JP7367438B2 - Eyeglass lens peripheral processing system - Google Patents

Description

The present disclosure relates to an eyeglass lens periphery processing system for processing the periphery of an eyeglass lens.

Various techniques have been proposed for processing the periphery of eyeglass lenses. For example, in the eyeglass lens supply system described in Patent Document 1, a plurality of lens peripheral edge processing devices are arranged along a plurality of conveyor line units connected like one conveyor line. A robot is placed between each lens peripheral processing device and the conveyor line unit. The robot moves the lenses between each lens peripheral processing device and the conveyor line unit.

Japanese Patent Application Publication No. 2012-183633

Although the system described in Patent Document 1 allows any of a plurality of lens edge processing devices arranged along a conveyor line unit to process a lens, each of the plurality of types of devices that perform different processes is It is not intended to be executed. Here, it is also possible to improve the system described in Patent Document 1 and include multiple types of devices that perform different processes in the system to perform multiple processes on the lens. However, even if the system of Patent Document 1 is modified, multiple types of devices need to be arranged along the conveyor line unit, and the positional relationship between the devices and the conveyor line is also limited depending on the configuration of the robot. Cheap. Therefore, with conventional techniques, it has been difficult to have a system easily execute multiple steps for processing eyeglass lenses.

A typical object of the present disclosure is to provide an eyeglass lens periphery processing system that can more appropriately perform multiple steps for processing eyeglass lenses using multiple types of devices that perform different steps. be.

An eyeglass lens periphery processing system provided by an exemplary embodiment of the present disclosure is an eyeglass lens periphery processing system that processes the periphery of an eyeglass lens, and includes processes that are different from each other among a plurality of processes for processing the eyeglass lens. A plurality of eyeglass manufacturing devices each having a different housing, an arm portion having a plurality of joints, and a holding portion provided on the arm portion for holding and releasing an object are provided. a robot arm that moves the object held by the holding part by rotating the arm part via the joint part, and the plurality of eyeglass manufacturing apparatuses include a robot arm that moves the object held by the holding part, and the plurality of eyeglass manufacturing apparatuses include a cup attachment device that automatically attaches a cup to an appropriate position with respect to a lens surface; and a cup attachment device that uses the cup attached to the eyeglass lens by the cup attachment device as a jig to attach the eyeglass lens and the attached eyeglasses. a lens processing device that processes a peripheral edge of a lens; the robot arm rotates the arm section via at least one of the plurality of joint sections , thereby processing at least a spectacle lens as the object; is moved to the installation position of the cup attachment device, and the spectacle lens to which the cup is automatically attached by the cup attachment device is moved to the installation position of the lens processing device.

According to the eyeglass lens peripheral edge processing system of the present disclosure, multiple processes for processing eyeglass lenses are more appropriately executed by multiple types of devices that execute different processes.

1 is a diagram showing a schematic configuration of a spectacle lens peripheral edge processing system 100. FIG. FIG. 3 is a perspective view of the robot arm 3. FIG. 2 is a flowchart of a position storage process executed by the eyeglass lens periphery processing system 100. 3 is a timing chart of process control processing executed by the eyeglass lens peripheral edge processing system 100. FIG. It is a figure which shows an example of the state in which the eyeglass lens LE is inserted|pinched and mounted|worn by the chuck|zipper shafts 11C and 12C of 1C of lens processing apparatuses. FIG. 3 is a schematic plan view of a spectacle lens peripheral edge processing system 200 according to a modified example.

<Summary>

The eyeglass lens peripheral processing system exemplified in the present disclosure includes a plurality of eyeglass manufacturing devices and a robot arm. A plurality of eyeglass manufacturing apparatuses perform mutually different processes among a plurality of processes for processing eyeglass lenses, and have mutually different housings. The robot arm includes an arm section and a holding section. The arm has multiple joints. The holding section is provided on the arm section and holds and releases the object. The robot arm moves the object held by the holding part by rotating the arm part via the joint part. The robot arm moves at least an eyeglass lens as an object between a plurality of eyeglass manufacturing devices by rotating the arm portion.

According to the eyeglass lens peripheral processing system exemplified in the present disclosure, eyeglass lenses are processed by a robot arm between a plurality of eyeglass manufacturing devices in separate casings (that is, the casings are spaced apart) that perform different processes. is moved. Therefore, multiple steps are performed on the spectacle lens by each device, without the user having to manually move the spectacle lens between multiple devices. Furthermore, since the arm section of the robot arm has multiple joints, the positional relationship between multiple devices is also limited, compared to the case where spectacle lenses are moved between multiple devices using a robot or conveyor with a single rotation axis. It's hard to get caught. Therefore, the plurality of steps required to process the spectacle lens are smoothly performed on the spectacle lens by each of the plurality of spectacle manufacturing apparatuses.

The robot arm rotates the holder around a rotation axis that extends in a direction that intersects the installation surface, and aligns the holder with respect to each eyeglass manufacturing device. may be moved between devices. In this case, the operator can freely arrange a plurality of eyeglass manufacturing devices with respect to the robot arm. In other words, unlike the case where spectacle lenses are moved between a plurality of devices using a conveyor or the like, it becomes more difficult to limit the arrangement of the plurality of devices. Therefore, the space for installing the eyeglass lens peripheral edge processing system is less likely to be limited, and the installation space can be easily reduced.

Note that the robot arm performs both the operation of rotating the holding part to align the direction of the holding part with respect to the eyeglass manufacturing device, and the action of driving the arm to change the distance between the eyeglass manufacturing device and the holding portion. It's okay. In this case, it becomes more difficult to limit the arrangement of the plurality of eyeglass manufacturing devices.

The installation surface of the robot arm may be a horizontal surface. The plurality of eyeglass manufacturing devices surround the robot arm installed on the installation surface along the circumferential direction around the rotation axis (hereinafter referred to as the "swivel axis") when the robot arm rotates the holding part. It may be arranged in In this case, the space for installing the eyeglass lens peripheral edge processing system can be more easily reduced than, for example, when a plurality of eyeglass manufacturing devices are arranged in a straight line along a conveyor. Furthermore, the robot arm can easily move (switch) eyeglass lenses between a plurality of eyeglass manufacturing devices arranged so as to surround the robot arm by rotating and moving the holding part. Therefore, the spectacle lens can be processed more appropriately.

Note that when three or more eyeglass manufacturing devices are used, the multiple eyeglass manufacturing devices are rotated clockwise or counterclockwise in the order in which they perform the processes on the eyeglass lenses when viewed from the direction of the rotation axis of the robot arm. They may be arranged clockwise. In this case, the robot arm can smoothly move the spectacle lenses to each of the plurality of spectacle manufacturing devices in the order in which the steps are performed.

Further, in the eyeglass lens peripheral edge processing system, a standby position for the eyeglass lens before a plurality of processes are performed by a plurality of eyeglass manufacturing devices may be determined. The standby position may be provided at a position surrounding the robot arm along a circumferential direction centered on the pivot axis together with a plurality of eyeglass manufacturing devices. Further, in the eyeglass lens peripheral edge processing system, a completion position to which the eyeglass lens is moved may be determined after a plurality of processes are completed by a plurality of eyeglass manufacturing devices. The completion position may be provided at a position surrounding the robot arm along the circumferential direction around the pivot axis together with the plurality of eyeglass manufacturing devices. In this case, the installation space of the eyeglass lens peripheral edge processing system including at least one of the standby position and the completion position can be made smaller.

The robot arm may further include an arm moving section that moves the arm section at least in a direction parallel to the mounting surface. In this case, even if the moving distance of the object is longer than the movable range of the arm, the robot arm can move the object appropriately by moving the arm itself in a direction parallel to the mounting surface. be able to. Therefore, the degree of freedom in arranging the plurality of spectacle lens peripheral edge processing devices is further improved.

