JPH08206984A - Transfer hand and transfer method - Google Patents

Abstract

PURPOSE: To provide a transfer hand by which a lens can be automatically transferred to a horizontally placed magazine from a vertically placed magazine. CONSTITUTION: In a transfer hand 100 to rearrange a lens 12 in an installed condition in a horizontally placed condition from an installed condition in a vertically placed condition, the transfer hand is provided with a hand 1 having fingers 10 and 11 to grip the lens 12 from the outer peripheral direction in a vertically placed condition and a rotary part 2 to rotate the fingers 10 and 11 in a vertical plane in order to put the lens 12 in a horizontal condition, and is provided with a sucking tool 3 to suck and hold a surface of the lens 12 put in a horizontal condition by being rotated by the rotary part 2 and a vertically moving cylinder 5 to install the lens 12 in a prescribed position in a horizontally placed condition by vertically moving the sucking tool 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer hand and a transfer method for transferring a disk-shaped member from a vertical magazine to a horizontal magazine.

[0002]

2. Description of the Related Art When manufacturing optical parts such as lenses, in the final step, an optical film for adjusting the antireflection film or the light transmittance is provided in the body of the lens manufactured precisely from glass or plastic. A coating such as a film is applied. Then, in order to apply this coating, it is necessary to wash the main body of the lens in the preceding step.

When cleaning the lens, it is general that the lens is placed upright in order to uniformly clean both surfaces of the lens. This is because if you try to clean both sides of the lens with the lens horizontally placed, you have to spray the cleaning liquid from the top and bottom of the lens, which makes it difficult to clean both sides of the lens evenly, and the cleaning device and cleaning This is because the jigs and the like used for are also complicated. Therefore, in this cleaning process, a standing magazine that holds a large number of lenses in a standing state is used.

On the other hand, the coating of the optical film or the like is performed by vacuum vapor deposition or the like. Therefore, in order to uniformly form the optical film on the surface of the lens, it is necessary to lay the lens horizontally, and the lens is coated on each side. Is done. Therefore, when the lens is sent to the coating process, a horizontal magazine that holds a large number of lenses in a horizontal state is used.

That is, when the lens is sent from the cleaning process to the coating process, it is necessary to transfer the lens from the vertical magazine to the horizontal magazine, and conventionally, this work is manually performed. Therefore, the manual work takes time, the production tact becomes long, and in order to improve the productivity, it has been desired to automatically perform the replacement work.

[0006]

There has not been a conventional device for automatically transferring the lens or the like between the separate magazines as described above. For example, the transfer as disclosed in Japanese Examined Patent Publication No. 57-58257. Mounting devices are known. However, with this device, the horizontally placed lens can be transferred horizontally to another magazine, but it has not been possible to replace the vertically placed lens with the horizontally placed lens.

Therefore, the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to automatically transfer a disc-shaped member from a vertical magazine to a horizontal magazine. It is to provide a transfer hand and a transfer method capable of performing the transfer.

[0008]

Means for Solving the Problems The above-mentioned problems are solved,
In order to achieve the purpose, the transfer hand according to the present invention is
A transfer hand for replacing a disk-shaped member formed in a substantially disk shape from a state of being placed in an upright state to a state of being placed in a horizontal state, wherein the disk-shaped member is In the standing state, a gripping means having gripping claws for gripping from the outer peripheral direction, and a rotating means for rotating the gripping means in a vertical plane to bring the disc-shaped member into a horizontal state. An adsorbing means for adsorbing and holding the surface of the disk-shaped member which is rotated by the rotating means to be in a horizontal state; and the adsorbing means is moved up and down to predetermined the disk-shaped member. It is characterized in that it is provided with a vertical movement means for laying it down in the horizontal position.

Further, in the transfer hand according to the present invention, the gripping means grips the gripping claws with respect to an outer peripheral portion of the disc-shaped member when gripping the disc-shaped member in the upright state. It is characterized in that it is operated so that it is gripped with a slight gap left.

Further, in the transfer hand according to the present invention, the gripping claw has a taper portion for supporting the disc-shaped member from below in a state where the disc-shaped member is horizontal, The plate-shaped member is characterized by being centered by the tapered portion.

Further, in the transfer hand according to the present invention, the amount of movement of the gripping claw of the gripping means and the amount of vertical movement of the suction means by the vertical movement means are adjusted by NC control.

