JPH04283091A - Hand for grasping disc body - Google Patents

Abstract

PURPOSE:To perform the reliable grasping of a disc body by means of a low grasping force. CONSTITUTION:A hand 10 has a pair of fingers 14 and 15 moved in approaching and separating directions (directions X1 and X2) by means of an air cylinders 12 and 13, and the fingers 14 and 15 are provided at upper and lower ends with rotary pulleys 16a-16d engaged with the peripheral edge part of a disc 24. The vertical distances between the rotary pulleys 16a and 16b, and 16c and 16d are increased and the lower rotary pulleys 16b and 16d are rotationally driven by means of rotary actuators 17 and 18 to move upward a disc 24. The disc 24 placed on a stacker is raised as it is supported to the lower rotary pulleys 16b and 16d and a rotary pulley 26 of a disc holding part 19 and grasped by means of the rotary pulleys 16a-16d.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand for grasping a disc body, and more particularly to a hand for grasping a disc body configured to reliably grip a disc body.

Disk-shaped storage media (hereinafter referred to as disks) used in magnetic disk drives are stored and held vertically in a disk storage body called a stacker to prevent dust from adhering to the disk surface. The disks stored in the stacker are gripped by a disk gripping hand provided at the tip of the arm of the robot and assembled into the magnetic disk drive. In a hand that grips the peripheral edge of a disk in this manner, it is desirable that the hand not be able to grip the disk when taking out the disk from the stacker, or that the hand not drop the disk while transporting the disk.

0003

[Prior Art] Fig. 7 shows one of the conventional hands for grasping a disc body.
Give an example.

In the figure, 1 is a disk (disk body), and 2 is a two-finger hand that grips the periphery of the disk 1 from two directions. This hand 2 is attached to the tip of an arm of a robot (not shown), and has a pair of fingers 3, 4 located on both sides of the disk 1, and rotating pulleys 3a, 3b, 4a provided at the upper and lower ends of each finger 3, 4. , 4b.

[0005] 5 is a disk stacker, which is about 1/1 of the disk 1.
3 is inserted into the storage groove 5a, and holds the disc 1 in a vertical state.

[0006] The hand 2 rotates a pair of fingers 3 and 4 in the approaching and separating directions (X direction) to rotate the rotating pulleys 3a, 3b, 4a.
, 4b are engaged with the peripheral edge of the disk 1 protruding above the stacker 5, and the disk 1 is gripped from two directions. Then, the disk 1 gripped by the hand 2 is taken out from the stacker 5 by the arm movement of the robot, and is assembled into a disk device.

[0007]

[Problem to be Solved by the Invention] In the disk assembly process of assembling the disk into the magnetic disk device as described above, if the disk 1 is kept in a horizontal position, floating dust in the environment will easily adhere to the disk surface. By placing the disk 1 in a vertical position on the stacker 5, the reliability of the disk device itself is ensured.

Therefore, when the robot takes out the disk 1 placed on the stacker 5, the rotary pulley 3 in the vertical direction
Since the distances between a and 3b and between 4a and 4b are narrow, the hand 2 grips the peripheral edge of the disc 1 from the lateral direction in a state where the disc 1 easily slips.

In order to securely grip the disk 1, the gripping force of the hand 2 may be increased, but if the gripping force is too strong, the disk will be deformed if it is thin. Furthermore, if the gripping force is increased, the actuator will also become larger and, naturally, the weight will also increase.

Furthermore, when inserting the disk 1 into the spindle, since there is a small gap of several tens of microns or less between the disk and the spindle of the disk device, the accuracy of the robot's operation and
The disc and spindle tend to come into contact due to spindle chucking accuracy, vibration, etc. The larger the contact force at this time, the more likely it is that dust will be generated and the more likely it will be damaged. There is a method of force control to reduce this contact force and suppress the generation of dust, but in this case, gripping rigidity is required to transmit the force applied to the disk to the force sensor, and it also requires high speed and precision. It is also necessary to make the hand lighter in order to make the robot work better.

However, in a two-finger hand that grips the peripheral edge of the disk 1 from the lateral direction, such as the hand 2 shown in FIG. , there is a risk that the disk 1 may fall during transportation.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a hand for gripping a disc body that can reliably grip a disc without increasing the gripping force on the disc.

