JP2012076161A - Grasping hand and carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a grasping hand where adhesion of a material having viscosity is reduced, and to provide a carrying device using the grasping hand.SOLUTION: In a hand portion that grasps a member to be grasped by nipping the member to be grasped, at least a portion that contacts the member to be grasped of the hand portion is formed with a base material 21, a porous layer 22 and a non-adhesive layer 23. The base material 21 is subject to rough face processing and a concave and convex shape is formed on its surface. The porous layer 22 has a plurality of minute holes formed on a rough face side of the base material 21. The non-adhesive layer 23 is formed on a surface of the porous layer 22.

Description

  The present invention relates to a gripping hand used when transporting a substrate used in a spectacle lens or the like, and also relates to a transport apparatus including the gripping hand.

  In order to impart various functions such as light shielding, light control, scratch resistance, and water repellency to optical lenses used in eyeglasses, etc., a coating film made of a material suitable for the purpose is formed on the lens surface. It has been broken. When such a coating film is formed, for example, a coating apparatus disclosed in Patent Document 1 is used.

  In a general coating apparatus, a lens conveyed by a belt conveyor is gripped by a gripping hand that can grip the periphery of the lens, and placed in a coating container disposed at a predetermined position. Thereafter, the coating liquid is applied to the lens in the coating container, and then the periphery of the lens is again gripped by the gripping hand and placed on the belt conveyor for transporting the lens. Thereby, the lens to which the coating liquid is applied is conveyed to the next step.

  By the way, when a coating liquid is applied to the lens and a treatment such as thermal curing or UV curing is performed, a conveying operation may be performed between the coating liquid application process and the curing process. During conveyance, the gripping hand grips the periphery of the lens so as not to directly contact the coated surface to which the lens coating liquid is applied.

  However, the liquid or semi-cured coating liquid is attached to the lens periphery after the coating liquid is applied, and if the lens is gripped again with the gripping hand in this state, the coating liquid adheres to the gripping hand. Will occur. If it does so, coating liquid will adhere to a grasping hand and adhesiveness will arise in the part which contacts the lens of a grasping hand.

  When the next transported lens is gripped with an adhesive substance attached to the gripping hand, the lens will move away from the gripping hand quickly when releasing the gripping of the lens due to the stickiness that has occurred in the gripping hand. Therefore, the lens cannot be arranged at a desired position. As a result, the lens cannot be properly placed at a predetermined position in the next process, resulting in a poor yield. Furthermore, when the coating component adhering to the gripping hand is peeled off, the peeled pieces adhere to another lens, resulting in a foreign matter defect.

  Further, such a problem is not limited to the coating device, and may occur in all gripping hands used in a transport device that transports a lens having a sticky substance attached to the periphery.

JP 2009-202140 A

  In view of the above points, an object of the present invention is to provide a gripping hand in which adhesion of a substance having adhesiveness is reduced, and a transport device using the gripping hand.

  In order to solve the above-mentioned problems and achieve the object of the present invention, the gripping hand of the present invention is a non-adhesive member in which at least a portion of the hand portion that touches the gripped member is gripped by the gripped hand. It is configured. And the non-adhesive member is formed on the surface of the porous layer, the base material having a roughened surface and having an uneven shape formed on the surface, the porous layer having a plurality of micropores formed on the rough surface side of the base material, It is comprised from the formed non-adhesion layer.

  In the gripping hand of the present invention, at least a portion of the hand portion that contacts the gripped member is made of a non-adhesive member, so that even when gripping the gripped member to which an adhesive is attached, the gripping hand adheres to the gripping hand. Things do not stick.

  And it is preferable that the holding | grip hand of this invention is the structure by which both the porous layer and the non-adhesion layer were exposed to the surface of the non-adhesion member which comprises a hand part. By exposing the two members having different characteristics in the hand portion, the gripping hand of the present invention can more reliably prevent adhesion of the adhesive adhered to the gripped member to the gripping hand.

  The conveyance device of the present invention includes a gripping hand and a moving unit that can move the gripping hand. In the gripping hand, the hand portion that grips the gripped member, at least a portion of the hand portion that contacts the gripped member is formed of a non-adhesive member. And the non-adhesive member is formed on the surface of the porous layer, the base material having a roughened surface and having an uneven shape formed on the surface, the porous layer having a plurality of micropores formed on the rough surface side of the base material, It is comprised from the formed non-adhesion layer.

