WO2011106957A1 - Precisely positioning optical disk production line component and positioning method - Google Patents

Precisely positioning optical disk production line component and positioning method Download PDF

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Publication number
WO2011106957A1
WO2011106957A1 PCT/CN2010/074954 CN2010074954W WO2011106957A1 WO 2011106957 A1 WO2011106957 A1 WO 2011106957A1 CN 2010074954 W CN2010074954 W CN 2010074954W WO 2011106957 A1 WO2011106957 A1 WO 2011106957A1
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WO
WIPO (PCT)
Prior art keywords
positioning
receiving cavity
tray
cover
cover plate
Prior art date
Application number
PCT/CN2010/074954
Other languages
French (fr)
Chinese (zh)
Inventor
杨明生
朱富强
王勇
Original Assignee
东莞宏威数码机械有限公司
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Application filed by 东莞宏威数码机械有限公司 filed Critical 东莞宏威数码机械有限公司
Publication of WO2011106957A1 publication Critical patent/WO2011106957A1/en

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Classifications

    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B7/00—Recording or reproducing by optical means, e.g. recording using a thermal beam of optical radiation by modifying optical properties or the physical structure, reproducing using an optical beam at lower power by sensing optical properties; Record carriers therefor
    • G11B7/24—Record carriers characterised by shape, structure or physical properties, or by the selection of the material
    • G11B7/26—Apparatus or processes specially adapted for the manufacture of record carriers
    • G11B7/265—Apparatus for the mass production of optical record carriers, e.g. complete production stations, transport systems

Definitions

  • the present invention relates to a positioning assembly in an optical disc production line, and more particularly to a precise positioning light production line assembly and positioning method for accurately positioning a tray and a transport robot in an optical disc production line.
  • HDTV high-definition movies
  • DTR data transfer rate
  • DVD digital video disc
  • High-definition video and audio programs with an hourly HDTV level the industry standard is 133 minutes
  • the usable capacity of recording optical discs must exceed 20 GB. Therefore, people have higher and higher requirements for the storage capacity of optical discs, thus providing extreme development for the optical disc industry. Superior conditions.
  • optical disc manufacturers With the rapid development of the optical disc industry, optical disc manufacturers not only pay attention to the production cycle of the optical disc production line, production line equipment and input costs, but also pay more attention to the optical disc transfer system for transmitting optical discs. This is because the optical disc transfer system has been used throughout the entire optical disc production line.ried At the same time, the speed of the optical disc transmission, whether it is stable and accurate, affects the layout and performance of the optical disc production line, affecting the performance, quality and production efficiency of the optical disc. Therefore, choosing a good optical disc transmission system can maximize the Improve the quality and performance of the disc.
  • the transport robot in the optical disc transport system is responsible for the transmission of the optical disc, and is responsible for taking the optical disc from the tray or the transport belt into the sputter chamber for sputtering, and then taking the sputtered disc. Place on a tray or conveyor belt. Therefore, whether the alignment of the transfer robot and the disc transfer device of the optical disc transport system is appropriate, accurate, stable, and fast, directly affects the stability, accuracy, and speed of the vacuum suction nozzle of the transport robot. Sex, which in turn affects the quality of the optical disc production process - reducing the quality of the disc.
  • the positioning method between the transfer robot on the above-mentioned optical disc production line and the tray of the optical disc transfer device is a visual debugging mode, and the visual mode of the 3 ⁇ 4 visual test is completely dependent on the skill level of the operator. Therefore, there is a large positional deviation between the positioning of the transport robot and the tray of the optical disc transport apparatus, and it is difficult to accurately and quickly adjust the position of the tray of the optical disc transport apparatus and the transport robot, thereby causing serious serious occurrence when the transport robot takes the disc. Deviation causes discs and/or discs to be dropped, which in turn affects the quality and productivity of the disc.
  • An object of the present invention is to provide a precision positioning optical disc production line assembly which provides fast and precise positioning of a transport robot and a tray in an optical disc production line and which provides extremely superior conditions for improving the quality and production efficiency of the optical disc.
  • Another object of the present invention is to provide a positioning method for quickly and accurately positioning a transfer robot and a tray in an optical disk production line and providing extremely superior conditions for improving the quality and production efficiency of the optical disk.
  • the present invention provides a precision positioning optical disc production line assembly suitable for accurately positioning a tray carrying an optical disc, including a robot driving mechanism and a transfer robot, wherein the robot driving mechanism is connected to the transfer robot.
  • the transport robot has a circular turntable, and the turntable extends outward to form a plurality of grab arms, the grab arms are disposed at the same distance from the turntable, and each of the grab arms is mounted a cover plate for grasping the optical disc and having a circular shape, each of the cover plates having the same center distance as the turntable, the robot drive mechanism driving the turntable to rotate and the cover plate above the tray
  • the tray is distributed around the turntable centering on the turntable and has a receiving cavity for carrying the optical disc.
  • the precision positioning optical disc production line assembly further includes a positioning member that is circular and corresponding to the cover plate.
  • the upper end of the positioning member has a hollow structure, and the hollow structure is formed with the cover plate.
  • the gap-matching receiving cavity, the lower end of the positioning member protrudes from a circular boss that is in a clearance fit with the receiving cavity of the tray. Positioning the positioning member on the tray and accommodating the circular boss in the accommodating cavity, moving the cover plate and/or the tray to place the cover plate in a one-to-one correspondence
  • the inside of the cavity is accommodated, and the corresponding cover plate, the receiving space and the receiving cavity are concentric.
  • the outer side surface of the positioning member is stepped, and the stepped outer side surface of the positioning member includes a first cylindrical surface, a second cylindrical surface and a third cylindrical surface on the same axial center,
  • the diameter of the first cylindrical surface is greater than the diameter of the second cylindrical surface
  • the diameter of the second cylindrical surface is the diameter of the third cylindrical surface
  • the third cylindrical surface forms the circular boss.
  • the step of the outer side of the positioning member is stepped, so that the processing of the positioning member is simpler and the material is more saved; the diameter of the second cylindrical surface is larger than the diameter of the first cylindrical surface by the diameter of the first cylindrical surface.
  • the diameter of the third cylindrical surface is such that the joint between the second cylindrical surface and the third cylindrical surface forms an engaging plane that is engaged with the outside of the receiving cavity of the tray, so that the positioning member is in a clearance fit with the receiving cavity of the tray It is more convenient and reliable to assemble and disassemble.
  • the circular boss is formed by the third cylindrical surface, so that the positioning of the positioning member on the tray is more convenient and faster.
  • the receiving cavity of the positioning member includes a first receiving cavity and a second receiving cavity that are in communication with each other and are located on the coaxial line.
  • the first receiving cavity is in a clearance fit with the cover body.
  • the second receiving cavity has the same size as the optical disk, and an inclined transition surface is formed at a connection between the first receiving cavity and the second receiving cavity.
  • the positioning of the cover plate and the positioning member is more convenient and faster by the first receiving cavity; the optical disk is received by the second receiving cavity to achieve the matching precision of the adjusting cover plate and the positioning member;
  • the transition surface of the joint between the first receiving cavity and the second receiving cavity makes the positioning of the cover plate and the positioning member more precise.
  • the present invention also provides a positioning method using the precision positioning optical disc production line assembly, comprising the following steps:
  • step (4) further comprises the following steps:
  • the upper end of the positioning member of the present invention has a cover plate with the conveying robot
  • the precise positioning optical disc production line assembly of the present invention can improve the positioning speed and positioning accuracy of the cover plate and the tray of the transfer robot on the one hand, thereby providing extremely superior conditions for improving the production efficiency of the optical disc and the quality of the optical disc;
  • the manual personnel rely on the visual inspection mode to seriously discard the cover of the transfer robot and the tray.
  • 3 ⁇ 4 causes the problem of discs and/or discs, which in turn provides excellent conditions for improving the production efficiency of the disc and the quality of the disc.
  • the positioning member of the present invention has a simple structure and a low cost.
  • FIG. 1 is a schematic structural view of an embodiment of a precision positioning optical disc production line assembly of the present invention.
  • FIG. 2 is a schematic structural view of a positioning member of the precision positioning optical disc production line assembly shown in FIG. 1.
  • Figure 3 is a cross-sectional view taken along line A-A of Figure 2 .
  • Figure 4 is a schematic view showing the state of the precision positioning optical disc production line assembly shown in Figure 1 for 'precise positioning of the position between the de-plating machine and the optical disc transfer device.
