JPS60249536A - Supporting-board structure for straightly erected stay for installing parts - Google Patents

Abstract

PURPOSE:To hold a stay free from hindrance for the fitting operation of a hand by allowing a supporting board for mounting a carrying case to perform horizontal movement and to be titled in all directions and correcting the position deflection between the cylindrical shaft of a robot hand and the supporting shaft of the case. CONSTITUTION:If a position deflection exists within a range of a chamfer 9 between the shaft of a positioning hand 9 and the shaft of a stay 2 when a robot arm 7 lowers and the positioning hand 9 is fitted onto the stay 2, a supporting plate 13 shifts to correct the position deflection on a supporting plate 15, and when the shaft of the stay 2 is inclined for the shaft of the hand 9, a supporting plate 10 inclination-moves with respect to the supporting plate 13, in order to correct the angle deflection. Then, in the state where the hand 9 is fitted onto the stay 2, and the both shafts are adjusted, the supporting plates 10 and 13 are fixed for the supporting plates 13 and 15 by the locking cylinders 14 and 16. The arm 7 is raised in this state, and the hand 9 is pulled-up from the stay 2, and the positions of the hands 8 and 9 are reversed in the vertical direction, and then the arm 7 is lowered to fit the hand 8 onto the stay 2.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a support structure for an upright support case when a plate-shaped component attached to an upright support is removed using an industrial robot.

<Prior art> When producing magnetic disk drives, a plurality of magnetic disks are stacked on top of each other via spacers and attached to a cylindrical support, the support is housed upright in a transport case, and the transport case is moved into a predetermined position. At this position, a robot hand with a cylindrical hollow part is inserted into the support column from vertically above, and the magnetic disks are removed one by one from the support column using vacuum suction means of the robot hand, and then placed on the spindle of the magnetic disk drive. It was transferred to and installed here.

<Problems to be Solved by the Invention> When a magnetic disk is removed from an upright support using such a robot hand, even if the transport case containing the upright support is held fixed in a predetermined position, the position of the support within the transport case may be incorrect. If it is not exactly constant, the axis of the support may be misaligned or angularly misaligned with respect to the vertical cylindrical axis of the robot hand. If such positional or angular deviations are large, the compliance of the robot hand alone will not be able to absorb the positional or angular deviations, and the robot hand will not be able to fit smoothly into the support, which will impede the work of removing the magnetic disk. An object of the present invention is to solve these problems, and to provide a support structure that holds an upright column in a predetermined position without interfering with the insertion operation of a robot hand.

<Means for Solving the Problems> The upright support structure according to the present invention stores a cylindrical support mounted with a plurality of plate-like parts upright in a transport case, and has a cylindrical hollow part. Supporting an upright support for component mounting that works in conjunction with a component removal mechanism that inserts the robot hand into the support and removes the plate-shaped components one by one from the support, and supports the transport case at a component removal work position of the robot hand. In the stand structure, the support stand on which the transport case is mounted is movable freely in a horizontal plane in order to correct misalignment between the cylindrical axis of the robot hand and the support axis, and It can be tilted in all directions to correct the angular deviation.

<Function> When the robot hand is inserted into the support, if the support is deviated from the predetermined position or tilted to the vertical direction, the support base on which the transport case is mounted will move freely.
Absorbs positional and angular deviations between the cylindrical axis of the robot hand and the axis of the support.

<Example> The drawing is a side view of a support structure according to the present invention.

The support column 2 is housed upright in the transport case l.

A plurality of magnetic disks 3 are mounted on the support 2.

Such a transport case 1 is transported by a conveyor 4 and mounted on a support stand 5. The support stand 5 is movable up and down along a guide 6, and after the magnetic disk 3 is removed, the transport case 1 is discharged downward.