  In the transport device of the present invention, at least a portion of the hand portion that constitutes the gripping hand that is in contact with the gripped member is formed of a non-adhesive member, so that the adhesive that has adhered to the gripped member adheres to the gripping hand. Since it can prevent, conveyance can be performed more efficiently.

  According to the present invention, since adhesion of an adhesive substance to the gripping hand is reduced, the gripping member can be gripped and transported efficiently by the gripping hand. Moreover, the yield of products can be improved by using this gripping hand for a conveying apparatus.

It is the block diagram seen from the one side and other side of the coating device which concerns on one embodiment of A and B of this invention. It is a perspective view which shows the structure of the holding hand of the coating device which concerns on one embodiment of this invention. It is a top view which shows the structure of the holding hand of the coating device which concerns on one embodiment of this invention. It is a disassembled perspective view which shows the structure of the hand part main body of the holding | grip hand which concerns on one embodiment of this invention. FIGS. 4A and 4B are a diagram showing a cross section of a non-adhesive material constituting the hand portion main body of the gripping hand according to the embodiment of the present invention, and an enlarged view of the region a. It is a figure which shows the coating liquid adhesion amount at the time of using the hand part main body in an Example and Comparative Examples 1 and 2. FIG. It is a figure which shows the operation | movement stability rate at the time of using the hand part main body in an Example and Comparative Examples 1 and 2. FIG.

Hereinafter, an example of a gripping hand and a transport device according to an embodiment of the present invention will be described with reference to FIGS. In addition, this invention is not limited to the following examples.
A transport apparatus according to an embodiment of the present invention will be described with reference to FIGS.

  In this embodiment, an example of gripping a lens as a gripped member gripped by a gripping hand is shown, and a coating device that transports a lens and applies a desired coating liquid to the surface of the lens is used as a transport device. Explained as an example. Hereinafter, the “member to be gripped” of the present invention will be described as “lens” and the “conveying device” will be described as “coating device”.

[Coating equipment]
FIG. 1A is a schematic configuration diagram viewed from one side surface of the coating apparatus 1 according to this embodiment, and FIG. 1B is a schematic configuration diagram viewed from the other side surface of the coating apparatus 1. As shown in FIG. 1A and FIG. 1B, the coating apparatus 1 according to this embodiment includes a mounting table 2, first to third moving units 3, 4, 6, and a rotation support unit 9 configured on the mounting table 2. An arm unit 5 and a gripping hand 10 are provided. In the following description, the moving direction of the gripping hand 10 that is moved by the first moving unit 3 is the x direction. Further, the moving direction of the gripping hand 10 moved by the second moving unit 4 is defined as the z direction. Further, the moving direction of the gripping hand 10 moved by the third moving unit 6 is defined as the y direction.

  In the coating apparatus 1 according to this embodiment, the mounting table 2 is configured by a rectangular parallelepiped member installed on the floor surface, and the first moving unit 3 is moved relative to the mounting table 2 on the upper surface. Rails (not shown) that can be made are formed. Although not shown, a driving mechanism for moving the first moving unit 3 in the x direction (arrow a direction) is configured inside the mounting table 2.

  The 1st moving part 3 is comprised, for example with a rectangular parallelepiped member, and is attached so that it can move to ax direction with the drive mechanism comprised inside the mounting base 2. As shown in FIG. A rail (not shown) that allows the second moving unit 4 to move relative to the first moving unit 3 is formed on one side surface of the first moving unit 3. Is attached. A driving mechanism for moving the second moving unit 4 in the z direction (arrow b direction) along a rail (not shown) is configured inside the first moving unit 3.

  The second moving unit 4 is configured by, for example, a rectangular parallelepiped member, and is attached to the first moving unit 3 so as to be movable in the z direction by a driving mechanism configured inside the first moving unit 3. And the rotation support part 9 is attached to the upper surface on the opposite side to the side which faces the mounting base 2 of the 2nd moving part 4 so that rotation with respect to the 2nd moving part 4 is possible. The rotation support unit 9 rotates with respect to the second moving unit 4 as indicated by an arrow d.

