范围，使其具有较强的通用性。
2、与现有技术相比，本发明采用上层齿片撑胀光盘的方式抓盘，只需保证上层齿片能抵在N张光盘中最下端的一张光盘上即可将全部N张光盘抓起，由于单张光盘的标准厚度为1.42mm，因而上层齿片的厚度仅需小于1.42mm即可，从而大大降低了上层齿片的加工难度。
3、现有技术中，上插片的伸出端必须对准光盘之间仅0.2mm的间隙才能顺利抓起光盘，而本发明的上层齿片只需对准厚度1.42mm的光盘边缘即可，极大的降低了对光盘定位的精度要求，提高了运用的可行性。
4、抓盘器的上齿和下齿由电磁铁分别控制，上层齿片和下层齿片独立动作，互不干涉，上下层齿片伸缩配合，使取放盘操作精准、快速，工作稳定可靠。
5、本发明依靠电磁铁吸合使上层齿片的端面卡住光盘内孔边缘，这种柔性卡合方式既能保证光盘不掉落，又能避免对光盘造成破坏。
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是本发明抓盘器的结构示意图；
图2、3是本发明抓盘器的侧视图；
图4、5是本发明抓盘器的俯视图。
图中：1-支撑架，2-导向柱，3-第一传动轴，4-第二传动轴，5-第一传动齿轮，6-第二传动齿轮，7-上层齿片，8-下层齿片，9-第一侧孔，10-第二侧孔，11-第一电磁铁，12-第二电磁铁，13-推拉杆限位件，14-联动片限位件，17-光盘，18-第一拉杆，19-第一联动片，20-第二拉杆，21-第二联动片。
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。
本发明提供了一种撑胀与托载组合式抓盘器，所述抓盘器包括撑胀部件和托载部件，所述撑胀部件用于伸入光盘的中心孔并撑胀在光盘的中心孔边缘，所述托载部件位于所述撑胀部件的下方，用于托载光盘。
请参见图1至图3，本发明的抓盘器包括支撑架1、上层齿片7、下层齿片8、驱动装置、中空的导向柱2以及传动装置，其中，驱动装置和导向柱固定在支撑架上，上层齿片7和下层齿片8设置在导向柱内，导向柱上对应地开设有供上层齿片7和下层齿片8伸出和缩进的侧孔，传动装置包括第一传动机构和第二传动机构，第一传动机构驱动所述上层齿片7动作，所述第二传动机构驱动所述下层齿片8动作；驱动装置包括第一驱动装置和第二驱动装置，第一驱动装置驱动第一传动机构动作，第一传动机构带动上层齿片7伸出导向柱2，从而使上层齿片的端面撑胀在光盘的中心孔边缘；第二驱动装置驱动第二传动机 构动作，第二传动机构带动下层齿片8伸出导向柱2，从而利用下层齿片托载光盘。
具体地，所述第一传动机构包括第一联动机构、第一传动轴3和第一传动齿轮5，所述第一传动轴3为中空结构，第一传动轴的一端与第一联动机构固定，另一端进入导向柱2内与设置在导向柱内的第一传动齿轮5的轴孔配合；所述上层齿片7与所述第一传动齿轮5相啮合，所述导向柱2上对应地开设有供所述上层齿片伸出和缩进的第一侧孔9。所述第二传动机构包括第二联动机构、第二传动轴4和第二传动齿轮6，所述第二传动轴4的一端与第二联动机构固定，另一端穿过第一传动轴3后与设置在导向柱内的第二传动齿轮6的轴孔配合，所述第一传动轴3与第二传动轴4为同轴设置；所述下层齿片8与所述第二传动齿轮6相啮合，所述导向柱2上对应地开设有供所述下层齿片伸出和缩进的第二侧孔10。
