WO2004001757A2 - Device for picking a disc from a stack - Google Patents
Device for picking a disc from a stack Download PDFInfo
- Publication number
- WO2004001757A2 WO2004001757A2 PCT/FR2003/001907 FR0301907W WO2004001757A2 WO 2004001757 A2 WO2004001757 A2 WO 2004001757A2 FR 0301907 W FR0301907 W FR 0301907W WO 2004001757 A2 WO2004001757 A2 WO 2004001757A2
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- WIPO (PCT)
- Prior art keywords
- cylinder
- disc
- discs
- stack
- axis
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B23/00—Record carriers not specific to the method of recording or reproducing; Accessories, e.g. containers, specially adapted for co-operation with the recording or reproducing apparatus ; Intermediate mediums; Apparatus or processes specially adapted for their manufacture
Definitions
- the present invention relates to a device for handling flat objects, and more particularly to a device for picking up and moving a disc on a stack of discs.
- Many devices include means for handling, sorting, selecting or moving flat objects such as discs, CD-ROMs, compact discs, etc., for example there are on the market robotic devices intended to record data on numbers high discs.
- robots capable of burning discs or CD-ROMs, or printing any label or signs thereon.
- Such devices must include devices for handling and moving discs from a location where blank discs are stored to an engraving or printing station, and then to a storage location for burned or printed discs.
- devices comprising means for gripping the discs in the form of suction cups which are pressed against the upper face of the disc and are capable of releasing it after having moved it.
- devices of this type are generally complex to implement and their operation is often relatively slow.
- US Patent 4,552,285 describes a device for extracting a disc from a stack by exerting pressure on the stack to eject one or more discs from the base of the stack.
- a device of this type is not suitable for handling discs for burning or printing them.
- US Patent 5,560,624 describes a device for handling a disc through its central hole during its manufacture or its etching by means of an expandable cylindrical collar comprising a plurality of articulated longitudinal fingers; the means used in this device are intended to hold the disc during its processing and are not suitable for a simple movement from one location to another.
- Another robot manipulator device comprising an expandable collar with longitudinal fingers is described in US Pat. No. 5,247,408.
- a device comprising a cylinder divided into two parts along a diameter is described in US Patent 5,275,424; in this device, a closer mechanism. che the two cylindrical halves of each other to allow engagement of the cylinder in the central hole of the disc, then spreads them to apply them against the inner face of the disc, but such a device is not suitable for sampling of a single disk on a stack.
- the subject of the present invention is a device intended to be incorporated into a robot for processing flat discs, making it possible to take a disc from a stack to move it to a processing station, and to take it back to bring it up to 'at a storage location.
- the present invention also relates to an improved device making it possible to take a disc pierced at its center, in particular a CD-ROM or a compact disc, on a stack of discs, move it and drop it on another stack.
- the present invention also relates to a robot for processing discs, in particular the burning and / or printing of CD-ROMs and compact discs, incorporating a device of the above type.
- the device according to the present invention makes it possible to take a disc pierced in its center located on a stack of discs and to move it, without driving the other discs of the stack, and more particularly to take a disc on a stack to bring it to a treatment station, then to resume it after treatment to bring it to a storage location, and it is distinguished in that it comprises a centering cylinder capable of being inserted into the central hole of the disc, a movable blade along a radius of the cylinder which may protrude outside the generatrix of the cylinder, as well as a retaining plate fixed to the cylinder perpendicular to its axis.
- the centering cylinder has a diameter slightly less than that of the central hole of the discs, and it has a base of rounded or ogival shape.
- the movable blade is integrated in the body of the cylinder and is articulated around an axis perpendicular to the axis of the cylinder, so that in the rest position it is fully or almost entirely retracted into the cylinder while it partially comes out when rotated on its axis.
- This blade is preferably continuous, unitary and rigid over its entire length or at least over the part of its length liable to come into contact with the disc.
- the tilting movement of the blade can be controlled in the usual way, for example by means of a cam acting against a return spring, so that the spring tends to hold the blade in the cylinder, and that the mechanism actuation causes it to partially exit the cylinder when the device has been inserted into the central hole of the disc stack in order to block the first disc of the stack, as indicated below.
- the edge of the movable blade has a rough surface, facilitating the attachment of the disc by the inner edge of its central hole.
- the surface of the cylinder, close to the retaining plate, can also be treated so as to prevent any sliding of the disc when it is removed from the stack by the device. This can be obtained for example by forming slight transverse streaks on the surface of the cylinder, on its entire periphery or only on the part of the surface diametrically opposite to the outlet orifice of the movable blade.
- the plate perpendicular to the cylinder preferably consisting of a ring projecting around the cylinder, has the dual function of serving as a stop for the engagement of the cylinder in the central hole of the stack of discs, and also of preventing the disc from tilting. removed by the device, as described below.
- the plate fixed on the periphery of the cylinder is preferably a ring, of the same axis as the cylinder, and has the function, in combination with the moving blade, of holding the disc so that it does not not rock and remains in a plane substantially perpendicular to the axis of the cylinder.
- This ring can be continuous and completely surround the cylinder or be discontinuous.
- the retaining plate can be produced in the form of two tabs extending symmetrically on either side of the tilting plane of the movable blade.
- the device of the invention can advantageously be incorporated into a disc processing robot, comprising means for moving the device in space between several determined positions, so as to take a disc from a stack to bring it to a station treatment then storage location.
- This robot may for example include means for engraving or printing discs, and in particular constitute a single or multiple burner or a printer for discs or CD-ROMs, ensuring the automatic processing of large series of discs.
