JPS62224590A - Manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a manipulator that clamps a flat work such as a magnetic disk, and transports and mounts the work to a predetermined transport location.

[Prior Art] Conventionally, a manipulator is required to clamp and transport a disc-shaped disk as a member to be transported (hereinafter abbreviated as a work). In particular, a manipulator is required in constructing a disk sorting device that automates the loading, measuring, sorting, and unloading of the workpieces, which measures the thickness of the workpieces and sorts the workpieces based on the measurement results.

For example, if the workpiece is a magnetic disk, it must be handled carefully due to its shape and properties, and it must be held and transported without damaging the surface of the disk. There are multiple types of workpieces with different diameters, and there is a need for a manipulator that can grip and transport all of these types of workpieces.

[Problems to be Solved by the Invention] The present invention has been made in view of the above-mentioned circumstances, and is capable of accurately and quickly holding and transporting a workpiece, and furthermore, is capable of handling a plurality of workpieces having different diameters. The object of the present invention is to provide a manipulator that can hold and transport the same.

[Means for solving the problems] In order to achieve the above object, the manipulator according to the present invention has the following features:
A workpiece (trade) that is erected and held in the holding parts (2) and (5), a guide rail (30) provided in the height (Z) direction on the base (11), and the guide rail (30) ) is movable in the Z direction, and has a clamping claw (32a) at one end.

(?2b); a moving means (50) for moving the moving table (31) on the base (11) in the Z direction; Support roller (33
) between the opening and closing means (35) provided on the moving table (31).
) for free movement in the Z direction, and a clamping claw (32c) at one end.
) is provided with an opening/closing arm (34), and the movable table (3
The clamping claws (32a) and (32b) of K) and the clamping claw (32t+) of the opening/closing arm (34) are provided respectively on the inside and outside of the clamping claws (32a) and (32b) of the opening/closing arm (34). Workpiece detection sensor (36a), (313b)
), and a clamping claw (32a) of the moving table (31).

(32b) and the clamping claw (32c) of the opening/closing arm (34)
It is installed at a position that creates a slight gap with either the inside or outside of the workpiece (W), and when the workpiece (W) is clamped, the workpiece (W) is Workpiece holding sensor (
37) and the workpiece detection sensor (36a).

(36b) and the detection signals of the workpiece holding sensor (37) are input, and the transfer means (10), the moving means (5o),
a control circuit for controlling the opening/closing means (35), and the moving means (50) and the opening/closing means (35) move the workpiece (w) to the moving stage (31) (7) and the clamping claws (?2a).
, (32b) and the clamping claw (3) of the opening/closing arm (34).
2C), and is transferred and inserted in a predetermined transfer direction by the transfer means (10).

[Production] In the manipulator l, the moving table 31 is moved downward by the moving means 5° provided on the base 11 according to the information of the workpiece W supplied to the control circuit, and the opening/closing means 35 provided on the moving table 31 is moved downwardly. As a result, the opening/closing arm 34 approaches the workpiece W on one of the holding tables 2 in an open state.

At this time, the workpiece W is detected by the workpiece detection sensor 36a.

Upon receiving the detection of 36b, the control circuit determines the normal state, that is,
It is determined whether or not it can be held.

Next, the clamping claws 32a and 32b at the lower end of the moving table 31 and the clamping claw 32c of the opening/closing arm 34 advance to the same position as the work W and stop. Thereafter, the opening/closing arm 34 is closed by the opening/closing means 35, and the work W is held by the clamping claws 32a.

The workpiece W is held at three points in total, with the outer edge being held by the holding claws 32b and the inner edge being held by the holding claws 32c. The clamping state is detected by a workpiece clamping sensor 37.

Thereafter, the moving table 31 is raised by the stage 50 to move the workpiece W, and the workpiece is conveyed to the other holding table 5 at a predetermined conveying height by the transfer means 10, and is inserted therein.

[Example] Embodiments of the present invention will be described below based on the drawings.

Figures 1 (a) and (b) are a front view and a side view of a manipulator according to the present invention, respectively, and Figure 2 is a diagram showing the loading, measuring, sorting, and handling of workpieces to which the manipulator according to the present invention is applied.
FIG. 2 is a perspective view showing a disk device in which unloading is automated.