具体地，所述第一驱动装置为第一电磁铁11，所述第一电磁铁11为推拉式电磁铁，该推拉式电磁铁包括外壳、设置在外壳内的电磁铁内芯、推拉杆及套设在推拉杆上的弹簧；所述第一联动机构包括第一拉杆18和第一联动片19；所述第一拉杆18的一端固定在第一传动轴3上，另一端与第一联动片19连接并与第一联动片联动，所述第一联动片19连接在第一电磁铁11的推拉杆上并随推拉杆同轴移动。所述第二驱动装置为第二电磁铁12，所述第二电磁铁12为推拉式电磁铁，该推拉式电磁铁包括外壳、设置在外壳内的电磁铁内芯、推拉杆及套设在推拉杆上的弹簧；所述第二联动机构包括第二拉杆20和第二联动片21；所述第二拉杆20的一端固定在第二传动轴4上，另一端与第二联动片21连接并与第二联动片联动，所述第二联动片21连接在第二电磁铁12的推拉杆上并随推拉杆同轴移动。
进一步地，在所述支撑架1上靠近第一电磁铁11和第二电磁铁12处设置有推拉杆限位件13，所述推拉杆限位件13分别与所述第一电磁铁11和第二电磁铁12的推拉杆接触，用于限制所述电磁铁推拉杆的行程。电磁铁推拉杆的行程与上下层齿片的伸缩长度相对应，通过调整电磁铁推拉杆的行程，可以控制上下层齿片的伸出长度，应当注意的是，上下层齿片在伸出时不能脱离导向柱，尤其是上层齿片伸出后具有能从光盘的中心孔撑胀起光盘的撑胀力。
所述抓盘器还包括与所述推拉杆限位件13平行设置的联动片限位件14， 所述推拉杆限位件13和联动片限位件14上开设有供所述第一联动片19和所述第二联动片21穿过的限位孔，所述限位孔用于限制所述第一联动片19和所述第二联动片21除沿所述推拉杆运动方向以外的其他方向的位移；从而提高第一联动片19和第二联动片21运动的稳定性，防止第一联动片19和第二联动片21在移动中摇摆晃动。
所述上层齿片7的厚度大于层叠放置的两张光盘之间的间隙厚度，这种结构极大的降低了对光盘定位的精度要求，提高了运用的可行性。最优地，上层齿片7的厚度略小于单张光盘的厚度，在利用上层齿片抓取N张光盘时，上层齿片7进入光盘的中心孔并下移至与第N张光盘相对的位置处，利用上层齿片7的端面抵住第N张光盘的中心孔边缘。当然，上层齿片7的厚度也可以为多张光盘的厚度，在利用其抓取层叠放置的光盘中的N张光盘时，上层齿片7至少撑胀起第N张光盘，但不干涉第N+1张光盘。
进一步地，所述上层齿片7与下层齿片8之间的间距为一张光盘或多张光盘的厚度。当上层齿片7与下层齿片8之间的间距为一张光盘的厚度时，可以实现在导向柱上分离单张光盘；当上层齿片7与下层齿片8之间的间距为多张光盘的厚度时，可以通过上层、下层齿片配合来实现直接在导向柱上分离多张光盘。
作为本发明的优选，所述上层齿片7和下层齿片8各具有三个齿片，且上层齿片7与下层齿片8相互平行。
进一步地，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17的中心孔直径，圆柱体的下端向内收缩形成导向插入端，所述第一侧孔9和第二侧孔10设置在圆柱体上靠近导向插入端处。
在第一电磁铁11和第二电磁铁12均不通电的情况下，上层齿片的状态为缩进导向柱2内，下层齿片的状态为伸出导向柱2；则上、下层齿片的动作过程为：参见图4、图5，第一电磁铁11通电后，电磁铁的内芯吸合推拉杆使套接在推拉杆上的弹簧15压缩，推拉杆带动第一联动片19向电磁铁的内芯方向移动，第一联动片19又带动第一拉杆18偏转，第一传动轴3在第一拉杆18的带动下转动，第一传动轴3驱动第一传动齿轮5转动，进而带动上层齿片7伸出导向柱；第一电磁铁11断电后，套接在推拉杆上的弹簧15复位，带动推拉杆向远离电磁铁的内芯的方向移动，直至抵在推拉杆限位件13上，使第一联动片 19、第一拉杆18、第一传动轴3和第一传动齿轮5发生联动动作，从而使上层齿片7缩进导向柱。第二电磁铁12通电后，电磁铁的内芯吸合推拉杆使套接在推拉杆上的弹簧16压缩，推拉杆带动第二联动片21向电磁铁的内芯方向移动，第二联动片21又带动第二拉杆20偏转，第二传动轴4在第二拉杆20的带动下转动，第二传动轴4驱动第二传动齿轮6转动，进而带动下层齿片8缩进导向柱；第二电磁铁12断电后，套接在推拉杆上的弹簧16复位，带动推拉杆向远离电磁铁的内芯的方向移动，直至抵在推拉杆限位件13上，使第二联动片21、第二拉杆20、第二传动轴4和第二传动齿轮6发生联动动作，从而使下层齿片8伸出导向柱2。