  The arm part 5 is an arm support part 5a composed of a rectangular plate-like member fixed and attached to the upper end of the rotation support part 9, and a rectangular plate shape extending in the y direction from both ends of the arm support part 5a. It is comprised with the two arm main bodies 5b comprised by this member. Since the arm portion 5 composed of the arm support portion 5a and the arm main body 5b is fixed and attached to the rotation support portion 9, the rotation support portion 9 rotates and rotates.

  The third moving unit 6 is configured by a rectangular parallelepiped member, and is attached to each end of the two arm main bodies 5 b configuring the arm unit 5. Although not shown, each arm main body 5b includes a rail that moves the third moving unit 6 in the y direction from the tip of the arm main body 5b, and a drive mechanism. Thereby, the 3rd moving part 6 moves to ay direction, as shown by the arrow c with respect to the arm main body 5b.

The gripping hand 10 is attached to the surface of each third moving unit 6 attached to the tip of the arm main body 5b that faces the floor surface.
Hereinafter, the configuration of the gripping hand 10 will be described in detail.

[Grip hand]
FIG. 2 is an enlarged perspective view of the gripping hand 10 attached to the third moving unit 6. FIG. 3 is a diagram showing a planar configuration when the gripping hand 10 is viewed from the floor surface side. As shown in FIG. 2, the gripping hand 10 according to the present embodiment includes a hand support portion 7 attached to the third moving portion 6 and a hand portion 8 attached to the hand support portion 7.

  One hand support portion 7 is attached to one end portion and the other end portion in the long axis direction on the surface of the third moving portion 6 facing the floor surface. As shown by a broken line in the figure, the third moving unit 6 is attached on the surface facing the floor surface so as to be movable in the major axis direction. That is, the distance between the two hand support parts 7 can be adjusted by moving the hand support part 7 on the surface of the third moving part 6 in the long axis direction. Then, two holes 11 are formed on the surface of the hand support portion 7 facing the floor surface so as to be separated from each other.

  FIG. 4 shows an exploded perspective view of the hand portion 8. As shown in FIG. 4, the hand portion 8 has one end inserted into the hole portion 11 of the hand support portion 7, and a rod-like fixing portion 12 erected on the hand support portion 7, and covers the fixing portion 12. It is comprised with the hand part main body 13 attached by attaching.

  The fixing part 12 includes a fixing part main body 14, an insertion part 15, an overhang part 17, and a protruding part 16. The fixed part main body 14 is configured by a columnar member. The insertion portion 15 is formed of a rectangular parallelepiped member and is formed at one end of the fixed portion main body 14. The length of the insertion portion 15 in the axial direction is substantially the same as the depth of the hole 11 formed in the hand support portion 7. The overhang portion 17 is formed in a bowl shape projecting radially outward between the fixed portion main body 14 and the insertion portion 15, and has a larger diameter than the outer diameter of the fixed portion main body 14 and the outer diameter of the insertion portion 15. It is formed with. The protruding portion 16 is formed at a position near the overhanging portion 17 on the side surface of the fixed portion main body 14, and is formed to protrude in the radially outward direction of the fixed portion main body 14. The projecting portions 16 are provided at two locations symmetrically with respect to the axis of the fixed portion 12.

  In the present embodiment, the fixed portion main body 14, the insertion portion 15, the overhang portion 17, and the protruding portion 16 constituting the fixed portion 12 are integrally formed. As shown in FIG. 2, the fixing portion 12 has the insertion portion 15 inserted into the hole portion 11 of the hand support portion 7 and is fixed by a screw (not shown). Thereby, the fixing | fixed part 12 is being fixed to the hand support part 7 so that the axial center of the fixing | fixed part 12 may make a perpendicular direction with respect to the surface at the side which faces the floor surface of the 3rd moving part 6. FIG.

  The hand portion main body 13 includes a bottomed cylindrical member having a bottom portion at one end and an opening at the other end, and an inner diameter thereof is slightly smaller than an outer diameter of the fixing portion main body 14 constituting the fixing portion 12. It has a large diameter. The depth in the axial direction from the end to the bottom of the inner periphery of the hand portion main body 13 is substantially the same as the axial length of the fixed portion main body 14. Further, at the end of the hand portion body 13 on the opened side, the insertion portion 18 is formed by cutting the side surface from the opening end to the desired depth in two axial directions symmetrical to the axial center. Then, a locking portion 19 is formed continuously to the insertion portion 18 and cut out in the circumferential direction with a desired width.