Further, the arm moving section may move the arm section in a direction (height direction) perpendicular to the mounting surface. In this case, for example, the degree of freedom such as the insertion angle when inserting the spectacle lens into the interior of the spectacle manufacturing device is further improved by changing the height of the arm portion.

However, the position of the robot arm may be fixed. Even in this case, the degree of freedom in arranging the plurality of eyeglass manufacturing devices is sufficiently improved compared to the case where only a conveyor or the like is used. Furthermore, when using an arm moving section, the arm moving section may move the arm section both in a direction parallel to and perpendicular to the mounting surface, or in a direction parallel to and perpendicular to the mounting surface. The arm portion may be moved only in one of the vertical directions.

The eyeglass lens periphery processing system may include multiple robot arms. In this case, since each of the plurality of robot arms can be driven independently, it is also possible to move the plurality of spectacle lenses in parallel by the plurality of robot arms. Therefore, multiple steps can be executed more smoothly. Furthermore, objects (for example, eyeglass lenses) may be transferred between a plurality of robot arms. In this case, compared to the case where one robot arm is used, the range in which the object can be moved by the robot arm is expanded. Therefore, the degree of freedom in the arrangement of the eyeglass lens peripheral edge processing system is further improved.

The eyeglass lens peripheral processing system exemplified in the present disclosure includes a plurality of eyeglass manufacturing devices, a robot arm, and a control unit. A plurality of eyeglass manufacturing apparatuses perform mutually different processes among a plurality of processes for processing eyeglass lenses, and have mutually different housings. The robot arm includes an arm section and a holding section. The arm has multiple joints. The holding section is provided on the arm section and holds and releases the object. The robot arm moves the object held by the holding part by rotating the arm part via the joint part. The control unit manages various controls of the eyeglass lens peripheral edge processing system. The control unit executes a position storage mode and a movement mode. In the position storage mode, the control unit causes the storage device to store the installation position, which is the position at which the eyeglass lens is installed and taken out, for each of the plurality of eyeglass manufacturing devices. In the movement mode, the control unit controls the drive of the robot arm based on the stored installation position to move from the installation position of one eyeglass manufacturing apparatus to the other eyeglass manufacturing apparatus among the plurality of eyeglass manufacturing apparatuses. Move the spectacle lens to the installation position of the device.

According to the spectacle lens peripheral processing system exemplified in the present disclosure, the installation position of the spectacle lens in each of the plurality of spectacle manufacturing devices is stored in advance. By controlling the drive of the robot arm based on the stored installation position, the spectacle lens is moved from the installation position of one eyeglass manufacturing apparatus to the installation position of another eyeglass manufacturing apparatus. That is, regardless of the arrangement of the plurality of eyeglass manufacturing devices, the installation position of each device is memorized, so that the eyeglass lenses can be appropriately moved (switched) between the devices by the robot arm. Therefore, the degree of freedom in arranging the plurality of devices is improved. Moreover, even when changing the arrangement of multiple devices, the robot arm can be appropriately driven. Therefore, a plurality of processes for processing a spectacle lens are smoothly performed on the spectacle lens by each of the plurality of spectacle manufacturing apparatuses.

Note that a specific method for the spectacle lens peripheral processing system to store various positions (hereinafter referred to as "storage target positions") including the installation position in the storage device can be selected as appropriate. As an example, in the spectacle lens peripheral processing system of the present disclosure, the relative positional relationship of the storage target position with respect to the robot arm is stored. Specifically, the operator manually rotates the joints of the robot arm, places the holding part of the robot arm at the memorization target position, and inputs the memorization instructions into the eyeglass lens periphery processing system using the operation unit, etc. . The control unit causes the storage device to store the position of the holding unit when the storage instruction is input as a storage target position. By repeating the above operations, a plurality of storage target positions are appropriately stored in the storage device. However, it is also possible to change the method of storing the storage target position. For example, the storage target position may be stored in the storage device by the operator operating the operation unit and inputting the storage target position into the eyeglass lens periphery processing system.

In the movement mode, the control unit determines the state of each of the multiple eyeglass manufacturing devices and the robot arm by communicating with each of the multiple eyeglass manufacturing devices and the robot arm, and changes the state to the determined state. Based on this, driving instructions may be output to each of the plurality of eyeglass manufacturing devices and robot arms. For example, each of the plurality of eyeglass manufacturing devices and robot arms may output a completion notification to the control unit when the operation instructed by the control unit is completed. If a completion notification has not yet been input from the device to be driven (at least one of a plurality of eyeglass manufacturing devices and a robot arm), the control section waits for output of a driving instruction. When the control unit receives a completion notification from the device to be driven and determines that the device is not in operation, it outputs a drive instruction to the device. In this case, the eyeglass lens peripheral edge processing system can output drive instructions at appropriate timings based on the status of each device.

The control unit may cause the storage device to store the standby position of the eyeglass lens before the multiple steps are performed by the multiple eyeglass manufacturing devices in the position storage mode. In the movement mode, the control unit controls the drive of the robot arm based on the standby position and the installation position stored in the storage device, so that from the standby position the process for eyeglass lenses is performed first among the plurality of eyeglass manufacturing devices. The eyeglass lenses may be moved to the installation position of the eyeglass manufacturing apparatus that performs the process. In this case, the eyeglass lens installed at the standby position is automatically moved by the robot arm to the installation position of the eyeglass manufacturing device, and a plurality of processes are performed on the eyeglass lens. Therefore, the operator can more easily process the eyeglass lens using the eyeglass lens peripheral edge processing system.

However, it is also possible to omit the movement control of the spectacle lens from the standby position to the first spectacle manufacturing device. Even in this case, the operator can easily have the eyeglass lens periphery processing system manufacture eyeglasses by simply installing the eyeglass lenses at the initial installation position of the eyeglass manufacturing device.

In the position storage mode, the control unit may cause the storage device to store a completion position, which is a position to which the eyeglass lens is moved after a plurality of processes are completed by a plurality of eyeglass manufacturing devices. In the movement mode, the control unit controls the drive of the robot arm based on the installation position and completion position stored in the storage device, so that the control unit controls the eyeglass manufacturing device that last performed the process on the eyeglass lens among the multiple eyeglass manufacturing devices. The spectacle lens may be moved from the installation position of the manufacturing device to the completion position. In this case, the spectacle lens for which multiple steps have been completed is automatically moved to the completion position by the robot arm. Therefore, the operator can more easily handle spectacle lenses that have undergone multiple steps.

However, it is also possible to omit the control of movement of the spectacle lenses from the last spectacle manufacturing device to the completion position. Even in this case, the operator can easily handle the spectacle lenses by simply taking them out from the installation position of the last spectacle manufacturing device. Further, the standby position and the completion position may be the same position or may be different positions.

In the position storage mode, the control unit may further store in the storage device, in addition to the installation position, a passing position on the movement path of the spectacle lens moved by the robot arm as a storage target position. In the movement mode, the control unit may move the spectacle lens by passing the passing position by controlling the drive of the robot arm based on the installation position and the passing position stored in the storage device. In this case, the appropriate passing position is stored in the storage device, so that the spectacle lens moves through an appropriate route. Therefore, for example, the possibility that the moving spectacle lens will collide with the casing of the device and fall is also reduced. It is also possible to set each of the route for moving the spectacle lens to the installation position and the route for moving the spectacle lens from the installation position to appropriate routes. Therefore, eyeglass lenses can be processed more smoothly.

