JPH03149195A - Gripping method for disk lamination robot - Google Patents

Abstract

PURPOSE:To avoid the impossibility of insertion of a spindle shaft in an inlet and unnecessary wear in a disk plate lamination layer by lowering a vacuum absorbing hand in the gravity direction, pressing it against a stacker, and stopping it when reaching a predetermined pressure. CONSTITUTION:When a disk plate 4 is held by a vacuum absorbing hand 3, the hand is pressed against (rightward arrow) the disk plate 4 and the absorbing hand 3 is lowered (downward arrow) until the hand is struck to the upper side of a stacker 6. At this time, the disk plate 4 is previously pressed against the upper side of the stacker 6 due to its empty weight. Consequently, a positioning gap is not generated between the hole of the disk plate 4 and the inner circumference of the absorbing hand 3 so that hitching or the like can be restrained at the time of laminating the disk plates 4.

Description

[Detailed Description of the Invention] [Summary] Regarding a gripping method in a robot that grips a magnetic disk disk with a vacuum suction hand and stacks it on a spindle shaft, vacuum suction that grips the disk disk with a hole in the disk disk)
The purpose of this is to avoid positional deviation between the inner periphery of the X-hand and to avoid inability to insert or unnecessary friction at the entrance of the spindle shaft when stacking the disks, and to grip the disks. A grasping method for a disk stacking robot that stacks disks on a spindle shaft, in which the next step is to insert the vacuum suction hand into the stacker and apply a certain predetermined amount to the disks to be stacked. The steps include a step of pressing the disc by force, a step of lowering the vacuum suction hand in the direction of gravity and pressing it against the stacker and stopping it when a predetermined pressure is reached, and a step of causing the vacuum suction hand to perform a suction operation to grip the disc. configured to do so.

[Industrial application field]

The present invention relates to a gripping method for a disk stacking robot in a robot that grips magnetic disk disks with a vacuum suction hand and stacks them on a spindle shaft.

[Conventional technology]

2. Description of the Related Art Robots are known that grip disks with a vacuum suction hand and stack the disks on a rotating shaft by force control. Most of these robots stack robots from top to bottom (in the direction of gravity), but stacking them laterally (perpendicular to gravity) is advantageous in terms of dust.

As is well known, in a device including a precision positioning mechanism such as a magnetic disk device, the key to improving yield is how to suppress dust inside the disk device. In lateral lamination,
There are advantages such as that metal powder generated during insertion does not accumulate on the surface of the already laminated disks, and that dust generated by down blowing of air is easily collected.

However, horizontal lamination is technically more difficult than vertical lamination, and its practical application has been hindered.

The use of force control is one way to solve this problem, but
If there is a misalignment between the concentric circles of the disk and the vacuum suction hand that grips it, there is a drawback that the disk cannot be smoothly inserted into the spindle shaft.

This will be explained using FIGS. 4 to 10. For horizontal stacking, the discs 4 before stacking are placed vertically on the stacker 6. This situation is shown in FIG. The upper part of the hole of the disk plate 4 is in contact with the stacker 6 due to its own weight. This aspect is shown in FIG. 5, which is a sectional view taken along line 1--2 in FIG. However, since the robot that picks up the stacker uses force control, it is not possible to know how it is touching the stacker. In the worst case, the inner peripheral part of the vacuum suction hand 3 may come into contact with the lower surface of the stub caro. This situation is shown in FIGS. 6 and 7. FIG. 7 is a sectional view taken along line 1--2 in FIG. 6. In such a case, a large misalignment occurs between the hole in the disc 4 and the inner circumference of the hand 3 (see FIGS. 8 and 9), and this misalignment causes the disc 4 to be inserted into the spindle shaft 5. , collides at the tip of the spindle shaft 5,
It had the disadvantage that it could not be inserted (see Figure 10).

Since it uses force control, even if it could be inserted,
An increase in friction, etc. also leads to an increase in the amount of dust generated, which is not desirable. In horizontal stacking, the robot's positioning accuracy is often disrupted by the weight of the suction hand and the disc, which is a particular problem.

[Problem to be solved by the invention]

As described above, when performing lateral lamination, a problem arises in that a large positional shift occurs between the hole in the disk plate and the inner circumference of the vacuum suction hand.

Therefore, an object of the present invention is to prevent the occurrence of positional deviation between the hole in the disk disk and the inner circumference of the vacuum suction hand that grips the disk disk when holding the disk disk, and to The purpose is to avoid inability to insert the spindle shaft and unnecessary friction.

[Means to solve the problem]

In the present invention, as shown in the process flowchart illustrated in FIG. 1, a force sensor is provided at the wrist of the robot, and force control and position control are performed using force information from the force sensor and position information from an encoder. At the same time, a vacuum suction hand grips the disks aligned in a cylindrical stacker arranged perpendicular to the direction of gravity, moves the disks, and stacks the disks on the spindle shaft. A gripping method for a robot, wherein the stacker and the spindle shaft are
The discs have a cylindrical shape with the same diameter, the disc has a hole with a diameter almost the same as the stuffing force, and the vacuum suction hand is machined to almost fit with the right side of the stacker and the spindle shaft. Then, the method includes the next step, that is, inserting the vacuum suction hand into the stacker (S2).
, a step of pressing the disks to be stacked with a certain predetermined force (S4), a step of lowering the vacuum suction hand in the direction of gravity and pressing it against the stacker and stopping it when a predetermined pressure is reached (55) , and a step of performing a suction operation on the vacuum suction hand to grip the disc (S6).
Provided is a method for grasping a disk stacking robot, which comprises the following steps.