当然，由于上层齿片和下层齿片的伸缩状态由两个电磁铁独立控制，因而上层齿片和下层齿片的初始状态可任意设定。
利用上述抓盘器进行光盘的加载，包括以下步骤(其中N≥1)：
1)初始状态：第一电磁铁11和第二电磁铁12未通电，下层齿片8伸出导向柱2，上层齿片7缩进导向柱2内(参见图2)；
2)准备下落抓盘：第二电磁铁12通电，下层齿片8缩进导向柱2内；抓盘器主体移至待抓取光盘的上方(参见图3)，待抓取光盘为层叠放置的多张光盘，所有光盘的中心孔一致对齐；
3)下落抓盘：抓盘器的导向柱2进入待抓取光盘的中心孔，将上层齿片7移动至与第N张光盘相对的位置处，然后第一电磁铁11通电工作，上层齿片7弹出并抵住第N张盘的中心孔边缘；
4)抓起光盘：抓盘器上移，下层齿片8的下表面高于第N+1张盘的上表面后，第二电磁铁12断电，下层齿片8弹出；第一电磁铁11断电，上层齿片7缩进导向柱2内，此时，由于抵在光盘上的撑胀力消失，N张光盘整体下落，由下层齿片8托载；
5)到指定位置放盘：抓盘器移动至一指定光驱的托盘上方，第一电磁铁11通电，上层齿片7弹出并撑胀在第N-1张光盘的位置(上层齿片7与下层齿片8之间的间距为一张光盘的厚度)；第二电磁铁12通电，下层齿片8缩进导向柱2内；第N张盘下落在指定光驱的托盘内，完成一次卸载光盘的动作；之后，第二电磁铁12断电，下层齿片弹出，第一电磁铁11断电，上层齿片缩进，N-1张光盘整体下落后由下层齿片8托载；
在一些情况下，需要将抓起的多张光盘逐一放入不同的指定光驱中，则重复上述步骤5)，抓盘器移动至其他指定光驱的托盘上方，控制上层齿片7伸出并撑胀住待卸载光盘之上的一张光盘，控制下层齿片8缩进，待卸载光盘落入光驱托盘中。
完成指定张光盘的加载动作后，若机械手还托载有剩余光盘，则移动至原光盘盒处，将剩余的光盘放回光盘盒内。
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 (11)

  1. 一种撑胀与托载组合式抓盘器，其特征在于：所述抓盘器包括撑胀部件和托载部件，所述撑胀部件用于伸入光盘的中心孔并撑胀在光盘的中心孔边缘，所述托载部件位于所述撑胀部件的下方，用于托载光盘。
  2. 根据权利要求1所述的撑胀与托载组合式抓盘器，其特征在于，所述抓盘器包括支撑架(1)、驱动装置、中空的导向柱(2)以及与所述导向柱嵌套配合的传动装置，所述驱动装置和导向柱固定在支撑架上，所述撑胀部件为上层齿片(7)，所述托载部件为下层齿片(8)，所述上层齿片(7)和下层齿片(8)设置在导向柱内，所述导向柱上对应地开设有供所述上层齿片(7)和下层齿片(8)伸出和缩进的侧孔，
    所述传动装置包括第一传动机构和第二传动机构，所述第一传动机构驱动所述上层齿片(7)动作，所述第二传动机构驱动所述下层齿片(8)动作，
    所述驱动装置包括第一驱动装置和第二驱动装置，所述第一驱动装置驱动第一传动机构动作，第一传动机构带动上层齿片(7)伸出所述导向柱(2)，从而使上层齿片的端面撑胀在光盘的中心孔边缘；所述第二驱动装置驱动第二传动机构动作，第二传动机构带动下层齿片(8)伸出所述导向柱(2)，从而利用下层齿片托载光盘。