The plurality of eyeglass manufacturing devices may include a cup attachment device and a lens processing device. The cup attachment device attaches a cup to the lens surface of a spectacle lens. The lens processing device mounts the spectacle lens by attaching a chuck shaft to a cup attached to the spectacle lens by a cup attachment device, and processes the peripheral edge of the mounted spectacle lens. In this case, after the cup is attached to the eyeglass lens by the cup attachment device, the robot arm moves the eyeglass lens from the cup attachment device to the lens processing device, and the peripheral edge of the eyeglass lens is processed. Therefore, at least two steps for processing a spectacle lens are smoothly performed by the spectacle lens peripheral processing system including a plurality of devices.

The control unit may acquire information about the position on the lens surface where the cup is attached by the cup attachment device (hereinafter referred to as "cup position"). When moving the spectacle lens to the installation position of the lens processing device, the control unit may move the spectacle lens to the installation position where the chuck axis of the lens processing device and the cup position match, based on the information on the cup position. . That is, the control unit may adjust the installation position of the lens processing device that moves the spectacle lens based on the cup position. In this case, the chuck shaft of the lens processing device is properly attached to the cup regardless of the cup position which changes depending on the spectacle lens. Therefore, eyeglass lenses can be processed more smoothly.

Note that a specific method for moving the spectacle lens can also be selected as appropriate based on the information on the cup position. For example, the storage device may store the installation position of the spectacle lens in the lens processing device when the cup is attached to the reference position of the lens surface (for example, the center of the lens surface). In this case, the control unit acquires the direction and distance in which the cup position is deviated from the reference position on the lens surface based on the information on the cup position, and adjusts the direction and distance of the cup position so that the direction and distance are offset. The installation position of the lens processing device that moves the lens may be adjusted.

The control unit may acquire information about the attachment angle of the cup attached to the eyeglass lens by the cup attachment device with respect to the eyeglass lens. When moving the spectacle lens to the installation position of the lens processing device, the control unit may set the angle at the installation position of the spectacle lens to which the cup is attached based on the information on the attachment angle. In this case, the chuck shaft of the lens processing device is properly attached to the cup regardless of the attachment angle of the cup, which changes depending on the spectacle lens. Therefore, eyeglass lenses can be processed more smoothly.

Note that a specific method for setting the angle of the spectacle lens at the installation position of the lens processing device can also be selected as appropriate based on the information on the mounting angle of the cup. For example, information about the angle of the eyeglass lens at the installation position of the lens processing device when the cup is attached to the eyeglass lens at a reference angle (for example, at an angle parallel to the optical axis) is stored in the storage device. It may be included in the information on the installation position of the lens processing device. In this case, the control unit obtains the deviation between the reference angle and the mounting angle based on the information on the mounting angle of the cup, and adjusts the angle of the eyeglass lens at the installation position of the lens processing device so that the angular deviation is offset. May be adjusted.

Note that the plurality of eyeglass manufacturing devices used in the eyeglass lens peripheral edge processing system are not limited to the cup attachment device and the lens processing device. For example, in addition to the cup attachment device and the lens processing device, a lens meter that measures the optical properties of the spectacle lens may be included in the spectacle lens peripheral processing system. In this case, first, the lens meter executes a lens measurement process, which is one of a plurality of processes for processing the peripheral edge of the eyeglass lens. Next, the cup attachment device performs a processing preparation step, which is one of the steps for processing the spectacle lens. Next, the lens processing device executes a processing process. In other words, when a lens meter, a cup attachment device, and a lens processing device are included in the spectacle lens peripheral processing device, the spectacle lens peripheral processing device includes a lens measurement process, a processing process, and a lens processing process as multiple processes for processing the spectacle lens. Execute the preparation process and processing process.

However, it is also possible to omit either the lens measurement step or the processing preparation step. For example, if the lens processing device attaches an eyeglass lens without using a cup, or if the lens processing device includes the function of attaching a cup to the eyeglass lens, the processing preparation step using the cup attachment device is omitted. (i.e., the eyeglass lens rim processing system may not include a cup attachment device). Furthermore, if the optical characteristics of the eyeglass lenses are known in advance, the lens measuring step using a lens meter may be omitted. Furthermore, the robot arm may move at least one of a cup, an eyeglass frame, etc. as an object in addition to the eyeglass lens.

<Embodiment>
(System configuration)
One typical embodiment of the present disclosure will be described below with reference to the drawings. First, with reference to FIG. 1, the system configuration of the eyeglass lens peripheral edge processing system 100 of this embodiment will be described. The eyeglass lens periphery processing system 100 of this embodiment includes a plurality of eyeglass manufacturing devices 1 (1A, 1B, 1C), robot arms 3 (3A, 3B), and a control device 5.

The plurality of eyeglass manufacturing apparatuses 1 execute mutually different processes among a plurality of processes for processing the peripheral edges of eyeglass lenses. Moreover, each of the plurality of eyeglass manufacturing devices 1 has a mutually different housing. Each of the plurality of eyeglass manufacturing devices 1 includes a control section (not shown) that controls various controls, and a storage device (not shown). Each storage device stores an eyeglass lens periphery processing program and the like for the eyeglass manufacturing apparatus 1 to execute a process control process (see FIG. 4) to be described later. In this embodiment, the plurality of eyeglass manufacturing devices 1 include a lens meter 1A, a cup attachment device (blocker) 1B, and a lens processing device (lens edger) 1C.

The lens meter 1A measures the optical characteristics of eyeglass lenses. Further, the lens meter 1A of this embodiment can also measure the optical center of a spectacle lens. The lens meter 1A includes a measurement optical system (for example, a Shack-Hartmann optical system, etc.) for measuring optical characteristics and the like of eyeglass lenses. Further, the lens meter 1A of this embodiment includes a marking mechanism that marks a position such as the optical center of the eyeglass lens measured by the measurement optical system. The process performed by the lens meter 1A is an example of a lens measurement process, which is one of a plurality of processes for processing the peripheral edge of an eyeglass lens.

The lens meter 1A performs an optical characteristic measurement process for processing the spectacle lens on the spectacle lens installed at the installation position 10A. When the measurement process is completed, the spectacle lens is taken out from the installation position 10A. The lens meter 1A of this embodiment can automatically perform optical characteristic measurement steps and the like on the spectacle lens installed at the installation position 10A. For example, the lens meter 1A may automatically measure the optical characteristics while changing the position of the spectacle lens installed at the installation position 10A. Further, the lens meter 1A may automatically measure the optical characteristics by scanning the spectacle lens installed at the installation position 10A with measurement light.

The cup attachment device 1B attaches a cup to the lens surface of a spectacle lens. The cup attached to the spectacle lens is used as a jig for installing (installing) the spectacle lens in the lens processing device 1C. Specifically, the lens processing apparatus 1C attaches the eyeglass lens to the cup by attaching a chuck shaft that holds the eyeglass lens in between. The cup attaching device 1B attaches a cup to a spectacle lens using, for example, a mark made at the optical center of the spectacle lens by the lens meter 1A as a reference. The cup attaching device 1B of the present embodiment automatically detects the position of the mark using a built-in camera, adjusts the relative positional relationship between the eyeglass lens and the cup, and attaches the cup, thereby attaching the cup to the eyeglass lens. The cup can be automatically attached to the position. As a technique for automatically attaching a cup to an appropriate position on a spectacle lens, for example, the technique disclosed in Japanese Patent Application Publication No. 2019-100928 can be adopted. Note that the cup attachment device 1B may be provided with the function of an eyeglass frame shape measuring device (tracer) that measures the shape of the eyeglass frame (lens shape). The step executed by the cup attachment device 1B is an example of a processing preparation step, which is one of a plurality of steps for processing the peripheral edge of a spectacle lens.

The cup attachment device 1B performs a cup attachment process for processing the eyeglass lens on the eyeglass lens installed at the installation position 10B. When the attachment process is completed, the spectacle lens is removed from the installation position 10B.