  • Figure 5 is a flow diagram of a method of positioning a precision positioning optical disc production line assembly using the present invention.
  • Figure 6 is a sub-flow diagram of the step (S004) of Figure 5.
  • the precise positioning optical disc production line assembly 1 of the present invention is used for accurately positioning the tray 12 carrying the optical disc 3, which includes a robot driving mechanism. And transfer robot 1 1.
  • the robot drive mechanism is a motor 10 that is coupled to the transfer robot 11 and the transfer robot 11 has a circular shape.
  • the turntable 110, the turntable 110 extends outward to form a plurality of grab arms. Specifically, in the embodiment, the number of the grab arms is two, respectively named as the first grab arm I l ia and the second grab The arm 11 lb is taken.
  • the number of the grab arms described above may also be three, four or five, etc., and is not limited herein. Two are selected for illustrative purposes only.
  • the first grabbing arm Ilia and the second grabbing arm 111b are disposed at an equal distance from the turntable 110, and the first grabbing arm 111a is provided with a circular shape for grasping the optical disc 3 a first cover plate 112a, the first cover plate 112a is connected to the first grabbing arm il ia via a first cylinder 113a, and the second grabbing arm 111b is provided with a circular shape for gripping the optical disc 3
  • the second cover plate 112b is connected to the second grabbing arm li ib via the second cylinder 113b.
  • the center distance between the first cover a and the turntable 110 and the center distance of the turn 110 of the second cover 112b are equal.
  • the motor 10 drives the turntable 110 to rotate and the first cover 112a on the first grab arm 111a and the second cover 112b on the second i take-up arm 111b are located directly above the corresponding tray 12, And the first cover plate i l2a moves vertically in the direction indicated by the arrow C in FIG. 1 in the direction indicated by the arrow C in FIG. 1 while moving vertically along the tray 12 corresponding to the first cover plate 112a.
  • the second cover plate 112b is moved in the direction indicated by the arrow C in FIG.
  • the precision positioning optical disc production line assembly 1 of the present invention further includes a circular cover and a first cover. 112a and the second cover 112b - the corresponding positioning member 13.
  • the number of the positioning members 13 is two, which is in one-to-one correspondence with the number of the grasping arms of the embodiment. It is determined by the number of gripping arms. Therefore, the number of the positioning members 13 cannot be limited by the above examples.
  • the upper end of the positioning member 13 has a hollow structure, and the hollow structure is formed with the first cover 112a and the second.
  • the cover plate 112b is a gap-matching receiving cavity 131.
  • the lower end of the positioning member 13 protrudes from a circular boss 134 which is in a clearance fit with the receiving cavity 120 of the tray 12.
  • the positioning member 13 is placed on the tray 12 and rounded.
  • the first boss 112a and the tray 12 are disposed in the receiving cavity 131, and the corresponding first cover 112a is disposed.
  • the second is moved
  • the plate 112b and/or the tray 12 are disposed in the receiving cavity 131 corresponding to the second cover 112b, and the corresponding second cover 112b, the receiving cavity 131 and the receiving cavity 120 are concentric. More specifically, as follows :
  • the outer side surface of the positioning member 13 is stepped, and the positioning member 13 is stepped outside.
  • the side surface includes a first cylindrical surface 132, a second cylindrical surface 133 and a third cylindrical surface on the same axis, the diameter of the first cylindrical surface 132 is larger than the diameter of the second cylindrical surface 133, and the second cylinder The diameter of the face 133 is greater than the diameter of the third cylindrical face, and the third cylindrical face forms the circular boss 134.
  • the outer surface of the positioning member 13 is stepped, so that the processing of the positioning member 13 is simpler and the material is more saved; the diameter of the first cylindrical surface 132 is larger than the diameter of the second cylindrical surface 133, the second cylinder The diameter of the surface 133 is larger than the diameter of the third cylindrical surface, so that the junction of the second cylindrical surface 133 and the third cylindrical surface forms an engaging plane 136 that is engaged with the outside of the accommodating cavity 120 of the tray 12, thereby making the tray 12
  • the accommodating cavity 120 is more convenient and more reliable to be assembled and disassembled by the clearance fitting.
  • the circular boss 134 is formed by the third cylindrical surface, so that the positioning of the positioning member 13 on the tray 12 is more convenient and faster.
  • the receiving cavity 131 of the positioning member 13 includes a first receiving cavity 131a and a second receiving cavity 131b that are in communication with each other and are located on the same axis, and the first receiving cavity 131a is the first
  • the cover 112a and the second cover 112b are gap-fitted, and the second receiving cavity 131b has the same size as the optical disk 3, and is inclined at the connection between the first receiving cavity 131a and the second receiving cavity 131b.
  • the positioning of the first cover plate i 12a and the second cover plate 112b with the positioning member 13 is more convenient and faster by the first receiving cavity 13 la; the optical disk is provided through the second receiving cavity 131b 3 accommodating to adjust the matching precision of the first cover 112a and the positioning member 13, the second cover 112b and the positioning member 13; the transition surface 135 of the connection between the first receiving cavity 131a and the second receiving cavity 13 ib
  • the positioning of the first cover 112a and the positioning member 13, the second cover 112b and the positioning member 13 is more precise.
  • FIG. 4 is a schematic view showing a state in which the position of the precise positioning optical disc production line assembly 1 of the present invention is used to "align" the position between the sputtering machine 4 and the optical disc transfer device 2.
  • the present invention The precision positioning optical disc production line assembly 1 is installed between the sputtering machine 4 and the tray 12 of the optical disc transporting apparatus 2 for accurately positioning the tray 12 and the sputtering machine 4 of the optical disc transfer apparatus 2.
  • the precision positioning optical disk production line assembly 1 of the present invention is first installed between the sputtering machine 4 and the tray 12 of the optical disk transfer device 2.
  • each of the positioning members 13 of the precision positioning optical disc production line assembly 1 of the present invention is placed on a tray 12 of the optical disc transporting apparatus 2, and the circular bosses 134 of each of the positioning members 13 are accommodated in the capacity of one tray 12. Placed on cavity 120.
  • each tray 12 equipped with the positioning member 13 is moved, and the first cover 112a and the second cover 112b on the transfer robot 11 are both facing the tray 12 with the positioning member 13, and the opening is started.
  • the first cover 112a connected to the first cylinder 113a is moved along the tray 12 facing the first cover 112a and provided with the positioning member 13, so that the first cover 112a of the first grasping arm 111a can
  • the first cover plate 112a is slidably received in the receiving cavity 131 in the receiving cavity 131 of the positioning member 13 facing the first cover 112a.
  • the second cylinder 113b on the second grab arm 111b is opened, and the second cover 112b connected to the second cylinder 113b is driven to move along the tray 12 with the positioning member 13 facing the second cover 112b.
  • the second cover 112b of the second grabbing arm 111b can be received in the receiving cavity 131 of the positioning member 13 facing the second cover 112b, and the second cover 112b can be freely slid in the receiving cavity 131.
  • the motor 10 is turned on, and the second gripping arm 111b on the driving transfer robot 11 is rotated to the first gripping arm 111a, and the first gripping arm 111a is also rotated just to the second gripping arm 111b.
  • the first cylinder 113a on the first grab arm 111a and the second cylinder 113b on the second grab arm 111b are opened again, and the first steam cylinder 113a drives the first cover 112a along the first cover i i2a
  • the facing tray 12 with the positioning member 13 is moved, and the second cylinder 113b drives the second cover 112b to move along the tray 12 with the positioning member 13 facing the second cover 112b, when the first gripping arm
  • the first cover 112a of the il ia can be freely received in the receiving cavity 131 of the positioning member 13 facing the first cover il 2a, and the second cover 112b of the second grasping arm 111b can be freely received and
  • the conveying mechanism hand II is fixed on the motor 10 and the lower positioning member 13 is removed, thereby completing the tray 12 of the sputtering machine 4 and the optical disk transfer device 2.
  • the transfer robot 11 and/or the tray 12 equipped with the positioning member 13 are moved at this time until the first grasping arm is made.
  • the first cover 112a of the 111a can be freely received in the receiving cavity 131 of the positioning member 13 facing the first cover 112a, and the second cover 112b of the second grasping arm 111b can be freely accommodated in the second cover 112b.
  • the cover 112b faces the inside of the receiving cavity 131 of the positioning member 13.
