Spectacle lens processing system

Abstract

To properly extract and transfer a processed lens from a spectacle lens processing device by using a transfer robot.SOLUTION: Provided is a spectacle lens processing system in which a transfer robot extracts and transfers a spectacle lens that has been processed by a spectacle lens processing device. The transfer robot holds a circumference of either object out of a spectacle lens and a cup of a working fixture attached to the spectacle lens, by using a pair of openable / closable fingers. The spectacle lens processing device comprises: a lens holding shaft for holding the spectacle lens via the cup; holding shaft rotation means for rotating the lens holding shaft; and control means for controlling the holding shaft rotation means. Following processing of the spectacle lens, in order for the transfer robot to hold the spectacle lens or the cup and extract the spectacle lens using the pair of fingers, the control means controls the holding shaft rotation means to adjust a rotation angle of the lens holding shaft and make it stand by.SELECTED DRAWING: Figure 16

Description

[Technical field]

[0001] The present disclosure relates to an eyeglass lens processing system that processes the periphery of an eyeglass lens using an eyeglass lens processing device. [Background technology]

[0002] In automating various manufacturing processes for processing the periphery of eyeglass lenses, the use of a versatile robot arm (transport robot) has been proposed (see, for example, Patent Document 1). This robot arm holds and transports objects such as eyeglass lenses by changing the distance between a pair of fingers. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-58947 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the outer shapes of eyeglass lenses processed by eyeglass lens processing devices vary. When the periphery of processed eyeglass lenses of various outer shapes is held and removed by the openable and closable fingers of a transport robot, depending on the outer shape of the processed eyeglass lenses, they may not be properly held and removed, and may fall off.

[0005] Also, even when the rim of the cup of the processing jig attached to the eyeglass lens is held by a finger portion that opens and closes, it may not be possible to hold the lens properly and remove it.

[0006] An object of the present disclosure is to provide an eyeglass lens processing system that can properly remove and transport processed eyeglass lenses from an eyeglass lens processing apparatus using a transport robot. [Means for solving the problem]

[0007] In order to solve the above problems, the present disclosure is characterized by having the following configuration. (1) A spectacle lens processing system according to a first aspect of the present disclosure is a spectacle lens processing system which processes the periphery of a spectacle lens using a spectacle lens processing device and removes and transports the processed spectacle lens using a transport robot, wherein the transport robot is configured to hold the periphery of an object, either a spectacle lens or a cup of a processing jig attached to the spectacle lens, with a pair of openable and closable fingers, and the spectacle lens processing device includes a lens holding shaft which holds the spectacle lens via the cup, a holding shaft rotation means which rotates the lens holding shaft, and a control means which controls the holding shaft rotation means, and wherein the control means controls the holding shaft rotation means to adjust the rotation angle of the lens holding shaft and waits so that, after processing of the spectacle lens, the transport robot can hold the spectacle lens or the cup with the pair of fingers and remove the spectacle lens. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an eyeglass lens processing system according to an embodiment. [Diagram 2] FIG. 1 is a diagram illustrating an example of a transport robot. [Diagram 3] 4A and 4B are diagrams illustrating a configuration of a holding portion. [Figure 4] 11A and 11B are diagrams illustrating the relationship between the opening and closing widths of a first finger and a second finger caused by an opening and closing mechanism. [Diagram 5] 1 is a diagram illustrating a schematic configuration of an eyeglass lens processing apparatus. [Figure 6] FIG. 2 is a diagram illustrating a cup and an adhesive tape. [Figure 7] FIG. 1 is a diagram illustrating a typical tray configuration. [Figure 8] FIG. 2 is a diagram illustrating a configuration of a centripetal device. [Figure 9] FIG. 2 is a schematic diagram of a cup attachment device. [Figure 10]FIG. 2 is a diagram illustrating a configuration of an adhesive tape supplying device. [Figure 11] FIG. 2 is a diagram illustrating a configuration of a temporary placement table. [Figure 12] FIG. 2 is a diagram showing the configuration of an entire control system of the eyeglass lens processing system. [Figure 13] FIG. 2 is a diagram showing a flow of a transport process between devices regarding an object to be transported. [Figure 14] 11A to 11C are diagrams illustrating attachment of a spectacle lens to a lens holding shaft by a finger portion. [Figure 15] 11A and 11B are diagrams illustrating the relationship of fingers to the outer shape of a processed lens. [Figure 16] 11A and 11B are diagrams illustrating an example of determining a rotation angle of a processed lens. [Figure 17] 13A and 13B are diagrams illustrating examples of transformation of fingers. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] [overview] Hereinafter, one exemplary embodiment will be described with reference to the drawings. Note that the items grouped in <> below can be used independently or in conjunction with each other.

[0010] <Transport robot> For example, a transport robot (e.g., transport robot 100) includes an arm unit (e.g., arm unit 130) and a holder unit (e.g., holder unit 150). For example, the arm unit has a plurality of joint units. For example, the transport robot moves an object held by the holder unit by rotating the arm unit via the joint unit. For example, the transport robot includes a control unit (e.g., control unit 139).

[0011] For example, the holding part is provided at the tip of the arm part. For example, the holding part has a finger part (for example, finger part 151) and an adsorption part (for example, adsorption part 170). This provides excellent versatility in transporting eyeglass lenses, and allows lenses to be transported appropriately depending on the transport process. Furthermore, a single transport robot can provide greater versatility.

[0012] <Finger section> For example, the finger portion holds an object, either a spectacle lens or a cup (e.g., cup CU) that is a processing jig for the spectacle lens, by pinching it with at least a pair of fingers (e.g., finger 152). Note that the finger portion is not limited to two fingers, and may be composed of two or more fingers.

[0013] For example, the finger portion may include at least a pair of first fingers (e.g., first finger 154) that open and close to pinch and hold at least the periphery of an unprocessed eyeglass lens, and a pair of second fingers (e.g., second finger 156) that open and close to pinch and hold at least the periphery of a processed eyeglass lens or the periphery of a cup. This makes it possible to hold lenses ranging from large-diameter unprocessed lenses to small-diameter processed lenses without enlarging the opening and closing mechanism of the finger portion, in other words, without enlarging the arm portion of the transport robot.

[0014] For example, the left first finger of the first finger (e.g., left first finger 154L) and the left second finger of the second finger (e.g., left second finger 156L) are integrally formed, and the right first finger of the first finger (e.g., right first finger 154R) and the right second finger of the second finger (e.g., right second finger 156R) are integrally formed. Also, for example, the first finger and the second finger may be arranged in a stepwise manner in a direction perpendicular to the direction in which the fingers extend, or may be arranged in a stepwise manner in the direction in which the fingers extend.

[0015] For example, the opening / closing mechanism (e.g., opening / closing mechanism 160) of the pair of first fingers and the pair of second fingers may be common. In this case, it is better if the opening / closing stroke of the pair of first fingers and the opening / closing stroke of the pair of second fingers are the same, and the maximum width (spacing) of the pair of first fingers opened by the opening / closing mechanism is larger than the maximum width (spacing) of the pair of second fingers opened by the opening / closing mechanism. This makes it possible to hold lenses ranging from large-diameter unprocessed lenses to small-diameter processed lenses without enlarging the opening / closing mechanism, even if the opening / closing mechanism is common and the opening / closing stroke is the same. Therefore, the holding part and the tip of the arm part can be inserted and removed without any trouble from the entrance of the eyeglass lens processing device without enlarging the arm part of the transport robot.

[0016] For example, the minimum width (e.g., width W3) at which the second finger can be opened and closed by the opening and closing mechanism is set to a width that can hold at least a predetermined minimum diameter of the processed eyeglass lens, and the maximum width (e.g., width W1) at which the first finger can be opened and closed by the opening and closing mechanism is set to a width that can hold at least a predetermined maximum diameter of the unprocessed eyeglass lens. The minimum width (e.g., width W4) at which the first finger can be opened and closed by the opening and closing mechanism is set to at least the maximum width (e.g., width W2) at which the second finger can be opened and closed. This makes it possible to hold a lens from a predetermined minimum diameter or a cup of a predetermined diameter of the processed lens to a predetermined maximum diameter of the unprocessed lens, even in a two-stage configuration, without increasing the width of the opening and closing stroke of the opening and closing mechanism.

[0017] A third finger having an intermediate opening and closing width may be provided between the first and second fingers. The first and second fingers may be configured separately, and the opening and closing mechanism of the first finger and the opening and closing mechanism of the second finger 156 may also be configured separately.

[0018] <Adsorption part> For example, the suction portion suctions and holds the eyeglass lens of the object. For example, the suction portion suctions and holds the refractive surface of the eyeglass lens. For example, the suction portion may be provided on the finger portion. Furthermore, the suction portion may be provided at a position where interference with the held object can be avoided even when the object is held by the pair of fingers. For example, the suction portion is provided on the base side of one of the pair of fingers. The location where the suction portion is located may be between the left and right fingers as long as it is a position that does not cause any interference when the object is held by the fingers.

[0019] <Control means for transport robot> For example, the control means controls the operation of the transport robot. For example, the control means controls the transport robot so as to selectively use holding by the finger portion and holding by the suction portion depending on the transport process of the eyeglass lens. This allows the eyeglass lens to be transported more appropriately in various transport processes.

[0020] For example, in a step of picking up and transporting a spectacle lens placed in a tray (e.g., tray TR) in order to attach a cup of a processing jig to the unprocessed spectacle lens, the control means controls the transport robot to hold the spectacle lens by the suction part. This allows the spectacle lens to be more appropriately picked up and transported in the step of picking up the spectacle lens from the tray.

