JPH0334991B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention measures the thickness of a disc-shaped disk,
In addition to sorting the disks according to the measurement results,
This article relates to a disk sorting device that automates the loading, measuring, and sorting of disks. [Prior Art] Generally, as one of the quality inspections of a disk, the thickness of the disk is measured, and based on the deviation between this thickness and a reference value, the disks are classified as good or bad. Magnetic disks, optical disks, and the like are disc-shaped and must be handled with care, and there are multiple types with different diameters and thicknesses. [Problems to be Solved by the Invention] Therefore, it has been difficult to automate the thickness measurement, especially due to the handling precautions and shape of the disk. For example, there is a method in which the disk is placed on a horizontal reference plate surface and the thickness of the disk is measured using a detection piece from above, but this method makes it difficult to position the disk, carry it in, and take it out easily, resulting in poor work efficiency. . Furthermore, it was not possible to automate the loading, measuring, sorting, and unloading of disks. Furthermore, it is desired that any of a plurality of types of disks can be tested using the same device. The present invention has been made in view of the above-mentioned problems, and provides a disk that can automate the process of loading, measuring, sorting, and unloading disks, is compatible with multiple types of disks, and is capable of improving processing speed and work efficiency. The purpose is to provide a sorting device. [Means for Solving the Problems] In order to achieve the above object, the disk sorting device according to the present invention supplies a plurality of types of disks W having different diameters or thicknesses to a predetermined location. a supplying section 4; a holding section 6 that uprightly holds one of the plurality of types of disk W holders provided corresponding to each type of disk W; the supplying section 4 and the holding section 6; a supply manipulator 5 which is provided between the supply manipulator 5 and which clamps one disk W of the supply unit 4 in an upright state and conveys it to the holding unit 6; and a measurement unit which measures the thickness of the disk W conveyed to the holding unit 6. part 7; a storage part 9 for storing the disks W of the holding part 6 in an upright state in predetermined stages based on the measurement results; a storage part 9 provided between the holding part 6 and the storage part 9, The present invention is characterized by comprising a sorting manipulator 8 that clamps one disk W of the rear holding section 6 in an upright state and conveys it to the first stage of the storage section 9. [Operation] The disks W housed in the magazine 2 are placed on the rider plate 3 at the supply position on the supply section 4. The magazine 2 is conveyed on the supply section 4 to above the positioning mechanism 19 by the X feed section 12a and the Y feed section 13a, and is positioned and fixed above the positioning mechanism 19 by a predetermined distance. Subsequently, the supply manipulator 5 moves toward the magazine 2, and the gripping claws 25a, 25b, 2 of the supply manipulator 5
5c, the disks W are successively held one by one.
The disk W is then transported to the holding table 6,
It is attached to the disk holder 27 of the holding base 6. Furthermore, when the number of disks stored in magazine 2 is transported,
The magazine 2 is transported to the supply position on the X feeding section 12b and the Y feeding section 13b. disk holder 27
is for holding the disk W upright,
The thickness of this upright disk W is measured by the measuring arms 33a and 33b of the measuring section 7. The thickness signal S5 is supplied to the control means 46, and the control means 46 calculates the signal to grade the disk W according to thickness or the like. The grading corresponds to the number of units in the storage section 9, and the disks W are conveyed from the holding section 6 to one unit in the storage section 9 by the sorting manipulator 8, and are loaded into the package 10 one by one. When a specified number of disks W are stored in the package cage 10, this package 10 is automatically transferred to the unloading section 3.