- the operation of the device of the invention is done as indicated below. Initially, the device being at rest, the cylinder is arranged vertically and the movable blade is held in the cylinder by a return spring or an equivalent means, so that it does not protrude beyond the generator of the cylinder. If necessary, the blade may protrude slightly outside the cylinder, but the height of the protrusion must be less than the difference between the diameter of the central hole of the discs and that of the cylinder so that the blade cannot prevent the introduction of the device. in the center hole of the disc.
- the device is brought above the stack of discs to be treated, for example using an extendable arm pivotally mounted on an axis, and the height of which can be adapted. Adjusting the positioning of the arm so that the cylinder of the device is substantially in the axis of the central hole of the disc stack can be carried out by conventional means, for example by presets or by detector cells.
- the arm When the device is just above the disc stack, the arm is moved vertically, from top to bottom, so that the base of the cylinder engages in the central hole of the disc stack. If the stacked discs one on the other are not perfectly coaxial, the rounded shape of the base of the cylinder allows to center the discs as the cylinder sinks into the central hole.
- the device is lowered until the retaining plate comes into contact with the first disc on the top of the stack. In this position, the device is preferably slightly displaced laterally so that the surface of the cylinder is tangent with the internal edge of the discs of the stack, the point of tangency being opposite the movable blade.
- the mechanism for actuating the movable blade is operated, causing the blade to tilt about its horizontal axis. This movement is carried out until the blade comes into contact with the inner edge of the disc.
- the shape of the blade is designed so that its part in contact with the inner edge of the disc is almost parallel to the axis of the cylinder, very slightly inclined inward. In this position, the roughness constituting the surface roughness of the edge of the blade is essentially in contact with the edge of the first disc on the top of the stack.
- the arm carrying the device of the invention is then raised vertically, from the bottom up, and in this movement the first disc of the stack is held on the cylinder, the contact being made at two diametrically opposite points, on the edge of the blade, on the one hand, and on the point of tangency of the cylinder diametrically opposite to the blade, on the other hand.
- the upper face of the disc is against the retaining plate which prevents any tilting of the disc along the axis of the two aforementioned contact points.
- the device carrying the disc can be moved so as to be brought to a processing area for the disc, for example above the open drawer of a disc burner or above a workstation. printing of the surface of the disc, in a printer.
- a processing area for the disc for example above the open drawer of a disc burner or above a workstation.
- printing of the surface of the disc in a printer.
- the device is brought back above the disc, it is lowered until the base of the cylinder engages in the central hole of the disc, the movement is extended until the plate retainer comes into contact with the surface of the disc, and the blade is again moved towards the outside of the cylinder by pivoting on its axis to come into contact with the inner edge of the disc, as above.
- the device is then lifted and moved, with the disc held on the cylinder, to a storage station where the disc is released to be placed on top of a stack of discs.
- Figure 1 a front view of a device according to the present invention.
- Figure 2 a side view of the device shown in Figure 1.
- Figure 3 a view of the device showing a disc in the battery removal position.
- Figure 4 a schematic view of a robot for burning discs, including the device of Figure 1.
- the device of the invention comprises a cylinder (1) whose base (2), intended to be introduced into the central hole of the disc to be moved, is rounded.
- the position of the ring (3) on the cylinder can be adjusted by means of the screw (5), the ring being able to slide within the limit of the oblong hole through which the screw passes.
- the blade (6) incorporated in the cylinder can pivot around its axis (7) against the return spring (8).
- the pivoting of the blade (6) relative to the axis (7) is controlled by a mechanism of the usual type, not shown in detail in the figures.
- the blade is controlled by a solenoid connected to the blade by means of a spring (not shown).
- This spring is fixed to the blade by the hole (9) placed under the return spring (8) of the blade.
- the ring (10) allows the cylinder (1) to be fixed on its support.
- Figure 3 when the cylinder (1) has been engaged in the central hole of a disc stack and the blade (6) has been actuated by pivoting about its axis (7) outward cylinder, the first disc in the stack is driven by the device.
- the disc (D) is then in the position shown in Figure 3 where the blade (4) bears against the inner edge (lia) of the central hole of the disc (D) whose diametrically opposite point (11b) is then blocked against the cylinder wall (1).
- the contact points (11a) and (11b) define an axis around which the disc (D) could tilt. This tilting is made impossible by the contact ring (4) against which the disc (D) is pressed. This locking of the disc (D) along the axis (11a - 11b) supplemented by the anti-tilting effect of the contact ring (4) keeps the disc (D) in place on the cylinder (1) and move it in all directions using the mechanism shown schematically in Figure 4.
- FIG. 4 represents a robot intended to burn a series of discs, by successively removing discs from a first stack, bringing them to the drawer of an engraver multiple, and then taking them back to temporarily store them on a second stack.
- the blank discs (not shown) are stacked on the location (14) delimited by the three vertical rods (14a, 14b, 14c), and in the cycle start position the arm (12) carrying the device of the invention is oriented so that the cylinder (1) is above the stack of blank discs.
- the arm (12) is of a usual type in robotics. It can pivot on an axis by means of a mechanism (13) placed on its pivot axis to be oriented in the appropriate direction, and increase or reduce its length by a telescopic device so that the cylinder (1) can be placed just above the central hole of the discs stacked on the location (14).
- the same location (15) is provided for receiving the discs after their treatment, and is delimited by the three vertical rods (15a, 15b, 15c).
- the disc When releasing the blade (6) the disc falls into the drawer which can be closed to perform r engraving.
- the drawer At the end of treatment, the drawer is opened and the arm (12) is lowered so that the cylinder is inserted into the central hole of the disc until the contact ring (4) touches the upper surface of the disc. .
- the mechanism is again actuated as above and the arm is raised, then pivoted on its axis, to bring the disc above the storage location (15) where it is deposited after lowering the arm to an appropriate height and releasing the blocking blade.
