JP4369844B2 - Robot hand, liquid coating apparatus and liquid coating method using the robot hand - Google Patents

Description

  The present invention relates to a robot hand that adsorbs and holds a workpiece by a magnetic force when a workpiece formed of a magnetic material is coated with a liquid such as paint, lubricant, and oil. Furthermore, the present invention relates to a liquid coating apparatus for coating a workpiece with a liquid using a robot hand and a liquid coating method using the same.

  As a robot hand using magnetic force, there are known one using an electromagnet and one using a permanent magnet. A robot hand disclosed in Patent Document 1 is one that uses an electromagnet. This is a robot hand having a configuration in which an electromagnet is provided on one of the pair of claws, and an iron work adsorbed by the electromagnet is held by the electromagnet and the other claw.

Moreover, there exists invention of patent document 2 and 3 as what uses a permanent magnet. The invention described in Patent Document 2 has a fixed finger and a movable finger supported so as to be rotatable with respect to the fixed finger. A permanent magnet is fixed to the inner surface of the movable finger, and the movable finger is combined with the permanent magnet. The workpiece is attached to and detached from the fixed finger by rotating it with respect to the fixed finger. Furthermore, the invention described in Patent Document 3 includes a workpiece contact member formed of a non-magnetic material, and a permanent magnet disposed so as to be movable back and forth with respect to the workpiece contact member. The workpiece is attracted by bringing the permanent magnet into contact with the workpiece contact member while being in contact with the workpiece, and the workpiece is detached by moving the permanent magnet away from the workpiece contact member.
JP 2000-317874 A JP-A-7-266276 JP-A-8-155874

  In the case of using an electromagnet for attracting a workpiece like the robot hand described in Patent Document 1, the robot hand is made larger and heavier because it is composed of an iron core wound with a coil due to the structure of the electromagnet. In order to solve this problem, it is conceivable to use a permanent magnet instead of the electromagnet.

  However, in the conventional example disclosed in Patent Document 2, since the permanent magnet is fixed to the movable finger, the permanent magnet moves together with the movable finger. For this reason, when the workpiece gripped by the movable finger and the fixed finger is separated from the table by the opening operation of both fingers, the workpiece is attracted to the movable finger side by a magnetic force, and the posture is likely to change. As a result, the work may be placed in a state of falling on the table. In addition, as in the conventional example disclosed in Patent Document 3, a workpiece that directly adsorbs a workpiece with a magnetic force through a non-magnetic material requires a large force when the magnet is separated from the workpiece in order to release the adsorption of the workpiece. It is. Then, a large actuator capable of exerting this force is required, and the robot hand becomes large and heavy.

  Furthermore, in order to ensure that the workpiece is attracted when the workpiece is attracted, it is necessary to bring the workpiece suction portion into contact with the workpiece. is required. Further, when it is necessary to incline the attracted work to an arbitrary angle, an actuator or a motor for changing the angle is required separately from the movable part for attaching and detaching the work. Further, when a robot is used to coat the surface of the workpiece with the liquid, the portion that is not covered with the liquid must be minimized by minimizing the contact area between the robot hand and the workpiece.

  The present invention has been made in view of the above problems of the prior art, and an object thereof is to provide a lightweight robot hand that can be used for liquid coating, a liquid coating apparatus using the robot hand, and a liquid coating method.

In order to achieve the above object, the robot hand of the present invention provides:
A support plate;
A workpiece contact portion having a pair of plate portions made of a magnetic material arranged in parallel , and an end portion of the pair of plate portions being a portion in contact with the workpiece, wherein the pair of plate portions and the plate portion A workpiece contact portion supported by the support plate so as to be able to rotate and move in a parallel plane;
A rotation restricting portion for restricting rotational movement in one direction of the pair of plate portions at a predetermined position;
An arm having a permanent magnet fixed at one end thereof , wherein the permanent magnet at one end of the arm is disposed between the pair of plate portions of the work contact portion, and is provided perpendicular to the pair of plate portions. An arm connected to the shaft so that the permanent magnet can rotate around the shaft from between the pair of plate portions to the outside,
A robot attachment portion for attaching the support plate to the robot;
The retained in the robot mounting portion, an actuator for moving said arm, said to move the arm from where a permanent magnet is disposed between the pair of plate portions, the pair by the magnetic force of the permanent magnet of the plate portion is rotated move together with said arm, furthermore, that the rotational movement in one direction of said pair of plate portions moving the arm to the direction from where it was regulated by the rotation regulating portion, the arm an actuator to go outside from between the permanent magnet and rotational movement about said axis only the pair of plate portions,
It is a robot hand equipped with .

