End effector for unloading disks at a grinding station

Details End effector for unloading disks at a grinding station End effector for unloading disks at a grinding station

1998-11-06

1999-11-16

Ellis, Christopher P.

Material or article handling

Load carried along a horizontal linear path

Having gripper means

901 40, 294 641, B25J 1506

Patent

active

059846194

ABSTRACT:
An end effector for loading and unloading a magnetic information storage circular disk on a grinder carrier surface includes an effector block, an annular vacuum cup, including vacuum apertures, attached to and extending from the block and a vacuum source for attaching the cup to the disk. The annular cup surrounds and abuts against a periphery of a central aperture of the disk. A disk-carrying effector further includes a series, preferably three, of spaced vacuum cups extending radially outwardly of the annular vacuum cup. The overall effector is placed into abutment with radially outward portions of the disk surface and used to reliably unload a ground disk from a grinding surface. The spaced vacuum cups compensate for any non-planarity of the disk to be picked up caused by uneven wear of the grinder surface upon which the disk rests.

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