Workpiece handling device and laser processing system

Abstract

The present invention provides a workpiece handling hand equipped with an attachment that enables more reliable workpiece suction, a workpiece handling device, and a laser processing system. [Solution] The workpiece handling hand comprises a plurality of attachments, including a first attachment capable of attracting a workpiece and a second attachment capable of attracting a workpiece, and a plate to which each of the plurality of attachments is attached by magnetic force. The first attachment comprises a first electromagnet having a first surface that contacts the workpiece and capable of attracting the workpiece, and a second electromagnet having a second surface that contacts the plate and capable of attracting the plate. The first electromagnet is tiltable relative to the second electromagnet.

Description

Technical Field

[0001] The present invention relates to a work transfer hand, a work transfer device, and a laser processing system.

Background Art

[0002] Devices for transferring workpieces are known.

[0003] As a related technology, Patent Document 1 discloses a robot hand. The robot hand described in Patent Document 1 includes a hand portion in which a long hole is formed and a plurality of vacuum pads. The position of each vacuum pad can be changed along the long hole.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide a work transfer hand, a work transfer device, and a laser processing system including an attachment capable of more reliably adsorbing a workpiece.

Means for Solving the Problems

[0006] Embodiments of the present invention relate to the following work transfer hand, work transfer device, and laser processing system.

[0007] (1) A plurality of attachments including a first attachment capable of adsorbing a workpiece and a second attachment capable of adsorbing the workpiece, a plate to which each of the plurality of attachments is attached by magnetic force and The first attachment is, A first electromagnet having a first surface that contacts the workpiece and capable of attracting the workpiece, A second electromagnet having a second surface that contacts the plate and capable of adsorbing the plate, Equipped with, The first electromagnet is tiltable relative to the second electromagnet. Workpiece handling hand. (2) The first attachment comprises the first group of springs, When the first electromagnet tilts relative to the second electromagnet, the springs of the first group deform. The workpiece handling hand described in (1) above. (3) The first attachment is spring and, A first fixing member is arranged to pass through the internal space of the spring and is attached to the first electromagnet. Equipped with, When the first electromagnet tilts relative to the second electromagnet, the spring deforms. The workpiece handling hand described in (1) above. (4) The first attachment comprises a first support attached to the second electromagnet, The first support has a first recess for receiving the upper end of the first electromagnet, A first gap is formed between the inner surface of the first recess and the outer surface of the upper end, allowing the first electromagnet to tilt. A workpiece handling hand as described in any one of the above (1) to (3). (5) The first attachment comprises a first support attached to the second electromagnet, The first support is, The first shaft member to which the first electromagnet is attached, The first hole through which the first shaft member passes and Equipped with, A second gap is formed between the inner surface of the first hole and the outer surface of the first shaft member, allowing the first electromagnet to tilt. A workpiece handling hand as described in any one of the above (1) to (3). (6) The first shaft member is movable relative to the first hole in a direction parallel to the central axis of the first hole. The workpiece handling hand described in (5) above. (7) The first attachment comprises a first support attached to the second electromagnet, The first support is, A first block supporting the first electromagnet and positioned between the first electromagnet and the second electromagnet, A second block that supports the second electromagnet and is positioned between the first block and the second electromagnet, A fixing member for fixing the first block to the second block and Equipped with A workpiece handling hand as described in any one of the above (1) to (3). (8) The second attachment is A third electromagnet having a third surface that contacts the workpiece and capable of attracting the workpiece, A fourth electromagnet having a fourth surface that contacts the plate and capable of attracting the plate, Equipped with, The third electromagnet is tiltable relative to the fourth electromagnet. A workpiece handling hand described in any one of the above (1) to (7). (9) The distance between the first electromagnet and the second electromagnet is variable, The distance between the third electromagnet and the fourth electromagnet is variable. The workpiece handling hand described in (8) above. (10) The plurality of attachments can be mounted on the plate in the first layout, The aforementioned multiple attachments are removable from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. A workpiece handling hand as described in any one of the above (1) to (9). (11) Workpiece handling hand, A hand moving device for moving the aforementioned workpiece handling hand and comprising The work transfer hand includes a plurality of attachments including a first attachment capable of adsorbing the work and a second attachment capable of adsorbing the work, and a plate to which each of the plurality of attachments is attached by magnetic force and is provided with The first attachment has a first surface that contacts the work and a first electromagnet capable of adsorbing the work, has a second surface that contacts the plate and a second electromagnet capable of adsorbing the plate and is provided with The first electromagnet is tiltable with respect to the second electromagnet Work transfer device. (12) The hand moving device includes an articulated robot The work transfer device according to (11) above. (13) The hand moving device includes a robot moving device that moves the entire articulated robot The work transfer device according to (12) above. (14) Further includes a control device for controlling the hand moving device, The control device controls the adsorption operation of the first attachment The work transfer device according to any one of (11) to (13) above. (15) A laser processing device that forms a plurality of workpieces including a first workpiece and a second workpiece from the raw material workpiece by irradiating the raw material workpiece with a laser, and a work transfer device that transfers the plurality of workpieces and is provided with The work transfer device includes a work transfer hand, and a hand moving device that moves the work transfer hand and is provided with The work transfer hand includes a plurality of attachments including a first attachment capable of adsorbing the first workpiece and a second attachment capable of adsorbing the first workpiece, Each of the aforementioned multiple attachments is attached to a plate by magnetic force. Equipped with, The first attachment is, A first electromagnet having a first surface that contacts the first workpiece and capable of attracting the first workpiece, A second electromagnet having a second surface that contacts the plate and capable of adsorbing the plate, Equipped with, The first electromagnet is tiltable relative to the second electromagnet. Laser processing system. [Effects of the Invention]