8. The loading, measuring, sorting, and unloading of the above disks are done automatically, and multiple disks Wa~
Compatible with Wd. [Embodiment] Hereinafter, one embodiment of a disk sorting device according to the present invention will be described based on the drawings. FIG. 1a is a perspective view of the disk sorting device, and FIG. 1b is a plan view of the device. 1 in the figure shows the entire disk sorting device. The disk W is housed in the magazine 2 in an upright manner, and the magazine 2 is placed on a frame-like rider plate 3 and conveyed on the supply section 4, and the disk W is kept upright by the supply manipulator 5. One sheet is pinched and held upright on the holding part 6. The thickness of the disk W is measured by the measuring section 7, and after the measurement, the disk W is held upright by the sorting manipulator 8 and inserted into the package cage 10 on the multi-stage storage section 9 according to the measurement result. . Multiple types of disks W are available (not shown), among which disks Wa are 9 inches,
The disk Wb is an 8-inch magnetic disk, the disk Wc is 5 inches, and the disk Wd is a 3-inch magnetic disk. The thickness of disk Wa, Wb, Wc is 1.9mm
The thickness of the disk Wd is 1.25mm. Next, the configuration of each component will be explained. "Magazine 2" As shown in FIG. 1a, the magazine 2 is composed of a support shaft 2a that supports the lower half of the disk W at three points, and side plates 2b at both ends of the support shaft 2a. Notch grooves 2c corresponding to the thickness of the disk W are formed at regular intervals in the axial direction of the support shaft 2a. The notched groove 2c holds, for example, 40 discs upright in the thickness direction of the disc W, as shown in FIG. Further, a cutout 2d corresponding to the circular hole at the center of the disk W is formed in the upper center of the side plate 2b, and the supply manipulator 5 allows the disk W
is designed to be easily held. Two types of magazines 2 are prepared corresponding to the four types of disks W, as shown in FIG. The magazines 2b for the two types of small-diameter disks Wc and Wd are formed in a small size. And the disk Wa of the large magazine 2a, the center Wo of Wb and the small magazine 2b
The centers Wo of the disks Wc and Wd are both coaxial. "Rider Plate 3" The rider plate 3 is shown in FIGS. 1a and 1b. In this way, the rider plate 3 is
It is formed into a thick frame shape, and a penetrating portion 3c is formed in the center portion to reduce weight. In addition, the four corner portions have step portions 3a that are one step higher, and the side walls 3
b is formed. There are pins 3 at two symmetrical positions on this side wall 3b.
f, 3g are provided protrudingly. Further, a detection plate 3e of a predetermined width is constructed and fixed at the center of the through-hole 3c.
Furthermore, positioning holes 3d corresponding to positioning pins 19c of a positioning mechanism 19 of the storage section 4, which will be described later, are provided at two symmetrical positions on the bottom. On this rider plate 3, two types of magazines 2a and 2b, large and small, can be placed as the magazine 2. And large magazine 2a
can be positioned and placed on the step 3a by the side wall 3b, and the small magazine 2b can be positioned and placed on the lower step of the step 3a. These magazines 2a and 2b are both located at the center of the disk W by this rider plate 3.
Wo is aligned and positioned on the same line. Supply Unit 4 The supply unit 4 is located on the right-hand front side as shown in the figure. The base 11 has a substantially square plane, and two X feed sections 12a and 12b having the same configuration are provided in parallel on the upper surface of the base 11. A plurality of rotary shafts 13 having large diameters at both ends are rotatably provided in the X feed portions 12a, 12b. The rotating shaft 13 is connected to a motor.
As the motor rotates, the rotation shaft 13 of the front X feed section 12a rotates in the -X direction, and the rotation shaft 13 of the rear X feed section 12b is rotated in the X direction. Furthermore, between the ends of these X feeding sections 12a, 12b, Y feeding sections 13a, 13b having the same configuration are provided in parallel in a direction perpendicular to these X feeding sections 12a, 12b. This Y feeding section 13a, 13b
Each has two support columns 14, and each of the support columns 14 is rotatably provided with a plurality of rotating rollers 15. This support column 14 has X feeding parts 12a, 12
It is inserted into the notch of b and is a lifting mechanism (not shown).
It can be raised and lowered freely. Further, on the upper surface of the base 11, the Y feeding portions 13a, 1
Rodless cylinders 20 and 21 are provided on the outside of 3b in parallel with the Y feed portions 13a and 13b. The rodless cylinders 20 and 21 have movable parts 21a and 21b that are movable in the Y and -Y directions, respectively.
The position shown in FIG. 1b is taken as the origin. The moving parts 21a and 21b come into contact with the pin 3f of the rider plate 3 when the support column 14 is raised.