[0021] For example, the control means controls the transport robot to hold the periphery of the unprocessed eyeglass lens or the periphery of the cup with the finger part in the process of transporting the eyeglass lens to hold the eyeglass lens by attaching the cup to the lens holding shaft (e.g., lens holding shaft 202) of the eyeglass lens processing device (e.g., eyeglass lens processing device 200) that extends horizontally after the cup is attached to the eyeglass lens. This allows the eyeglass lens to be held by the lens holding shaft that extends horizontally without dropping, and to be transported appropriately.

[0022] For example, in a step of removing the processed lens from the lens holding shaft after the peripheral edge of the eyeglass lens has been processed and transporting the processed lens, the control means controls the transport robot to hold the peripheral edge of the processed lens or the peripheral edge of the cup with the finger portion, thereby making it possible to hold and remove the eyeglass lens from the lens holding shaft extending horizontally without the eyeglass lens falling off.

[0023] Also, in the transport step of returning the processed eyeglass lens removed from the eyeglass lens processing device to the tray, a temporary placement table (for example, the temporary placement table 700) may be used during the transport step. In this case, the eyeglass lens is placed on the temporary placement table with the cup facing downward, and in the transport step of removing the eyeglass lens from the temporary placement table and transporting it to the tray, the control means controls the transport robot to suck and hold the rear side of the processed eyeglass lens with the suction section. This allows the processed eyeglass lens to be stably returned to the tray. Note that, when the processed eyeglass lens is removed from the eyeglass lens processing device with the periphery held by the finger section, the control means may transport and return the processed eyeglass lens held by the finger section to the tray as it is.

[0024] In addition, in a transport step other than the above, for example, the control means may control the transport robot to hold the periphery of the unprocessed eyeglass lens with the finger part in a step of transporting the unprocessed eyeglass lens to a lens meter (for example, the lens meter 500) for measuring the optical characteristics of the eyeglass lens or a cup attachment device having a lens meter function. In this case, for example, the eyeglass lens taken out of the tray may be transported to a centering device (for example, the centering device 300) or placed on a temporary placement table.

[0025] Also, for example, in a step of transporting an unprocessed eyeglass lens to a cup attachment device (e.g., cup attachment device 600) after measurement by the lens meter, the control means may control the transport robot to hold the periphery of the unprocessed eyeglass lens with the finger portion. Also, for example, in a step of transporting an unprocessed eyeglass lens with a cup attached from the cup attachment device, the control means may control the transport robot to hold the periphery of the unprocessed eyeglass lens with the finger portion.

[0026] <Eyeglass lens processing system> For example, an eyeglass lens processing system (e.g., eyeglass lens processing system 1) includes an eyeglass lens processing device that processes the periphery of an eyeglass lens, and a transport robot that transports the eyeglass lens. For example, the eyeglass lens processing system processes the periphery of an eyeglass lens using the eyeglass lens processing device, and the transport robot removes and transports the processed eyeglass lens. For example, the transport robot is configured to hold the periphery of an object, either an eyeglass lens or a cup of a processing jig attached to the eyeglass lens, with a pair of openable and closable fingers. Specifically, it is configured to hold the object by opening and closing the left and right fingers (changing the distance between them).

[0027] <Eyeglass lens processing equipment> For example, the eyeglass lens processing apparatus includes a lens holding shaft (e.g., lens holding shaft 202). The lens holding shaft holds the eyeglass lens via a cup. For example, the eyeglass lens processing apparatus includes a holding shaft rotating means (e.g., rotation unit 256) that rotates the lens holding shaft. For example, the eyeglass lens processing apparatus includes a control means (e.g., control unit 210). For example, the control means controls the holding shaft rotating means.

[0028] Also, for example, the eyeglass lens processing device may include information acquisition means (for example, the control unit 210). For example, the information acquisition means acquires various information related to the processing of eyeglass lenses. For example, the information acquisition means acquires information related to the outer shape of an object, either a processed eyeglass lens or a cup, held by a lens holding shaft. Note that the information acquisition means may be provided in the eyeglass lens processing system.

[0029] <Control Means of Eyeglass Lens Processing Apparatus> For example, the control means controls the holding shaft rotating means to adjust the rotation angle of the lens holding shaft and wait so that the transport robot can hold the eyeglass lens or the cup with a pair of fingers and take out the eyeglass lens after processing the eyeglass lens. This allows the processed eyeglass lens to be properly taken out and transported from the eyeglass lens processing device without dropping it.

[0030] For example, after processing the eyeglass lens, the control means controls the holding shaft rotation means based on the opening and closing direction of a pair of fingers when the transport robot removes the eyeglass lens and information regarding the external shape acquired by the information acquisition means, adjusts the rotation angle of the lens holding shaft, and waits.

[0031] For example, the control means adjusts the rotation angle of the lens holding shaft based on the opening / closing direction of the pair of fingers and the information on the outer shape acquired by the information acquisition means so that the object does not rotate due to the holding pressure of the pair of fingers when the object is held by the pair of fingers. In detail, for example, the control means calculates the rotation angle of the object at which a straight line passing through two points where each finger abuts on the outer periphery of the object becomes parallel (including approximately parallel) to the opening / closing direction of the fingers when the left finger and the right finger are closed, and adjusts the rotation angle of the lens holding shaft based on the calculated rotation angle. In this way, when a processed eyeglass lens or cup that is not a perfect circle (including approximately a perfect circle) is held by the pair of fingers, the eyeglass lens or cup does not rotate due to the holding pressure, and the object can be stably held.

[0032] For example, with regard to the rotation angle of the object, more specifically, the control means rotates the outer shape of the object in small angle increments based on the center of rotation of the eyeglass lens, determines the two points where each finger contacts at each rotation, and determines the rotation angle at which the difference (distance difference) between the two contact points in a direction perpendicular to the opening and closing direction of the fingers becomes zero, thereby making it possible to determine the rotation angle at which the straight line passing through the two contact points is parallel to the opening and closing direction of the fingers.

[0033] For example, the control means may determine, among the determined rotation angles, a rotation angle at which a straight line passing through two points where the left and right fingers abut is maximum. This allows objects of various shapes to be held by the finger section. That is, for example, in the present disclosure, the minimum width of the opening and closing of the finger section is set so that at least the longitudinal width of the cup can be held. And, even when the eyeglass lens is processed to a small diameter, at least the longitudinal portion of the cup is processed. Therefore, if it is determined that the maximum width portion of the outer shape of the eyeglass lens is to be held, even objects of various shapes can be held by the finger section. Even when the object is a cup, the longitudinal direction of the cup is the maximum width, so that it can be held by the finger section.

[0034] In addition, when there are multiple rotation angles determined, the control means may determine the rotation angle so that the length of a straight line passing through the two points where the left and right fingers contact is greater than the minimum width that can be held by the fingers.

[0035] It is more preferable that the control means, when adjusting the rotation angle of the lens holding shaft and waiting, determines the rotation angle of the lens holding shaft based on the angle of the entry axis of the finger part relative to the reference direction of the rotation of the lens holding shaft, in addition to the rotation angle of the spectacle lens or the rotation angle of the cup obtained as described above. This makes it possible to adjust the rotation angle of the lens holding shaft more appropriately and wait for it to be in a standby state. The reference direction of the rotation of the lens holding shaft is set to the right direction reference of the lens shape (which is also the 0 degree direction of the astigmatism axis of the spectacle lens), and is set to the horizontal direction, for example, at the start and end of processing of the spectacle lens.

[0036] For example, when the transport robot is configured such that a pair of fingers hold the longitudinal direction of the rim of the cup, the control means may determine a rotation angle of the cup at which the longitudinal direction of the cup is parallel to the opening and closing direction of the fingers based on angle information of the longitudinal direction of the cup attached to the eyeglass lens, and adjust the rotation angle of the lens holding shaft based on the determined rotation angle. For example, the control means adjusts the rotation angle of the lens holding shaft so that the longitudinal direction of the cup is positioned in a direction perpendicular to the entry axis of the finger portion. This allows the eyeglass lens to be transported while stably holding the cup attached to the eyeglass lens, without the cup rotating due to the holding pressure of the finger portion, even when the cup is held by the finger portion.

[0037] [Example] One typical embodiment of the present disclosure will be described with reference to the drawings, in which: Fig. 1 is a diagram showing an eyeglass lens processing system 1 according to the embodiment.

[0038] 1, the eyeglass lens processing system 1 includes a transport robot 100 and an eyeglass lens processing device 200. The transport robot 100 is used to hold and transport an object. The eyeglass lens processing device 200 is used to process the periphery of an eyeglass lens (hereinafter, lens LE) held by a lens holding shaft 202 with a processing tool 260, as shown in FIG.

[0039] The eyeglass lens processing system 1 may additionally include at least one of a centering device 300, an adhesive tape supplying device 400, a lens meter 500, a cup mounting device (blocker) 600, a temporary placement table 700, and a tray transport device 800.

[0040] In this embodiment, an unprocessed lens LE is placed at a predetermined position on a tray TR. A cup CU (see FIG. 6), which is a processing jig for the lens LE, is placed on the tray TR. The processed lens LE is then returned to the tray TR. An adhesive tape supplying device 400 is used to supply an adhesive tape TA for fixing the cup CU to the refractive surface of the lens LE.

[0041] <Transport robot> FIG. 2 is a diagram for explaining an example of the transport robot 100. The transport robot 100 of this embodiment includes an arm unit 130 and a holder 150 provided at the tip of the arm unit 130. The arm unit 130 has a plurality of joints, and can change its posture by rotating each part via the joints. In detail, the arm unit 130 of the transport robot 100 of this embodiment includes a base 131, a shoulder 132, a lower arm 133, a first upper arm 134, a second upper arm 135, a wrist 136, and the holder 150. Note that in FIG. 4, the rotation axes X1 to X6 are indicated by illustrating the directions around the rotation axes X1 to X6.

[0042] The base 131 supports the entire arm unit 130. The shoulder 132 is connected to an upper portion of the base 131 via a first joint J1. The shoulder 132 rotates relative to the base 131 around a rotation axis X1 extending in a direction intersecting the base 140 (vertical direction in this embodiment). One end of the lower arm 133 is connected to a part of the shoulder 132 via a second joint J2. The lower arm 133 rotates relative to the shoulder 132 around a rotation axis X2 extending in the horizontal direction. The first upper arm 134 is connected to an end of the lower arm 133 opposite to the side connected to the shoulder 132 via a third joint J3. The first upper arm 134 rotates relative to the lower arm 133 around a rotation axis X3 extending in the horizontal direction. The second upper arm 135 is connected to the tip side of the first upper arm 134 (the side where the holding part 150 is provided) via a fourth joint J4. The second upper arm 135 rotates relative to the first upper arm 134 around the rotation axis X4. The wrist 136 is connected to the tip side of the second upper arm 135 via a fifth joint J5. The wrist 136 rotates relative to the second upper arm 135 around the rotation axis X5. The holding part 150 is connected to the tip side of the wrist 136 via a sixth joint J6. The holding part 150 rotates relative to the wrist 136 around the rotation axis X6.

[0043] The arm portion 130 includes therein a motor for rotating each portion about each of the rotation axes X1 to X6.

[0044] The arm unit 130 is fixed to a base 140. In this embodiment, the base 140 is placed on a horizontal installation surface. The base 140 is provided with an arm moving unit 141 that moves the arm unit 130 in a direction parallel to the installation surface. When the arm moving unit 141 is driven, the entire arm unit 130 moves in parallel on the installation surface.

[0045] The transport robot 100 of this embodiment includes a control unit 139 that controls various controls (for example, control of the motors that rotate each unit and the actuators that drive the holding unit 150, etc.). Examples of detailed configurations of the arm unit 130 of the transport robot 100 are described in, for example, JP 2021-58947 A and JP 2019-141970 A.

[0046] 3A and 3B are diagrams illustrating the configuration of the holding portion 150. Fig. 3(a) is a perspective view of the holding portion 150, and Fig. 3(b) is a front view of the holding portion 150.

[0047] Holding unit 150 includes finger unit 151 and suction unit 170. Finger unit 151 includes at least a pair of fingers 152. The pair of fingers 152 is opened and closed by opening / closing mechanism 160. In other words, the pair of fingers 152 sandwich and hold an object by changing the distance between them. The opening / closing mechanism 160 is built into wrist 136.

[0048] The pair of fingers 152 in the embodiment includes at least a pair of outer first fingers 154 that open and close to hold an unprocessed lens LE, and a pair of inner second fingers 156 that open and close to hold a processed lens LE or a cup CU. The first fingers 154 and the second fingers 156 in the embodiment shown in FIG. 3 are arranged in a stepped manner in a direction perpendicular to the direction in which the fingers extend.

[0049] The first finger 154 is composed of a left first finger 154L and a right first finger 154R. The second finger 156 is composed of a left second finger 156L and a right second finger 156R. In this embodiment, the left first finger 154L and the left second finger 156L constituting the left finger are integrally formed, and the right first finger 154R and the right second finger 156R constituting the right finger are also integrally formed. As a result, the first finger 154 and the second finger 156 are opened and closed by a common opening and closing mechanism 160. In addition, the opening and closing strokes of the pair of first fingers 154 and the pair of second fingers 156 are made the same. Note that the opening and closing mechanism 160 of the finger 152 in the embodiment is configured to move the left finger and the right finger in parallel (in other words, move linearly).

[0050] 4 is a diagram for explaining the relationship between the opening and closing width of the first finger 154 and the second finger 156 by the opening and closing mechanism 160. In FIG. 4, W5 indicates the movement width (opening and closing stroke) of one side of the opening and closing mechanism 160 to open and close the pair of fingers 152. For example, the movement width W5 is set to 15 mm. As shown in FIG. 4, the maximum width W1 over which the pair of first fingers 154 are opened by the opening and closing mechanism 160 is set to be larger than the maximum width W2 over which the pair of second fingers 156 are opened by the opening and closing mechanism 160. The positional relationship between the pair of first fingers 154 and the pair of second fingers 156 is determined taking into consideration the movement width W5 of the opening and closing mechanism 160.

[0051] Specifically, the minimum width W3 by which the pair of second fingers 156 can be opened and closed by the opening / closing mechanism 160 is set to a width capable of holding at least a predetermined minimum diameter LEr1 (e.g., 30 mm) of the processed lens LE. The width W3 is also a width capable of holding a cup CU of a predetermined diameter. The maximum width W1 by which the pair of first fingers 154 can be opened and closed by the opening / closing mechanism 160 is set to a width capable of holding at least a predetermined maximum diameter LEr2 (e.g., 90 mm) of the unprocessed lens LE. The minimum width W4 by which the pair of first fingers 154 can be opened and closed by the opening / closing mechanism 160 (e.g., 60 mm) is set to be at least equal to or less than the maximum width W2 by which the pair of second fingers 156 can be opened and closed.

[0052] With this configuration, the pair of first fingers 154 and the pair of second fingers 156 have the same movement width (opening / closing stroke), but can seamlessly hold lenses LE having diameters from the minimum diameter LEr1 to the maximum diameter LEr2. That is, without enlarging the opening / closing mechanism 160 of the finger unit 152, lenses LE having diameters from large unprocessed lenses LE to small processed lenses LE and cups CU can be held. In addition, even if the opening / closing mechanism 160 is common and has the same opening / closing stroke, lenses LE having diameters from large unprocessed lenses LE to small processed lenses LE and cups CU having a predetermined diameter can be held without enlarging the opening / closing mechanism 160, even if the fonger 152 has a two-stage configuration. This allows the tips of the holding unit 150 and the arm unit 130 to be inserted and removed without any hindrance to the entrance 270 (see FIG. 1) of the eyeglass lens processing device 200, without enlarging the size of the arm unit 130 of the transport robot 100.

[0053] In addition, whether to use the first finger 154 or the second finger 156 may be determined by the control unit 139 based on whether the width of the object (e.g., the processed lens LE) to be held exceeds the width W2.

[0054] Returning to the description of the holding unit 150 in FIG. 3, the suction unit 170 is provided on the finger unit 151. Here, the suction unit 170 is provided at a position where interference with the held object (either the lens LE or the cup CU) can be avoided even when the pair of fingers 152 holds the object. Specifically, when the pair of fingers 152 holds an unprocessed lens LE having a maximum diameter LEr2, the suction unit 170 is provided on the base side of one of the pair of fingers 152 at a position away from the periphery of the unprocessed lens LE. In this embodiment, the suction unit 170 is provided so as to extend downward from the base side of the right first finger 154R and the right second finger 156R that are integrally formed. Note that the location where the suction unit 170 is provided is not limited to the finger 152, and may be any position that does not cause any trouble even when the object is held by the fingers 152. For example, the suction portion 170 may be disposed between a pair of fingers 152 (between the fingers in the opening and closing direction).

[0055] In this embodiment, the suction unit 170 has a trumpet-like shape and has a suction hole (not shown) formed therein. The suction unit 170 may be bellows-shaped. Of course, the shape of the suction unit 170 is not limited to these, and various shapes can be used. The suction hole is connected to a suction tube 172 arranged on the upper part of the right second finger 156R. Furthermore, the suction tube 172 is connected to a suction source 175 provided on the arm unit 130 or the base 140. The driving of the suction source 175 is controlled by the control unit 139. The suction source 175 may be a small compressor or a small cylinder type capable of sucking air. Of course, the suction unit 170 may have a configuration different from that of the embodiment, as long as it is configured to suck and hold an object and move it.

[0056] <Eyeglass lens processing equipment> 5 is a diagram illustrating a schematic configuration of the eyeglass lens processing apparatus 200. The eyeglass lens processing apparatus 200 includes a lens holding shaft 202 (lens holding shafts 202L, 202R) that holds the lens LE, a processing tool 260 for processing the peripheral edge of the lens LE, a moving unit 250 for changing the relative positional relationship between the lens LE held by the lens holding shaft 202 and the processing tool 263, and a control unit 210 that controls the moving unit 250.

[0057] For example, the lens holding shaft 202 extends in the horizontal direction and is disposed in the eyeglass lens processing device 200. For example, the processing tool 260 is attached to the processing tool rotating shaft 261 and includes at least one of a finishing processing tool 262 having a V-groove for forming a bevel and a rough processing tool 263. For example, the moving unit 250 includes a first moving unit 252 that moves a carriage (not shown) that rotatably holds the lens holding shaft 202 in the axial direction (X direction) of the lens holding shaft 202, and a second moving unit 254 that moves in a direction (Y direction) that changes the axial distance between the lens holding shaft 202 and the processing tool rotating shaft 261. The moving unit 250 also includes a rotation unit 256 that rotates the lens holding shaft 202 held by the carriage.

[0058] The lens LE is held by a pair of lens holding shafts 202L and 202R. A cup holder 230 is attached to one of the lens holding shafts 202L, and a base 10 of a cup CU fixed to the lens LE is inserted into the cup holder 230. The cup holder 230 has an insertion hole 231a in which a key 231b is formed. The key groove 10b formed in the base 10 of the cup CU (see FIG. 6) is fitted into the key 231b, so that the astigmatic axis angle of the lens LE and the reference direction of the lens holding shaft 230 have a fixed relationship. After the cup CU is attached to the cup holder 230, the lens holding shaft 202R is moved to the lens LE side, and the lens LE is pressed by a lens presser 235 attached to the lens holding shaft 202R. As a result, the lens LE is held by the lens holding shaft 202. The eyeglass lens processing apparatus 200 includes a lens holding mechanism 240 that moves the lens holding shaft 202R toward the lens holding shaft 202L.

[0059] An example of a detailed configuration of the eyeglass lens processing apparatus 200 is described in, for example, Japanese Patent Application Laid-Open No. 2013-158866.

[0060] <Cup and adhesive tape> 6 is a diagram illustrating a cup CU and an adhesive tape TA according to an embodiment. The cup CU is used as a processing jig for a lens LE. The adhesive tape TA is used to fix the cup CU to a refractive surface of the lens LE. The refractive surface of the lens LE to which the cup CU is fixed is generally the front surface (surface) of the lens, but may also be the rear surface (back surface) of the lens.

[0061] In FIG. 6, the cup CU of this embodiment includes a base 10 and a flange 11. For example, the base 10 and the flange 11 are integrally formed of resin. The base 10 is inserted into a cup holder 230 (see FIG. 5) provided on the lens holding shaft 202L of the eyeglass lens processing device 200. A key groove 10b extending in the left-right direction is formed in the upper part of the base 10. The key groove 10b is used to set a predetermined positional relationship between the cylindrical axis angle of the lens LE and the left-right direction of the lens LE when the cup CU is attached to the lens LE and when the peripheral edge of the lens LE is processed. In addition, a notch 10c is formed in the base 10 as an example of an index for determining the up-down direction of the lens LE (here, the up-down direction when wearing eyeglasses).

[0062] The flange 11 is formed in an elliptical shape having a larger diameter than the base 10. The longitudinal direction of the elliptical shape is the same as the direction in which the key groove 10b extends. An uneven portion 11a is formed around the base 10 on the upper surface of the flange 11. The uneven portion 11a is used to reduce rotational misalignment when inserted into the cup holder 430. The tip of the cup holder 430 is formed with an uneven portion (not shown) into which the uneven portion 11a formed on the flange 11 is fitted.

[0063] When the cup CU is viewed from above, the outer shape of the cup CU (the outer shape of the flange portion 11) is symmetrical in the left-right direction and in a direction perpendicular to the left-right direction with respect to the center of the cup CU.

[0064] Two hooks 12 are formed on both sides in the longitudinal direction of the upper surface of the flange portion 11. For example, the two hooks 12 are used as members that an operator holds with his / her fingers when peeling off a cup CU attached to the lens LE via an adhesive tape TA. The hooks 12 may be omitted.

[0065] 6, the adhesive tape TA is formed to have the same (approximately the same) outer shape as the lower surface of the flange 11. For example, the base material of the adhesive tape TA is rubber. The upper surface of the adhesive tape TA is attached to the fixing surface of the cup CU (i.e., the lower surface of the flange 11), and the lower surface of the adhesive tape TA is attached to the refractive surface of the lens LE. As a result, the cup CU is fixed to the refractive surface of the lens LE via the adhesive tape TA.

[0066] <Tray> FIG. 7 is a diagram illustrating the configuration of a representative tray TR according to the embodiment.

[0067] The tray TR is formed in a substantially rectangular shape when viewed from above. A lens placement portion TR10L for placing the left-eye lens LE and a lens placement portion TR10R for placing the right-eye lens LE are provided on the bottom plate TR01. The lens placement portion TR10L and the lens placement portion TR10R have the same configuration, so the lens placement portion TR10L will be described as an example.

[0068] A cup mounting portion TR20 on which the cup CU is placed is formed in the center of the lens mounting portion TR10L. The cup mounting portion TR20 is formed with an insertion hole TR21 into which the base 10 of the cup CU is inserted. Inside the insertion hole TR21, a key TR22 into which the key groove 10b of the cup CU is fitted is formed.

[0069] A lens base TR30 is formed around the cup placement portion TR20. The lens base TR30 is formed in a frame structure made of plates at a certain height (for example, 12 mm) from the bottom plate TR01. In this embodiment, the lens base TR30 is composed of orthogonal bases TR31 formed in the four directions in the left-right direction and the front-back direction, and interpolation bases TR32 formed complementary between each of the orthogonal bases TR31. Furthermore, a side wall TR34 is formed on the outer periphery of each of the orthogonal bases TR31 and each of the interpolation bases TR32 to prevent the lens LE from falling from the lens base TR30. The height of the side wall TR34 is higher than the height of the lens base TR30 by a height H (for example, 3 mm). The side wall TR34 is arranged in a circular shape, and its inner diameter is formed to a dimension (for example, 84 mm) that allows a general uncut lens LE to fit inside. The side wall TR34 prevents the uncut lens LE from falling from the lens base TR30 or from being significantly displaced during the transport of the tray TR.

[0070] In addition, left and right side plates TR02 and front and rear side plates TR03 are formed on all four sides of the bottom plate TR01. The height of the front and rear side plates TR03 is made lower than the height of the left and right side plates TR02, making it easy to remove the lens LE placed on the lens stand TR30 from the front and rear. In addition, trays TR of the same shape can be stacked on the left and right side plates TR.

[0071] Before being attached to the lens LE, the cup CU is placed on the cup placement part TR20 or at a predetermined position in the tray TR with its base 10 facing up.

[0072] <Centripetal device> FIG. 8 is a diagram for explaining the configuration of the centripetal device 300. The centripetal device 300 includes at least three abutment members 314 that abut against the periphery of the unprocessed lens LE, and a moving mechanism 310 that moves the abutment members 314 toward the centripetal axis N1. The centripetal device 300 of the embodiment includes a cylindrical base 311 and a lens mount 313 on which the lens LE is placed. For example, the moving mechanism 310 includes three rotation shafts 315, arms 316 attached to the respective rotation shafts, a motor 317 that rotates the three rotation shafts 315 in conjunction with each other, and a motor 418 that rotates the lens mount 313 around the centripetal axis N1. The three rotation shafts 315 are disposed on the outer periphery of the cylindrical base 311 at equal angles and equal distances around the centripetal axis LC1. The arms 316 are attached to the upper ends of the rotation shafts 315, respectively. The abutment members 314 are attached to the tips of the arms 316. By driving the motor 317, each rotation shaft 315 is rotated via a rotation transmission mechanism (not shown), and the arm 316 and the abutment member 314 are moved from the retracted position shown by the solid line to the support position shown by the dotted line. As a result, the geometric center of the peripheral edge of the unprocessed lens LE placed on the lens base 313 is centered with respect to the centripetal axis LC1. In addition, the lens base 313 is rotated by the motor 418 via a rotation transmission mechanism (not shown). The driving of the motors 317 and 418 is controlled by the control unit 320.

[0073] <Lens meter> The lens meter 500 includes a measurement optical system (e.g., a Shack-Hartmann optical system) for measuring optical characteristics such as the optical center, cylinder axis direction, and refractive power of a lens LE placed at a predetermined position. For example, during measurement, the lens LE is placed on a lens support unit 502 (see FIG. 1). The lens meter 500 includes a control unit 510 (see FIG. 12). The control unit 510 controls the operation of the lens meter 500, and obtains the optical characteristics of the lens LE measured by the measurement optical system, such as the optical center, cylinder axis direction, and refractive power. The lens meter 500 can be configured using the technology disclosed in, for example, Japanese Patent Application Laid-Open No. 2003-075296. For this reason, detailed description will be omitted.

[0074] <Cup attachment device> 9 is a schematic diagram of the cup attachment device 600. The cup attachment device 600 is used to attach a cup CU to a refractive surface (for example, the front surface) of the lens LE.

[0075] The cup attachment device 600 attaches (fixes) the cup CU to the refractive surface of the lens LE via the adhesive tape TA by relatively changing the position of the cup CU held by the blocking arm 610 and the lens LE placed on the lens support stand 602 or the lens LE held by the holding portion 150 of the transport robot 100.

[0076] The blocking arm 610 includes a mounting portion 630 for holding the cup CU. The mounting portion 630 is attached to the tip of the blocking arm 610. The base 10 of the cup CU is inserted into the mounting portion 630. The mounting portion 630 includes an insertion hole 631a in which a key 631b is formed. The insertion hole 631a includes a plunger that applies a load to hold the cup CU. The key groove 10b formed in the base 10 of the cup CU is fitted into the key 631b, so that the astigmatic axis angle of the lens LE and the reference direction of the cup CU have a fixed relationship.

[0077] The cup attachment device 600 includes an arm moving unit 620 that changes the relative positional relationship of the cup CU held by a mounting portion 630 of a blocking arm 610 with respect to the lens LE. The blocking arm 610 is held by an arm holding base 612. The arm holding base 612 is moved in three dimensional directions of XYZ by the arm moving unit 620. As a result, the blocking arm 610 is moved three-dimensionally with respect to the lens LE.

[0078] The arm moving unit 620 may also include a rotation unit 621 that rotates the cup CU around a central axis K2 of the mounting part 630. The mounting part 630 is rotated around the central axis K2 by a motor (not shown) included in the rotation unit 621. As a result, when the lens LE has an astigmatism axis (cylinder axis), the reference horizontal angle of the cup CU is changed, and the cup CU is attached to the lens LE in a manner that matches the astigmatism axis with the lens prescription.

[0079] When attaching the cup CU to the lens LE, the blocking arm 610 is moved so that the central axis K2 coincides with the reference axis N2 for cup attachment that passes through the center of the lens support base 602, and then the blocking arm 610 is moved toward the lens LE, thereby fixing the cup CU to the front surface of the lens LE.

[0080] Furthermore, the cup attachment device 600 may include a pressing shaft 640 that, when attaching the cup CU to the lens LE, presses the refractive surface (rear surface) of the lens LE from the opposite direction to the mounting part 630. A pressing member 642 is attached to the tip of the pressing shaft 640.

[0081] The pressing shaft 640 is held by a shaft holding base 645. The shaft holding base 645 is moved in three dimensional directions of X, Y and Z by a lens pressing shaft moving unit 650. When the pressing shaft 640 is used, the central axis of the pressing shaft 640 is made to coincide with the reference axis N2, and the lens pressing shaft moving unit 650 presses the pressing member 642 against the rear surface of the lens LE, thereby attaching a cup CU to the lens LE. The driving of the arm moving unit 620 and the lens pressing shaft moving unit 650 is controlled by a control unit 660.

[0082] <Adhesive tape supply device> FIG. 10 is a diagram for explaining the configuration of the adhesive tape supplying device 400. The adhesive tape supplying device 400 includes a base moving unit 410. A plurality of adhesive tapes TA are adhered and arranged on a lower mount 30, which is an example of a base, and the lower mount 30 is loaded into the adhesive tape supplying device 400. The base moving unit 410 is used to move the lower mount 30 in the feed direction. For example, the base moving unit 410 includes a belt 416 stretched around two timing pulleys 412 and 414, and a motor 418 for rotating the timing pulley 412 to move the belt 416. The adhesive tape supplying device 400 may also include an objective sensor 450. The objective sensor 450 detects the adhesive tape TA on the lower mount 30 moved by the belt 416.

[0083] Moreover, the roller 422 is disposed so as to press the belt 416 with the lower mount 30 sandwiched between the roller 422 and the belt 416. The roller 422 is rotated in synchronization with the movement of the belt 416, so that the lower mount 30 is guided in a direction away from the adhesive tape TA (downward in this embodiment).

[0084] The adhesive tape supplying device 400 may also include a protective body peeling unit 430 disposed on the base moving unit 410. For example, an upper mount 31, which is an example of a protective body, is attached to the adhesive tape TA disposed on the lower mount 30 so as to cover the adhesive tape TA. The protective body peeling unit 430 includes a belt 436 stretched around two timing pulleys 432 and 434, and a motor 438 for rotating the timing pulley 432. The protective body peeling unit 430 is used to peel off the upper mount 31 of the adhesive tape TA adhered to the lower mount 30. The roller 442 is disposed so as to press the belt 436 with the upper mount 31 sandwiched between the roller 442 and the belt 436. The roller 442 is rotated in synchronization with the movement of the belt 436, so that the upper mount 31 peeled off from the adhesive tape TA is guided upward.

[0085] The adhesive tape supplying device 400 includes a control unit 460. The control unit 460 controls the substrate moving unit 410 and the protective body peeling unit 430.

[0086] When the lower mount 30 is moved in the feed direction and the adhesive tape TA is moved to a predetermined cup attachment position PT1, the movement of the base moving unit 410 is stopped. At position PT1, the cup CU held and transported by the finger portion 151 of the transport robot 100 is lowered, so that the adhesive tape TA is attached to the fixed surface of the cup CU. Thereafter, the cup CU is moved to position PT2, and the cup CU is held by the blocking arm 610 of the cup attachment device 600. Then, the operation of the blocking arm 610 and the movement of the base moving unit 410 are controlled, and the blocking arm 610 and the lower mount 30 are moved synchronously in the feed direction (direction of arrow A), so that the lower mount 30 is guided in a direction away from the adhesive tape TA (downward in this embodiment), and the lower mount 30 is peeled off from the adhesive tape TA.

[0087] The configuration of the adhesive tape supplying device 400 is not limited to the above, and it is sufficient if the adhesive tape TA can be attached to the fixing surface of the cup CU in cooperation with the transport robot 100. For example, instead of using the blocking arm 610, the finger portion 151 of the transport robot 100 may be moved in the feed direction from position PT2 while holding the cup CU, thereby peeling off the lower backing paper 30 from the adhesive tape TA.

[0088] <Temporary stand> 11 is a diagram illustrating the configuration of the temporary placement table 700. The temporary placement table 700 is used to switch the holding of the lens LE or the cup CU by the holding unit 150 of the transfer robot 100. The temporary placement table 700 includes a base 702, a support shaft 704 held by the base 702, and a cup attachment unit 710 attached to the tip of the support shaft 704. The cup attachment unit 710 includes an insertion hole 711a into which the base 10 of the cup CU is inserted, and a key 711b into which a key groove 10b formed in the cup CU is fitted.

[0089] <System control configuration> 12 is a diagram showing the configuration of the entire control system of the eyeglass lens processing system 1. The eyeglass lens processing system 1 includes a control device 50 that controls the entire system. The control device 50 is connected to a control unit 139 of the transport robot 100, a control unit 210 of the eyeglass lens processing device 200, a control unit 320 of the centering device 300, a control unit 460 of the adhesive tape supply device 400, a control unit 510 of the lens meter 500, and a control unit 660 of the cup attachment device 600. The control device 50 is also connected to a control unit (not shown) of the tray transport device 800. The connection with the control device 50 is not limited to a wired connection, and may be connected wirelessly so as to be capable of communicating.

[0090] The control device 50 sends an operation command signal to the control unit of each device according to the transport process of the transport robot 100. The control unit of each device controls the components of each device based on the command signal from the control device 50. The control device 50 is connected to an operation unit 52 and a display unit 52. The control device 50 may also function as a host computer. In addition, the control device 50 is capable of communicating with an external device via an interface 55, and acquires lens processing information required for processing the periphery of the lens LE. For example, the lens processing information includes at least one of the target lens shape for processing the periphery of the lens LE, layout data (data on the positional relationship of the optical center of the lens LE with respect to the lens shape), and prescription data of the lens LE (cystometric axis angle, prescription power of negative or positive power, etc.). The lens processing information may be input by the operation unit 52.

[0091] Moreover, the control units (139, 210, 320, 450, 510, 660) of each device function as both an information output unit that outputs various information and an information acquisition unit that acquires various information. For example, the control unit 139 of the transport robot 100 acquires information on the measurement results of the lens LE (optical center position, astigmatism axis angle, etc.) output from the control unit 510 of the lens meter 500. Furthermore, the control unit 210 of the eyeglass lens processing apparatus 200 acquires information on the outer shape of the processed lens LE. Furthermore, the control unit 210 acquires information on the outer shape of the cup CU. The outer shape of the cup CU may be acquired by reading out information previously stored in a memory unit (not shown) provided in the eyeglass lens processing apparatus 200 or the control device 50.

[0092] <Operation> The operation of the eyeglass lens processing system 1 having the above-mentioned configuration will be described with reference to Fig. 13. Fig. 13 is a diagram showing the flow of the transport process between each device regarding the transport object.

[0093] <Transportation process S1> In the process of removing and transporting the unprocessed lens LE placed on the tray TR, the suction unit 170 is used. The transport process S1 is a process of removing the unprocessed lens LE placed on the tray TR and transporting it to the centering device 300. The transport process S1 is one of the processes performed to attach a cup CU to the unprocessed lens LE. The control unit 139 of the transport robot 100 that receives a command signal from the control device 50 controls the movement of the arm unit 130 and also controls the holding operation of the holding unit 150.

[0094] The uncut lens LE is placed on a lens base TR30 of a tray TR so that its rear surface faces downward. A side wall TR34 that is higher than the lens base TR30 by a height H (e.g., 3 mm) is located on the outer periphery of the lens base TR30. For this reason, when the peripheral thickness of the lens LE is equal to or less than the height H (e.g., a plus power lens, a weak minus power lens, etc.), it is difficult for the finger portion 151 to hold the periphery of the lens LE. Therefore, in the process of removing and transporting the uncut lens LE placed on the tray TR, a suction portion 170 is used.

[0095] For example, in order to first transport an unprocessed lens LE for the right eye, the control unit 139 moves the arm unit 130 so that the suction unit 170 is positioned at the center of the lens mount TR30 on the lens placement unit TR10R side. Then, the suction source 175 is driven and the suction unit 170 is lowered. As a result, the front surface of the lens LE is sucked by the suction unit 170, and the lens LE is held.

[0096] Next, the lens LE is conveyed onto the lens base 313 of the centripetal device 300 while being held by the suction unit 170. When the suction by the suction source 175 of the suction unit 170 is stopped and the lens LE is placed on the lens base 313, the centripetal device 300 is operated by the control unit 320 which has received a command signal from the control device 50. That is, the control unit 320 controls the moving mechanism 310, and the three abutment members 314 abut against the periphery of the lens LE and move toward the centripetal axis LC1. This causes the geometric center of the unprocessed lens LE to coincide (or only need to coincide approximately) with the centripetal axis LC1.

[0097] <Transport process S2> In the process of removing and transporting the cup CU placed on the tray TR, the finger portion 151 is used. The transport process S2 is a process of removing the cup CU placed on the tray TR and transporting it to the adhesive tape supplying device 400.

[0098] The control unit 139 of the transport robot 100 receives a command signal from the control device 50 and controls the movement of the arm unit 130. After the wrist 136 is rotated so that the pair of inner second fingers 156 are on the lower side, the second fingers 156 hold the longitudinal direction of the periphery of the cup CU placed at a predetermined position in the tray TR. The cup CU is transported to the adhesive tape supplying device 400 while being held by the second fingers 156. Then, the cup CU held by the second fingers 156 is lowered onto the adhesive tape TA located at position PT1 in Fig. 10, whereby the adhesive tape TA is attached to the fixing surface of the cup CU.