  In assembling the gripping hand 10, the hand unit main body 13 having the above configuration is moved so as to cover the fixing unit 12 from the upper side of the fixing unit main body 14 of the fixing unit 12 fixed to the hand support unit 7. And it moves, adjusting a position so that the protrusion part 16 formed in the fixing | fixed part 12 may insert in the insertion part 18 formed in the edge part of the hand part main body 13. FIG. After the protruding portion 16 is inserted into the insertion portion 18 and moved until the open end of the hand portion main body 13 contacts the overhanging portion 17, the protruding portion 16 of the fixed portion 12 is rotated by rotating the hand portion main body 13. Locks to the locking portion 19 of the hand portion main body 13. Thereby, the hand part main body 13 is fixed to the fixing part 12. When the hand unit body 13 is removed from the fixing unit 12, the hand unit body 13 may be rotated to the opposite side to that at the time of attachment and the locking of the locking unit 19 may be released.

  In this embodiment, as shown in FIGS. 2 and 3, two hand support portions 7 are formed on the surface of the third moving portion 6 on the side facing the floor surface, and each hand support portion is supported. Since two hand portions 8 are provided in the portion 7, a total of four hand portions 8 are erected on one third moving portion 6. And these hand parts 8 are provided so that it may extend toward the floor surface direction in which the coating device 1 was installed from the 3rd moving part 6 side.

  As shown in FIG. 3, the gripping hand 10 grips the periphery of the lens 20 in the coating apparatus 1. The gripping hand 10 of the present embodiment is configured such that the hand support portion 7 moves relative to the third moving portion 6 as indicated by a broken line. Therefore, when gripping the lens 20 as shown by the broken line in FIG. 3, the hand support portion 7 is moved and adjusted so that the four hand portions 8 are in contact with the periphery of the lens 20, and the lens 20 is gripped. When releasing the gripping of the lens 20, the gripping hand 10 is returned from the position indicated by the broken line to the position indicated by the solid line.

[Hand body material]
Here, the material which comprises the hand part main body 13 is demonstrated. FIG. 5A is a cross-sectional configuration diagram of the material constituting the hand portion main body 13 of the present embodiment example, and FIG. 5B is an enlarged view of a region a in FIG. 5A.

  The hand portion main body 13 of the present embodiment example is a rough surface treated base material 21 having an uneven shape formed on the surface, and a porous layer 22 having a plurality of micropores formed on the rough surface side of the base material 21. And a non-adhesive member 24 composed of a non-adhesive layer 23 formed on the surface of the porous layer 22.

  As the base material 21, for example, a metal such as aluminum or stainless steel or glass can be used. On the surface of the base material 21, an uneven shape having an arithmetic average roughness (Ra) of 2 to 11 μm is formed. By setting the surface roughness of the base material 21 to 2 to 11 μm (arithmetic average roughness), it is possible to reduce the contact area with the gripped member such as the lens 20 while maintaining durability. Specifically, when the surface roughness exceeds 11 μm, the applied coating liquid is semi-solidified or changed to a liquid having viscosity. Infiltration of the coating liquid into the details is suppressed. When the average surface roughness is 2 μm or less, the contact width that contacts the gripped member is too close, so that the adhesive force is maintained, and the coating substance that is attached to the gripped member is likely to adhere. When the average surface roughness is 11 μm or more, the liquid coating liquid infiltrates into the details of the roughness, and the coating substance tends to adhere.

  Examples of the material of the porous layer 22 include metals such as ceramics, nickel, chromium, aluminum, and stainless steel, and resins that do not have water repellency. The porous layer 22 has a thickness of, for example, 0.1 μm to 10 μm, and is formed so as to cover the entire surface while maintaining the uneven shape on the surface of the substrate 21. When the thickness of the porous layer 22 is 0.5 μm or less, it is difficult to form pores, and when it is 10 μm or more, it is difficult to obtain the effect of the surface roughness of the substrate. The thickness of the porous layer is preferably in the range of 0.2 μm to 3 μm. The porous layer 22 has a plurality of micropores having a diameter of 0.01 μm to 0.1 μm. Especially as a pore diameter of a porous layer, the diameter of 0.02-0.3 micrometer is preferable. If the diameter of the pores is 0.01 μm or less, the non-adhesive substance 24 is difficult to be fixed in the pores, and if it exceeds 0.1 μm, it is too large for the thickness of the porous layer.

