JP2024005309A - Transfer robot and spectacle lens processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a spectacle lens to be transferred more properly, in various transfer steps.

SOLUTION: A transfer robot for transferring a spectacle lens comprises: an arm part; and a holding part provided at a tip of the arm part. The holding part includes: a finger part for clamping and holding any object out of a spectacle lens and a cup being a working fixture of the spectacle lens by using at least a pair of fingers; and a suctioning part for suctioning and holding a spectacle lens in the object. Control means for controlling operation of the transfer robot controls the transfer robot so as to discriminate between holding by the finger part and holding using the suctioning part in accordance with a transfer step of the spectacle lens.

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present disclosure relates to a transport robot that transports eyeglass lenses, and an eyeglass lens processing system including the same.

It has been proposed to use a highly versatile robot arm (transport robot) to automate various manufacturing processes for processing the peripheral edges of eyeglass lenses (see, for example, Patent Document 1). This robot arm holds and transports an object, such as an eyeglass lens, by changing the distance between a pair of fingers.

JP2021-58947A

However, the robot arm of Patent Document 1 may not necessarily be able to appropriately handle the transportation of spectacle lenses in various transportation processes related to the processing of spectacle lenses, and may lack versatility.

A technical problem of the present disclosure is to provide a transport robot and an eyeglass lens processing system that can more appropriately transport eyeglass lenses in various transport processes.

(1) A transport robot according to a first aspect of the present disclosure is a transport robot that transports eyeglass lenses, and includes an arm part and a holding part provided at a tip of the arm part, and the holding part is , a finger part that holds an eyeglass lens or a cup that is a processing jig for the eyeglass lens with at least a pair of fingers; and a suction part that attracts and holds the eyeglass lens of the object. It is characterized by having the following.
(2) A transport robot according to a second aspect of the present disclosure is a transport robot that transports eyeglass lenses, and includes an arm section and a holding section provided at a tip of the arm section, and the holding section is , a finger portion that holds an eyeglass lens or any object of a cup that is a processing jig for eyeglass lenses by using at least a pair of fingers, and is opened and closed to hold the periphery of an unprocessed eyeglass lens. and a pair of second fingers that are opened and closed to sandwich and hold the periphery of the processed lens or the periphery of the cup.
(3) An eyeglass lens processing system according to a third aspect of the present disclosure is an eyeglass lens processing system that processes the peripheral edge of an eyeglass lens using an eyeglass lens processing device, and includes the transport robot of (1) or (2). It is characterized by

1 is a diagram showing an eyeglass lens processing system according to an example. FIG. 2 is a diagram illustrating an example of a transfer robot. It is a figure explaining the structure of a holding part. It is a figure explaining the relationship of the opening/closing width of the 1st finger and the 2nd finger by an opening/closing mechanism. FIG. 1 is a diagram illustrating a schematic configuration of an eyeglass lens processing device. It is a figure explaining a cup and an adhesive tape. FIG. 2 is a diagram illustrating the configuration of a typical tray. FIG. 2 is a diagram illustrating the configuration of a centripetal device. It is a schematic block diagram of a cup attachment device. FIG. 2 is a diagram illustrating the configuration of an adhesive tape supply device. It is a figure explaining the composition of a temporary stand. FIG. 1 is a diagram showing the configuration of the entire control system of the eyeglass lens processing system. It is a figure which shows the flow of the conveyance process between each apparatus regarding the conveyance target object. It is a figure explaining attachment of a spectacle lens to a lens holding shaft by a finger part. It is a figure explaining the relationship of a finger with respect to the external shape of a processed lens. FIG. 6 is a diagram illustrating an example of determining a rotation angle of a processed lens. It is a figure which shows the modification example of a finger.

[overview]
One typical embodiment will be described below with reference to the drawings. Note that the items classified in <> below can be used independently or in conjunction.

<Transportation robot>
For example, a transfer robot (for example, transfer robot 100) includes an arm section (for example, arm section 130) and a holding section (for example, holding section 150). For example, the arm has multiple joints. For example, a transfer robot moves an object held by a holding part by rotating an arm part via a joint part. For example, the transfer robot includes a control means (for example, the control unit 139).

For example, the holding part is provided at the tip of the arm part. For example, the holding section includes a finger section (for example, finger section 151) and a suction section (for example, suction section 170). This provides excellent versatility in transporting eyeglass lenses, and allows lenses to be transported appropriately depending on the transport process. Additionally, a single transport robot can provide greater versatility.

<Finger part>
For example, the finger portion holds an object such as a spectacle lens or a cup (for example, a cup CU) that is a processing jig for the spectacle lens with at least one pair of fingers (for example, the fingers 152). Note that the finger portion is not limited to two fingers, and may be composed of two or more fingers.

For example, the finger portion includes a pair of first fingers (for example, first fingers 154) that are opened and closed to sandwich and hold at least the periphery of an unprocessed eyeglass lens, and a pair of first fingers (for example, first fingers 154) that hold at least the periphery of an unprocessed eyeglass lens, and It is preferable to include at least a pair of second fingers (for example, second fingers 156) that are opened and closed to hold the peripheral edge therebetween. Thereby, it is possible to hold from a large diameter unprocessed lens to a small diameter processed lens without increasing the size of the opening/closing mechanism of the finger section, in other words, without increasing the size of the arm section of the transfer robot.

For example, the left first finger of the first fingers (for example, the left first finger 154L) and the left second finger of the second fingers (for example, the left second finger 156L) are integrally formed, and The first right finger (for example, the first right finger 154R) and the second right finger (for example, the second right finger 156R) of the second finger are integrally formed. Further, for example, the first finger and the second finger may be arranged in stages in a direction perpendicular to the direction in which the fingers extend, or may be arranged in stages in the direction in which the fingers extend.

For example, the pair of first fingers and the pair of second fingers may have a common opening/closing mechanism (eg, opening/closing mechanism 160). In this case, the opening/closing stroke of the pair of first fingers is the same as the opening/closing stroke of the pair of second fingers, and the maximum width (distance) that the pair of first fingers opens by the opening/closing mechanism is the same as the opening/closing stroke of the pair of second fingers by the opening/closing mechanism. It is better if the width is larger than the maximum width (spacing) that the fingers can open. As a result, even if the opening/closing mechanism is common and the opening/closing stroke is the same, it is possible to hold a large diameter unprocessed lens to a small diameter processed lens without increasing the size of the opening/closing mechanism. Therefore, the holding part and the distal end of the arm part can be taken in and out of the entrance of the eyeglass lens processing apparatus without any problem without increasing the size of the arm part of the transport robot.

For example, the minimum width (e.g., width W3) at which the second finger can be opened and closed by the opening and closing mechanism is set to a width that can maintain at least a predetermined minimum diameter of the processed eyeglass lens, and the first finger can be opened and closed by the opening and closing mechanism. The maximum width (for example, width W1) is preferably set to a width that can maintain at least a predetermined maximum diameter of the unprocessed spectacle lens. The minimum width (for example, width W4) of the first finger that can be opened and closed by the opening and closing mechanism is preferably set to be at least less than the maximum width that can be opened and closed (for example, width W2) of the second finger. As a result, even with a two-stage configuration, the opening/closing stroke width of the opening/closing mechanism can be changed from a predetermined minimum diameter of a machined lens or a cup of a predetermined diameter to a predetermined maximum diameter of an unprocessed lens. It is possible to hold up to

Note that there may be a third finger with an intermediate opening/closing width between the first finger and the second finger. Further, the first finger and the second finger may be configured separately, and the opening/closing mechanism of the first finger and the opening/closing mechanism of the second finger 156 may also be configured separately.

<Adsorption part>
For example, the suction section suctions and holds a spectacle lens among the objects. For example, the suction section suctions and holds the refractive surface of a spectacle lens. For example, the suction portion may be provided on the finger portion. Further, the suction section is preferably provided at a position where interference with the held object can be avoided even when the object is held by the pair of fingers. For example, the suction portion is provided on the base side of one of the pair of fingers. The suction section may be placed between the left and right fingers as long as it does not cause any problem when the object is held by the fingers.

<Transportation robot control means>
For example, the control means controls the operation of the transfer robot. For example, the control means controls the transport robot to selectively use holding by the fingers and holding by the suction part depending on the process of transporting the eyeglass lens. Thereby, spectacle lenses can be transported more appropriately in various transport processes.

For example, in a step of taking out and transporting a spectacle lens placed in a tray (for example, tray TR) in order to attach a cup of a processing jig to an unprocessed spectacle lens, the control means may hold the spectacle lens by a suction part. Control the transport robot to Thereby, in the process of taking out the eyeglass lenses from the tray, the eyeglass lenses can be taken out and transported more appropriately.

For example, the control means is a lens holding shaft (e.g., lens holding shaft 202) provided in the eyeglass lens processing apparatus (e.g., the eyeglass lens processing apparatus 200) that extends in the horizontal direction after the cup is attached to the eyeglass lens. In the process of transporting a spectacle lens so as to attach the cup to the lens holding shaft and hold the spectacle lens, the transport robot is controlled so that the finger portion holds the periphery of the unprocessed spectacle lens or the periphery of the cup. Thereby, the spectacle lens can be held on the horizontally extending lens holding shaft and transported appropriately without the spectacle lens falling.

For example, in the step of taking out and transporting the processed lens from the lens holding shaft after the peripheral edge of the eyeglass lens is processed, the control means may control the transfer robot to hold the processed lens periphery or the cup periphery with the finger portion. control. Thereby, the spectacle lens can be held and taken out from the lens holding shaft extending in the horizontal direction without the spectacle lens falling.