[0013]

[Means for Solving the Problem] The invention as claimed in claim 1 provides a pair of gripping parts that grip the outer periphery of a disc body from two directions, and a pair of gripping parts rotatably provided at the upper and lower ends of the gripping parts to grip the outer periphery of the disc body from two directions. It has a rotating pulley having an engagement groove that engages with the periphery, and a driving part that drives the pair of gripping parts toward or away from each other, and the driving part drives the pair of gripping parts to maintain the vertical state. In the hand for gripping a disc body, which takes out the disc bodies one by one from a storage body that holds the lower part of the disc body, the interval between rotary pulleys provided at the upper and lower ends of the gripping part is widened, and the An actuator is provided to rotate a rotary pulley that abuts the lower side of the disk body so that the plate rises above the storage body.

[0014] The invention according to claim 2 includes a pair of gripping parts that grip the outer periphery of the disc body from two directions, and a pair of gripping parts that are rotatably provided at the upper and lower ends of the gripping parts and engage with the peripheral edge of the disc body. The disc body has a rotating pulley having a matching groove and a driving part that drives the pair of gripping parts toward or away from each other, and the driving part drives the pair of gripping parts to hold the disc body in a vertical state. In a hand for grasping disc bodies that takes out the disc bodies one by one from a storage body that holds the lower part, the interval between rotary pulleys provided at the upper and lower ends of the gripping part is widened, and the discs are removed from the storage body. An actuator is provided that rotationally drives a rotary pulley that abuts the lower side of the disc body so as to rise, and in the process of the disc body rising from the storage body, the actuator holds the peripheral edge of the disc body and raises the disc body. A disk holding portion is provided to prevent inclination in the plane direction.

[0015]

[Operation] By widening the distance between the rotating pulleys provided at the upper and lower ends of the gripping part, the lower rotating pulley comes into contact with the lower side of the periphery of the disc, thereby gripping the disc with a small gripping force. It becomes possible to do so.

Further, the actuator rotates the lower rotary pulley to raise the disc body placed on the storage body to a position where it can be easily grasped in a vertical state.

[0017] Also, since the disc body holding portion holds the peripheral edge of the disc body while the disc body is rising from the storage body, the disc body is held so as not to tilt in the plane direction and is raised from the storage body. It can rise.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a hand 10 for grasping a disc body (hereinafter simply referred to as hand) according to an embodiment of the present invention.

The hand 10 generally includes a frame 11, air cylinders 12 and 13, fingers (grips) 14 and 15, rotary pulleys 16a to 16d, and a rotary actuator (
It consists of a drive section) 17, 18, and a disk holding section (disc body holding section) 19. The frame 11 has a mounting part 11 attached to the top of the robot arm (both not shown).
a, and has an air cylinder mounting portion 11b extending in the left-right direction (X direction) at the lower part.

The pair of air cylinders 17 and 18 have air connectors 20 and 21 attached to the bottom surface of the air cylinder mounting portion 11b.
has been fixed through. In addition, air connectors 20, 21
are hollow bolts each connected to an air source (not shown) that generates compressed air via an air tube, and a solenoid valve for switching between air supply and exhaust is provided in the middle of the air tube.

One air connector 20 is used to open the hand, and the other air connector 21 is used to close the hand. Moreover, the air cylinders 12 and 13 have rods 12a and 1 that slide in the X direction.
3a, and fingers 14 and 15 extending upward and downward are connected and fixed to the ends of the rods 12a and 13a via linear guides 22. Therefore, when compressed air is supplied to one of the air connectors 20, the rods 12a, 13a protrude from the air cylinders 12, 13, and the fingers 14, 15 move in a direction away from each other. When compressed air is supplied to the other connector 21, the rods 12a and 13a are drawn into the air cylinders 12 and 13, and the fingers 14 and 15 move toward each other.

[0022] The straight guide 22 includes air cylinders 12 and 13.
The fingers 14, 1 are connected to the tips of the rods 12a, 13a.
5 restricts the movement of the fingers 14 and 15 so that they do not rotate about the rods 12a and 13a. That is, a pair of fingers 14,1
The intermediate portions of the openings 5 are guided by the linear guides 22, and slide in the X direction while remaining vertical to open and close.

The pair of fingers 14 and 15 are formed in a U-shape when viewed from the front (FIG. 1), and rotary pulleys 16a to 16d are rotatably supported on the front surfaces of both upper and lower ends of the fingers 14 and 15 via bearings 23. has been done. In addition, each rotating pulley 16a~
V-shaped engagement grooves 16a1 to 16d1 into which the peripheral edge of the disk 24 fits are formed on the outer periphery of the disk 16d.