Further, the cup attachment device 1B can output information on the position on the lens surface where the cup is attached to the spectacle lens (hereinafter referred to as “cup position information”) to the control device 5. Furthermore, the cup attachment device 1B can output information about the angle of the cup attached to the spectacle lens with respect to the spectacle lens (hereinafter referred to as “attachment angle information”) to the control device 5. Note that at least one of the cup position information and the attachment angle information may be stored in advance in a storage device (for example, the storage device 52 of the control device 5, etc.).

The lens processing apparatus 1C attaches (inserts) a chuck shaft to a cup attached to an eyeglass lens, and holds (chucks) the eyeglass lens by sandwiching it therein. The lens processing device 1C processes the peripheral edge of an eyeglass lens held by a chuck shaft into a lens-shaped eyeglass frame. In other words, the lens processing device 1C executes a processing step of processing the peripheral edge of a spectacle lens. The lens processing device 1C includes a processing tool (for example, at least one of a grindstone and a cutter), and measures eyeglass frames based on data on the lens shape of an eyeglass frame acquired by an eyeglass frame shape measuring device (not shown). Process the periphery of the lens.

The lens processing device 1C performs a peripheral edge processing process on the spectacle lens mounted on the chuck shaft at the installation position 10C. When the machining process is completed, the spectacle lens is taken out from the installation position 10C.

The robot arm 3 holds and moves the object. In this embodiment, the objects moved by the robot arm 3 include spectacle lenses. However, objects other than eyeglass lenses (for example, at least one of eyeglass frames and cups) may also be moved by the robot arm 3. Further, the eyeglass lens peripheral edge processing system 100 of this embodiment includes a plurality of robot arms 3 (specifically, a robot arm 3A and a robot arm 3B). Since each of the plurality of robot arms 3 can be driven independently, it is also possible to move the plurality of spectacle lenses in parallel (at the same time) by the plurality of robot arms 3. Further, it is also possible to transfer an object (in this embodiment, an eyeglass lens) between a plurality of robot arms 3. Therefore, the process of manufacturing eyeglass lenses becomes smoother.

Referring to FIG. 2, the robot arm 3 of this embodiment will be described. The robot arm 3 of this embodiment includes an arm section 30. The arm portion 30 has a plurality of joints, and can change its posture by rotating each part via the joints. Specifically, the arm section 30 of the robot arm 3 of this embodiment includes a base 31, a shoulder 32, a lower arm 33, a first upper arm 34, a second upper arm 35, a wrist 36, and a holding section 37. Note that in FIG. 2, the rotation axes X1 to X6 are shown by illustrating the directions around the rotation axes X1 to X6.

The base 31 supports the entire arm portion 30. The shoulder 32 is connected to the upper part of the base 31 via the first joint J1. The shoulder 32 rotates with respect to the base 31 around a rotation axis X1 extending in a direction (vertical direction in this embodiment) intersecting the base 40 (details will be described later). One end of the lower arm 33 is connected to a portion of the shoulder 32 via a second joint J2. The lower arm 33 rotates relative to the shoulder 32 around a horizontally extending rotation axis X2. The first upper arm 34 is connected to an end of the lower arm 33 opposite to the side connected to the shoulder 32 via a third joint J3. The first upper arm 34 rotates relative to the lower arm 33 about a rotation axis X3 extending in the horizontal direction. The second upper arm 35 is connected to the distal end side (the side where the holding part 37 is provided) of the first upper arm 34 via the fourth joint J4. The second upper arm 35 rotates relative to the first upper arm 34 about the rotation axis X4. The wrist 36 is connected to the distal end side of the second upper arm 35 via the fifth joint J5. The wrist 36 rotates relative to the second upper arm 35 around the rotation axis X5. The holding portion 37 is connected to the distal end side of the wrist 36 via the sixth joint J6. The holding portion 37 rotates with respect to the wrist 36 around the rotation axis X6. Note that a motor (for example, a step motor, etc.) for rotating each part around each of the rotation axes X1 to X6 is built inside the arm part 30.

The holding unit 37 holds and releases an object (for example, an eyeglass lens). As an example, the holding section 37 of this embodiment holds and releases the object by changing the distance between the pair of holding pieces using an actuator. However, it is also possible to change the method for holding and releasing the object. For example, the holding unit 37 may switch between holding and releasing the holding of the object by switching between adsorption and release of adsorption on the surface of the object.

The arm portion 30 (specifically, the base portion 31 of the arm portion 30) is fixed to a base 40. In this embodiment, the base 40 is placed on a horizontal installation surface. The base 40 is provided with an arm moving section 41 that moves the arm section 30 in a direction parallel to the installation surface. By driving the arm moving section 41, the entire arm section 30 moves in parallel on the installation surface. Note that the configuration of the arm moving section 41 can be selected as appropriate. For example, the arm moving section 41 may include wheels and a motor that rotates the wheels. Further, a belt conveyor or the like may function as the arm moving section. Moreover, the base 40 (arm part 30) may be fixed to the installation surface (details will be described later). In this case, the installation surface may be a wall surface extending in the vertical direction.

The robot arm 3 of this embodiment includes a control unit 39 that performs various controls (for example, control of a motor that rotates each part and an actuator that drives the holding part 37, etc.). Furthermore, the robot arm 3 includes a storage device that stores an eyeglass lens periphery processing program and the like for executing a process control process (see FIG. 4) to be described later.

Furthermore, the robot arm 3 includes a detection section (for example, an encoder, etc.) for detecting the angle of each part of the arm section 30 (for example, the angle of the shoulder 32 with respect to the base 31, the angle of the lower arm 33 with respect to the shoulder 32, etc.). Be prepared. By detecting all the angles of each part of the arm section 30 by the detection section, the position of the holding section 37 provided at the tip of the arm section 30 is determined. Therefore, for example, even if the operator manually adjusts the angle of each part of the arm section 30 and moves the holding section 37 to a desired position, the control section 39 of the robot arm 3 will control the movement of the moved holding section 37. (for example, the position of the holding part 37 with respect to the base 40). Note that an example of a detailed configuration of the robot arm is described in, for example, Japanese Patent Application Publication No. 2019-141970.

As shown in FIG. 2, the robot arm 3 of this embodiment has a rotation axis (swivel axis) extending in a direction intersecting the installation surface (in this embodiment, a vertical direction perpendicularly intersecting the horizontal installation surface). ) The holding portion 37 can be pivoted about X1. Therefore, unlike the case where spectacle lenses are moved between a plurality of devices using a conveyor or the like, the arrangement of the plurality of spectacle manufacturing devices 1 is difficult to be limited. Moreover, the robot arm 3 of this embodiment rotates the holding part 37 to align the direction of the holding part 37 with respect to the eyeglass manufacturing apparatus 1, and drives the arm part 30 to move the holding part 37 between the eyeglass manufacturing apparatus 1 and the holding part. 37 distance changing operations can be performed together. Therefore, the degree of freedom in arranging the plurality of eyeglass manufacturing devices 1 is further improved.

Returning to the explanation of FIG. The control device 5 is in charge of overall control of the eyeglass lens peripheral edge processing system 100. As an example, a personal computer (hereinafter referred to as "PC") is used as the control device 5 of this embodiment. However, a device other than a PC (for example, at least one of a server, a tablet terminal, a smartphone, etc.) may be used as the control device 5. Further, at least one of the control units of the plurality of eyeglass manufacturing devices 1 and the robot arm 3 may function as a control unit that controls the entire eyeglass lens peripheral edge processing system 100. Further, the control units of a plurality of devices may cooperate to control the entire spectacle lens peripheral edge processing system 100.