  In the invention configured as described above, by disposing the permanent magnet at one end of the arm between the opposing plate portions of the workpiece contact portion, the opposing plate portion of the workpiece contact portion is magnetized. When the magnetized opposing plate portion is brought close to the workpiece, the workpiece is attracted to the opposing plate portion. Since the opposing plate portions are arranged at an interval, the upper surface of the workpiece is simultaneously sucked by both plate portions, so that the sucked workpiece can maintain a stable posture. Further, since the plate portion facing the workpiece contact portion and the workpiece upper surface are in line contact, when the workpiece is immersed in the liquid, the area where the workpiece surface is not covered with the liquid is minimized.

  In addition, when the opposing plate part is not moved and the arm is moved from the state where the workpiece is attracted to the magnetized opposing plate part, the permanent magnet moves together with the arm between the opposing plate parts. When the permanent magnet moves away to a distance that does not magnetize the plate portion, the workpiece is detached from the workpiece contact portion. At this time, the workpiece can be placed at a predetermined placement position in a stable posture by removing the workpiece while keeping the opposing plate portions horizontal.

  On the other hand, when the arm is moved from a state in which the workpiece is attracted to the magnetized opposing plate portion without fixing the opposing plate member, the opposing plate portion moves together with the arm because it is magnetized. At this time, the work adsorbed on the magnetized plate portion also moves together. Thus, in the present invention, the attachment / detachment operation of the workpiece and the tilting operation of the workpiece can be performed by the same mechanism. Further, if the workpiece is immersed and pulled up in a state where the workpiece is inclined, the liquid adhering to the workpiece surface can be easily cut off, so that a uniform film can be formed on the workpiece surface.

  As described above, according to the present invention, since the permanent magnet is used for attracting the workpiece, the robot hand is light and small. Further, when the work surface is coated with a liquid, the work can be adsorbed, tilted, and detached without using a complicated mechanism.

  In recent years, when gears are made by cold forging, for example, a coating film of a cold lubricating chemical for cold forging is formed on the surface of a billet (cylindrical or square columnar metal) before forging. Since such a gear is formed by a very severe press, the coating on the billet surface is required to be very uniform. In addition, high lubricity chemicals are often expensive, and a coating treatment with a minimum amount is required. The robot hand disclosed below and the liquid coating method using the robot hand are suitable examples for uniformly coating the medicine on the surface of the billet (hereinafter referred to as a work) as described above in the minimum necessary amount. . “Liquid” refers to, for example, a paint paint other than a normal aqueous solid lubricant that is coated to maintain lubricity and releasability between a workpiece before forging and a mold. Such coating materials shall be widely included. “Uniform” means that the thickness of the film after the liquid is coated on the surface of the work and dried is uniformly attached to the work as a whole.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is an overall view of a robot hand according to an embodiment of the present invention. 2A and 2B are detailed views of the movable part of the robot hand of FIG. 1, wherein FIG. 2A is a front view, FIG. 2B is a bottom view, and FIG. 2C is a left side view.

  The robot hand shown in FIGS. 1 and 2 has a robot attachment portion 1 attached to the tip of a movable portion of a robot (not shown). A support plate 2 is fixed to the lower end of the robot mounting portion 1. A connecting plate 3 facing the support plate 2 so as to sandwich the support plate 2 is suspended below the support plate 2 so as to be rotatable about the first shaft 4. The first shaft 4 passes through the support plate 2 and the connecting plate 3 facing each other so as to sandwich the support plate 2, but the connecting plate 3 has a long hole formed in the connecting plate 3, so that the connecting plate 3 is The support plate 2 is movable up and down within a certain range. Moreover, the connecting plate 3 which opposes is integrated by the spacer 5 arrange | positioned between them.