The distance between the ends of the pair of fingers 14 and 15 is wider than that of the conventional hand, and the distance between rotary pulleys 16a and 16b and between rotary pulleys 16c and 16d at the upper and lower ends is widened. In this embodiment, each rotating pulley 16a
-16d are provided at positions that abut the peripheral edge of the disk 24 at 90 degree intervals.

Air-type rotary actuators 17 and 18 are provided behind each rotary pulley 16b and 16d. These rotary actuators 17 and 18 are connected to the lower rotary pulley 16b during the disk gripping operation as will be described later.
, 16d are rotated. At that time, the rotating pulley 16b, 1
6d rotate in a direction that raises the disk 24, respectively. That is, the left rotary pulley 16b rotates counterclockwise,
The right rotary pulley 16d rotates clockwise.

The disk holding portion 19 is provided approximately midway between the linear guide 22 of the left finger 14 and the lower rotary pulley 16b. The disk holding section 19 includes a rotating pulley 26 that engages with the peripheral edge of the disk, a rod 27 that supports the rotating pulley 26, and an air cylinder 28 that drives the rod 27 in the X1 direction.

Note that the air cylinder 28 has the rod 27
It has a built-in spring (not shown) that biases the rotating pulley 26 towards the disc 24 when the disc holding is completed.
Displace it in the X1 direction away from the center. Next, the gripping operation of the disk 24 by the hand 10 configured as described above will be explained. As shown in FIG. 3, the disk 24 is placed in the stacker 29.
The stacker 2 is held vertically, and about 1/3 of its lower part
9 is inserted into the storage groove 29a.

In the assembly process of assembling the disk 24 to the spindle of the disk device using the robot having the hand 10, first, the hand 1 is attached as shown in FIG.
Compressed air is supplied to the air connectors 20 for opening the hands of the air cylinders 12 and 13 of No. 0, and the air connectors 2
The first side is the exhaust. Therefore, the pair of fingers 14 and 15 are driven in the X1 and X2 directions away from each other, and are in an open state. The hand 10 moves to the upper surface of the stacker 29 in this open state, and places a pair of fingers 14 and 15 facing each other on both sides of the disk 24, as shown in FIG.

Next, compressed air is supplied to one air connector 21 of both air cylinders 12, 13, and the other air connector 20 of both air cylinders 12, 13 is exhausted. As a result, the rods 12a and 13a are attracted into the air cylinders 12 and 13, and the fingers 14 and 15 move in the X2 and X1 directions so that they approach each other.

Only the engagement grooves 16b1 and 16d1 of the rotary pulleys 16b and 16d on the lower side of the fingers 14 and 15 are located below the center in the height direction of the disk 24 and near the center of the side peripheral edge of the disk 24. engages with the part.

Furthermore, the upper rotating pulleys 16a and 16c are
It is not yet in contact with the periphery of the disk 24, and the disk 2
It is further away than the periphery of 4. That is, the rotating pulleys 16a, 16
c is located at an upper position to receive the periphery of the disk 24 that has been pushed up as will be described later.

When the lower rotary pulleys 16b, 16d engage with the peripheral edge of the disk 24, the rotary actuators 17, 18 are driven to rotate the lower rotary pulleys 16b, 1, respectively.
6d is rotated counterclockwise and clockwise.

The disk 24 is subjected to a counterclockwise force F and a clockwise force F by the rotation of the rotary pulleys 16b and 16d provided on the fingers 14 and 15 that move in the approaching direction, respectively, and as a result, an upward driving force is applied to the disk 24. pulled upwards. In the process of rising from the storage groove 29a of the stacker 29, the peripheral edge of the disk 24 fits into the rotating pulley 26 of the disk holding section 19. Since this rotary pulley 26 is biased in the X2 direction by the spring in the air cylinder 28, the disk 24 is in a state in which fluctuation in the surface direction is prevented by three-point support by the lower rotary pulleys 16b, 16d, and 26. That is, it rises vertically.

In this way, when the disk 24 is pulled out from the storage groove 29a as shown in FIG. 4, the lower rotary pulleys 16b and 16d slip under the disk 24, and the rotational drive of the rotary actuators 17 and 18 is stopped. do.

Next, the air cylinder 28 and rod 27 are sucked in the X1 direction to separate the rotary pulley 26 from the disk 24. At this time, the disk 24 is connected to the pair of fingers 14,
It is held by four-point support of rotary pulleys 16a to 16d provided at 15.

At this time, each rotating pulley 16a of the hand 10
As shown in FIG. 5, the discs 16d and 16d have a wider vertical distance than the conventional disc 24, so they come into contact with the peripheral edge of the disc 24 at an angle of 45 degrees from the center. Therefore, each rotating pulley 16a to 16d grips the disk 24 at intervals of angle θ=90 degrees.