  • the positioning method using the precision positioning optical disc production line assembly 1 of the present invention comprises the following steps:
  • Step S001 placing the positioning member on the tray and accommodating the circular boss in the accommodating cavity.
  • Step S002 moving the transfer robot to place the cover plates in a one-to-one correspondence in the receiving cavity.
  • the tray with the positioning member is also moved, so that the cover plates are respectively accommodated in the receiving cavity;
  • Step S003 arbitrarily rotating the turntable to rotate a certain angle
  • Step S004 the one-to-one corresponding ones of the cover plates are again placed in the receiving cavity;
  • Step S005 removing the positioning member from the tray.
  • Step S006 fixing the transfer robot to the robot drive mechanism.
  • the step S004 further includes the following steps: Step S0041, detecting whether the cover plate is placed in the receiving cavity one-to-one correspondingly; if yes, proceeding to step S005; if not, executing the loop Step S002 to step S003 until the cover plate again - correspondingly accommodated in the receiving cavity.
  • the upper end of the positioning member 13 of the present invention has a receiving cavity 131 that is in a clearance fit with the first cover 112a and the second cover 112b of the transport robot 11, and the lower end of the positioning member 13 protrudes from the receiving cavity 120 of the tray 12.
  • the circular boss 134 with a clearance fit enables the positioning member 13 to be accurately and accurately positioned with the tray 12, and can also quickly and accurately transfer the first cover 112a and the second cover on the robot 11
  • the positioning member 13 and the tray 12 corresponding to the first cover plate 112a are positioned on the same axis line as the first cover plate 112a, and the second cover plate 112b is positioned.
  • the corresponding positioning member 13 and the tray 12 are both on the same axis line as the second cover 112b.
  • the precise positioning optical disc production line assembly 1 of the present invention can improve the positioning speed and positioning accuracy of the first cover 112a of the transport robot 11 and the second cover 112b and the tray 12, respectively, from the production efficiency of the optical disc and the optical disc.
  • the quality provides extremely superior conditions; on the other hand, it can overcome the serious deviation of the first cover 112a of the transfer robot 11 by the visual inspection and debugging mode, and the second cover 112 is respectively positioned with the tray 12, causing a serious deviation.
  • the problem of discs and/or discs provides excellent conditions for improving the production efficiency of the disc and the quality of the disc.
  • the positioning member 13 of the present invention has a simple structure and a low cost.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacturing Optical Record Carriers (AREA)

Abstract

A precisely positioning optical disk production line component (1) and positioning method using the same are provided. The component (1) comprises a manipulator drive device (10), a transport manipulator (11) and positioning parts (13). The manipulator drive device (10) is connected with the transport manipulator (11) comprising a rotating tray (110). Several gripping arms (111a, 111b) are extended from the rotating tray (110), a cover plate (112a, 112b) for gripping optical disks (3) is set on each gripping arm (111a, 111b), and the optical disks (3) are received in receiving cavities (120) of pallets (12). Each positioning part (13) is corresponding to one cover plate (112a, 112b), a receiving cavity (131) fitted to the cover plate (112a, 112b) with clearance is set at the upper end of the positioning part (13), and a round boss (134) fitted with clearance to the receiving cavity (120) of the pallet (12) is protruded from the lower end of the positioning part (13). The positioning parts (13) are put on the pallets (12) with the round bosses (134) received in the receiving cavities (120) of the pallets (12), and the cover plates (112a, 112b) and/ or the pallets (12) are moved so as to make the cover plates (112a, 112b) be received one-to-one correspondingly in the receiving cavities (131) of the positioning parts (13), and to make the corresponding cover plates (112a, 112b), the receiving cavities (131) of the positioning parts (13) and the receiving cavities (120) of the pallets (12) coaxial. The component (1) and positioning method enable the transport manipulator (11) and the pallets (12) to be positioned precisely and quickly, thus improving the optical disks quality and production efficiency.

Description

精准定位光盘生产线组件和定位方法 技术领域  Precise positioning of optical disc production line components and positioning methods
本发明涉及一种光盘生产线中的定位组件， 尤其涉及一种对光盘生产线中 托盘和传送机械手进行精准定位的精准定位光 生产线组件和定位方法 背景技术  The present invention relates to a positioning assembly in an optical disc production line, and more particularly to a precise positioning light production line assembly and positioning method for accurately positioning a tray and a transport robot in an optical disc production line.
随着人们生活水平的不断提高， 消费观念的不断变更及高清晰电影的出现， 使得高清电视（ High Definition TV, 简称 HDTV )越来越受到人们的青睐。 同 时，由于数字卫星广播中 HDTV的数据传输速率 (Data Transfer Rate ,简称 DTR) 至少为 23 Mbps ， 是目前数字视频光盘 ( Digital Video Disc, 简称 DVD )速率 的两倍多， 所以如果要储存超过两小时 HDTV等级的高画质影音节目 （业界的 标准是 133分钟）， 记录光盘的可用容量必须超过 20GB以上， 因此人们对光盘 存储的容量要求越来越高、 从而为光盘行业的进一步发展提供极其优越的条件。  With the continuous improvement of people's living standards, the constant changes in consumer attitudes and the emergence of high-definition movies, HDTV (HDTV) is becoming more and more popular. At the same time, because the data transfer rate (DTR) of HDTV in digital satellite broadcasting is at least 23 Mbps, it is more than twice the speed of digital video disc (DVD), so if you want to store more than two. High-definition video and audio programs with an hourly HDTV level (the industry standard is 133 minutes), and the usable capacity of recording optical discs must exceed 20 GB. Therefore, people have higher and higher requirements for the storage capacity of optical discs, thus providing extreme development for the optical disc industry. Superior conditions.
随着光盘行业的飞速发展， 光盘生产商不仅重视光盘生产线的生产节拍， 生产线设备及投入成本， 而且更重视用于传输光盘的光盘传送***， 这是由于 该光盘传送***已经贯穿于整个光盘生产线中„ 同时， 光盘传输速度的快慢， 是否稳定及是否准确均影响到光盘生产线的布局和性能， 进 影响光盘的性能、 品质和生产效率。 因此， 选择一个好的光盘传送***能在最大限度地提高光盘 的质量及性能。  With the rapid development of the optical disc industry, optical disc manufacturers not only pay attention to the production cycle of the optical disc production line, production line equipment and input costs, but also pay more attention to the optical disc transfer system for transmitting optical discs. This is because the optical disc transfer system has been used throughout the entire optical disc production line. „ At the same time, the speed of the optical disc transmission, whether it is stable and accurate, affects the layout and performance of the optical disc production line, affecting the performance, quality and production efficiency of the optical disc. Therefore, choosing a good optical disc transmission system can maximize the Improve the quality and performance of the disc.
目前， 在光盘传送***中， 光盘传送***中的传送机械手承担着光盘的传 输， 负责把光盘从托盘或传输带上拿到溅镀机腔体内进行溅镀， 再把溅镀好的 光盘拿 来放在托盘或传输带上。 因此， 传送机械手与光盘传输***的光盘传 送装置的托盘的对位是否合适、 是否准确、 是否稳定及是否快速， 均直接地影 响到传送机械手的真空吸嘴吸取光盘的稳定性、 准确性及快速性， 进而影响到 光盘的生产工艺的好坏¾降低光盘的质量。  At present, in the optical disc transport system, the transport robot in the optical disc transport system is responsible for the transmission of the optical disc, and is responsible for taking the optical disc from the tray or the transport belt into the sputter chamber for sputtering, and then taking the sputtered disc. Place on a tray or conveyor belt. Therefore, whether the alignment of the transfer robot and the disc transfer device of the optical disc transport system is appropriate, accurate, stable, and fast, directly affects the stability, accuracy, and speed of the vacuum suction nozzle of the transport robot. Sex, which in turn affects the quality of the optical disc production process - reducing the quality of the disc.
然而， 上述的光盘生产线上的传送机械手与光盘传送装置的托盘之间的位 置的定位方式为目测调试方式， ¾目测调试方式完全依赖操作者的技术水平， 因此使传送机械手与光盘传送装置的托盘之间的定位存在较大的位置偏差， 很 难精准、 快速地调整光盘传送装置的托盘与传送机械手的位置， 从而使得传送 机械手拿放光盘时发生严重的偏差而导致掉碟和 /或卡碟， 进而影响光盘的质量 及生产效率。 However, the positioning method between the transfer robot on the above-mentioned optical disc production line and the tray of the optical disc transfer device is a visual debugging mode, and the visual mode of the 3⁄4 visual test is completely dependent on the skill level of the operator. Therefore, there is a large positional deviation between the positioning of the transport robot and the tray of the optical disc transport apparatus, and it is difficult to accurately and quickly adjust the position of the tray of the optical disc transport apparatus and the transport robot, thereby causing serious serious occurrence when the transport robot takes the disc. Deviation causes discs and/or discs to be dropped, which in turn affects the quality and productivity of the disc.