[0008] The present invention provides a workpiece handling hand equipped with an attachment that enables more reliable workpiece suction, a workpiece handling device, and a laser processing system. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic perspective view illustrating a state in which a workpiece is held in place by multiple attachments. [Figure 2] Figure 2 is a schematic perspective view illustrating how each of the multiple attachments can be attached to and detached from the plate. [Figure 3] Figure 3 is a schematic side view illustrating the state before the workpiece is attracted by multiple attachments. [Figure 4] Figure 4 is a schematic side view illustrating a state in which a workpiece is held in place by multiple attachments. [Figure 5] Figure 5 is a schematic perspective view illustrating how the layout of multiple attachments changes. [Figure 6] Figure 6 is a schematic perspective view illustrating how the layout of multiple attachments changes. [Figure 7] Figure 7 is a schematic perspective view illustrating how the layout of multiple attachments changes. [Figure 8]Figure 8 is a schematic perspective view illustrating how the layout of multiple attachments changes. [Figure 9] Figure 9 is a schematic perspective view illustrating how the layout of multiple attachments changes. [Figure 10] Figure 10 is a schematic perspective view illustrating how the layout of multiple attachments changes. [Figure 11] Figure 11 is a schematic perspective view illustrating the state in which the second workpiece is held in place by multiple attachments arranged in the second layout. [Figure 12] Figure 12 is a schematic side view illustrating the workpiece handling hand in the first embodiment. [Figure 13] Figure 13 is a schematic perspective view illustrating a pipe-shaped workpiece being held in place by multiple attachments arranged in the second layout. [Figure 14] Figure 14 is a schematic perspective view illustrating the workpiece transfer device in the first embodiment. [Figure 15] Figure 15 is a schematic perspective view illustrating the workpiece transfer device in the first embodiment. [Figure 16] Figure 16 is a schematic perspective view illustrating the workpiece handling hand in the second embodiment. [Figure 17] Figure 17 is a schematic cross-sectional view illustrating the state before the first attachment adsorbs the workpiece. [Figure 18] Figure 18 is a schematic cross-sectional view illustrating the state after the first attachment has attracted the workpiece. [Figure 19] Figure 19 is an exploded cross-sectional view of the first attachment. [Figure 20] Figure 20 is an exploded perspective view of the first attachment. [Figure 21] Figure 21 is a schematic cross-sectional view illustrating the state of the first attachment before it adsorbs the workpiece in a modified example. [Figure 22]Figure 22 is a schematic cross-sectional view illustrating the state after the first attachment has attracted the workpiece in a modified example. [Figure 23] Figure 23 is an exploded perspective view of the first attachment in a modified example. [Figure 24] Figure 24 is an enlarged view of the area enclosed by the dashed circle A1 in Figure 17. [Figure 25] Figure 25 is a schematic cross-sectional view illustrating how the first shaft member is movable relative to the first hole. [Figure 26] Figure 26 is a schematic cross-sectional view illustrating the state before the first and second attachments acquire the workpiece. [Figure 27] Figure 27 is a schematic cross-sectional view illustrating the state after the first and second attachments have attracted the workpiece. [Figure 28] Figure 28 is a schematic cross-sectional view illustrating the state of the modified example before the second attachment adsorbs the workpiece. [Figure 29] Figure 29 is an enlarged view of the area enclosed by the dashed circle A2 in Figure 27. [Figure 30] Figure 30 is a schematic perspective view showing a portion of the workpiece handling hand in the second embodiment. [Figure 31] Figure 31 is a schematic side view illustrating the workpiece handling hand in the second embodiment. [Figure 32] Figure 32 is a schematic perspective view illustrating how each of the multiple attachments can be attached to and detached from the plate. [Figure 33] Figure 33 is a schematic perspective view illustrating the workpiece handling hand in the second embodiment. [Figure 34] Figure 34 is a schematic perspective view illustrating the workpiece handling hand in the second embodiment. [Figure 35] Figure 35 is a schematic perspective view showing a portion of the workpiece transfer device in the second embodiment. [Figure 36]Figure 36 is a schematic perspective view illustrating the workpiece transfer device in the second embodiment. [Figure 37] Figure 37 is a schematic bottom view showing a portion of the workpiece handling hand in the second embodiment. [Figure 38] Figure 38 is a schematic side view illustrating a state in which a small workpiece is attracted to a movable electromagnet. [Figure 39] Figure 39 is a schematic perspective view illustrating an example of a workpiece. [Figure 40] Figure 40 is a schematic diagram illustrating how a control device can control multiple devices. [Figure 41] Figure 41 is a schematic perspective view illustrating the execution of the first position change mode. [Figure 42] Figure 42 is a schematic perspective view illustrating the execution of the second position change mode. [Figure 43] Figure 43 is a schematic plan view illustrating how multiple workpieces are sorted into multiple groups. [Figure 44] Figure 44 is a schematic plan view illustrating the sorting mode in operation. [Figure 45] Figure 45 is a schematic plan view illustrating the sorting mode in operation. [Figure 46] Figure 46 is a schematic plan view illustrating the sorting mode in operation. [Figure 47] Figure 47 is a schematic plan view illustrating the sorting mode in operation. [Figure 48] Figure 48 is a schematic plan view illustrating the sorting mode in operation. [Figure 49] Figure 49 is a schematic side view illustrating the laser processing system in the third embodiment. [Figure 50] Figure 50 is a schematic perspective view illustrating a portion of the laser processing system in the third embodiment. [Modes for carrying out the invention]

[0010] The workpiece handling hand 1, workpiece handling device 10, and laser processing system 100 in the embodiment will be described below with reference to the drawings. In the following description of the embodiment, parts and components having the same function will be denoted by the same reference numerals, and repeated descriptions of parts and components denoted by the same reference numerals will be omitted.

[0011] (Definition of terms) In this specification, among the multiple surfaces of plate 3, the surface to which the multiple attachments 2 are attached is defined as the attachment mounting surface 31a. Furthermore, among the multiple surfaces of plate 3, the surface located on the opposite side from the attachment mounting surface 31a is defined as the back surface 33.

[0012] In this specification, the direction from the plate support device 4 supporting the plate 3 toward the plate 3 is defined as the first direction DR1. The direction opposite to the first direction DR1 is defined as the second direction DR2. In the example shown in Figure 1, the direction from the back surface 33 toward the attachment mounting surface 31a is the first direction DR1. The direction from the attachment mounting surface 31a toward the back surface 33 is the second direction DR2.

[0013] (First Embodiment) Referring to Figures 1 to 15, the workpiece handling hand 1A and workpiece handling device 10A in the first embodiment will be described. Figure 1 is a schematic perspective view showing the state in which a workpiece W is held in place by a plurality of attachments 2. Figure 2 is a schematic perspective view showing how each of the plurality of attachments 2 is detachable from the plate 3. Figure 3 is a schematic side view showing the state before the workpiece W is held in place by the plurality of attachments 2. Figure 4 is a schematic side view showing the state in which the workpiece W is held in place by the plurality of attachments 2. Figures 5 to 10 are schematic perspective views showing how the layout of the plurality of attachments 2 is changed. Figure 11 is a schematic perspective view showing the state in which a second workpiece W2 is held in place by a plurality of attachments 2 arranged in the second layout LA2. Figure 12 is a schematic side view showing the workpiece handling hand 1A in the first embodiment. Figure 13 is a schematic perspective view illustrating a state in which a pipe-shaped workpiece Wp is held in place by multiple attachments 2 arranged in the second layout LA2. Figures 14 and 15 are schematic perspective views illustrating the workpiece transfer device 10A in the first embodiment.

[0014] As illustrated in Figure 1, the workpiece handling hand 1A in the first embodiment comprises a plurality of attachments 2 and a plate 3.

[0015] As illustrated in Figure 1, the multiple attachments 2 include a first attachment 21 capable of adsorbing a workpiece W (e.g., a first workpiece W1) and a second attachment 22 capable of adsorbing a workpiece W (e.g., a first workpiece W1). The multiple attachments 2 may also include a third attachment 23 capable of adsorbing a workpiece W (e.g., a first workpiece W1).

[0016] As illustrated in Figure 2, each of the multiple attachments 2 is attached to the plate 3 by magnetic force.

[0017] As illustrated in Figure 2, the first attachment 21 comprises a first electromagnet 21a and a second electromagnet 21b.

[0018] The first electromagnet 21a has a first surface 211a that contacts the workpiece W (e.g., the first workpiece W1). The first electromagnet 21a is capable of attracting the workpiece W (e.g., the first workpiece W1). More specifically, when the first electromagnet 21a is energized, the first electromagnet 21a attracts the workpiece W (e.g., the first workpiece W1) by magnetic force.

[0019] The second electromagnet 21b has a second surface 211b that contacts the plate 3. The second electromagnet 21b is capable of attracting the plate 3. More specifically, when the second electromagnet 21b is energized, it is attached to the plate 3 by magnetic force.

[0020] As illustrated in Figures 3 and 4, the first electromagnet 21a is tiltable relative to the second electromagnet 21b. This allows the first surface 211a of the first electromagnet 21a to conform to the surface of the workpiece W. Furthermore, the first electromagnet 21a can reliably attract the workpiece W by making surface contact between the first surface 211a of the first electromagnet 21a and the surface of the workpiece W.

[0021] In the workpiece handling hand 1A of the first embodiment, the first attachment 21 can attract the workpiece W by the magnetic force generated by the first electromagnet 21a. Therefore, the first attachment 21 can easily attract and release the workpiece W.

[0022] In the workpiece handling hand 1A of the first embodiment, the first attachment 21 can be attached to the plate 3 by the magnetic force generated by the second electromagnet 21b. Therefore, it is easy to attach the first attachment 21 to the plate 3 and easy to remove the first attachment 21 from the plate 3.

[0023] As illustrated in Figure 3, the first surface 211a, which is the adsorption surface of the first electromagnet 21a, may become inclined with respect to the surface of the workpiece W that is to be adsorbed (more specifically, the upper surface Wu of the workpiece W). For example, the first surface 211a may become inclined with respect to the surface of the workpiece W due to the deflection of the workpiece W, the distortion of the member supporting the workpiece W, manufacturing errors of the first attachment 21, the deflection of the plate 3, etc.

[0024] In the workpiece handling hand 1A of the first embodiment, the first electromagnet 21a is tiltable relative to the second electromagnet 21b. Therefore, the tilting of the first electromagnet 21a reduces the inclination of the first surface 211a of the first electromagnet 21a with respect to the surface of the workpiece W that is to be attracted. In this way, the first attachment 21 (more specifically, the first electromagnet 21a) can more reliably attract the workpiece W.

