JPH03251326A - Disc laminating robot - Google Patents

Abstract

PURPOSE:To eliminate need of a balancing work after lamination, by moving a disc in the direction orthogonal with a spindle, striking the inner peripheral face thereof against the spindle face, and instructing the striking direction thereof on each disc. CONSTITUTION:The robot 1 makes the inner peripheral face of a 1st disc 4a abut on the outer peripheral face 52 side of a spindle shaft 5 and a gap 5z is formed at the other side 53. In the case of laminating a 2nd disc 4b, its pressing direction is made different at 180 deg. from that of the disc 4a, it is pressed from the outer peripheral face 53 side of the spindle shaft 5 and a gap 5y is formed at the opposite side 52. A 3rd disc 4 is made in the direction at 90 deg. further, the 4th at 180 deg. once again and the 5th is pressed so as to come in the same direction as that of the 1st disc 4a. The pressing directions at the lamination time thus come in the state of being slipped 90 deg. each and the unbalance quantity can be reduced.

Description

[Detailed Description of the Invention] [Summary] The present invention relates to a disk stacking robot that stacks a plurality of disks by fitting them onto a spindle shaft, and aims to eliminate the need for balancing work after stacking the disks. After fitting the disc to the spindle shaft,
control means for moving the disk disk in a direction perpendicular to the spindle axis and abutting the inner circumferential surface of the disk disk against the spindle shaft surface; and means for instructing each disk.

[Industrial application field]

The present invention relates to a disk stacking robot that stacks a plurality of disks by fitting them onto a spindle shaft.

When magnetic disk disks are stacked on a spindle shaft, whether manually or automatically, vibrations occur due to the unbalance of the rotating body. This vibration becomes a disturbance that adversely affects control performance and causes malfunctions during read/write, so it is important to suppress vibration.

In the layered robot, after fitting the disk disk to the spindle shaft, the disk disk is moved in a direction perpendicular to the spindle axis, and the inner circumferential surface of the disk disk is aligned with the spindle shaft surface. Measure . To solve this problem, a weight has been attached to the spindle shaft, which is a rotating body.

[Problem to be solved by the invention]

However, this work not only adds one more step, but also requires attaching small weights, making it difficult to automate.
This was a bottleneck to full automation.

In view of the above-mentioned conventional problems, an object of the present invention is to eliminate the need for balancing work after stacking disks.

[Means to solve the problem]

The purpose of this is to adjust the abutting direction of the disks to the control means for each disk so that the area of the stacked disks is reduced by fitting a plurality of disks onto the spindle shaft. and a means for directing each disc to be accomplished by a disc stacking robot.

[Function] That is, in the present invention, attention is paid to the point where an imbalance occurs due to the amount of gap between the inner diameter of the disk disk and the outer diameter of the spindle shaft, and the gap is actively created at a location for each disk. By setting , it is possible to prevent imbalance from occurring when multiple disks are stacked.

Therefore, it becomes possible to eliminate the need for balancing work after stacking the disks.

〔Example〕

Embodiments of the present invention will be described in detail below with reference to the drawings.

Fig. 1 is an overall configuration diagram of one embodiment, Fig. 2 is an explanatory diagram of the disk disc stacking operation by the robot hand, Fig. 3 is an explanatory diagram of the stacked state of the disc discs, and Fig. 4 is the configuration of the robot controller. An explanatory diagram, FIG. 5 is an explanatory diagram of the configuration of the position control section and the force control section, and FIG. 6 is an operation flowchart.

In the figure, 1 is a robot, for example, an X-Y coordinate type or a SCARA type, and 2 is a force sensor, which is installed on the wrist of the robot 1 and acts on the hand 3 in 6 degrees of freedom directions. 3 is a hand, for example, a vacuum suction hand, and as shown in FIG. 1 is a robot controller, which controls the operation of the robot 1 based on teaching data stored in a memory (not shown) and the detection output of the force sensor 2.

The robot controller 7 includes an operation section 22 for controlling the robot. This operation unit 22 is provided for a motor (not shown) that drives each of the plurality of arms that make up the robot 1, and includes a servo motor 22a, a power amplifier 22b, a D/A converter 22c, It has a compensator 22d. Further, the robot controller 7 includes a position detecting section 26 for detecting the tip position of the hand 3 of the robot 1 for each operating section 22, and this position detecting section 26 is connected to a counter & encoder 26.
a and a tachometer 26b.

Furthermore, the robot controller 7 includes a force detection section 23 that detects the force that the hand 3 of the robot 1 receives. The force detection unit 23 includes a coordinate conversion unit 23b that converts the output from the force sensor 23a from the hand coordinate system to the robot reference coordinate system.

Furthermore, the robot controller 7 receives the force F detected by the force detection section 23. , a force control section 24 that issues a speed command signal (2) in a force control direction based on a set force (force command F, , ) and a force control parameter, and a position X detected by a position detection section 26. .

Speed command signal ■ in the position control direction based on the target position Xr and position parameters. It has a position control section 27 that emits a signal.

The position control unit 27 includes a transposed orthogonal transformation matrix (R”) calculation unit 31, a selection matrix (T-3f) calculation unit 32, an orthogonal matrix (R) calculation unit 33, and a position feedback gain (cp
) an arithmetic unit 34.

On the other hand, the force control unit 24 includes a transposed orthogonal matrix (Ro) calculation unit 38
, a selection matrix (Sr) calculation unit 37, an orthogonal matrix calculation unit 36, and a coefficient gain (C7) calculation unit 35.
and has.

The robot reference coordinate system (X,
,Y,,Z,) to the hand coordinate system (X,,.

The orthogonal coordinate transformation matrix R representing the coordinate transformation to Yw, Z, ) will be expressed as follows.

In FIG. 7, this hand coordinate system (X,,Y,.

By setting Y□ and Z of Z, ) as the position control direction and the X8 direction as the force control direction, the selection matrix of the selection matrix calculation unit 32 and 37 is expressed by the following equation.

In this case, in general, when applying torque around the axis in the pressing direction, such as when tightening a screw or clamping a can mold, S = 1,
If it is not given, it is set as S-0.

The feedback gain C2 is given by − with respect to the robot reference coordinate system.

Similarly, the position feedback gain cp is is given by

Furthermore, the robot I-controller 7 includes an adding section 30b that adds the speed commands output from the force control section 24 and the position control section 27, and a adding section 30b that adds the speed commands outputted from the force control section 24 and the position control section 27, and adds the added speed commands to the motors provided at each joint of the robot 1. It has an inverse Jacobian transform unit 30a that converts the angular velocity θ into the angular velocity θ.

The coordinate conversion unit 20 converts the rotation angle θ5 of the joint angle motor of the robot 1 detected by the position detection unit 26 into a position X0 in the robot reference coordinate system.

The host computer 40 has a position storage unit 40a that stores the position converted by the coordinate conversion unit 20, and
It has a control command generation section 40b.

The control command generation unit 40b: ■ Control commands such as target position Xr and force command Fr, ■ Transmission of position control parameters and force control parameters associated with switching the motion of the robot 1, ■ Position storage commands and detection to the position storage unit. generation of timing such as monitoring of force F0.

Further, the memory 40c stores programs and data necessary for the operation of the robot 1.

The operation of the configuration described above will be explained using FIG. 6.

(a) First, when the control command generation unit 40b receives an operation command from the host device, it reads out the teaching data stored in the memory 40c, and controls the robot 1 so that the hand 3 is positioned on a disk stacker (not shown). Control.

That is, the hand 3 of the robot 1 is positioned by giving the position feedback gain Gp only to the position control part 27, and by giving the target position Xr according to the teaching data to the deviation part 27a.

Then, the disk disk 4 on the disk stacker is held by vacuum suction by the hand 3 and positioned at position A in FIG. 1 in the same manner as described above. That is, it is positioned so that it will be in the state shown in FIG.

(b) Next, insert the disk disk 4 into the spindle shaft 5. At this time, the control command generation section 40b sets each element CPX"" C11F of the position feedback gain CP to a specific value (for example, "1") to the position control section 27.
and set the target position X given to the deviation part 27a.
, , remain at the coordinate positions that coincide with the central axis of the spindle shaft 5 except for the Z-axis coordinate, and the Z-axis coordinate is set to position B immediately in front of the flange surface 51 of the spindle shaft 5.

On the other hand, the control command generation unit 40b sets the Z-axis element Cfz of the force feedback gain cf to the force control unit 24 as “
0", the Z axis is used only for position control, and other elements CfX+ cfy+ cfβ to cfT are set to, for example, "
1'' and gives a force command Fr to the deviation section 24a.

As a result, the robot 1 is subjected to compliance control in a direction perpendicular to the insertion direction of the disk 4, that is, perpendicular to the axial direction of the spindle shaft 5, and is placed in a position controlled in the insertion direction.

Therefore, even if a positional error occurs between the disk disk 4 and the spindle shaft 5, no twisting occurs.

That is, while the disk disk 4 is being inserted into the spindle shaft 5, the disk disk 4 receives a reaction force from the spindle shaft 5 due to a positional error between the two, causing the hand 3 and the arm of the robot 1 to move in the X-Y direction. Although an attempt is made to displace it within the plane 1 12 , the position control section 27 operates to suppress the displacement according to the value output from the deviation section 27 a according to the output of the encoder & counter 26 . However, at this time, since the force sensor 2 generates a detection output according to the magnitude of the reaction force, the force control unit 24 generates a command (■) to reduce the reaction force except for the Z axis, and the disk circle The plate 4 is inserted smoothly along the spindle axis 5.