因此， 急需求一种对光盘生产线中的传送机械手和托盘进行快速且精准定 位的、 并为提高光盘的品质及生产效率提供极其优越的条件的精准定位光盘生 产线组件。 发明内容  Therefore, there is an urgent need for a precision positioning disc production line assembly that provides rapid and precise positioning of the transfer robot and the tray in the optical disc production line and provides extremely superior conditions for improving the quality and production efficiency of the optical disc. Summary of the invention
本发明的一目的在于提供一种对光盘生产线中的传送机械手和托盘进行快 速且精准定位的、 并为提高光盘的品质及生产效率提供极其优越的条件的精准 定位光盘生产线组件。  SUMMARY OF THE INVENTION An object of the present invention is to provide a precision positioning optical disc production line assembly which provides fast and precise positioning of a transport robot and a tray in an optical disc production line and which provides extremely superior conditions for improving the quality and production efficiency of the optical disc.
本发明的另一目的在于提供一种对光盘生产线中的传送机械手和托盘进行 快速且精准定位的、 并为提高光盘的品质及生产效率提供极其优越的条件的定 位方法。  Another object of the present invention is to provide a positioning method for quickly and accurately positioning a transfer robot and a tray in an optical disk production line and providing extremely superior conditions for improving the quality and production efficiency of the optical disk.
为实现上述目的， 本发明提供了一种精准定位光盘生产线组件， 适用于对 承载光盘的托盘进行-精确的定位， 包括机械手驱动机构及传送机械手， 所述机 械手驱动机构与所述传送机械手连接， 所述传送机械手具有呈圓形的转盘， 所 述转盘向外延伸形成若干抓取臂， 所述抓取臂以所述转盘为中心且等距离地设 置， 每个所述抓取臂上安装有一个用于抓取光盘并呈圓形的盖板， 每个所述盖 板与所述转盘的中心距离相同， 所述机械手驱动机构驱动所述转盘旋转并使所 述盖板在所述托盘上方作垂直运动， 所述托盘以所述转盘为中心分布于所述转 盘的四周并具有承载光盘的容置腔。 其中， 所述精准定位光盘生产线组件还包 括呈圓形的并与所述盖.板——对应的定位件， 所述定位件的上端呈中空结构， 所述中空结构形成与所述盖板呈间隙配合的收容腔, 所述定位件的下端凸伸出 与所述托盘的容置腔呈间隙配合的圆形凸台。 放置所述定位件于所述托盘上并 使所述圓形凸台容置于所述容置腔内， 移动所述盖板和 /或托盘使所述盖板一一 对应的容置于所述收容.腔内， 并使对应的所述盖板、 收容空及容置腔同轴心。 较佳地， 所述定位件的外侧面呈台阶状, 所迷定位件的台阶状的外侧面包 括位于同一轴心线上的第一圓柱面、 第二圓柱面及第三圓柱面, 所述第一圓柱 面的直径大于第二圓柱面的直径， 而所述第二圓柱面的直径大小第三圓柱面的 直径， 且所述第三圓柱面形成所述圓形凸台。 通过所述定位件的外侧面呈台阶 状， 使得定位件的加工更简单， 且更能节省材料； 通过所述第一圓柱面的直径 大于第二圓柱面的直径， 第二圓柱面的直径大于第三圓柱面的直径， 使得第二 圃柱面与第三圓柱面的连接处形成卡合于托盘的容置腔外的卡合平面， 从而使 得与托盘的容置腔呈间隙配合的定位件装拆更方便、 更可靠。 通过所述第三圓 柱面形成所述圓形凸台， 使得定位件在托盘上的定位更方便， 更快速。 In order to achieve the above object, the present invention provides a precision positioning optical disc production line assembly suitable for accurately positioning a tray carrying an optical disc, including a robot driving mechanism and a transfer robot, wherein the robot driving mechanism is connected to the transfer robot. The transport robot has a circular turntable, and the turntable extends outward to form a plurality of grab arms, the grab arms are disposed at the same distance from the turntable, and each of the grab arms is mounted a cover plate for grasping the optical disc and having a circular shape, each of the cover plates having the same center distance as the turntable, the robot drive mechanism driving the turntable to rotate and the cover plate above the tray For vertical movement, the tray is distributed around the turntable centering on the turntable and has a receiving cavity for carrying the optical disc. The precision positioning optical disc production line assembly further includes a positioning member that is circular and corresponding to the cover plate. The upper end of the positioning member has a hollow structure, and the hollow structure is formed with the cover plate. The gap-matching receiving cavity, the lower end of the positioning member protrudes from a circular boss that is in a clearance fit with the receiving cavity of the tray. Positioning the positioning member on the tray and accommodating the circular boss in the accommodating cavity, moving the cover plate and/or the tray to place the cover plate in a one-to-one correspondence The inside of the cavity is accommodated, and the corresponding cover plate, the receiving space and the receiving cavity are concentric. Preferably, the outer side surface of the positioning member is stepped, and the stepped outer side surface of the positioning member includes a first cylindrical surface, a second cylindrical surface and a third cylindrical surface on the same axial center, The diameter of the first cylindrical surface is greater than the diameter of the second cylindrical surface, and the diameter of the second cylindrical surface is the diameter of the third cylindrical surface, and the third cylindrical surface forms the circular boss. The step of the outer side of the positioning member is stepped, so that the processing of the positioning member is simpler and the material is more saved; the diameter of the second cylindrical surface is larger than the diameter of the first cylindrical surface by the diameter of the first cylindrical surface. The diameter of the third cylindrical surface is such that the joint between the second cylindrical surface and the third cylindrical surface forms an engaging plane that is engaged with the outside of the receiving cavity of the tray, so that the positioning member is in a clearance fit with the receiving cavity of the tray It is more convenient and reliable to assemble and disassemble. The circular boss is formed by the third cylindrical surface, so that the positioning of the positioning member on the tray is more convenient and faster.
较佳地， 所述定位件的收容腔包括相互连通的并位于同轴心线上的第一收 容腔和第二收容腔， 所述第一收容腔与所述盖体呈间隙配合， 所述第二收容腔 与光盘的尺寸相同， 且于所述第一收容腔与所述第二收容腔的连接处开设有倾 斜的过渡面。 通过所述第一收容腔， 使得所述盖板与所述定位件的定位更方便、 更快速； 通过所述第二收容腔供光盘收容以达到调节盖板与定位件的配合精度； 通过所述第一收容腔与第二收容腔的连接处的过渡面使得盖板与定位件的定位 更精准。  Preferably, the receiving cavity of the positioning member includes a first receiving cavity and a second receiving cavity that are in communication with each other and are located on the coaxial line. The first receiving cavity is in a clearance fit with the cover body. The second receiving cavity has the same size as the optical disk, and an inclined transition surface is formed at a connection between the first receiving cavity and the second receiving cavity. The positioning of the cover plate and the positioning member is more convenient and faster by the first receiving cavity; the optical disk is received by the second receiving cavity to achieve the matching precision of the adjusting cover plate and the positioning member; The transition surface of the joint between the first receiving cavity and the second receiving cavity makes the positioning of the cover plate and the positioning member more precise.
相应地， 本发明还提供一种使用所述精准定位光盘生产线组件的定位方法， 包括如下步骒：  Accordingly, the present invention also provides a positioning method using the precision positioning optical disc production line assembly, comprising the following steps:
( 1 )放置所述定位件于托盘上并使所述圓形凸台容置于所述容置腔内；（2 ) 移动所述传送机械手使所述盖板一一对应的容置于所述收容腔内； （ 3 )任意旋 转所述转盘转动一定角度； （4 )再次让所述盖板一一对应的容置于所述收容腔 内； （5 )将所述定位件从所述 ¾盘上卸下； 以及（6 ) 固定所述传送机械手于所 较佳地， 所述步骤（4 )进一步包括如下步骤:  (1) placing the positioning member on the tray and accommodating the circular boss in the accommodating cavity; (2) moving the transfer robot to place the cover one-to-one correspondingly (3) arbitrarily rotating the turntable to rotate a certain angle; (4) again allowing the cover plates to be correspondingly received in the receiving cavity; (5) positioning the positioning member from the And removing (6) the transport robot, wherein the step (4) further comprises the following steps:
( 41 )检测所述盖板是否再次——对应的容置于所述收容腔内; 若是， 则 继续执行步骤（5 ); 若否、 則循环执行步骤（2 ) 至步骤（3 ) 直至所述盖板再 次一"" "对应的容置于所 ¾收容腔内。  (41) detecting whether the cover plate is again - correspondingly accommodated in the receiving cavity; if yes, proceeding to step (5); if not, performing steps (2) through (3) until the cycle The cover plate is again placed in the "3" receiving cavity.