When a moves in the Y direction, the ladder plate 3 on the Y feeding section 13a is moved in the same Y direction. on the other hand,
Similarly, when the support column 14 is raised, the rodless cylinder 21 is moved in the -Y direction by the moving part 21b abutting the rider plate 3 on the Y feeding part 13b with the pin 3g of the rider plate 3. There is. Therefore, when the Y feeding parts 12a, 12b are operated, the support column 14 is raised by the lifting mechanism, and the rodless cylinders 20, 21 are operated. A manual operation panel 36 is attached to the front right side of the base 11. This manual operation panel 36 includes
A start button 36a for the disk sorting device, a disk setting button 36b for setting the type of disk W, etc. are provided, and an operation signal S1 from the manual operation panel 36 is supplied to the control means 46. Further, a magazine confirmation sensor 16 is provided at the front end of one of the Y feeding sections 13a so as to be inclined at an angle of θ (θ=33°) with respect to the Y feeding portion 13a. As shown in the partial side view of FIG.
Two light emitting/receiving type sensors 16a, 16b, 16c are incorporated, and the magazines 2a, 2b are detected by reflection from reflectors 17a, 17b, 17c of the reflecting plate 17 facing each other. for example,
In the case of a large magazine 2a, the large magazine 2a is detected by reflecting only the light from the light emitting/receiving sensor 16a back by the disks Wa and Wb housed in the large magazine 2a.
In addition, in the case of a small magazine 2b, the disks Wc and Wd housed in this small magazine 2b
The light from the light emitting/receiving sensors 16a and 16b returns and is detected. The detection signal S2 of the magazine confirmation sensor 1b is output to a control means 46, which will be described later. In addition, at the rear end of the Y feed section 13a, there is a
A positioning mechanism 19 shown in FIG. The positioning mechanism 19 is provided within the base 11, and the movable plate 19a is vertically movable by a lifting mechanism (not shown). Both ends of the movable plate 19a are formed with upward protrusions, and bolts 19b are provided at the four corners.
are attached, and positioning pins 19c further protrude from two symmetrical locations. This positioning pin 19c is formed to correspond to the positioning hole 3d of the rider plate 3. Also,
A positioning sensor 1 is located at the center of the moving plate 19a.
9d is mounted upward by a support and is adapted to detect the detection plate 3e of the rider plate 3 and output a detection signal S3 to the control means 46. This positioning mechanism 19
The movable plate 19a is in the lowered position and the positioning pin 1
The tip of 9c is the rotating roller 15 of the Y feeding section 13a.
Retract further downward and positioning pin 19 in the raised position.
The tip of c is adapted to protrude above the rotating roller 15. As a result, when the positioning mechanism 19 operates, the rider plate 3 and the magazine 2 are
As shown in Figure a, it is possible to position the object a predetermined distance above on this positioning mechanism 19. "Supply Manipulator" The supply manipulator 5 is located on the far right side shown in FIGS. 1a and 1b. This supply manipulator 5
The base 5a is movable in the Y and -Y directions by a moving means 22a extending in the front-rear direction. The base 5a is formed into a long plate shape that is long in the height direction (Z direction). The base 5a is provided with a moving table 24 that can be moved up and down by a moving means 23. At the lower end of this movable table 24, gripping claws 25a and 25b for the disk W are provided in parallel. This moving table 24 has an opening/closing arm 26.
is provided so as to be movable up and down with respect to the movable table 24 by opening/closing means (not shown). Opening/closing arm 2
A gripping claw 25c of the disk W is attached to the lower end of the disk W. Therefore, as shown in FIG. 1a, these gripping claws 2
One disk W can be held upright between 5a, 25b and 25c. The center Wo of the disk W of the magazine 2 is located at the front in the direction in which the clamping claws 25a, 25b, 25c of the supply manipulator 5 are moved by the moving means 23a,
The center of the holding part 6 is located at the rear part. Moreover, the origin of the supply manipulator 5 is
It is located near the holding portion 6 in the state shown in FIG. 1b. This supply manipulator 5 is controlled by a control means 46. "Holding Section 6" The holding section 6 shown in FIGS. 1a and 1b is located at the innermost part of the disk sorting device 1, and is provided behind the positioning mechanism 19 of the supply section 4. This holding part 6 has four holders (disk holders) 27a to 27d corresponding to the types of disks W. For example, the disc holder 27a is for a 9-inch disc Wa, the disc holder 27b is for an 8-inch disc Wb, and the disc holder 27c is for a 5-inch disc Wa.