[0025] (Optional additional configuration) Next, with reference to Figures 1 to 15, we will describe optional additional configurations that can be adopted in the workpiece handling hand 1A (or workpiece handling device 10A in the first embodiment) or the workpiece handling hand 1B (or workpiece handling device 10B in the second embodiment) described later.

[0026] (Second attachment 22) As illustrated in Figure 2, the second attachment 22 comprises a third electromagnet 22a and a fourth electromagnet 22b.

[0027] The third electromagnet 22a has a third surface 221a that contacts the workpiece W (e.g., the first workpiece W1). The third electromagnet 22a is capable of attracting the workpiece W (e.g., the first workpiece W1). More specifically, when the third electromagnet 22a is energized, the third electromagnet 22a attracts the workpiece W (e.g., the first workpiece W1) by magnetic force.

[0028] The fourth electromagnet 22b has a fourth surface 221b that contacts the plate 3. The fourth electromagnet 22b is capable of attracting the plate 3. More specifically, when the fourth electromagnet 22b is energized, it is attached to the plate 3 by magnetic force.

[0029] As illustrated in Figures 3 and 4, the third electromagnet 22a is tiltable relative to the fourth electromagnet 22b. By tilting the third electromagnet 22a, the inclination of the third surface 221a of the third electromagnet 22a with respect to the surface of the workpiece W to be attracted (more specifically, the upper surface Wu of the workpiece W) can be reduced. In this way, the second attachment 22 (more specifically, the third electromagnet 22a) can more reliably attract the workpiece W.

[0030] (Third attachment 23) As illustrated in Figure 2, the third attachment 23 comprises a fifth electromagnet 23a and a sixth electromagnet 23b.

[0031] The fifth electromagnet 23a has a fifth surface 231a that contacts the workpiece W (e.g., the first workpiece W1). The fifth electromagnet 23a is capable of attracting the workpiece W (e.g., the first workpiece W1). More specifically, when the fifth electromagnet 23a is energized, the fifth electromagnet 23a attracts the workpiece W (e.g., the first workpiece W1) by magnetic force.

[0032] The sixth electromagnet 23b has a sixth surface 231b that contacts the plate 3. The sixth electromagnet 23b is capable of attracting the plate 3. More specifically, when the sixth electromagnet 23b is energized, the sixth electromagnet 23b is attached to the plate 3 by magnetic force.

[0033] As illustrated in Figures 3 and 4, the fifth electromagnet 23a is tiltable relative to the sixth electromagnet 23b. By tilting the fifth electromagnet 23a, the inclination of the fifth surface 231a of the fifth electromagnet 23a with respect to the surface of the workpiece W to be attracted (more specifically, the upper surface Wu of the workpiece W) can be reduced. In this way, the third attachment 23 (more specifically, the fifth electromagnet 23a) can more reliably attract the workpiece W.

[0034] (Changing the layout of multiple attachments 2) As illustrated in Figure 5, multiple attachments 2 can be mounted on the plate 3 in the first layout LA1.

[0035] As illustrated in Figures 6 to 9, each of the multiple attachments 2 can be independently removed from the plate 3. Figure 6 shows the first attachment 21 removed from the plate 3. Figure 8 shows the second attachment 22 removed from the plate 3. Figure 9 shows the third attachment 23 removed from the plate 3.

[0036] It should be noted that the fact that each of the multiple attachments 2 can be independently removed from the plate 3 does not necessarily mean that the multiple attachments 2 must always be removed independently from the plate 3. For example, after all the work performed using the workpiece handling hand 1A is completed, the multiple attachments 2 may be removed from the plate 3 simultaneously.

[0037] In the example shown in Figure 10, multiple attachments 2 can be reattached to the plate 3 in a second layout LA2 which is different from the first layout LA1. As illustrated in Figure 11, the multiple attachments 2 attached to the plate 3 in the second layout LA2 can attract a different second workpiece W2 which has a different shape from the workpiece W attracted by the multiple attachments 2 attached to the plate 3 in the first layout LA1.

[0038] In the examples shown in Figures 5 to 10, multiple attachments 2 can be mounted on the plate 3 in the first layout LA1. Furthermore, multiple attachments 2 can be detached from the plate 3. Additionally, multiple attachments 2 can be reattached to the plate 3 in a second layout LA2, which differs from the first layout LA1. In this case, there is no need to prepare multiple types of workpiece handling hands to accommodate different workpiece shapes.

[0039] In the examples shown in Figures 5 to 10, each of the multiple attachments 2 can be independently removed from the plate 3. For example, the first attachment 21 can be removed from the plate 3 while the second attachment 22 is attached to the plate 3. Therefore, there is a high degree of flexibility in the procedure for changing the layout of the multiple attachments 2.

[0040] (Example of the procedure for changing the layout) In the examples shown in Figures 5 to 10, the layout of the multiple attachments 2 can be changed from the first layout LA1 (see Figure 5) to the second layout LA2 (see Figure 10) by removing at least one of the multiple attachments 2 from the plate 3 and then reattaching it to the plate 3.

[0041] In the examples shown in Figures 5 to 10, the layout of the multiple attachments 2 is changed from the first layout LA1 (see Figure 5) to the second layout LA2 (see Figure 10) by removing the first attachment 21, the second attachment 22, and the third attachment 23 from the plate 3 and then reattaching them to the plate 3.

[0042] In the examples shown in Figures 5 to 10, multiple attachments 2 are removed from plate 3 one by one in sequence. Furthermore, each removed attachment 2 is reattached to plate 3 before the next attachment is removed. There are no particular restrictions on the order in which the multiple attachments 2 are removed from plate 3.

[0043] (Plate support device 4) In the example shown in Figure 1, the workpiece transport hand 1A includes a plate support device 4 that supports the plate 3. In the example shown in Figure 1, the plate support device 4 includes a mounting portion 41 that can be attached to the hand moving device 11. The hand moving device 11 moves the workpiece transport hand 1A, thereby transporting the workpieces W that are held in place by the attachments 2.

[0044] (Plate 3) Plate 3 is, for example, a ferromagnetic material that attracts the energized second electromagnet 21b. The main component of plate 3 is, for example, iron. Plate 3 has an attachment mounting surface 31a to which multiple attachments 2 are attached.

[0045] (Cable that supplies electric current to an electromagnet) In the example shown in Figure 12, the workpiece transport hand 1A includes a first cable 291a that supplies current to the first electromagnet 21a, a second cable 291b that supplies current to the second electromagnet 21b, a third cable 292a that supplies current to the third electromagnet 22a, a fourth cable 292b that supplies current to the fourth electromagnet 22b, a fifth cable 293a that supplies current to the fifth electromagnet 23a, and a sixth cable 293b that supplies current to the sixth electromagnet 23b.

[0046] (Work W) In the example shown in Figure 1, the workpiece W is a plate-shaped workpiece Wa. More specifically, the multiple attachments 2 arranged on the plate 3 in the first layout LA1 are capable of adsorbing the plate-shaped workpiece Wa.

[0047] The workpiece W (more specifically, the plate-shaped workpiece Wa) is composed of a ferromagnetic material attracted by, for example, the energized first electromagnet 21a. The main component of the workpiece W (more specifically, the plate-shaped workpiece Wa) is, for example, iron.

[0048] The plate-shaped workpiece Wa may be a thick plate. The thickness of the plate-shaped workpiece Wa may be, for example, 1 cm or more, 2 cm or more, or 3 cm or more. Alternatively, the plate-shaped workpiece Wa may be a thin plate. The plate-shaped workpiece Wa may be a heavy workpiece. The mass of the plate-shaped workpiece Wa may be, for example, 5 kg or more, or 10 kg or more. Alternatively, the plate-shaped workpiece Wa may be a lightweight workpiece.

[0049] (Work 2 W2) In the example shown in Figure 11, the second workpiece W2 is a plate-shaped workpiece Wb. More specifically, the multiple attachments 2 arranged on the plate 3 in the second layout LA2 are capable of adsorbing the second plate-shaped workpiece Wb.