与现有技术相比， 由于本发明的定位件的上端具有与传送机械手的盖板呈 间隙配合的收容腔， 而定位件的下端凸伸出与托盘的容置腔呈间隙配合的圆形 凸台， 使得定位件能快速、 精准地与托盘进行精准的定位同时， 也能快速地、 精准地与传送机械手上的盖板进行精准的定位， 且定位后的定位件、 盖板和托 盘位于同一軸心线上。 因此， 本发明的精准定位光盘生产线组件一方面能提高 传送机械手的盖板与托盘的定位速度及定位精度， 从而为提升光盘的生产效率 和光盘的质量提供极其优越的条件； 另一方面能克服搡作人员靠目测调试方式 对传送机械手的盖板与托盘进行定位时发生严重的偏差 ¾引起掉碟和 /或卡碟的 问题， 进而为提高光盘的生产效率和光盘的质量提供优异的条件。 另， 本发明 的定位件的结构简单， 成本低下。 附图说明 Compared with the prior art, since the upper end of the positioning member of the present invention has a cover plate with the conveying robot The clearance fits the receiving cavity, and the lower end of the positioning member protrudes from the circular boss which is in a clearance fit with the receiving cavity of the tray, so that the positioning component can be accurately and accurately positioned with the tray at the same time, and can also be quickly, Accurate positioning with the cover on the transfer robot, and the positioned positioning parts, cover and tray are on the same axis. Therefore, the precise positioning optical disc production line assembly of the present invention can improve the positioning speed and positioning accuracy of the cover plate and the tray of the transfer robot on the one hand, thereby providing extremely superior conditions for improving the production efficiency of the optical disc and the quality of the optical disc; The manual personnel rely on the visual inspection mode to seriously discard the cover of the transfer robot and the tray. 3⁄4 causes the problem of discs and/or discs, which in turn provides excellent conditions for improving the production efficiency of the disc and the quality of the disc. In addition, the positioning member of the present invention has a simple structure and a low cost. DRAWINGS
图 I是本发明精准定位光盘生产线组件的一实施例的结构示意图。  1 is a schematic structural view of an embodiment of a precision positioning optical disc production line assembly of the present invention.
图 2是图 1所示精准定位光盘生产线组件的定位件的结构示意图。  2 is a schematic structural view of a positioning member of the precision positioning optical disc production line assembly shown in FIG. 1.
图 3是沿图 2中 A- A线的剖视图。  Figure 3 is a cross-sectional view taken along line A-A of Figure 2 .
图 4是图 1 所示精准定位光盘生产线组件用于对減镀机和光盘传送装置之 间位置进行 '精准定位的状态示意图。  Figure 4 is a schematic view showing the state of the precision positioning optical disc production line assembly shown in Figure 1 for 'precise positioning of the position between the de-plating machine and the optical disc transfer device.
图 5是使用本发明精准定位光盘生产线组件的定位方法的流程图。  Figure 5 is a flow diagram of a method of positioning a precision positioning optical disc production line assembly using the present invention.
图 6是图 5中步骤（S004 ) 的子流程图。  Figure 6 is a sub-flow diagram of the step (S004) of Figure 5.
具体实旅方式 Specific travel mode
为了详细说明本发明的技术内容、 构造特征， 以下结合实施方式并配合 图作进一步说明。  In order to explain the technical contents and structural features of the present invention in detail, the embodiments will be further described below in conjunction with the drawings.
请参阅图 1 , 图 1展示了本发明精准定位光盘生产线组件 1的一个实施例。 结合图 2至图 4， 对本实施例的精准定位光盘生产线组件 1进行详细的描述： 本 发明的精准定位光盘生产线组件 1用于对承载光盘 3的托盘 12进行精确的定位， 其包括机械手驱动机构及传送机械手 1 1。 在本实施例中， 所述机械手驱动机构 为电机 10， 其与所述传送机械手 1 1连接， 而所述传送机械手 11具有呈圓形的 转盘 110, 所述转盘 110向外延伸形成若干抓取臂, 具体地， 在本实施例中， 该 抓取臂的数量为两个， 分别命名为第一抓取臂 I l ia和第二抓.取臂 11 lb, 当然， 上述的抓取臂的数量还可以为三个、 四个或五个等， 在此不对其进行限制， 选 择两个仅供举例说明用。 所述第一抓取臂 Ilia和第二抓取臂 111b以所述转盘 110为中心且等距离地设置， 所述第一抓.取臂 111a上设置有用于抓取光盘 3并 呈圓形的第一盖板 112a, 该第一盖板 112a通过第一汽缸 113a与所述第一抓取 臂 i l ia连接，所述第二抓取臂 111b上设置有用于抓取光盘 3并呈圓形的第二盖 板 112b， 该第二盖板 112b通过第二汽缸 113b与所述第二抓取臂 l i ib连接。 而 第一盖板 a与所述.转盘 110的中心距离和第二盖板 112b 所述转盘 110的中 心距离均相等。所述的电机 10驱动所述转盘 110旋转并使第一抓取臂 111a上的 第一盖板 112a和第二 i 取臂 111b上的第二盖板 112b均位于与其对应的托盘 12 正上方， 且第一盖板 i l2a在第一抓取臂 111a的第一汽缸 113a沿图 1中箭头 C 所指的方向作动下沿与第一盖板 112a正对应的托盘 12处作垂直运动的同时，第 二盖板 112b在第二抓.取臂 111b的第二汽.缸 1 13b沿图 1中箭头 C所指的方向作 动下沿与第二盖板 112b正对应的托盘 12处作垂直运动。 而上述的托盘 12以转 盘 110为中心分布于转盘 110的四周并具有承载光盘 3的容置腔 120„ 其中， 本 发明的精准定位光盘生产线组件 1还包括呈圓形的并与第一盖板 112a和第二盖 板 112b——对应的定位件 13。 具体地， 在本实施例中， 定位件 13的数量为两 个， 其与本实施例的抓取臂的数量是一一对应的， 由抓取臂的数量而决定的， 因此， 不能因上述的举例而对定位件 13 的数量进行限制。 而该定位件 13的上 端呈中空结构，中空结构形成与第一盖板 112a和第二盖板 112b均呈间隙配合的 收容腔 131 ,该定位件 13的下端凸伸出与托盘 12的容置腔 120呈间隙配合的圓 形凸台 134。放置定位件 13于托盘 12上并使圓形凸台 134容置于容置腔 120内， 移动第一盖板 112a和 /或托盘 12使第一盖板 112a对应的容置于收容腔 131内， 并使对应的第一盖板 112a, 收容腔 131及容置腔 120同轴心的同时， 还移动第 二盖板 112b和 /或托盘 12使第二盖板 112b对应的容置于收容腔 131 内，并使对 应的第二盖板 112b、 收容腔 131及容置腔 120同轴心。 更具体地， 如下： Referring to Figure 1, there is shown an embodiment of the precision positioning optical disc production line assembly 1 of the present invention. The precise positioning optical disc production line assembly 1 of the present embodiment will be described in detail with reference to FIG. 2 to FIG. 4. The precise positioning optical disc production line assembly 1 of the present invention is used for accurately positioning the tray 12 carrying the optical disc 3, which includes a robot driving mechanism. And transfer robot 1 1. In this embodiment, the robot drive mechanism is a motor 10 that is coupled to the transfer robot 11 and the transfer robot 11 has a circular shape. The turntable 110, the turntable 110 extends outward to form a plurality of grab arms. Specifically, in the embodiment, the number of the grab arms is two, respectively named as the first grab arm I l ia and the second grab The arm 11 lb is taken. Of course, the number of the grab arms described above may also be three, four or five, etc., and is not limited herein. Two are selected for illustrative purposes only. The first grabbing arm Ilia and the second grabbing arm 111b are disposed at an equal distance from the turntable 110, and the first grabbing arm 111a is provided with a circular shape for grasping the optical disc 3 a first cover plate 112a, the first cover plate 112a is connected to the first grabbing arm il ia via a first cylinder 113a, and the second grabbing arm 111b is provided with a circular shape for gripping the optical disc 3 The second cover plate 112b is connected to the second grabbing arm li ib via the second cylinder 113b. The center distance between the first cover a and the turntable 110 and the center distance of the turn 110 of the second cover 112b are equal. The motor 10 drives the turntable 110 to rotate and the first cover 112a on the first grab arm 111a and the second cover 112b on the second i take-up arm 111b are located directly above the corresponding tray 12, And the first cover plate i l2a moves vertically in the direction indicated by the arrow C in FIG. 1 in the direction indicated by the arrow C in FIG. 1 while moving vertically along the tray 12 corresponding to the first cover plate 112a. The second cover plate 112b is moved in the direction indicated by the arrow C in FIG. 1 in the second steam cylinder 1 13b of the second grasping arm 111b, and is perpendicular along the tray 12 corresponding to the second cover 112b. motion. The tray 12 is distributed around the turntable 110 around the turntable 110 and has a receiving cavity 120 for carrying the optical disc 3. The precision positioning optical disc production line assembly 1 of the present invention further includes a circular cover and a first cover. 112a and the second cover 112b - the corresponding positioning member 13. Specifically, in the embodiment, the number of the positioning members 13 is two, which is in one-to-one correspondence with the number of the grasping arms of the embodiment. It is determined by the number of gripping arms. Therefore, the number of the positioning members 13 cannot be limited by the above examples. The upper end of the positioning member 13 has a hollow structure, and the hollow structure is formed with the first cover 112a and the second. The cover plate 112b is a gap-matching receiving cavity 131. The lower end of the positioning member 13 protrudes from a circular boss 134 which is in a clearance fit with the receiving cavity 120 of the tray 12. The positioning member 13 is placed on the tray 12 and rounded. The first boss 112a and the tray 12 are disposed in the receiving cavity 131, and the corresponding first cover 112a is disposed. When the receiving cavity 131 and the receiving cavity 120 are concentric, the second is moved The plate 112b and/or the tray 12 are disposed in the receiving cavity 131 corresponding to the second cover 112b, and the corresponding second cover 112b, the receiving cavity 131 and the receiving cavity 120 are concentric. More specifically, as follows :
较优者， 所述定位件 13的外側面呈台阶状， 所述定位件 13的台阶状的外 侧面包括位于同一轴心线上的第一圓柱面 132、 第二圓柱面 133及第三圆柱面， 所述第一圓柱面 132的直径大于第二圓柱面 133的直径，而所述第二圓柱面 133 的直径大于第三圓柱面的直径， 且所述第三圓柱面形成所述圆形凸台 134。 通过 所述定位件 13的外侧面呈台阶状， 使得定位件 13的加工更简单， 且更能节省 材料； 通过所述第一圆柱面 132的直径大于第二圓柱面 133的直径， 第二圓柱 面 133的直径大于第三圆柱面的直径， 使得第二圓柱面 133与第三圓柱面的连 接处形成卡合于托盘 12的容置腔 120外的卡合平面 136,从而使得与托盘 12的 容置腔 120呈间隙配合的定位件 13装拆更方便、 更可靠。 通过所述第三圓柱面 形成所述圓形凸台 134, 使得定位件 13在托盘 12上的定位更方便、 更快速。 Preferably, the outer side surface of the positioning member 13 is stepped, and the positioning member 13 is stepped outside. The side surface includes a first cylindrical surface 132, a second cylindrical surface 133 and a third cylindrical surface on the same axis, the diameter of the first cylindrical surface 132 is larger than the diameter of the second cylindrical surface 133, and the second cylinder The diameter of the face 133 is greater than the diameter of the third cylindrical face, and the third cylindrical face forms the circular boss 134. The outer surface of the positioning member 13 is stepped, so that the processing of the positioning member 13 is simpler and the material is more saved; the diameter of the first cylindrical surface 132 is larger than the diameter of the second cylindrical surface 133, the second cylinder The diameter of the surface 133 is larger than the diameter of the third cylindrical surface, so that the junction of the second cylindrical surface 133 and the third cylindrical surface forms an engaging plane 136 that is engaged with the outside of the accommodating cavity 120 of the tray 12, thereby making the tray 12 The accommodating cavity 120 is more convenient and more reliable to be assembled and disassembled by the clearance fitting. The circular boss 134 is formed by the third cylindrical surface, so that the positioning of the positioning member 13 on the tray 12 is more convenient and faster.
较优者, 所述定位件 13的收容腔 131包括相互连通的并位于同一轴心线上 的第一收容腔 131a和第二收容腔 131b, 所述第一收容腔 131a均与所述第一盖 体 112a, 第二盖板 112b呈间隙配合， 所述第二收容腔 131b与光盘 3的尺寸相 同， 且于所述第一收容腔 131a与所述第二收容腔 131b的连接处开设有倾斜的 过渡面 135。通过所述第一收容腔 13 la,使得所述第一盖板 i 12a和第二盖板 112b 分别与所述定位件 13的定位更方便、 更快速； 通过所述第二收容腔 131b供光 盘 3收容以达到调节第一盖板 112a与定位件 13、第二盖板 112b与定位件 13的 配合精度；通过所述第一收容腔 131a与第二收容腔 13 ib的连接处的过渡面 135 使得第一盖板 112a与定位件 13、 第二盖板 112b与定位件 13的定位更精准。  Preferably, the receiving cavity 131 of the positioning member 13 includes a first receiving cavity 131a and a second receiving cavity 131b that are in communication with each other and are located on the same axis, and the first receiving cavity 131a is the first The cover 112a and the second cover 112b are gap-fitted, and the second receiving cavity 131b has the same size as the optical disk 3, and is inclined at the connection between the first receiving cavity 131a and the second receiving cavity 131b. Transition surface 135. The positioning of the first cover plate i 12a and the second cover plate 112b with the positioning member 13 is more convenient and faster by the first receiving cavity 13 la; the optical disk is provided through the second receiving cavity 131b 3 accommodating to adjust the matching precision of the first cover 112a and the positioning member 13, the second cover 112b and the positioning member 13; the transition surface 135 of the connection between the first receiving cavity 131a and the second receiving cavity 13 ib The positioning of the first cover 112a and the positioning member 13, the second cover 112b and the positioning member 13 is more precise.
参请阅图 4,图 4展示了本发明的精准定位光盘生产线组件 1用于对溅镀机 4和光盘传送装置 2之间位置进行 ^"准定位的状态示意图。 在图 4中， 本发明的 精准定位光盘生产线组件 1安装于溅镀机 4和光盘传送装置 2的托盘 12之间， 用于对光盘传送装置 2的托盘 12和濺镀机 4进行精准的定位。  4, FIG. 4 is a schematic view showing a state in which the position of the precise positioning optical disc production line assembly 1 of the present invention is used to "align" the position between the sputtering machine 4 and the optical disc transfer device 2. In Fig. 4, the present invention The precision positioning optical disc production line assembly 1 is installed between the sputtering machine 4 and the tray 12 of the optical disc transporting apparatus 2 for accurately positioning the tray 12 and the sputtering machine 4 of the optical disc transfer apparatus 2.