[0099] <Transportation process S3> The transport step S3 is a step of mounting the cup CU with the adhesive tape TA attached to the mounting portion 630 of the blocking arm 610 of the cup mounting device 600. In this step, the blocking arm 610 or the finger portion 151 of the transport robot 100 is used.

[0100] For example, when the blocking arm 610 is used, the control unit 660 of the cup attachment device 600 receives a command signal from the control device 50 and controls the driving of the arm moving unit 620, and after the mounting unit 630 is moved onto the cup CU located at position PT2 as shown in Fig. 10, the blocking arm 610 is lowered, and the cup CU is mounted on the mounting unit 630. Thereafter, the blocking arm 610 and the lower mount 30 are moved synchronously in the feed direction (direction of arrow A), and the lower mount 30 is peeled off from the adhesive tape TA.

[0101] 10, when the finger portion 151 of the transport robot 100 is used, instead of the blocking arm 610, the finger portion 151 and the lower mount 30 are moved synchronously in the feed direction with the cup CU held by the finger portion 151 at position PT2, thereby peeling the lower mount 30 from the adhesive tape TA. Then, the transport robot 100 transports the cup CU held by the finger portion 151 to the cup attachment device 600, and the cup CU is attached to the attachment portion 630 of the blocking arm 610 waiting at a predetermined position.

[0102] <Transport process S4> In the step of transporting the lens LE to the lens meter 500, the finger unit 151 or the suction unit 170 is used. The transport step S4 is a step of removing the lens LE from the centripetal device 300 and transporting it to the lens meter 500 after the lens LE has been centered by the centripetal device 300 in the previous transport step S1. For example, in this transport step, the finger unit 151 is used.

[0103] The two-dimensional position of the centripetal axis LC1 of the centripetal device 300 is known due to the arrangement of the centripetal device 300, and the information is acquired in advance by the control device 50 or the control unit 139 of the transfer robot 100. The control unit 139, which has received a command signal from the control device 50, controls the movement of the arm unit 130 and moves the finger unit 151 so that the position of the centripetal axis LC1 is located at the center in the opening and closing direction of the pair of fingers 152 and is located at a predetermined holding position in the direction in which the fingers 152 extend. In addition, when holding an unprocessed lens LE, the height position of the finger unit 151 with respect to the lens base 313 is adjusted so that the outer pair of first fingers 154 holds the periphery of the lens LE.

[0104] The lens LE held by the first finger 154 and taken out from the centering device 300 is transferred by the transfer robot 100 onto the lens support portion 502 of the lens meter 500 (see FIG. 1).

[0105] When the lens LE is a single focal length lens, the optical center is generally located near the geometric center of the outer shape of the lens LE. The control unit 139 of the transport robot 100 controls the movement of the arm unit 130 so that the geometric center of the lens LE held by the finger unit 151 is located on the measurement optical axis of the lens meter 500. The optical center position of the lens LE relative to the measurement optical axis of the lens meter 500 is obtained by the control unit 510 of the lens meter 500 based on the measurement result of the measurement optical system of the lens meter 500. The result is transmitted to the control unit 139 (or the control device 50) of the transport robot 100. In this way, the control unit 139 obtains information on the positional relationship between the geometric center of the lens LE and the optical center of the lens LE. In addition, when the lens LE has an astigmatism component, information on the astigmatism axis direction of the lens LE is obtained based on the measurement result of the measurement optical system of the lens meter 500. In this way, the control unit 139 obtains information on the astigmatism axis direction of the lens LE.

[0106] In measuring the lens LE by the lensmeter 500, the lens LE held by the finger portions 151 of the transfer robot 100 may be moved so that the optical center of the lens LE is positioned on the measurement optical axis of the measurement optical system.

[0107] In addition, in this transport step S4, the suction unit 170 may be used. For example, in a configuration in which the lens support unit 502 or the measurement optical system of the lens meter 500 is moved, the suction unit 170 can be used by ensuring a space in which the unprocessed lens LE held by the suction unit 170 can be transported onto the lens support unit 502.

[0108] <Transportation process S5> In the process of transporting the lens LE from the lens meter 500 to the cup attachment device 600, the finger unit 151 or the suction unit 170 is used. The transport process S5 is a process of transporting the lens LE from the lens meter 500 to the attachment position of the cup CU of the cup attachment device 600 after the lens LE is measured by the lens meter 500. In this transport process, for example, the finger unit 151 is used.

[0109] In measurement by the lens meter 500, when the lens LE is placed on the lens support portion 502, the peripheral edge of the lens LE is held by the outer pair of first fingers 154. Furthermore, when measurement by the lens meter 500 is performed while the lens LE is held by the first fingers 154, the lens LE is transported onto the lens support base 602 of the cup attachment device 600 in this state.

[0110] For example, when the cup CU is set to be attached to the optical center of the lens LE, the control unit 139 of the transport robot 100 receives a command signal from the control device 50 and controls the movement of the arm unit 130, and the lens LE is placed on the lens support base 602 so that the optical center measured by the lens meter 500 coincides with the reference axis N2 of the cup attachment device 600.

[0111] Furthermore, for example, when the cup CU is set to be attached to the geometric center of the lens shape, the lens LE is placed on the lens support base 602 so that the geometric center coincides with the reference axis N2. The geometric center of the lens shape of the lens LE is found based on the lens shape and layout data (data on the positional relationship of the optical center of the lens LE with respect to the lens shape) in the lens processing information acquired by the control device 50, and is acquired by the control unit 139 of the transfer robot 100.

[0112] When the lens LE is placed on the lens support stand 602, the control unit 660 controls the driving of the arm moving unit 620, and the blocking arm 610 is moved to the lens LE side, so that the cup CU attached to the mounting unit 630 is attached to the front surface of the lens LE via the adhesive tape TA. If the lens LE has an astigmatism axis, the mounting unit 631 is rotated around the axis line K2 based on the astigmatism axis angle obtained by the measurement of the lens meter 500 and the prescription data acquired by the control device 50, so that the astigmatism axis angle of the lens LE and the reference direction of the cup CU are brought into a certain relationship. For example, the reference direction of the cup CU is the longitudinal direction of the cup CU (brim portion 11), which is the 0 degree direction of the astigmatism axis.

[0113] The attachment of the cup CU to the lens LE may be performed in a state where the lens LE is held by the finger unit 151, rather than being placed on the lens support base 602. For example, the control unit 139 controls the movement of the arm unit 130, and the lens LE held by the finger unit 151 is moved to a predetermined height position on the reference axis N2, and the position of the optical center of the lens LE or the geometric center of the target shape is moved so as to coincide with the reference axis N2. Thereafter, in a state where the lens LE is held by the finger unit 151, the blocking arm 610 and the pressing shaft 640 are moved toward the lens LE, so that the cup CU is attached to the front surface of the lens LE, and the rear surface of the lens LE is pressed by the pressing member 642, and the lens LE is sandwiched between the blocking arm 610 and the pressing shaft 640. When the lens LE is sandwiched between the blocking arm 610 and the pressing shaft 640, the finger unit 151 is released from the holding position, and the transport robot 100 is allowed to move.

[0114] <Transportation process S6> The finger portion 151 is used in the process of transporting the lens LE with the cup CU attached to the eyeglass lens processing apparatus 200. The transport process S6 is a process of taking out the lens LE with the cup CU attached from the cup attachment device 600 and transporting it to the eyeglass lens processing apparatus 200. In this transport process, since it is inconvenient to use the suction portion 170, the finger portion 151 is used. Specifically, this is due to the following reasons.

[0115] When the lens LE is held by the pair of lens holding shafts 202 of the eyeglass lens processing device 200, the cup CU fixed to the lens LE is attached to the cup holder 230 on the lens holding shaft 202L side, and then the other lens holding shaft 202R is moved. However, in the eyeglass lens processing device 200 of the present disclosure, the pair of lens holding shafts 202 are arranged extending in the horizontal direction. Therefore, when using the suction part 170, it is necessary to release the suction of the suction part 170 after attaching the cup CU to the cup holder 230, to remove the suction part 170, and to move the lens holding shaft 202R to the lens side, but when the suction of the suction part 170 is released, there is a risk that the lens LE will fall from the lens holding shaft 202L side. For this reason, the finger part 151 is used to hold the lens LE on the lens holding shaft 202.

[0116] The conveying step S6 will be described. When the attachment of the cup CU to the lens LE is completed in the cup attachment device 600, the blocking arm 632 is raised and then moved to a predetermined standby position. At this time, since the cup CU is held by the attachment part 630, the lens LE to which the cup CU is fixed is also lifted and moved together with the cup CU. Note that, if the lens LE has an astigmatism axis and the attachment part 631 has been rotated around the axis line K2, the rotation is returned and the longitudinal direction of the cup CU is set to a predetermined direction.

[0117] The control unit 139 of the transport robot 100 receives a command signal from the control device 50 and controls the movement of the arm unit 130, for example controlling the positions of the finger units 151 so that the finger units 151 hold the periphery of the cup CU. In this case, a pair of inner second fingers 156 are used, and the positions and orientations of the finger units 151 are controlled so that the longitudinal direction of the periphery of the cup CU is parallel to the opening and closing direction of the second fingers 156. With the periphery of the cup CU being held by the second fingers 156, the lens LE is transported by the transport robot 100.