As a material of the non-adhesive layer 23, for example, a water-repellent material such as a fluorine-based resin can be used, and a polyureasilazane resin can be used. The non-adhesive layer 23 is formed on the surface of the porous layer 22 and in the plurality of pores, and is formed to the extent that both the porous layer 22 and the non-adhesive layer 23 are exposed on the surface.
And the surface at the side of the non-adhesive layer 23 of the non-adhesive member 24 which has such a structure is made non-adhesive with respect to a liquid, a liquid with a viscosity, etc.

Next, an example of the manufacturing method of the non-adhesive member 24 used for the hand part main body 13 of the present embodiment will be described.
Blasting (roughening) is performed on the surface of the base material 21 that has been degreased and baked. Thereby, the uneven | corrugated shape whose arithmetic mean roughness is 2-11 micrometers is formed in the base material 21 surface.
Next, the surface of the base material 21 on which the concave and convex shape is formed is irradiated with iron or boron as necessary. By performing spraying, durability can be added to the surface of the roughened substrate 21.
Next, a coating liquid containing the material of the porous layer 22 and the material of the non-adhesive layer 23 is applied and then baked.

As a result, the surface of the substrate 21 has an uneven shape, the porous layer 22 is formed on the uneven surface, the non-adhesive layer 23 is formed on the surface of the porous layer 22 and in the pores, and the surface is porous. The non-adhesive member 24 in which both the layer 22 and the non-adhesive layer 23 are exposed is completed. And in the non-adhesive member 24, the surface in which the non-adhesive layer 23 was formed is made into a non-adhesive surface.
And in the hand part main body 13, it forms in a bottomed cylinder shape so that a non-adhesion surface may become the surface, and it is attached so that it may be fixed to the fixing | fixed part 12 fixed to the hand support part 7. FIG.

  In the coating apparatus 1 having the above configuration, the gripping hand 10 can be moved in the x, y, and z directions by the first moving unit 3, the second moving unit 4, and the third moving unit 6, and The rotation support unit 9 is rotatable. As a result, the gripping hand 10 can be moved in three directions and a rotational direction.

  And in the coating device 1, the holding | grip hand 10 is moved to the position which can hold | grip the two lenses conveyed with the belt conveyor which is not shown in figure. Thereafter, the two gripping hands 10 are lowered from the upper part of the respective lenses and lowered to a position where the lenses can be gripped, and then the hand support portion 7 is moved to bring the four hand portions 8 into contact with the peripheral edges of the lenses. . Thereby, each lens is gripped by the gripping hand 10.

  After the lens is gripped by the gripping hand 10, the gripping hand 10 is carried to the position of a coating container (not shown). And after positioning so that each lens may be mounted in an application | coating container, the holding | grip of a lens is cancelled | released by moving the hand support part 7. FIG. As a result, the two lenses are placed on the application container.

  After the lens is placed on the application container, a desired coating solution is applied to the lens surface. After the application of the coating liquid is completed, the gripping hand 10 is again transported to the position of the application container, the lens is gripped by the gripping hand 10 in the same manner as described above, and transported to a predetermined position. Thereafter, the holding of the lens is released so that the lens is placed on the belt conveyor for carrying the lens to the next step.

  In the coating apparatus 1 according to this embodiment, the hand main body 13 is composed of the non-adhesive member 24, and the contact surface with the lens that is the gripped member is a non-adhesive surface. Thereby, even when the liquid applied to the lens comes into contact with the hand unit main body 13 when the application process is completed and the lens to which the liquid or the liquid having viscosity is applied is gripped, the hand unit main body 13 Those coating liquids do not stick to the side. For this reason, the gripped member (lens) does not adhere to the surface of the hand portion main body 13.

  Thus, the reason why the coating liquid having adhesiveness does not adhere to the surface of the hand portion main body 13 of the present embodiment and the lens can be stably held is that the porous layer 22 and the non-adhesive layer 23 are on the surface. It is considered that the composite surface consisting of the above is exposed, and the surface of the base material 21 is roughened so as to have an uneven shape.