The control device 5 includes a CPU (controller) 51 that performs various control processes, and a storage device (NVM) 52. The storage device 52 stores an eyeglass lens periphery processing program for executing position storage processing (see FIG. 3) and process control processing (see FIG. 4), which will be described later, as well as installation positions in each of the eyeglass manufacturing devices 1A to 1C. Information such as 10A to 10C is stored. The control device 5 is connected to the plurality of eyeglass manufacturing devices 1 and the robot arm 3 via at least one of wired communication, wireless communication, and a network.

Further, the control device 5 is connected to an operation section 6 and a display section 7. The operation unit 6 is operated by a user (user, etc.) in order for the operator (user, etc.) to input various instructions to the eyeglass lens periphery processing system 100. As the operation unit 6, for example, at least one of a keyboard, a mouse, a touch panel, etc. can be used. Note that a microphone or the like for inputting various instructions may be used together with the operation section 6 or in place of the operation section 6. The display unit 7 displays various images. It goes without saying that the operating section and display section provided in the control device 5 may be used instead of the operating section 6 and the display section 7 externally connected to the control device 5.

(Process overview)
With reference to FIG. 1, an outline of a plurality of processes that the eyeglass lens peripheral edge processing system 100 of this embodiment performs on the eyeglass lens will be described. As described above, the eyeglass lens periphery processing system 100 of the present embodiment includes a step of measuring optical characteristics using the lens meter 1A (lens measurement step), a step of attaching the cup using the cup attaching device 1B (processing preparation step), and a step of measuring the optical characteristics using the lens meter 1A (lens measurement step) A plurality of processes are performed on the spectacle lens in the order of the process of processing the peripheral edge of the spectacle lens by the processing device 1C. That is, in this embodiment, among the plurality of eyeglass manufacturing apparatuses 1, the eyeglass manufacturing apparatus 1 that first performs the process on eyeglass lenses is the lens meter 1A. Moreover, among the plurality of eyeglass manufacturing apparatuses 1, the eyeglass manufacturing apparatus 1 that last executes the process on eyeglass lenses is the lens processing apparatus 1C.

Hereinafter, the installation position 10A of the spectacle lens in the lens meter 1A will be referred to as a first installation position 10A. The installation position 10B of the spectacle lens in the cup attachment device 1B is referred to as a second installation position 10B. The installation position 10C of the spectacle lens in the lens processing apparatus 1C is referred to as a third installation position 10C.

In this embodiment, eyeglass lenses before being subjected to a plurality of processes by a plurality of eyeglass manufacturing apparatuses 1 are installed at a predetermined standby position 8. Specifically, the operator places the tray (not shown) on the tray (not shown) with the spectacle lens to be processed by the spectacle lens peripheral edge processing system 100, and sets the tray at the standby position 8. Further, the spectacle lenses after the plurality of processes by the plurality of spectacle manufacturing apparatuses 1 are completed are moved to a predetermined completion position 9 (in this embodiment, a tray installed at the completion position 9). The standby position 8 and the completion position 9 are spaced apart from the position where a plurality of eyeglass manufacturing devices 1 are installed. Note that the standby position 8 and the completion position 9 may be the same position.

When the eyeglass lens peripheral edge processing system 100 of the present embodiment processes the peripheral edge of the eyeglass lens, first, the robot arm 3A moves the arm section 30 itself to the first working position P1 near the standby position 8. In this state, the eyeglass lens installed on the tray at the standby position 8 is held. Next, the robot arm 3A moves the arm section 30 itself to the second working position P2 near the plurality of eyeglass manufacturing devices 1, and installs the eyeglass lens at the first installation position 10A of the lens meter 1A. When the process of measuring optical characteristics using the lens meter 1A is completed, the robot arm 3A moves the spectacle lens from the first installation position 10A of the lens meter 1A to the second installation position 10B of the cup attachment device 1B at the second working position P2. move it. After that, the robot arm 3A moves the arm section 30 itself to the first working position P1 in preparation for processing the next eyeglass lens.

When the cup attaching process by the cup attaching device 1B is completed, the robot arm 3B moves the arm section 30 itself to the third working position P3 near the plurality of eyeglass manufacturing devices 1, and moves the cup attaching device 1B to the cup attaching device 1B. The spectacle lens is moved from the second installation position 10B to the third installation position 10C of the lens processing apparatus 1C. When the processing process of the peripheral edge of the eyeglass lens by the lens processing apparatus 1C is completed, the robot arm 3B holds the eyeglass lens installed at the third installation position 10C of the lens processing apparatus 1C at the third work position P3, and then the process is completed. The arm section 30 itself is moved to the fourth working position P4 near position 9, and the spectacle lens is placed on the tray at the completion position 9.

(Arrangement of each device)
With reference to FIG. 1, the arrangement of each device in the eyeglass lens peripheral edge processing system 100 of this embodiment will be described. In the present embodiment, the plurality of eyeglass manufacturing devices 1 include robot arms 3 installed on an installation surface (specifically, a robot arm 3A placed at a second work position P2, and a robot arm 3A placed at a third work position P3). When the robot arm 3B) rotates the holding part 37 around the rotation axis X1 (see FIG. 2), the robot arm 3B is arranged so as to surround the robot arm 3 along the circumferential direction around the rotation axis X1 (see FIG. 2). ing. Therefore, compared to a case where a plurality of eyeglass manufacturing apparatuses 1 are arranged in a straight line along a conveyor or the like, the space for installing the eyeglass lens peripheral edge processing system 100 can be easily reduced. Further, as described above, the robot arm 3 can easily move the eyeglass lens between the plurality of eyeglass manufacturing devices 1 arranged so as to surround the robot arm 3 by rotating the holding part 37. I can do it.

Specifically, in this embodiment, the plurality of eyeglass manufacturing apparatuses 1 are arranged in the order in which the processes for eyeglass lenses are performed when viewed from the direction of the rotation axis X1 of the robot arm 3 (that is, from above in this embodiment). , are arranged clockwise or counterclockwise (clockwise in this embodiment). That is, in this embodiment, the lens meter 1A that first executes the lens measurement process, the cup attachment device 1B that executes the processing preparation process second, and the lens processing apparatus 1C that executes the processing process last are clocked in order. are arranged around. Therefore, the robot arm 3 can smoothly move the spectacle lenses to each of the plurality of spectacle manufacturing apparatuses 1 in the order in which the steps are performed.

Furthermore, in this embodiment, the eyeglass lens standby position 8 and completion position 9 are also provided so as to surround the robot arm 3 along the circumferential direction around the rotation axis X1, together with the plurality of eyeglass manufacturing devices 1. There is. In detail, each position is rotated clockwise or counterclockwise in the order in which the spectacle lenses are moved (that is, in the order of standby position 8, lens meter 1A, cup attachment device 1B, lens processing device 1C, and completion position 9). They are arranged in a clockwise direction (in this embodiment, clockwise). Therefore, it is possible to further reduce the space for installing the eyeglass lens peripheral edge processing system 100.

(location memory processing)
With reference to FIG. 3, the position storage process executed by the eyeglass lens peripheral edge processing system 100 of this embodiment will be described. In the position storage process, a plurality of positions (memory target positions) necessary for moving the target object (in this embodiment, an eyeglass lens) to the robot arm 3 are stored in a storage device (for example, the storage device 52 of the control device 5, etc.). Processing for storing the information in the file is executed. The position storage process is executed when a position storage mode for storing a storage target position is set. The storage target positions include installation positions 10A to 10C of eyeglass lenses in each of the plurality of eyeglass processing apparatuses 1. Further, in this embodiment, the standby position 8 and the completion position 9 are also included in the storage target positions. Furthermore, in the present embodiment, the positions through which the spectacle lens moves by the robot arm 3 on the movement route are also included in the storage target positions.