  3. 根据权利要求2所述的撑胀与托载组合式抓盘器，其特征在于，所述第一传动机构包括第一联动机构、第一传动轴(3)和第一传动齿轮(5)，所述第一传动轴(3)为中空结构，第一传动轴的一端与第一联动机构固定，另一端进入导向柱(2)内与设置在导向柱内的第一传动齿轮(5)的轴孔配合；所述上层齿片(7)与所述第一传动齿轮(5)相啮合，所述导向柱(2)上对应地开设有供所述上层齿片伸出和缩进的第一侧孔(9)；
    所述第二传动机构包括第二联动机构、第二传动轴(4)和第二传动齿轮(6)，所述第二传动轴(4)的一端与第二联动机构固定，另一端穿过第一传动轴(3)后与设置在导向柱内的第二传动齿轮(6)的轴孔配合；所述下层齿片(8)与所述第二传动齿轮(6)相啮合，所述导向柱(2)上对应地开设有供所述下层 齿片伸出和缩进的第二侧孔(10)。
  4. 根据权利要求3所述的撑胀与托载组合式抓盘器，其特征在于，所述第一传动轴(3)与第二传动轴(4)为同轴设置。
  5. 根据权利要求3或4所述的撑胀与托载组合式抓盘器，其特征在于，所述第一驱动装置为第一电磁铁(11)，所述第一电磁铁(11)为推拉式电磁铁，所述第一联动机构包括第一拉杆(18)和第一联动片(19)；所述第一拉杆(18)的一端固定在第一传动轴(3)上，另一端与第一联动片(19)连接并与第一联动片联动，所述第一联动片(19)连接在第一电磁铁(11)的推拉杆上并随推拉杆同轴移动，
    所述第二驱动装置为第二电磁铁(12)，所述第二电磁铁(12)为推拉式电磁铁，所述第二联动机构包括第二拉杆(20)和第二联动片(21)；所述第二拉杆(20)的一端固定在第二传动轴(4)上，另一端与第二联动片(21)连接并与第二联动片联动，所述第二联动片(21)连接在第二电磁铁(12)的推拉杆上并随推拉杆同轴移动。
  6. 根据权利要求5所述的撑胀与托载组合式抓盘器，其特征在于，在所述支撑架(1)上靠近第一电磁铁(11)和第二电磁铁(12)处设置有推拉杆限位件(13)，所述推拉杆限位件(13)分别与所述第一电磁铁(11)和第二电磁铁(12)的推拉杆接触，用于限制所述电磁铁推拉杆的行程。
  7. 根据权利要求6所述的撑胀与托载组合式抓盘器，其特征在于，还包括与所述推拉杆限位件(13)平行设置的联动片限位件(14)，所述推拉杆限位件(13)和联动片限位件(14)上开设有供所述第一联动片(19)和所述第二联动片(21)穿过的限位孔，所述限位孔用于限制所述第一联动片(19)和所述第二联动片(21)除沿所述推拉杆运动方向以外的其他方向的位移。
  8. 根据权利要求1-7任意一项所述的撑胀与托载组合式抓盘器，其特征在于，所述上层齿片(7)的厚度大于层叠放置的两张光盘之间的间隙厚度。
  9. 根据权利要求8中所述的撑胀与托载组合式抓盘器，其特征在于，所述上层齿片(7)与下层齿片(8)之间的间距为一张光盘或多张光盘的厚度。
  10. 根据权利要求9所述的撑胀与托载组合式抓盘器，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(17)的中心孔直径，圆柱体的下端向内收缩形成导向插入端，所述第一侧孔(9)和第二侧孔(10)设置在圆柱体上靠近导向插入端处。
  11. 根据权利要求9或10所述的撑胀与托载组合式抓盘器，其特征在于，所述上层齿片(7)和下层齿片(8)各具有三个齿片，且上层齿片(7)与下层齿片(8)相互平行。
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