The disc holder 27d is designed for use with inch discs Wc, and the disc holder 27d is designed for use with 3 inch discs Wd. In the disk receivers 27a to 27d, rollers 28 are arranged at three points in the lower half of the disk, corresponding to the diameter of each disk W. A groove corresponding to the thickness of the disk W is formed on the peripheral edge of the roller 28, and the disk W can be held upright by the roller 27. These disk receivers 27a to 27d are fixed to the rotating mechanism 29 at regular intervals at predetermined angles and are rotatable. Only one of them is in an upright state. Further, the intervals between the rollers 28 are adjusted so that the centers Wo of the disks Wa to Wd are at the same position (same height and same center) when all of these disk receivers 27a to 27d are standing upright. Each of the disk receivers 27a to 27d is provided with disk insertion detection means 30 for detecting insertion of the disk W. The disk insertion detection means 30 is to detect the formation of a current loop by the conductive disk W held by the rollers 27 by passing a current between the rollers 28. This detection signal S4 is transmitted to the control means 46.
is supplied to "Measuring section 7" As shown in FIGS. 1a and 1b, the measuring section 7 is located at the innermost part of the disk sorting device 1 and near the holding section 6, and is located at the lower part 11a of the base 11. It has been established. This measuring section 7 is provided with a guide rail 31a on the same axis as the thickness of the disk W of the holding section 6, and on this guide rail 31a is a movable stage 31b.
is movable. Therefore, the movable table 31b is movable in the X and -X directions on the guide rail 31a by the transfer means 32, and is movable forward and backward with respect to the disk W on the holding part 6. A measuring mechanism 33 is provided on this moving table 31b. The measuring mechanism 33 consists of two horizontally parallel measuring arms 33a, 33b. The thickness of W can be measured. This thickness signal S5 is output to the control means 46. Further, the measurement of the disk W by the measuring unit 7 is controlled by the control means 46, and the measurement of the disk W by the measuring unit 7 is controlled by the moving table 31b.
For example, move the N points in the radial direction of the disk W.
Measurements are made at two locations, the first and second measurement points. "Sorting Manipulator 8" The sorting manipulator 8 is located on the left hand side shown in FIGS. 1a and 1b. This sorting manipulator 8 is symmetrical and has the same configuration as the supply manipulator 5, except for the transfer means, and the same parts are given the same reference numerals and the explanation thereof will be omitted. As shown in FIGS. 1a and 1b, this transfer means 22
b indicates the base 8a of the sorting manipulator 8 at X, -X,
It is configured to be movable in both the Y and -Y directions. The base 8a is provided with a sorting manipulator 8 having a symmetrical structure with the supply manipulator 5, which holds the disk W after measurement in the measuring section 7 in an upright state from the holding section 6 and stores it in the storage section 9. It is meant to be transported. The origin of the sorting manipulator 8 is near the holding table 6 in the state shown in FIG. 1b. This sorting manipulator 8 is controlled by a control means 46. "Storage Unit 9" The storage unit 9 is located on the side of the supply unit 4 at the front left hand side shown in FIGS. 1a and 1b. This storage section 9 is constructed by arranging a plurality of n rows (n=6 rows in the embodiment) of the following units.
To explain the leftmost unit of this storage section 9, there is a carry-in section 37 into which the empty package 10 is carried in, a carry-in section 37 provided above the carry-in section 37,
It is comprised of an unloading section 38 into which the package cage 10 after the workpiece W has been inserted is unloaded, and an elevating section 39 that can move up and down the rear ends of the loading section 37 and the unloading section 38. The loading section 37 is located at the bottom of the device,
A plurality of freely rotatable rotating shafts 40 are provided in parallel, and two packages 10, which will be described later, can be placed on the rotating shafts 40. A roller 41 having a step formed concentrically with the rotating shaft 40 is fixed to both ends of the rotating shaft 40 . This rotating shaft 40 is connected to a driving means (not shown), and by rotation of the driving means, the package 10 on the rotating shaft 40 can be taken in in the direction A shown in the figure. An unloading section 38 is provided on the loading section 37 . In the unloading section 38, two package cages 10 are placed after the disks W have been carried in, and the package cages 10 have a plurality of rotating shafts 40 as described above.
