JPS61203234A - Article carrier - Google Patents

Abstract

PURPOSE:To make it possible to take out the articles fixed on a jig by means of a robot hand by providing an elastic member at the lowest section of the jig and allowing the articles provided on the elastic member to have such degree of freedom as rolling and pitching. CONSTITUTION:An elastic member 12 is provided at the lowest section of a jig 11. Even if a hand 30 is brought into contact with a disk 42 slantingly, the disk 42 is inclined in the direction of an arrow mark (a) due to the elastic deformation of the elastic member 12 caused by the force supported by the hand 30 through the disk 42. The absorption face 30a at the side of a pipe 33 can, therefore, approach or contact with the disk 42 making it possible to take out the disk 42 by vacuum absorption. That is, the slant section 110 of the jig 11 absorbs the error on an XY plane, and the elastic member 12 brings about rolling and pitching motion at the side of the disk 42 making it possible to compensate the degree of freedom of a robot. By this constitution, the hand can smoothly take out the articles on the jig.

Description

[Detailed Description of the Invention] [Table of Contents] Overview Industrial Field of Application Conventional Technology Problems to be Solved by the Invention Means for Solving the Problems (Fig. 1) Working Example (a) Structure of the Example (Figure 2) Explanation of the operation of the embodiment (Figure 3) (C) Explanation of the assembly of the magnetic disk device using the embodiment (Figures 4, 5, and 6) Effects of the invention [Summary] An article mounting table having an article fixing member (jig) used for the work of an article processing device such as a robot, for example, in which an elastic member is attached to the lowest part of the jig that engages with a hole in the article. The gripping means (hand) of the robot compensates for the degree of freedom of the hand when taking out an object engaged with the jig, thereby making it possible to reliably take out the object.

[Industrial application field]

The present invention relates to an article mounting table for mounting articles (components) to be used in operations such as robots, and particularly relates to an improvement of an article mounting table having a jig for fixing the parts.

Recent advances in precision robot control technology have made it possible to perform not only loading and welding work in machining, but also assembly work. In this kind of assembly work, the articles (components) to be assembled are prepared in advance to be mounted on a predetermined position on an article mounting table (hereinafter referred to as a parts pallet), and the robot is programmed to know the parts mounting position. After being taught, the robot moves its gripping means to the taught position, takes out the parts from the parts pallet, and performs assembly work.

Note that gripping is a general term for holding and gripping, and holding refers to restricting the robot's freedom of movement of the object without relying on the fingers. Also, grasping refers to the robot's use of its fingers to constrain the degree of freedom of an object.

[Prior Art] For example, in the magnetic disk assembly work shown in FIG. 7, a magnetic disk (with a circular center hole) is used as a component.
The disk 42 (hereinafter referred to as a disk) is mounted in engagement with the jig 1) provided on the parts pallet 10, that is, the disk 42 is mounted on the jig 1).
It is mounted so that the center hole of the parts pallet 1 is inserted.
The parts ball (10) is fixed at a predetermined position of the robot shown in the figure, and is automatically carried and placed on the base by hand or by a conveyor or the like. Note that the pallet refers to a platform on which parts are mounted, and may be fixed or movable.

On the other hand, the robot has a suction hand 30 as a hand, which is attached to an arm 32 via a compliance mechanism 31, and the suction hand 30 is provided with a vibrator 33 connected to a vacuum pump to maintain the suction surface 30a under negative pressure. It is configured to vacuum-adsorb parts.

Then, the arm 32 of the robot is driven in the x, y, and Z directions, and the suction hand 30 is attached to the disk 42 of the component bar (10).
approaches, and after adsorbing the disk 42 on the suction surface 30a by vacuum suction, the disk 42 is taken out from the parts pallet 10 and the arm 32 is driven in the direction of the assembly pallet 20, and the disk enclosure on the assembly pallet 20 is moved. (hereinafter referred to as the base) Spindle motor 41 mounted on 40
The disc 42 that is attracted to the spindle is inserted, the attraction is released, and the disc 42 is fitted to the spindle of the spindle motor 41.