As shown in FIG. 2, the workpiece W is accommodated in a magazine 2 which is one holding section, placed on a frame-shaped rider plate 3, and transported on a supply section 4, which is one manipulator 1. The workpiece W is held in one piece by the supply manipulator la and conveyed to the holding table 5 which is the other holding section, and is inserted into this holding table 5. After the measurement unit 8 measures the thickness of the workpiece W, the other manipulator 1
The sorting manipulator 1b inserts the workpiece W into each package 8 in the storage section 7, which is wanked according to the measurement result.

As shown in FIGS. 1(a) and 1(b), the manipulator l is provided on a long plate-shaped base 11 that is long in the height (Z) direction. This base 11 has a guide rail 30 in the Z direction.
A movable table 31 is provided on the guide rail 30 so as to be vertically movable. A front plate 31a is formed in a part of this moving table 31, and a lower end 3 of the front plate 31a is formed.
1b is formed to have a narrow width.

The lower end portion 31b is provided with a clamping claw 32a having a V-shaped clamping groove 32d corresponding to the thickness of the workpiece W in the downward direction.

32b are attached at predetermined intervals. and,
Support rollers 33 are rotatably attached at four locations on the upper end and intermediate portion of the front plate 31a. A V-groove 33a is formed around the entire circumference of the support roller 33.

Between these support rollers 33, an opening/closing arm 34 having a protrusion 34a corresponding to the V-groove 33a is supported on both side edges thereof. At the lower end of the opening/closing arm 34, there is a V-shaped clamping groove 32 whose upward direction corresponds to the thickness of the workpiece W.
A clamping pawl 32c is attached to accommodate the d'', and the aforementioned clamping pawls 32a, 32b and this clamping pawl 32c are provided on the upper and lower surfaces. And these clamping claws 32a,
32b and the clamping claw 32c have their clamping grooves 32d facing each other. Further, the rod 35a of the cylinder 35 as an opening/closing means fixed to the front plate 31a is attached to the opening/closing arm 34.
It is connected near the bottom end of. Therefore, opening/closing arm 3
4 is configured to be able to move up and down between support rollers 33 with respect to the movable table 31 by the operation of a cylinder 35. This cylinder 35 operates according to a command from a control circuit (not shown).

Also, the clamping claw 32a of the front plate 31a of the moving table 31.

32b and the inner side of the clamping claw 32c of the opening/closing arm 34.

One location each on the outside, each opening/closing 7-m 34 as shown.
Workpiece detection sensors 36a and 36b are provided. Further, a workpiece holding sensor 37 is provided beside the workpiece detection sensor 36a. Work detection sensor 36a
, 36b are used as beam sensors, and the workpiece holding sensor 37 is a proximity sensor, and these detection signals are supplied to the un circuit.

The moving table 31 is moved to the base 11 by a moving means 50 consisting of a pole screw 40 and a pulse motor 41 as described below.
can be moved in the Z direction. Further, on the base 11, a pole screw 40 is rotatably supported in the Z direction in parallel with the guide rail 34) by upper and lower support columns 40a, 40a. The upper end of the pole screw 40 is
It is connected to the rotating shaft of a pulse motor 41 fixed to the base 11 via a coupling 42 . Further, the movable portion 40b of the pole screw 40 is connected to the movable table 31 via a connecting plate 43.

Therefore, by driving the pulse motor 41, the movable table 31 can be moved in the axial direction of the guide rail 30 via the pole screw 40.

Incidentally, between the pillars 40a, 40a of these pole screws 40 and the movable part 40b, spiral spring-shaped covers 40c, 40d are provided to prevent dust from scattering, so that the ball screw 40 is always isolated from the surroundings. .

Further, a light shielding plate 44 having one end bent is attached to the connecting plate 43 of the movable table 31, and a body-shaped optical sensor 45 is attached to the base 11, which projects and receives light on the upper and lower parts of the light shielding plate 44.
a, 45b, and 45c are provided. These fixed optical sensors 45 and the movable light shielding plate 44 detect the position of the clamping claw 32 on the movable table 31, and a detection signal is supplied to the control circuit.Normally, as the movable table 31 moves, the light shielding plate 44 moves between the inner sides of the optical sensors 45b-45c, but when the light shielding plate 44 is located at the optical sensor 45b, this is the origin of the moving base 31, and the optical sensor 45a
, 45c, an overrun of the movable table 31 is detected.