[0050] The second workpiece W2 (more specifically, the second plate-shaped workpiece Wb) is made of a ferromagnetic material attracted by, for example, the first electromagnet 21a in an energized state. The main component of the second workpiece W2 (more specifically, the second plate-shaped workpiece Wb) is, for example, iron.

[0051] Workpiece W, or second workpiece W2, may be a pipe-shaped workpiece. Figure 13 shows how a pipe-shaped workpiece Wp is transported using a workpiece transport hand 1A. In the example shown in Figure 13, multiple attachments 2 arranged on the plate 3 in the second layout LA2 are capable of picking up the pipe-shaped workpiece Wp.

[0052] (Workpiece transport device 10A) In the example shown in Figure 14, the workpiece transport device 10A comprises a workpiece transport hand 1A and a hand moving device 11 for moving the workpiece transport hand 1A. Since the workpiece transport hand 1A has already been described, a repeated explanation of the workpiece transport hand 1A will be omitted. The workpiece transport device 10A in the first embodiment provides the same effects as the workpiece transport hand 1A in the first embodiment.

[0053] (Hand-operated moving device 11) In the examples shown in Figures 14 and 15, the hand moving device 11 can move the workpiece transport hand 1A in three dimensions.

[0054] The hand-moving device 11 preferably has at least three degrees of freedom. In the examples shown in Figures 14 and 15, the hand-moving device 11 has a degree of freedom parallel to the vertical and two degrees of freedom parallel to the horizontal plane. The hand-moving device 11 may also have a rotational degree of freedom about an axis parallel to the vertical.

[0055] In this specification, an axis parallel to the vertical is defined as the Z-axis, an axis parallel to the horizontal plane is defined as the X-axis, and an axis perpendicular to both the Z-axis and the X-axis is defined as the Y-axis. In the example shown in Figure 14, the hand moving device 11 includes a Z-axis moving device 111 that moves the workpiece handling hand 1A in a direction along the Z-axis parallel to the vertical. The hand moving device 11 may also include a Y-axis moving device 112 that moves the workpiece handling hand 1A in a direction along the Y-axis parallel to the horizontal plane. The hand moving device 11 may also include an X-axis moving device 113 that moves the workpiece handling hand 1A in a direction along the X-axis perpendicular to both the Z-axis and the Y-axis. Alternatively, or additionally, the hand moving device 11 may include a rotating device 114 that rotates the workpiece handling hand 1A around an axis parallel to the Z-axis.

[0056] (Platform 12) The workpiece transfer device 10A includes a first platform 12 capable of supporting multiple workpieces, including a first workpiece W1 and a second workpiece W2. The first platform 12 may include a first pallet PT1 on which multiple workpieces, including the first workpiece W1 and the second workpiece W2, can be placed, and a first support base 121 that supports the multiple workpieces via the first pallet PT1.

[0057] (Second platform 13a, and third platform 13b) The workpiece transfer device 10A may include a second platform 13a that receives a first workpiece W1 being transferred by a workpiece transfer hand 1A. The second platform 13a may include a second pallet PT2 on which the first workpiece W1 can be placed, and a second support base 131a that supports the first workpiece W1 via the second pallet PT2. In the example shown in Figure 14, the workpiece transfer device 10A transfers the first workpiece W1 from the first platform 12 to the second platform 13a.

[0058] The workpiece transfer device 10A may include a third platform 13b that receives a second workpiece W2 being transferred by a workpiece transfer hand 1A. The third platform 13b may include a third pallet PT3 on which the second workpiece W2 can be placed, and a third support base 131b that supports the second workpiece W2 via the third pallet PT3. In the example shown in Figure 15, the workpiece transfer device 10A transfers the second workpiece W2 from the first platform 12 to the third platform 13b.

[0059] The second platform 13a (more specifically, the second pallet PT2) may carry at least one item (e.g., the first workpiece W1) that is classified into the first group from among a plurality of workpieces, including the first workpiece W1 and the second workpiece W2.

[0060] The third platform 13b (more specifically, the third pallet PT3) may carry at least one item classified into the second group from among a plurality of workpieces, including the first workpiece W1 and the second workpiece W2 (e.g., the second workpiece W2).

[0061] Alternatively, the workpiece transport device 10A may transport the first workpiece W1 to one side of the second platform 13a (for example, one side of the second pallet PT2) and the second workpiece W2 to the other side of the second platform 13a (for example, the other side of the second pallet PT2).

[0062] (Attachment support device 15) In the examples shown in Figures 14 and 15, the workpiece transport device 10A includes an attachment support device 15 that supports the attachment 2 that has been removed from the plate 3 among a plurality of attachments 2.

[0063] In the examples shown in Figures 5 to 8, the mounting position of the first attachment 21 on the plate 3 is changed by the relative movement of the workpiece handling hand 1A relative to the first attachment 21, which is supported by the attachment support device 15. In the examples shown in Figures 5 to 8, there is no need to manually change the mounting position of the first attachment 21. Therefore, the workload of the operator does not increase.

[0064] In the examples shown in Figures 5 to 8, the mounting position of the first attachment 21 on the plate 3 is changed by moving the workpiece handling hand 1A.

[0065] More specifically, as illustrated in Figure 6, changing the mounting position of the first attachment 21 on the plate 3 involves the hand moving device 11 (not shown in Figure 6) moving the workpiece transport hand 1A away from the first attachment 21 supported by the attachment support device 15 (more specifically, vertically upward) (see dashed arrow AR1 in Figure 6). As the workpiece transport hand 1A moves away from the first attachment 21 supported by the attachment support device 15, the plate 3 moves away from the first attachment 21.

[0066] As illustrated in Figure 7, changing the mounting position of the first attachment 21 on the plate 3 involves the hand moving device 11 (not shown in Figure 7) moving the workpiece transport hand 1A in a direction intersecting the Z-axis parallel to the vertical (more specifically, in a direction parallel to the horizontal plane) (see dashed arrow AR2 in Figure 7).

[0067] Changing the mounting position of the first attachment 21 on the plate 3 involves the hand moving device 11 moving the workpiece transport hand 1A in a direction (more specifically, vertically downward) toward the first attachment 21 supported by the attachment support device 15. By moving the workpiece transport hand 1A toward the first attachment 21 supported by the attachment support device 15, the first attachment 21 is reattached to the plate 3. Figure 8 shows the state after the first attachment 21 has been reattached to the plate 3.

[0068] In this specification, among the multiple attachments 2, the attachment that has been removed from the plate 3 is defined as the removed attachment 2m.

[0069] As illustrated in Figures 5 and 6, the attachment support device 15 includes a gripping member 151 for gripping the removed attachment 2m (for example, the first attachment 21), and a gripping member moving device 153 for moving the gripping member 151 between an open position Q1 (see Figure 5) and a closed position Q2 (see Figure 6).

[0070] The attachment support device 15 may include a stand 155 on which the removed attachment 2m (for example, the first attachment 21) is placed.

[0071] Additionally, the attachment support device 15 may include a lifting device 157 for moving the gripping member 151 between a lowered position Q3 (see Figure 5) and an elevated position Q4 (see Figure 6).

