Vacuum End Effector Segmentation for Disk Handling

Solution Overview

Problem

Conventional robotic workcells in magnetic disk processing face inefficiencies due to the need for robots to travel to a fixed location for disk exchange, leading to increased cycle times and space requirements, especially when machines are packed tightly, which affects performance and safety.

Innovation Solution

A dynamic carousel-assisted workcell with a parallel end-effector that eliminates the need for robot rotation and allows disk exchanges at or below 1.0 seconds, reducing travel distance and air-space requirements, enabling efficient disk handling and processing without the constraints of tight machine packing.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a dual sided end-effector with 180° rotation is used, then disk exchange capability is improved, but cycle time increases to 2.0-2.4 seconds and air-space requirements increase

Engineering Contradiction:

Improvedisk exchange capabilityVSAvoidcycle time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The end-effector is divided into two separate single-sided paddles instead of one dual-sided effector. Each paddle can independently pick and hold a disk, eliminating the need for 180° rotation while maintaining dual disk handling capability. This segmentation allows simultaneous access to both sides of the disk stack without mechanical rotation.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of rotating the end-effector 180° to access the other side, the invention inverts the approach by using two separate paddles that can independently position themselves. The robot arm positions each paddle independently rather than rotating a single effector, fundamentally changing the motion paradigm from rotation to independent positioning.

Inventive Principle:

Principle #13The other way round (Inversion)

2Adaptability or versatility

If a dual sided end-effector with 180° rotation is used, then disk exchange capability is improved, but air-space requirements increase due to rotation clearance needs

Engineering Contradiction:

Improvedisk exchange capabilityVSAvoidair-space requirement

Core Design Contradiction:

Adaptability or versatilityVSArea of stationary object

Solution Approach 1:

The end-effector is divided into two separate single-sided paddles instead of one dual-sided effector. Each paddle can independently pick and hold a disk, eliminating the need for 180° rotation while maintaining dual disk handling capability. This segmentation allows simultaneous access to both sides of the disk stack without mechanical rotation.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of rotating the end-effector 180° to access the other side, the invention inverts the approach by using two separate paddles that can independently position themselves. The robot arm positions each paddle independently rather than rotating a single effector, fundamentally changing the motion paradigm from rotation to independent positioning.

Inventive Principle:

Principle #13The other way round (Inversion)

3Ease of operation

If pneumatic actuation with pitch up/down is used, then disk retrieval from vertical cassettes is enabled, but device complexity and vertical stroke requirements increase

Engineering Contradiction:

Improvedisk retrieval capabilityVSAvoidactuation mechanism complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The invention replaces complex pneumatic pitch mechanisms with a simpler mechanical parallel linkage system. The parallelogram linkage provides the necessary motion transformation from vertical robot movement to horizontal paddle extension, eliminating the need for pneumatic cylinders and complex pitch control mechanisms.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The parallelogram linkage acts as an intermediary mechanism between the robot arm's vertical motion and the paddle's horizontal extension. This mechanical intermediary transforms the robot's simple up/down movement into the complex coordinated motion needed for disk retrieval, simplifying the overall control system.

Inventive Principle:

Principle #24Intermediary (Mediator)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The dynamic carousel and parallel end-effector system significantly reduce cycle times and increase output by minimizing the distance the robot travels and eliminating the need for air-space, enhancing performance and efficiency in disk processing operations.

Implementation Method 1

a vacuum region positioned in the first paddle head assembly adapted to receive a disk

Methodology Applied

Scientific EffectVacuum suction: Suction

Data Source

PatentUS7625027B2Vacuum actuated end effector

Publication Date: 2009.12.01 ARIES INNOVATIONS

AI summary

An end effector for a robot arm couples to the arm at a mounting fixture. The end effector includes a first paddle head assembly, the assembly including a paddle head and a solenoid controlling extension and retraction of the paddle head away from and toward the mounting fixture. In addition, the effector includes a vacuum region positioned in the first paddle head assembly adapted to receive a disk and coupled to an extendable vacuum arm. A method for operating a dual paddle end effector includes the steps of: connecting at least a first paddle head assembly including a paddle head to a robotic arm; positioning the arm adjacent to a disk in a carrier; and providing a vacuum suction to a vacuum region in the paddle head assembly sufficient to lift the disk into the vacuum region in the paddle head assembly.