定位时， 先将本发明的精准定位光盘生产线组件 1安装在溅镀机 4和光盘 传送装置 2的托盘 12之间。 接着将本发明的精准定位光盘生产线组件 1的每个 定位件 13放置于光盘传送装置 2的一个托盘 12上， 并使每个定位件 13的圓形 凸台 134容置于一个托盘 12的容置腔 120上。 然后， 移动每个装有定位件 13 的托盘 12, 并使传送机械手 11上的第一盖板 112a和第二盖板 112b均与一个装 有定位件 13的托盘 12正对， 此时开启第一抓取臂 111a上的第一汽缸 113a， 驱 动与第一汽缸 113a连接的第一盖板 112a沿与第一盖板 112a正对的并装有定位 件 13的托盘 12处移动,使得第一抓.取臂 111a的第一盖板 112a能收容于与第一 盖板 112a正对的定位件 13的收容腔 131 内， 且使第一盖板 112a可自由地在收 容腔 131内滑动。 同时， 开启第二抓取臂 111b上的第二汽缸 113b, 驅动与第二 汽缸 113b连接的第二盖板 112b沿与第二盖板 112b正对的装有定位件 13的托盘 12处移动， 使得第二抓取臂 111b的第二盖板 112b能收容于与第二盖板 112b正 对的定位件 13的收容腔 131 内, 且使第二盖板 112b可自由地于收容腔 131 内 滑动。 此时开启电机 10， 驱动传送机械手 11上的第二抓取臂 111b旋转到第一 抓取臂 111a处的同时， 而第一抓取臂 111a也正好旋转到第二抓取臂 111b处。 此时再开启第一抓取臂 111a上的第一汽缸 113a和第二抓取臂 111b上的第二汽 缸 113b, 第一汽.缸 113a驱动第一盖板 112a沿与第一盖板 i i2a正对的装有定位 件 13的托盘 12移动， 第二汽缸 113b驱动第二盖板 112b沿与第二盖板 112b正 对的装.有定位件 13的托盘 12移动， 当第一抓取臂 i l ia的第一盖板 112a能自由 地收容于与第一盖板 i l 2a正对的定位件 13的收容腔 131 内， 第二抓取臂 111b 的第二盖板 112b能自由地收容于与第二盖板 112b正对的定位件 13的收容腔 131 内时， 此时固定传送机构手 II 于电机 10上并拆卸下定位件 13 , 从而完成溅镀 机 4和光盘传送装置 2的托盘 12的精准定位。 当第一抓取臂 111a的第一盖板 112a不能自由地收容于与第一盖板 112a正对的定位件 13的收容腔 131 内、 第 二抓取臂 11 l 的第二盖板 I 12b不能自由地收容于与第二盖板 112b正对的定位 件 13的收容腔 131内时,此时需移动传送机械手 11和 /或装有定位件 13的托盘 12, 直到使第一抓 J 臂 111a的笫一盖板 112a能自由地收容于与第一盖板 112a 正对的定位件 13的收容腔 131 内、 第二抓取臂 111b的第二盖板 112b能自由地 收容于与第二盖板 112b正对的定位件 13的收容腔 131内为止。 In positioning, the precision positioning optical disk production line assembly 1 of the present invention is first installed between the sputtering machine 4 and the tray 12 of the optical disk transfer device 2. Next, each of the positioning members 13 of the precision positioning optical disc production line assembly 1 of the present invention is placed on a tray 12 of the optical disc transporting apparatus 2, and the circular bosses 134 of each of the positioning members 13 are accommodated in the capacity of one tray 12. Placed on cavity 120. Then, each tray 12 equipped with the positioning member 13 is moved, and the first cover 112a and the second cover 112b on the transfer robot 11 are both facing the tray 12 with the positioning member 13, and the opening is started. Pulling the first cylinder 113a on the arm 111a, driving The first cover 112a connected to the first cylinder 113a is moved along the tray 12 facing the first cover 112a and provided with the positioning member 13, so that the first cover 112a of the first grasping arm 111a can The first cover plate 112a is slidably received in the receiving cavity 131 in the receiving cavity 131 of the positioning member 13 facing the first cover 112a. At the same time, the second cylinder 113b on the second grab arm 111b is opened, and the second cover 112b connected to the second cylinder 113b is driven to move along the tray 12 with the positioning member 13 facing the second cover 112b. The second cover 112b of the second grabbing arm 111b can be received in the receiving cavity 131 of the positioning member 13 facing the second cover 112b, and the second cover 112b can be freely slid in the receiving cavity 131. . At this time, the motor 10 is turned on, and the second gripping arm 111b on the driving transfer robot 11 is rotated to the first gripping arm 111a, and the first gripping arm 111a is also rotated just to the second gripping arm 111b. At this time, the first cylinder 113a on the first grab arm 111a and the second cylinder 113b on the second grab arm 111b are opened again, and the first steam cylinder 113a drives the first cover 112a along the first cover i i2a The facing tray 12 with the positioning member 13 is moved, and the second cylinder 113b drives the second cover 112b to move along the tray 12 with the positioning member 13 facing the second cover 112b, when the first gripping arm The first cover 112a of the il ia can be freely received in the receiving cavity 131 of the positioning member 13 facing the first cover il 2a, and the second cover 112b of the second grasping arm 111b can be freely received and When the second cover 112b is facing the receiving cavity 131 of the positioning member 13, the conveying mechanism hand II is fixed on the motor 10 and the lower positioning member 13 is removed, thereby completing the tray 12 of the sputtering machine 4 and the optical disk transfer device 2. Precise positioning. When the first cover 112a of the first grabbing arm 111a is not freely received in the receiving cavity 131 of the positioning member 13 facing the first cover 112a, the second cover I 12b of the second grasping arm 11 l When it is not freely accommodated in the receiving cavity 131 of the positioning member 13 facing the second cover 112b, the transfer robot 11 and/or the tray 12 equipped with the positioning member 13 are moved at this time until the first grasping arm is made The first cover 112a of the 111a can be freely received in the receiving cavity 131 of the positioning member 13 facing the first cover 112a, and the second cover 112b of the second grasping arm 111b can be freely accommodated in the second cover 112b. The cover 112b faces the inside of the receiving cavity 131 of the positioning member 13.
请参阅图 5和图 6,使用本发明的精准定位光盘生产线组件 1的定位方法包 括如下的步骤：  Referring to Figures 5 and 6, the positioning method using the precision positioning optical disc production line assembly 1 of the present invention comprises the following steps:
步骤 S001 , 放置所述定位件于托盘上并使所述圆形凸台容置于所述容置腔 内。 在本步骤中， 还包括将装有定位件的托盘以所述传送机械手的转盘为中心 分布于所述转盘的四周； 步骤 S002 , 移动所述传送机械手使所述盖板一一对应的容置于所述收容腔 内。 在本步骤中， 在移动所述传送机械手的同时， 还需移动装有定位件的托盘， 使得所述盖板一一对应的容置于所述收容腔内； Step S001, placing the positioning member on the tray and accommodating the circular boss in the accommodating cavity. In this step, further comprising distributing the tray with the positioning member around the turntable of the transfer robot around the turntable; Step S002: moving the transfer robot to place the cover plates in a one-to-one correspondence in the receiving cavity. In this step, while moving the transfer robot, the tray with the positioning member is also moved, so that the cover plates are respectively accommodated in the receiving cavity;
步骤 S003 , 任意旋转所述转盘转动一定角度；  Step S003, arbitrarily rotating the turntable to rotate a certain angle;
步骤 S004, 再次让所述盖板一一对应的容置于所述收容腔内；  Step S004, the one-to-one corresponding ones of the cover plates are again placed in the receiving cavity;
步骤 S005 , 将所述定位件从所述托盘上卸下； 以及  Step S005, removing the positioning member from the tray; and
步骤 S006, 固定所述传送机械手于所述机械手驱动机构上。  Step S006, fixing the transfer robot to the robot drive mechanism.
较优者, 所述步骤 S004进一步包括如下步骤: 步骤 S0041 , 检测所述盖板 是否再次一一对应的容置于所述收容腔内； 若是， 则继续执行步骤 S005; 若否， 则循环执行步骤 S002至步骤 S003直至所述盖板再次——对应的容置于所述收 容腔内。  Preferably, the step S004 further includes the following steps: Step S0041, detecting whether the cover plate is placed in the receiving cavity one-to-one correspondingly; if yes, proceeding to step S005; if not, executing the loop Step S002 to step S003 until the cover plate again - correspondingly accommodated in the receiving cavity.