[0072] (Second embodiment) Referring to Figures 1 to 48, the workpiece handling hand 1B and workpiece handling device 10B in the second embodiment will be described. Figure 16 is a schematic perspective view of the workpiece handling hand 1B in the second embodiment. Figure 17 is a schematic cross-sectional view showing the state before the first attachment 21 picks up the workpiece W. Figure 18 is a schematic cross-sectional view showing the state after the first attachment 21 picks up the workpiece W. Figure 19 is an exploded cross-sectional view of the first attachment 21. Figure 20 is an exploded perspective view of the first attachment 21. Figure 21 is a schematic cross-sectional view showing the state before the first attachment 21 picks up the workpiece W in a modified example. Figure 22 is a schematic cross-sectional view showing the state after the first attachment 21 picks up the workpiece W in a modified example. Figure 23 is an exploded perspective view of the first attachment 21 in a modified example. Figure 24 is an enlarged view of the area enclosed by the dashed circle A1 in Figure 17. Figure 25 is a schematic cross-sectional view illustrating how the first shaft member 214c is movable relative to the first hole 215c. Figure 26 is a schematic cross-sectional view illustrating the state before the first attachment 21 and the second attachment 22 pick up the workpiece W. Figure 27 is a schematic cross-sectional view illustrating the state after the first attachment 21 and the second attachment 22 pick up the workpiece W. Figure 28 is a schematic cross-sectional view illustrating the state before the second attachment 22 picks up the workpiece W in a modified example. Figure 29 is an enlarged view of the area enclosed by the dashed circle A2 in Figure 27. Figure 30 is a schematic perspective view illustrating a part of the workpiece handling hand 1B in the second embodiment. Figure 31 is a schematic side view illustrating the workpiece handling hand 1B in the second embodiment. Figure 32 is a schematic perspective view illustrating how each of the multiple attachments 2 is detachable from the plate 3. Figures 33 and 34 are schematic perspective views illustrating the workpiece handling hand 1B in the second embodiment. Figure 35 is a schematic perspective view illustrating a portion of the workpiece handling device 10B in the second embodiment. Figure 36 is a schematic perspective view illustrating the workpiece handling device 10B in the second embodiment.Figure 37 is a schematic bottom view illustrating a portion of the workpiece handling hand 1B in the second embodiment. Figure 38 is a schematic side view illustrating a state in which small workpieces Ws are attracted to the movable electromagnet 530. Figure 39 is a schematic perspective view illustrating an example of a workpiece W. Figure 40 is a schematic diagram illustrating how the control device 7 can control multiple control target devices. Figure 41 is a schematic perspective view illustrating the execution of the first position change mode M1-1. Figure 42 is a schematic perspective view illustrating the execution of the second position change mode M1-2. In Figures 41 and 42, multiple attachments 2 located on the lower side of the plate 3 are shown by dashed lines to make it easier to understand the arrangement of multiple attachments 2 attached to the plate 3. Figure 43 is a schematic plan view illustrating how multiple workpieces W are sorted into multiple groups. Figures 44 to 48 are schematic plan views illustrating the execution of sorting mode M3. In Figures 44 to 46, the arrangement of the multiple attachments 2 mounted on the plate 3, and the arrangement of the workpieces W held by the multiple attachments 2, are shown by dashed lines to make it easier to understand the arrangement of the multiple attachments 2 and the workpieces W located on the lower side of the plate 3.

[0073] The second embodiment will primarily describe the differences from the first embodiment. On the other hand, the second embodiment will omit repetitive explanations of matters already described in the first embodiment. Therefore, it goes without saying that even if not explicitly explained in the second embodiment, matters already described in the first embodiment can be applied to the second embodiment. Conversely, matters described in the second embodiment can also be adopted in the first embodiment.

[0074] As illustrated in Figure 16, the workpiece handling hand 1B in the second embodiment comprises (1) a plurality of attachments 2 including a first attachment 21 capable of attracting a workpiece W and a second attachment 22 capable of attracting a workpiece W, and (2) a plate 3 to which each of the plurality of attachments 2 is attached by magnetic force.

[0075] As illustrated in Figure 17, the first attachment 21 comprises (1) a first electromagnet 21a having a first surface 211a that contacts the workpiece W and is capable of attracting the workpiece W, and (2) a second electromagnet 21b having a second surface 211b that contacts the plate 3 and is capable of attracting the plate 3.

[0076] As illustrated in Figures 17 and 18, the first electromagnet 21a is tiltable relative to the second electromagnet 21b. By tilting the first electromagnet 21a, the inclination of the first surface 211a of the first electromagnet 21a with respect to the surface of the workpiece W to be attracted (more specifically, the upper surface Wu of the workpiece W) can be reduced. More specifically, when the first surface 211a of the first electromagnet 21a is inclined with respect to the surface of the workpiece W to be attracted, the first surface 211a and the first electromagnet 21a tilt with respect to the surface of the workpiece W to be attracted. By tilting the first surface 211a and the first electromagnet 21a with respect to the surface of the workpiece W to be attracted, the first surface 211a of the first electromagnet 21a aligns with the surface of the workpiece W to be attracted. Furthermore, by surface contact between the first surface 211a of the first electromagnet 21a and the surface of the workpiece W to be attracted, the first electromagnet 21a can reliably attract the workpiece W.

[0077] (Optional additional configuration) Next, with reference to Figures 1 to 48, we will describe optional additional configurations that can be adopted in the workpiece handling hand 1B (or workpiece handling device 10B in the second embodiment) or the workpiece handling hand 1A (or workpiece handling device 10A in the first embodiment) described above.

[0078] (First attachment 21) In the example shown in Figure 17, the first attachment 21 comprises a first support 21c attached to the second electromagnet 21b. The first support 21c tiltably supports the first electromagnet 21a.

[0079] The first support 21c electrically insulates the first electromagnet 21a and the second electromagnet 21b.

[0080] In the examples shown in Figures 17 and 19, the first support 21c includes a block BL positioned between the first electromagnet 21a and the second electromagnet 21b. The block BL is made of, for example, an electrical insulating material.

[0081] As illustrated in Figure 17, the first support 21c may include a first block BL1 positioned between the first electromagnet 21a and the second electromagnet 21b, a second block BL2 positioned between the first block BL1 and the second electromagnet 21b, and a fixing member 213c for fixing the first block BL1 to the second block BL2. In the example shown in Figure 17, the first block BL1 supports the first electromagnet 21a, and the second block BL2 supports the second electromagnet 21b. When the first support 21c comprises the first block BL1, the second block BL2, and the fixing member 213c, the assembly of the first attachment 21 can be easily performed.

[0082] The first block BL1 is made of, for example, an electrical insulating material. The second block BL2 is made of, for example, an electrical insulating material.

[0083] As illustrated in Figure 17, the first attachment 21 (more specifically, the first support 21c) may include a first shaft member 214c (more specifically, the first fixing member 2140c) attached to the first electromagnet 21a. In the example shown in Figure 17, the first shaft member 214c connects the first electromagnet 21a and the first support 21c. The first shaft member 214c may also connect the first electromagnet 21a and block BL (more specifically, the first block BL1). In the example shown in Figure 17, the first shaft member 214c is attached to the center of the upper end portion 210a of the first electromagnet 21a.

[0084] In the example shown in Figure 17, the first shaft member 214c includes a first fixing member 2140c (more specifically, a first bolt 2141c) attached to the first electromagnet 21a.

[0085] The first shaft member 214c may include a first spacer 2146c into which the first fixing member 2140c is inserted. In the example shown in Figure 19, the first spacer 2146c has a cylindrical shape. In the example shown in Figure 17, the first spacer 2146c is inserted into a first hole 215c formed in the first support 21c (more specifically, block BL). As illustrated in Figure 17, the first spacer 2146c may be a member that defines the distance between the upper surface of the first electromagnet 21a and the head of the first bolt 2141c. In the example shown in Figure 24, the distance L1 between the upper surface of the first electromagnet 21a and the lower surface of the head of the first bolt 2141c is equal to the length of the first spacer 2146c. The first spacer 2146c may be omitted.

[0086] As illustrated in Figure 17, the first support 21c may include a fixing member 217c (e.g., a bolt) for fixing the first support 21c to the second electromagnet 21b. In the example shown in Figure 17, the fixing member 217c fixes the first support 21c to the second electromagnet 21b so that the first support 21c cannot tilt relative to the second electromagnet 21b. Alternatively, the first support 21c may be tiltable relative to the second electromagnet 21b.

[0087] In the example shown in Figure 17, the first attachment 21 includes a first group of springs 21e. In the examples shown in Figures 17 and 18, when the first electromagnet 21a tilts relative to the second electromagnet 21b, the first group of springs 21e deforms.

[0088] In the examples shown in Figures 17 and 18, when the first surface 211a of the first electromagnet 21a contacts the workpiece W, the first group of springs 21e expands and contracts. In this way, the first surface 211a of the first electromagnet 21a can be aligned with the surface of the workpiece W to be attracted (more specifically, the upper surface Wu of the workpiece W).