  First, the surface contacting the lens periphery of the hand portion main body 13 exposes a composite surface composed of the porous layer 22 and the non-adhesive layer 23, whereby both characteristics can be obtained. For example, when the porous layer 22 is exposed, the holding performance when the lens is gripped by the gripping hand 10 can be enhanced. Moreover, adhesion of the coating liquid component having adhesiveness to the hand portion main body 13 can be inhibited by exposing the non-adhesive layer 23.

Moreover, it is guessed that the contact angle differs between the porous layer 22 and the non-adhesive layer 23 in the coating solution. The contact angle of the porous layer 22 to the coating liquid is θ ₁ , the area where the porous layer 22 is exposed is γ ₁ , the contact angle of the non-adhesive layer 23 to the coating liquid is θ ₂ , and the non-adhesive layer When There is an area that is exposed and gamma _2, the contact angle θc with the surface of the coating liquid and the hand unit body 13 can be expressed by the following equation of Cassie.
cos θc = γ ₁ cos θ ₁ + γ ₂ cos θ ₂

  According to Cassie's formula, the contact angle with the coating liquid is maintained at a wider angle when the porous layer 22 and the non-adhesive layer are formed compared to the case where the porous layer 22 and the non-adhesive layer are used. Therefore, it becomes difficult for the coating liquid and the hand portion main body 13 to be compatible with each other. Thereby, it is thought that non-adhesiveness improves.

  Further, since the surface of the base material 21 is roughened and formed into a concavo-convex shape, a lotus effect is further added, and the coating liquid can be preferably inhibited from adhering to the hand portion main body 13.

  In the present embodiment, the hand main body 13 is configured by the non-adhesive member 24. However, at least a portion that comes into contact with the gripped member such as a lens is configured by the non-adhesive member 24 described above. What is necessary is just to set it as the structure which a non-adhesion surface becomes a contact surface with a to-be-held member.

[Examples and Comparative Examples]
Next, an example in which the gripping hand 10 is configured as the present embodiment and Comparative Examples 1 and 2 in which the conventional configuration is used are shown, and experimental results of the example and Comparative Examples 1 and 2 will be described.
In the example, a NONTICK coating processed product (corresponding to the non-adhesive member 24 of the present embodiment example) manufactured by Nikken Kogyo Co., Ltd. was used as the hand portion main body 13.
In Comparative Example 1, a material having a smooth surface made of polyacetal (POM) was used as the hand portion main body 13.
In Comparative Example 2, a material having a smooth surface made of stainless steel (SUS) was used as the hand portion main body 13.

[Experimental results of examples and comparative examples]
Below, the result of the comparative experiment of an Example and Comparative Examples 1 and 2 is shown. In this experiment, using a coating apparatus 1 shown in FIG. 1, a water-based polyurethane resin solution made of a polycarbonate polyol polyurethane emulsion and having a viscosity of 100 cps and a solid content concentration of 38% was applied to a lens. And the operation | movement which hold | grips and conveys the side surface (edge surface) of the lens coated with the water-based polyurethane resin liquid was each repeated 32 times using the holding hands of Example, Comparative Example 1, and Comparative Example 2. .
In these comparative examples and the comparative experiments of Comparative Examples 1 and 2, the hand portion main body 13 is actually plate-shaped (flat) and has a convex member formed at a position in contact with the lens. A test machine having was used. Although the shape of the hand part main body 13 differs from the coating device 1 shown in FIG. 1, the outline is the same.

  FIG. 6 shows the amount of coating liquid adhered to the hand portion main body 13 of the gripping hand 10 with respect to the number of times of conveyance. The horizontal axis in FIG. 6 is the number of times of conveyance, and the vertical axis is the amount of coating liquid deposited. The adhesion amount of the coating liquid is calculated from the weight of the hand portion main body 13 before use and the weight after use.

  As shown in FIG. 6, when the gripping hand 10 of Comparative Examples 1 and 2 is used, the amount of coating liquid adhered increases each time the number of lens transports is increased, and 10 mg after 32 lens transports. As a result, the above coating liquid adhered. On the other hand, when the gripping hand 10 of the example was used, the adhesion of the coating liquid to the hand portion main body 13 became a value close to almost 0 even after 32 times of conveyance.

  Next, the operation stability by the coating liquid adhering to the hand part main body 13 was confirmed. Here, when the lens after applying the coating liquid is transported using the gripping hands of the example, comparative example 1 and comparative example 2, whether the transported lens can be installed at an appropriate place, or when the lens is installed It was visually confirmed whether or not the release of gripping proceeded promptly. And the case where it was able to install promptly was set as the pass, and the case where some malfunction (holding release defect, installation position shift) occurred at the time of installation was made unsuccessful.