Next, the transfer means of the above-mentioned manipulator will be explained using FIG. The supply manipulator 1a and the sorting manipulator 1b have the same configuration, and the one supply manipulator Ia has a base 11a, which is one of the bases 11, as a transfer means! It is movable in the Y and -Y directions by Oa.

Further, in the other sorting manipulator ib, the base ttb, which is the other base 11, is moved by the transfer means 10b to X, -
It is configured to be movable in any of the X, Y, and -Y directions.

The transfer means 10a has upper and lower parts arranged linearly in the Y direction.
book guide rail) L-12, 12 and guide rail 12
．． It is composed of a pole screw 13 between 12 and a pulse motor 14 that rotationally drives the pole screw 13. The base 1 is connected between the guide rails 12 and 12.
A movable portion 13a of a pole screw 13 is connected to 1a, and the base +1a is movable between guide rails 12 and 12 in the Y and -Y directions as the pulse motor 14 rotates.

The transfer means tab has two upper and lower parts arranged linearly in the X direction.
Wooden guide rail 15. ．． 15, these guide rails 15, an endless bell above 15) 1B, and this endless bell) 1
It has a pulse motor 17 that drives G. And the slide stand 18 is connected between the guide rails 15 and 15.
is connected to a part of the endless belt 1B and is movable in the X and -X directions as the pulse motor 17 rotates.

Furthermore, a part of the slide table 18 has a substrate 18a bent in the Y direction. On this board 18a, two guide rails Ill and 19 are provided linearly in the Y direction. Also, between the guide rails 19 and 19 on the board 18,
Pole screw 20. A pulse motor 21 for rotating the pole screw 20 is provided. And the aforementioned base 11b is connected between the guide rails 113 and 19.
A movable portion 20a of a pole screw 20 is connected to the base 11b, and the base 11b is movable between guide rails 19 and 19 in the Y and -Y directions as the pulse motor 21 rotates.

The movement of the base 11a by the transporter FvIt10a and the movement of the base 11b by the transport means 10b are detected by sensors and supplied to the control circuit.

Furthermore, the pulse motor 14 of the transfer means 10a and the pulse motors 17 and 21 of the transfer means 11b are operated by commands from the control circuit.

Furthermore, the origin of each of the bases 11a and 11b is set near the holding portion 5 located at the innermost position shown in the figure.

The operation of the above configuration will be explained below based on the operation diagrams of FIGS. 3(a) to 3(d).

Note that the workpiece W is a disk with a circular hole bored in the center. Further, the supply manipulator 1a on the transfer means 10a and the sorting manipulator 1b on the transfer means 10b have similar configurations, and here, the supply manipulator 1a on the transfer means 10a
The supply manipulator Ia above will now be described.

FIG. 3(a) shows a state in which the supply manipulator 1a is at the original position. At this origin position, the transfer means 10a moves the base 11a of the supply manipulator 1a to the second position.
The movable base 31 is positioned at the innermost part shown in the figure, and the movable base 31 is located at the upper position as shown in FIG. The origin position is detected by the sensor 35b on the ll.

Next, the supply manibrator 1a is controlled by a workpiece W information signal such as the diameter of the workpiece that is input from the outside to the control circuit.
The workpiece W shown in FIG. 2 is moved to t' by the transfer means 10a.
The magazine moves forward in the direction of the magazine 2 (-Y direction), which is one of the holding parts held a. Furthermore, the control circuit drives the pulse motor 4I to lower the movable table 31 to the position of the workpiece W, and operates the cylinder 35, which is an opening/closing means, to move the workpiece W.
The clamping claw 32c of the opening/closing arm 34 is positioned in the circular hole.

At this time, the pulse motor 41 receives pulses corresponding to the workpiece W from the M control circuit, and is positioned accurately.