- the movements of the arm (12) and the actuation of the blade (6) of the device are controlled by conventional electronic equipment.
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Abstract
Description
DISPOSITIF POUR PRELEVER UN DISQUE SUR UNE PILE. DEVICE FOR TAKING A DISC FROM A STACK.
La présente invention concerne un dispositif destiné à manipuler des objets plats, et plus particulièrement un dispositif permettant de prélever et déplacer un disque sur une pile de disques. De nombreux appareillages comportent des moyens pour manipuler, trier, sélectionner ou déplacer des objets plats tels que des disques, des cédéroms, des disques compacts, etc, et par exemple il existe sur le marché des appareils robotisés destinés à enregistrer des données sur des nombres élevés de disques. Ainsi, on connaît des robots capables de graver des disques ou des cédéroms, ou d'y imprimer une étiquette ou des signes quelconques. De tels appareils doivent comporter des dispositifs pour manipuler et déplacer des disques depuis un emplacement où des disques vierges sont stockés vers une station de gravage ou d'impression, puis jusqu'à un emplacement de stockage des disques gravés ou imprimés. Dans de tels appareils les disques à traiter sont empilés les uns sur les autres, et il est nécessaire de pouvoir prélever le premier disque de la pile sans entraîner le ou les suivants. A cet effet, on connaît des appareils comprenant des moyens de préhension des disques sous forme de ventouses qui sont plaquées sur la face supérieure du disque et sont susceptibles de le libérer après l'avoir déplacé. Cependant les dispositifs de ce type sont généralement complexes à mettre en œuvre et leur fonctionnement est souvent relativement lent.The present invention relates to a device for handling flat objects, and more particularly to a device for picking up and moving a disc on a stack of discs. Many devices include means for handling, sorting, selecting or moving flat objects such as discs, CD-ROMs, compact discs, etc., for example there are on the market robotic devices intended to record data on numbers high discs. Thus, there are known robots capable of burning discs or CD-ROMs, or printing any label or signs thereon. Such devices must include devices for handling and moving discs from a location where blank discs are stored to an engraving or printing station, and then to a storage location for burned or printed discs. In such devices the discs to be treated are stacked on top of each other, and it is necessary to be able to take the first disc from the stack without causing the following one or more. To this end, devices are known comprising means for gripping the discs in the form of suction cups which are pressed against the upper face of the disc and are capable of releasing it after having moved it. However, devices of this type are generally complex to implement and their operation is often relatively slow.
Le brevet US 4.552.285 décrit un dispositif pour extraire un disque d'une pile en exerçant une pression sur la pile pour éjecter un ou plusieurs disques par la base de la pile. Un dispositif de ce type n'est cependant pas adapté à la manipulation de disques pour les graver ou les imprimer. Un autre dispositif est décrit dans le brevet US 5.873.692 où les disques empilés les uns sur les autres sont saisis par leur trou central au moyen d'une pince à trois tiges disposées suivant un triangle équilatéral, dont deux sont fixes et la troisième mobile ; les trois tiges sont introduites dans le trou central de telle sorte que les deux tiges fixes soient en contact avec le bord intérieur du trou central, la tige mobile étant inclinée vers le centre, puis on fait pivoter la tige mobile vers l'extérieur jusqu'à entrer en contact avec le bord du trou central du disque. En jouant sur l'écartement et l'inclinaison de la tige mobile, on peut faire en sorte que, si l'ensemble est soulevé, seul le disque supérieur de la pile soit entraîné. Le brevet US 5.560.624 décrit un dispositif de manipulation de disque par son trou central pendant sa fabrication ou sa gravure au moyen d'un collet cylindrique expansible comportant une pluralité de doigts longitudinaux articulés ; les moyens utilisés dans ce dispositifs sont destinés à maintenir le disque pendant son traitement et ne sont pas adaptés à un simple déplacement d'un emplacement à un autre. Un autre dispositif robot manipulateur comportant un collet expansible à doigts longitudinaux est décrit dans le brevet US 5.247.408. Un dispositif comportant un cylindre divisé en deux parties suivant un diamètre est décrit dans le brevet US 5.275.424 ; dans ce dispositif, un mécanisme rappro-. che les deux moitiés cylindriques l'une de l'autre pour permettre l'engagement du cylindre dans le trou central du disque, puis les écarte pour les appliquer contre la face intérieure du disque, mais un tel dispositif n'est pas adapté au prélèvement d'un seul disque sur une pile.US Patent 4,552,285 describes a device for extracting a disc from a stack by exerting pressure on the stack to eject one or more discs from the base of the stack. A device of this type, however, is not suitable for handling discs for burning or printing them. Another device is described in US Patent 5,873,692 where the discs stacked on top of each other are gripped by their central hole by means of pliers with three rods arranged in an equilateral triangle, two of which are fixed and the third mobile; the three rods are introduced into the central hole so that the two fixed rods are in contact with the inner edge of the central hole, the movable rod being inclined towards the center, then the movable rod is pivoted outwards until to come into contact with the edge of the central hole of the disc. By varying the spacing and the inclination of the movable rod, it can be ensured that, if the assembly is raised, only the upper disc of the stack is driven. US Patent 5,560,624 describes a device for handling a disc through its central hole during its manufacture or its etching by means of an expandable cylindrical collar comprising a plurality of articulated longitudinal fingers; the means used in this device are intended to hold the disc during its processing and are not suitable for a simple movement from one location to another. Another robot manipulator device comprising an expandable collar with longitudinal fingers is described in US Pat. No. 5,247,408. A device comprising a cylinder divided into two parts along a diameter is described in US Patent 5,275,424; in this device, a closer mechanism. che the two cylindrical halves of each other to allow engagement of the cylinder in the central hole of the disc, then spreads them to apply them against the inner face of the disc, but such a device is not suitable for sampling of a single disk on a stack.
