JP2005259230A - Disk processing apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a disk processing apparatus in which take-up-transportation of an information recording disk can be performed well without increasing size and weight of an apparatus in the disk processing apparatus including a rack being freely movable and a disk transportation apparatus being freely extendable and retractable. <P>SOLUTION: When operation force is generated due to clamp operation of a clamper arm 68 of an almost dogleg shape, it is controlled that a load is caused in a mechanism part including the clamper arm 68 by moving a carriage 24 supporting the clamper arm 68 at the time of clamp operation. Also, as operation force is disappeared after completion of clamp operation, attitude of the clamper arm 68 is recovered and the disk can be taken up smoothly in the almost vertical direction without bringing the disk 26 into contact with a surrounding structure by moving the carriage 24 including the clamper arm 68 in the direction of canceling movement of the clamper arm 58 in this state, fall and damage of the clamped information recording disk 26 is prevented. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a disk processing apparatus, and in particular, a disk having a substantially U-shaped clamper arm that is telescopically inserted into a clamp opening formed in a disk such as an optical disk, and clamps and conveys the disk. The present invention relates to an improvement in a disk processing apparatus capable of smoothly and safely transporting an information recording disk in a processing apparatus including a transport apparatus.

  In recent years, information recording discs such as CD-R, CD-RW, DVD-R, and DVD-RW have been widely used as digital information storage media. Since these information recording disks are relatively inexpensive and easy to carry and distribute, they are effective for distributing digital information. For example, it is used not only for mass-production general sales, but also for recording digital information for advertisements and samples of companies and products, and for creating labels for indie music. On such a distribution information recording disk, digital information is written and a label is printed on the surface of the information recording disk in order to display the information content of the disk.

  In general, DVDs containing music CDs and movies are mass-produced using large-scale equipment, but cost reduction is attempted, but small quantities such as several tens to several hundreds are produced at one time as described above. In this case, a large facility is not suitable in consideration of facility cost and running cost. In view of this, there has been proposed a portable type disk processing apparatus equipped with a digital information recording unit, a label printing unit, a disk transport unit, and the like having the same functions as a large-scale facility (see, for example, Patent Document 1). .

  In the apparatus disclosed in Patent Document 1 described above, a stocker (unprocessed information recording disk on the left side and processed information recording disk on the right side) that stacks and stores a plurality of information recording disks on the left and right sides of the front side of the apparatus is disposed, A recording unit such as a CD-R writer and an arbitrary printing unit such as an ink jet type, a thermal transfer type, and a sublimation type are stacked in a central portion on the back side. Each of the recording unit and the printing unit has a disc tray that can freely move back and forth, and is configured to come to a position between the left and right stockers arranged on the front side when the disc tray advances to the eject position. Further, a guide rail is formed so as to cross the left and right stockers and the advanced disk tray, and the disk transport device can move along the guide rail. This disk transport apparatus has a clamper mechanism as a disk transport apparatus that can be moved up and down at any position on the guide rail. The clamper mechanism clamps and lifts only the uppermost information recording disk stacked on the stocker by pressing and inserting the tip into a substantially circular clamping opening formed on the information recording disk, and this lifted information recording Move the disc between stockers and disc trays. That is, the disk transport device picks up the information recording disk from the unprocessed stocker and supplies it to the disk tray of the recording unit that has moved to the eject position. Further, the information recording disk after the recording process is replaced with a disk tray of the recording unit and a disk tray of the printing unit. Further, the information recording disc after the printing process is picked up from the disc tray of the printing unit and conveyed to the processed stocker.

  By repeating such an operation, it is possible to sequentially produce information recording disks on which desired digital information is recorded and labels are printed. In addition, as in the above-described disk processing apparatus, the disk transport apparatus in the case where the remaining amount of the information recording disk of the unprocessed stocker decreases with the progress of processing, and the storage amount of the processed stocker increases, The information recording disc can be clamped at an arbitrary height position, and a panda graph type that shrinks compactly during transportation is often used. To reduce weight and simplify the mechanism, In many cases, a panda graph type clamper mechanism that expands and contracts in a “character” shape is employed.

JP 2003-331479 A

  However, as in the configuration described above, when the substantially panda graph type clamper mechanism of the disk transport device moves along the guard rail in the device, the clamper mechanism tries to clamp the information recording disk. When the periphery of the opening is pressed by the portion, a pressing force is generated in an oblique direction due to the structure of the substantially square Panda graph. As a result, a horizontal component force is generated, and the reaction force acts as an operating force on the guide rail side above the clamper mechanism. When the operating force coincides with the extending direction of the guide rail, the clamper mechanism is moved by the operating force, and the clamping posture is inclined. If the tip of the panda graph of the clamper mechanism is raised in this posture, the information recording disk is lifted in an oblique direction from the stocker. As a result, the sliding resistance between the information recording disc to be lifted and the support member of the information recording disc provided in the stocker increases, and the clamped information recording disc may fall or be damaged. there were. Further, there is a possibility that the structure around the stocker may come into contact, and there is a problem that a good information recording disk cannot be picked up and conveyed. In addition, when the operating force generated as a reaction force is different from the extending direction of the guide rail, or when the carriage is completely fixed to the guide rail using a brake or the like, the guide rail and the carriage supporting the panda graph are greatly affected. There is a problem that a load is applied, which causes malfunction and breakage, and that a good information recording disk cannot be picked up and conveyed.

  Further, even in a small-scale production and personal use type device as in Patent Document 1, it is preferable that the operation efficiency of the device is high, and it is preferable that a large number of information recording disks can be set by one preparation operation. However, in the case of the structure of Patent Document 1, if an attempt is made to increase the set amount of the information recording disk at one time, the stocker on the unprocessed side and the processed side must be lengthened in the depth direction, and the entire disk processing apparatus is large. In addition, a panda graph having a large expansion / contraction range is required, which increases the size and weight of the disk transport device. Furthermore, if the stocker is lengthened in the depth direction, a dead space is increased below the recording unit or the printing unit.

  For this reason, it is conceivable that a rotatable rack is provided at the lower part of the apparatus, a plurality of unprocessed and processed stockers are mounted, and the desired stocker is moved to the position of the disk transport device. In this case, without increasing the size of each stocker in the depth direction, the space below the recording unit or the printing unit can be used effectively, and an increase in the size of the disk processing apparatus can be suppressed, and the disk The increase in size and weight of the transport device can also be suppressed.

  However, in this case, since the rack has a movable mechanism, the rack moves due to the horizontal component force generated when the disk transport device presses the periphery of the opening of the information recording disk with the tip end in an attempt to clamp the information recording disk. End up. In this case as well, as described above, the panda graph type clamper mechanism is inclined, and the information recording disk is lifted from the stocker in an oblique direction. As a result, similarly to the above, there is a possibility that the clamped information recording disk may drop or break, and there is a problem that it is impossible to pick up and convey the information recording disk in a good manner.