A robot arm 7 movable horizontally and vertically is arranged above the support base 5. A robot hand 8 having a hollow cylindrical portion (not shown) corresponding to the shape of the support column 2 and a positioning hand 9 having a similar hollow cylindrical portion are provided at the tip of the robot arm 7. A chamfer 9a is formed on the lower edge of the positioning hand 9 to facilitate fitting of the support column. The lower edge of the hollow cylindrical portion of the robot hand 8 is also chamfered in the same manner. The robot hand 8 and the positioning hand 9 have hollow cylindrical portions formed coaxially, and can be vertically reversed with respect to each other. The transport case 1 is placed and held at a fixed position on the first support plate 10 by suitable means. Reference numeral 11 denotes a tenth locking cylinder, which fixes the transport case 1 on the first support plate 10. The first support plate 10 is mounted on the second support plate 13 via a universal joint mechanism 12 so as to be tiltable in all directions. 14 is a 20th locking cylinder, which fixes the first support plate 10 to the second support 13.

The second support plate 13 is mounted on a horizontally arranged third support plate 15 so as to be freely movable in a horizontal plane. 16 is a 30th cylinder, and the second support plate 13 is connected to the third support plate 15.
Fixed against.

When the transport case 1 is transported onto the support stand 5 having such a structure, the transport case 1 is first locked in a predetermined position on the first support plate 10. Next, the robot arm 7 descends and the positioning hunt 9 fits onto the column 2. At this time, if there is a positional deviation between the axis of the positioning hand 9 and the axis of the support column 2 within the range of the chamfer 9a, the second support @13
5 to correct this positional deviation. Also,
If the axis of the support column 2 is inclined with respect to the axis of the positioning hand 9, the first support plate 10 moves in an inclined manner with respect to the second support plate 13 so as to correct this angular deviation.

With the positioning hand 9 fitted to the column 2 and both shafts aligned, the second and 30th cylinders 14 and 16 are moved.
The first support plate 10 and the second support plate 13 are fixed to the second support plate 13 and the third support plate 15, respectively. In this state, the robot arm 7 is raised to lift the positioning hand 9 from the support 2, and the positions of the robot hand 8 and the positioning hunt 9 are reversed up and down. Next, the robot arm 7 is lowered and the robot hand 8 is fitted into the support column 2''. The robot hand 8 attracts the magnetic disk 3 using a vacuum suction device (not shown), pulls it up, and transfers it onto the spindle of the magnetic disk to be assembled by rotating the robot arm 7.

<Effects of the Invention> Since the transport case containing the support can move freely in a horizontal plane on the support base and can be tilted in all directions with respect to the vertical direction, positional and angular deviations between the robot hand and the support can be prevented. Corrected by the movement of the table, the fitting operation between the robot hand and the support column is performed smoothly, and the removal work of the magnetic disk is performed reliably. In addition, even if the robot hand is fitted to a post with a positional or angular deviation without using a positioning hand, the support base of the transport case must be able to move freely in a horizontal plane and tilt in all directions. (with the second and 30th locking cylinders released), the fitting is performed smoothly.

[Brief explanation of the drawing]

The drawing is a side view of the upright column support structure according to the present invention. DESCRIPTION OF SYMBOLS 1-transportation case, 2-post, 3-magnetic disk, 5-support stand, 8-robot hand, 10-first support plate, 13-second support plate, 15-third support plate. Patent applicant: Fujitsu Limited Patent application agent: Akira Aoki, patent attorney: Kazuyuki Nishidate, patent attorney: Yukio Uchida, patent attorney: Akira Yamaguchi

Claims (1)

[Claims] 1. A cylindrical column with a plurality of plate-shaped parts attached thereto is housed upright in a transport case, and a robot hand having a cylindrical hollow part is inserted into the column to remove the plate-shaped parts one by one from the column. In the support structure of a component mounting upright column that cooperates with a component extraction mechanism and supports the transportation case at a component removal work position of the robot hand, the support platform on which the transportation case is mounted is connected to the cylindrical shaft of the robot hand. The robot hand is capable of free movement in a horizontal plane to correct misalignment between the cylindrical axis of the robot hand and the prop axis, and is tiltable in all directions to correct angular misalignment between the cylindrical axis of the robot hand and the prop axis. A support structure with upright columns for mounting parts.