La présente invention a pour objet un dispositif destiné à être incorporé dans un robot pour le traitement de disques plats, permettant de prélever un disque sur une pile pour le déplacer jusqu'à un poste de traitement, et de le reprendre pour l'amener jusqu'à un emplacement de stockage.The subject of the present invention is a device intended to be incorporated into a robot for processing flat discs, making it possible to take a disc from a stack to move it to a processing station, and to take it back to bring it up to 'at a storage location.
La présente invention a aussi pour objet un dispositif perfectionné permettant de prélever un disque percé en son centre, en particulier un cédérom ou un disque compact, sur une pile de disques, de le déplacer et de le déposer sur une autre pile.The present invention also relates to an improved device making it possible to take a disc pierced at its center, in particular a CD-ROM or a compact disc, on a stack of discs, move it and drop it on another stack.
La présente invention a encore pour objet un robot pour le traitement de disques, notamment la gravure et/ou l'impres- sion de cédéroms et de disques compacts, incorporant un dispositif du type ci-dessus.The present invention also relates to a robot for processing discs, in particular the burning and / or printing of CD-ROMs and compact discs, incorporating a device of the above type.
Le dispositif selon la présente invention permet de prélever un disque percé en son centre se trouvant sur une pile de disques et de le déplacer, sans entraîner les autres disques de la pile, et plus particulièrement de prélever un disque sur une pile pour l'amener jusqu'à un poste de traitement, puis de le reprendre après traitement pour l'amener jusqu'à un emplacement de stockage, et il se distingue en ce qu'il comporte un cylindre centreur susceptible d'être intro- duit dans le trou central du disque, une lame mobile suivant un rayon du cylindre pouvant dépasser hors de la génératrice du cylindre, ainsi qu'une plaque de retenue fixée sur le cylindre perpendiculairement à son axe.The device according to the present invention makes it possible to take a disc pierced in its center located on a stack of discs and to move it, without driving the other discs of the stack, and more particularly to take a disc on a stack to bring it to a treatment station, then to resume it after treatment to bring it to a storage location, and it is distinguished in that it comprises a centering cylinder capable of being inserted into the central hole of the disc, a movable blade along a radius of the cylinder which may protrude outside the generatrix of the cylinder, as well as a retaining plate fixed to the cylinder perpendicular to its axis.
Suivant une forme préférentielle de réalisation de l'invention, le cylindre centreur a un diamètre légèrement inférieur à celui du trou central des disques, et il présente une base de forme arrondie ou ogivale. Ainsi, lorsque le dispositif est amené au-dessus de la pile de disques et qu'il est abaissé de telle sorte que la base du cylindre s'engage dans le trou central des premiers disques de la pile, ce mouvement de descente du cylindre a pour effet de recentrer les disques de la pile qui pourraient être légèrement décalés les uns par rapport aux autres.According to a preferred embodiment of the invention, the centering cylinder has a diameter slightly less than that of the central hole of the discs, and it has a base of rounded or ogival shape. Thus, when the device is brought above the stack of discs and it is lowered so that the base of the cylinder engages in the central hole of the first discs of the stack, this movement of descent of the cylinder has in order to re-center the discs of the stack which could be slightly offset with respect to each other.
La lame mobile est intégrée dans le corps du cylindre et est articulée autour d'un axe perpendiculaire à l'axe du cylindre, de telle sorte qu'en position de repos elle soit entièrement ou presque entièrement rentrée dans le cylindre tandis qu'elle en sort partiellement quand on la fait pivoter sur son axe. Cette lame est de préférence continue, unitaire et rigide sur toute sa longueur ou au moins sur la partie de sa longueur susceptible d'entrer en contact avec le disque.The movable blade is integrated in the body of the cylinder and is articulated around an axis perpendicular to the axis of the cylinder, so that in the rest position it is fully or almost entirely retracted into the cylinder while it partially comes out when rotated on its axis. This blade is preferably continuous, unitary and rigid over its entire length or at least over the part of its length liable to come into contact with the disc.
Le mouvement de basculement de la lame peut être commandé de manière usuelle, par exemple au moyen d'une came agissant contre un ressort de rappel, de telle sorte que le ressort tende à maintenir la lame dans le cylindre, et que le mécanisme d' actionnement la fasse sortir partiellement du cylindre lorsque le dispositif a été introduit dans le trou central de la pile de disque afin de bloquer le premier disque de la pile, comme indiqué ci-après.The tilting movement of the blade can be controlled in the usual way, for example by means of a cam acting against a return spring, so that the spring tends to hold the blade in the cylinder, and that the mechanism actuation causes it to partially exit the cylinder when the device has been inserted into the central hole of the disc stack in order to block the first disc of the stack, as indicated below.
De préférence, le bord de la lame mobile présente une surface rugueuse, facilitant l'accrochage du disque par le bord intérieur de son trou central. La surface du cylindre, à proximité de la plaque de retenue, peut aussi être traitée de manière à éviter tout glissement du disque lorsqu'il est enlevé de la pile par le dispositif. Ceci peut être obtenu par exemple en formant de légères stries transversales sur la surface du cylindre, sur toute sa périphérie ou seulement sur la partie de la surface diamétralement opposée à l'orifice de sortie de la lame mobile.Preferably, the edge of the movable blade has a rough surface, facilitating the attachment of the disc by the inner edge of its central hole. The surface of the cylinder, close to the retaining plate, can also be treated so as to prevent any sliding of the disc when it is removed from the stack by the device. This can be obtained for example by forming slight transverse streaks on the surface of the cylinder, on its entire periphery or only on the part of the surface diametrically opposite to the outlet orifice of the movable blade.