[0089] In the example shown in Figure 17, the first group of springs 21e is positioned between the first support 21c and the first electromagnet 21a. As illustrated in Figure 17, the first group of springs 21e may also be positioned between block BL (more specifically, the first block BL1) and the first electromagnet 21a.

[0090] In the examples shown in Figures 17 and 18, when the first electromagnet 21a tilts relative to the first support 21c (more specifically, the first block BL1), at least one of the first group of springs 21e (e.g., the first spring 211e) extends and at least one other of the first group of springs 21e (e.g., the second spring 212e) compresses. Alternatively, two of the first group of springs 21e (e.g., the first spring 211e and the second spring 212e) may tilt while compressing by different amounts. Further alternatively, two of the first group of springs 21e (e.g., the first spring 211e and the second spring 212e) may tilt while extending by different amounts.

[0091] In the examples shown in Figures 17 and 18, when the first surface 211a of the first electromagnet 21a contacts the workpiece W, the first electromagnet 21a passively tilts relative to the second electromagnet 21b. Therefore, a drive device for tilting the first electromagnet 21a is unnecessary.

[0092] In the examples shown in Figures 17 and 18, when the workpiece W is released from the first electromagnet 21a, the biasing force of the first group of springs 21e returns the orientation of the first electromagnet 21a relative to the second electromagnet 21b to its default orientation.

[0093] The first group of springs 21e may function as a suspension. More specifically, the impact when the first electromagnet 21a contacts the workpiece W may be mitigated by the first group of springs 21e.

[0094] In the example shown in Figure 17, the first group of springs 21e includes a first spring 211e and a second spring 212e. As illustrated in Figure 19, the first group of springs 21e may also include a third spring 213e. As illustrated in Figure 20, the first group of springs 21e may also include a fourth spring 214e. When the first group of springs 21e includes three or more springs (or four or more springs), the first electromagnet 21a can be smoothly tilted in any direction relative to the second electromagnet 21b. The first group of springs 21e may include a plurality of springs arranged around the first shaft member 214c. The first group of springs 21e may include a plurality of springs arranged at equal angular intervals around the first shaft member 214c. In the example shown in Figure 17, the first spring 211e is a coil spring, and the second spring 212e is also a coil spring. Alternatively, the first spring 211e and the second spring 212e may be other types of springs.

[0095] As illustrated in Figure 19, a first hole h1 may be formed in block BL (more specifically, the first block BL1) for receiving one end of the first spring 211e. A second hole h2 may be formed in block BL (more specifically, the first block BL1) for receiving one end of the second spring 212e.

[0096] As illustrated in Figures 21 to 23, a portion of the first support 21c (for example, the first fixing member 2140c) may be positioned to pass through the internal space SP1 of the spring 21f. In the example shown in Figure 23, the spring 21f is a coil spring. Alternatively, the spring 21f may be of another type.

[0097] In the examples shown in Figures 21 and 22, the first attachment 21 includes a spring 21f. In the examples shown in Figures 21 and 22, the spring 21f is positioned between the first support 21c (e.g., the first block BL1) and the first electromagnet 21a. In the examples shown in Figures 21 and 22, the spring 21f deforms when the first electromagnet 21a tilts relative to the second electromagnet 21b (or the first support 21c or block BL). In the examples shown in Figures 21 to 23, as in the examples shown in Figures 17 to 20, the first electromagnet 21a can be passively tilted relative to the second electromagnet 21b in any direction.

[0098] In the examples shown in Figures 17 to 22, a spring is interposed between the first electromagnet 21a and the first support 21c. Alternatively, or additionally, rubber may be interposed between the first electromagnet 21a and the first support 21c. The rubber may function as a substitute for the springs (21e, 21f) described above. Alternatively, or additionally, an air cushion may be interposed between the first electromagnet 21a and the first support 21c. The air cushion may function as a substitute for the springs (21e, 21f) described above.

[0099] In the example shown in Figure 17 or Figure 21, the first support 21c has a first recess 210c for receiving the upper end portion 210a of the first electromagnet 21a. Block BL (more specifically, the first block BL1) may also have a first recess 210c for receiving the upper end portion 210a of the first electromagnet 21a.

[0100] In the example shown in Figure 17 or Figure 21, a first gap G1 is formed between the inner circumferential surface S1 of the first recess 210c and the outer circumferential surface U1 of the upper end portion 210a of the first electromagnet 21a, allowing the first electromagnet 21a to tilt. The presence of this first gap G1 allows the first electromagnet 21a to tilt smoothly. Furthermore, because the inner circumferential surface S1 of the first recess 210c and the outer circumferential surface U1 of the upper end portion 210a of the first electromagnet 21a are facing each other, it is difficult for foreign matter to enter the first recess 210c. The first gap G1 is, for example, an annular gap.

[0101] In the example shown in Figure 17 or Figure 21, the first support 21c comprises a first shaft member 214c to which the first electromagnet 21a is attached, and a first hole 215c (see Figure 24) through which the first shaft member 214c passes.

[0102] As illustrated in Figure 24, a second gap G2 that allows tilting of the first electromagnet 21a may be formed between the inner circumferential surface S2 of the first hole 215c and the outer circumferential surface U2 of the first shaft member 214c (for example, the outer circumferential surface U2 of the first spacer 2146c). The presence of this second gap G2 allows the first electromagnet 21a to tilt smoothly.

[0103] In the examples shown in Figures 24 and 25, the first axial member 214c (e.g., the first fixing member 2140c, and / or the first spacer 2146c) is movable relative to the first hole 215c in a direction parallel to the central axis AT1 of the first hole 215c. In this case, when the first surface 211a of the first electromagnet 21a contacts the workpiece W, the distance between the first surface 211a of the first electromagnet 21a and the attachment mounting surface 31a (see Figure 16) is automatically adjusted to an appropriate distance.

[0104] In the example shown in Figure 17, the first electromagnet 21a includes a first coil 218a to which current is supplied from a first cable 291a, and a first yoke 219a surrounding the first coil 218a. The first electromagnet 21a may also include a coating layer disposed on its surface. Any known electromagnet can be used as the first electromagnet 21a.

[0105] In the example shown in Figure 17, the second electromagnet 21b includes a second coil 218b supplied with current from a second cable 291b, and a second yoke 219b surrounding the second coil 218b. The second electromagnet 21b may also include a coating layer placed on its surface. Any known electromagnet can be used as the second electromagnet 21b.

[0106] The first electromagnet 21a can switch between an ON state in which it can attract the workpiece W and an OFF state in which it cannot attract the workpiece W. The first electromagnet 21a is energized when current is supplied to it. In the example shown in Figure 16, the workpiece transport hand 1A is equipped with a first cable 291a that supplies current to the first electromagnet 21a.

[0107] When the workpiece W is attached to the first attachment 21, current is supplied to the first electromagnet 21a via the first cable 291a. By supplying power to the first electromagnet 21a, the first attachment 21 attracts the workpiece W. When the workpiece W is removed from the first attachment 21, the power supply to the first electromagnet 21a is stopped.

[0108] The second electromagnet 21b can switch between an ON state in which it can attract plate 3 and an OFF state in which it cannot attract plate 3. The second electromagnet 21b is energized when current is supplied to it. In the example shown in Figure 16, the workpiece handling hand 1A is equipped with a second cable 291b that supplies current to the second electromagnet 21b.

[0109] When the first attachment 21 is attached to the plate 3, current is supplied to the second electromagnet 21b via the second cable 291b. The first attachment 21 is attracted to the plate 3 by the power supplied to the second electromagnet 21b. When the first attachment 21 is removed from the plate 3, the power supply to the second electromagnet 21b is stopped.

[0110] In the example shown in Figure 30, the plate 3 has a first through-hole 341h through which the first cable 291a and the second cable 291b pass.

[0111] In the example shown in Figure 30, when the first attachment 21 is removed from the plate 3, the first cable 291a and the second cable 291b can be fed out from the first through-hole 341h in the first direction DR1. Therefore, these cables can be easily slackened when the first attachment 21 is removed from the plate 3.

[0112] In the example shown in Figure 30, when the first attachment 21 is attached to the plate 3, the first cable 291a and the second cable 291b can be pulled from the first through-hole 341h in the second direction DR2. Therefore, when attaching the first attachment 21 to the plate 3, the slack of these cables can be easily reduced.

[0113] In the example shown in Figure 31, the workpiece handling hand 1B includes a first traction device 421 for pulling the first cable 291a and the second cable 291b. More specifically, the first traction device 421 pulls the first cable 291a and the second cable 291b in the second direction DR2 through a first through-hole 341h. The first traction device 421 may include a first motor 421m for pulling the first cable 291a and the second cable 291b, or it may include a fluid pressure cylinder for pulling the first cable 291a and the second cable 291b.

[0114] (Second attachment 22) As illustrated in Figures 26 and 27, the second attachment 22 comprises (1) a third electromagnet 22a having a third surface 221a that contacts the workpiece W and capable of attracting the workpiece W, and (2) a fourth electromagnet 22b having a fourth surface 221b that contacts the plate 3 and capable of attracting the plate 3.

[0115] As illustrated in Figures 26 and 27, the third electromagnet 22a is tiltable relative to the fourth electromagnet 22b. By tilting the third electromagnet 22a, the inclination of the third surface 221a of the third electromagnet 22a with respect to the surface of the workpiece W to be attracted (more specifically, the upper surface Wu of the workpiece W) can be reduced. More specifically, when the third surface 221a of the third electromagnet 22a is inclined with respect to the surface of the workpiece W to be attracted, the third surface 221a and the third electromagnet 22a tilt with respect to the surface of the workpiece W to be attracted. By tilting the third surface 221a and the third electromagnet 22a with respect to the surface of the workpiece W to be attracted, the second attachment 22 (more specifically, the third electromagnet 22a) can more reliably attract the workpiece W.

[0116] In the example shown in Figure 26, the second attachment 22 includes a second support 22c attached to the fourth electromagnet 22b. The second support 22c tiltably supports the third electromagnet 22a.

[0117] The second support 22c electrically insulates the third electromagnet 22a and the fourth electromagnet 22b.

[0118] In the example shown in Figure 26, the second support 22c includes a block BK positioned between the third electromagnet 22a and the fourth electromagnet 22b. The block BK is made of, for example, an electrical insulating material.

[0119] As illustrated in Figure 26, the second support 22c may include a third block BK1 positioned between the third electromagnet 22a and the fourth electromagnet 22b, a fourth block BK2 positioned between the third block BK1 and the fourth electromagnet 22b, and a fixing member 223c for fixing the third block BK1 to the fourth block BK2. In the example shown in Figure 26, the third block BK1 supports the third electromagnet 22a, and the fourth block BK2 supports the fourth electromagnet 22b. When the second support 22c comprises the third block BK1, the fourth block BK2, and the fixing member 223c, the assembly of the second attachment 22 can be easily performed.

[0120] The third block BK1 is made of, for example, an electrical insulating material. The fourth block BK2 is made of, for example, an electrical insulating material.

[0121] As illustrated in Figure 26, the second support 22c may include a second shaft member 224c attached to the third electromagnet 22a. In the example shown in Figure 26, the second shaft member 224c connects the third electromagnet 22a and the second support 22c. The second shaft member 224c may also connect the third electromagnet 22a to the block BK (more specifically, the third block BK1). In the example shown in Figure 26, the second shaft member 224c is attached to the center of the upper end 220a of the third electromagnet 22a.

[0122] In the example shown in Figure 26, the second shaft member 224c includes a second fixing member 2240c (more specifically, a second bolt 2241c) attached to the third electromagnet 22a.

[0123] The second shaft member 224c may include a second spacer 2246c into which the second fixing member 2240c is inserted. The second spacer 2246c has, for example, a cylindrical shape. In the example shown in Figure 26, the second spacer 2246c is inserted into a second hole 225c formed in the second support 22c (more specifically, block BK). As illustrated in Figure 26, the second spacer 2246c may be a member that defines the distance between the upper surface of the third electromagnet 22a and the head of the second bolt 2241c. The second spacer 2246c may be omitted.

[0124] As illustrated in Figure 26, the second support 22c may include a fixing member 227c (e.g., a bolt) for fixing the second support 22c to the fourth electromagnet 22b. In the example shown in Figure 26, the fixing member 227c fixes the second support 22c to the fourth electromagnet 22b so that the second support 22c cannot tilt relative to the fourth electromagnet 22b. Alternatively, the second support 22c may be tiltable relative to the fourth electromagnet 22b.

[0125] In the example shown in Figure 26, the second attachment 22 includes a second group of springs 22e. In the examples shown in Figures 26 and 27, when the third electromagnet 22a tilts relative to the fourth electromagnet 22b, the second group of springs 22e deforms.

[0126] In the examples shown in Figures 26 and 27, when the third surface 221a of the third electromagnet 22a contacts the workpiece W, the second group of springs 22e expands and contracts. In this way, the third surface 221a of the third electromagnet 22a can be aligned with the surface of the workpiece W to be attracted (more specifically, the upper surface Wu of the workpiece W).

[0127] In the example shown in Figure 26, the second group of springs 22e is positioned between the second support 22c and the third electromagnet 22a. As illustrated in Figure 26, the second group of springs 22e may also be positioned between the block BK (more specifically, the third block BK1) and the third electromagnet 22a.

[0128] In the examples shown in Figures 26 and 27, when the third electromagnet 22a tilts relative to the second support 22c (more specifically, the third block BK1), at least one of the springs 22e in the second group (e.g., the fifth spring 221e) extends and at least one other of the springs 21e in the first group (e.g., the sixth spring 222e) compresses. Alternatively, two of the springs 22e in the second group (e.g., the fifth spring 221e and the sixth spring 222e) may tilt while compressing by different amounts. Further alternatively, two of the springs 22e in the second group (e.g., the fifth spring 221e and the sixth spring 222e) may tilt while extending by different amounts.

[0129] In the examples shown in Figures 26 and 27, when the third surface 221a of the third electromagnet 22a contacts the workpiece W, the third electromagnet 22a passively tilts relative to the fourth electromagnet 22b. Therefore, a drive device for tilting the third electromagnet 22a is unnecessary.

[0130] In the examples shown in Figures 26 and 27, when the workpiece W is released from the third electromagnet 22a, the biasing force of the second group of springs 22e returns the orientation of the third electromagnet 22a relative to the fourth electromagnet 22b to its default orientation.

[0131] The second group of springs 22e may function as a suspension. More specifically, the impact when the third electromagnet 22a contacts the workpiece W may be mitigated by the second group of springs 22e.

[0132] In the example shown in Figure 26, the second group of springs 22e includes a fifth spring 221e and a sixth spring 222e. The number of springs in the second group of springs 22e may be three, four, or five or more. As illustrated in Figure 26, the second group of springs 22e may include a plurality of springs arranged around the second shaft member 224c. The second group of springs 22e may include a plurality of springs arranged at equal angular intervals around the second shaft member 224c. In the example shown in Figure 26, the fifth spring 221e is a coil spring and the sixth spring 222e is a coil spring. Alternatively, the fifth spring 221e and the sixth spring 222e may be other types of springs.

[0133] As illustrated in Figure 26, a third hole h3 may be formed in block BK (more specifically, the third block BK1) for receiving one end of the fifth spring 221e. A fourth hole h4 may be formed in block BK (more specifically, the third block BK1) for receiving one end of the sixth spring 222e.

[0134] As illustrated in Figure 28, a portion of the second support 22c (e.g., the second axial member 224c) may be positioned to pass through the internal space SP2 of the spring 22f. In the example shown in Figure 28, the spring 22f is a coil spring. Alternatively, the spring 22f may be of another type.

[0135] In the example shown in Figure 28, the second attachment 22 includes a spring 22f positioned between the second support 22c (e.g., the third block BK1) and the third electromagnet 22a. In the example shown in Figure 28, the spring 22f deforms when the third electromagnet 22a tilts relative to the second support 22c (more specifically, block BK).