Further, in the transfer hand according to the present invention, the grasping claws are arranged at a first position for grasping the outer peripheral portion of the disc-shaped member and the outer peripheral portion of the disc-shaped member by the NC control. It is characterized in that it is moved to a second position where it is held with a slight gap and a third position where the disc-shaped member is released.

Further, the transfer method of the present invention is a transfer for replacing a disk-shaped member formed in a substantially disk shape from a state in which the disk-shaped member is placed upright and is placed in a horizontal position. A mounting method, in which the disc-shaped member is grasped from the outer peripheral direction by a grasping claw in the standing state, and the grasping claw is placed on a vertical surface in order to bring the disc-shaped member into a horizontal state. A rotation step of rotating the disk-shaped member inside, a suction step of holding the surface of the disk-shaped member, which has been rotated by the rotation step and has become horizontal, by a suction member, and the suction member. An erection step of vertically moving the disc-shaped member in a horizontal position at a predetermined position is installed.

Further, in the transfer method according to the present invention, the gripping claws form a slight gap with respect to the outer peripheral portion of the disc-shaped member when the disc-shaped member is gripped in the standing state. The feature is that it is left and gripped.

Further, in the transfer method according to the present invention, the grip claw has a taper portion for supporting the disc-shaped member from below in a state where the disc-shaped member is horizontal, The plate-shaped member is characterized by being centered by the tapered portion.

Further, in the transfer method according to the present invention, the amount of movement of the grip claw and the amount of vertical movement of the suction member are adjusted by NC control.

Further, in the transfer method according to the present invention, the gripping claws are provided at a first position for gripping the outer peripheral portion of the disc-shaped member and the outer peripheral portion of the disc-shaped member by the NC control. It is characterized in that it is moved to a second position where it is held with a slight gap and a third position where the disc-shaped member is released.

[0018]

Since the transfer hand and the transfer device according to the present invention are configured as described above, the disc-shaped member is erected while the robot equipped with the transfer hand is moving. Since the position can be changed to a horizontal state, and the product can be directly adsorbed by the adsorbing means and placed on the horizontal magazine, the production tact can be drastically shortened.

Further, while the disc-shaped member is grasped by the grasping means, it is possible to center the disc-shaped member by its own weight by utilizing the taper portion of the grasping claw, so that the disc-shaped member is placed on the horizontal magazine by the adsorbing means. Can be inserted in the correct position when doing.

[0020]

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. (First Embodiment) FIG. 1 is a side view showing the structure of a transfer hand of the first embodiment, where 1 is a hand, 2 is the hand 1 around a rotation center axis c, and is indicated by a chain double-dashed line in the figure. The rotating part 3 for rotating from the position shown to the position shown by the solid line is an adsorption tool for adsorbing the lens 12, and the material thereof is hard Teflon. Reference numeral 4 is a hollow rod, which is a slide rod which can be moved up and down with the suction tool 3 fixed to the tip thereof. Reference numeral 5 is a cylinder which vertically drives the slide rod 4 with respect to the bush 6. An upper end stopper 7 and a lower end stopper 8 are provided.

A dog 21 is attached to the rotating portion 2, and when the hand 1 is in the first rotating position shown by the chain double-dashed line in the drawing, the dog 21 is operated by the first rotating position sensor 20. When the hand 1 is detected and is in the second rotation position shown by the solid line in the figure, the dog 21 is detected by the second rotation position sensor 19.

Fingers 10 and 11 are attached to the hand 1, and the lens 12 is grasped in a state where there is a gap between the lens and the finger at three points as shown in FIG. Also,
The tips of the fingers 10 and 11 are machined so as not to interfere with the vertical movement of the sliding rod 4 at the first rotation position shown by the solid line in FIG. 1 (see FIG. 2). In addition, the fingers 10 and 11 are rigid so that they can be opened and closed with high accuracy.
It is connected by the M guide 13. Further, reference numeral 18 denotes a hand gripping sensor that detects whether the fingers 10 and 11 are in a closed state (a state in which the lens is held) or an open state (a state in which the lens is released from the held state).

A robot arm 14 is arranged on the robot 200 as shown in FIG.
Is attached to the tip of the robot arm 14. In FIG. 3, reference numeral 15 is a magazine mounting table, on which the lens standing magazine 16 and the lens lateral magazine 17 are sequentially transported by a magazine transport device (not shown). The plan view of each magazine 16 and 17 is as shown in FIG. 5, and the lenses 12 can be arranged in a matrix.

With the above-mentioned structure, the horizontal magazine 1 is used to send the lenses in the vertical magazine 16 after the cleaning process to the film forming (coating) process.
The operation of transferring the data into the memory 7 will be described below with reference to the flowchart of FIG.

First, when the program starts, in step S1, it is determined whether the hand 1 is in the grip release state and whether the rotating portion 2 is in the first rotating position, and the hand grip sensor 18 and 1 rotation position sensor 20
Check with. After that, the lens transfer hand 100 is moved by the robot 200 (step S2, step S2).
3) In the vertical magazine 16, the lens 12 is moved horizontally (step S4) as shown in FIG. 4 to hold one lens. Then, by turning on a solenoid valve (not shown), the fingers 10 and 11 of the hand 1 are closed, and the lens 12
Is grasped (step S5). At this time, finger 10,
11 contacts a stopper 23 that can adjust the opening / closing amount of the hand 1. After confirming that the fingers 10 and 11 are closed by the hand grip sensor 18 (step S6), the robot 20
The lens transfer hand 100 is raised by 0 (step S7). After that, turn on the solenoid valve (not shown),
The suction of the suction tool 3 is started (step S8), and while the rotating part 2 is being rotated to the second rotating position (step S9), the lens transfer hand 100 is moved to the horizontal magazine 17 by the robot 200. Move to the lens insertion position (step S
10). The second rotation position sensor 19 confirms whether or not the second rotation position is reached during the movement by the robot 200 (step S11).

During the rotation of the hand 1, the axis of the lens 12 is aligned with the axis of the suction tool 3, and the lens 12 is attracted to the suction tool 3 at the same time when the rotation is completed. The position of the suction tool 3 is adjusted by the stopper 7 so that the distance between the suction tool 3 and the lens 12 at the second rotation position is about 0.5 to 1 mm as shown in FIG.

Finger 1 with lens 12 held
The positions 0 and 11 are set by the stopper 23 in the hand 1.
It is adjusted so that a clearance of about 0.01 mm is produced with respect to the lens diameter, and the axis of the lens 12 is aligned with the axis of the suction tool 3. Further, as can be seen from FIGS. 1, 4 and 6, the fingers 10 and 11 are provided with a tapered portion 10a so that the lens 12 which may be loose in the cleaning basket 16 can be easily grasped. , 11
a is formed. The tapered portions 10a and 11a are centered by their own weight by the lens 12 being gripped by the hand 1 in the process of rotating the hand 1 from the first rotation position to the second rotation position in FIG. To function. Further, the lens 12 is sucked by the taper portion of the suction tool 3, whereby the lens 12 is centered and sucked by the suction tool 3 (FIG. 8). The suction of the lens 12 is confirmed by a suction sensor (not shown) (step S12).

Next, the lens 12 is released (step S).
13) is performed, and after confirming the release by the sensor 18, the suction tool 3
Is lowered by the vertically moving cylinder 5 and the lens 12 is inserted into the horizontally placed pallet 17 (step S15). At this time, whether or not the insertion is good is determined by the descending end sensor 22 of the cylinder 5. For example, if the sensor 22 detects the lowering of the cylinder, the insertion of the lens 12 is good. On the contrary, if the lens 12 is not detected, it is determined that the lens 12 is not correctly inserted because the lens 12 bites the insertion hole, and the result is NG.

There is another method for inserting.
This is because the descent of the cylinder 5 is detected by the descent end sensor 22.
After the detection (FIG. 6), the robot 200 is lowered to insert the robot. Since this insertion is performed by NC control, smoother insertion can be performed. Also, the insertion speed can be changed on the application.

The above-described lowering of the cylinder 5 and lowering of the robot 200 takes the adsorption force and the lens weight into consideration.
Make optimal acceleration / deceleration movements. For example, when the cylinder is lowered, if the acceleration / deceleration is too large, the attraction of the lens 12 is released, and the lens may drop. In order to obtain the optimum acceleration / deceleration, the speed controller 24 is adjusted in the cylinder 5 and the application is set in the robot 200.

Whether the robot 200 is inserted or not is determined by constantly measuring and managing the current values of the vertical axis of the robot. For example, the current values above and below the robot have a waveform as shown in FIG. When the insertion is denied, the lens 12 collides with the insertion hole and exhibits a current waveform as shown in FIG. 10, so that a large current fluctuation occurs. This makes it possible to detect an insertion error. In addition, it is possible to determine whether the insertion is good or bad by installing an acceleration sensor on the suction tool 3 and measuring and managing acceleration / deceleration.

After the insertion operation is completed and before the suction is released,
The suction is confirmed again, the insertion is confirmed to be good (step S18), and the suction is released (step S19). After that, the robot 200 moves up, the rotating unit 2 moves to the first position (step S20, step S21), and the series of operations is completed. (Second Embodiment) FIG. 11 shows the structure of a transfer hand according to the second embodiment. The NC hand 2 is used as a lens transfer hand.
5, the NC up-and-down mechanism 35 is used. Since many parts of the second embodiment are common to those of the first embodiment, the same functional parts are designated by the same reference numerals and the description thereof will be omitted.

In FIG. 11, 25 is an NC hand, M1 is a motor in the NC hand 25, and E2 is a motor M1.
Is a pulley belt for transmitting the drive of the motor to the ball screw 27. The ball screw 27 has a reverse thread, and the rotation of the motor M1 causes the fingers 10 and 11 to move in opposite directions, so that the lens 12 can be gripped and released.

Reference numeral 35 denotes an NC up-and-down mechanism, M2 is a motor, and E2 is an encoder. A pulley belt 30 transmits the rotation of the motor M2 to the ball screw nut 32. The ball screw 31 moves up and down as the ball screw nut 32 rotates. Further, the ball screw 31 has a hollow structure, and a suction tool 3 (hard Teflon) for adsorbing the lens 12 is attached to the lower end and a pipe 33 is attached to the upper end to draw a vacuum. The motors M1 and M2 and the encoders E1 and E2 are connected to a controller 46, and the controller 46 controls the position of the motor.

FIG. 12 is a block diagram of the controller 46 shown in FIG.

Reference numeral 50 is a central processing unit (CPU), and 52 is a non-volatile memory (ROM) bus-connected to the CPU and containing a series of control algorithm programs and a man-machine interface program. 5
Reference numeral 4 denotes a power-backed-up memory (RAM) capable of storing teaching data. A counter 56 is connected to an encoder 60 connected to the servo motor 58 and counts the current position of the servo motor 58.

62 is a servo motor 58 and a torque amplifier 6
A D / A converter connected through 4 and a CPU
The instruction of 50 outputs a current instruction to the torque amplifier 64.

Reference numeral 66 is an I / O interface for fetching information of the other control device 68, solenoid valve 70, sensor 72 and the like into the CPU 50.

Reference numeral 74 denotes an external teaching device 76 and a display device 7.
8. A communication interface connecting the input keyboard 80 and the CPU 50.

ROM, RAM, counter, converter,
The I / O and I / F are connected to the CPU 50 by a bus 82.

Next, the operation of the lens transfer hand (FIG. 11) will be described with reference to the flowcharts of FIGS. 13 to 15.

In order to transfer the lens in the standing magazine 16 after the cleaning process to the horizontal magazine 17 for sending to the film forming (coating) process, first, the data memory in the controller 46 of FIG. Lens data such as lens diameter, edge thickness, curvature, and weight are read into the RAM (step S31). After that, the motors M1 and M2 are rotated by the lens data, and the hand 1 and the suction tool 3 are moved to the initial positions (steps S32 and S33). Next, the hand rotation unit 2 rotates to the first rotation position (step S3
4) At the same time, the robot arm 14 horizontally moves onto the vertical magazine 16 (step S35). After the hand 1 is positioned by the robot arm 14, the first turning position is confirmed (step S36). After confirming that the sensor 20 is turned on by the dog 21, the robot arm 14 is lowered (step S37), and the lens handling operation as shown in FIG. 4 is performed (steps S38-).
Step S40).

At this time, the grip of the lens 12 can be confirmed by the change in the current flowing through the amplifier of the control device shown in FIG. After confirming the lens grip (step S41), the robot moves up (step S42) and the solenoid valve 70 of FIG. 12 is turned on to start the suction operation by a vacuum device (not shown) (step S43). Simultaneously with the start of turning to the second turning position (step S44), the robot arm 14 moves onto the horizontally placed magazine 17 (step S45), and the sensor 19 checks the second turning position (step S46). . After confirmation, by slightly rotating the motor M1, the hand is opened by a small amount from the read lens diameter, and by slightly rotating the motor M2,
The suction tool is made to slightly approach the lens surface position calculated from the read lens edge thickness and curvature (steps S47 and S48).

At this time, the lens 12 and the fingers 10 and 1
1. The relationship between the suction tool 3 and the suction tool 3 is as shown in FIG.
Is centered by its own weight on the tapered surfaces 10a and 11a of the fingers 10 and 11, and at the same time, is adsorbed by the adsorbing tool 3 whose axis is aligned.

After confirming that the adsorption sensor (not shown) is turned on, the motor M1 is rotated (step S51), and the fingers 10 and 11 are opened (step S51). At this time,
Finger 1 so that the lens can move up and down with a margin
0 and 11 are fully open. As the robot arm 14 descends, the motor M2 rotates (steps S52 and S53), the suction tool 3 descends (step S54), and the state shown in FIG. . When the robot arm 14 and the suction device 3 simultaneously descend, the stored suction force and the lens weight read from the RAM are used to calculate the acceleration during the descent so that the suction does not come off, and the robot then descends. After descending, confirm that the lens is adsorbed by the adsorption sensor (step S
55), it is determined that the insertion of the lens 12 is normal, and the suction is released (step S56). The robot arm 14 rises and the series of operations for transferring the lens from the vertical magazine 16 to the horizontal magazine 17 is completed.

When the lens model is changed, the model data is RA-displayed by the keyboard 80 shown in FIG.
The series of operations described above can be performed by reading in M54, and by changing to NC, it is possible to flexibly deal with changing the lens model. For example, the transfer operation can be flexibly switched with respect to the convex lens and the concave lens as shown in FIGS. 16 (a) and 16 (b).

As described above, according to the above-mentioned embodiment, the following effects can be obtained. (1) Transfer of lenses from a stand-up magazine to a horizontal magazine can be automated, and productivity can be improved. (2) By adopting NC, it is possible to flexibly deal with changing the lens model, and it is possible to produce a large variety of products in small quantities and perform variable production. (3) Temporary positioning can be performed while holding the lens. (4) The centered lens can be sucked at the same time when the position of the lens is changed from the standing state to the lying state. (5) It is not necessary to retract the hand, and the suction portion can insert the lens by simply opening and closing the fingers. As described above, the production tact of lens transfer can be shortened.

The present invention may be applied to either a system composed of a plurality of devices or an apparatus composed of a single device. Further, it goes without saying that the present invention can be applied to the case where it is achieved by supplying a program to a system or an apparatus. Further, the present invention can be applied to a modified or modified version of the above embodiment without departing from the spirit of the present invention.

For example, in the above-mentioned embodiment, the lens was taken as an example of the work to be transferred, but the work is not limited to this, and it is a substantially disk-shaped work such as a lens and can be placed upright. Any material can be applied as long as it needs to be transferred in a horizontal state.

[0050]

As described above, according to the transfer hand and the transfer device of the present invention, while the robot equipped with the transfer hand is being moved, The position can be changed to a laid state, and the product can be adsorbed by the adsorbing means as it is and placed in a horizontal magazine, so that the production tact can be drastically shortened.

Further, while the disc-shaped member is grasped by the grasping means, it is possible to center the disc-shaped member by its own weight by utilizing the taper portion of the grasping claw, so that the disc-shaped member is placed on the horizontal magazine by the suction means. Can be inserted in the correct position when doing.

[0052]

[Brief description of drawings]

FIG. 1 is a side view showing a structure of a lens transfer hand according to a first embodiment.

FIG. 2 is a view of FIG. 1 seen from below.

FIG. 3 is a diagram showing a robot to which a transfer hand is attached.

FIG. 4 is a view showing a state where a finger holds a lens in a stand-up magazine.

FIG. 5 is a plan view of a vertical magazine and a horizontal magazine seen from above.

FIG. 6 is a view showing a state in which the fingers are released from gripping and the lens is horizontally inserted into the magazine by the suction tool.

FIG. 7 is a flowchart showing an operation of transferring a lens.

FIG. 8 is a diagram showing a clearance between the lens and the suction tool and the finger when the lens is suctioned by the suction tool.

FIG. 9 is a diagram showing changes in the current value of the vertical axis of the robot when the lens is inserted into the horizontal magazine.