La plaque perpendiculaire au cylindre, constituée de préférence par un anneau débordant autour du cylindre, a pour double fonction de servir de butée à l'engagement du cylindre dans le trou central de la pile de disques, et aussi d'empêcher le basculement du disque enlevé par le dispositif, comme décrit ci-après.The plate perpendicular to the cylinder, preferably consisting of a ring projecting around the cylinder, has the dual function of serving as a stop for the engagement of the cylinder in the central hole of the stack of discs, and also of preventing the disc from tilting. removed by the device, as described below.
Comme indiqué ci-dessus, la plaque fixée sur la périphérie du cylindre est de préférence un anneau, de même axe que le cylindre, et a pour fonction, en combinaison avec la lame mobile, de maintenir le disque de telle sorte qu'il ne bascule pas et reste dans un plan sensiblement perpendiculaire à l'axe du cylindre. Cet anneau peut être continu et entourer intégralement le cylindre ou être discontinu.As indicated above, the plate fixed on the periphery of the cylinder is preferably a ring, of the same axis as the cylinder, and has the function, in combination with the moving blade, of holding the disc so that it does not not rock and remains in a plane substantially perpendicular to the axis of the cylinder. This ring can be continuous and completely surround the cylinder or be discontinuous.
Suivant une variante conforme à l'invention, la plaque de retenue peut être réalisée sous la forme de deux languettes s 'étendant symétriquement de part et d'autre du plan de basculement de la lame mobile.According to a variant according to the invention, the retaining plate can be produced in the form of two tabs extending symmetrically on either side of the tilting plane of the movable blade.
Le dispositif de l'invention peut être avantageusement incorporé dans un robot de traitement de disques, comportant des moyens pour déplacer le dispositif dans l'espace entre plusieurs positions déterminées, de manière à prélever un disque sur une pile pour l'amener à un poste de traitement puis à emplacement de stockage. Ce robot peut par exemple comporter des moyens pour graver ou imprimer des disques, et constituer notamment un graveur simple ou multiple ou une imprimante pour disques ou cédéroms, assurant le traitement automatique de séries importantes de disques.The device of the invention can advantageously be incorporated into a disc processing robot, comprising means for moving the device in space between several determined positions, so as to take a disc from a stack to bring it to a station treatment then storage location. This robot may for example include means for engraving or printing discs, and in particular constitute a single or multiple burner or a printer for discs or CD-ROMs, ensuring the automatic processing of large series of discs.
Le fonctionnement du dispositif de l'invention se fait comme indiqué ci-après. Dans un premier temps, le dispositif étant au repos, le cylindre est disposé verticalement et la lame mobile est maintenue dans le cylindre par un ressort de rappel ou un moyen équivalent, de telle sorte qu'elle ne dépasse pas au-delà de la génératrice du cylindre. Le cas échéant la lame peut dépas- ser légèrement hors du cylindre, mais la hauteur du dépassement doit être inférieure à la différence entre le diamètre du trou central des disques et celui du cylindre afin que la lame ne puisse pas empêcher l'introduction du dispositif dans le trou central du disque. Le dispositif est amené au-dessus de la pile de disques à traiter, par exemple à l'aide d'un bras extensible monté pivotant sur un axe, et dont la hauteur peut être adaptée. L'ajustement du positionnement du bras pour que le cylindre du dispositif soit sensiblement dans l'axe du trou central de la pile de disque peut être réalisé par des moyens usuels, par exemple par des préréglages ou par des cellules détectrices.The operation of the device of the invention is done as indicated below. Initially, the device being at rest, the cylinder is arranged vertically and the movable blade is held in the cylinder by a return spring or an equivalent means, so that it does not protrude beyond the generator of the cylinder. If necessary, the blade may protrude slightly outside the cylinder, but the height of the protrusion must be less than the difference between the diameter of the central hole of the discs and that of the cylinder so that the blade cannot prevent the introduction of the device. in the center hole of the disc. The device is brought above the stack of discs to be treated, for example using an extendable arm pivotally mounted on an axis, and the height of which can be adapted. Adjusting the positioning of the arm so that the cylinder of the device is substantially in the axis of the central hole of the disc stack can be carried out by conventional means, for example by presets or by detector cells.
Lorsque le dispositif est juste au-dessus de la pile de disques, le bras est déplacé verticalement, du haut vers le bas, de telle sorte que la base du cylindre s'engage dans le trou central de la pile de disques. Si les disques empilés les uns sur les autres ne sont pas parfaitement coaxiaux, la forme arrondie de la base du cylindre permet de recentrer les disques au fur et à mesure que le cylindre s'enfonce dans le trou central. Le dispositif est abaissé jusqu'à ce que la plaque de retenue vienne en contact avec le premier disque se trouvant sur le dessus de la pile. Dans cette position, le dispositif est de préférence légèrement déplacé latéralement de telle sorte que la surface du cylindre soit tangente avec le bord interne des disques de la pile, le point de tangence se trouvant à l'opposé de la lame mobile. Dans le même temps, le mécanisme d' actionnement de la lame mobile est opéré, provoquant le basculement de la lame autour de son axe horizontal. Ce mouvement est effectué jusqu'à ce que la lame vienne en contact avec le bord intérieur du disque. La forme de la lame est conçue de telle sorte que sa partie en contact avec le bord intérieur du disque soit presque parallèle à l'axe du cylindre, très légèrement inclinée vers l'intérieur. Dans cette position, les aspérités constituant la rugosité de surface du bord de la lame sont essentiellement en contact avec le bord du premier disque sur le dessus de la pile.When the device is just above the disc stack, the arm is moved vertically, from top to bottom, so that the base of the cylinder engages in the central hole of the disc stack. If the stacked discs one on the other are not perfectly coaxial, the rounded shape of the base of the cylinder allows to center the discs as the cylinder sinks into the central hole. The device is lowered until the retaining plate comes into contact with the first disc on the top of the stack. In this position, the device is preferably slightly displaced laterally so that the surface of the cylinder is tangent with the internal edge of the discs of the stack, the point of tangency being opposite the movable blade. At the same time, the mechanism for actuating the movable blade is operated, causing the blade to tilt about its horizontal axis. This movement is carried out until the blade comes into contact with the inner edge of the disc. The shape of the blade is designed so that its part in contact with the inner edge of the disc is almost parallel to the axis of the cylinder, very slightly inclined inward. In this position, the roughness constituting the surface roughness of the edge of the blade is essentially in contact with the edge of the first disc on the top of the stack.