  When such a rack is used, a partition may be provided between the lower stocker space and the upper recording / printing space to ensure strength. In this case as well, when the information recording disk is lifted in an oblique direction, the partition wall and the information recording disk come into contact with each other at the partition passage portion, resulting in dropping or damage.

  Therefore, the present invention is a disk processing apparatus including a movable rack and an approximately disk-shaped telescopic disk transport apparatus, which is good and efficient in picking and transporting information recording disks without increasing the size and weight. An object of the present invention is to provide a disk processing apparatus that can be performed automatically.

  The present invention is a rack capable of mounting a stocker capable of stacking and storing information recording disks having a clamp opening formed in a substantially central portion, and at least a pre-processing stocker for storing information recording disks before processing. One mounted stocker rack for moving a predetermined stocker to a predetermined position, at least one disk processing station for performing predetermined processing on the information recording disk, and clamping the information recording disk using the opening for clamping The abbreviation which moves between the processing station and a predetermined stocker in a state, and expands and contracts the arm in the vertical direction with respect to the stocker and the processing station, and presses and clamps the information recording disk. Shape clamper arm, movement of the stocker rack and movement and expansion / contraction of the clamper arm A control unit that controls the drive source, and an arm sensor that detects whether or not the clamper arm has been moved by an operating force during the pressing clamp operation of the clamper arm, and the control unit includes: Based on the detection result, after the pressing clamp operation is completed, control is performed to move the clamper arm in a direction to cancel the movement of the clamper arm.

  Here, the stocker rack is not limited as long as the stocker to be mounted can be moved to a desired position. For example, by adopting a substantially circular turntable stocker, a plurality of stockers can be efficiently installed in the disk processing apparatus. It can be mounted and the stocker can be easily moved and aligned.

  The at least one disk processing station that performs predetermined processing on the information recording disk is, for example, a recording unit that writes digital data on the information recording disk, a printing unit that prints labels on the non-recording surface of the information recording disk, or the like. It is. As the recording unit, for example, a CD-R writer, a CD-RW writer, a DVD-R writer, a DVD-RW writer, or the like is used. As the printing unit, for example, an ink jet type, a thermal transfer type, a sublimation type or the like is adopted. be able to.

  In addition, the substantially U-shaped clamper arm that extends and contracts the arm with respect to the stocker and the processing station to press and release the information recording disk is, for example, a “U” that can be operated by a motor drive or the like. A panda graph type link mechanism that opens and closes in a shape. By appropriately controlling the motor drive amount, the tip of the link mechanism can be moved to an optional expansion / contraction position, and is stacked in a stocker that increases or decreases depending on the process. The recorded information recording disc can be smoothly clamped and released at an optimum position.

  For example, an optical sensor or a mechanical switch sensor can be used as the arm sensor for detecting the movement of the clamper arm.

  According to this configuration, when an operating force for moving the clamper arm is generated in accordance with the clamp operation of the clamper arm, the movement of the clamper arm is allowed to suppress a load from being generated in the mechanism portion including the clamper arm. Can do. In addition, after the clamp operation is completed, the operating force to move the clamper arm has disappeared. In this state, the clamper arm posture is recorded by moving the clamper arm in a direction that cancels the movement of the clamper arm. The information recording disk can be picked up smoothly in a substantially vertical direction without being brought into contact with the surrounding structure by returning the disk so that the position directly above the disk matches. As a result, it is possible to prevent the clamped information recording disk from being dropped or damaged.

  The present invention may further include a rack sensor that detects whether or not the stocker rack has been moved by an operating force during a pressing clamp operation of the clamper arm, and the control unit includes the rack sensor. On the basis of this detection result, after the pressing clamp operation is completed, control is performed to move the stocker rack in a direction to cancel the movement of the stocker rack.

  According to this configuration, even when the stocker rack moves due to the generated operating force, it is possible to return the predetermined stocker to a position immediately below the clamper arm and to orient the clamper arm in the vertical direction. As a result, the information recording disk can be picked up by the clamper arm smoothly in a substantially vertical direction.

  Further, the present invention is the above configuration, wherein the clamper arm has a disk sensor that detects contact with an information recording disk to be pressed and clamped, and the control unit is configured to detect the clamper based on a detection result of the disk sensor. It is characterized by controlling the extension operation of the arm.

  According to this configuration, it is possible to suppress an unnecessary pressing operation during the clamping operation of the information recording disk, and to minimize the generation of an operating force that moves the clamper arm and the stocker rack.

  In addition, the present invention is a rack on which a stocker capable of stacking and storing information recording disks having a clamp opening formed in a substantially central portion is mountable, and is a pre-processing stocker for storing information recording disks before processing. And a stocker rack for moving a predetermined stocker to a predetermined position, at least one disk processing station for performing a predetermined process on the information recording disk, and an information recording disk using the clamping opening. It moves between the processing station and a predetermined stocker in a clamped state, and an arm is extended and contracted in a substantially vertical direction with respect to the stocker and the processing station, so that the information recording disk is pressed and released. And the movement of the stocker rack and the movement of the clamper arm A control unit that controls a drive source that performs the contraction, and a storage unit that stores in advance an expected arm movement amount that the clamper arm moves due to an operating force during the pressing clamp operation of the clamper arm, and the control unit Is characterized in that control is performed to move the clamper arm in a direction to cancel the movement of the clamper arm that occurs after completion of the pressing clamp operation based on the expected arm movement amount.

  Further, according to the present invention, in the above configuration, the storage unit further stores an expected rack movement amount that the stocker rack moves due to an operating force at the time of a clamper arm pressing clamp operation, and the control unit stores the expected rack movement. Based on the amount, control is performed to move the stocker rack in a direction to cancel the movement of the stocker rack that occurs after completion of the pressing clamp operation.

  According to this configuration, it is possible to cancel the movement of the clamper arm or stocker rack due to the operating force generated when performing the clamping operation without using the arm sensor or the rack sensor, thereby simplifying the structure and control of the disk processing apparatus. Can be

  Further, in the above configuration, the present invention includes a remaining amount recognition unit that recognizes a remaining amount of information recording disks stacked and stored in the stocker, and the storage unit stores the remaining amount of information recording disks stacked and stored in the stocker. The control unit controls the movement in a direction to cancel the predicted movement amount corresponding to the remaining amount of the information recording disc.

  Here, as the remaining amount recognition means, for example, an optical sensor disposed on the upper surface or the side surface of the information recording disk, a weight sensor provided on the lower surface of the stocker, or the like can be employed. Note that the amount of information recording disks stacked and stored in the stocker varies with the progress of processing. That is, the extension state of the clamper arm changes, and the direction in which the clamper arm presses the information recording disk also changes. Accordingly, the magnitude of the operating force acting in the direction of moving the clamper arm and stocker rack also changes, and the movement amount of the clamper arm and stocker rack also changes.

  According to this configuration, it is possible to use an appropriate predicted movement amount corresponding to the movement of the clamper arm or stocker rack, and accurate movement cancellation control of the clamper arm or stocker rack can be performed.

  Hereinafter, embodiments of the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.

  FIG. 1 is a perspective view illustrating a schematic configuration of a disk processing apparatus 10 according to the present embodiment. FIG. 1 shows a state in which the upper surface cover on the upper surface is removed from the housing 12 and a partition wall that partitions the interior into an upper layer portion and a lower layer portion is removed for the purpose of explaining the internal configuration. FIG. 1 shows a state in which an optional part 14 is attached, as will be described later. Further, FIG. 2 shows a schematic top view of FIG.

  As shown in FIGS. 1 and 2, the disk processing apparatus 10 has a processing station that performs predetermined processing in the apparatus. Specifically, a recording unit for writing desired digital data on an unprocessed information recording disk (for example, CD-R, CD-RW, DVD-R, DVD-RW, etc.) or an information recording disk after data writing is completed. The non-recording surface includes a printing unit or the like that prints characters, symbols, diagrams, or the like corresponding to or not corresponding to the recorded contents. In the case of FIG. 1, as the recording unit 16, two CD-R writers are arranged in the upper right part on the apparatus rear side, and as the printing unit 18, for example, a thermal transfer type printer is arranged in the upper left part on the apparatus rear side. The configuration of the two recording units 16 requires more time for data writing than the printing. Therefore, the configuration of the two recording units 16 improves the operating efficiency of the printing unit 18 and the disk processing apparatus 10. This is to improve the overall operation efficiency. Of course, the number of recording units 16 and printing units 18 mounted is arbitrary.

  In addition, a disk transport device 20 for supplying and discharging information recording disks to and from the recording unit 16 and the printing unit 18 is disposed at the upper part on the front side of the disk processing apparatus 10. The disk transport device 20 will be described in detail later. A guide rail 22 extends in the left-right direction of the disk processing device 10, and a carriage 24 is driven along the guide rail 22 by, for example, a motor and a drive belt. The mechanism can be moved arbitrarily. The carriage 24 is equipped with a panda graph type clamper arm having a generally square shape that expands and contracts in the downward direction of the apparatus.

  Further, a stocker rack 30 in which a plurality of stockers 28 in which a plurality of information recording disks 26 are stacked and stored is mounted on the lower layer of the upper layer of the apparatus in which the recording unit 16, the printing unit 18, the guide rail 22 and the like are arranged. Is arranged. The stocker rack 30 has a motor 32 as a rotational drive source at a substantially central portion, and can move a desired stocker 28 within an operation range of a clamper arm supported by the carriage 24. As shown in FIG. 2, in the stocker rack 30, an unprocessed stocker 28a for storing an unprocessed (data not written and label unprinted) information recording disk 26, processed (data written and label printed) is stored. A processing stocker 28b for storing the information recording disk 26 and a processing error stocker 28c for storing the error (data writing failure or label printing failure) information recording disk 26 are mounted. In addition, each stocker 28a-28c is freely detachable with respect to the stocker rack 30, and the number and arrangement position of each stocker can be changed according to a use.

  In this embodiment, as described above, stocker racks are added as optional parts 14. In this case, for example, all the stockers of the upper stocker rack 30 shown in FIG. 2 are used as the unprocessed stocker 28a, and the stocker 28b for processing and the stocker 28c for processing error are mounted on the stocker rack added by the optional part 14. can do. In this case, since the clamper arm of the disk transport device 20 needs to be able to access the upper and lower stocker racks, an access opening 34 is formed in a part of the upper stocker rack 30 as shown in FIG. A clamper arm that clamps the information recording disk 26 can freely pass through the access opening 34.

  In FIGS. 1 and 2, the illustration is omitted for the purpose of explaining the internal structure, but the upper layer of the apparatus in which the recording unit 16, the printing unit 18, the guide rail 22, etc. are arranged, and the stocker rack 30 Between the lower layer portion disposed, a recording unit 16 and a printing unit 18 are placed, and a partition for ensuring the strength of the entire disk processing apparatus 10 is formed. Therefore, an access opening similar to the access opening 34 formed in the stocker rack 30 is formed in the partition wall.

  FIG. 3 shows an example of a configuration block diagram of the disk processing apparatus 10.

  The disk processing apparatus 10 is mainly configured by a main CPU 36 that mainly controls the recording unit 16 and the printing unit 18 described above, and a robot control CPU 38 that mainly performs drive control of the disk transport device 20 and the stocker rack 30. . The main CPU 36 is connected to a storage unit (for example, HDD) 40 that stores digital data to be written on the information recording disk 26, label image data, and other various data. Although not shown, an input unit for performing various operations, a display unit for displaying an operation state and an operation state, and the like are connected. Note that a dedicated or general-purpose external computer (external PC) 42 is connected to the disk processing apparatus 10 of the present embodiment, and recording and printing are performed while processing digital data and label image data to be written on the information recording disk 26. To do. In this case, the main CPU 36, the HDD 40, the input unit, the display unit, and the like described above may be omitted and all functions may be provided on the external PC side. Of course, the function of the robot control CPU 38 may also be performed on the external PC 42 side.

  The robot control CPU 38 interconnected with the main CPU 36 includes an arm motor 44 for expanding and contracting the clamper arm, a carriage motor 46 for moving the carriage 24 of the disk transport device 20, a rack motor 48 for rotating the stocker rack 30, and the like. Is connected. The robot control CPU 38 also detects whether the carriage 24 (arm) has moved during the clamping operation by the clamper arm, and whether the stocker rack 30 has moved during the clamping operation by the clamper arm. Rack sensor 52 for detecting the disc, and disc detection for detecting whether or not the information recording disc 26 exists when the clamper arm attempts to perform a clamping operation, or whether or not the tip of the clamper arm contacts the information recording disc 26 A sensor 54, a remaining amount sensor 56 for detecting the remaining amount of the information recording disk of each stocker 28a to 28c, and the like are connected. As these sensors, optical sensors, mechanical limit sensors, and the like can be used. The remaining amount sensor 56 can also be configured by a weight sensor or the like provided on the lower surfaces of the stockers 28a to 28c. The arm sensor 50, the rack sensor 52, and the like also perform position detection regarding whether or not the stocker rack 30 or the carriage 24 has moved to a predetermined clamping operation position, and the carriage motor 46 and the rack motor 48 are feedback-controlled. So that the signal is supplied. In the configuration of FIG. 3, the robot control CPU 38 is connected to a display unit (for example, LCD) 58 for displaying the amount of information recording disks of each stocker 28 and displaying the operation state of each drive unit. Of course, it may be displayed on the external PC 42 side.

  FIG. 4 shows a state in which the door 59 is opened and the stocker rack 30 is pulled out in order to load an unprocessed information recording disk 26 in the disk processing apparatus 10 or to take out a processed or error information recording disk 26. It is shown. The stocker rack 30 can be pulled out when the disk transport device 20 is not in operation, and the information recording disk 26 can be arbitrarily loaded and unloaded. The disk processing apparatus 10 checks the quantity of the information recording disks 26 of the stockers 28a to 28c by using the remaining amount sensor 56 every time the stocker rack 30 is pulled out and stored and the door 59 is closed.

  The remaining amount sensor 56 is attached to a part of the inner wall of the housing 12, for example, and recognizes the quantity of the information recording disks 26 for each stocker by rotating the stocker rack 30 once. By this recognition, even if an unprocessed information recording disk 26 is added or a processed information recording disk 26 is taken out during a series of disk processing operations, the total number of processes can be accurately managed. Further, by recognizing the amount of the information recording disk 26 stacked on the stocker every time the door 59 is closed, the amount of fluctuation of the information recording disk 26 of each stocker 28a to 28c while the door 59 is closed is also determined. It is possible to accurately grasp, and it is possible to accurately control the extension of the clamper arm described later.

  FIG. 5 shows a perspective view of the stocker rack 30 alone. As described above, the stocker rack 30 is provided with a freely rotatable motor 32 (decelerated to a predetermined speed by a gear train or the like) at the center. A rotating cap 32 a having a flange around it is connected to the rotating shaft of the motor 32. A plurality of pins are formed on the flange portion, and the stockers 28a to 28c are rotated by a predetermined amount in synchronization with the rotation of the motor 32 by engaging with the engagement holes formed in the stockers 28a to 28c. . Each stocker 28 a to 28 c moves on the base plate 30 b along a circular recess 30 a formed in the stocker rack 30. Therefore, it is preferable that rollers or the like are appropriately formed on the back surfaces of the stockers 28a to 28c. Further, each stocker 28a to 28c needs to stop at a predetermined position where the information recording disk 26 is clamped and released by the clamper arm, so that it needs to perform an intermittent operation at a predetermined angle (60 ° in FIG. 5). There is. Therefore, it is preferable that a rotation moderation mechanism or the like is provided so that it can be stopped at every predetermined angle.

  FIG. 5 shows a state in which the access opening 34 is opened to access the stocker rack of the optional part 14. Of course, the stocker 28 can be attached to that portion, and six stockers 28 are provided. Can also be used. Conversely, it is also possible to use the required number of stockers 28 (for example, three).

  FIG. 6A shows a perspective view of a stocker 28a for stacking and storing unprocessed information recording disks 26, and FIG. 6B shows stacking and storing of information recording disks 26 for processed or processing errors. A perspective view of the stocker 28b (28c) is shown. As is clear from FIGS. 6A and 6B, the stocker 28a and the stocker 28b (28c) only use the guide pin 60a and the guide pin 60b for supporting the information recording disk 26 in a stacked manner. Is used. Therefore, a plurality of guide pin standing holes 64 are formed in the base 62.

  In the case of the unprocessed stocker 28a shown in FIG. 6A, the outer diameter portion of the information recording disk 26 is supported by the thin guide pin 60a. In FIG. 6A, four guide pins 60a are erected as an example, but if three or more, the information recording disk 26 can be favorably supported, and the number is arbitrarily selected. be able to. By supporting the outer periphery of the information recording disk 26, the tip end of the clamper arm can be inserted into the clamp opening 26a (see FIG. 5) formed in the center of the information recording disk 26 to support the clamp. It becomes possible.

  On the other hand, in the case of the processed or error stocker 28b (28c) shown in FIG. 6B, a large-diameter guide pin 60b is stacked and accommodated by being inserted into the clamp opening 26a in the center of the information recording disk 26. ing. In the case of a processed or error information recording disk 26, the clamp opening 26a of the information recording disk 26 is easily inserted into the guide pin 60b by opening the clamper arm clamp in the vicinity of the tip of the guide pin 60b. In addition, the information recording disk 26 can be stably supported.

  In addition to the position of the guide pin 60a shown in FIG. 6A, a guide pin standing hole 64 is formed in the base 62. This is because, for example, it corresponds to an information recording disk other than a 12 cm circular disk such as an 8 cm circular disk or a square disk. Further, on the side surface of the base 62, a ball 66 that can be moved forward and backward by a spring or the like that constitutes the rotational moderation mechanism of the stocker 28 is disposed. The ball 66 is engaged with a recess formed on the inner surface of the circular recess 30a of the stocker rack 30, so that a good sense of moderation can be obtained.

  FIG. 7 shows details of the carriage 24 of the disk transport device 20 and the clamper arm 68 mounted on the carriage 24.

  The carriage 24 has a substantially box shape with an open lower surface, and the upper surface is slidably engaged with a guide rail 22 provided in the housing 12 of the disk processing apparatus 10. The disk transport device 20 has a motor (not shown) as a drive source, and transmits the driving force of the motor to the carriage 24 via a transmission mechanism such as a drive belt. Accordingly, the carriage 24 moves in the horizontal direction in the drawing along the guide rail 22 in accordance with the driving amount of the motor.

  On the other hand, the clamper arm 68 has a panda graph structure that opens and closes in a “substantially square shape” by a link mechanism having a clamper 72 supported by a clamper holder 70 at the tip. The link mechanism includes a first link 74 having fan-shaped gears 74a and 74b at both ends, a second link 76 having a fan-shaped gear 76a at one end and the other end rotatably connected to the clamper holder 70, and a first link 76. A link plate 78 that maintains engagement between the sector gear 74b of the link 74 and the sector gear 76a of the second link 76, a first auxiliary link 80 that operates in parallel with the first link 74, and a first that operates in parallel with the second link 76. 2 auxiliary links 82. The 1st link 74, the 2nd link 76, the 1st auxiliary link 80, and the 2nd auxiliary link 82 are engaged so that rotation is possible, respectively. For example, one end of the first link 74 and the first auxiliary link 80 is pivotally supported on the inner wall surface of the carriage 24, and the other end is pivotally supported on the link plate 78. Further, one end of the second link 76 and the second auxiliary link 82 is rotatably supported on the link plate 78, and the other end is rotatably supported on the clamper holder 70.

  When a motor (not shown) rotates, the drive gear 84 rotates in the counterclockwise direction, for example, and the sector gear 74a of the first link 74 rotates in the clockwise direction. As a result, the first link 74 rotates in the clockwise direction. At this time, since the sector gear 76a of the second link 76 is engaged with the sector gear 74b of the first link 74, the second link 76 is rotated in the counterclockwise direction. As the rotational movement of the first and second links 74 and 76 proceeds, the first and second links 74 and 76 open in a “substantially square shape” as shown by broken lines in FIG. Is lowered in a substantially vertical direction. At this time, due to the presence of the first and second auxiliary links 80 and 82, the clamper holder 70 can be moved up and down without tilting. Further, the first and second auxiliary links 80 and 82 contribute to the improvement of link rigidity and realize a smooth operation. In FIG. 7, the position indicated by the solid line is the state in which the clamper arm 68 is retracted to the home position, and the position indicated by the broken line is extended to clamp the information recording disk 26 stored in the unprocessed stocker 28a. It is in a state (as an example, a state in which the information recording disk 26 stored at the bottom is clamped).