In the eyeglass lens periphery processing system 100 of the present embodiment, when the CPU 51 of the control device 5 inputs an instruction to start position storage processing (that is, an instruction to execute the position storage mode), the eyeglass lens periphery processing stored in the storage device 52 is processed. The position storage process illustrated in FIG. 3 is executed according to the program. However, as described above, the position storage process may be executed by a control unit other than the CPU 51 of the control device 5, or may be executed by a plurality of control units working together.

First, the CPU 51 causes the display unit 7 to display a screen for instructing the operator to set the standby position 8 (S1). In S1, for example, a message such as "Please move the holding section to the standby position and memorize the position" may be displayed on the display section 7. Next, the CPU 51 executes storage processing for the standby position 8 (S2). In this embodiment, with the robot arm 3A positioned at the first working position P1, the operator manually rotates the joints J1 to J6 of the arm section 30 to move the holding section 37 to the standby position 8 (see details). , the eyeglass lenses are moved to the position of the spectacle lenses on the tray installed at the standby position 8). Next, the operator inputs an instruction to store the standby position by operating an operation section (for example, the operation section 6 connected to the control device 5 or the operation section of the robot arm 3A). In S2, the CPU 51 stores the position of the arm portion 30 of the robot arm 3A itself in the storage device 52 as the first work position P1 when the storage instruction is input. Further, the CPU 51 causes the storage device 52 to store the position of the holding section 37 (including the angle of the holding section 37) at the time when the storage instruction was input as the standby position 8 based on the first working position P1.

Next, the CPU 51 causes the display unit 7 to display a screen for instructing the operator to make settings from the standby position 8 to the first installation position 10A of the lens meter 1A (S3). In S3, for example, a message such as "Please memorize the lens meter installation position after memorizing the n passage positions of the lens to the lens meter installation position" may be displayed on the display unit 7. . The CPU 51 causes the storage device 52 to store n (n≧1) passing positions of the spectacle lens on the first route from the standby position 8 to the first installation position 10A (S4). In this embodiment, the operator determines the position of the arm part 30 of the robot arm 3A itself and the position of the holding part 37 of the arm part 30 so that the holding part 37 that holds the spectacle lens passes through the appropriate first path. While manually moving the , input the location memorization instruction n times. In S4, the CPU 51 stores the position of the arm part 30 itself and the position of the holding part 37 in the storage device 52 every time a storage instruction is input. As a result, n passing positions on the first route are stored. Next, the CPU 51 executes storage processing for the first installation position 10A (S5). With the robot arm 3A positioned at the second work position P2, the operator manually moves the holding section 37 to the first installation position 10A and inputs a storage instruction. In S5, the CPU 51 stores the position of the arm section 30 itself when the storage instruction was input as the second work position P2. Further, the CPU 51 stores the position of the holding part 37 (including the angle of the holding part 37) when the storage instruction is input as the first installation position 10A with the second working position P2 as a reference.

Next, the CPU 51 causes the display unit 7 to display a screen for instructing the operator to make settings from the first installation position 10A of the lens meter 1A to the second installation position 10B of the cup attachment device 1B (S6). The CPU 51 causes the storage device 52 to store n (n≧1) passing positions of the spectacle lens on the second route from the first installation position 10A to the second installation position 10B (S7). The process in S7 of this embodiment is performed with the arm section 30 itself fixed at the second working position P2. Next, the CPU 51 executes storage processing for the second installation position 10B (S8). The main flow of the processing from S6 to S8 is the same as the processing from S3 to S5 described above, so a detailed explanation will be omitted.

Next, the CPU 51 causes the display unit 7 to display a screen for instructing the operator to set from the second installation position 10B of the cup attachment device 1B to the third installation position 10C of the lens processing device 1C (S9). The CPU 51 causes the storage device 52 to store n (n≧1) passing positions of the spectacle lens on the third route from the second installation position 10B to the third installation position 10C (S10). With the robot arm 3B positioned at the third work position P3, the worker manually moves the holding section 37 so that it passes through the appropriate third path, and issues a position storage instruction. Enter times. In S10, the CPU 51 stores the position of the holding section 37 as a passing position every time a storage instruction is input. Next, the CPU 51 executes storage processing for the third installation position 10C (S11).

In this embodiment, in S10 and S11, the cup attachment device 1B attaches the cup to the reference position of the eyeglass lens (for example, the center of the lens surface) at a reference angle (for example, an angle parallel to the optical axis). The passing position and third installation position 10C of the spectacle lens when attached are stored.

Next, the CPU 51 causes the display unit 7 to display a screen for instructing the operator to set the lens processing apparatus 1C from the third installation position 10C to the completion position 9 (S12). The CPU 51 causes the storage device 52 to store n (n≧1) passing positions of the spectacle lens on the fourth route from the third installation position 10C to the completion position 9 (S13). The CPU 51 executes storage processing for the completion position 9 (S14). As a result, the fourth work position P4 of the robot arm 3B and the completion position 9 based on the fourth work position P4 are stored in the storage device 52.

(Process control processing)
With reference to FIG. 4, the process control process executed by the eyeglass lens peripheral edge processing system 100 of this embodiment will be described. In the process control process, the robot arms 3A and 3B move the eyeglass lenses, and each of the multiple eyeglass manufacturing devices 1 executes a process for processing the periphery of the eyeglass lenses. In the process control process, when the movement mode (a mode in which the spectacle lens is moved and a plurality of spectacle manufacturing devices 1 are made to execute each process) is set, the peripheral edge of the spectacle lens stored in the storage device of each device is set. It is executed by the control section of each device according to the machining program.

First, the CPU 51 of the control device 5 receives an input of an instruction to start processing the peripheral edge of a spectacle lens (S21). The operator inputs a processing start instruction to the control device 5 by operating the operation unit 6 while placing the tray on which the spectacle lenses are placed at the standby position 8 (see FIG. 1). When the processing start instruction is input in S21, the CPU 51 determines whether the robot arm 3A and the lens meter 1A are both stopped in operation. Even if a completion notification (at least one of S24, S27, and S30), which will be described later, is not input after the operation instruction (S22, S25, and S38), and at least one of the robot arm 3A and lens meter 1A is in operation. For example, it is placed in a standby state. If both the robot arm 3A and the lens meter 1A are not in operation, the CPU 51 outputs (sends) a first movement instruction to the robot arm 3A (S22). The first movement instruction is an instruction to move the spectacle lens from the standby position 8 to the first installation position 10A of the lens meter 1A through the first path described above.

Upon receiving the first movement instruction, the control unit 39 of the robot arm 3A moves the first working position P1, second working position P2, standby position 8, and first installation position 10A stored in the position storage process (see FIG. 3). , and the passing position on the first path, the spectacle lens is moved from the standby position 8 to the first installation position 10A by controlling the driving of the arm part 30 and the arm moving part 41 (S23). Specifically, the control section 39 of the robot arm 3A causes the holding section 37 to hold the spectacle lens installed at the standby position 8 while the arm section 30 itself is moved to the first working position P1. Next, the control unit 39 moves the arm unit 30 itself to the second working position P2 while causing the spectacle lens to pass through the passing position on the first path, and moves the spectacle lens to the first installation position 10A of the lens meter 1A. move it. The control unit 39 releases the holding of the spectacle lens by the holding unit 37, thereby installing the spectacle lens at the first installation position 10A.

As described above, the robot arm 3 rotates the holding part 37 to align the direction of the holding part 37 with respect to each position, and drives the arm part 30 to change the distance between each position and the holding part 37. Execute the action together. Therefore, the spectacle lens can be appropriately moved regardless of the arrangement of each position.