Le bras portant le dispositif de l'invention est alors relevé verticalement, du bas vers le haut, et dans ce mouvement le premier disque de la pile se trouve maintenu sur le cylindre, le contact se faisant en deux points diamétralement opposés, sur le bord de la lame, d'une part, et sur le point de tangence du cylindre diamétralement opposé à la lame, d'autre part. La face supérieure du disque se trouve contre la plaque de retenue qui empêche tout basculement du disque suivant l'axe des deux points de contact précités.The arm carrying the device of the invention is then raised vertically, from the bottom up, and in this movement the first disc of the stack is held on the cylinder, the contact being made at two diametrically opposite points, on the edge of the blade, on the one hand, and on the point of tangency of the cylinder diametrically opposite to the blade, on the other hand. The upper face of the disc is against the retaining plate which prevents any tilting of the disc along the axis of the two aforementioned contact points.
Dans cette position, le dispositif portant le disque peut être déplacé de manière à être amené jusqu'à une zone de traitement du disque, par exemple au-dessus du tiroir ouvert d'un graveur de disque ou au-dessus d'un poste d'impression de la surface du disque, dans une imprimante. Lorsque le dispositif est placé dans la position voulue, il suffit de libérer la lame mobile qui revient vers l'intérieur du cylindre par pivotement sur son axe horizontal sous l'action du ressort, libérant ainsi le disque. Puis le dispositif est relevé. Une fois le traitement effectué, le dispositif est ramené au-dessus du disque, il est abaissé jusqu'à ce que la base du cylindre s'engage dans le trou central du disque, le mouvement est prolongé jusqu'à ce que la plaque de retenue vienne en contact avec la surface du disque, et la lame est à nouveau déplacée vers l'extérieur du cylindre par pivotement sur son axe pour venir en contact avec le bord intérieur du disque, comme ci-dessus.In this position, the device carrying the disc can be moved so as to be brought to a processing area for the disc, for example above the open drawer of a disc burner or above a workstation. printing of the surface of the disc, in a printer. When the device is placed in the desired position, it suffices to release the movable blade which returns towards the inside of the cylinder by pivoting on its horizontal axis under the action of the spring, thereby releasing the disc. Then the device is raised. Once the treatment has been carried out, the device is brought back above the disc, it is lowered until the base of the cylinder engages in the central hole of the disc, the movement is extended until the plate retainer comes into contact with the surface of the disc, and the blade is again moved towards the outside of the cylinder by pivoting on its axis to come into contact with the inner edge of the disc, as above.
Le dispositif est ensuite relevé et déplacé, avec le disque maintenu sur le cylindre, jusqu'à un poste de stockage où le disque est libéré pour être placé sur le dessus d'une pile de disques.The device is then lifted and moved, with the disc held on the cylinder, to a storage station where the disc is released to be placed on top of a stack of discs.
Les caractéristiques et avantages de la présente invention apparaîtront plus en détail dans la description qui suit, • relative à une forme préférentielle de réalisation, en réfé- rence aux dessins annexés qui représentent :The characteristics and advantages of the present invention will appear in more detail in the description which follows, relating to a preferred embodiment, with reference to the appended drawings which represent:
Figure 1 : une vue de face d'un dispositif conforme à la présente 1 ' invention.Figure 1: a front view of a device according to the present invention.
Figure 2 : une vue de côté du dispositif représenté sur le Figure 1. Figure 3 : une vue du dispositif montrant un disque en position d'enlèvement d'une pile.Figure 2: a side view of the device shown in Figure 1. Figure 3: a view of the device showing a disc in the battery removal position.
Figure 4 : une vue schématique d'un robot destiné à la gravure de disques, comprenant le dispositif de la Figure 1.Figure 4: a schematic view of a robot for burning discs, including the device of Figure 1.
Comme le montrent les Figures 1 et 2, le dispositif de l'invention comprend un cylindre (1) dont la base (2), destinée à être introduite dans le trou central du disque à déplacer, est arrondie.As shown in Figures 1 and 2, the device of the invention comprises a cylinder (1) whose base (2), intended to be introduced into the central hole of the disc to be moved, is rounded.
Un anneau (3) fixé sur le cylindre, et coaxial avec lui, porte sur sa face inférieure une plaque de contact (4) qui vient prendre appui contre la surface du disque lorsque le dispositif est introduit dans le trou central d'un disque D comme représenté sur la Figure 3.A ring (3) fixed on the cylinder, and coaxial with it, carries on its underside a contact plate (4) which comes to bear against the surface of the disc when the device is inserted into the central hole of a disk D as shown in Figure 3.
La position de l'anneau (3) sur le cylindre peut être ajustée au moyen de la vis (5), l'anneau pouvant coulisser dans la limite du trou oblong que traverse la vis.The position of the ring (3) on the cylinder can be adjusted by means of the screw (5), the ring being able to slide within the limit of the oblong hole through which the screw passes.