[0118] As a modified example, when the lens LE is removed from the cup attachment device 600 and transported, the peripheral edge of the unprocessed lens LE may be held by the finger portion 151. In this case, a pair of first fingers 154 are provided on the outside. Also in this case, the position and orientation of the finger portion 151 are controlled so that the longitudinal direction of the cup CU is parallel to the opening and closing direction of the first fingers 154.

[0119] The lens LE transported by the transport robot 100 is attached to the lens holding shaft 202L of the eyeglass lens processing apparatus 200. At this time, the control unit 210 of the eyeglass lens processing apparatus 200, which receives a command signal from the control device 50, controls the rotation unit 256, adjusts the rotation angle of the lens holding shaft 202, and puts it on standby.

[0120] For example, as shown in Fig. 14 (Fig. 14 is a diagram for explaining attachment of the lens LE to the lens holding shaft 202 by the finger portion 151), the transfer robot 100 is controlled so that the finger portion 151 enters from the direction of an entry axis M1 inclined by an angle β1 with respect to a reference direction ST1 of rotation of the lens holding shaft 202 during processing of the lens LE. Note that the reference direction ST1 of rotation of the lens holding shaft 202 is set to the left-right direction of the target lens shape (which is also the 0 degree direction of the astigmatism axis of the lens LE), and is set to the horizontal direction, for example, at the start and end of processing of the lens LE.

[0121] Concerning the entry of the finger portion 151, specifically, the finger portion 151 enters from the carry-in opening 270 along an entry axis M1 passing through the center O of the lens holding shaft 202 placed at the standby position. Also, the cup CU held by the finger portion 151 is entered so that its longitudinal direction (the direction of the key groove 10b of the cup CU) is in a direction M2 perpendicular to the entry axis M1. In accordance with this, the rotation angle of the lens holding shaft 202 is adjusted. That is, the rotation angle of the lens holding shaft 202 is adjusted by an angle β2 (90°-β1) so that the key 231b of the cup holder 230 is in a direction M2 perpendicular to the entry axis M1. This allows the cup CU to be attached to the cup holder 230 held by the lens holding shaft 202L.

[0122] Incidentally, even when the peripheral edge of the unprocessed lens LE is held by the finger portion 151, when the cup CU is attached to the cup holder 230, the rotation angle of the lens holding shaft 202 is similarly adjusted and the state goes into standby.

[0123] After the cup CU has been attached to the cup holder 230, with the cup CU or lens LE held by the finger portion 151, the lens holding mechanism 240 is driven under the control of the control unit 210, whereby the lens holding shaft 202R is moved toward the lens LE and the lens LE is held by the lens presser 235. This prevents the lens LE from falling and allows it to be held by the lens holding shaft 202. Thereafter, the holding of the cup CU or lens LE by the finger portion 151 is released, and the finger portion 151 retreats from the carry-in opening 270 along the entry axis M1.

[0124] After the finger portion 151 of the transport robot 100 has been retracted, the control portion 210 controls the operation of the moving unit 250, and the peripheral edge of the lens LE held by the lens holding shaft 202 is processed by the processing tool 260 based on lens processing information such as the lens shape contained in the command from the control device 50.

[0125] <Transportation process S7> The finger unit 151 is used in the process of removing and transporting the processed lens LE from the eyeglass lens processing apparatus 200. The transport process S7 is a process of removing the processed lens LE from the eyeglass lens processing apparatus 200, and transporting the removed processed lens LE to the temporary placement table 700 on the way back to the tray TR. In this transport process, too, the finger unit 151 is used when removing the lens LE held by the lens holding shaft 202, as described above, because it is inconvenient to use the suction unit 170.

[0126] After the lens LE has been processed, the control unit 210 of the eyeglass lens processing apparatus 200 controls the rotation unit 256 to adjust the rotation angle of the lens holding shaft 202 and put the lens holding shaft 202 on standby so that the transfer robot 100 can take out the processed lens LE.

[0127] <Fingers hold processed lenses> A case will be described where, when using the finger unit 151 in the transport step S7, the peripheral edge of the processed lens LE is held by a pair of fingers 152. In this case, the control unit 210 acquires information on the outer shape of the processed lens LE held by the lens holding shaft 202, and adjusts the rotation angle of the lens holding shaft 202 based on this information and information on the opening and closing directions of the pair of fingers 152.

[0128] The lens LE is processed into various outer shapes. If the processed lens LE is held by the fingers 152 in a state where the lens holding shaft 202 is stopped from rotating at the time when the processing of the lens LE is completed without taking into consideration the outer shape of the processed lens LE, the lens LE may fall.

[0129] 15 is a diagram for explaining the relationship of the fingers 152 to the outer shape of the processed lens LE. For example, for the outer shape TB of the processed lens LE shown in FIG. 15, in FIG. 15, the abutment point of the left second finger 156L is P1, and the abutment point of the right second finger 156R is P2. In this case, the holding pressure FL applied to the abutment point P1 and the holding pressure FR applied to the abutment point P2 act in opposite directions parallel to the opening and closing direction M2 of the pair of fingers 152. The abutment point P1 and the abutment point P2 are located at different positions in the direction of the center line MC3 of the opening and closing of the fingers 152. If the processed lens LE is held by the pair of fingers 152 in this state, the lens LE may rotate in the direction of the arrow B due to the holding pressure FL applied to the abutment point P1 and the holding pressure FR applied to the abutment point P2, and may fall without being stably held.

[0130] Therefore, in the present disclosure, when the processed lens LE is held by the pair of fingers 152, the control unit 210 adjusts the rotation angle of the lens holding shaft 202 so that the processed lens LE does not rotate due to the holding pressure of the pair of fingers 152. Specifically, the control unit 210 obtains two points at which the pair of fingers 152 (the left second finger 156L and the right second finger 156R) contact the outer shape TB of the processed lens LE when the pair of fingers 152 are closed, and obtains a rotation angle α (not shown) of the processed lens LE when a straight line passing through these two points is parallel to the opening / closing direction M2 of the fingers 152. Then, the control unit 210 adjusts the rotation angle of the lens holding shaft 202 based on the obtained rotation angle α, and makes the lens stand by. Note that the outer shape TB is obtained by the control unit 210 obtaining control data for processing the lens LE, but for simplicity, a target lens shape included in the lens processing information may be used.

[0131] Fig. 16 is a diagram for explaining an example of determining the rotation angle α of the processed lens LE. In Fig. 16, the opening and closing direction of the finger 152 is the X direction, and the direction of the center line MC3 of the opening and closing of the finger 152 (the approach direction M1 in Fig. 14) perpendicular to the X direction is the Y direction. Note that the XY directions in Fig. 16 are used for convenience of explanation and are different from the XY directions used in the explanation of the eyeglass lens processing apparatus 200 and other devices.

[0132] First, with respect to the outer shape TB of the processed lens LE in the initial state after processing shown in Fig. 16(a), the control unit 210 determines two points, namely, point PL where the distance XL to the left in the X direction is maximum, and point PR where the distance XR to the right in the X direction is maximum, based on the rotation center O of the lens LE (the center of the lens holding shaft 202). Point PL is the point of contact with the left second finger 156L, and point PR is the point of contact with the right second finger 156R. The difference in the Y direction between points PL and PR at this time is ΔY, and the straight line passing through the two points PL and PR is LPP.

[0133] Next, the control unit 210 rotates the outer shape TB by a small angle (for example, 0.36 degrees) based on the rotation center O, finds points PL and PR at each rotation, and finds the difference ΔY at that time. This calculation is performed for one rotation (360 degrees) of the lens LE. The condition for the line passing through points PL and PR to be parallel to the X direction is when the difference ΔY is zero.

[0134] In the outer shape TB of the processed lens LE shown in Fig. 16(a), the difference ΔY is zero when the rotation angle is α1 shown in Fig. 16(b) and when the rotation angle is α2 shown in Fig. 16(c) with respect to the initial state of Fig. 16(a). Furthermore, the difference ΔY is zero when the rotation angle is α1+180 degrees and when the rotation angle is α2+180 degrees. The control unit 210 adjusts the rotation angle of the lens holding shaft 202 to any of these rotation angles and keeps it on standby. This prevents the processed lens LE from rotating due to the holding pressure of the fingers 152, and allows the processed lens LE to be stably held and taken out without dropping, and allows it to be transported appropriately.

[0135] For example, the control unit 210 adjusts the rotation angle of the lens holding shaft 202 to a rotation angle α2 so that the fingers 152 hold the maximum width portion of the outer shape TB. Here, the minimum width of the opening and closing of the fingers 152 in the embodiment is set so that at least the longitudinal width of the cup CU can be held. Even when the lens LE is processed to have a small diameter, at least the longitudinal portion of the cup CU can be processed. Therefore, by holding the maximum width portion of the outer shape TB with the finger portions 151, the lens LE can be held by the finger portions 151 regardless of the processed shape. Note that the two points in the longitudinal direction where the outer shape of the cup CU has the maximum width are set to be wider than the minimum width (width W3 in FIG. 4) that the pair of fingers 152 can hold.

[0136] In addition, when adjusting the rotation angle of the lens holding shaft 202, as shown in Figure 14, the angle β1 of the entry axis M1 of the finger portion 151 relative to the reference direction ST1 of rotation of the lens holding shaft 202 is taken into consideration, and the opening and closing direction M2 of the finger 152 is adjusted to an angle β2 (90°-β1).

[0137] When the outer shape TB exceeds the maximum width W2 over which the pair of second fingers 156 can open, it is determined that the first fingers 154 are to be used.

[0138] The above calculation method is merely one example, and there are various possible methods for determining the rotation angle α of the processed lens LE so that the straight line PLL passing through the two points where the left and right sides of the finger 152 abut against the outer shape TB of the processed lens LE is parallel to the opening and closing direction of the finger 152.