In such a robot operation, the taught position of the robot and the actual component mounting position do not exactly match, and there may be a positional error in the placement of the parts pallet 10 relative to the robot, or a correction to the parts pallet 10. Due to the setting (assembly) error when setting tool 1), it is difficult to keep the actual component mounting position within a millimeter or less error.

For this reason, attempts have been made to provide a compliance mechanism 31 between the hand 30 and the arm 32 to absorb this error on the robot side.

This compliance mechanism 31 basically consists of the hand 3
0 has the flexibility of a human wrist,
In a simple configuration, some x,
A device that allows displacement in the y and Z directions (Japanese Patent Laid-Open No. 59-53
No. 192), or one configured with a force sensor, which detects an external force, feeds it back to the drive system of the arm 32, and applies displacement from the taught position of the arm 32 through force control. There is.

[Problem that the invention seeks to solve]

However, there is a limit to the ability of the robot to absorb errors in the mounting position of such parts, and as shown in FIG. If contact occurs at point P, the hand 30 cannot obtain ZpL in the Z direction as a reaction force, so the compliance mechanism 31 can only absorb errors in the Z direction, and in this case, the required displacement in the X and Y directions is Not obtained, hand 30
The problem arose that it was impossible to proceed.

Further, as shown in FIG. 8(B), the hand 30 was advanced, but when the hand 30 tilted and came into contact with the disk 42,
Since the suction surface 30a of the 33 pipes does not come into contact with the disk 42, another problem has arisen in that the disk 12 cannot be suctioned.

Therefore, even if the robot uses the compliance mechanism 31 to give the hand 30 a degree of freedom in order to absorb positional errors, there is a limit to the degree of freedom, and such errors cannot be fully absorbed.
There is a problem in that the work to take out the disk 42 does not proceed smoothly, and this tendency becomes more serious as the parts become smaller.

In view of the above problems, it is an object of the present invention to provide an article mounting table which is configured so that the degree of freedom of the hand can be supplemented on the article loading table side, and which can ensure the retrieval operation.

[Means for solving problems]

FIG. 1 is a diagram explaining the principle of the present invention.

In the figure, the same parts as shown in Fig. 7 are indicated by the same symbols, 12 is an elastic member, which is provided at the bottom of the jig 1), and 1) 0 is an inclined part. , is provided around the upper surface of jig 1).

[Effect]

In the present invention, the elastic member 12 allows the component (disk) 42 mounted thereon to tilt while being engaged with the jig 1), so that the component 42 also tilts in accordance with the tilted hand 30. At the very least, by giving the mounted component a degree of freedom in the form of inclination, the degree of freedom of the hand is compensated for and the component can be reliably taken out.

〔Example〕

(a) Description of the configuration of the embodiment.

FIG. 2 is an exploded configuration diagram of an embodiment of the present invention.

In the figure, the same parts as in FIG. 7 and FIG. 1 are indicated by the same symbols, 10a is a screw hole,
, for fixing the jig 1) to the parts pallet throat 10; 1) 1 is a mounting part; 13 is a mounting screw; Jig 1)
Attachment is to engage the screw holes 10a of the parts pallet 10 in order to fix the part 1) 1 to the parts pallet 10.

In such an exploded configuration, the jig 1 is configured in a cylindrical shape to match the circular hole of the disk 42, and the screw 13 is attached to the part 1) 1.
It is fixed to the part barre 7) 10 by being screwed into the screw hole 10a of the part barre 7) 10 through the screw hole 10a. Furthermore, a circular elastic member 12 (for example, silicone rubber) is inserted into the jig 1), and the elastic member 12 is attached to the jig 1) in the part 1).
) is completed by positioning it at the bottom of 1.

In this embodiment, the jig 1) has a cylindrical shape, but it may have an elliptical or polygonal shape to match the hole of the component to be mounted. First, the elastic member 12 may be placed directly on the parts pallet 10.

佽) Explanation of the operation of the embodiment.

FIG. 3 is an explanatory diagram of the operation of the configuration shown in FIG.