La lame (6) incorporée dans le cylindre, peut pivoter autour de son axe (7) contre le ressort de rappel (8) .The blade (6) incorporated in the cylinder, can pivot around its axis (7) against the return spring (8).
Le pivotement de la lame (6) par rapport à l'axe (7) est commandé par un mécanisme de type usuel, non représenté en détail sur les figures. La commande de la lame est réalisée par un solénoïde lié à la lame par l'intermédiaire d'un ressort (non représenté) . Ce ressort est fixé à la lame par le trou (9) placé sous le ressort de rappel (8) de la lame. La bague (10) permet de fixer le cylindre (1) sur son support. Comme le montre la figure 3, lorsque le cylindre (1) a été engagé dans le trou central d'une pile de disque et que la lame (6) a été actionnée par pivotement autour de son axe (7) vers l'extérieur du cylindre, le premier disque de la pile est entraîné par le dispositif. Le disque (D) se trouve alors dans la position représentée sur la figure 3 où la lame (4) prend appui contre le bord intérieur (lia) du trou central du disque (D) dont le point diamétralement opposé (11b) se trouve alors bloqué contre la paroi du cylindre (1) .The pivoting of the blade (6) relative to the axis (7) is controlled by a mechanism of the usual type, not shown in detail in the figures. The blade is controlled by a solenoid connected to the blade by means of a spring (not shown). This spring is fixed to the blade by the hole (9) placed under the return spring (8) of the blade. The ring (10) allows the cylinder (1) to be fixed on its support. As shown in Figure 3, when the cylinder (1) has been engaged in the central hole of a disc stack and the blade (6) has been actuated by pivoting about its axis (7) outward cylinder, the first disc in the stack is driven by the device. The disc (D) is then in the position shown in Figure 3 where the blade (4) bears against the inner edge (lia) of the central hole of the disc (D) whose diametrically opposite point (11b) is then blocked against the cylinder wall (1).
Les points de contact (lia) et (11b) définissent un axe autour duquel le disque (D) pourrait basculer. Ce basculement est rendu impossible par l'anneau de contact (4) contre lequel le disque (D) se trouve plaqué. Ce blocage du disque (D) suivant l'axe (lia - 11b) complété par l'effet anti-basculement de l'anneau de contact (4) permet de maintenir le disque (D) en place sur le cylindre (1) et de le déplacer dans toutes les directions grâce au mécanisme représenté schématiquement sur la figure 4.The contact points (11a) and (11b) define an axis around which the disc (D) could tilt. This tilting is made impossible by the contact ring (4) against which the disc (D) is pressed. This locking of the disc (D) along the axis (11a - 11b) supplemented by the anti-tilting effect of the contact ring (4) keeps the disc (D) in place on the cylinder (1) and move it in all directions using the mechanism shown schematically in Figure 4.
La figure 4 représente un robot destiné à graver une série de disques, en prélevant successivement des disques dans une première pile, en les amenant jusqu'au tiroir d'un graveur multiple, et en les reprenant ensuite pour les stocker provisoirement sur une deuxième pile.FIG. 4 represents a robot intended to burn a series of discs, by successively removing discs from a first stack, bringing them to the drawer of an engraver multiple, and then taking them back to temporarily store them on a second stack.
Les disques vierges (non représentés) sont empilés sur l'emplacement (14) délimité par les trois tiges verticales (14a, 14b, 14c), et en position de début de cycle le bras (12) portant le dispositif de l'invention est orienté de telle sorte que le cylindre (1) soit au-dessus de la pile de disques vierges. Le bras (12) est d'un type usuel en robotique. Il peut pivoter sur un axe au moyen d'un mécanisme (13) placé sur son axe de pivotement pour être orienté dans la direction appropriée, et augmenter ou réduire sa longueur par un dispositif télescopique afin que le cylindre (1) puisse être placé juste au-dessus du trou central des disques empilés sur l'emplacement (14). Un même emplacement (15) est prévu pour la réception des disques après leur traitement, et est délimité par les trois tiges verticales (15a, 15b, 15c) .The blank discs (not shown) are stacked on the location (14) delimited by the three vertical rods (14a, 14b, 14c), and in the cycle start position the arm (12) carrying the device of the invention is oriented so that the cylinder (1) is above the stack of blank discs. The arm (12) is of a usual type in robotics. It can pivot on an axis by means of a mechanism (13) placed on its pivot axis to be oriented in the appropriate direction, and increase or reduce its length by a telescopic device so that the cylinder (1) can be placed just above the central hole of the discs stacked on the location (14). The same location (15) is provided for receiving the discs after their treatment, and is delimited by the three vertical rods (15a, 15b, 15c).