The control unit 39 of the robot arm 3A notifies the control device 5 that the movement of the spectacle lens to the first installation position 10A has been completed (S24). The CPU 51 of the control device 5 transmits an instruction to start measuring the optical characteristics of the spectacle lens to the lens meter 1A (S25). The control unit of the lens meter 1A measures the optical characteristics of the spectacle lens installed at the first installation position 10A, and marks a position such as the optical center of the spectacle lens (S26). When the process of S26 is completed, the control unit of the lens meter 1A notifies the control device 5 of the completion of the process (S27).

Upon receiving the completion notification sent in S27, the CPU 51 of the control device 5 determines whether or not both the robot arm 3A and the cup attachment device 1B are stopped. If at least one of the robot arm 3A and the cup attachment device 1B is in operation, it is in a standby state. If both the robot arm 3A and the cup attachment device 1B are not in operation, the CPU 51 transmits a second movement instruction to the robot arm 3A (S28). The second movement instruction is an instruction to move the spectacle lens from the first installation position 10A of the lens meter 1A to the second installation position 10B of the cup attachment device 10B through the second path described above.

Upon receiving the second movement instruction, the control unit 39 of the robot arm 3A moves the second work position P2, the first installation position 10A, the second installation position 10B, and the second installation position stored in the position storage process (see FIG. 3). The spectacle lens is moved from the first installation position 10A to the second installation position 10B by controlling the driving of the arm section 30 and the arm moving section 41 based on the passing position on the route (S29). Specifically, the control unit 39 of the robot arm 3A causes the holding unit 37 to hold the spectacle lens installed at the first installation position 10A while the arm unit 30 itself is moved to the second working position P2. Next, the control unit 39 moves the spectacle lens to the second installation position 10B of the cup attachment device 1B while causing the spectacle lens to pass through the passing position on the second path. Here, the robot arm 3A moves the spectacle lens from the first installation position 10A to the second installation position 10B by rotating the holding part 37 around the rotation axis X1 (see FIG. 2). The control unit 39 releases the holding of the spectacle lens by the holding unit 37, thereby installing the spectacle lens at the second installation position 10B.

The control unit 39 of the robot arm 3A notifies the control device 5 that the movement of the spectacle lens to the second installation position 10B has been completed (S30). The CPU 51 of the control device 5 transmits a cup attachment start instruction to the cup attachment device 1B (S31). The control unit of the cup attachment device 1B attaches the cup to the lens surface of the spectacle lens based on the position of the mark made by the lens meter 1A (S32). When the process of S32 is completed, the control unit of the cup attaching device 1B notifies the control device 5 of the cup position information and the attaching angle information along with a process completion notification (S33). As described above, the cup position information is information about the position on the lens surface where the cup is attached to the spectacle lens. Moreover, the information on the attachment angle is information on the angle of the cup attached to the eyeglass lens with respect to the eyeglass lens.

When the CPU 51 of the control device 5 receives the completion notification, the cup position information, and the attachment angle information transmitted in S33, the CPU 51 installs the eyeglass lens at the third installation position 10B of the lens processing device 1C and the eyeglass lens at the third installation position 10B. The angle is set (S34). Note that at least one of the cup position information and the attachment angle information may be stored in advance in a storage device (for example, the storage device 52 of the control device 5, etc.). In this case, the CPU 51 only needs to acquire information stored in the storage device.

With reference to FIG. 5, an example of a method for setting the third installation position 10C and angle of the spectacle lens will be described based on the cup position information and the attachment angle information. As described above, the lens processing apparatus 1C mounts the lens LE by sandwiching the eyeglass lens LE between the pair of chuck shafts 11C and 12C. In detail, the lens processing device 1C attaches the eyeglass lens LE by attaching the chuck shaft 11C to the cup 60 attached to the eyeglass lens LE by the cup attaching device 1B. Here, the cup 60 is always attached to the reference position BC of the eyeglass lens LE (in the example shown in FIG. 5, the center of the lens surface) at a reference angle (in the example shown in FIG. 5, an angle parallel to the optical axis). In this case, there is no need to adjust the third installation position 10C and angle of the spectacle lens LE. However, the mounting position and angle of the cup 60 relative to the spectacle lens LE change. If the third installation position 10C and angle of the eyeglass lens LE are not adjusted according to the installation position and angle of the cup 60, the chuck shaft 11C may not be attached to the cup 60.

Based on the cup position information transmitted in S33, the CPU 51 sets the third installation position 10C so that the chuck shaft 11C of the lens processing device 1C matches the position of the cup 60 attached to the eyeglass lens LE. (adjust. As an example, in the position storage process (see FIG. 3) of this embodiment, when the cup 60 is attached to the reference position BC of the eyeglass lens LE at a reference angle, the third installation position 10C of the eyeglass lens LE and the third installation position 10C of the eyeglass lens LE are 3. The angle of the spectacle lens LE at the installation position 10C is stored. Based on the cup position information transmitted in S33, the CPU 51 acquires the direction and distance in which the position of the cup 60 is deviated from the reference position BC of the spectacle lens LE, and determines whether the deviated direction and distance are offset. The third installation position 11C of the spectacle lens LE is adjusted so that

Further, the CPU 51 sets (adjusts) the angle of the eyeglass lens LE to which the cup 60 is attached at the third installation position 10C based on the attachment angle information transmitted in S33. As an example, in this embodiment, the CPU 51 obtains the deviation between the reference angle (angle parallel to the optical axis) and the mounting angle based on the mounting angle information transmitted in S33, and the deviation in the obtained angle cancels out the difference between the reference angle (angle parallel to the optical axis) and the mounting angle. The angle of the spectacle lens LE at the installation position 11C is adjusted so that

Returning to the explanation of FIG. 4. The CPU 51 of the control device 5 determines whether or not both the robot arm 3B and the lens processing device 1C are stopped. If at least one of the robot arm 3B and the lens processing device 1C is in operation, it is in a standby state. If both the robot arm 3B and the lens processing device 1C are not in operation, the CPU 51 transmits the third movement instruction and the third installation position 11C and angle set in S34 to the robot arm 3B (S35). The third movement instruction is an instruction to move the spectacle lens from the second installation position 10B of the cup attachment device 1B to the third installation position 10C of the lens processing device 1C through the third path described above.

Upon receiving the third movement instruction, the control unit 39 of the robot arm 3B stores the third work position P3, the second installation position 10B, and the additional position on the third path stored in the position storage process (see FIG. 3). , the spectacle lens is moved from the second installation position 11B to the third installation position 10C based on the third installation position 11C and the angle transmitted in S35 (S36). Specifically, the control unit 39 of the robot arm 3B causes the holding unit 37 to hold the spectacle lens installed at the second installation position 10B while the arm unit 30 itself is moved to the third work position P3. Next, the control unit 39 moves the spectacle lens at the specified angle to the third installation position 10C transmitted in S35 while causing the spectacle lens to pass through the passing position on the third path. The control unit 39 releases the holding of the spectacle lens by the holding unit 37, thereby installing the spectacle lens at the third installation position 10C. Note that the control unit 39 may also consider the information on the cup position and the information on the attachment angle when causing the spectacle lens to pass through the passing position on the third path.

The control unit 39 of the robot arm 3B notifies the control device 5 that the movement of the spectacle lens to the third installation position 10C has been completed (S37). The CPU 51 of the control device 5 transmits an instruction to start processing the spectacle lens to the lens processing device 1C (S38). The control unit of the lens processing device 1C processes the peripheral edge of the eyeglass lens according to the lens shape measured by the eyeglass frame shape measuring device (not shown) (S39). When the process of S39 is completed, the control unit of the lens processing device 1C transmits a process completion notification to the control device 5 (S40).