  Further, the clamper arm 68 can be stopped at an arbitrary height according to the rotational driving amount of the motor. Therefore, in FIG. 7, the disk tray 16a of the recording unit indicated by the two-dot chain line is stopped at an optimum height, and the information recording disk 26 can be smoothly supplied and discharged. 7 shows a partition wall 86 that separates the upper layer portion and the lower layer portion, which are not shown in FIGS. The partition wall 86 is formed with an opening 86a through which the clamper arm 68 can pass while the information recording disk 26 is clamped.

  FIG. 8 shows the detailed structure of the clamper 72 supported by the clamper holder 70. 8A is a top view of the clamper 72, FIG. 8B is a side view (hatching is given importance to distinguishing each member), and FIG. 8C is a view of the clamper holder 70. It is explanatory drawing explaining the relationship with the clamper 72. FIG. The clamper 72 is arbitrary as long as it clamps by performing a pressing operation on the information recording disk 26. However, in the present embodiment, a head portion having an engaging element (for example, a sphere) that can move forward and backward. A configuration in which clamping is performed by inserting the disc into the clamping opening 26a of the information recording disk 26 will be described as an example.

  As shown in FIGS. 8A and 8B, the clamper 72 includes a clamper body 90 having a clamper head 88 at a substantially central portion, and a clamper body 90 sliding in the vertical direction as shown in FIG. A clamper holder 70 (only a part of which is shown) is movably supported. Sliding pins 90 a (for example, two on each side) are erected on the side wall of the clamper body 90 and engaged with a long slot 70 a formed in the clamper holder 70. An urging means (not shown) (not shown) is arranged between the clamper body 90 and the clamper holder 70, and always urges the clamper body 90 downward. Then, as shown in FIG. 7, the clamper arm 68 extends and the clamper body 90 (clamper 72) contacts the information recording disk 26, so that the clamper body 90 moves upward. That is, a damper mechanism is formed to absorb an impact generated when the clamper arm 68 and the information recording disk 26 come into contact with each other, and the information recording disk 26 can be smoothly pressed and clamped by the clamper arm 68.

  A disc detection sensor 54 (for example, an optical sensor) that detects the presence or absence of the information recording disc 26 is arranged inside the clamper body 90, and whether or not the information recording disc 26 exists in the facing stocker 28a or the like, and the clamper body Whether or not 90 and the information recording disk 26 are in contact with each other is detected. Further, by appropriately setting the sensitivity of the sensor, it can also be used to measure the remaining amount of the information recording disk 26 such as the stocker 28a. Further, a clamper movement sensor 96 (for example, an optical sensor) is disposed inside the clamper body 90. The clamper movement sensor 96 detects whether or not the clamper body 90 has contacted the information recording disk 26 and the clamper body 90 has moved a predetermined amount depending on whether or not the shielding plate 70b formed on the clamper holder 70 has blocked the sensor. Yes. Based on this detection result and the detection result of the disk detection sensor 54, it is determined whether or not the clamping operation has been completed. Of course, a determination based on one of the results is also possible.

  As shown in FIGS. 8A and 8B, a slider 98 that moves in the left-right direction in FIG. 8A as a result of the clamper body 90 being moved upward by the information recording disk 26 inside the clamper body 90. A self-holding solenoid 100 that holds the moved slider 98 is disposed. Also, a crank arm 102 that operates according to the movement of the slider 98, a cam 104 that rotates by the crank arm 102, a chucking ball 106 that moves forward and backward to the cam 104 and clamps the information recording disk 26 (in this embodiment, for example, 3), a coil spring 108 for returning the slider 98, a coil spring 110 for preloading the cam 104, and the like are arranged.

  The operation of the clamper 72 configured as described above will be described. As shown in FIG. 7, when the clamper arm 68 extends and the clamper body 90 comes into contact with the information recording disk 26 and further presses, the clamper body 90 moves in the direction of arrow A in FIG. Here, a cam 98 a having an inclined surface is erected on the slider 98, and a leaf spring 70 c is fixed to the clamper holder 70. Accordingly, as the clamper body 90 moves in the direction of arrow A, the leaf spring 70c contacts the cam 98a and moves the slider 98 in the direction of arrow B.

  As shown in FIG. 8A, since the crank arm 102 is rotatably engaged with the slider 98 via the joining pin 98b, the crank arm 102 is moved along with the movement of the slider 98 in the arrow B direction. Rotates around the point O in the direction of arrow C. Further, since the crank arm 102 is engaged with the cam 104 via the joining pin 104a, the cam 104 rotates in the direction of arrow D in FIG. As the cam 104 rotates, the slope 104b of the cam 104 pushes the chucking ball 106 outward (in the direction of arrow E) of the clamper head 88. At this time, the information recording disk 26 is in close contact with the clamper body 90 and is positioned above the chucking ball 106 as shown in FIG. 8B. The information recording disk 26 is clamped between the lower surface of the clamper body 90 supported from the side. Since the coil spring 110 is disposed between the slider 98 and the crank arm 102 and the cam 104 applies a load, the urging state of the chucking ball 106 by the cam 104 is maintained, and the information recording disk 26 is stabilized. Retention can be performed.

  Simultaneously with the pushing operation of the series of chucking balls 106 as described above, the slider 98 moves against the biasing force of the coil spring 108 by the magnetic force of the self-holding solenoid 100 connected to the tip of the slider 98. And the clamped state of the information recording disk 26 is maintained.

  On the other hand, when the clamper arm 68 moves to the position of the disk tray 16a or the processed stocker 28b with the information recording disk 26 clamped, it is necessary to release the clamp of the information recording disk 26. In this embodiment, the magnetic force is released by applying a predetermined voltage to the solenoid 100. As a result, the slider 98 moves in the direction opposite to the arrow B by the urging force of the return coil spring 108, and accordingly, the crank arm 102 and the cam 104 also rotate in the anti-C direction and the anti-D direction. That is, the urging force of the cam 104 with respect to the chucking ball 106 disappears, and the chucking ball 106 can freely move. As a result, the information recording disk 26 can be detached from the clamper head 88 due to its own weight, and land on the disk tray 16a or the processed stocker 28b.

  In the disk processing apparatus 10 configured as described above, control during clamping of the information recording disk 26, which is a feature of the present embodiment, will be described with reference to the flowcharts of FIGS.