Further, in the process of transporting processed eyeglass lenses taken out from the eyeglass lens processing apparatus and returning them to the tray, a temporary stand (for example, the temporary stand 700) may be used during the process. In this case, the eyeglass lens is placed on the temporary storage stand with the cup facing downward, and in the conveyance process in which the eyeglass lens is taken out from the temporary storage stand and transported to the tray, the control means holds the rear side of the processed eyeglass lens with the suction unit. Control the transport robot to attract and hold the object. This allows the processed spectacle lenses to be stably returned to the tray. In addition, when the peripheral edge of the processed eyeglass lens is held by the finger part and taken out from the eyeglass lens processing apparatus, the control means may transport the processed eyeglass lens held by the finger part to the tray as it is and return it. .

In addition, in a conveyance process other than the above, for example, the control means may attach the unprocessed spectacle lens to a lens meter (for example, the lens meter 500) for measuring the optical characteristics of the spectacle lens or a cup attachment device having a lens meter function. In the step of transporting the unprocessed spectacle lens, the transport robot may be controlled to hold the peripheral edge of the unprocessed spectacle lens using the finger section. In this case, for example, the spectacle lens taken out from the tray may be conveyed to a centripetal device (eg, centripetal device 300) or placed on a temporary stand.

Further, for example, in the step of conveying the unprocessed eyeglass lens to the cup attachment device (for example, the cup attachment device 600) after measurement with a lens meter, the control means holds the periphery of the unprocessed eyeglass lens with the finger portion. The transfer robot may be controlled in this manner. Further, for example, in the process of transporting an unprocessed eyeglass lens with a cup attached from the cup attachment device, the control means may control the transport robot to hold the periphery of the unprocessed eyeglass lens with the finger part. good.

<Eyeglass lens processing system>
For example, an eyeglass lens processing system (for example, eyeglass lens processing system 1) includes an eyeglass lens processing device that processes the peripheral edge of an eyeglass lens, and a transport robot that transports the eyeglass lens. For example, in an eyeglass lens processing system, a peripheral edge of an eyeglass lens is processed by an eyeglass lens processing device, and the processed eyeglass lens is taken out and transported by a transport robot. For example, the transport robot is configured to hold the periphery of either an eyeglass lens or a cup of a processing jig attached to the eyeglass lens with a pair of fingers that can be opened and closed. Specifically, the object is held by opening and closing the left finger and the right finger (by changing the distance between them).

<Eyeglass lens processing equipment>
For example, an eyeglass lens processing device includes a lens holding shaft (for example, lens holding shaft 202). The lens holding shaft holds the spectacle lens via the cup. For example, the eyeglass lens processing apparatus includes a holding shaft rotation means (eg, rotation unit 256) that rotates the lens holding shaft. For example, the eyeglass lens processing apparatus includes a control means (for example, the control section 210). For example, the control means controls the holding shaft rotation means.

Further, for example, the eyeglass lens processing apparatus may include information acquisition means (for example, the control section 210). For example, the information acquisition means acquires various information regarding processing of spectacle lenses. For example, the information acquisition means acquires information regarding the external shape of either the processed eyeglass lens or the cup held by the lens holding shaft. Note that the information acquisition means may be provided in the eyeglass lens processing system.

<Control means for eyeglass lens processing equipment>
For example, the control means controls the holding shaft rotation means and adjusts the rotation angle of the lens holding shaft in order for the transport robot to hold the glasses lens or cup with a pair of fingers and take out the glasses lens after processing the glasses lens. and wait. Thereby, the processed spectacle lens can be appropriately taken out from the spectacle lens processing apparatus and transported without dropping it.

For example, the control means controls the holding shaft rotation means based on the opening/closing direction of the pair of fingers when the transport robot takes out the eyeglass lens after processing the eyeglass lens, and the information regarding the external shape acquired by the information acquisition means. Then, adjust the rotation angle of the lens holding shaft and wait.

For example, when holding an object with a pair of fingers, the control means controls the opening/closing direction of the pair of fingers and the external shape acquired by the information acquisition means so that the object does not rotate due to the holding pressure of the pair of fingers. The rotation angle of the lens holding shaft is adjusted based on the information regarding the shape. In detail, for example, the control means may be configured such that when the left finger and the right finger are closed, a straight line passing through two points where each finger abuts the outer periphery of the object is parallel to the opening/closing direction of the fingers ( The rotation angle of the object is determined so that the rotation angle is (including substantially parallel), and the rotation angle of the lens holding shaft is adjusted based on the determined rotation angle. As a result, when holding a processed eyeglass lens or cup object that is not a perfect circle (including a nearly perfect circle) with a pair of fingers, the eyeglass lens or cup will not rotate due to the holding pressure, and the object can be held. can be held stably.

For example, regarding the rotation angle of the object, more specifically, the control means rotates the outer shape of the object by minute angles with reference to the rotation center of the eyeglass lens, and each rotation causes the fingers to come into contact with each other. By finding the rotation angle when the difference (difference in distance) between the two points of contact in the direction orthogonal to the opening/closing direction of the finger becomes zero, the straight line passing through the two points of contact can be found on the finger. The rotation angle parallel to the opening/closing direction can be determined.

For example, it is preferable that the control means determines, among the determined rotation angles, a rotation angle at which a straight line passing through two points where the left and right fingers abut is the largest. This makes it possible to hold objects of various shapes with the fingers. That is, for example, in the present disclosure, the minimum opening/closing width of the finger portion is set such that at least the width of the cup in the longitudinal direction can be maintained. Even when the eyeglass lens is processed to have a small diameter, it is processed only up to at least a portion in the longitudinal direction of the cup. Therefore, if the maximum width portion of the external shape of the eyeglass lens is determined to be held, objects of various shapes can be held by the finger portion. Even if the object is a cup, the cup has its maximum width in the longitudinal direction, so it can be held by the fingers.

In addition, when there are multiple rotation angles obtained, the control means rotates so that the length of a straight line passing through the two points where the left and right fingers contact each other is greater than the minimum width that can be held by the fingers. It may be determined at the corner.

In addition, when adjusting the rotation angle of the lens holding shaft and putting it on standby, the control means, in addition to the rotation angle of the spectacle lens or the rotation angle of the cup obtained as described above, adjusts the rotation angle of the lens holding shaft with respect to the reference direction. It is even better if the rotation angle for adjusting the lens holding shaft is determined based on the angle of the entry axis of the finger portion. Thereby, the rotation angle of the lens holding shaft can be adjusted more appropriately and the lens can be put on standby. Note that the reference direction for the rotation of the lens holding shaft is the right direction reference of the lens shape (this is also the 0 degree direction of the astigmatic axis of the eyeglass lens). It is said that

For example, if the transfer robot is configured such that a pair of fingers hold the longitudinal direction of the periphery of the cup, the control means may control the longitudinal direction of the cup based on the angle information of the longitudinal direction of the cup attached to the eyeglass lens. The rotation angle of the cup at which the rotation angle is parallel to the opening/closing direction of the fingers may be determined, and the rotation angle of the lens holding shaft may be adjusted based on the determined rotation angle. For example, the control means adjusts the rotation angle of the lens holding shaft so that the longitudinal direction of the cup is located in a direction perpendicular to the entry axis of the finger portion. Thereby, even when the cup is held by the finger part, the cup attached to the eyeglass lens can be stably held and the eyeglass lens can be transported without the cup being rotated by the holding pressure of the finger part.

[Example]
One typical embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a diagram showing an eyeglass lens processing system 1 according to an embodiment.

In FIG. 1, a spectacle lens processing system 1 includes a transport robot 100 and a spectacle lens processing device 200. The transport robot 100 is used to hold and transport an object. As shown in FIG. 5, the eyeglass lens processing apparatus 200 is used to process the peripheral edge of an eyeglass lens (hereinafter referred to as lens LE) held by a lens holding shaft 202 using a processing tool 260.

The eyeglass lens processing system 1 additionally includes at least one of a centripetal device 300, an adhesive tape supply device 400, a lens meter 500, a cup attachment device (blocker) 600, a temporary stand 700, and a tray conveyance device 800. Good too.

In this embodiment, the unprocessed lens LE is placed in a predetermined position on the tray TR. Further, a cup CU (see FIG. 6), which is a processing jig for the lens LE, is placed on the tray TR. Then, the processed lens LE is returned to the tray TR. Further, the adhesive tape supply device 400 is used to supply an adhesive tape TA for fixing the cup CU to the refractive surface of the lens LE.

<Transportation robot>
FIG. 2 is a diagram illustrating an example of the transfer robot 100. The transfer robot 100 of this embodiment includes an arm section 130 and a holding section 150 provided at the tip of the arm section 130. The arm section 130 has a plurality of joints, and can change its posture by rotating each part via the joints. Specifically, the arm section 130 of the transfer robot 100 of this embodiment includes a base 131, a shoulder 132, a lower arm 133, a first upper arm 134, a second upper arm 135, a wrist 136, and a holding section 150. Note that in FIG. 4, the rotation axes X1 to X6 are shown by illustrating the directions around the rotation axes X1 to X6.

The base 131 supports the entire arm portion 130. The shoulder 132 is connected to the upper part of the base 131 via the first joint J1. The shoulder 132 rotates with respect to the base 131 around a rotation axis X1 that extends in a direction intersecting the base 140 (vertical direction in this embodiment). One end of the lower arm 133 is connected to a portion of the shoulder 132 via a second joint J2. The lower arm 133 rotates relative to the shoulder 132 around a horizontally extending rotation axis X2. The first upper arm 134 is connected to an end of the lower arm 133 on the opposite side to the side connected to the shoulder 132 via a third joint J3. The first upper arm 134 rotates relative to the lower arm 133 around a rotation axis X3 extending in the horizontal direction. The second upper arm 135 is connected to the distal end side (the side where the holding part 150 is provided) of the first upper arm 134 via the fourth joint J4. The second upper arm 135 rotates relative to the first upper arm 134 about the rotation axis X4. The wrist 136 is connected to the distal end side of the second upper arm 135 via the fifth joint J5. Wrist 136 rotates relative to second upper arm 135 around rotation axis X5. The holding portion 150 is connected to the distal end side of the wrist 136 via the sixth joint J6. Holding portion 150 rotates with respect to wrist 136 around rotation axis X6.

Note that a motor for rotating each part around each of the rotation axes X1 to X6 is built inside the arm part 130.

The arm portion 130 is fixed to a base 140. In this embodiment, the base 140 is placed on a horizontal installation surface. The base 140 is provided with an arm moving section 141 that moves the arm section 130 in a direction parallel to the installation surface. When the arm moving section 141 is driven, the entire arm section 130 moves in parallel on the installation surface.

The transfer robot 100 of this embodiment includes a control unit 139 that performs various controls (for example, control of a motor that rotates each part, an actuator that drives the holding unit 150, etc.). Note that detailed configuration examples of the arm portion 130 and the like of the transfer robot 100 are described in, for example, Japanese Patent Application Publication No. 2021-58947, Japanese Patent Application Publication No. 2019-141970, and the like.

FIG. 3 is a diagram illustrating the configuration of the holding section 150. 3(a) is a perspective view of the holding part 150, and FIG. 3(b) is a front view of the holding part 150.

The holding section 150 includes a finger section 151 and a suction section 170. The finger portion 151 includes at least one pair of fingers 152. The pair of fingers 152 are opened and closed by an opening and closing mechanism 160. In other words, the distance between the pair of fingers 152 is changed to sandwich and hold the object. Note that the opening/closing mechanism 160 is built inside the wrist 136.

The pair of fingers 152 of the embodiment includes a pair of first fingers 154 on the outside that are opened and closed to hold the unprocessed lens LE, and a pair of first fingers 154 that are opened and closed to hold the processed lens LE or cup CU. a pair of second fingers 156 on the inside. The first finger 154 and the second finger 156 in the embodiment shown in FIG. 3 are arranged in stages in a direction perpendicular to the direction in which the fingers extend.

The first finger 154 consists of a left first finger 154L and a right first finger 154R. The second finger 156 consists of a left second finger 156L and a right second finger 156R. In this embodiment, the first left finger 154L and the second left finger 156L forming the left finger are integrally formed, and the first right finger 154R and the second right finger 156R forming the right finger are also formed integrally. has been done. Thereby, the first finger 154 and the second finger 156 are opened and closed by the common opening and closing mechanism 160. Furthermore, the opening and closing strokes of the pair of first fingers 154 and the pair of second fingers 156 are the same. The opening/closing mechanism 160 for the fingers 152 in the embodiment is configured to move the left finger and the right finger in parallel (in other words, in a straight line).

FIG. 4 is a diagram illustrating the relationship between the opening and closing widths of the first finger 154 and the second finger 156 by the opening and closing mechanism 160. In FIG. 4, W5 indicates the movement width (opening/closing stroke) of one side of the opening/closing mechanism 160 in order to open/close the pair of fingers 152. For example, the moving width W5 is 15 mm. As shown in FIG. 4, the maximum width W1 that the pair of first fingers 154 opens by the opening/closing mechanism 160 is larger than the maximum width W2 that the pair of second fingers 156 opens. The positional relationship between the pair of first fingers 154 and the pair of second fingers 156 is determined in consideration of the movement width W5 of the opening/closing mechanism 160.

Specifically, the minimum width W3 that allows the pair of second fingers 156 to be opened and closed by the opening and closing mechanism 160 is set to a width that can maintain at least a predetermined minimum diameter LEr1 (for example, 30 mm) of the processed lens LE. Note that the width W3 is also a width that can hold a cup CU having a predetermined diameter. Further, the maximum width W1 in which the pair of first fingers 154 can be opened and closed by the opening/closing mechanism 160 is set to a width that can hold at least a predetermined maximum diameter LEr2 (for example, 90 mm) of the unprocessed lens LE. Further, the minimum width W4 (for example, 60 mm) in which the pair of first fingers 154 can be opened and closed by the opening and closing mechanism 160 is set to be less than or equal to the maximum width W2 in which at least the pair of second fingers 156 can be opened and closed. .

With such a configuration, it is possible to seamlessly hold the lens LE having the minimum diameter LEr1 to the maximum diameter LEr2 while the movement width (opening/closing stroke) of the pair of first fingers 154 and the pair of second fingers 156 is the same. ing. That is, it is possible to hold from a large diameter unprocessed lens LE to a small diameter processed lens LE and cup CU without enlarging the opening/closing mechanism 160 of the finger portion 152. In addition, even if the opening/closing mechanism 160 is common and the opening/closing stroke is the same, the opening/closing mechanism 160 can be made larger without increasing the size. It can hold up to a finished lens LE and a cup CU of a predetermined diameter. Thereby, without increasing the size of the arm section 130 of the transport robot 100, the holding section 150 and the tip of the arm section 130 can be taken in and out of the entrance 270 (see FIG. 1) of the eyeglass lens processing apparatus 200 without any problem.

Note that whether to use the first finger 154 or the second finger 156 is determined by the control unit 139 based on whether the width of the object (for example, the processed lens LE) being held exceeds the width W2. may be determined.

Returning to the explanation of the holding section 150 in FIG. 3. The suction section 170 is provided on the finger section 151. Here, the suction section 170 is provided at a position where interference with the held object can be avoided even when the object (either the lens LE or the cup CU) is held by the pair of fingers 152. . Specifically, when the unprocessed lens LE having the maximum diameter LEr2 is held by the pair of fingers 152, the suction unit 170 attaches the pair of fingers 152 at a position away from the periphery of the unprocessed lens LE. It is provided on one base side of the. In this embodiment, the suction portion 170 is provided so as to extend downward from the base side of the integrally formed right first finger 154R and right second finger 156R. Note that the location where the suction portion 170 is arranged is not limited to the finger 152, and may be any location that does not cause any trouble even when the object is held by the finger 152. For example, the suction portion 170 may be placed between the pair of fingers 152 (between the opening and closing directions).

In this embodiment, the suction section 170 has a trumpet-like shape, and has a suction hole (not shown) formed therein. The suction portion 170 may have a bellows shape. Of course, the shape of the adsorption section 170 is not limited to these, and various shapes may be used. The suction hole is connected to a suction tube 172 arranged at the upper part of the second right finger 156R. Further, the suction tube 172 is connected to a suction source 175 provided on the arm portion 130 or the base 140. Driving of the suction source 175 is controlled by the control unit 139. The suction source 175 may be a small compressor or may be a small cylinder type capable of sucking air. Of course, the suction unit 170 may have a configuration different from that of the embodiment, as long as it can attract, hold, and move the object.

<Eyeglass lens processing equipment>
FIG. 5 is a diagram illustrating a schematic configuration of the eyeglass lens processing apparatus 200. The eyeglass lens processing device 200 includes a lens holding shaft 202 (lens holding shafts 202L, 202R) that holds a lens LE, a processing tool 260 for processing the peripheral edge of the lens LE, and a lens held by the lens holding shaft 202. It includes a moving unit 250 for changing the relative positional relationship between the LE and the processing tool 263, and a control section 210 that controls the moving unit 250.

For example, the lens holding shaft 202 extends in the horizontal direction and is arranged in the eyeglass lens processing apparatus 200. For example, the processing tool 260 is attached to a processing tool rotating shaft 261 and includes at least one of a finishing tool 262 and a roughing tool 263 having a V-groove for forming a bevel. For example, the moving unit 250 includes a first moving unit 252 that moves a carriage (not shown) that rotatably holds the lens holding shaft 202 in the axial direction (X direction) of the lens holding shaft 202; A second moving unit 254 that moves in a direction (Y direction) that changes the distance between the machining tool rotating shaft 261 and the center axis is provided. The moving unit 250 also includes a rotation unit 256 that rotates the lens holding shaft 202 held by the carriage.

The lens LE is held by a pair of lens holding shafts 202L and 202R. A cup holder 230 is attached to one of the lens holding shafts 202L, and the base 10 of the cup CU fixed to the lens LE is inserted into the cup holder 230. The cup holder 230 includes an insertion hole 231a in which a key 231b is formed. By fitting the keyway 10b formed in the base 10 of the cup CU (see FIG. 6) into the key 231b, the astigmatic axis angle of the lens LE and the reference direction of the lens holding shaft 230 are brought into a constant relationship. After the cup CU is attached to the cup holder 230, the lens holding shaft 202R is moved toward the lens LE, and the lens LE is held down by the lens presser 235 attached to the lens holding shaft 202R. Thereby, the lens LE is held by the lens holding shaft 202. The eyeglass lens processing apparatus 200 includes a lens holding mechanism 240 that moves the lens holding shaft 202R toward the lens holding shaft 202L, and the lens holding mechanism 240 is controlled by the control unit 210.

Note that an example of a detailed configuration of the eyeglass lens processing apparatus 200 is described in, for example, Japanese Patent Application Publication No. 2013-158866.

<Cup and adhesive tape>
FIG. 6 is a diagram illustrating the cup CU and adhesive tape TA according to the example. The cup CU is used as a processing jig for the lens LE. Adhesive tape TA is used to fix cup CU to the refractive surface of lens LE. The refractive surface of the lens LE to which the cup CU is fixed is generally the front surface (front surface) of the lens, but may also be the rear surface (back surface) of the lens.

In FIG. 6, the cup CU of this example includes a base 10 and a flange 11. As shown in FIG. For example, the base portion 10 and the collar portion 11 are integrally formed of resin. The base 10 is inserted into a cup holder 230 (see FIG. 5) provided on the lens holding shaft 202L of the eyeglass lens processing apparatus 200. A keyway 10b extending in the left-right direction is formed in the upper part of the base 10. The keyway 10b is used to maintain a predetermined positional relationship between the astigmatic axis angle of the lens LE and the left-right direction of the lens LE when attaching the cup CU to the lens LE and processing the peripheral edge of the lens LE. Furthermore, a notch 10c is formed in the base 10, which is an example of an index for determining the vertical direction of the lens LE (here, the vertical direction when wearing glasses).

The collar portion 11 is formed in an elliptical shape having a diameter larger than that of the base portion 10. The longitudinal direction of the elliptical shape is the same as the direction in which the keyway 10b extends. An uneven portion 11a is formed on the upper surface of the flange portion 11 around the base portion 10. The uneven portion 11a is used to reduce rotational deviation when inserted into the cup holder 430. Note that, at the tip of the cup holder 430, a concavo-convex portion (not shown) is formed in which the concave-convex portion 11a formed on the flange portion 11 is fitted.

The outer shape of the cup CU (the outer shape of the flange 11) when the cup CU is viewed from above is symmetrical in the left-right direction and in the orthogonal direction to the left-right direction with respect to the center of the cup CU.

Note that two hooks 12 are formed on both sides of the upper surface of the collar portion 11 in the longitudinal direction. For example, the two hooks 12 are used as members held by the operator's fingers when peeling off the cup CU attached to the lens LE via the adhesive tape TA. The hook 12 may be omitted.

In FIG. 6, the adhesive tape TA is formed to have the same external shape (as long as it is substantially the same) as the lower surface of the flange portion 11. For example, the base material of the adhesive tape TA is rubber. The upper surface of the adhesive tape TA is attached to the fixed surface of the cup CU (ie, the lower surface of the flange 11), and the lower surface of the adhesive tape TA is attached to the refractive surface of the lens LE. Thereby, the cup CU is fixed to the refractive surface of the lens LE via the adhesive tape TA.

<Tray>
FIG. 7 is a diagram illustrating the configuration of a typical tray TR according to the embodiment.

The tray TR has a substantially rectangular shape when viewed from above. On the bottom plate TR01, a lens placement part TR10L for placing the left eye lens LE and a lens placement part TR10R for placing the right eye lens LE are provided. Since the lens resting part TR10L and the lens resting part TR10R have the same configuration, the lens resting part TR10L will be explained as an example.

A cup holder TR20 on which a cup CU is placed is formed in the center of the lens holder TR10L. The cup placement part TR20 is formed with an insertion hole TR21 into which the base 10 of the cup CU is inserted. A key TR22 into which the keyway 10b of the cup CU is fitted is formed inside the insertion hole TR21.

A lens stand TR30 is formed around the cup placement part TR20. The lens stand TR30 is formed into a frame structure consisting of a plate at a constant height (for example, 12 mm) from the bottom plate TR01. In this embodiment, the lens stand TR30 includes orthogonal stands TR31 formed on all sides in the left-right direction and front-rear direction, and an interpolation stand TR32 formed complementary between each orthogonal stand TR31. Furthermore, a side wall TR34 for preventing the lens LE from falling from the lens stand TR30 is formed on the outer peripheral side of each orthogonal table TR31 and each interpolation table TR32. The height of the side wall TR34 is set higher than the height of the lens stand TR30 by a height H (for example, 3 mm). The side wall TR34 is arranged in a circular shape, and its inner diameter is formed to a size (for example, 84 mm) that allows a general unprocessed lens LE to fit therein. The side wall TR34 prevents the unprocessed lens LE from falling from the lens stand TR30 or from being significantly displaced while the tray TR is being transported.

Note that left and right side plates TR02 and front and rear side plates TR03 are formed on all sides of the bottom plate TR01. The height of the front and rear side plates TR03 is lower than the height of the left and right side plates TR02, making it easier to take out the lens LE placed on the lens stand TR30 from the front and rear directions. Further, trays TR having the same shape can be stacked on the left and right side plates TR.

Note that the cup CU before being attached to the lens LE is placed at a predetermined position in the cup placement part TR20 or the tray TR with its base 10 facing upward.

<Centripetal device>
FIG. 8 is a diagram illustrating the configuration of the centripetal device 300. The centripetal device 300 includes at least three contact members 314 that contact the peripheral edge of the unprocessed lens LE, and a moving mechanism 310 that moves the contact members 314 toward the centripetal axis N1. Further, the centripetal device 300 of the embodiment includes a cylindrical base 311 and a lens stand 313 on which the lens LE is placed. For example, the moving mechanism 310 includes three rotating shafts 315, an arm 316 attached to each rotating shaft, a motor 317 that rotates the three rotating shafts 315 in conjunction with each other, and a lens stand 313 that rotates around the centripetal axis N1. A rotating motor 418 is provided. The three rotating shafts 315 are arranged on the outer periphery of the cylindrical base 311 at equal angles and at equal distances about the centripetal axis LC1. Arms 316 are attached to the upper ends of the rotating shafts 315, respectively. A contact member 314 is attached to the tip of the arm 316.
By driving the motor 317, each rotating shaft 315 is rotated via a rotation transmission mechanism (not shown), and the arm 316 and the contact member 314 are moved from the retracted position shown by the solid line to the support position shown by the dotted line. Thereby, the geometric center of the peripheral edge of the unprocessed lens LE placed on the lens stand 313 is centripetalized with respect to the centripetal axis LC1. Further, the lens stand 313 is rotated by a motor 418 via a rotation transmission mechanism (not shown). The driving of the motor 317 and the motor 418 is controlled by the control unit 320.

<Lens meter>
The lens meter 500 includes a measurement optical system (for example, a Shack-Hartmann optical system) for measuring optical characteristics such as the optical center, astigmatic axis direction, and refractive power of the lens LE placed at a predetermined position. For example, during measurement, the lens LE is placed on the lens support 502 (see FIG. 1). Lens meter 500 includes a control section 510 (see FIG. 12). The control unit 510 controls the operation of the lens meter 500, and obtains optical characteristics such as the optical center, astigmatic axis direction, and refractive power of the lens LE measured by the measurement optical system. For the configuration of the lens meter 500, for example, the technique disclosed in Japanese Patent Laid-Open No. 2003-075296 can be used. Therefore, detailed explanation will be omitted.

<Cup attachment device>
FIG. 9 is a schematic diagram of the cup attachment device 600. Cup attachment device 600 is used to attach cup CU to the refractive surface (eg, front surface) of lens LE.

The cup attaching device 600 makes the positions of the cup CU held by the blocking arm 610 and the lens LE placed on the lens support stand 602 or the lens LE held by the holding part 150 of the transfer robot 100 relative to each other. By changing the angle, the cup CU is attached (fixed) to the refractive surface of the lens LE via the adhesive tape TA.

The blocking arm 610 includes a mounting portion 630 for holding the cup CU. The mounting part 630 is attached to the tip of the blocking arm 610. The base portion 10 of the cup CU is inserted into the mounting portion 630. The mounting portion 630 includes an insertion hole 631a in which a key 631b is formed. Note that the insertion hole 631a has a built-in plunger that applies a load to hold the cup CU. By fitting the keyway 10b formed in the base 10 of the cup CU into the key 631b, the astigmatic axis angle of the lens LE and the reference direction of the cup CU are brought into a constant relationship.

The cup attachment device 600 includes an arm moving unit 620 that changes the relative positional relationship of the cup CU held by the attachment part 630 of the blocking arm 610 with respect to the lens LE. Blocking arm 610 is held by arm holding base 612. The arm holding base 612 is moved in the three-dimensional directions of XYZ by the arm moving unit 620. Thereby, the blocking arm 610 is moved three-dimensionally with respect to the lens LE.

Further, the arm moving unit 620 may include a rotation unit 621 that rotates the cup CU around the central axis K2 of the mounting portion 630. The mounting portion 630 is rotated around the central axis K2 by a motor (not shown) included in the rotation unit 621. As a result, when the lens LE has an astigmatic axis (cylindrical axis), the reference horizontal angle of the cup CU is changed, and the cup CU is attached to the lens LE in a manner that matches the astigmatic axis with the lens prescription. be exposed.

Note that when attaching the cup CU to the lens LE, the blocking arm 610 is moved so that the center axis K2 coincides with the reference axis N2 for cup attachment passing through the center of the lens support 602, and then the blocking arm 610 is moved to the lens LE side. By moving 610, cup CU is fixed to the front surface of lens LE.

Further, the cup attachment device 600 may include a holding shaft 640 that presses the refractive surface (rear surface) of the lens LE from the opposite direction to the mounting portion 630 when attaching the cup CU to the lens LE. A pressing member 642 is attached to the tip of the pressing shaft 640.

The holding shaft 640 is held by a shaft holding base 645. The shaft holding base 645 is moved in the three-dimensional directions of XYZ by the lens holding shaft moving unit 650. When the holding shaft 640 is used, the central axis of the holding shaft 640 is aligned with the reference axis N2, and the holding member 642 is pressed against the rear surface of the lens LE by the lens holding shaft moving unit 650, so that the holding member 642 is pressed against the rear surface of the lens LE. Cup CU is attached. The driving of the arm moving unit 620 and the lens holding shaft moving unit 650 is controlled by a control section 660.

<Adhesive tape supply device>
FIG. 10 is a diagram illustrating the configuration of the adhesive tape supply device 400. Adhesive tape supply device 400 includes a base moving unit 410. A plurality of adhesive tapes TA are adhesively arranged on a lower mount 30, which is an example of a base, and the lower mount 30 is loaded into an adhesive tape supply device 400. The base moving unit 410 is used to move the lower mount 30 in the feeding direction. For example, the base moving unit 410 includes a belt 416 that is stretched around two timing pulleys 412 and 414, and a motor 418 that rotates the timing pulley 412 to move the belt 416. Further, the adhesive tape supply device 400 may include an objective sensor 450. The object sensor 450 detects the adhesive tape TA on the lower mount 30 that is moved by the belt 416.

Moreover, the roller 422 is arranged so as to press down the belt 416 with the lower mount 30 being sandwiched between the roller 422 and the belt 416. By rotating the roller 422 in synchronization with the movement of the belt 416, the lower mount 30 is guided in a direction away from the adhesive tape TA (downward in the embodiment).

Further, the adhesive tape supply device 400 may include a protector peeling unit 430 disposed on the base body moving unit 410. For example, an upper mount 31, which is an example of a protector, is pasted on the adhesive tape TA disposed on the lower mount 30 so as to cover the adhesive tape TA. The protector peeling unit 430 includes a belt 436 that is stretched around two timing pulleys 432 and 434, and a motor 438 for rotating the timing pulley 432. The protector peeling unit 430 is used to peel off the upper mount 31 of the adhesive tape TA adhesively arranged on the lower mount 30. The roller 442 is arranged to press the belt 436 with the upper mount 31 being sandwiched between the roller 442 and the belt 436. Then, by rotating the roller 442 in synchronization with the movement of the belt 436, the upper mount 31 peeled off from the adhesive tape TA is guided upward.

Adhesive tape supply device 400 includes a control section 460. The control unit 460 controls the substrate moving unit 410 and the protector peeling unit 430.

When the lower mount 30 is moved in the feeding direction and the adhesive tape TA is moved to a predetermined cup pasting position PT1, the movement of the base body moving unit 410 is stopped. At position PT1, the cup CU held and transported by the finger portion 151 of the transport robot 100 is lowered, so that the adhesive tape TA is pasted on the fixed surface of the cup CU. Thereafter, the cup CU is moved to position PT2 and held by the blocking arm 610 of the cup attachment device 600, and then the operation of the blocking arm 610 and the movement of the base body moving unit 410 are controlled, and the blocking arm 610 and the lower By moving the mount 30 synchronously in the feeding direction (direction of arrow A), the lower mount 30 is guided in a direction away from the adhesive tape TA (downward in the example), and the lower mount 30 is peeled off from the adhesive tape TA. be done.

The configuration of the adhesive tape supply device 400 is not limited to the above, and it is sufficient that the adhesive tape TA can be attached to the fixed surface of the cup CU in cooperation with the transport robot 100. For example, with the cup CU being held by the finger part 151 of the transfer robot 100 instead of the blocking arm 610, the finger part 151 is moved in the feeding direction from position PT2, so that the lower backing paper 30 is removed from the adhesive tape TA. It may also be peeled off.

<Temporary stand>
FIG. 11 is a diagram illustrating the configuration of the temporary storage stand 700. The temporary stand 700 is used to change the holding of the lens LE or the cup CU by the holding unit 150 of the transport robot 100. The temporary storage stand 700 includes a base 702, a support shaft 704 held by the base 702, and a cup mounting section 710 attached to the tip of the support shaft 704. The cup mounting part 710 includes an insertion hole 711a into which the base 10 of the cup CU is inserted, and a key 711b into which the key groove 10b formed in the cup CU is fitted.

<System control system configuration>
FIG. 12 is a diagram showing the configuration of the entire control system of the eyeglass lens processing system 1. The eyeglass lens processing system 1 includes a control device 50 that controls the entire system. The control device 50 controls the control section 139 of the transport robot 100, the control section 210 of the eyeglass lens processing device 200, the control section 320 of the centripetal device 300, the control section 460 of the adhesive tape supply device 400, and the lens meter 500. 510 and a control section 660 of the cup attachment device 600. The control device 50 is also connected to a control section (not shown) of the tray conveyance device 800. The connection with the control device 50 is not limited to a wired connection, and may be connected to enable wireless communication.

The control device 50 sends operation command signals to the control units of each device according to the transfer process of the transfer robot 100. The control section of each device controls the components of each device based on command signals from the control device 50. The control device 50 is connected to an operation section 52 and a display section 52. The control device 50 may also serve as a host computer. Further, the control device 50 is enabled to communicate with an external device through the interface 55, and acquires lens processing information necessary for processing the peripheral edge of the lens LE. For example, the lens processing information includes the target lens shape for peripheral edge processing of the lens LE, layout data (data on the positional relationship of the optical center of the lens LE with respect to the lens shape), prescription data for the lens LE (astigmatism axis angle, negative power or a prescription power of plus power, etc.). The lens processing information may be input through the operation unit 52.

In addition, the control units (139, 210, 320, 450, 510, 660) of each device also serve as an information output unit that outputs various types of information and an information acquisition unit that acquires various types of information. . For example, the control unit 139 of the transport robot 100 acquires information on the measurement results of the lens LE (optical center position, astigmatic axis angle, etc.) output from the control unit 510 of the lens meter 500. Furthermore, the control unit 210 of the eyeglass lens processing apparatus 200 acquires information on the external shape of the processed lens LE. The control unit 210 also acquires information about the external shape of the cup CU. The external shape of the cup CU may be acquired by reading out information stored in advance in a storage unit (not shown) included in the eyeglass lens processing device 200 or the control device 50.

<Operation>
The operation of the eyeglass lens processing system 1 having the above configuration will be explained using FIG. 13. FIG. 13 is a diagram showing the flow of the transport process between the respective devices regarding the object to be transported.

<Transportation process S1>
The suction unit 170 is used in the process of taking out and conveying the unprocessed lens LE placed in the tray TR. The transport step S1 is a step of taking out the unprocessed lens LE placed in the tray TR and transporting it to the centripetal device 300. Note that the transport step S1 is one step performed to attach the cup CU to the unprocessed lens LE. The control unit 139 of the transfer robot 100 that receives the command signal from the control device 50 controls the movement of the arm unit 130 and also controls the holding operation of the holding unit 150.

The unprocessed lens LE is placed on the lens stand TR30 of the tray TR with its rear surface facing downward. A side wall TR34 that is higher than the lens stand TR30 by a height H (for example, 3 mm) is located on the outer periphery of the lens stand TR30. Therefore, when the peripheral edge thickness of the lens LE is less than or equal to the height H (for example, a positive power lens, a negative power lens with a weak power, etc.), it is difficult to hold the periphery of the lens LE by the finger portions 151. Therefore, the suction section 170 is used in the step of taking out and conveying the unprocessed lens LE placed in the tray TR.

For example, in order to first transport the unprocessed lens LE for the right eye, the control unit 139 moves the arm unit 130 so that the suction unit 170 is located at the center of the lens stand TR30 on the lens mounting unit TR10R side. will be moved. Thereafter, the suction source 175 is driven and the suction section 170 is lowered. As a result, the front surface of the lens LE is attracted to the suction portion 170, and the lens LE is held.

Next, the lens LE is conveyed onto the lens stand 313 of the centripetal device 300 while being held by the suction unit 170 . When the suction by the suction source 175 of the suction unit 170 is stopped and the lens LE is placed on the lens stand 313, the centripetal device 300 is operated by the control unit 320 which has received a command signal from the control device 50. That is, the control unit 320 controls the moving mechanism 310, and the three contact members 314 are brought into contact with the periphery of the lens LE and moved toward the centripetal axis LC1. Thereby, the geometric center of the unprocessed lens LE is matched (substantially matched) with the centripetal axis LC1.

<Transportation process S2>
The finger portion 151 is used in the process of taking out and conveying the cup CU placed in the tray TR. The conveyance process S2 is a process of taking out the cup CU placed in the tray TR and conveying it to the adhesive tape supply device 400.

After receiving the command signal from the control device 50, the control unit 139 of the transfer robot 100 controls the movement of the arm unit 130, and the wrist 136 is rotated so that the pair of second fingers 156 on the inside are on the lower side. The second finger 156 holds the periphery of the cup CU placed in a predetermined position in the tray TR in the longitudinal direction. The cup CU is conveyed to the adhesive tape supply device 400 while being held by the second finger 156. Then, the cup CU held by the second finger 156 is lowered onto the adhesive tape TA located at the position PT1 in FIG. 10, thereby pasting the adhesive tape TA on the fixed surface of the cup CU.

<Transportation process S3>
The conveyance step S3 is a step in which the cup CU to which the adhesive tape TA is attached is mounted on the mounting portion 630 of the blocking arm 610 of the cup mounting device 600. In this step, the blocking arm 610 or the finger portion 151 of the transfer robot 100 is used.

For example, when the blocking arm 610 is used, the drive of the arm moving unit 620 is controlled by the control section 660 of the cup attachment device 600 that receives a command signal from the control device 50, and as shown in FIG. After the cup 630 is moved onto the cup CU located at the position PT2, the blocking arm 610 is lowered to attach the cup CU to the attachment part 630. Thereafter, the blocking arm 610 and the lower mount 30 are synchronously moved in the feeding direction (arrow A direction), so that the lower mount 30 is peeled off from the adhesive tape TA.

Alternatively, when the finger section 151 of the transfer robot 100 is used, in FIG. 10, instead of the blocking arm 610, the finger section 151 and the lower mount 3 are synchronously moved in the feeding direction, thereby peeling the lower mount 30 from the adhesive tape TA. Then, the transfer robot 100 transfers the cup CU held by the finger portion 151 to the cup attachment device 600, and attaches the cup CU to the attachment portion 630 of the blocking arm 610 waiting at a predetermined position.

<Transportation process S4>
In the step of conveying the lens LE to the lens meter 500, the finger portion 151 or the suction portion 170 is used. The conveyance step S4 is a step of taking out the lens LE from the centripetal device 300 and conveying it to the lens meter 500 after the lens LE is centripeted by the centripetal device 300 in the previous conveyance step S1. For example, the finger portion 151 is used in this conveyance process.

The two-dimensional position of the centripetal axis LC1 of the centripetal device 300 is known based on the arrangement of the centripetal device 300, and this information is acquired in advance by the control device 50 or the control unit 139 of the transfer robot 100. The control unit 139 that receives the command signal from the control device 50 controls the movement of the arm unit 130 so that the position of the centripetal axis LC1 is located at the center of the pair of fingers 152 in the opening/closing direction, and at the same time that the position of the centripetal axis LC1 is at the center of the pair of fingers 152 in the opening/closing direction. The finger portion 151 is moved so as to be located at a predetermined holding position. Further, when holding the unprocessed lens LE, the height position of the finger portion 151 with respect to the lens stand 313 is adjusted so that the peripheral edge of the lens LE is held by the pair of first fingers 154 on the outside.

The lens LE held by the first finger 154 and taken out from the centripetal device 300 is transported onto the lens support section 502 (see FIG. 1) of the lens meter 500 by the transport robot 100.

When the lens LE is a single focus lens, the optical center is generally located near the geometric center of the external shape of the lens LE. The control unit 139 of the transfer robot 100 controls the movement of the arm unit 130 so that the geometric center of the lens LE held by the finger unit 151 is located on the measurement optical axis of the lens meter 500. The optical center position of the lens LE with respect to the measurement optical axis of the lensmeter 500 is obtained by the control unit 510 of the lensmeter 500 based on the measurement results of the measurement optical system of the lensmeter 500. The result is transmitted to the control unit 139 (or may be the control device 50) of the transfer robot 100. Thereby, the control unit 139 acquires information on the positional relationship between the geometric center of the lens LE and the optical center of the lens LE. Further, when the lens LE has an astigmatic component, information on the astigmatic axis direction of the lens LE is obtained based on the measurement results of the measurement optical system of the lens meter 500. Thereby, the control unit 139 acquires information about the astigmatic axis direction of the lens LE.

Note that when measuring the lens LE with the lens meter 500, the transport robot 100 moves the lens LE held by the finger section 151 so that the optical center of the lens LE is located on the measurement optical axis of the measurement optical system. You may let them.

Further, the suction section 170 may be used in this conveyance step S4. For example, in a configuration in which the lens support section 502 or the measurement optical system of the lens meter 500 is moved, a space is secured in which the unprocessed lens LE held by the suction section 170 can be transported onto the lens support section 502. This makes it possible to use the suction section 170.

<Transportation process S5>
In the step of conveying the lens LE from the lens meter 500 to the cup attachment device 600, the finger portion 151 or the suction portion 170 is used. The transport step S5 is a step of transporting the lens LE from the lens meter 500 to the cup CU mounting position of the cup mounting device 600 after the lens LE is measured by the lens meter 500. In this conveyance process, for example, finger portions 151 are used.

When the lens LE is placed on the lens support portion 502 during measurement with the lens meter 500, the peripheral edge of the lens LE is held by the pair of first fingers 154 on the outside. Further, when the lens LE is measured by the lens meter 500 while being held by the first finger 154, the lens LE is conveyed onto the lens support stand 602 of the cup attachment device 600 while being held.

For example, when the cup CU is set to be attached to the optical center of the lens LE, the movement of the arm section 130 is controlled by the control section 139 of the transfer robot 100 that receives a command signal from the control device 50, and the lens meter The lens LE is placed on the lens support base 602 so that the optical center measured by the lens 500 coincides with the reference axis N2 of the cup attachment device 600.

Further, for example, when the cup CU is set to be attached to the geometric center of the lens shape, the lens LE is placed on the lens support stand 602 so that the geometric center coincides with the reference axis N2. Note that the geometric center of the lens shape in the lens LE is obtained based on the lens shape and layout data (data on the positional relationship of the optical center of the lens LE with respect to the lens shape) in the lens processing information acquired by the control device 50, The information is acquired by the control unit 139 of the transfer robot 100.

When the lens LE is placed on the lens support stand 602, the drive of the arm moving unit 620 is controlled by the control unit 660, and the blocking arm 610 is moved toward the lens LE, thereby moving the cup CU attached to the attachment unit 630. is attached to the front surface of the lens LE via an adhesive tape TA. Note that when the lens LE has an astigmatic axis, the mounting portion 631 is rotated around the axis K2 based on the astigmatic axis angle obtained by measurement with the lens meter 500 and the prescription data obtained by the control device 50, The astigmatic axis angle of the lens LE and the reference direction of the cup CU are set in a constant relationship. For example, the reference direction of the cup CU is the longitudinal direction of the cup CU (flange 11), which is the 0 degree direction of the astigmatism axis.

Note that the attachment of the cup CU to the lens LE may be performed while the lens LE is held by the finger portions 151 instead of being placed on the lens support stand 602. For example, the movement of the arm part 130 is controlled by the control part 139, and the lens LE held by the finger part 151 is moved to a predetermined height position on the reference axis N2, and the optical center of the lens LE or the geometry of the lens shape is The center position is moved to match the reference axis N2. Thereafter, with the lens LE held by the finger portion 151, the blocking arm 610 and the holding shaft 640 are moved toward the lens LE, thereby attaching the cup CU to the front surface of the lens LE, and attaching the cup CU to the rear surface of the lens LE. is held down by the holding member 642, and the lens LE is held between the blocking arm 610 and the holding shaft 640. When the lens LE is held between the blocking arm 610 and the holding shaft 640, the holding of the finger portion 151 is released, and the transfer robot 100 is made movable.

<Transportation process S6>
The finger portion 151 is used in the process of conveying the lens LE to which the cup CU is attached to the eyeglass lens processing apparatus 200. The conveying step S6 is a step of taking out the lens LE to which the cup CU is attached from the cup attaching device 600 and conveying it to the eyeglass lens processing device 200. In this conveyance step, since it is inconvenient to use the adsorption section 170, the finger section 151 is used. Specifically, this is due to the following circumstances.

When holding the lens LE on the pair of lens holding shafts 202 of the eyeglass lens processing device 200, the cup CU fixed to the lens LE is attached to the cup holder 230 on the lens holding shaft 202L side, and then the other lens holding shaft is attached. Move the shaft 202R. However, in the spectacle lens processing apparatus 200 of the present disclosure, the pair of lens holding shafts 202 are arranged to extend in the horizontal direction. Therefore, when using the suction section 170, after attaching the cup CU to the cup holder 230, it is necessary to release the suction of the suction section 170, detach the suction section 170, and move the lens holding shaft 202R toward the lens side. However, if the suction of the suction part 170 is released, there is a risk that the lens LE will fall from the lens holding shaft 202L side. Therefore, the finger portion 151 is used to hold the lens LE on the lens holding shaft 202.

The conveyance process S6 will be explained. In the cup attachment device 600, when attachment of the cup CU to the lens LE is completed, the blocking arm 632 is raised and then moved to a predetermined standby position. At this time, since the cup CU is held in the mounting part 630, the lens LE to which the cup CU is fixed is also lifted and moved together with the cup CU. Note that if the lens LE has an astigmatic axis and the mounting portion 631 has been rotated around the axis K2, the rotation is reversed and the longitudinal direction of the cup CU is set as the predetermined direction.

The movement of the arm section 130 is controlled by the control section 139 of the transfer robot 100 that receives a command signal from the control device 50, and for example, the position of the finger section 151 is controlled so that the finger section 151 holds the periphery of the cup CU. be done. In this case, a pair of second fingers 156 on the inside are used, and the position and orientation of the finger portion 151 are controlled so that the longitudinal direction of the circumferential edge of the cup CU is parallel to the opening/closing direction of the second fingers 156. The lens LE is transported by the transport robot 100 with the peripheral edge of the cup CU held by the second finger 156.

As a modified example, when the lens LE is taken out from the cup attachment device 600 and transported, the peripheral edge of the unprocessed lens LE may be held by the finger portion 151. In this case, the first pair of fingers 154 on the outside are used. Also in this case, the position and orientation of the finger portion 151 are controlled so that the longitudinal direction of the cup CU is parallel to the opening/closing direction of the first finger 154.

The lens LE transported by the transport robot 100 is attached to the lens holding shaft 202L of the eyeglass lens processing device 200. At this time, the control section 210 of the eyeglass lens processing apparatus 200 that receives the command signal from the control device 50 controls the rotation unit 256, adjusts the rotation angle of the lens holding shaft 202, and puts it on standby.

For example, as shown in FIG. 14 (FIG. 14 is a diagram illustrating attachment of the lens LE to the lens holding shaft 202 by the finger portion 151), the transfer robot 100 is configured to attach the lens holding shaft 202 to the lens holding shaft 202 during processing of the lens LE. The finger portion 151 is controlled to enter from the direction of the entry axis M1 that is inclined by an angle β1 with respect to the reference direction ST1 of rotation. Note that the reference direction ST1 of the rotation of the lens holding shaft 202 is the left-right direction of the lens shape (this is also the 0 degree direction of the astigmatic axis of the lens LE), and for example, at the start and end of processing the lens LE, it is horizontal. direction.

Regarding the entry of the finger portion 151, specifically, the finger portion 151 enters from the loading port 270 along the entry axis M1 passing through the center O of the lens holding shaft 202 placed in the standby position. Further, the cup CU held by the finger portion 151 is advanced in such a manner that the longitudinal direction (the direction of the keyway 10b of the cup CU) is a direction M2 perpendicular to the entrance axis M1. Accordingly, the rotation angle of the lens holding shaft 202 is adjusted. That is, the rotation angle of the lens holding shaft 202 is adjusted at the angle β2 (90°-β1) so that the key 231b of the cup holder 230 is in the direction M2 perpendicular to the entry axis M1. This allows the cup CU to be attached to the cup holder 230 held by the lens holding shaft 202L.

Note that even when the peripheral edge of the unprocessed lens LE is held by the finger portion 151, the rotation angle of the lens holding shaft 202 is similarly adjusted and the lens is on standby when the cup CU is attached to the cup holder 230.

After the attachment of the cup CU to the cup holder 230 is completed, the lens holding mechanism 240 is driven under the control of the control unit 210 with the cup CU or the lens LE held by the finger portion 151, thereby holding the lens. The shaft 202R is moved toward the lens LE, and the lens LE is held down by the lens holder 235. Thereby, the lens LE is held by the lens holding shaft 202 without falling. Thereafter, the holding of the cup CU or the lens LE by the finger part 151 is released, and the finger part 151 is retracted from the entrance 270 along the entrance axis M1.

After the finger section 151 of the transfer robot 100 is retracted, the drive of the moving unit 250 is controlled by the control section 210, and the moving unit 250 is held on the lens holding shaft 202 based on the lens processing information such as the lens shape included in the command from the control device 50. The processed peripheral edge of the lens LE is processed by the processing tool 260.

<Transportation process S7>
In the step of taking out and transporting the processed lens LE from the spectacle lens processing apparatus 200, the finger portion 151 is used. The transport step S7 is a step in which the processed lens LE is taken out from the eyeglass lens processing apparatus 200 and transported to the temporary storage stand 700 while the processed lens LE is being returned to the tray TR. In this conveyance process as well, when taking out the lens LE held by the lens holding shaft 202, the finger portion 151 is used, as it is inconvenient to use the suction portion 170, as described above.

After processing the lens LE, the control unit 210 of the eyeglass lens processing device 200 controls the rotation unit 256, adjusts the rotation angle of the lens holding shaft 202, and waits for the transfer robot 100 to take out the processed lens LE. .

<Holding the processed lens using the finger section>
When using the finger portion 151 in the conveyance step S7, a case will be described in which the peripheral edge of the processed lens LE is held by a pair of fingers 152. In this case, the control unit 210 acquires information regarding the external shape of the processed lens LE held on the lens holding shaft 202, and based on this information and information on the opening/closing direction of the pair of fingers 152, the control unit 210 obtains the rotation angle of the lens holding shaft 202. Adjust.

The lens LE is processed into various external shapes. If the processed lens LE is held by the finger 152 with the lens holding shaft 202 stopped rotating at the time when the processing of the lens LE is completed without considering the external shape of the processed lens LE, the lens LE will fall. There are cases where this happens.

FIG. 15 is a diagram illustrating the relationship of the finger 152 to the external shape of the processed lens LE. For example, in FIG. 15, with respect to the outer shape TB of the processed lens LE shown in FIG. 15, the contact point of the left second finger 156L is P1, and the contact point of the right second finger 156R is P2. In this case, the holding pressure FL applied to the contact point P1 and the holding pressure FR applied to the contact point P2 are parallel to the opening/closing direction M2 of the pair of fingers 152 and act in opposite directions. The contact point P1 and the contact point P2 have different positions in the direction of the opening/closing center line MC3 of the finger 152. In this state, when the processed lens LE is held by the pair of fingers 152, the lens LE is rotated in the direction of arrow B by the holding pressure FL applied to the contact point P1 and the holding pressure FR applied to the contact point P2, and is stabilized. There is a possibility that it will not be held and fall.

Therefore, in the present disclosure, when the processed lens LE is held by the pair of fingers 152, the control unit 210 controls the lens holding shaft 202 so that the processed lens LE does not rotate due to the holding pressure of the pair of fingers 152. Adjust the rotation angle. Specifically, the control unit 210 determines two points at which each of the fingers 152 (the left second finger 156L and the right second finger 156R) abuts the outer shape TB of the processed lens LE when the fingers 152 are closed. Then, the rotation angle α (not shown) of the processed lens LE when a straight line passing through these two points is parallel to the opening/closing direction M2 of the finger 152 is determined. Then, the control unit 210 adjusts the rotation angle of the lens holding shaft 202 based on the obtained rotation angle α, and causes the lens holding shaft 202 to stand by. Note that the external shape TB is obtained by the control unit 210 obtaining control data for processing the lens LE, but for simplicity, the lens shape included in the lens processing information may be used.

FIG. 16 is a diagram illustrating an example of determining the rotation angle α of the processed lens LE. In FIG. 16, the opening/closing direction of the finger 152 is defined as the X direction, and the direction of the opening/closing center line MC3 of the finger 152 (the approach direction M1 in FIG. 14), which is a direction perpendicular to the X direction, is defined as the Y direction. Note that the XY directions in FIG. 16 are used for convenience of explanation, and are different from the XY directions used in the explanation of the spectacle lens processing device 200 and other devices.

First, regarding the external shape TB of the processed lens LE in the initial state after completion of processing shown in FIG. Two points are found: a point PL where the leftward distance XL in the X direction is maximum and a point PR where the rightward distance XR in the X direction is maximum. Point PL is the point where the second left finger 156L comes into contact, and point PR is the point where the second right finger 156R comes into contact. The difference in the Y direction between the point PL and the point PR at this time is defined as ΔY, and the straight line passing through the two points, the point PL and the point PR, is defined as LPP.

Next, the control unit 210 rotates the external shape TB in small angle increments (for example, 0.36 degrees) based on the rotation center O, calculates the point PL and the point PR at each rotation, and calculates the difference ΔY at that time. seek. This calculation is performed for one rotation (360 degrees) of the lens LE. The condition that the straight line passing through the points PL and PR becomes parallel to the X direction is when the difference ΔY becomes zero.

In the external shape TB of the processed lens LE shown in FIG. 16(a), when the rotation angle α1 is shown in FIG. 16(b) and in FIG. 16(c) with respect to the initial state of FIG. 16(a), The difference ΔY becomes zero at the rotation angle α2 shown in FIG. Furthermore, the difference ΔY becomes zero when the rotation angle is α1+180 degrees and when the rotation angle is α2+180 degrees. The control unit 210 adjusts the rotation angle of the lens holding shaft 202 to one of these rotation angles and puts it on standby. As a result, the processed lens LE can be stably held and taken out without rotating due to the holding pressure of the fingers 152 and without dropping the processed lens LE, and can be transported appropriately. can.

For example, the control unit 210 adjusts the rotation angle of the lens holding shaft 202 to the rotation angle α2 so that the maximum width portion of the external shape TB is held by the finger 152. Here, the minimum opening/closing width of the finger 152 in the embodiment is set so as to be able to maintain at least the width of the cup CU in the longitudinal direction. Even if the lens LE is machined to have a small diameter, it can be machined only up to at least a portion in the longitudinal direction of the cup CU. Therefore, by holding the maximum width portion of the external shape TB with the finger portions 151, the finger portions 151 can hold the lens LE of any processed shape. Note that the two points in the longitudinal direction where the outer shape of the cup CU has the maximum width are set to have a width larger than the minimum width that can be held by the pair of fingers 152 (width W3 in FIG. 4).

In addition, regarding the adjustment of the rotation angle of the lens holding shaft 202, in reality, as shown in FIG. The opening/closing direction M2 of the finger 152 is adjusted to be an angle β2 (90°−β1).

Note that when the outer shape TB exceeds the maximum width W2 that the pair of second fingers 156 can open, it is determined that the first fingers 154 are used.

The above calculation method is just an example, and the processed lens LE is adjusted so that the straight line PLL passing through the two points where the left and right sides of the finger 152 contact the external shape TB of the processed lens LE is parallel to the opening/closing direction of the finger 152. There are various methods for determining the rotation angle α.

When the holding of the processed lens LE by the fingers 152 is completed, the lens holding shaft 202R is moved to the side away from the lens LE, and the holding of the lens LE by the pair of lens holding shafts 202 is released. At this time, since the lens LE is held by the fingers 152, it can be taken out from the horizontally extending lens holding shaft and transported without falling.

After the control unit 139 of the transport robot 100 takes out the processed lens LE from the eyeglass lens processing apparatus 200, it transports it to the temporary storage table 700 before returning it to the tray TR. As shown in FIG. 7, the wrist 136 is rotated so that the cup CU attached to the lens LE is on the lower side. Thereafter, the finger portion 151 is lowered so that the base portion 10 of the cup CU is inserted into the insertion hole 711a of the cup mounting portion 710 of the temporary storage stand 700. Further, the movement of the finger portion 151 is controlled so that the key groove 10b of the cup CU is fitted into the key 711b. Thereby, the processed lens LE is placed on the support shaft 704 of the temporary stand 700.

<Holding the cup by the fingers>
Next, when using the finger portion 151 in the conveyance step S7, a case will be described in which the periphery of the cup CU is held by a pair of fingers 152. In this case as well, the control unit 210 acquires information regarding the external shape of the cup CU attached to the processed lens LE, and adjusts the rotation angle of the lens holding shaft 202 based on this and information on the opening/closing direction of the pair of fingers 152. adjust.