Entre les deux emplacements (14) et (15) se trouvent plusieurs graveurs de disques, dont les tiroirs (16a, 16b, 16c) sont représentés en position d'ouverture sur la figure 4. La bras (12) est abaissé grâce au déplacement du mécanisme (13) sur la colonne (17), de telle sorte que le cylindre (1) s'engage dans le trou central de la pile de disques jusqu'à ce que l'anneau de contact (4)," représenté sur les figures 1 à 3, vienne en contact avec la face supérieure du premier disque. La lame du dispositif est alors actionnée comme indiqué précédemment et le bras est relevé en faisant coulisser le mécanisme (13) verticalement vers le haut sur sa colonne (17). Dans ce mouvement, le premier disque de la pile est bloqué sur le cylindre par la lame (6), et, par un mouvement de rotation puis de descente du bras (12), il est amené juste au-dessus du premier tiroir (16a) du graveur. En libérant alors la lame (6) le disque tombe dans le tiroir qui peut être refermé pour effectuer la gravure. En fin de traitement, le tiroir est ouvert et le bras (12) est abaissé de telle sorte que le cylindre s'introduise dans le trou central du disque jusqu'à ce l'anneau de contact (4) touche la surface supérieure du disque. Le mécanisme est à nouveau actionné comme ci-dessus et le bras est relevé, puis pivoté sur son axe, pour amener le disque au-dessus de l'emplacement de stockage (15) où il est déposé après abaissement du bras sur une hauteur appropriée et libération de la lame de blocage. Les mouvements du bras (12) et 1 ' actionnement de la lame (6) du dispositif sont contrôlés par un appareillage électronique usuel.Between the two locations (14) and (15) are several disc burners, the drawers (16a, 16b, 16c) are shown in the open position in Figure 4. The arm (12) is lowered by movement of the mechanism (13) on the column (17), so that the cylinder (1) engages in the central hole of the stack of discs until the contact ring (4), "shown on Figures 1 to 3 come into contact with the upper face of the first disc, the blade of the device is then actuated as indicated above and the arm is raised by sliding the mechanism (13) vertically upwards on its column (17) In this movement, the first disc of the stack is blocked on the cylinder by the blade (6), and, by a movement of rotation then of descent of the arm (12), it is brought just above the first drawer ( 16a) of the engraver. When releasing the blade (6) the disc falls into the drawer which can be closed to perform r engraving. At the end of treatment, the drawer is opened and the arm (12) is lowered so that the cylinder is inserted into the central hole of the disc until the contact ring (4) touches the upper surface of the disc. . The mechanism is again actuated as above and the arm is raised, then pivoted on its axis, to bring the disc above the storage location (15) where it is deposited after lowering the arm to an appropriate height and releasing the blocking blade. The movements of the arm (12) and the actuation of the blade (6) of the device are controlled by conventional electronic equipment.
Le cycle de fonctionnement du dispositif décrit ci-dessus est répété pour chaque disque en utilisant alternativement les tiroirs (16a), (16b) et (16c) du graveur. The operating cycle of the device described above is repeated for each disc using alternately the drawers (16a), (16b) and (16c) of the recorder.
Claims
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2003258821A AU2003258821A1 (en) | 2002-06-20 | 2003-06-20 | Device for picking a disc from a stack |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR02/07645 | 2002-06-20 | ||
| FR0207645A FR2841230B1 (en) | 2002-06-20 | 2002-06-20 | DEVICE FOR TAKING A DISC ON A BATTERY |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO2004001757A2 true WO2004001757A2 (en) | 2003-12-31 |
| WO2004001757A3 WO2004001757A3 (en) | 2004-04-01 |
Family
ID=29719911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/FR2003/001907 Ceased WO2004001757A2 (en) | 2002-06-20 | 2003-06-20 | Device for picking a disc from a stack |
Country Status (3)
| Country | Link |
|---|---|
| AU (1) | AU2003258821A1 (en) |
| FR (1) | FR2841230B1 (en) |
| WO (1) | WO2004001757A2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018044A (en) * | 2018-06-20 | 2018-12-18 | 中国矿业大学 | Unmanned mobile shop |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2922540B1 (en) * | 2007-10-23 | 2010-06-18 | Imedia Technologies Imt | IMPROVED DEVICE FOR PREVENTING DISCS. |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5235579A (en) * | 1990-03-15 | 1993-08-10 | Cyberkinetics Ltd. | Compact disc storage retrieval and loading device |
| JP3154256B2 (en) * | 1990-07-31 | 2001-04-09 | ソニー株式会社 | Disc changer disc clamping device |
| JPH0537451U (en) * | 1991-10-22 | 1993-05-21 | 日本ミクロコーテイング株式会社 | Disk-shaped disk fixing device |
| EP0697127A1 (en) * | 1993-05-06 | 1996-02-21 | National Film Board Of Canada | System and method for accessing information on stored optical discs |
| DE4334866A1 (en) * | 1993-10-06 | 1995-04-13 | K & S Systemtechnik Und Vertri | Clamping device for data carriers |
| US5560624A (en) * | 1994-09-02 | 1996-10-01 | Exclusive Design Company | Disk clamping collet system |
| US5698030A (en) * | 1995-01-31 | 1997-12-16 | Nobler Technologies, Inc. | Compact disc coating and handling system |
| US5673195A (en) * | 1995-06-12 | 1997-09-30 | Schwartz; Vladimir | Compact disc tracking system and method |
| DE19623125A1 (en) * | 1996-06-10 | 1997-12-11 | Eastman Kodak Co | Device for removing a plate-shaped object from a plate holder |
| DE19644158A1 (en) * | 1996-10-24 | 1998-04-30 | Grundig Ag | Method and device for gripping objects with a through opening |
| US5946216A (en) * | 1996-11-14 | 1999-08-31 | Cedar Technologies, Inc. | Vertical transport device for recording and verifying plastic disks |
| US6111847A (en) * | 1998-01-16 | 2000-08-29 | Assadian; Hamid R. | Picker device and method for handling planar objects having an aperture therein |
-
2002
- 2002-06-20 FR FR0207645A patent/FR2841230B1/en not_active Expired - Fee Related
-
2003
- 2003-06-20 WO PCT/FR2003/001907 patent/WO2004001757A2/en not_active Ceased
- 2003-06-20 AU AU2003258821A patent/AU2003258821A1/en not_active Abandoned
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018044A (en) * | 2018-06-20 | 2018-12-18 | 中国矿业大学 | Unmanned mobile shop |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2004001757A3 (en) | 2004-04-01 |
| FR2841230A1 (en) | 2003-12-26 |
| AU2003258821A1 (en) | 2004-01-06 |
| FR2841230B1 (en) | 2006-11-03 |
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