Upon receiving the completion notification sent in S40, the CPU 51 of the control device 5 determines whether or not the robot arm 3B is stopped. If the robot arm 3B is in operation, it is in a standby state. If the robot arm 3B is not operating, the CPU 51 transmits a fourth movement instruction to the robot arm 3B (S41). The fourth movement instruction is an instruction to move the spectacle lens from the third installation position 10C of the lens processing apparatus 1C to the completion position 9 through the fourth path described above.

Upon receiving the fourth movement instruction, the control unit 39 of the robot arm 3B moves the robot arm 3B based on the third work position P3, the fourth work position P4, the third installation position 10C, the completion position 9, and the passing position on the fourth route. , the spectacle lens is moved from the third installation position 10C to the completion position 9 by controlling the driving of the arm part 30 and the arm moving part 41 (S42). The control unit 39 of the robot arm 3B notifies the control device 5 that the movement of the spectacle lens to the completion position 9 has been completed (S43).

As described above, in the eyeglass lens peripheral processing system 100 of this embodiment, the eyeglass lens is moved by the robot arm 3 between a plurality of eyeglass manufacturing apparatuses 1 in separate housings that perform different processes. Furthermore, since the arm portion 30 of the robot arm 3 has a plurality of joints J1 to J6, it is possible to move the eyeglass lenses by using a robot having a single axis of rotation, a conveyor, or the like. The positional relationship between them is difficult to limit.

As shown in FIG. 2, the robot arm 3 of this embodiment rotates the holding part 37 around a rotation axis (for example, rotation axis X1, etc.) extending in a direction intersecting the installation surface (base 40). In this way, the direction of the holding portion 37 with respect to each eyeglass manufacturing device 1 can be aligned. Therefore, unlike the case where spectacle lenses are moved between a plurality of devices using a conveyor or the like, it becomes more difficult to limit the arrangement of the plurality of devices.

(transformation example)
One modification of the above embodiment will be described with reference to FIG. 6. FIG. 6 is a plan view of a spectacle lens peripheral edge processing system 200 according to a modified example. In the modified example shown in FIG. 6, the same devices as the lens meter 1A, cup attachment device 1B, lens processing device 1C, and robot arm 3 used in the above embodiment are used. However, in the above embodiment, two robot arms 3A and 3B are used, whereas in the modified example shown in FIG. 6, one robot arm 3 is used. In this way, the number of robot arms 3 used in the eyeglass lens peripheral edge processing system may be one, or three or more. Moreover, although the robot arms 3A and 3B of the above embodiment move on the installation surface, in the modified example shown in FIG. 6, the robot arm 3 is fixed. In this way, the position of the arm portion 30 of the robot arm 3 may be fixed.

In the modified example shown in FIG. 6, the plurality of eyeglass manufacturing devices 1 are arranged so as to surround the robot arm 3 along a circumferential direction centered on the rotation axis X1 of the robot arm 3 whose installation position is fixed. There is. Therefore, the space for installing the eyeglass lens peripheral edge processing system 200 becomes smaller.

In addition, in the modification example shown in FIG. 6, when viewed from the direction of the rotation axis X1 of the robot arm 3 (that is, from above in this embodiment), the order in which the processes for eyeglass lenses are performed is clockwise or counterclockwise ( In this embodiment, they are arranged clockwise). In other words, the lens meter 1A that first executes the lens measurement process, the cup attachment device 1B that executes the processing preparation process second, and the lens processing apparatus 1C that executes the processing process last are arranged in clockwise order. There is. Therefore, by rotating and moving the holding part 37 about the rotation axis X1, the robot arm 3 can smoothly move the spectacle lenses to each of the plurality of spectacle manufacturing apparatuses 1 in the order in which the processes are performed. can.

Furthermore, in the modified example shown in FIG. 6, the standby position 8 and completion position 9 (same position in FIG. 6) of the eyeglass lens are also located along the circumferential direction around the rotation axis X1, together with the plurality of eyeglass manufacturing devices 1. It is provided so as to surround the robot arm 3. Specifically, the respective positions are arranged clockwise in the order in which the spectacle lenses are moved (that is, the standby position 8, the lens meter 1A, the cup attachment device 1B, the lens processing device 1C, and the completion position 9). ing. Therefore, it is possible to further reduce the space for installing the eyeglass lens peripheral edge processing system 200.

The techniques disclosed in the above embodiments and modifications are merely examples. Therefore, it is also possible to modify the techniques illustrated in the above embodiments and variations. For example, only some of the techniques exemplified in the above embodiments and modified examples may be employed in the eyeglass lens periphery processing system. Moreover, the robot arm 3 may be fixed not to a horizontal installation surface but to a wall surface extending in the vertical direction. Furthermore, in the above embodiments and modified examples, the robot arm 3 directly moves the eyeglass lens from the installation position 10 of one eyeglass manufacturing apparatus 1 to the installation position 10 of another eyeglass manufacturing apparatus 1. However, the robot arm 3 may temporarily move the eyeglass lens to another position (for example, the tray at the standby position 8 or the completion position 9) while moving the eyeglass lens between the plurality of installation positions 10. .

1 Eyeglass manufacturing device 1A Lens meter 1B Cup attachment device 1C Lens processing device 3 Robot arm 5 Control device 10A First installation position 10B Second installation position 10C Third installation position 11C, 12C Chuck shaft 30 Arm part 37 Holding part 39 Control Section 40 Base 41 Arm moving section 51 CPU
52 Storage device 60 Cups 100, 200 Eyeglass lens peripheral processing system J1 to J6 Joint X1 Rotation axis LE Eyeglass lens

Claims (5)

An eyeglass lens peripheral edge processing system for processing the peripheral edge of an eyeglass lens,
A plurality of eyeglass manufacturing apparatuses that perform mutually different processes among the plurality of processes for processing the eyeglass lenses and have mutually different casings;
An arm portion having a plurality of joints, and a holding portion provided on the arm portion for holding and releasing the holding of an object, and by rotating the arm portion via the joint portion, the holding portion a robot arm that moves the object held by the robot;
Equipped with
The plurality of eyeglass manufacturing devices include:
a cup attachment device that automatically attaches the cup to an appropriate position relative to the lens surface of the eyeglass lens;
A lens processing device that uses the cup attached to the eyeglass lens by the cup attachment device as a jig to attach the eyeglass lens and process the peripheral edge of the attached eyeglass lens;
Contains
The robot arm rotates the arm section via at least one of the plurality of joint sections to move at least the eyeglass lens as the object to the installation position of the cup attachment device, and also to attach the cup. A system for processing a peripheral edge of an eyeglass lens, characterized in that the eyeglass lens with a cup attached thereto is automatically moved by a device to an installation position of the lens processing device . The eyeglass lens peripheral edge processing system according to claim 1,
The robot arm rotates the holding part around a rotation axis extending in a direction intersecting the installation surface, and adjusts the direction of the holding part with respect to each of the eyeglass manufacturing devices, thereby making the eyeglass lens An eyeglass lens periphery processing system, characterized in that the eyeglass lens peripheral edge processing system is moved between the plurality of eyeglass manufacturing devices. The eyeglass lens peripheral edge processing system according to claim 2,
The plurality of eyeglass manufacturing devices are arranged to surround the robot arm installed on the installation surface along a circumferential direction centered on the rotation axis when the robot arm swings and moves the holding part. An eyeglass lens peripheral processing system characterized by: The eyeglass lens peripheral edge processing system according to any one of claims 1 to 3,
The eyeglass lens peripheral edge processing system, wherein the robot arm further includes an arm moving section that moves the arm section in a direction at least parallel to a mounting surface. The spectacle lens peripheral processing system according to any one of claims 1 to 4,
An eyeglass lens peripheral edge processing system comprising a plurality of the robot arms.

Images