[0139] When the fingers 152 have completed holding the processed lens LE, the lens holding shaft 202R is moved away from the lens LE, and the lens LE is released from the pair of lens holding shafts 202. At this time, since the lens LE is still held by the fingers 152, it can be taken out from the lens holding shaft extending in the horizontal direction and transported without falling.

[0140] The control unit 139 of the transport robot 100 takes out the processed lens LE from the eyeglass lens processing device 200, and then transports it to the temporary placement table 700 before returning it to the tray TR. As shown in FIG. 7, the wrist 136 is rotated so that the cup CU attached to the lens LE faces downward. Then, the finger unit 151 is lowered so that the base 10 of the cup CU is inserted into the insertion hole 711a of the cup attachment unit 710 of the temporary placement table 700. In addition, the movement of the finger unit 151 is controlled so that the key groove 10b of the cup CU fits into the key 711b. As a result, the processed lens LE is placed on the support shaft 704 of the temporary placement table 700.

[0141] <Cup holding by fingers> Next, a case will be described in which, when using the finger unit 151 in the transport step S7, the periphery of the cup CU is held by the pair of fingers 152. In this case as well, the control unit 210 acquires information on the outer shape of the cup CU attached to the processed lens LE, and adjusts the rotation angle of the lens holding shaft 202 based on this information and information on the opening and closing directions of the pair of fingers 152.

[0142] For example, the control unit 210 adjusts the rotation angle of the lens holding shaft 202 so that the longitudinal direction in which the outer shape of the cup CU has the maximum width coincides with the opening and closing direction of the fingers 152. The two points in the longitudinal direction in which the outer shape of the cup CU has the maximum width are set to have a width larger than the minimum width (width W3 in FIG. 4) that can be held by a pair of fingers 152.

[0143] 14, the finger portion 151 enters from the direction of an entry axis M1 inclined by an angle β1 with respect to the reference direction ST1 of the lens holding shaft 202 at the end of processing of the lens LE. At the end of processing of the lens LE, the longitudinal direction of the cup CU is set to the reference direction ST1. When the cup CU is held by the fingers 152 in this state, as in the case of the processed lens LE shown in FIG. 15, the straight line passing through the left and right abutment points P1 and P2 of the pair of fingers 152 may not be parallel to the opening / closing direction M2 of the fingers 152. In this case, the cup CU is not held stably, and the lens LE may fall.

[0144] Therefore, the rotation angle of the lens holding shaft 202 is adjusted clockwise by an angle β2 with respect to the reference direction ST1 so that the longitudinal direction of the cup CU attached to the cup holder 230 of the lens holding shaft 202L is parallel to the opening / closing direction M2 of the fingers 152. Then, by holding the longitudinal direction of the cup CU by the fingers 152, the cup CU is held stably and the lens LE can be transported without dropping.

[0145] Thereafter, similarly to when the processed lens LE is held by the fingers 152, the lens LE is released from the pair of lens holding shafts 202, and the processed lens LE is removed from the eyeglass lens processing apparatus 200 and transported onto the support shaft 704 of the temporary placement table 700.

[0146] <Transportation process S8> In the transport step of returning the processed lens LE to the tray TR, preferably, the suction unit 170 is used. The transport step S8 is a transport step of taking out the processed lens LE placed on the temporary placement table 700 and returning it to the tray TR.

[0147] The processed lens LE is placed on the temporary placement table 700 with its rear surface side facing up. The control unit 139 of the transfer robot 100 controls the arm unit 130 to move the suction unit 170 so that the rear surface side of the processed lens LE is held by the suction unit 170. The center position of the suction unit 170 is aligned with the center position of the cup attachment unit 710.

[0148] The movement of the arm unit 130 is controlled by the control unit 139, and after the rear surface of the processed lens LE is held by the suction unit 170, it is transported to a tray TR placed at a predetermined position. The processed lens LE is returned to the original lens placement unit TR10R. At this time, the base 10 of the cup CU located on the front side (lower side) of the lens LE held by the suction unit 170 is aligned so as to be inserted into the insertion hole TR21, and the lens LE is returned with the rear side of the lens LE facing up. This allows the processed lens LE to be stably placed on the tray TR.

[0149] As described above, by utilizing the temporary placement table 700 and the suction portion 170, even if the peripheral edge of the cup CU is held by the fingers 152 and removed in the aforementioned transport process S7, the base 10 of the cup CU located on the front side of the lens LE can be aligned with the insertion hole TR21, and the lens LE can be stably returned to the tray TR.

[0150] When the processed lens LE is taken out while being held by the peripheral edge with the fingers 152 in the above-mentioned transport step S7, the transport to the temporary placement table 700 in the transport step S7 may be omitted, and the processed lens LE may be returned directly to the tray TR. However, when there is an obstacle to stably placing the processed lens LE on the tray TR due to, for example, the fingers 152 interfering with the side wall TR34 that is located higher than the lens base TR30, the temporary placement table 700 and the suction unit 170 may be used.

[0151] The unprocessed lens LE for the left eye is transported in the same manner as the unprocessed lens LE for the right eye, and the processed lens LE is returned to its original position on the tray TR.

[0152] <Example of transformation> Although typical embodiments of the present disclosure have been described above, the present disclosure is not limited to the embodiments shown here, and various modifications are possible within the scope of the same technical concept of the present disclosure.

[0153] For example, the measurement optical system of the lens meter 500 and the cup attachment device 600 may be integrated into one device. The integrated device may be the device described in JP 2008-299140 A. This cup attachment device has a function of measuring the optical characteristics of the lens LE.

[0154] For example, in the step of transporting the lens LE to the lens meter 500 (the transport step S4 described above), the adsorption unit 170 may be used. In this case, the lens support unit 502 of the lens meter 500 may be in a state in which the lens LE is placed at a predetermined height position even if the lens LE is not held by the finger unit 151.

[0155] In the above description, the finger portion 151 has two stages, the first finger 154 and the second finger 156, but may have three or more stages depending on the relationship between the stroke width of the opening / closing mechanism 160 and the minimum and maximum widths of the target object. For example, a third finger for intermediate opening and closing may be provided between the first finger 154 and the second finger 156. In the above description, the left and right fingers of the first finger 154 and the second finger 156 are integrally configured, but they may be configured separately, and the opening / closing mechanism of the first finger and the opening / closing mechanism of the second finger 156 may also be configured separately.

[0156] In the above description, the stepped first finger 154 and second finger 156 of the pair of fingers 152 are arranged in steps in a direction perpendicular to the direction in which the fingers extend (the direction of the center line MC3 for opening and closing), but this is not limiting. For example, as shown in Fig. 17, the first finger 154 and the second finger 156 may be arranged in steps in the direction in which the fingers extend (the direction of the center line MC3 for opening and closing).

[0157] Also, regarding the configuration of the pair of fingers 152, in the embodiment, both the left finger and the right finger move in the opening and closing direction, but it is also possible for one finger to be fixed and the other finger to move in the opening and closing direction. [Explanation of symbols]

[0158] 100 Transport Robot 130 Arm section 139 Control Unit 150 Holding part 151 Finger section 152 Finger 154 First Finger 154L Left 1st Finger 154R Right 1st Finger 156 Second Finger 156L Left 2nd finger 156R Right 2nd Finger 160 Opening and closing mechanism 170 Adsorption part 200 Eyeglass lens processing equipment 202 Lens holding shaft 210 Control section 256 rotation units TR Tray CU Cup

Claims

1. A spectacle lens processing system in which a peripheral edge of a spectacle lens is processed by a spectacle lens processing device, and the processed spectacle lens is taken out and transported by a transport robot, The transport robot is configured to hold a peripheral edge of the processed eyeglass lens with a pair of openable and closable fingers, The eyeglass lens processing apparatus includes: A lens holding shaft for holding a spectacle lens; a holder shaft rotating means for rotating the lens holder shaft; A control means for controlling the holder shaft rotating means, The control means controls the holding shaft rotation means to adjust the rotation angle of the lens holding shaft and wait so that, after processing of the eyeglass lens, the transport robot can hold the processed eyeglass lens with the pair of fingers and remove the processed eyeglass lens.

2. The eyeglass lens processing system according to claim 1, an information acquiring means for acquiring information regarding an outer shape of the processed eyeglass lens held by the lens holding shaft; The eyeglass lens processing system is characterized in that the control means adjusts the rotation angle of the lens holding shaft based on the opening and closing direction of the pair of fingers when the transport robot removes the processed eyeglass lens and information regarding the external shape acquired by the information acquisition means.

3. The eyeglass lens processing system according to claim 2, the transport robot is configured to hold the processed eyeglass lens by opening and closing a left finger and a right finger of the pair of fingers; The control means determines a rotation angle of the processed eyeglass lens when the left finger and the right finger are closed and a straight line passing through two points where each finger abuts on the outer shape of the processed eyeglass lens is parallel to the opening and closing direction, and adjusts the rotation angle of the lens holding shaft based on the determined rotation angle.

4. In the eyeglass lens processing system according to claim 3, The control means determines, among the rotation angles, the rotation angle at which the width of a straight line passing through two points where each finger abuts the outer shape of the processed eyeglass lens is maximized, and adjusts the rotation angle of the lens holding shaft based on the determined rotation angle.

5. In the eyeglass lens processing system according to any one of claims 2 to 4, The control means determines the rotation angle for adjusting the lens holding shaft based on the rotation angle obtained and the angle of the entry axes of the pair of fingers relative to a reference direction of rotation of the lens holding shaft when adjusting the rotation angle of the lens holding shaft and putting it on standby.

Images