  A work contact plate 6 made of elongated and thin soft iron is fixed to the outer surface of the lower portion of each connecting plate 3 so as to be perpendicular to the connecting plate 3. Thereby, the thin and thin workpiece contact plates 6 are opposed to each other with a predetermined interval.

  The support plate 2 is provided with a stopper pin 13 as a rotation restricting portion, thereby restricting the work support plate 6 fixed so as to make a right angle to the opposite connecting plate 3 from rotating clockwise from the horizontal state. To do.

  Between the workpiece contact plates 6 facing each other, an elongated arm 8 having a permanent magnet 7 fixed thereto is disposed in the vicinity of the tip, and the workpiece contact plate 6 and a second shaft 9 are rotatably connected. At this time, the bottom surface of the arm 8 disposed between the workpiece contact plates 6 facing each other does not protrude from the lower end of the workpiece contact plate 6. In other words, only the lower end portion of the opposing workpiece contact plate 6 can be brought into contact with the workpiece. When there is a gap between the arm 8 to which the permanent magnet 7 is fixed and the work contact plate 6 as in this example, although not shown, at least the portion between the permanent magnet 7 and the work contact plate 6 is not shown. In order to fill the gap, for example, a nonmagnetic material such as resin or titanium may be fixed to the arm 8. Furthermore, it is more preferable that the surface of the nonmagnetic material has lubricity.

  The rear end of the arm 8 protrudes from between the opposing workpiece contact plates 6 and is connected to the tip of a movable part of an actuator 10 such as an air cylinder that performs linear driving. The leading end of the movable part and the rear end of the arm 8 are connected by a third shaft 11. The third shaft 11 passes through the tip of the movable part of the actuator 10 and the rear end of the arm 8, and the through hole formed in the rear end of the arm 8 is a long hole. The end is movable up and down within a certain range with respect to the tip of the movable part of the actuator 10.

  The actuator 10 is arranged such that its driving direction is perpendicular to the longitudinal direction of the arm 8. The end portion of the actuator 10 opposite to the movable end is fixed to the upper end portion of the robot mounting portion 1 via the fixing member 11.

  According to the robot hand configured as described above, the workpiece can be attracted, separated, and tilted. These operation principles will be described with reference to drawings (FIGS. 3 to 5) in which a part of the robot hand according to the present embodiment is simplified.

  As shown in FIG. 3, the work contact plate 6 is magnetized when the permanent magnet 7 enters between the work contact plates 6 facing each other. When the magnetized opposed workpiece contact plate 6 is brought close to the workpiece, the workpiece is attracted to the opposed workpiece contact plate 6. Since the opposing workpiece contact plates 6 are arranged at an interval, the workpiece upper surface is adsorbed by both of the opposing workpiece contact plates 6, so that the adsorbed workpiece can maintain a stable posture.

  FIG. 4A shows a state in which the workpiece contact plate 6 facing the permanent magnet 7 is magnetized and the workpiece 14 is attracted. From this state, as shown in FIG. 4B, the opposing workpiece contact plate 6 is not moved, the arm 8 is swung clockwise, and the arm 8 is pulled up between the opposing workpiece contact plates 6. The workpiece 14 can be detached from the workpiece contact plate 6 by moving the permanent magnet 7 away to a distance where the portion of the workpiece contact plate 6 facing the workpiece 14 is not magnetized. At this time, if there is a gap between the arm 8 to which the permanent magnet 7 is fixed and the workpiece contact plate 6, the permanent magnet can be smoothly detached from the workpiece contact plate 6. As a result, when the permanent magnet is detached, the workpiece contact plate 6 is not impacted, and the workpiece can be stably released to a predetermined position.