  FIG. 7 is a diagram showing operation stability with respect to the number of times of conveyance. The horizontal axis of FIG. 7 shows the material of the hand unit body 13, and the vertical axis shows the operation stability rate. As can be seen from FIG. 7, the operation stability rate when using the material of Comparative Example 1 was 65.4%, and the operation stability rate when using the material of Comparative Example 2 was 9.4%. . On the other hand, the operation stability rate when the material of Example 1 was used was 100%. That is, it was found that by using the material of the example, the lens can be stably conveyed even when the conveyance operation is repeated a plurality of times.

  As described above, in the coating apparatus 1 according to the present embodiment, adhesion of the coating liquid can be eliminated or greatly reduced in the gripping hand 10. Conventionally, when the amount of coating liquid attached to the gripping hand increases, the work of removing the hand unit body from the hand support unit and replacing it with a clean hand unit body has been performed. However, in the coating apparatus of this embodiment, since the coating liquid does not adhere to the gripping hand 10, the number of replacements of the hand unit body 13 can be extremely reduced.

  Further, in the coating apparatus 1 of the present embodiment, since the coating liquid does not adhere to the gripping hand 10, it is possible to reduce foreign matter defects such that the stripped pieces of the coating liquid adhere to other lenses. In the coating apparatus 1 according to the present embodiment, since the lens can be quickly released after being transferred to the predetermined position and can be installed at the predetermined position, the yield is improved.

  In the present embodiment, the application apparatus is described as an example of the conveyance apparatus. However, the present invention is not limited to the application apparatus, and can be applied to various conveyance apparatuses. It can also be applied to parts such as conveyors and conveyor guides. In the above-described experiment, the polycarbonate polyol polyurethane emulsion was used as the coating liquid. However, the gripping hand of the present invention can also be non-adhesive with respect to an adhesive coating liquid such as acrylic.

DESCRIPTION OF SYMBOLS 1 ... Coating device, 2 ... Mounting stand, 3 ... 1st moving part, 4 ... 2nd moving part, 5 ... Arm part, 5a ... Arm support part, 5b ... -Arm body, 6 ... third moving part, 7 ... hand support part, 8 ... hand part, 9 ... rotation support part, 10 ... gripping hand, 11 ... hole part, DESCRIPTION OF SYMBOLS 12 ... Fixed part, 13 ... Hand part main body, 14 ... Fixed part main body, 15 ... Insertion part, 16 ... Projection part, 17 ... Overhang part, 18 ... Insertion Part, 19 ... locking part, 20 ... lens, 21 ... base material, 22 ... porous layer, 23 ... non-adhesive layer, 24 ... non-adhesive member

Claims (5)

A hand portion for gripping a member to be gripped,
At least a portion of the hand portion that contacts the gripped member is a porous substrate having a roughened surface and a concavo-convex shape formed on the surface, and a plurality of micropores formed on the roughened surface side of the substrate. A gripping hand comprising: a layer and a hand portion formed of a non-adhesive member comprising a non-adhesive layer formed on the surface of the porous layer. The gripping hand according to claim 1, wherein the porous layer and the non-adhesive layer are exposed on a surface of a non-adhesive member constituting the hand unit. The gripping hand according to claim 1, wherein the surface of the base material has an arithmetic average surface roughness of 2 μm to 11 μm. The base material is composed of any one of aluminum, stainless steel, and glass, and the porous layer is composed of any one of ceramics, nickel, chromium, aluminum, stainless steel, and a resin having no water repellency, The gripping hand according to any one of claims 1 to 3, wherein the non-adhesive layer is made of a water-repellent material made of a fluorine-based resin or a polyureasilazane resin. A hand portion for gripping a member to be gripped,
At least a portion of the hand portion that contacts the gripped member is roughened, and has a base material having a concavo-convex shape formed on the surface, and a porous body having a plurality of micropores formed on the rough surface side of the base material. A gripping hand provided with a hand layer formed of a non-adhesive member composed of a non-adhesive layer formed on the surface of the porous layer and the porous layer;
A moving unit capable of moving the gripping hand;
Conveying device equipped with.

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