  First, the main CPU 36 prepares a disk processing operation for the robot control CPU 38 so that the stocker rack 30 places a predetermined stocker 28 (for example, an unprocessed stocker 28a) at a predetermined position, that is, the partition 86 shown in FIG. A command is issued to move the predetermined stocker 28 to a position immediately below the opening 86a, and the carriage 24 of the disk transport device 20 is moved to a position immediately above the opening 86a, that is, a position just above the moved stocker 28a. Command. Based on the command, the robot control CPU 38 drives the rack motor 48 and the carriage motor 46 based on signals from the rack sensor 52 and the arm sensor 50 to move them to a predetermined clamp preparation position.

  Subsequently, when the main CPU 36 receives from the robot control CPU 38 a signal indicating that the preparation for clamping has been completed, the main CPU 36 supplies a signal for starting a clamping operation (disc chucking start) to the robot control CPU 38. When receiving the signal, the robot control CPU 38 rotates the arm motor 44 in the arm extension direction (in FIG. 7, the drive gear 84 is counterclockwise) (S100). At this time, the robot control CPU 38 always monitors whether or not the disk detection sensor 54 is turned on, that is, whether or not the clamper body 90 is in contact with the information recording disk 26 to be clamped (S101). When the disk detection sensor 54 is turned on, the robot control CPU 38 starts a timer and determines whether a predetermined time (for example, 500 ms) has elapsed, that is, whether the clamper body 90 has been pressed against the information recording disk 26 for a predetermined time. Is monitored (S102). Due to the pressing for a predetermined time, the protruding operation of the chucking ball 106 described in FIG. 8 is completed, and the clamping of the information recording disk 26 by the clamper head 88 is completed. The robot control CPU 38 stops driving the arm motor 44 when the timer has elapsed for a predetermined time (S103). That is, the pressing operation of the information recording disk 26 by the clamper arm 68 is stopped.

  Here, the robot control CPU 38 determines whether or not the stocker rack 30 has been rotationally moved by the above-described clamping operation (pressing operation by the clamper arm 68) (S104; the flowchart of FIG. 10 for details). That is, as shown in FIG. 7, when the clamper arm 68 is extended to press the information recording disk 26, a pressing force is generated in the T direction due to the structure of the link. As a result, component forces in the horizontal direction H and the vertical direction V are generated, and the stocker 28a (stocker rack 30) is pushed in the H direction and moved. In the case of the stocker rack 30, since the moderation mechanism is provided, it is unlikely that the stocker rack 30 will move due to the clamping operation. However, if the stocker rack 30 is rotated from its original predetermined position, the posture of the clamper arm 68 is initially In this state, when the picking operation is performed in the vertical direction of the information recording disk 26 to be described later, the contact resistance between the information recording disk 26 and the guide pin 60a increases, and the clamp of the information recording disk 26 is released. There is a risk that. Further, there is a possibility that the information recording disk 26 may be dropped by coming into contact with the opening 86a of the partition wall 86 shown in FIG.

  If the stocker rack 30 is completely fixed, there is no place to escape excessive stress generated during the extension operation of the clamper arm 68, and a great load is applied to the clamper arm 68 and the carriage 24. Cause. As in this embodiment, by allowing the rotation of the stocker rack 30 during the clamping operation, the excessive stress as described above is absorbed and damage to the clamper arm 68 and the carriage 24 is suppressed.

  When it is confirmed that the stocker rack 30 has been rotated and moved by the clamping operation, that is, when the rack sensor 52 is turned OFF in the flowchart of FIG. 10 (S200), the clamper is moved by the movement of the stocker rack 30. Since the posture of the arm 68 is slanted, it is necessary to return the posture straight before the information recording disk 26 is pulled up. As described above, the stocker rack 30 is rotationally moved by a clamping operation. Therefore, the robot control CPU 38 drives the rack motor 48 in a direction to cancel the rotational movement (S201), and monitors whether or not the rack sensor 52 is turned on (S202). When the rack sensor 52 is turned on, that is, when the stocker rack 30 returns to the clamp position of the information recording disk 26 that was initially moved, the rack motor 48 is stopped (S203), and the stocker position determination subroutine is executed. To return to the main flowchart of FIG.

  Subsequently, the robot control CPU 38 determines whether or not the carriage 24 has moved along the guide rail 22 by the above-described clamping operation (pressing operation by the clamper arm 68) (S105; details are a flowchart of FIG. 11). As described above, when the clamper arm 68 is extended to press the information recording disk 26, a component force is generated in the horizontal direction H due to the structure of the link. At this time, as shown in FIG. 7, a reaction force in the direction opposite to the horizontal direction H acts on the carriage 24 attached to the guide rail 22 so as to be movable, and the carriage 24 is pushed and moved in the anti-H direction. In the case of the carriage 24, for example, since it is driven by a drive belt or the like, even if it has a brake structure or the like, it may move due to slip or the like. When the carriage 24 has moved from the initial predetermined position, if the picking operation is performed in the vertical direction of the information recording disk 26 to be described later, as in the case where the stocker rack 30 has moved, the information There is a possibility that the contact resistance between the recording disk 26 and the guide pin 60a increases and the clamp of the information recording disk 26 is released. Further, there is a possibility that the information recording disk 26 may be dropped by coming into contact with the opening 86a of the partition wall 86 shown in FIG.

  The carriage 24 is allowed to move along the guide rail 22 at the time of the clamping operation, so that a place where excessive stress generated during the extension operation of the clamper arm 68 is secured is secured. It prevents the load from being applied.

  When it is confirmed that the carriage 24 has been moved by the clamping operation, that is, when the arm sensor 50 is turned off in the flowchart of FIG. 11 (S300), the movement of the carriage 24 causes the clamper arm 68 to move. Since the posture is slanted, it is necessary to return the posture to straight before lifting the information recording disk 26. As described above, the moving direction of the carriage 24 is determined by the clamping operation. Therefore, the robot control CPU 38 drives the carriage motor 46 in the cancel direction (S301) and monitors whether the arm sensor 50 is turned on (S302). When the arm sensor 50 is turned on, that is, when the carriage 24 returns to the clamp position of the information recording disk 26 that was initially moved, the drive of the carriage motor 46 is stopped (S303), and a carriage position determination subroutine is executed. Then, the process returns to the main flowchart of FIG.

  As described above, the rigidity required for the clamper arm 68 and the carriage 24 is reduced by allowing the carriage 24 and the stocker rack 30 to move to some extent during the clamping operation and forming an escape path for excessive stress. This can contribute to the simplification, weight reduction, size reduction, and the like of the structure.

  By performing the stocker position determination and the carriage position determination described above, the carriage 24, the clamper arm 68, and the stocker rack 30 are returned to the state of being aligned in the vertical direction immediately before the clamping operation of the information recording disk 26. As a result, as described above, it is possible to prevent the contact resistance with the guide pin 60a from increasing or the contact with the partition wall 86 from occurring when the information recording disk 26 is picked up.