  In this embodiment, as shown in FIG. 4B, the work 14 is detached by swinging the magnet 7, but for example, as shown in FIG. The workpiece 14 may be detached by moving in a parallel direction.

  FIG. 5 is a schematic view of a mechanism for simultaneously swinging the workpiece contacting plate 6 and the workpiece 14 adsorbed thereto by swinging the magnet 7.

  When the rear end of the arm 8 is raised by the actuator 10 from the state of FIG. 5A and the magnet 7 is swung, the opposing workpiece contact plate 6 is magnetized by the magnet 7 as shown in FIG. 5B. Therefore, when the magnet 7 is moved, it swings together. At this time, the work 14 adsorbed on the magnetized work contact plate 6 also swings together.

  Next, a method for coating a work surface with a liquid using the robot arm of this embodiment will be described.

  FIG. 6 is a diagram for explaining a liquid coating method on a workpiece using the robot hand of FIG. FIG. 6A shows a state when a workpiece is adsorbed. In this state, since the permanent magnet 7 is located between the workpiece contact plates 6 facing each other, the facing contact plates 6 are magnetized by the permanent magnet 7. Then, after moving the robot hand so that the tip of the workpiece contact plate 6 magnetized by the permanent magnet 7 is positioned directly above the workpiece 14 while the workpiece contact plate 6 remains in a horizontal state, the robot The hand is lowered and the lower end portion of the workpiece contact plate 6 is brought into contact with the upper surface of the workpiece 14. Thereby, the work 14 is attracted to the work contact plate 6 by a magnetic force.

  Next, the robot hand is moved so that the workpiece 14 adsorbed on the workpiece contact plate 6 is positioned directly above the processing liquid tank 15 while the workpiece contact plate 6 remains in a horizontal state. Then, as shown in FIG. 6B, when an actuator (not shown) is driven and the third shaft 11 at the rear end of the arm 8 is pulled up, the arm 8 uses the first shaft 4 as a fulcrum and the permanent magnet 7. As the workpiece swings downward, the opposing workpiece contact plate 6 and the workpiece 14 adsorbed thereto also swing together. Thereby, the workpiece | work 14 can be inclined to the diagonal state. In this way, the robot hand is lowered while the work 14 is inclined obliquely, and the entire work 14 is immersed in the treatment liquid in the treatment liquid tank 15, and then the robot hand is raised while the work 14 is inclined obliquely. That is, the work 14 is immersed in the treatment liquid in an oblique state, and the work 14 is pulled up in this state. Thereafter, the robot hand is moved while the work 14 and the work contact plate 6 adsorbing the work 14 are inclined, and the work 14 is brought close to a predetermined placement surface. In such a series of operations, the surface of the workpiece 14 can be uniformly coated with the processing liquid. Further, since the workpiece contact plate 6 is an elongated and thin member, the workpiece contact plate 6 and the workpiece upper surface are in line contact, and the area where the workpiece surface is not covered with liquid can be minimized. If the portion that is not covered with the liquid can be reduced to the minimum area, the portion that is not covered with the liquid is naturally covered with the surface tension of the liquid when the workpiece is subsequently detached. In this example, the contact state between the workpiece contact plate and the workpiece surface is a line contact. However, in order to minimize the area where the liquid is not covered, a needle-like protrusion is provided on the lower end of the workpiece contact plate. It is more preferable that the contact state is point contact.