(C) The control command generation unit 40b then generates the encoder & counter 26a stored in the position storage unit 40a.
When it is detected from the value that the disc 4 has reached position B, the Z-axis position feedback gain cp2 is set to "0".
”, set the feedback gain Crt to “1”,
A force command F having a predetermined magnitude is applied in the direction of pressing the disk disk 4 against the flange surface 51. As a result, the robot 1 presses the disk disk 4 against the flange surface 51 with the commanded force F.

(d) Next, the control command generating section 40b checks how many disks 4 the currently inserted disk is, based on the value of a counter (not shown).

If the disk 4 is the first disk, it is determined that this disk 4 is to be pressed in a direction parallel to the X axis and toward the origin 0. This can be known from the table contents in the memory 40c.

(e) Therefore, the control command generation unit 40a sets all position feedback gains CI) to "0", sets only Cfx among the position feedback gains CfO to "1", and gives a force command F.

As a result, the robot 1 applies a force F to the inner peripheral surface of the disk 4a on the spindle shaft 5.
It is brought into contact with the outer peripheral surface 52 side of. Then, a gap 5Z is formed on the other side 53.

(f) Then, the control command generation unit 40a turns off the vacuum pump (not shown), and controls the disk 4 by the hand 3.
By stopping the vacuum suction of a and setting the force command F to "0", the disc 4a is released.

(g) Next, give the position and force feedback gain cp+Cf in the same way as when inserting the disc 4a,
The hand 3 is extracted from the spindle shaft 5 by applying a force command F1 in the opposite direction.

6) Next, the spacer 6 is vacuum-adsorbed from a spacer stacker (not shown) and inserted into the spindle shaft 5 in the same manner as in the case of the disc 4 described above.

At this time, the spacer 6 is pressed against the outer circumferential surface 52 of the spindle 5 in the same direction as the disc 4.

(i) After the above-described operations have been performed for the number of discs to be stacked, the stacking process is completed and the disc 4 is inserted into the next spindle shaft.

Here, when stacking the second disc disc 4b, the pressing direction is 18
The pressure is applied from the outer circumferential surface 53 side of the spindle shaft 5 with a 0° difference, that is, in the opposite direction. Then, a gap 5y is formed on the opposite side 52. This also applies to the second spacer 6. Further, a stop position B is stored in each disc and spacer.

Then, the third disk 4 is rotated further by 90 degrees, and the fourth disk is rotated again by 180 degrees.

Then, the fifth disc 4 is pressed in the same direction as the first disc.

In this way, for example, when eight disks are stacked, the pressing directions during stacking can be shifted by exactly 90 degrees, and the amount of unbalance can be reduced.

In this embodiment, a similar pressing operation is performed for the spacer. However, since the spacer has a shorter radius and smaller inertia than the disk, it is not necessary to perform rotational balancing. Further, a hand other than vacuum suction may also be used.

As explained above, according to this embodiment, since the pressing direction can be accurately controlled by the robot, accurate balancing work can be performed, and balancing work can be performed simultaneously with the disk insertion operation. can be done, reducing work time.

In this embodiment, a case has been described in which the pressing operation is performed each time each disk is inserted, but it is also possible to press from the end surface of the outer circumference of the disk after all the disks are inserted. After this operation, a screw tightening operation may be performed.

Furthermore, the directions in which the disks are pressed may be 180 degrees different from each other, or may be 45 degrees apart.

[Brief explanation of drawings]

Fig. 1 is an overall configuration diagram of one embodiment, Fig. 2 is an explanatory diagram of the disk disc stacking operation by the robot hand, Fig. 3 is an explanatory diagram of the stacked state of the disc discs, and Fig. 4 is the configuration of the robot controller. In the explanatory diagram and FIG. 5, 1 is a robot, 2 is a force sensor, 3 is a hand, 4 is a disc, 5
is the spindle axis.

Claims (1)

[Claims] (1) A disk stacking robot that stacks a plurality of disks by fitting them onto a spindle shaft, wherein after fitting the disks onto the spindle shaft,
a control means for moving the disc in a direction perpendicular to the spindle axis and causing an inner circumferential surface of the disc to abut against the spindle shaft surface; and a plurality of discs fitted to the spindle shaft. A disk stacking robot comprising: means for instructing the control means to direct the abutting direction of the disks for each disk so that the amount of rotational eccentricity when the disks are rotated is small.