FIG. 10 is a diagram showing changes in the current value of the vertical axis of the robot when the lens is inserted into the horizontal magazine.

FIG. 11 is a diagram showing a structure of a lens transfer hand according to a second embodiment.

FIG. 12 is a block diagram of a control device for a lens transfer hand.

FIG. 13 is a flowchart showing an operation of transferring a lens.

FIG. 14 is a flowchart showing an operation of transferring a lens.

FIG. 15 is a flowchart showing an operation of transferring a lens.

FIG. 16 is a diagram showing a shape of a lens.

[Explanation of symbols]

 1 Hand 2 Rotating Part 3 Adsorption Tool 4 Sliding Rod 5 Cylinder 6 Bushing 7 Upper Stopper 8 Lower End Stopper 10,11 Finger 12 Lens 13 LM Guide 14 Robot Arm 15 Magazine Stand 16 Standing Magazine 17 Horizontal Magazine 18 Grip Sensor 19 2nd turning position sensor 20 1st turning position sensor 21 Dog 22 Falling end sensor 23 Stopper 25 NC hand 26 Pulley belt 27 Ball screw 30 Pulley belt 32 Ball screw nut 33 Piping 46 Control device

Claims (10)

[Claims] 1. A transfer hand for replacing a disk-shaped member formed in a substantially disk shape from a state in which the disk-shaped member is placed in a standing state to a state in which the disk-shaped member is placed in a horizontal state, wherein the circle is a circle. Gripping means having a gripping claw for gripping the plate-shaped member from the outer peripheral direction in the upright state, and rotating the gripping means in a vertical plane to bring the disc-shaped member into a horizontal state. Rotation means, suction means for sucking and holding the surface of the disk-shaped member that has been rotated by the rotation means and has become horizontal, and the suction means for moving the suction means up and down. A transfer hand, comprising: an up-and-down moving means for placing a plate-like member horizontally at a predetermined position. 2. The gripping means grips the grip claws with a slight gap from the outer peripheral portion of the disc-shaped member when gripping the disc-shaped member in the upright state. The transfer hand according to claim 1, characterized in that 3. The gripping claw has a taper portion that supports the disc-shaped member from below in a state where the disc-shaped member is horizontal, and the disc-shaped member is formed by the taper portion. The transfer hand according to claim 2, wherein the transfer hand is centered. 4. The transfer hand according to claim 1, wherein the moving amount of the gripping claw of the gripping unit and the vertical moving amount of the suction unit by the vertical moving unit are adjusted by NC control. 5. The grip claw grips the outer periphery of the disc-shaped member with a slight gap between the first position for gripping the outer periphery of the disc-shaped member and the outer periphery of the disc-shaped member by the NC control. A second position and a third position for releasing the grip of the disc-shaped member.
5. The transfer hand according to claim 4, wherein the transfer hand is moved to the position. 6. A transfer method for replacing a disk-shaped member formed in a substantially disk shape from a state in which the disk-shaped member is placed in an upright state to a state in which the disk-shaped member is placed in a horizontal state. A gripping step of gripping the plate-shaped member from the outer peripheral direction with the gripping claws in the upright state, and a rotating step of rotating the gripping claws in a vertical plane to bring the disc-shaped member into a horizontal state. An adsorbing step for adsorbing and holding the surface of the disk-shaped member which has been rotated by the rotating step to be in a horizontal state by an adsorbing member; And a resting step of placing the member at a predetermined position in a horizontally placed state. 7. The gripping claw grips the disc-shaped member with a slight gap left from the outer peripheral portion of the disc-shaped member when gripping the disc-shaped member in the upright state. The transfer method according to claim 6. 8. The gripping claw has a taper portion that supports the disc-shaped member from below in a state where the disc-shaped member is horizontal, and the disc-shaped member is formed by the taper portion. The transfer method according to claim 7, wherein the transfer is centered. 9. The transfer method according to claim 6, wherein the amount of movement of the grip claw and the amount of vertical movement of the suction member are adjusted by NC control. 10. The grip claw is controlled by the NC control.
A first position for gripping the outer peripheral portion of the disc-shaped member, a second position for gripping the outer peripheral portion of the disc-shaped member with a slight gap, and a grip for the disc-shaped member. The transfer method according to claim 9, wherein the transfer method is moved to a third position for releasing.