本发明的定位件 13的上端具有与传送机械手 11的第一盖板 112a和第二盖 板 112b呈间隙配合的收容腔 131 , 而定位件 13的下端凸伸出与托盘 12的容置 腔 120呈间隙配合的圆形凸台 134，使得定位件 13能快速、精准地与托盘 12进 行精准的定位同时， 也能快速地 精准地与传送机械手 11 上的第一盖板 112a 和第二盖板 112 进行精准的定位，且定位后的与第一盖板 I 12a正对应的定位件 13和托盘 12均与第一盖板 112a位于同一轴心线上，而定位后的与第二盖板 112b 正对应的定位件 13和托盘 12均与第二盖板 112b位于同一轴心线上。 因此， 本 发明的精准定位光盘生产线组件 1 —方面能提高传送机械手 11 的第一盖板 112a, 第二盖板 112b分别与托盘 12的定位速度及定位精度，从 为提升光盘的 生产效率和光盘的质量提供极其优越的条件； 另一方面能克服搡作人员靠目测 调试方式对传送机械手 11的第一盖板 112a, 第二盖板 112 分别与托盘 12进行 定位时发生严重的偏差而引起掉碟和 /或卡碟的问题， 进而为提高光盘的生产效 率和光盘的质量提供优异的条件。 另， 本发明的定位件 13的结构简单， 成本低 下。  The upper end of the positioning member 13 of the present invention has a receiving cavity 131 that is in a clearance fit with the first cover 112a and the second cover 112b of the transport robot 11, and the lower end of the positioning member 13 protrudes from the receiving cavity 120 of the tray 12. The circular boss 134 with a clearance fit enables the positioning member 13 to be accurately and accurately positioned with the tray 12, and can also quickly and accurately transfer the first cover 112a and the second cover on the robot 11 The positioning member 13 and the tray 12 corresponding to the first cover plate 112a are positioned on the same axis line as the first cover plate 112a, and the second cover plate 112b is positioned. The corresponding positioning member 13 and the tray 12 are both on the same axis line as the second cover 112b. Therefore, the precise positioning optical disc production line assembly 1 of the present invention can improve the positioning speed and positioning accuracy of the first cover 112a of the transport robot 11 and the second cover 112b and the tray 12, respectively, from the production efficiency of the optical disc and the optical disc. The quality provides extremely superior conditions; on the other hand, it can overcome the serious deviation of the first cover 112a of the transfer robot 11 by the visual inspection and debugging mode, and the second cover 112 is respectively positioned with the tray 12, causing a serious deviation. The problem of discs and/or discs, in turn, provides excellent conditions for improving the production efficiency of the disc and the quality of the disc. Further, the positioning member 13 of the present invention has a simple structure and a low cost.
以上所揭露的仅为本发明的较佳实例而已， 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， 仍属于本发明所涵盖的范 围。  The above are only the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and thus equivalent changes made in the claims of the present invention are still within the scope of the present invention.

Claims

i、 一种精准定位光盘生产线组件， 适用于对承载光盘的托盘进行精确的定 位， 包括机械手驱动机构及传送机械手 , 所述机械手驱动机构与所述传送机械 手连接， 所述传送机械手具有呈圆形的转盘， 所述转盘向外延伸形成若千抓取 臂， 所述抓取臂以所述转盘为中心且等距离地设置， 每个所述.抓取臂上安装有 一个用于抓取光盘并呈圓形的盖板， 每个所述盖板与所述转盘的中心距离相同， 所述机械手驱动机构驱动所述转盘旋转并使所述盖板在所述托盘上方作垂直运 动， 所述托盘以所述转盘为中心分布于所述转盘的四周并具有承载光盘的容置 腔, 其特征在于: 还包括呈圆形的并与所述盖板- "一对应的定位件， 所述定位 件的上端呈中空结构， 所述中空结构形成与所述盖板呈间隙配合的收容腔 , 所 述定位件的下端凸伸出与所述托盘的容置腔呈间隙配合的圓形凸台， 放置所述 定位件于所述托盘上并使所述圓形凸台容置于所述容置腔内， 移动所述盖板和 / 或托盘使所述盖板——对应的容置于所述收容腔内， 并使对应的所述盖板、 收 容腔及容置腔同轴心。  i. A precision positioning optical disc production line assembly, which is suitable for accurately positioning a tray carrying an optical disc, comprising a robot driving mechanism and a transmission robot, wherein the robot driving mechanism is connected to the conveying robot, and the conveying robot has a circular shape a turntable, the turntable extends outwardly to form a thousand grab arms, the grab arms are disposed at equal distances around the turntable, and each of the grab arms is provided with a disc for picking up And a circular cover plate, each of the cover plates is at the same distance from a center of the turntable, the robot drive mechanism drives the turntable to rotate and vertically moves the cover plate over the tray, The tray is distributed around the turntable and has a receiving cavity for carrying the optical disc. The utility model further comprises: a positioning member corresponding to the cover plate and having a circular shape, the positioning The upper end of the piece has a hollow structure, and the hollow structure forms a receiving cavity that is in a clearance fit with the cover plate, and the lower end of the positioning member protrudes from the receiving cavity of the tray. a matching circular boss, placing the positioning member on the tray and accommodating the circular boss in the accommodating cavity, moving the cover plate and/or the tray to make the cover plate- The corresponding receiving portion is disposed in the receiving cavity, and the corresponding cover plate, the receiving cavity and the receiving cavity are concentric.
1、 如权利要求 1所述的精准定位光盘生产线组件， 其特征在于： 所述定位 件的外側面呈台阶状， 所述定位件的台阶状的外侧面包括位于同一轴心线上的 第一圓柱面、 第二圓柱面及第三圓柱面， 所述第 -圓柱面的直径大于第二圆柱 面的直径， 而所述第二圓柱面的直径大于第三圓柱面的直径， 且所述第三圓柱 面形成所述圓形凸台。 1. The precision positioning optical disc production line assembly according to claim 1, wherein: the outer side surface of the positioning member is stepped, and the stepped outer side surface of the positioning member comprises a first one on the same axial center line. a cylindrical surface, a second cylindrical surface, and a third cylindrical surface, wherein the diameter of the first cylindrical surface is larger than the diameter of the second cylindrical surface, and the diameter of the second cylindrical surface is larger than the diameter of the third cylindrical surface, and the A three cylindrical surface forms the circular boss.
3、 如权利要求 1所述的精准定位光盘生产线组件 , 其特征在于： 所述定位 件的收容腔包括相互连通的并位于同轴心线上的第一收容腔和第二收容腔， 所 述第一收容腔与所述盖体呈间隙配合， 所述第二收容腔与光盘的尺寸相同， 且 于所述第一收容腔与所述第二收容腔的连接处开设有倾斜的过渡面。 4、 一种使用如权利要求 1所述的精准定位光盘生产线组件的定位方法， 其 特征在于， 包括如下步驟： The precision positioning optical disc production line assembly of claim 1 , wherein: the receiving cavity of the positioning component comprises a first receiving cavity and a second receiving cavity that are connected to each other and are located on a coaxial line, The first receiving cavity is in a clearance fit with the cover body, and the second receiving cavity has the same size as the optical disk, and an inclined transition surface is formed at a connection between the first receiving cavity and the second receiving cavity. 4. A method for positioning a precision positioning optical disc production line assembly according to claim 1, comprising the steps of:
( 1 )放置所迷定位件于托盘上并使所述圓形凸台容置于所述容置腔内； (2)移动所述传送机械手使所述盖板一"" ^对应的容置于所述收容腔内； ( 3 )任意旋转所述转盘转动一定角度;  (1) placing the positioning member on the tray and accommodating the circular boss in the accommodating cavity; (2) moving the transfer robot to make the cover corresponding to the "" ^ In the receiving cavity; (3) arbitrarily rotating the turntable to rotate a certain angle;
( 4 )再次让所述盖板——对应的容置于所迷收容腔内;  (4) again let the cover plate - correspondingly accommodated in the receiving cavity;
(5)将所述定位件从所述托盘上卸下; 以及  (5) removing the positioning member from the tray;
(6) 固定所述传送机械手于所述机械手驱动机构上。  (6) Fixing the transfer robot to the robot drive mechanism.
5、 如杈利要求 4所述的定位方法， 其特征在于， 所述步骤（4)进一步包 括如下步骤： 5. The positioning method according to claim 4, wherein the step (4) further comprises the following steps:
(41 )检测所述盖.板是否再次——对应的容置于所述收容腔内；  (41) detecting whether the cover plate is again - correspondingly received in the receiving cavity;
若是， 别继续执行步骤（5);  If yes, do not proceed to step (5);
若否, 则循环执行步骤 (2) 至步骤 (3) 直至所述盖板再次——对应的容 置于所述收容腔内。  If not, loop through steps (2) through (3) until the cover is again - correspondingly received in the containment chamber.
PCT/CN2010/074954 2010-03-01 2010-07-03 Precisely positioning optical disk production line component and positioning method WO2011106957A1 (en)

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JP2001129780A (en) * 1999-11-05 2001-05-15 Kubota Corp Disk transfer device
CN1264735C (en) * 2000-11-29 2006-07-19 Otb集团有限公司 Conveying device suitable for conveying annular products
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