Then, the IJ 11 circuit determines a state in which the workpiece detection sensor 36a continues to detect the workpiece W in accordance with the shape of the workpiece W, and the workpiece detection sensor 36b continues to not detect the workpiece W as a normal state. , the supply manipulator 1a further approaches the workpiece. Then, when the clamping claws 32a, 32b, and 32c reach the position of the workpiece W, the control circuit stops the forward movement of the supply manipulator 1a based on the level difference detected by the workpiece detection sensor ff8a. In addition, when the workpiece W is not detected by the workpiece detection sensor 36a, or when the workpiece W is not detected by the workpiece detection sensor 36lb,
is detected, and when the workpiece W continues to be detected in the same state by the workpiece detection sensors 36a and 36b or does not continue to be detected, the control circuit determines that the supply manipulator 1d is in an abnormal state due to an obstruction or the like. It is designed to immediately stop the system and output an abnormality signal etc. to the outside.

As mentioned above, in addition to confirming that the clamping claws 32a, 32b, and 32c have received the same signal as the workpiece W by the workpiece detection sensor 36a, the position of the workpiece W is set in advance in the transfer stage f 10a and the supply manipulator It is also possible to stop la.

When the control circuit determines that the workpiece W is normal, the supply manipulator 1a operates to clamp the workpiece W as shown in FIG. ff13 (c).

In other words, the opening/closing arm 34 is connected to the front plate 31 by the cylinder 35.
The workpiece W moves upward between the support rollers 33 of a, and the outer edge of the workpiece W is held by the clamping claws 32a and 32h, and the workpiece W is moved upward between the supporting rollers 33 of the clamping claw 32c.
The inner edge of the work W is held at a total of three points, and the workpiece W is held at each of the holding claws 32a, 32b, and 32c. Can be held. The state of the workpiece W when it is being held is detected by the workpiece holding sensor 37.

When the workpiece W is held normally, the gap between the workpiece holding sensor 37 and the workpiece W becomes a normal value, and a detection signal is output to the control circuit, so that the workpiece W° is held by the holding claw f.
When the discs are not held normally by f2a, 32b, and 32c, no signal is output, and the control circuit outputs an abnormality signal to the outside, indicating that the disc holding state is abnormal.

Then, the supply manipulator la is '53 Figure (d)
As shown in D, the pulse motor 41 is rotated in the reverse direction, and the moving table 3 is
1 to a predetermined conveyance height (in the figure, the above-mentioned origin position).

Similarly, the transfer means 10a moves the supply manipulator la to the second
The workpiece W is moved backward in the Y direction shown in the figure, and the workpiece W is transported onto the holding unit 5, which is the other holding table. Thereafter, the workpiece W is inserted onto the holding table 5 by an operation opposite to the aforementioned clamping operation.

The operation of the supply manipulator [a] as described above is as follows.

This operation is performed continuously (for example, 40 times) on the magazine 2 in which a large number of workpieces W (for example, 40 pieces) are stored, and the control circuit counts the number of times of these operations.
It is also possible to detect the storage state of the magazine 2 and output a command to replace the magazine 2 to the supply unit 4.

Then, the sorting manipulator 1b having a similar configuration picks up the workpiece W measured by the measurement unit B from above the holding table 5, and inserts it into each puff cage 8 of the storage unit 7 ranked according to the measurement result. It is something. At this time, the sorting manipulator 1b moves X, -X,
During this transfer, the control circuit detects the storage state of each package 8 and
A replacement command is output according to the number of stored sheets.

Further, the control circuit normally operates the supply manipulator la and the sorting manipulator Ib at the same time.
I am in control.

Furthermore, if other work information is supplied to the control circuit, the amount of descent of the movable table 31 shown in ft53 (b) is controlled accordingly. At this time, the clamping claw 32
a, 32b, 32c are the outer and inner edges of the workpiece W.
This can be accommodated because it is supported by points. Further, the workpiece detection sensors 36a, 36b and the workpiece holding sensor 37 can detect the workpiece W without being affected by the type thereof due to their configurations.

The operation of the above-mentioned manipulator 1a is shown as a flowchart in FIG. 4(a), and the operation of the sorting manipulator Ib is shown in a flowchart in FIG. 4(b).

As described above, the outer edge of the workpiece W is held by the holding claws 32a and 32b, and the inner edge of the workpiece W is held by the holding claws 32c, but as shown in FIG. 5(a), the holding claws 32
a, 32b, and 32c can be used to clamp the inner edge of the workpiece W at three locations on the upper and lower sides. The clamping claws 32a and 32b are attached to the top and bottom of the outer edge of the workpiece W.
, 32c may also be used.