At this time, the force F that tries to grip the disk 24 from the Z direction causes a force F1 to hold the disk 24 in the vertical direction to grip the disk 24 reliably without wobbling. Moreover, even if this gripping force is made weaker than before, since the rotary pulleys 16b and 16d are located below the disk 24, there is no risk that the disk 24 will fall during transportation.

FIG. 6 is a timing chart of the disk gripping operations of the air cylinders 13 and 14, the rotary actuators 17 and 18, and the air cylinder 28.

Note that when assembling the disk 24 gripped as described above to the spindle of the disk device, the disk 24 is
4 in a horizontal state, the air cylinders 12 and 13 operate in the hand opening direction.

It goes without saying that the hand according to the present invention can also be applied to gripping disk-shaped recording media or disk bodies other than the magnetic disk of the above embodiment.

[0041]

[Effects of the Invention] As explained above, according to the invention of claim 1, since the lower rotary pulley can come into contact with the lower side of the periphery of the disc body, the disc body can be held securely with a small gripping force. It is possible to prevent the disc from falling during transportation, and the gripping rigidity can be increased and the weight of the hand can be reduced, which improves performance during force control and reduces the generation of dust. In addition, the actuator rotates the lower rotary pulley to raise the disc placed in the storage body vertically to a position where it can be easily grasped, making it possible to reliably take out the disc. .

Further, according to the invention of claim 2, by holding the peripheral edge of the disc body from the side while the disc body is rising from the storage body, it is possible to prevent the disc body from tilting in the plane direction. This can be prevented, and the disc body placed in the storage body can be taken out stably.

[Brief explanation of the drawing]

FIG. 1 is a front view of an embodiment of a hand for grasping a disc body according to the present invention.

FIG. 2 is a plan view of a hand for grasping a disc body according to the present invention.

FIG. 3 is a diagram for explaining a disc gripping operation.

FIG. 4 is a diagram showing a state in which a disc is gripped.

FIG. 5 is a diagram showing the effect of force when gripping a disk.

FIG. 6 is a timing chart for explaining the operation of each air cylinder and rotary actuator.

FIG. 7 is a front view for explaining a conventional hand for grasping a disc body.

[Explanation of symbols]

10 Disc gripping hand 11 Frame 12, 13, 28 Air cylinder 14, 15 Finger 16a to 16d, 26 Rotating pulley 17, 18 Rotary actuator 19 Disc holding part 20, 21 Air connector 22 Straight guide 24 Disc

Claims (2)

[Claims] Claim 1: A rotating device comprising a pair of gripping parts that grip the outer periphery of a disc body from two directions, and engagement grooves rotatably provided at the upper and lower ends of the gripping parts and engaging with the periphery of the disc body. A storage device comprising a pulley and a driving part that drives the pair of gripping parts toward or away from each other, the driving part driving the pair of gripping parts to hold the lower part of the disc body in a vertical state. In a hand for gripping a disc body that takes out the disc body one by one from the body, the interval between rotary pulleys (16a, 16b) (16c, 16d) provided at the upper and lower ends of the gripping parts (14, 15) is widened. and actuators (17, 18) that rotationally drive rotary pulleys (16b, 16d) that contact the lower side of the disc body (24) so that the disc body (24) rises above the storage body (29). A hand for grasping a disc body, characterized in that it is provided with a hand for grasping a disc body. 2. A rotating device comprising: a pair of gripping parts that grip the outer periphery of the disc body from two directions; and engagement grooves rotatably provided at the upper and lower ends of the gripping parts and engaging with the periphery of the disc body. A storage device comprising a pulley and a driving part that drives the pair of gripping parts toward or away from each other, the driving part driving the pair of gripping parts to hold the lower part of the disc body in a vertical state. In a hand for gripping a disc body that takes out the disc body one by one from the body, the interval between rotary pulleys (16a, 16b) (16c, 16d) provided at the upper and lower ends of the gripping parts (14, 15) is widened. and actuators (17, 18) that rotationally drive rotary pulleys (16b, 16d) that contact the lower side of the disc body (24) so that the disc body (24) rises above the storage body (29). A circle is provided to hold the peripheral edge of the disc body (24) during the process of the disc body (24) rising from the storage body (29) and prevent the disc body (24) from tilting in the plane direction. A hand for grasping a disc body, characterized in that it is provided with a plate holding part (19).