  Next, when an actuator (not shown) is driven from a state in which the workpiece 14 and the workpiece contact plate 6 that has attracted the workpiece 14 are inclined, the third shaft 11 at the rear end of the arm 8 is lowered, so that the arm 8 Simultaneously with the clockwise movement, the magnetized workpiece contact plate 1 and the workpiece 14 adsorbed thereto are also swung around the first shaft 4 so as to be in a horizontal state as shown in FIG. Then, when swinging to the position shown in FIG. 6A, the connecting plate 3 that fixes the opposing workpiece contact plate 6 comes into contact with the stopper pin 13. When the actuator (not shown) is further moved from there and the third shaft 11 is lowered, the arm 8 moves. However, the opposing work contact plate 6 is in contact with the stopper pin 13 at the connecting plate 3 that fixes it. Therefore, it remains horizontal without moving. Therefore, as shown in FIG. 6C, the arm 8 moves the magnet 7 upward with the second shaft 9 as a fulcrum. As a result, the magnet 7 swings outward from between the opposing workpiece contact plates 6. When the magnet 7 swings to a distance that does not magnetize the workpiece contact plate 6, the workpiece 14 that has been attracted to the opposing workpiece contact plate 6 by a magnetic force is released. Since the workpiece contact plate 6 facing the workpiece 14 is kept horizontal until the moment the workpiece 14 is detached in this manner, the workpiece 14 can be placed on a predetermined placement surface in a stable posture.

  Here, a mechanism for preventing the robot hand from being damaged will be described. When a force is applied to the robot hand in the vertical direction (vertical direction on the paper surface in FIGS. 1 and 6) to attract the work 14 or due to some trouble, the connecting plate 3 moves in the vertical direction with respect to the support plate 2. , To drain the force and prevent damage to the robot hand. Furthermore, when the workpiece is detached as shown in FIG. 6C, the third shaft 11 moves downward and a force is applied to the rear end of the arm 8 to move the connecting plate 3, so that the connecting plate 3 and the stopper pin 13 are moved. The movement of the connecting plate 3 in the clockwise direction is restricted by contact, but at this time, the front end of the movable portion of the actuator 10 moves relative to the rear end of the arm 8, so that force can be received.

  Further, in the workpiece detachment operation, when the magnet 7 moves away from the workpiece contact plate 6 to a position where the workpiece contact plate 6 is not magnetized, there is a reaction due to the force that the workpiece contact plate 6 has been attracted to the magnet 7 suddenly disappears. This occurs in the direction opposite to the moving direction of the magnet 7 with respect to the workpiece contact plate 6. The robot arm of this example is a mechanism that can absorb such reaction. That is, in this example, when the opposing workpiece contact plate 6 and the workpiece 14 adsorbed thereto are swung, the first shaft 4 is used as a rotation fulcrum, but the magnet 7 is moved to a position where the workpiece contact plate 6 is not magnetized. A shaft to be swung (second shaft 9) is provided at a location different from the first shaft 4 which is the rotation fulcrum of the workpiece contact plate 6, and the second shaft 9 is supported by the first shaft 4 as a fulcrum. As a result, the recoil generated when the magnet 7 comes off can be absorbed.

  At this time, if a pulling force is applied between the rear end of the arm 8 and the connecting plate 3 to reduce the distance, the movement direction of the magnet 7 of the workpiece contact plate 6 due to the reaction described above is as follows. The amount of movement in the reverse direction can be reduced, and after the workpiece is detached, there is no concern that the workpiece contact plate 6 is too lowered and interferes with the detached workpiece. This pulling force can be generated using a spring, for example.

  FIG. 7 is a schematic view when the work 14 is subjected to the liquid coating process. In the present invention, the surface of the workpiece 14 is uniformly coated by immersing and lifting the workpiece 14 adsorbed on the workpiece contacting plate 6 facing the workpiece 14 at an angle suitable for the workpiece shape. In addition, when the shape of the work 14 is a cup shape or there is a depression in a part, not only the work 14 is pulled up, but the work 14 is tilted in a three-dimensional direction by a robot as shown in FIG. It can be made uniform.

  FIG. 8 is a schematic diagram of an apparatus for carrying a plurality of workpieces and performing liquid coating processing simultaneously by attaching a plurality of robot hands. In the liquid coating apparatus as shown in this figure, the robot hands 16 described above are arranged in parallel, and these are attached to the robot, so that a plurality of workpieces can be conveyed at the same time and liquid coating processing can be performed. The number of the robot hands 16 arranged in parallel can be arbitrarily determined according to the transfer capability of the robot and the size of other processing places.

