JPH02911Y2 - - Google Patents

Description

[Detailed Description of the Invention] Technical Field of the Invention The present invention relates to a regripping chuck that is attached to the tip of an industrial robot, for example.

Prior Art When a large number of unworked disks, for example, are lined up at close intervals in a cassette, the unworked disks are taken out one by one from the cassette and moved to the working position, and the unworked disks are placed in another position. Various configurations are conceivable as means for accommodating the cassette. For example, in the past, methods have been known in which the disks are held in place using tweezers and removed one by one from a cassette, or the disks are placed in a cassette. However, this method has disadvantages in that the tip of the tweezers damages or stains the disk surface.

Therefore, in view of these shortcomings, JP-A-61-
A vacuum chuck disclosed in Publication No. 156749 was proposed. This vacuum chuck has the tip of the chuck body shaped like a thin hollow flat plate that can be applied to the back surface of a disk or semiconductor wafer, and vacuum holes for suction are opened in the surface of this flat plate. This flat plate portion, that is, the suction portion, is inserted into a narrow space between a disk and an adjacent disk, and one disk housed in the cassette is suctioned and taken out. However, such a method using suction has the disadvantage that dust tends to adhere to the suction portion, and since the dust is applied directly to the disk surface, the disk surface becomes dirty. In addition, since the disk is gripped only by a portion of the chuck, that is, by the suction portion, it is difficult to accurately position the disk, and there is a drawback that the accuracy of supplying the disk to a fixed position cannot be achieved.

Purpose of the invention Therefore, the purpose of the present invention is to provide a regripping chuck that can accurately position objects such as disks and prevent them from getting dirty.

Summary of the invention Therefore, the re-grasping chuck of the present invention has a stationary claw that is integrated with the chuck body, a temporary gripping claw that can move forward and backward from the side of the article, and a plurality of claws that can move forward and backward from both sides of the object. First, a part of the article is grasped from a limited space with a fixed claw and a temporary grasping claw, and then a part of the article is grasped in a positioning state with the fixed claw and a plurality of claws. This is what I did. With such an arrangement, the chuck does not directly touch the object, for example the disk surface, but grips only the outside, thereby achieving the above-mentioned objective.

Configuration of Embodiment Hereinafter, details of the present invention will be explained using an embodiment shown in the drawings.

1 to 5 show a regrip chuck 1 according to the present invention. This refresher check 1
The chuck body 2 is for grasping an article, for example, a 5-inch hard disk 22, and the two symmetrical chuck bodies 2 are attached to the head 3 of an industrial robot by means of a support plate 4 on the upper surface thereof via screws or the like. Each chuck main body 2 also has first and second cylinders 5, 6 as means for driving the claws 25, which will be described later, back and forth.
Further, the support plate 4 holds a third cylinder 7 in a downward position on the lower surface of the center thereof as a driving source for a temporary gripping claw 31, which will be described later.

As is clear from FIG. 4, the stationary claw 8 is grooved and is screwed and fixed to the outside of the lower end of the first and second cylinders 5, 6 that constitute the chuck body 2. As shown, two of them are arranged horizontally in parallel on the left and right sides.

Further, as shown in FIG. 1, the first and second cylinders 5 and 6 are provided with cylinder chambers 9 and 10 above and below, respectively. Note that FIG. 1 shows the configuration of the first cylinder 5 on the right side. Rack shafts 11 and 12 are disposed in the upper and lower cylinder chambers 9 and 10, respectively, so as to be movable in the horizontal direction. First and second grippers 13 and 14 are arranged symmetrically on both ends of the rack shafts 11 and 12. That is, among these first and second grippers 13 and 14, the first gripper 13 on the right side can freely move with respect to the upper rack shaft 11 via the bush 15, as shown in FIG. It is installed as shown, and the lower rack shaft 1
2, it is attached in a fixed state. On the other hand, the second gripper 14 on the left side is fixedly attached to the upper rack shaft 11, and is freely movable with respect to the lower rack shaft 12 via a bush 16. installed. Therefore, the first gripper 13 on the right moves horizontally together with the lower rack shaft 12 and the second gripper 13 on the left
4 moves in the horizontal direction together with the upper rack shaft 11. Further, piston portions 11a and 12 are provided at the center portions of the rack shafts 11 and 12.
a is provided, and this piston portion 11a, 1
2a divides the cylinder chambers 9, 10 into first chambers 9a, 10a and second chambers 9b, 10b. Furthermore, in the rack shafts 11, 12, rack parts 11b, 12b are formed on the right side of the piston parts 11a, 12a in FIG. The shaft 17 is in constant mesh with a pinion 18 rotatably attached to the shaft 17 at an intermediate portion between the shafts. Then, the pinion 18 rotates following the drive of the upper rack shaft 11, and this pinion 1
8 is transmitted to the lower rack shaft 12, thereby causing the left and right first and second rack shafts 11 and 12 to rotate.
The grippers 13 and 14 are horizontally moved toward or away from each other. This is because the movement of the upper rack shaft 11 is transmitted to the lower rack shaft 12 in a reversed state by the pinion 18.

As shown in FIG. 4, the first and second cylinders 5 and 6 also have ports 19 for introducing air pressure into the first chambers 9a and 10a located on the left side of the cylinder chambers 9 and 10, 20 are provided.
Note that in FIG. 4, the ports 19 and 20 on the second cylinder 6 side are not shown due to the cross-sectional position. Further, the first and second grippers 1
3 and 14 are displaced between a position where they do not touch the cassette 21 (see FIG. 1) and a position where they grip a large number of items arranged at narrow intervals within the cassette 21, such as a hard disk 22. ing. This displacement is confirmed by the two proximity switches 23 detecting the dog 24, as shown in detail in FIGS. 2 and 3. Further, the first and second grippers 13,
A grooved pawl 25 is fixed horizontally to the outer side of the lower end of each 14 for gripping the books.
The outside of the hard disk 22 is gripped.

Further, a pin 27 is attached to the lower end side of the rod 26 of the third cylinder 7 disposed between the first and second cylinders 5 and 6.
As shown in FIG. 4, the elongated holes 28a of the two arms 28 are fitted into the holes 28a. This arm 28
is rotatably supported by a support block 29 located outside the rod 26 via a horizontal pin 30, and a temporary gripping pawl 31 is fixed to the tip side thereof. The temporary gripping pawl 31 can be moved forward and backward from the side of the hard disk 22 together with the arm 28 using the third cylinder 7 as a forward and backward drive means. Furthermore, the support block 29
As shown in detail in FIG. 5, a cover 32 is provided on the outside of the cylinder, and this cover 32 has screws 33 attached to the lower surfaces of the first and second cylinders 5 and 6. It is fixed.

Effects of the Embodiment Next, the effects of the regripping chuck 1 constructed as described above will be explained. When taking out a large number of hard disks 22 housed at narrow intervals in the cassette 21 and transferring them to the working position, first move the stationary claw 8 fixed to the first cylinder 5 side to the unworked hard disks 22. After applying it to the upper outer circumferential surface and locating the take-out point, the third cylinder 7 is driven to move the temporary gripping pawl 31 from the position shown by the two-dot chain line to the position shown by the solid line, as shown in the right half of FIG. Rotate it until it comes into contact with the inner peripheral edge of the hole 22a at the center of the hard disk 22. As a result, the hard disk 22
The peripheral edge of the hole 22a and the outer upper surface are held in a temporary grip state by the temporary gripping claws 31 and the stationary claws 8.

After this gripping is completed, the hard disk 22
When the is completely removed from the cassette 21,
First, the first cylinder 5, which is a means for moving the book gripping pawl 25 forward and backward, is driven. That is, air is introduced into the first chamber 9a of the upper cylinder chamber 9 through the port 19. Then, the upper rack shaft 11 moves to the first position.
Move to the right in the figure (direction of arrow A) and
is rotated in direction B, and the lower rack shaft 12 is moved to the left (in the direction of arrow C). As a result, each of the rack shafts 11, 12 is displaced from the position shown by the two-dot chain line in FIG. 1 to the position shown by the solid line. Therefore, the first and second grippers 13 and 14 fixed to these rack shafts 11 and 12 move by the same amount in the direction of reducing the distance between them, and as a result, these first and second grippers 13 and 14 A claw 25 fixed to the lower end of the hard disk 22 comes into contact with the outer circumferential surface of the hard disk 22 slightly below the center as shown in FIG. After this, move the temporary gripping claw 31 to the third
By driving the cylinder 7, it is moved out of the hard disk 22, and the hard disk 22 is gripped by the fixed claw 8 and the claw 25. At this point, as seen on the left side of FIG. 4, the hard disk 22 is supported by the two stationary claws 8 and 25 in approximately three equally spaced positions, and is centered in a fixed position relative to the chuck 1. Served.

Next, the regripping chuck 1 itself is rotated around the vertical axis of the head 3 by the drive of an industrial robot, and is moved to a working position, and is fed, for example, to a spindle at the working position. Note that this reversal is not necessary from the second sheet onwards. That is, since the second hard disk 22 has already been supplied to the working position, for example, after gripping the unworked hard disk 22 by the fixed claw 8 located on the first cylinder 5 side and the claw 25, the hard disk 22 is turned over. Without letting it slide, grasp it again and move chuck 1 to the working position. At this time, the second cylinder 6 side of the regripping chuck 1 is located on the side facing the spindle in the working position, and the space between the stationary claw 8 and the claw 25 located on the second cylinder 6 side is as follows. It is in a so-called empty state. Therefore, the stationary pawl 8 on the second cylinder 6 side and the pawl 25 first allow the work completion disk 22 supplied to the spindle to
Grab a book. After this, re-grasp 1
is reversed, and the unworked hard disk 22, which is gripped by the stationary claw 8 and the claw 25 on the first cylinder 5 side, is fed to the spindle at the working position. Next, the re-grasping chuck 1 is moved above another cassette 21, and when it is moved above this cassette 21, the temporary grasping claw 31 is advanced and the permanent grasping claw 25 is withdrawn. The hard disk 22 for which the work has been completed is grasped again in a so-called tentative state, and then the hard disk 22 is inserted into this other cassette 21. In addition, when the claw 25 is to be withdrawn, air may be introduced into the first chamber 10a of the lower cylinder chamber 10 through the port 20. In this way, the rack shafts 11, 12 and the pinion 18 operate in the opposite direction to the previous ones, moving the first and second grippers 13, 14 away from each other, thereby causing the claws 25 performs an evacuation operation and releases the hard disk 22.

Other Embodiments In the above-described embodiments, a two-chuck type is used in order to perform the above operations efficiently, but the present invention is not limited to this, and a one-chuck type is also possible. Further, two fixed claws 8 are provided on each side of the chuck body 2, but the fixed claws 8 are
There may be one on each side. Further, as the stationary claw 8, a rotatable roller may be employed.

Further, other mechanisms and other drive sources may be used as long as the temporary gripping pawl 31 is also configured to move forward and backward.
For example, the first cylinder 5 and the second cylinder 6
is replaced by a motor that drives the pinion 18, and the third cylinder 7 can also be configured with an electromagnetic solenoid.

Further, in the above-described embodiments, a case has been described in which the hard disk 22 is used as the article, but the article is not limited to this hard disk 22, and various other articles such as annular, C-shaped, U-shaped, etc. Of course, it can be applied to

Effects of the Invention As explained above, according to the re-grip chuck of the present invention, when removing an article such as a hard disk from a cassette, for example, a fixed claw and a temporary grasping claw grasp a part of the object and take it out. When the item is completely removed from the cassette, the outside of the item is grabbed by the stationary claw and the plurality of book gripping claws, so the chuck does not touch the item, such as the disk surface. Therefore, it is possible to reliably prevent the disk surface from getting dirty. In addition, in the book gripping state, the outside is gripped by the stationary claw and the book gripping claw, so positioning can be more accurate than before, and the accuracy of feeding to the fixed position can also be improved. It has the effect of being able to.

[Brief explanation of the drawing]

Fig. 1 is a sectional view showing an embodiment of the regrip chuck according to the present invention, Fig. 2 is a plan view of the regrip chuck with the support plate removed, and Fig. 3 is a part of Fig. 2. 4 is a side view of the same chuck, and FIG. 5 is a partial side view of FIG. 4. 1...Regripping chuck, 2...Chuck body, 5...1st cylinder, 6...2nd cylinder,
7... Third cylinder, 8... Stationary claw, 13... First gripper, 14... Second gripper, 22...
...hard disk, 25...claws, 31...temporary gripping claws.

Claims (1)

[Scope of utility model registration request] This is a chuck that grasps plate-shaped items stored in narrow spaces within a cassette, and has a fixed claw integrally provided at a fixed position on the chuck body, and a fixed claw provided on the chuck body at a position facing the fixed claw so as to be able to move forward and backward. A temporary grasping claw, a driving means for moving the temporary grasping claw forward and backward in the direction of the stationary claw, a plurality of claws that are provided on the chuck body so as to be able to move forward and backward, and that can approach and separate from both outer positions of the article; It is comprised of a forward/backward drive means for moving the claw in the approaching and separating directions, and the stationary claw and the temporary gripping claw grip a part of the article, and the stationary claw and a plurality of claws grip the outside of the article again to position the article. A re-grip chuck characterized by being in an out-of-place state.