placed on top. Also, both ends of this rotating shaft 40 are
It is only rotatably supported by a support plate 42 tilted forward. Further, a stop plate 42a is erected at the front end of the support plate 42, and this unloading section 3
The package 10 placed on the rotating shaft 40 of 8
is designed to naturally descend to the stop plate 42a position. An elevating section 39 is provided on the rear end side of the carrying-in section 37 and the carrying-out section 38. The elevating section 39 is movable up and down by an elevating mechanism 43 fixed to a portion 11b of the base 11. Further, this elevating section 39 is provided on the moving direction of the sorting manipulator 8. Also, a rotating shaft 40 similar to the above-mentioned one is also provided in the lifting section 39.
is provided, and this rotating shaft 40 is connected to a driving means (not shown). The driving means is rotatable in both directions, and can move the package 10 on the rotating shaft 40 in either direction A or B in the figure. Further, a reflective package detection sensor 4 is provided at the rear end of the elevating section 39 and is directed upward.
4 is provided to detect the presence or absence of the package 10 and send a detection signal S6 to the control means 46. "Package 10" The package cage 10 can accommodate the disk W upright, and four types of package cages 10, 10a to 10d, are formed in advance according to the diameter of the disk W.
Wb, disk Wc, and disk Wd are now accommodated. Further, these disks W can be arranged and accommodated by partition plates provided at equal intervals in the depth direction of the package cage 10, and can accommodate, for example, 20 disks. Furthermore, a notch corresponding to the center hole of the disk W is formed at the center of the front and back of the package 10. The width of the bottom surface of each of the package cages 10a to 10d is determined by the width of the rotation shaft 40 of the storage section 9 and the roller 4
It is formed corresponding to the level difference of 1. As a result, no matter which package 10 accommodates any of the workpieces Wa to Wd, the center Wo of the workpieces Wa to Wd can be aligned with the center line O shown in FIG. 1b. This makes it easy to position the packages 10 in each ranked row by the aforementioned sorting manipulator 8, and to do so with high precision. "Control Means 46" FIG. 3 is a functional block diagram of the control means 46. This control means 46 includes a disk setting circuit 47, a detection circuit 48, an arithmetic circuit 49,
It is configured by the control circuit 50, and includes, for example, input,
It can be formed by a microprocessor or the like having an A/D and D/A converter at each output stage. The disk setting circuit 47 includes the manual operation panel 3.
6 operation signal S1 is input, and the disk setting button 36b of the manual operation panel 36 is used to set the disk.
By setting Wa to Wd, the disk setting circuit 47 supplies information signals S7 such as the diameter and thickness of the disk W corresponding to any of the disks Wa to Wd to the arithmetic circuit 49 and the control circuit 50. do. Furthermore, the detection signal S2 of the magazine confirmation sensor 16 is inputted to the disk setting circuit 47, and the detection signal S2 of the magazine confirmation sensor 16 is inputted to determine whether the magazine 2 corresponding to the setting of one of the disks Wa to Wd by the manual operation panel 36 is being conveyed on the supply section 4. It is confirmed whether or not. The detection circuit 48 includes the positioning sensor 19d.
, the detection signal S4 of the disk insertion detection means 30, and the detection signal S6 of the package detection sensor 44 are input, and the operation of each part is confirmed. Each time the detection signals S3, S4, and S6 are input, the control circuit 5 sends a confirmation signal S8 to operate the components of the next process corresponding to each of the detection signals S3, S4, and S6.