  FIG. 9 is a schematic view showing a movable part of a robot hand according to another embodiment of the present invention. In this figure, the same parts as those of the robot hand shown in FIG. In the robot hand of this figure, the shape of the arm and the workpiece contact plate of the robot hand shown in FIG. 1 are different.

  More specifically, a workpiece contact plate 26 facing the support plate 2 so as to sandwich the support plate 2 is suspended below the support plate 2 so as to be rotatable by the first shaft 4. Although the 1st axis | shaft 4 has penetrated the support plate 2 and the workpiece | work contact plate 26 which opposes so that this may be pinched | interposed, since the through-hole formed in the workpiece | work contact plate 26 is a long hole, workpiece | work contact The plate 26 is movable up and down within a certain range with respect to the support plate 2. Moreover, the workpiece | work contact plate 26 which opposes is integrated by the spacer (not shown) arrange | positioned between them. Thereby, the workpiece contact plates 6 are opposed to each other with a predetermined interval.

  The work contact plate 6 is made of thin and thin soft iron and is disposed horizontally with respect to the support plate 2. The support plate 2 is provided with a stopper pin 13, thereby restricting the work support plate 6 from rotating clockwise from the horizontal state.

  Between the workpiece contact plates 6 facing each other, an elongated arm 28 to which the permanent magnet 7 is fixed is disposed in the vicinity of the tip, and the workpiece contact plate 6 and the second shaft 9 are rotatably connected. At this time, it is comprised so that only the lower end part of the workpiece | work contact plate 6 which opposes can contact with a workpiece | work.

  The rear end of the arm 28 extends so as to bypass the lower end portion of the support plate 2 from between the workpiece contact plates 6 facing each other, and is connected to a front end (not shown) of a movable portion such as an air cylinder that performs linear driving. .

  Even in such a configuration, the workpiece can be adsorbed, detached, and tilted as in the above-described configuration of FIG. Note that these operating principles are the same as in the embodiment of FIG.

1 is an overall view of a robot hand according to an embodiment of the present invention. It is a detailed view of the movable part of the robot hand of FIG. 1, (a) is a front view, (b) is a bottom view, and (c) is a left side view. It is the figure which simplified the workpiece | work contact part of the robot hand of FIG. It is the figure which simplified a part of robot hand in order to demonstrate the principle of the adsorption | suction of the workpiece | work by the robot hand of FIG. 1, and detachment | leave. It is the figure which simplified a part of robot hand in order to demonstrate the inclination operation | movement of the workpiece | work by the robot hand of FIG. It is a figure for demonstrating the liquid coating | coated method using the robot hand of FIG. It is a schematic diagram which shows a mode when the liquid coating process is performed to the workpiece | work with the robot hand of FIG. It is a schematic diagram which shows the liquid coating | coated apparatus of the structure which attached multiple robot hands of FIG. 1 to the robot in parallel. It is a figure which shows the movable part of the robot hand by other embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot mounting part 2 Support plate 3 Connecting plate 4 1st axis | shaft 5 Spacer 6, 26 Workpiece contact plate 7 Permanent magnet 8, 28 Arm 9 2nd axis | shaft 10 Actuator 11 3rd axis | shaft 12 Fixing member 13 Stopper pin 14 Workpiece 15 Treatment liquid tank 16 Robot hand

Claims (9)