For example, the control unit 210 adjusts the rotation angle of the lens holding shaft 202 so that the longitudinal direction in which the outer shape of the cup CU has the maximum width corresponds to the opening/closing direction of the fingers 152. The two points in the longitudinal direction where the outer shape of the cup CU has the maximum width are set to have a width larger than the minimum width (width W3 in FIG. 4) that can be held by the pair of fingers 152.

Here, as in FIG. 14, the finger portion 151 is entered from the direction of the entry axis M1 that is inclined by an angle β1 with respect to the reference direction ST1 of the lens holding shaft 202 at the time of finishing the processing of the lens LE. When the processing of the lens LE is completed, the longitudinal direction of the cup CU is in the direction of the reference direction ST1. When the cup CU is held by the fingers 152 in this state, as in the case of the processed lens LE shown in FIG. 152 may not be parallel to the opening/closing direction M2. In this case, the cup CU may not be stably held and the lens LE may fall.

Therefore, the lens holding shaft 202 is rotated clockwise by an angle β2 with respect to the reference direction ST1 so that the longitudinal direction of the cup CU attached to the cup holder 230 of the lens holding shaft 202L is parallel to the opening/closing direction M2 of the finger 152. The rotation angle is adjusted. Since the longitudinal direction of the cup CU is held by the fingers 152, the cup CU is stably held and the lens LE can be transported without falling.

Thereafter, similarly to the case where the processed lens LE is held by the fingers 152, after the holding of the lens LE by the pair of lens holding shafts 202 is released, the processed lens LE is taken out from the eyeglass lens processing apparatus 200. , and is transported onto the support shaft 704 of the temporary storage table 700.

<Transportation process S8>
In the conveyance process of returning the processed lens LE to the tray TR, preferably the suction unit 170 is used. The transport step S8 is a transport step in which the processed lens LE placed on the temporary storage table 700 is taken out and returned to the tray TR.

The processed lens LE is placed on the temporary stand 700 with its rear side facing up. The control unit 139 of the transport robot 100 controls the arm unit 130 and moves the suction unit 170 so that the suction unit 170 holds the rear surface side of the processed lens LE. The center position of the suction part 170 is aligned with the center position of the cup mounting part 710.

The movement of the arm section 130 is controlled by the control section 139, and after the rear surface of the processed lens LE is held by the suction section 170, it is transported to the tray TR placed at a predetermined position. The processed lens LE is returned to the original lens mounting portion TR10R side. At this time, the base 10 of the cup CU located on the front side (lower side) of the lens LE held by the suction part 170 is aligned so that it is inserted into the insertion hole TR21, and the rear side of the lens LE is placed upward. The lens LE is returned to its original state. Thereby, the processed lens LE is stably placed on the tray TR.

As described above, by using the temporary holding table 700 and the suction unit 170, even when the circumferential edge of the cup CU is held and taken out by the fingers 152 in the above-mentioned conveyance process S7, the position is placed on the front side of the lens LE. By aligning the base 10 of the cup CU with the insertion hole TR21, the lens LE can be stably returned to the tray TR.

In addition, when the peripheral edge of the processed lens LE is held and taken out by the fingers 152 in the above-mentioned transport process S7, the transport to the temporary storage stand 700 in the transport process S7 is omitted, and the processed lens LE is directly transferred. It may be returned to the tray TR. However, if it is difficult to stably install the processed lens LE on the tray TR due to the fingers 152 interfering with the side wall TR34 located at a higher position than the lens stand TR30, the temporary mounting stand 700 and the suction unit 170 may Good to use.

The unprocessed lens LE for the left eye is also transported in the same manner as the unprocessed lens LE for the right eye, and the processed lens LE is returned to its original position on the tray TR.

<Transformation example>
Although typical embodiments of the present disclosure have been described above, the present disclosure is not limited to the embodiments shown here, and various modifications can be made within the scope of keeping the same technical idea of the present disclosure.

For example, the measurement optical system of the lens meter 500 and the cup attachment device 600 may be an integrated device. As the integrated device, the device described in Japanese Unexamined Patent Publication No. 2008-299140 can be used. This cup attachment device has the function of measuring the optical properties of the lens LE.

For example, in the process of conveying the lens LE to the lens meter 500 (the above-mentioned conveyance process S4), the suction unit 170 may be used. In this case, the lens support portion 502 of the lens meter 500 may be in a state where the lens LE is placed at a predetermined height position even if the lens LE is not held by the finger portions 151.

Furthermore, in the above description, the finger portion 151 has two stages, the first finger 154 and the second finger 156, but due to the relationship between the stroke width of the opening/closing mechanism 160 and the minimum and maximum widths of the object. Furthermore, there may be three or more stages. For example, there may be a third finger between the first finger 154 and the second finger 156 with intermediate opening and closing. In addition, although the left and right fingers of the first finger 154 and the second finger 156 were assumed to be integrally constructed in the above description, they are each constructed separately, and the opening/closing mechanism of the first finger and the second finger The opening and closing mechanisms of 156 may also be of separate configurations.

Furthermore, in the above description, the first finger 154 and the second finger 156 of the pair of fingers 152 are arranged in a stepwise manner in a direction perpendicular to the direction in which the fingers extend (direction of opening/closing center line MC3). However, it is not limited to this. For example, as shown in FIG. 17, the first finger 154 and the second finger 156 may be provided in stages in the direction in which the fingers extend (direction of opening/closing center line MC3).

Regarding the configuration of the pair of fingers 152, in the embodiment, both the left finger and the right finger move in the opening/closing direction, but one finger is fixed and the other finger moves in the opening/closing direction. You can.

100 Transfer robot 130 Arm section 139 Control section 150 Holding section 151 Finger section 152 Finger 154 First finger 154L First left finger 154R Right first finger 156 Second finger 156L Second left finger 156R Second right finger 160 Opening/closing mechanism 170 Adsorption mechanism Section 200 Eyeglass lens processing device 202 Lens holding shaft 210 Control section 256 Rotation unit TR Tray CU Cup

Claims (11)

A transport robot that transports eyeglass lenses,
comprising an arm part and a holding part provided at the tip of the arm part,
The holding section includes at least a pair of fingers that sandwich and hold any object such as an eyeglass lens or a cup that is a processing jig for the eyeglass lens, and a finger section that holds the eyeglass lens within the object by adsorption. A transfer robot characterized in that it has a suction part that does. The transfer robot according to claim 1,
The pair of fingers sandwich and hold the periphery of the spectacle lens or the periphery of the cup,
The transport robot is characterized in that the suction unit suctions and holds a refractive surface of a spectacle lens. The transfer robot according to claim 1 or 2,
The transfer robot, wherein the suction section is provided on the finger section. In the transfer robot according to any one of claims 1 to 3,
The transfer robot is characterized in that the suction section is provided at a position where interference with the held object can be avoided even when the object is held by the pair of fingers. In the transfer robot according to any one of claims 1 to 4,
comprising a control means for controlling the operation of the transfer robot,
The transport robot is characterized in that the control means controls the transport robot to selectively use holding by the finger parts and holding by the suction part depending on the transport process of the eyeglass lens. The transfer robot according to claim 5,
In the step of taking out and transporting unprocessed eyeglass lenses placed in a tray, the control means controls the transport robot to hold the eyeglass lenses with the suction part, and the cup is attached to the eyeglass lenses. After that, in the step of holding the eyeglass lens via the cup on the lens holding shaft, which is provided in the eyeglass lens processing apparatus and extends in the horizontal direction, the peripheral edge of the unprocessed eyeglass lens or the A transfer robot, characterized in that the transfer robot is controlled to hold a peripheral edge of a cup. The transfer robot according to any one of claims 1 to 6,
The finger portion includes a pair of first fingers that are opened and closed to sandwich and hold the periphery of an unprocessed eyeglass lens, and a pair of first fingers that are opened and closed to sandwich and hold the periphery of the processed lens or the periphery of the cup. A transport robot comprising at least a second finger. The transfer robot according to claim 7,
The pair of first fingers and the pair of second fingers have a common opening/closing mechanism, and the opening/closing stroke of the pair of first fingers and the opening/closing stroke of the pair of second fingers are the same,
A transfer robot characterized in that a maximum width that the pair of first fingers opens by the opening/closing mechanism is larger than a maximum width that the pair of second fingers opens by the opening/closing mechanism. The transfer robot according to claim 8,
The minimum width in which the second finger can be opened and closed by the opening and closing mechanism is set to a width that can maintain at least a predetermined minimum diameter of the processed eyeglass lens,
The maximum width in which the first finger can be opened and closed by the opening and closing mechanism is set to a width that can maintain at least a predetermined maximum diameter of the unprocessed eyeglass lens,
A transfer robot characterized in that a minimum width at which the first finger can be opened and closed by the opening and closing mechanism is set to be at least less than a maximum width at which the second finger can be opened and closed. A transport robot that transports eyeglass lenses,
comprising an arm part and a holding part provided at the tip of the arm part,
The holding part is a finger part that holds an object such as an eyeglass lens or a cup that is a processing jig for the eyeglass lens with at least one pair of fingers, and holds the periphery of the unprocessed eyeglass lens. A transfer robot comprising at least a pair of first fingers that are opened and closed to hold the periphery of a processed lens or a periphery of the cup. . An eyeglass lens processing system that processes the peripheral edge of an eyeglass lens using an eyeglass lens processing device,
An eyeglass lens processing system comprising the transport robot according to any one of claims 1 to 10.

Images