As shown in FIG. 3(A), even if there is a slight error between the hand 30 and the jig 1), the tip of the hand 30 is the jig 1).
The hand 30 is applied with a force f in the normal direction of the inclined surface of the inclined part 1)0. Therefore, in the compliance mechanism 31, the X direction component Xp of the force f and the Y direction component
Due to the direction component yp, the displacement or force control by the spring in the X and Y directions causes positional displacement in the XSY direction, and the hand 3
0 smoothly slides on the inclined part 1) 0 and advances to the jig 1).

Here, the inclined part 1) 0 is provided as a chamfer around the upper surface of the jig, but in order to increase the absorption of positional errors, a larger inclined part than this chamfer is formed by chamfering or R processing.

On the other hand, as shown in FIG. 3(B), the hand 30 is connected to the disc 42
Even if the elastic member 12 makes contact with the disk 42 in a tilted state, the elastic member 12 is elastically deformed by the force applied by the hand 30 via the disk 42, so that the disk 42 is inclined in the direction of the arrow A in the figure.
Therefore, the suction surface 30a of the pipe 33 can approach or come into contact with the disk 42, making it possible to take it out by vacuum suction.

That is, the inclined part 1) 0 of the jig 1) absorbs errors in the XY plane of the figure, and the elastic member 12 causes rolling and pitching on the part 42 side, thereby making it possible to compensate for the degree of freedom of the robot. .

As a result, strict mounting precision is not required for both hands and pallets, and removal work can be achieved using inexpensive robots and inexpensive pallets.

In addition to the suction hand, the above-mentioned hand may be a magnetic suction hand or a retrieval hand such as a hand that grips the outer diameter of the disc.

(C) Explanation of magnetic disk device assembly using an embodiment pallet.

FIG. 4 is an explanatory diagram of the assembly work of a magnetic disk device. In the figure, the same parts as shown in FIG. 7 are indicated by the same symbols, 41a is a spindle, and 43 is a spacer. 44 is a clamper, and 45a is a mounting screw.

In this assembly work, the base 40 is fixed in advance to the assembly baren) 20 (see Fig. 7), and the spindle motor 41, as shown in Figs. 5 and 6, is mounted on the parts pallet IO. A disk 42, a spacer 43, a clamper 44, and a mounting screw 45a are mounted. Then, the robot takes out the spindle motor 41 from the parts pallet 10, fits the base 40 into the hole, and then takes out the mounting screw 45a and screws the spindle motor 41 into the base 40 using the robot's electric screwdriver (not shown). Further, the disc 42 and the spacer 43 are taken out from the parts pallet 1o in this order and fitted into the spindle 41a of the spindle motor 41. Predetermined number of sheets (
After fitting the disks 42 (for example, 6 disks), the robot takes out the clamper 44 from the parts pallet 10, fits it onto the upper surface of the spindle 41a, fixes the clamper 44 to the spindle 41a with the mounting screw 45a, and fixes the disk 44 to the spindle 41a. 4
Press 2 from above to complete the assembly.

FIG. 5 is a configuration diagram of a parts pallet for such assembly, and FIG. 6 is an explanatory diagram of the mounting side in FIG. 5.

In the figure, the same parts as in Figure 2 are indicated by the same symbols.
lla, llb, llc are jigs, and are the same as the jigs 1) mentioned above.
The jig 1) a is for mounting the disk 42, the jig 1) b is for mounting the spacer 43, and the jig 1) c is the jig for the disk 42. 1) It is for storing the disk storage spacer 46 (Fig. 6) provided between the disks 42 when it is mounted on the
Elastic members 2a, 12b, and 12c are the same as the elastic member 12 described above, and are used in jigs 1) a, 1) b, and 2, respectively.
It is inserted in llc. Reference numeral 14 designates a motor setting jig, and as shown in FIG. 6(C), the spindle motor 41 is mounted on the upper edge surface 140 of the jig, and the jig 14 is engaged with a tapped hole of the spindle motor 41 by a positioning pin 141. 15 is a clamper jig, and the bottom part 142 of the motor set jig 14 is for fixing its position.
17 is a screw stand in which a mounting screw 45a is mounted in a hole 17a, and 18 is a screw stand for mounting a clamper 44 thereon. It is an elastic member and is provided between the bottom part 142 of the motor set jig 14 and the parts pallet 10. 46 is a disk storage spacer, and when mounting the disk 42 on the jig 1) a, This is inserted into jig 1)a in order to maintain the spacing between 42 and 42.