Even in this case, the workpiece detection sensors 36a, 36b are provided inside and outside the clamping claws 32a, 32b, and 32c, respectively, so that one detects the workpiece W and the other detects the workpiece W.
The workpiece W can be detected by providing the workpiece holding sensor 37 at a position where there is a slight gap between the workpiece W and the workpiece W.

Further, the workpiece can be held in a flat plate shape other than a disk shape.

[Effects of the Invention] As explained above, according to the manipulator according to the present invention, a workpiece can be accurately and quickly held and transported.

In addition, multiple workpieces with different orientations can be similarly held and transported.

[Brief explanation of drawings]

FIGS. 1(a) and 1(b) are front and side views showing a manipulator according to the present invention, and FIG. 2 is an operational diagram of the manipulator according to the present invention. 4(a) and (b) are flowcharts showing the operations of the supply manipulator and the sorting manipulator, respectively, and FIGS. 5(a) and (b) are diagrams showing other embodiments of the manipulator according to the present invention, respectively. be. l...manipulator, la-supply manipulator. 1b... Sorting manipulator, 2... Magazine as one holding part, 5... Holding stand as the other holding part, 11, 11a, 11b... Base, 10.10a, 1
0b - Transport means. 30... Guide rail, 34... Opening/closing arm, 35
...Opening/closing means (cylinder), 32a, 32b, 3
2c - clamping claw, 36a, 36b... workpiece detection sensor, 37... workpiece clamping sensor. W... Work, 50... Means of transportation. Patent applicant: Anritsu Corporation Figure 1 (a) Atsushi 1 (b) Figure 4 (a) Supply manipulator 1a Figure 5 (0) Figure 5 (b)

Claims (4)

[Claims] (1) Workpieces (
W); a guide rail (30) provided on the base (11) in the height (Z) direction; movable on the guide rail (30) in the Z direction; and a clamping claw (32a) at one end; , (32b); a moving means (50) for moving the moving table (31) on the base (11) in the Z direction; a support on the moving table (31); an opening/closing arm (34) which is movable in the Z direction between the rollers (33) by an opening/closing means (35) provided on the moving table (31) and has a clamping claw (32c) at one end; The clamping claws (32a), (32b) of the stand (31) and the clamping claws (32c) of the opening/closing arm (34) are provided inside and outside respectively, and when approaching the workpiece (W),
Workpiece detection sensors (36a) and (36b) that detect W)
) and; the clamping claws (32a), (32
b) and the clamping claw (32c) of the opening/closing arm (34) is provided at a part that creates a slight gap with the workpiece (W) on either the inside or the outside of the clamping claw (32c), and when the workpiece (W) is clamped, the clamping claw (32c) ) A workpiece holding sensor (37) that detects the holding state of the workpiece (W) by detecting a slight gap between the workpiece (W) and the workpiece (W).
and; a control circuit into which detection signals from the workpiece detection sensors (36a), (36b) and workpiece holding sensor (37) are input, and which controls the transfer means (10), the movement means (50), and the opening/closing means (35). The moving means (50) and the opening/closing means (35) move the workpiece (W) to the clamping claws (32a) of the moving table (31);
(32b) and the clamping claw (32b) of the opening/closing arm (34).
c), and is transferred and inserted in a predetermined transfer direction by the transfer means (10). (2) The manipulator according to claim 1, wherein the workpiece (W) is a hollow disk-shaped disk with a circular hole formed in the center. (3) Grasp claw (32c) at the lower end of the opening/closing arm (34)
and the clamping claws (32a) and (32b) at the lower end of the moving table (31).
2. The manipulator according to claim 1, wherein each of the gripping grooves (32d) has a V-shaped gripping groove (32d) corresponding to the thickness of the workpiece (W) toward the other gripping claw. (4) When the workpiece (W) is in the shape of a hollow disk, the control circuit controls the clamping claws (32c) of the opening/closing arm (34) and the clamping claws (32a) and (32b) of the moving table (31). The workpiece (W) is normally held on the holding bases (2) and (5) when detected by the workpiece detection sensor (36a) provided on the inside and when not detected by the workpiece detection sensor (36b) provided on the outside. The manipulator according to claims 1, 2, and 3, which determines that the operation is being performed and moves on to the next operation.