Browse Prior Art Database

Complying Pick-Up Head for Magnetic Disks and Spacers

IP.com Disclosure Number: IPCOM000047442D
Original Publication Date: 1983-Nov-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 2 page(s) / 86K

Publishing Venue

IBM

Related People

Flowers, R: AUTHOR [+3]

Abstract

This description relates to a device which can be attached to a robot or manipulator arm for picking up and handling circular disks and spacers. The device is self-centering or complying, thus eliminating the need for accurate disk-locating fixtures. By complying, it also eliminates damage to a disk because the disk is no longer forced to rub against locating surfaces due to misalignment of the disk-holding device relative to the pick-up member. The device is used in conjunction with mobile disk and spacer autostacker containers, which, when exchanged with one another, can result in an appreciable radial inaccuracy. The device interfaces with a robot or manipulator arm through the plate adapter 1. Attached to the plate adapter 1 is the rack adapter 2 which, in turn, holds three alignment vees 12 and three slide plates 13.

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Complying Pick-Up Head for Magnetic Disks and Spacers

This description relates to a device which can be attached to a robot or manipulator arm for picking up and handling circular disks and spacers. The device is self-centering or complying, thus eliminating the need for accurate disk- locating fixtures. By complying, it also eliminates damage to a disk because the disk is no longer forced to rub against locating surfaces due to misalignment of the disk-holding device relative to the pick-up member. The device is used in conjunction with mobile disk and spacer autostacker containers, which, when exchanged with one another, can result in an appreciable radial inaccuracy. The device interfaces with a robot or manipulator arm through the plate adapter 1. Attached to the plate adapter 1 is the rack adapter 2 which, in turn, holds three alignment vees 12 and three slide plates 13. Mounted on master ring 14 are three disk or spacer grippers 15 and the centering rollers 11 which, when in contact with the alignment vees 12, hold the master ring 14 firmly concentric with the rack adapter 2. Also mounted on the master ring 14 are two concentric cam rings 3 and 4 and associated motors 5 and 6 that drive corresponding gear racks 7 and 8. When activated, the motor 5 drives the gear rack 7 which, in turn, rotates the cam ring 3, driving the three roller guides 9 on the cam contour 10, thus releasing the centering rollers 11 from the alignment vees 12. At this time the master ring 14 and associated hardware are free to float in all radial directions, effectively complying. The master ring 14 floats on roller bearings 16 in contact with the three slide plates 13 held by the rack adapter 2. The second concentric ring 4 is rotated by the action of the motor 6 and gear rack 8, similar to the other cam 3, driving the roller 16 on the cam contour (and 22), moving the three grippers 15 concentrically toward the center, to clamp either...