It is designed to output 0. The arithmetic circuit 49 receives the thickness signal S5 of the differential transformer 34 and the information signal S7 of the disk setting circuit 47.
has been entered. Thereby, calculations can be performed under the same conditions regardless of the thickness of the disk W (Wa to Wd). The content of the calculation is to calculate the deviation between the reference value of the thickness of each disk W in the information signal S7 and the actual thickness signal S5 of the disk W from the differential transformer 34 through the N measurements, and to predetermine the deviation. The disks W are graded and sorted according to the deviation within the specified range. The grading of the disks W by the arithmetic circuit 49 can also include grading the disks W by type, and the grading can be set arbitrarily by the manual operation panel 36. There is. The arithmetic circuit 49 outputs the arithmetic-processed selection signal S9 to the control circuit 50. The control circuit 50 receives an information signal S7 from the disk setting circuit 47, a confirmation signal S8 from the detection circuit 48, and a selection signal S9 from the arithmetic circuit 49. The control circuit 50 outputs control signals S10 to S15 for operating each component. The control signal S10 controls the supply section 4, and the information signal S7 of the disk setting circuit 47 operates the X feeding section, 12a, 12b, Y feeding section 13a, 13b, and positioning mechanism 19 of the supply section 4. The control signal S11 controls the supply manipulator 5, and the information signal S7 and the confirmation signal S8 of the detection circuit 48 (the detection signal S by the positioning sensor 19d)
3) is output. This causes the supply manipulator 5 to
The conveyance operation is performed, and the amount of descent of the clamping claws 25a to 25c by the moving means 23 and the opening/closing means is switched according to the two center positions Wo of the disk W corresponding to the two types of magazines 2, large and small. controlled by Further, the control circuit 50 counts the number of times the disk W is transported by the supply manipulator 5, and counts the number of disks W stored in the magazine 2 (for example, 40 disks).
After being transported, a magazine exchange command is output to the supply unit 4. This magazine exchange command is included in the control signal S10 of the supply section 4, and is used to control the new magazine 2 to be conveyed onto the positioning mechanism 19 and positioned. The control signal S12 controls the holding section 6, and is controlled by the information signal S7 of the disk setting circuit 47.
Control is performed so that one of the disk receivers 27a to 27d corresponding to a desired disk W (Wa to Wd) is erected. The control signal S13 controls the measurement unit 7 and uses the information signal S7 of the disk setting circuit 47 to set the measurement mechanism 33 corresponding to a desired disk W (Wa to Wd).
The measurement points at N locations are changed. The control signal S13 is output by the confirmation signal S8 of the detection circuit 48 (detection signal S4 from the disk insertion means 30). The control signal S14 controls the sorting manipulator 8, and similarly to the supply manipulator 5, the disk W
is transported to the package cage 10 on the storage section 9.
At this time, the disk W is conveyed to the unit at the designated stage among the units in the n columns by the selection signal S9 of the arithmetic circuit 49. The control circuit 50 also counts the number of times of transport for each unit, and outputs a package exchange command to the storage section 9 after transporting the number of packages accommodated in one unit (for example, 20). The control signal S15 controls the storage section 9 and includes a package exchange command. Therefore, the new package 10 is controlled to be positioned on the elevating section 39. Next, the operation of the disk sorting device of the present invention will be explained. FIG. 4 shows an operation flowchart of each component, which will be explained in conjunction with FIGS. 1a and 1b. Assume that the number of disks W can accommodate is 40 in the magazine 2 and 20 in the package cage. In addition, the measuring section 7 has two
Measurements will be made at locations (N=2). First, the device is started by pressing the start button 36a on the manual operation panel 36. The supply manipulator 5 and the sorting manipulator 8 are at the original position. Furthermore, five rider plates 3, which is the maximum number, are listed on the supply section 4. This is the X feed section 1
2a and 12b, three pieces can be placed each, but the Y feeding parts 13 at both ends of the X feeding parts 12a and 12b
This is because only one piece of each of a and 13b is transported. Magazine 2 (2a, 2b) containing the disk W (one of Wa to Wd) to be processed next