In the component pallet 1o configured in this way, the jig 1)a has a required number of discs 42, and a spacer 46 for storing discs is provided therebetween, and an elastic member is mounted on the jig 1)a, as shown in FIG. The jig 1)b is set on the elastic member 12a, and the required number of spacers 43 are placed on the elastic member 12b, as shown in FIG. 6(B). Further, as shown in FIG. 6(C), the clamper 44 is mounted on the elastic member 16 of the clamper jig 15, and the upper edge surface 1 of the motor set jig 14 is attached to the clamper jig 15.
40, the spindle motor 41 inserts its screw hole into the positioning bin 141 and is centered. The central axes of the clamper 44 and spindle motor 41 set in this way are the same, and the hierarchical structure requires less mounting space, and the robot can also take out the spindle motor 41 and clamper 44 conveniently by being taught the same position. good.

Furthermore, the mounting screw 45a is set on the screw stand 17, and the setting is completed.

During the subsequent assembly, as explained in the assembly work shown in FIG. While assembling on the upper base 40, the electric driver of the robot picks up the mounting screws 45a from the screw stand 17 to attach the spindle motor 41 to the base 40 and the clamper 44 to the spindle 41a. Tighten the screws to secure. In addition, after suctioning the disc 42 and fitting it to the spindle 41a, the suction hand 30 suctions the disc storage spacer 46 of jig 1)a, removes it, fits it into jig 1)C, and collects it. , again the next disk 42
Performs adsorption.

Also, the clamper 44 on the clamper jig 15 is held by the suction hand 3.
0 is also attracted by the clamper 4 by the elastic member 16.
4 can be tilted to compensate for the degree of freedom.

In the above-mentioned embodiment, the example of taking out the magnetic disk disk and the spacer was explained, but the present invention is not limited to this.

Although the present invention has been described above using one embodiment, the present invention can be modified in various ways according to the gist of the present invention, and these are not excluded from the present invention.

〔Effect of the invention〕

As explained above, according to the present invention, an elastic member is provided at the lowest part of the jig so that the article placed thereon can have the flexibility of rolling and pitching, thereby supplementing the freedom of the robot's hand. In addition, due to the sloped part provided around the top surface of the jig, the function of the compliance mechanism of the robot hand can be fully demonstrated, and the provided degree of freedom can be compensated for. It becomes possible for the robot hand to smoothly take out the article fixed to the robot hand, and it also becomes possible to take out the article at high speed.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of the principle of the present invention, Fig. 2 is an exploded configuration diagram of an embodiment of the invention, Fig. 3 is an explanatory diagram of the operation of the embodiment configuration shown in Fig. 2, and Fig. 4 is a general example of the present invention. FIG. 5 is a pallet configuration diagram for assembly shown in FIG. 4, FIG. 6 is a diagram showing parts mounting of the configuration shown in FIG. 5, and FIG. 7 is an explanatory diagram of assembly work by a robot. FIG. 8 is an explanatory diagram of problems in the conventional configuration. In the figure, 10 component loading pallets, 1), lla, llb, 1) c-jig, 1) 0-slanted part, 12--elastic member, 42-- disc, 43- spacer.

Claims (2)

[Claims] (1) An article mounting table for mounting an article to be gripped by a gripping means of an article processing apparatus, and a jig for fixing the position of the article by engaging with a hole in the article; An article mounting table comprising: a base to which a jig is fixed; and an elastic member that supports an article whose position is fixed by the jig. (2) The article is a magnetic disk disc, the gripping means is a means for suctioning and gripping the magnetic disc disc, and the positioning means is a spindle that fits into a circular hole in the magnetic disc disc. An article mounting stand according to claim (1), characterized in that: