JP4363652B2 - Article transfer device and transfer method - Google Patents

Description

  The present invention relates to an article, such as a fine electronic component represented by a magnetic head slider, from a tray serving as a first container on which the electronic component is placed, to a tray serving as a second container different from the first tray. The present invention relates to a transfer device and a transfer method for articles to be transferred. More specifically, before the electronic component is placed on the first tray, or after the electronic component is subjected to a process such as washing, and then the electronic component is transferred to the second tray. The present invention relates to a transfer apparatus and a transfer method for reducing contamination of parts and the like due to particles and the like.

  For example, in a magnetic head slider, a plurality of bar-shaped members that are integrated in one direction are attached to a jig with an adhesive, a predetermined surface of the member is polished in this state, and the bar-shaped member is then removed from the jig. It is obtained by peeling off and cutting this. Usually, the magnetic head slider to which the adhesive after cutting is attached is placed in an aligned state on a substantially flat storage member called a tray once by manual work or the like. These magnetic head sliders are first subjected to an adhesive removal process with a solvent or the like, and then subjected to several stages of cleaning processes. After the above cleaning process, these magnetic head sliders are subjected to a magnetic head manufacturing process.

  Here, during each process such as the adhesive removal process and the cleaning process, each magnetic head slider is held on a different tray between each process and moved between the processing apparatuses. In the cleaning step described here, for example, as shown in Patent Document 1, a single tray is used, and the number of trays used is reduced by sequentially moving the magnetic head slider through a plurality of cleaning tanks. A configuration for reducing and improving the cleaning efficiency is known. In the apparatus disclosed in this document, the application position of ultrasonic waves in each cleaning tank is further optimized to perform more effective cleaning.

JP-A-6-103511

  Normally, even if electronic parts such as magnetic head sliders that have been washed to a high degree are taken out from the tray and aligned and placed, the electronic parts and the tray or the electronic parts and the electronic parts are gripped. Particles generated by contact with the mechanism, particles present in the atmosphere, particles adhering to the tray itself, and the like adhere to the surface of the electronic component and are contaminated by these. These contaminants include cleaning liquid residues and the like in a normal cleaning process. Furthermore, when various operations such as removal of these electronic components are performed in a state where the cleaning liquid or the like is insufficiently dried, contaminants adhere to the surface of the electronic component in a so-called wash stain state, further contaminating the electronic component. It is possible to do.

  In addition, the quality of electronic components is inspected in each process, and when transferring between trays, the electronic components are rearranged to fill the space generated by the removal. Is called. Further, this rearranging step is also performed according to the quality of each electronic component, the lot number, and the like. This rearrangement step is indispensable for efficiently proceeding with subsequent steps using electronic components on the placed tray, such as a magnetic head assembly step. Therefore, it is considered difficult to simply reduce the number of trays only from the viewpoint of preventing contamination.

  The present invention has been made in view of the above-described matters, and reduces the occurrence of contamination of the electronic components during the transfer process from the tray to the tray in a series of cleaning steps of minute electronic components such as a magnetic head slider. It is an object to provide a transfer device and a transfer method. In addition, the present invention provides a transfer device and a transfer method capable of rearranging electronic components without contaminating the electronic components when transferring the electronic components between individual trays. That is also the purpose.

  In order to solve the above-described problem, a transfer device according to the present invention is a transfer device that transfers an article from a first storage container that stores an article to a second storage container. In addition, a tank capable of holding the first storage container and the second storage container in a predetermined liquid, and an article is taken out from the first storage container by entering the predetermined liquid, and the article is placed in the second storage container. A transfer device having a pickup means for mounting, wherein the article is transported in a predetermined liquid when the article is transferred from the first container to the second container.

  In addition, it is preferable that the transfer apparatus described above further includes an imaging unit that captures an image of an article conveyed in a predetermined liquid and obtains an image used when determining the attribute of the component. Moreover, it is preferable that the pick-up means described above includes a pick-up nozzle that holds an article by suction. Furthermore, in the above-described transfer device, an elevator mechanism that holds at least one of the first storage container and the second storage container and moves the liquid into and out of a predetermined liquid in the one storage container. Furthermore, it is preferable to have.

  Moreover, in order to solve the said subject, the transfer method which concerns on this invention is a method of transferring articles | goods from a 1st storage container to a 2nd storage container, Comprising: The 1st storage container which accommodates articles | goods And a step of sinking a second storage container that does not store the article in a predetermined liquid, a step of holding the article stored in the first storage container using the pickup means, and a state in which the pickup means holds the article. A step in which the liquid is driven in a predetermined liquid; a step in which the pickup means transfers the article to the second container; a first container in which the article is taken out; and a second in which the article is transferred. And a step of taking the container out of the predetermined liquid.

  In the transfer method described above, when the pickup means holds the article and drives in the predetermined liquid, the predetermined surface of the article is imaged, the attribute of the article is determined from the image obtained by the imaging, Preferably, the method further includes a step of determining a treatment to be performed on the article. In this case, it is preferable that the processing performed on the article is determination of a transfer position of the article in the second container and transfer of the article to the transfer position.

  In addition, in order to solve the above-described problem, the article transfer method according to the present invention includes a step of holding an article by a pickup means that holds the article without covering a predetermined portion of the article, and a state in which the pickup means holds the article. And a step of driving the article through the predetermined path and a step of transferring the article to the receiving container, and when the pickup means is driven while holding the article, It is characterized in that a surface is imaged, an attribute of the article is determined from an image obtained by the imaging, and a process to be performed on the article is determined based on a result of the determination. In this case, it is preferable that the processing performed on the article is determination of a transfer position of the article in the second container and transfer of the article to the transfer position.

  According to the present invention, when a small electronic component such as a magnetic head slider is transferred from tray to tray, and when there is a cleaning step before and after the transfer step, the electronic component is not contaminated. It is possible to transfer to a tray and rearrange electronic components on the tray. In the past, when transferring an electronic component to a tray after one cleaning process was completed, it was necessary to completely dry the surface of the electronic component. According to the present invention, it is possible to place electronic components on a tray without going through a drying process, and the effects of shortening the process time and improving productivity can be obtained.

  Furthermore, when the electronic component is transferred, the transfer position on the next tray of the electronic component can be determined by recognizing the attribute when the electronic component moves along a predetermined path. Thereby, it is also possible to efficiently perform the electronic component rearrangement process described above.

  Embodiments of the present invention will be described below with reference to the drawings. 1A to 1C are schematic views of the electronic component transfer apparatus according to the present invention as viewed from the front, showing the tray installation, transfer preparation state, and transfer state, respectively. Yes. In the electronic component transfer apparatus 1 according to the present invention, the first elevator 5 on which the electronic component take-out tray 3 is placed on the receiving surface 5a, and the electronic component transfer tray 7 are placed on the receiving surface 9a. The second elevator 9, the cleaning tank 11, the OCR (Optical Character Recognition) camera 13 in which the imaging point is present in the cleaning liquid 11 a existing in the cleaning layer 11, and the electronic component 19 is held, moved, and transferred in the cleaning liquid. It has a pickup nozzle 50 that performs and a drive system 61 (see FIG. 3) that moves the pickup nozzle.

  The electronic component take-out tray 3 and the electronic component transfer tray 7 are each made of a substantially plate-like member, and have a plurality of concave portions for accommodating electronic components on one plane (upper surface in the drawing). These trays can be exchanged from the first elevator 5 and the second elevator 9 by tray exchange means (not shown). These elevators move between two positions: outside the cleaning liquid, that is, above the surface of the cleaning liquid, where individual trays can be attached and detached, and where the electronic components are transferred in the cleaning liquid. It is possible. Moreover, the 1st and 2nd clamp mechanisms 5b and 9b are arrange | positioned at each receiving surface, The tray can be fixed with respect to a receiving surface. By this fixing operation, the vertical position of the elevator, that is, the displacement of the tray during the movement operation between the outside of the tray and the middle of the liquid is prevented.

  A cleaning solution 11a such as IPA (isopropyl alcohol) and NMP (N-methyl-2-pyrrolidone) is stored in the cleaning tank 11 so as to maintain a predetermined liquid level. A cleaning exchange mechanism 11b is attached to the cleaning tank 11, and the cleaning liquid can be replaced as needed according to the deterioration of the cleaning liquid. Further, the elevating shafts 5c and 9c of the first elevator 5 and the second elevator 9 are respectively connected from the inside of the cleaning tank 11 to the outside through a sealing material (not shown) provided on the constituent wall of the cleaning tank 11. That is, it is drawn out of the cleaning liquid 11a. By having the said structure, the drive system for performing the up-and-down movement of each elevator can be located in the exterior of the washing tank 11. FIG. Therefore, it is possible to prevent the cleaning liquid 11a from being contaminated by these drive systems.

  As an electronic component, for example, a magnetic head slider has a product database created in order to identify and manage individual products in the magnetic head manufacturing process. As the database, so-called serial numbers are generally used so that the features of individual sliders can be grasped. These databases also include information that, for example, a slider having a number “xxxx” is an A rank product and a slider having a number “yyyy” is a B rank product. The OCR camera 13 is arranged to read these serial numbers when transporting the magnetic head slider or the like in the cleaning liquid. FIG. 2 is a diagram illustrating a lot number 21 recognized by the OCR camera 13.

  The OCR camera 13 is disposed at a position where a predetermined surface of the electronic component 19 can be photographed on the movement path when the pickup nozzle 50 grips and moves the electronic component 19. That is, the imaging target point is installed on the moving route. The OCR camera 13 is housed in an enclosure (not shown), and only the lens portion is directed into the liquid. A sealing material is disposed in the lens barrel portion of the OCR camera 13, and a coating is applied to a portion exposed to the cleaning liquid, thereby preventing the cleaning liquid from entering the portion.

  Note that the depth of focus of the OCR camera 13 is set small because it is used for serial number reading. For this reason, the lower camera 17 is used for observing the electronic component 19 transferred through the cleaning liquid 11a from below, and confirming and positioning these holding states. Based on the image by the lower camera 17, the holding posture of the electronic component 19 with respect to the electronic component receiving recess on the electronic component transfer tray 7 is determined, and the position correction at the time of transfer is performed. A glass plate 11c arranged and fixed via a sealing material is present on the bottom surface of the cleaning tank 11, and the lower camera 17 passes through the glass plate 17 to the outside of the glass plate 11c, that is, in the cleaning tank 11. It arrange | positions so that the inside of the washing | cleaning liquid 11a can be observed from the downward direction.

  Here, the pickup nozzle 50 used in the embodiment of the present invention will be described with reference to FIG. The pickup nozzle 50 mainly includes a substantially cylindrical cylinder 51 and a piston 53 that is disposed inside the cylinder of the cylinder 51 and has an outer peripheral portion that is slidable substantially in close contact with the inner peripheral portion of the cylinder. The piston 53 is connected to one end of a piston rod 55 that extends in a direction different from the opening 51 a of the cylinder 51. The other end of the piston rod 55 is connected to a drive shaft 57a of an air cylinder 57 that is a drive source. The pneumatic circuit 59 is a circuit that supplies air of a predetermined pressure to the air cylinder 57. By causing the circuit 59 to supply and discharge air, the air cylinder 57 is driven and the piston rod 55 is driven accordingly. Can be done.

  The cylinder 51, the piston 53, the piston rod 55, and the air cylinder 57 are integrally supported by the pickup nozzle drive mechanism 61 so as to be movable in the moving direction of the piston 53 and in a plane perpendicular to the moving direction, that is, in three axis directions. ing. The pickup nozzle 50 moves the piston 53 away from the cylinder opening 51a, thereby sucking the cleaning liquid 11a into the cylinder 51 and simultaneously adsorbing the electronic component 19 to the cylinder opening 51a. Further, the electronic component 19 held by suction can be discharged from the cylinder opening 51a by causing the piston 53 to approach the cylinder opening 51a and discharging the cleaning liquid 11a inside the cylinder 51.

  Further, the cylinder 51 is accompanied by a cylinder rotation mechanism 63 that can rotate by a minute angle around the axis of the cylinder. The cylinder rotating mechanism can rotate only the cylinder 51 independently of the piston 53. In the present embodiment, the cylinder rotation mechanism 63 corrects the rotational deviation between the electronic component and the concave portion on the tray. However, the position of the rotation mechanism that performs the deviation correction is the same as that of the embodiment. It is not limited to the case shown. Specifically, the pickup nozzle drive mechanism 61 may be integrated. Further, since the object is fine and the amount of the cleaning liquid actually sucked into the cylinder 51 is small, it is preferable to perform the adsorption / release operation in a minute region. Therefore, operations such as supply and discharge of high-pressure air by the pneumatic circuit are preferably performed by arranging a precision regulator or the like in the pneumatic circuit to increase the operation accuracy of the piston 53.

  Usually, in the operation of adsorbing the object to be conveyed in the liquid, an adsorption device using a liquid pump is used. However, when a configuration using a liquid pump is used for picking up a minute electronic component targeted by the present invention, it is necessary to perform frequent on / off and a very small amount of suction and discharge. Such an operation can be performed for the first time by arranging several solenoid valves or the like in the circuit. Such a configuration including a solenoid valve is highly versatile, but at the same time is expensive, and the scale of the device configuration is also increased. Therefore, it is considered unrealistic to combine the pickup nozzle with, for example, a three-axis driving configuration.

  As in this embodiment, it is possible to construct a pickup nozzle having a small and simple structure by forming a negative pressure and a positive pressure in the liquid by the pneumatic circuit. In addition, because of such a small nozzle configuration, the configuration of the drive system can also be constructed from a simple and small-scale configuration. In addition, the pickup nozzle with this configuration has no risk of the cleaning liquid entering the pneumatic circuit, and can withstand pressure, corrosion and protect the lubricant as in normal use. It becomes.

  Next, an actual electronic component transfer process will be described. When the electronic component is transferred, first, as shown in FIG. 1A, the electronic component take-out tray 3 accommodating the electronic component is placed on the first elevator 5 and fixed by the first clamping mechanism 5b. At the same time, the electronic component transfer tray 7 is fixed on the second elevator 9 by the second clamp mechanism 9b. Subsequently, as shown in FIG. 1B, these elevators are lowered, and when each tray reaches a predetermined position in the cleaning liquid 11a, the lowering is stopped.

  In this state, the pickup nozzle 50 is driven by the pickup nozzle drive mechanism 61 to the position just above the target electronic component 19. The drive is stopped when the cylinder opening 51a in the pickup nozzle reaches a predetermined distance from the upper surface of the target electronic component 19. In this state, the air cylinder 57 is driven, and the cleaning liquid 11a is sucked into the cylinder 51 and the electronic component 19 is sucked. After the electronic component is picked up, the pickup nozzle 50 is driven through a predetermined path so that the electronic component 19 passes through the focus of the OCR camera 13. At the time of driving, the electronic component data is recognized, and at the same time, the holding state of the electronic component is recognized from the video by the lower camera 17. Further, the transfer position on the electronic component transfer tray 7 is designated based on the obtained data of the electronic component 19.

  The pickup nozzle 50 is driven to a position just above the target electronic component placement position on the electronic component transfer tray 7. Here, based on the holding state of the electronic component 19 recognized using the video of the lower camera 17, the electronic component 19 has a posture corresponding to the target mounting position on the electronic component transfer tray 7. Position correction by the pickup nozzle 50 is performed. At that time, the cylinder 51 and the electronic component 19 may be slightly rotated by the cylinder rotation mechanism 63. After the position correction is completed, the pickup nozzle 50 is lowered again until the lower surface of the electronic component 19 reaches a predetermined distance from the upper surface of the target placement position. Thereafter, the air cylinder 57 is driven to release the electronic component 19 and the cleaning liquid 11a from the cylinder opening 51a.

  By passing through the above process, the transfer process of the electronic component 19 to be transferred from the electronic component take-out tray 3 to the electronic component transfer tray 7 is completed. These transfer steps are schematically illustrated in FIG. 1C. When the transfer of one electronic component 19 is completed, the pickup nozzle 50 is driven to a position immediately above the target electronic component to be transferred next. Thereafter, the series of steps described above is repeated a plurality of times, and the transfer process of all the electronic components 19 placed on the electronic component take-out tray 3 onto the electronic component transfer tray 7 is completed. After the transfer is completed, both elevators are raised and stopped to a predetermined position, each tray is exchanged for the next process, and the transfer process of electronic components between the next trays is performed. In the present embodiment, all the electronic components 19 are transferred between the trays, but the present invention is not limited to this embodiment. Specifically, processing to be performed on the electronic component is determined based on the video result, such as transporting an electronic component determined to be defective based on the video of the OCR camera 13 to another storage position different from the tray. It is good also to carry out.

  As described above, according to the present invention, the electronic components are not exposed to the air before and after cleaning or in the rearrangement process. Therefore, it is possible to prevent various contaminations caused by taking out electronic components from the liquid.

  In this embodiment, an electronic component typified by a magnetic head slider has been described as a transfer target. However, an application target of the present invention is not limited to such a small electronic component. The present invention can also be applied to a transfer process of special parts, pellets, etc., which are relatively small and require high quality control. Although the liquid to be used is described as the cleaning liquid, various liquids having predetermined characteristics such as a storage liquid for maintaining a clean state can be used. Moreover, although an elevator consists of a 1st and 2nd pair of structure and each can be driven independently, you may aim at simplification of an apparatus structure as these consisting of a single elevator. In addition, the electronic component take-out tray does not use an elevator. For example, when the tray is inserted into and removed from the tank in a state where no cleaning liquid is present in the tank, the elevator is used for the electronic component transfer side tray. Only the group may be used. Conversely, the number of trays may be increased according to the quality of electronic components, data, and the like, and elevators corresponding to individual trays may be provided.

  Further, in the present embodiment, a tray having a substantially flat plate shape is used as the electronic component storage container, but the shape of the storage container is not limited to the tray. It is desirable to change appropriately according to the shape of the article to be transferred, the liquid to be used, processing other than the transfer performed in the liquid, and the like. The OCR camera 13 and the lower camera 17 may be so-called optical or electronic. The data obtained by the OCR camera 13 includes all the attributes indicated by the notation on the surface of the member other than the attribute relating to the holding state of the electronic component.

  In the present embodiment, a pickup nozzle that holds an electronic component by suction is used. However, the present invention is not limited to the type of the nozzle, and this may be performed by various known methods such as mechanical gripping. However, for attribute recognition by the OCR camera, a holding method that does not cover a predetermined surface of the electronic component is desirable.

  4A to 4C show a schematic configuration of an in-liquid transfer device for electronic parts embodying the present invention. 4A to 4C respectively show a front view, a side view, and a plan view of the device. Note that components similar to those described in the above-described embodiment are described using the same reference numerals. This liquid transfer device 1 includes a gantry 25, a cleaning tank 11, a pickup nozzle 50, a pickup nozzle drive mechanism 61, a control casing 27, an operation panel 28, a HEP filter 29, an OCR camera 13, a lower camera 17, a first camera. The elevator 5 and the second elevator 9 are provided as main components.

  The gantry 25 supports various configurations, defines the outer edge of the apparatus, and has a substantially rectangular shape. The gantry 25 substantially includes the cleaning tank 11, the first elevator 5, the second elevator 9, and the pickup nozzle drive mechanism 61, and supports them. The control housing 27 includes a control device for each of various configurations of the device, a recording device for storing, referencing, and the like of each database. The control panel 28 is provided with switches and the like for actually operating the apparatus, and the operator performs an actual electronic component transfer operation by accessing the panel.

  In addition, a so-called HPA filter 29 is disposed on the top of the gantry 25. Via the filter 29, air in which the presence rate of particles or the like is managed is introduced so as to go downward into the space included in the gantry 25. By this air flow, the space inside the gantry 25, that is, the space where the liquid level of the cleaning liquid is exposed and the space where the tray and the like are actually conveyed are kept in a highly clean state.

  The pickup nozzle drive mechanism 61 includes an X-axis drive mechanism 61x, a Y-axis drive mechanism 61y, and a Z-axis drive mechanism 61z. By operating each of these configurations, the pickup nozzle 50 can be driven in three axial directions. Note that the cylinder rotating mechanism 63 described above is omitted in this embodiment because the apparatus configuration can be simplified. Further, since there is no part that is particularly different from the above-described description regarding the OCR camera 13, the lower camera 17, and the like, description thereof is omitted here.

  In addition, in a present Example, the structure regarding washing | cleaning is not described at all as an in-liquid transfer apparatus. However, embodiments of the present invention are not limited to the examples. Specifically, for the purpose of effectively cleaning the electronic components held in the liquid, a mechanism for generating a flow, a mechanism for generating an ultrasonic wave, and the like may be disposed in the cleaning tank 11. . In this case, in order to prevent the electronic component on the tray from moving from the mounting position, a mechanism for sucking the electronic component into the tray, a mechanism for clamping the electronic component to the tray, and the like may be further added. desirable.

  Moreover, in this Embodiment and the Example, although illustrated about the structure which has two elevators, this invention is not limited to the said structure, The one or both of the 1st elevator and the 2nd elevator were abbreviate | omitted. It is good also as a structure which has a further elevator on the contrary or a structure. For example, the product may be ranked before the cleaning process, and in the transfer process to which the present invention is applied, each electronic component may be distributed to a tray corresponding to the rank. Moreover, it is good also as a structure which has two or more washing tanks. In this case, the electronic components can be cleaned stepwise through individual and limited highly clean spaces, and more efficient cleaning can be performed.

  In the above-described embodiments and examples, the magnetic head slider, which is a fine electronic component, is illustrated as a transfer target. However, the application target of the present invention is not limited to fine electronic components. For example, the present invention can be applied to a transfer process of a member that is relatively small and requires high quality control, such as special parts and pellets.

It is a figure which shows schematic structure of the transfer apparatus which concerns on embodiment of this invention. It is a figure which shows schematic structure of the transfer apparatus which concerns on embodiment of this invention. It is a figure which shows schematic structure of the transfer apparatus which concerns on embodiment of this invention. It is an example of imaging images, such as data obtained with an OCR camera. It is a figure which shows schematic structure of the pickup nozzle used in embodiment of this invention. It is a front view of the transfer equipment concerning the example of the present invention. It is a side view of the transfer equipment concerning the example of the present invention. It is a fragmentary top view of the transfer equipment concerning the example of the present invention.

Explanation of symbols

1: Electronic component transfer device, 3: Electronic component take-out tray, 5: First elevator, 7: Electronic component transfer tray, 9: Second elevator, 11: Cleaning tank, 13: OCR camera, 17: Bottom Camera: 19: Electronic component, 21: Lot number, 25: Mounting base, 27: Control housing, 29: HPA filter, 50: Pickup nozzle, 51: Cylinder, 53: Piston, 55: Piston rod, 57: Air cylinder, 59: Pneumatic circuit 61: Pickup nozzle drive mechanism 63: Pickup nozzle rotation mechanism

Claims (4)

A transfer device for transferring an article from a first storage container for storing an article to a second storage container,
A tank capable of holding the first storage container and the second storage container in the predetermined liquid together with the predetermined liquid;
Pick-up means for entering the predetermined liquid and taking out the article from the first container and placing the article on the second container ;
A first camera for obtaining a first image of the article used in determining the attribute of the article;
A transfer device comprising: a second camera for obtaining a second image for performing recognition of the holding state of the article by the pickup means and positioning at the time of placement with respect to the second storage container; There,
When transferring the article from the first container to the second container, the article is transported through a predetermined path in the predetermined liquid ,
The first camera and the second camera obtain the first image and the second image from the article being conveyed along the predetermined path, respectively;
Article transfer apparatus according to claim Rukoto accommodating position is designated the article in the second container on the basis of the attribute of the first of the articles is determined from the video. The first video is a serial number for enabling understanding of the database of the article,
2. The article transfer apparatus according to claim 1, wherein the first camera is an OCR camera capable of reading the serial number . The pickup means includes a cylindrical cylinder having a cylinder opening for holding the article on one side, and a piston arranged inside the cylindrical shape and having an outer peripheral portion slidably contacting the inner peripheral portion of the cylindrical shape. And a piston rod extending in a direction different from the cylinder opening connected to the piston, and an air cylinder connected to the piston rod to drive the piston rod in the extending direction of the piston rod. article transfer apparatus according to any one of claims 1 or 2, characterized in to Rukoto. A method of transferring the article from a first container having a plurality of recesses so that a plurality of articles can be accommodated to a second container having a recess corresponding to each of the articles. ,
A step of submerging said second container, wherein the article is housed the first container and the article is not accommodated in a predetermined liquid,
Holding the article stored in the first container using a pickup means;
The pickup means holds the article, and is driven so that the article is conveyed along a predetermined path in the predetermined liquid;
The pickup means transferring the article to the designated recess of the second container;
And taking out the first container from which the article has been taken out and the second container from which the article has been transferred to the outside of the predetermined liquid ,
When the article is transported along the predetermined route, the attribute of the article is determined from an image obtained by imaging a predetermined surface of the article with a first camera, and the article is accommodated based on the determination result. Determining the designated concave portion to be adjusted, adjusting the holding posture of the article by the pickup means from an image obtained by imaging the article with a second camera different from the first camera, and the designation A method for transferring an article comprising the step of positioning according to the recessed portion formed .

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