[For production]

If the method described above is used, the vacuum suction hand 3 can remove the disc 4, as explained using the cross-sectional view of FIG.
When gripping the disk, after pressing it against the disc 4 (rightward arrow), lower the suction hand 3 until it hits the upper side of the stacker 6 (downward arrow). Since the disk disk 4 is pressed against the upper side of the warming stacker 6 by its own weight, there is no misalignment between the hole of the disk disk 4 and the inner circumference of the suction hand 3, and when stacking the disk disks. This can prevent things like getting caught.

〔Example〕

FIG. 1 is a process flowchart for carrying out a gripping method for a disk stacking robot as an embodiment of the present invention, and FIG. 3 is a side view of the robot for explaining the method.

In FIG. 3, a robot 1 has a force sensor 2 attached to its wrist. A vacuum suction hand 3 is attached below the force sensor 2, and the vacuum suction hand 3 suctions the disk 4 placed on the stacker 6. After the adsorption, the disks 4 are stacked on a spindle shaft (not shown). This operation is repeated for the required number of disks to complete the disk stacking process. The robot controller 7 feeds back force signals from the force sensor to control the force of the robot, and feeds back position signals from the encoder in the robot 1 to control the position.

The steps of the method of the example will be explained using FIG.

In the first step S1, the robot 1 moves to the tip position of the stacker 6 that has been taught in advance.

In the second step S2, following the step S1, the suction hand 3 is inserted into the stacker 6 while performing compliance (force) control in a direction perpendicular to the insertion direction.

After passing through the third step S3, in the fourth step S4, force control is also performed in the insertion direction immediately before the disk disk 4 placed on the stacker 6, and the suction hand 3 is brought into contact with the disk disk 4 with a specified force.

In the fifth step S5, a specified force is applied downward (in the weight direction) (for example, 1 kg), and the inner peripheral part of the suction hand 3 is brought into contact with the upper side surface of the stacker 6 and stopped.

In the sixth step S6, while the suction hand 3 is pressed against the disk disk 4 and the stacker 6 with a specified force as described above, the vacuum pump (not shown) of the suction hand 3 is activated by a command from the robot controller 7. Turn it on and grip the disc 4.

In the second animating step S7, after the step S6, the suction hand 3 is removed from the stacker 6 while performing compliance control in a direction perpendicular to the direction in which the suction hand 3 is pulled out.

Eighth step S8, ninth step S9, and tenth step S10
In the second stage, the suction hand 3 pulled out from the stacker 6 carries the disks 4 to the tip of the spindle shaft 5, stacks them, and ends when a predetermined number of disks is reached.

All of the above steps are executed according to instructions from the robot controller 7. Further, position control and force control of the robot are executed by a program of a processor in the robot controller 7.

〔Effect of the invention〕

According to the present invention, especially when gripping disks in horizontal stacking by a robot, there is no misalignment between the hole in the disk and the inner periphery of the vacuum suction hand that grips the disks. , it is possible to avoid the impossibility of insertion and unnecessary friction at the entrance of the spindle shaft in the disk stack.

[Brief explanation of the drawing]

Fig. 1 is a process flow diagram for carrying out a gripping method for a disk stacking robot as an embodiment of the present invention, Fig. 2 is a sectional view illustrating the method of the present invention, and Fig. 3 is a diagram illustrating an embodiment of the present invention. Figure 4 is a side view of the robot for explaining the problems of the prior art, Figure 5 is a sectional view taken along the line v-■ in Figure 4, and Figure 6 is the problem of the prior art. Figure 7 is a diagram explaining the line ■-■ of Figure 6.
FIGS. 8, 9, and 1θ are sectional views for explaining the problems of the prior art. On the right side of the figure, l...Robot, 2...Force sensor, 3...Vacuum suction hand, 4...Disk disk, 5...Spindle shaft, 6...Stacker, 7. ...Robot controller.

Claims (1)

[Claims] A force sensor is provided at the wrist of the robot, and force control and position control are performed simultaneously based on force information from the force sensor and position information from the encoder, and a vacuum suction hand is used to control the force in the direction of gravity. gripping a disk disk aligned in a vertically arranged cylindrical stacker and moving the disk disk;
A gripping method for a disk stacking robot that stacks disks on a spindle shaft, the stacker and the spindle shaft having a cylindrical shape with approximately the same diameter, and the disk disk having a hole with approximately the same diameter as the stacker, The vacuum suction hand is machined to almost fit with the stacker and the spindle shaft, and the method includes the following step: inserting the vacuum suction hand into the stacker (S2) and stacking the stacks. a step of pressing the vacuum suction hand against the disk with a certain predetermined force (S4), a step of lowering the vacuum suction hand in the direction of gravity and pressing it against the stacker and stopping it when a predetermined pressure is reached (S5); A gripping method for a disk stacking robot, comprising the step of: (S6) gripping the disk by performing a suction operation with a suction hand.