  If the robot control CPU 38 determines that the information recording disk 26 can be safely lifted based on the above determination, the robot control CPU 38 drives the arm motor 44 in the arm contraction direction (the drive gear 84 clockwise) to move the clamper arm. 68 is shortened (S106). Inside the carriage 24, a home position sensor (not shown) (for example, an optical sensor) for determining whether or not the clamper arm 68 has returned to the home position (the contracted state shown by the solid line in FIG. 7) is disposed. Monitors the return state of the clamper arm 68 (S107). If it can be confirmed that the home position sensor is turned on, the robot control CPU 38 and the arm motor 44 are stopped (S108), and the series of clamp pull-up processing of the information recording disk 26 is completed. The arm motor 44 can recognize the rotation speed by recognizing its own encoder and input pulse. Therefore, it can be recognized that the clamper arm 68 has returned to the home position without using the home position sensor, and the arm motor 44 can be controlled.

  As described above, when the disc processing apparatus 10 performs the clamp lifting operation of the information recording disc 26 by the clamper arm 68, the disc processing device 10 recognizes the movement of the carriage 24 and the stocker 28 (stocker rack 30) due to the clamping operation, and performs the movement. After moving the carriage 24 and the stocker 28 (stocker rack 30) in the canceling direction, the clamped information recording disk 26 is lifted, so that the contact resistance with the guide pin 60a as described above is increased. Contact with the partition wall 86 is prevented, and the information recording disk 26 can be smoothly lifted and conveyed.

  When it is confirmed that the clamper arm 68 has returned to the home position with the information recording disk 26 clamped, the main CPU 36 sends an ejection command for the disk tray 16a to the recording unit 16, and the disk tray 16a is informed. The recording disk 26 is projected to the receiving position. Then, the main CPU 36 outputs a clamp release command to the robot control CPU 38. When the robot control CPU 38 receives the robot release command, it moves the carriage 24 to the upper position of the ejected disk tray 16a, expands the clamper arm 68 by a predetermined amount, and moves the information recording disk 26 to the predetermined position above the disk tray 16a. Move to. Thereafter, as described with reference to FIG. 8, the cam 104 is rotated in the direction opposite to the arrow D to release the clamping force by the chucking ball 106 and land on the disc tray 16a.

  Normally, since the data writing process takes longer than the label printing process for the information recording disk 26, in this embodiment, two recording units 16 are mounted and the data writing process is performed in parallel. Therefore, the clamper arm 68 performs the above-described clamp conveyance process of the information recording disk 26 again and supplies the information recording disk 26 to the second recording unit 16.

  When the data writing process by one of the recording units 16 is completed, the clamper arm 68 performs a clamp lifting process for the information recording disk 26 on the disk tray 16a. In this case, the disc tray 16a does not move by the clamping operation, but the carriage 24 may move. Here, the movement canceling process as described above may be performed, but the information recording disk 26 placed on the disk tray 16a is only positioned by a shallow groove, and is supported by other structures. There is no particular object that contacts or moves upward, so that even if the carriage 24 is moved by the clamping operation, even if the clamping pull-up process is performed as it is, no particular problem occurs.

  The robot control CPU 38 moves the carriage 24, which has clamped and lifted the information recording disk 26 for which the data writing process has been completed, over the disk tray 18 a of the printing unit 18 along the guide rail 22, and similarly to the case of the recording unit 16. The information recording disk 26 is landed on the disk tray 18a, and the printing process is executed.

  The robot control CPU 38 supplies the information recording disk 26 to the vacant recording unit 16 in the same manner as described above, while clamping and pulling up the information recording disk 26 on which label printing has been completed in the same manner as described above, and stores it in the processed stocker 28b. . In this case, for example, when the robot control CPU 38 stores the information recording disk 26 in the stocker rack of the optional part 14 arranged in the lower stage in FIG. 1, the clamper arm 68 is label-printed from the disk tray 18 a of the printing unit 18. The information recording disk 26 is pulled up, the carriage 24 is moved to a position directly above the opening 86a of the partition wall 86, and the stocker rack 30 is rotated so that the access opening 34 is positioned immediately below the opening 86a. Further, the stocker rack of the option part 14 is also rotated, and the predetermined stocker 28 b is moved to a position directly below the access opening 34. Thereafter, the clamper arm 68 is extended to release the clamp so that the clamp opening 26a of the information recording disk 26 is inserted into the guide pin 60b of the processed stocker 28b. Since the guide pin 60b has a tapered tip, the processed information recording disk 26 can be easily stacked and accommodated.

  By continuously performing the process using the disk transport device 20 as described above, the data writing process and the label printing process on the information recording disk 26 can be performed without causing the information recording disk 26 to drop or break, and the clamper arm 68. The information recording disk 26 can be continuously and smoothly transported without applying a large load to the equal mechanism portion. Moreover, it can contribute to suppressing the enlargement and weight of the disk processing apparatus 10.

  By the way, in the above-described embodiment, the presence or absence of actual movement of the stocker rack 30 or the carriage 24 that may move by the clamping operation is detected using each sensor, and each drive motor is in a direction to cancel the movement. By driving, the problem caused by the clamping operation was solved.

  As described above, the pressing by the clamper arm 68 is performed for a predetermined time after the information recording disk 26 is detected. In this case, when the remaining amount of the information recording disk 26 in the stocker 28 is large, the clamper body 90 contacts and presses the information recording disk 26 while the clamper arm 68 is being extended, and the pressing force T in FIG. Turn to a more horizontal direction. As a result, the component force in the horizontal direction H that attempts to move the stocker rack 30 increases, and the stocker rack 30 is rotated more. Similarly, the reaction force against the component force in the horizontal direction H increases and the force for moving the carriage 24 also increases. Conversely, when the remaining amount of the stocker 28 is small, the clamper body 90 and the information recording disk 26 come into contact with each other with the clamper arm 68 extended further. At that time, the pressing force T becomes closer to the vertical direction, and the component force in the horizontal direction H decreases. That is, the amount of movement of the stocker rack 30 and the carriage 24 is also reduced.

  Accordingly, the estimated movement amount of the stocker rack 30 and the carriage 24 (expected rack movement amount and expected arm movement amount (expected carriage movement) with respect to the remaining amount of the information recording disk 26 of the stocker 28 to be clamped by the clamper 72. Amount)) can be calculated in advance and stored in the HDD 40 or the like as a correspondence table, for example. The disk processing apparatus 10 recognizes the remaining amount of the information recording disk 26 of each stocker 28 by the remaining amount sensor 56 or the like when the stocker rack 30 is stored, and the movement status of the information recording disk 26 of each stocker as the process progresses. Can also be easily recognized. Therefore, based on the remaining amount of the information recording disk 26 of the stocker 28 to be clamped by the clamper 72, the carriage motor 46 and the rack motor 48 are driven to move the stocker rack 30 and the carriage 24 (clamper arm 68) by the clamping operation. Can be canceled. In this case, the movement canceling process by the clamping operation can be quickly performed. Further, since the movement due to the operating force can be canceled without using the arm sensor 50 or the rack sensor 52 that monitors the movement of the carriage 24 or the stocker rack 30 during the clamping operation, the structure and control of the disk transport device 20 can be simplified. Can be

  The structure shown in the present embodiment is an example. The movement of the carriage 24 and the stocker rack 30 during the clamping operation is recognized, the process for canceling the movement is performed, and then the information recording disk 26 is pulled up. Any other configuration can be used as appropriate, and the same effects as in the present embodiment can be obtained even if the arrangement of the recording unit 16 and the printing unit 18 is reversed or the number of mounted units is changed. In addition, the clamp mechanism is also configured to have a clamper arm that expands and contracts in a “substantially square shape”, and any structure can be selected as long as the clamper at the tip is configured to press clamp.