A support plate;
A workpiece contact portion having a pair of plate portions made of a magnetic material arranged in parallel , and an end portion of the pair of plate portions being a portion in contact with the workpiece, wherein the pair of plate portions and the plate portion A workpiece contact portion supported by the support plate so as to be able to rotate and move in a parallel plane;
A rotation restricting portion for restricting rotational movement in one direction of the pair of plate portions at a predetermined position;
An arm having a permanent magnet fixed at one end thereof , wherein the permanent magnet at one end of the arm is disposed between the pair of plate portions of the work contact portion, and is provided perpendicular to the pair of plate portions. An arm connected to the shaft so that the permanent magnet can rotate around the shaft from between the pair of plate portions to the outside,
A robot attachment portion for attaching the support plate to the robot;
The retained in the robot mounting portion, an actuator for moving said arm, said to move the arm from where a permanent magnet is disposed between the pair of plate portions, the pair by the magnetic force of the permanent magnet of the plate portion is rotated move together with said arm, furthermore, that the rotational movement in one direction of said pair of plate portions moving the arm to the direction from where it was regulated by the rotation regulating portion, the arm an actuator to go outside from between the permanent magnet and rotational movement about said axis only the pair of plate portions,
Robot hand equipped with . A support plate;
A workpiece contact portion having a pair of plate portions made of magnetic bodies arranged in parallel , and an end portion of the pair of plate portions being a portion in contact with the workpiece, the first contact portion being provided perpendicular to the support plate the first shaft, and the workpiece contact portions of the pair of plate portions are supported lifting to allow rotational movement about the axis of the first in the plate portion and parallel to the plane,
A rotation restricting portion for restricting rotational movement in one direction of the pair of plate portions at a predetermined position;
An arm having a permanent magnet fixed at one end thereof , wherein the permanent magnet at one end of the arm is disposed between the pair of plate portions of the work contact portion, and the plate portion includes the first shaft and the first shaft. An arm coupled to a second shaft provided in parallel so that the permanent magnet can rotate around the second shaft from between the pair of plate portions to the outside;
A robot attachment portion for attaching the support plate to the robot;
The retained in the robot mounting portion, an actuator for moving said arm, said to move the arm from where a permanent magnet is disposed between the pair of plate portions, the pair by the magnetic force of the permanent magnet a plate portion of the rotated move around the first axis together with said arm, furthermore, the in the direction from where the rotational movement in one direction of the pair of plate portions is restricted by the rotation restricting portion by moving the arm, and an actuator to go outside the permanent magnet rotating moving only said arm about said second axis from between the pair of plate portions,
Robot hand equipped with . A long hole is provided in the plate portion of the work contact portion in the moving direction when the work contact portion comes into contact with the work, and the work contact portion is formed by inserting the first shaft into the long hole. The robot hand according to claim 2 , wherein the robot hand is movable along the elongated hole with respect to the support plate. 4. The robot hand according to claim 1, wherein an elongated hole is provided at the other end of the arm, and a distal end of the movable portion of the actuator is connected to the elongated hole by a shaft. The robot hand according to any one of claims 1 to 4 , wherein a tension is applied between the other end of the arm and the support plate in a direction to reduce the distance. The robot hand according to any one of the claims 1 provided a gap 5 between the pair of plate portions of the permanent magnet and the workpiece contacting portion of one end of the arm. A liquid coating apparatus comprising the robot hand according to any one of claims 1 to 6 , wherein the workpiece is adsorbed by the robot hand and immersed in a liquid, and the workpiece surface is coated with the liquid by pulling up.
A liquid coating apparatus in which a plurality of robot hands are attached to the tip of a movable part of a robot. A liquid coating apparatus comprising the robot hand according to any one of claims 1 to 6 , wherein the workpiece is adsorbed by the robot hand and immersed in a liquid, and the workpiece surface is coated with the liquid by pulling up.
A liquid coating apparatus configured to move the robot hand in three dimensions. A liquid coating method using the robot hand according to any one of claims 1 to 6 , wherein a workpiece is adsorbed by the robot hand and immersed in a liquid, and the workpiece surface is coated with the liquid by pulling up.
The pair of plate portions of the workpiece contact portion together with the arm in a horizontal state, and the workpiece is adsorbed to the pair of magnetized plate portions;
Tilting the workpiece by tilting the pair of plate portions of the workpiece contact portion together with the arm, and immersing and pulling up in a liquid in this state;
Returning the pair of plate portions of the workpiece contact portion together with the arm to a horizontal state and keeping the workpiece contact portion fixed in the horizontal state and moving the permanent magnet with the arm away from between the pair of plate portions. Removing the workpiece from the workpiece contact portion.

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