) is placed on the rider plate 3 at the position shown in FIGS. 1a and 1b. Then, the package cage 10 (10a to 10d) for the disk W is carried into the carry-in section 37 of the storage section 9. Further, the disk W (Wa to Wd) is set using the disk setting button 36b of the manual operation panel 36. Subsequently, the supply unit 4 transports the magazine 2 onto the positioning mechanism 19. (SP1 in Figure 4). First, X
The rider plate 3 is conveyed in the X direction by the feeding section 12a to the Y feeding section 13a. When the rider plate 3 comes to the position of the Y feed section 13a, the magazine confirmation sensor 16 confirms the type of the magazine 2. Then, the support column 14 of the Y feeding section 13a is raised by the lifting mechanism, and the rider plate 3 is transported onto the positioning mechanism 19 in the Y direction by the rodless cylinder 20. The rider plate 3 on the positioning mechanism 19 is
When the detection plate 3e is detected by the positioning sensor 19d, the elevating mechanism is activated and the rider plate 3 is positioned and fixed at a predetermined distance above (SP2). The rider plate 3 on the positioning mechanism 19 maintains this state until a magazine exchange command is issued (SP3). Then, this rider plate 3 is lowered by the magazine exchange command, returned to the loading position by the X feed section 12b and the Y feed section 13b, and the rider plate 3 on which the new magazine 2 is placed is moved to the positioning mechanism 19 in the same manner as described above. transported to. When the rider plate 3 is detected by the positioning sensor 19d, the supply manipulator 5 operates (SP4). Therefore, the supply manipulator 5 moves forward toward the magazine 2 in the -Y direction by the transfer means 22a (SP5). At this time, the control circuit 50 adds one disk to the number of disks K (SP6), and holds one disk W in an upright state between the holding claws 25a, 25b and the holding claw 25c, and holds the disk in the Y direction. After being transported to section 6 and inserted (SP7), it is temporarily returned to the origin (SP8). Then, the supply manipulator 5 performs the above-mentioned transport operation 40 times in succession, a prescribed number of times equal to the number of disks accommodated in the magazine 2 (SP9), and as a result, the control circuit 50 outputs a magazine exchange command to the supply section 4, and Reset the number of disks (SP10). The disks W are successively clamped and conveyed from the rear end of the magazine 2 to the front side. The disk W is held by the supply manipulator 5, and the holding claws 45 are used during insertion.
If the distance between a, 45b and the clamping claw 45c is such that in the case of the magazine 2a, it opens more than the disk Wa, and in the case of the magazine 2b, it opens more than the disc Wc, all the disks W (Wa to Wd) can be clamped. ,
Can be inserted. The disk W conveyed by the supply manipulator 5 is held by the disk receiver 27 of the holding section 6. The holding portion 6 includes the manual operation panel 3.
It is determined whether the disk receiver 27 corresponding to the disk setting button 36b of 6 is upright, and (SP1
1) Stand up the disk receiver 27 (27a-27d) corresponding to this disk W (Wa-Wd) (SP12). Therefore, the disk W conveyed by the supply manipulator 5 stands upright between the rollers 28 of the disk receiver 27, and the disk W (Wa
~Wd) can be held in the same position. The holding state of the disk W is detected by the disk insertion detection means 30 (SP13), thereby causing the measuring section 7 to start operating (SP14). Then, the measurement unit 7 starts measurement (SP15).
The measuring mechanism 33 moves forward at the first measuring point. At this time, the measuring arms 33a and 33b move forward toward the center Wo of the disk W so as to sandwich it from the outer edge, and after stopping, for example, 10 mm inside from the outer edge, measure the thickness of the disk W at this first measurement point. Measure. Furthermore, the measuring arms 33a and 33b move forward to the center Wo of the disk W, and after stopping, for example, 20 mm inward from the inner edge, measure the thickness at this second measuring point (SP16). Thereafter, the measuring mechanism 33 retreats to the origin (SP17) and starts the operation of the sorting manipulator 8 upon completion of the measurement (SP18). At the same time, within the control means 46, the disk W is graded and a designated grade is determined. After the measuring section 7 completes the measurement (SP19), the sorting manipulator 8 moves forward to the disk W on the holding section 6 (SP20). Then, hold the disk W and move it to the entrance of the specified stage (one of the units) in the storage section 9.
(SP21). After confirming the detection of the package detection sensor 44 on the lifting section 39 of the storage section 9 (SP22), the number of disks at this designated stage is determined.
RANKn is added by one (SP23), and the disks W are sequentially inserted into the package 10 from the front side in the depth direction (SP25). After this, the sorting manipulator 8
returns to the origin once (SP26), and the sorting manipulator 8 consecutively processes 20 sheets, which is the number of sheets accommodated, for one package 10 (SP24).
When the specified number of disks (20 disks) is stored in the package 10 of the unit, a package exchange command is output to the storage section 9 and the counting of the number of disks is reset (SP2).
7). This package 10 can then be carried out from the storage section 9. As described above, the storage section 9 always places the package 10 on the elevating section 39 so that the package 10 is detected by the package detection sensor 44 (SP27), and the elevating section 3
9 is in the raised position (SP28). When there is no package 10 on the lifting section 39, a new package 10 is detected by the non-detection signal from the package detection sensor 44, for example when the device is started up.
In this case, the rotating shafts 40 of the loading section 37 and the lifting section 39 simultaneously rotate in the A direction to take one package 10 onto the lifting section 39 (SP29), and the lifting section 39 is brought to the raised position by the lifting mechanism 43 (SP29). SP3
0). Then, when the package replacement command is issued (SP3
In step 1), the rotating shaft 40 of the elevating section 39 is rotated in the direction B, and the package is delivered to the unloading section 38 (SP32). A prescribed number (20) of disks W are accommodated in the package 10 on the carry-out section 38, and can be carried out to the outside. Furthermore, the elevating section 39 is
The next package 10 is lowered by the elevating mechanism 43 (SP33) and taken in from the carry-in section 37. Each of the above-mentioned components is controlled by control signals S10 to S15 output from the control means 46. Furthermore, the disks W are sequentially processed by performing the above-mentioned operations in succession, but the operations of each component are centered on the operation of the measuring section 7 on the main holding section 6, the supply section 4, the supply section 4, Since the loading operation of the disk W by the manipulator 5 and the unloading operation of the disk W by the sorting manipulator 8 and storage section 9 are roughly divided, these loading operation and unloading operation can be performed almost simultaneously. Furthermore, the setting operation of the disk W (Wa to Wd) using the manual operation panel 36 at the time of device startup can be automated by configuring the magazine confirmation sensor 16 to confirm the type of the disk W (Wa to Wd). be able to. Note that the arrow shown by the thick solid line in FIG. being transported. And the disk W held upright in the holding part 6
By arranging and operating the holding section 6 to rotate the disk W around the center Wo of the disk W, the measuring section 7 can measure the thickness of the entire circumference of the disk W. [Effects of the Invention] As explained above, according to the disk sorting device according to the present invention, loading, measuring, and
Sorting and unloading can be automated. Furthermore, multiple types of disks can be processed in the same way. Furthermore, there is an effect that processing speed and work efficiency can be improved.

[Brief explanation of the drawing]

FIGS. 1a and 1b are a perspective view and a plan view showing a disk sorting device according to the present invention, and FIG. 2 is a
FIG. 3 is a functional block diagram of the control means, and FIG. 4 is a flow chart of the operation of each component of the disk sorting apparatus according to the present invention. 1... Disk sorting device, 2a, b...
... Magazine, 3 ... Rider plate, 4 ... Supply section, 5 ... Supply manipulator, 6 ... Holding section,
7... Measuring section, 8... Sorting manipulator, 9...
Storage section, 10...Package cage, 46...Control means, W (Wa to Wd)...Disk.

Claims (1)

[Claims] 1. Multiple types of disks W with different diameters or thicknesses
a supply unit 4 that supplies a plurality of disks of each type to a predetermined location; a holder that holds one of the plurality of types of disk W holders provided corresponding to the disks W of each type in an upright position; a supply manipulator 5 which is provided between the supply section 4 and the holding section 6 and which holds one disk W of the supply section 4 in an upright state and conveys it to the holding section 6; and the holding section 6. a measuring section 7 for measuring the thickness of the disks W conveyed to; a storage section 9 for storing the disks W in the holding section 6 in an upright state in predetermined stages based on the measurement results; and a sorting manipulator 8 that is provided between the disk W of the holding section 6 and the storage section 9 after measurement, and that holds one disc W of the holding section 6 in an upright state and conveys it to the first stage of the storage section 9. Disk sorting device.