  Further, in the flowcharts shown in FIGS. 9 to 11, the movement of the carriage 24 and the stocker rack 30 during the clamping operation is recognized, the process for canceling the movement is performed, and then the information recording disk 26 is pulled up. Then, even if the processing procedure is arbitrarily changed, the same effect as that of the present embodiment can be obtained.

It is a perspective view explaining the principal part structure of the disc processing apparatus concerning this embodiment. It is an internal structure figure explaining the principal part structure of the disk processing apparatus concerning this embodiment. It is a block diagram of the configuration of the disk processing apparatus according to the present embodiment. It is a perspective view explaining the state which pulled out the stocker rack in the disc processing apparatus concerning this embodiment. It is explanatory drawing explaining the structure of the stocker rack of the disk processing apparatus which concerns on this embodiment. It is explanatory drawing explaining the structure of each stocker mounted in the stocker rack of the disk processing apparatus concerning this embodiment. It is explanatory drawing explaining the expansion-contraction state of the clamper arm of the disc processing apparatus concerning this embodiment. It is explanatory drawing explaining the detailed structure of the clamper of the disc processing apparatus which concerns on this embodiment. It is a flowchart explaining operation | movement of the clamper arm of the disc processing apparatus concerning this embodiment. It is a flowchart explaining the stocker position determination process of the disk processing apparatus which concerns on this embodiment. It is a flowchart explaining the carriage position determination process of the disk processing apparatus which concerns on this embodiment.

Explanation of symbols

  10 disc processing device, 12 housing, 14 optional parts, 16 recording unit, 16a, 18a disc tray, 18 printing unit, 20 disc transport device, 22 guide rail, 24 carriage, 26 information recording disc, 28, 28a, 28b, 28c Stocker, 30 Stocker rack, 30a Circular recess, 30b Base plate, 32 Motor, 32a Rotation cap, 34 Access opening, 36 Main CPU, 38 Robot control CPU, 40 HDD, 42 External PC, 44 Arm motor, 46 Carriage motor, 48 rack motor, 50 arm sensor, 52 rack sensor, 54 disk detection sensor, 56 remaining amount sensor, 58 LCD, 59 door, 60a, 60b guide pin, 62 base, 64 guide Pin standing hole, 66 ball, 68 clamper arm, 70 clamper holder, 70a long groove hole, 70b shielding plate, 70c leaf spring, 72 clamper, 74 first link, 74a, 74b, 76a sector gear, 76 second link, 78 Link plate, 80 1st auxiliary link, 82 2nd auxiliary link, 84 drive gear, 86 partition, 86a opening, 88 clamper head, 90 clamper body, 90a sliding pin, 96 clamper movement sensor, 98 slider, 98a, 104 Cam, 98b, 104a Joining pin, 100 Solenoid, 102 Crank arm, 104b Slope, 106 Chucking ball, 108, 110 Coil spring.

Claims (6)

A rack capable of mounting a stocker that can stack and store information recording discs with a clamp opening formed in the approximate center, and is equipped with at least one pre-processing stocker that stores pre-processing information recording discs. A stocker rack for moving a predetermined stocker to a predetermined position;
At least one disk processing station for performing predetermined processing on the information recording disk;
Information is recorded by moving between the processing station and a predetermined stocker while the information recording disk is clamped using the opening for clamping, and by extending and contracting the arm in a substantially vertical direction with respect to the stocker and the processing station. A generally U-shaped clamper arm for pressing and releasing the disc; and
A control unit for controlling a drive source for moving the stocker rack and moving and expanding / contracting the clamper arm;
An arm sensor that detects whether or not the clamper arm has been moved by the operating force during the pressing clamp operation of the clamper arm;
Including
The disk processing apparatus according to claim 1, wherein the control unit performs control to move the clamper arm in a direction to cancel the movement of the clamper arm after the pressing clamp operation is completed based on the detection result of the arm sensor. The apparatus of claim 1.
And a rack sensor for detecting whether or not the stocker rack has been moved by an operating force during the pressing and clamping operation of the clamper arm,
The disk processing apparatus according to claim 1, wherein the control unit performs control to move the stocker rack in a direction to cancel the movement of the stocker rack after completion of the press clamp operation based on the detection result of the rack sensor. The apparatus of claim 1 or claim 2,
The clamper arm has a disk sensor that detects contact with an information recording disk to be pressed and clamped,
The disc processing apparatus, wherein the control unit controls an extension operation of the clamper arm based on a detection result of the disc sensor. A rack capable of mounting a stocker that can stack and store information recording discs with a clamp opening formed in the approximate center, and is equipped with at least one pre-processing stocker that stores pre-processing information recording discs. A stocker rack for moving a predetermined stocker to a predetermined position;
At least one disk processing station for performing predetermined processing on the information recording disk;
The information recording disk is clamped using the clamp opening and moved between the processing station and a predetermined stocker, and an arm is extended and contracted in a substantially vertical direction with respect to the stocker and the processing station to record information. A generally U-shaped clamper arm for pressing and releasing the disc; and
A control unit for controlling a drive source for moving the stocker rack and moving and expanding / contracting the clamper arm;
A storage unit for preliminarily storing an expected arm movement amount by which the clamper arm is moved by an operating force at the time of a pressing clamp operation of the clamper arm;
Including
The disk processing apparatus according to claim 1, wherein the control unit controls the movement of the clamper arm in a direction to cancel the movement of the clamper arm that occurs after the pressing clamp operation is completed based on the predicted arm movement amount. The apparatus of claim 4.
The storage unit further stores an expected rack movement amount by which the stocker rack is moved by an operating force at the time of the clamp operation of the clamper arm.
The disk processing apparatus according to claim 1, wherein the control unit controls the movement of the stocker rack in a direction to cancel the movement of the stocker rack that occurs after the pressing clamp operation is completed based on the expected rack movement amount. The apparatus of claim 4 or claim 5,
A remaining amount recognizing means for recognizing the remaining amount of information recording discs stacked and stored in the stocker;
The storage unit stores an expected movement amount corresponding to the remaining amount of information recording disks stacked and stored in the stocker,
The disk processing apparatus, wherein the control unit performs movement control in a direction to cancel an expected movement amount according to a remaining amount of the information recording disk.

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