[0136] In the examples shown in Figures 26 to 28, a spring is interposed between the third electromagnet 22a and the second support 22c. Alternatively, or additionally, rubber may be interposed between the third electromagnet 22a and the second support 22c. The rubber may function as a substitute for the springs (22e, 22f) described above. Alternatively, or additionally, an air cushion may be interposed between the third electromagnet 22a and the second support 22c. The air cushion may function as a substitute for the springs (22e, 22f) described above.

[0137] In the example shown in Figure 26 or Figure 28, the second support 22c has a second recess 220c for receiving the upper end 220a of the third electromagnet 22a. The block BK (more specifically, the third block BK1) may also have a second recess 220c for receiving the upper end 220a of the third electromagnet 22a.

[0138] In the example shown in Figure 26 or Figure 28, a third gap G3 is formed between the inner circumferential surface S3 of the second recess 220c and the outer circumferential surface U3 of the upper end portion 220a of the third electromagnet 22a, allowing the third electromagnet 22a to tilt. The third gap G3 is, for example, an annular gap.

[0139] In the example shown in Figure 26 or Figure 28, the second support 22c comprises a second shaft member 224c to which the third electromagnet 22a is attached, and a second hole 225c (see Figure 29) through which the second shaft member 224c passes.

[0140] As illustrated in Figure 29, a fourth gap G4 may be formed between the inner circumferential surface S4 of the second hole 225c and the outer circumferential surface U4 of the second shaft member 224c (for example, the outer circumferential surface U4 of the second spacer 2246c), which allows the third electromagnet 22a to tilt.

[0141] In the example shown in Figure 29, the second axial member 224c (e.g., the second fixing member 2240c, and / or the second spacer 2246c) is movable relative to the second hole 225c in a direction parallel to the central axis AT2 of the second hole 225c. In this case, when the third surface 221a of the third electromagnet 22a contacts the workpiece W, the distance between the third surface 221a of the third electromagnet 22a and the attachment mounting surface 31a (see Figure 27) is automatically adjusted to an appropriate distance.

[0142] In the example shown in Figure 26, the third electromagnet 22a includes a third coil 228a supplied with current from a third cable 292a, and a third yoke 229a surrounding the third coil 228a. The third electromagnet 22a may also include a coating layer disposed on its surface. Any known electromagnet can be used as the third electromagnet 22a.

[0143] In the example shown in Figure 26, the fourth electromagnet 22b includes a fourth coil 228b supplied with current from a fourth cable 292b, and a fourth yoke 229b surrounding the fourth coil 228b. The fourth electromagnet 22b may also include a coating layer disposed on its surface. Any known electromagnet can be used as the fourth electromagnet 22b.

[0144] The third electromagnet 22a can switch between an ON state in which it can attract the workpiece W and an OFF state in which it cannot attract the workpiece W. The third electromagnet 22a is energized when current is supplied to it. In the example shown in Figure 30, the workpiece transport hand 1A is equipped with a third cable 292a that supplies current to the third electromagnet 22a.

[0145] When the workpiece W is attached to the second attachment 22, current is supplied to the third electromagnet 22a via the third cable 292a. By supplying power to the third electromagnet 22a, the second attachment 22 attracts the workpiece W. When the workpiece W is removed from the second attachment 22, the power supply to the third electromagnet 22a is stopped.

[0146] The fourth electromagnet 22b can switch between an ON state, which allows it to attract plate 3, and an OFF state, which does not allow it to attract plate 3. The fourth electromagnet 22b is energized when current is supplied to it. In the example shown in Figure 30, the workpiece handling hand 1A is equipped with a fourth cable 292b that supplies current to the fourth electromagnet 22b.

[0147] When the second attachment 22 is attached to the plate 3, current is supplied to the fourth electromagnet 22b via the fourth cable 292b. The power supplied to the fourth electromagnet 22b causes the second attachment 22 to be attracted to the plate 3. When the second attachment 22 is removed from the plate 3, the power supply to the fourth electromagnet 22b is stopped.

[0148] In the example shown in Figure 30, the plate 3 has a second through-hole 342h through which the third cable 292a and the fourth cable 292b pass.

[0149] In the example shown in Figure 30, when the second attachment 22 is removed from the plate 3, the third cable 292a and the fourth cable 292b can be fed out from the second through-hole 342h in the first direction DR1. Therefore, these cables can be easily slackened when the second attachment 22 is removed from the plate 3.

[0150] In the example shown in Figure 30, when the second attachment 22 is attached to the plate 3, the third cable 292a and the fourth cable 292b can be pulled through the second through-hole 342h in the second direction DR2. Therefore, when attaching the second attachment 22 to the plate 3, the slack of these cables can be easily reduced.

[0151] In the example shown in Figure 31, the workpiece handling hand 1B includes a second traction device 422 for pulling the third cable 292a and the fourth cable 292b. More specifically, the second traction device 422 pulls the third cable 292a and the fourth cable 292b in the second direction DR2 through a second through-hole 342h. The second traction device 422 may include a second motor 422m for pulling the third cable 292a and the fourth cable 292b, or it may include a fluid pressure cylinder for pulling the third cable 292a and the fourth cable 292b.

[0152] In the examples shown in Figures 26 and 27, the distance between the first electromagnet 21a and the second electromagnet 21b is variable. Also, the distance between the third electromagnet 22a and the fourth electromagnet 22b is variable. In the examples shown in Figures 26 and 27, the first electromagnet 21a is tiltable relative to the second electromagnet 21b, the distance between the first electromagnet 21a and the second electromagnet 21b is variable, the third electromagnet 22a is tiltable relative to the fourth electromagnet 22b, and the distance between the third electromagnet 22a and the fourth electromagnet 22b is variable. Therefore, even if there is deflection of the workpiece W, distortion of the member supporting the workpiece W, manufacturing errors of the first attachment 21, deflection of the plate 3, etc., both the first surface 211a of the first electromagnet 21a and the third surface 221a of the third electromagnet 22a can be aligned with the surface of the workpiece W to be attracted (more specifically, the upper surface Wu of the workpiece W). Therefore, it is less likely that the first attachment 21 and the second attachment 22 will fail to properly grip the workpiece W.

[0153] In the example shown in Figure 26, the first electromagnet 21a is linearly relative to the second electromagnet 21b in a direction along the central axis AT3 of the first attachment 21. In the examples shown in Figures 24 and 25, when the first shaft member 214c attached to the first electromagnet 21a moves relative to the first hole 215c of the first support 21c along the central axis AT1 of the first hole 215c, the first electromagnet 21a moves linearly relative to the second electromagnet 21b in a direction along the central axis AT3 of the first attachment 21.

[0154] In the example shown in Figure 26, the third electromagnet 22a is linearly relative to the fourth electromagnet 22b in a direction along the central axis AT4 of the second attachment 22. In the example shown in Figure 29, when the second shaft member 224c attached to the third electromagnet 22a moves relative to the second hole 225c of the second support 22c along the central axis AT2 of the second hole 225c, the third electromagnet 22a moves linearly relative to the fourth electromagnet 22b in a direction along the central axis AT4 of the second attachment 22.

[0155] The configuration for allowing the first electromagnet 21a to tilt relative to the second electromagnet 21b, and for making the distance between the first electromagnet 21a and the second electromagnet 21b variable, is not limited to the examples shown in Figures 26 and 27. For example, the above configuration may be realized by a telescopic universal joint. The configuration for allowing the third electromagnet 22a to tilt relative to the fourth electromagnet 22b, and for making the distance between the third electromagnet 22a and the fourth electromagnet 22b variable, is not limited to the examples shown in Figures 26 and 27. For example, the above configuration may be realized by a telescopic universal joint.

[0156] (Third attachment 23) In the example shown in Figure 30, the multiple attachments 2 include a third attachment 23. The third attachment 23 comprises a fifth electromagnet 23a capable of attracting a workpiece and a sixth electromagnet 23b capable of attracting a plate 3. In the example shown in Figure 30, the workpiece transport hand 1B comprises a fifth cable 293a that supplies current to the fifth electromagnet 23a and a sixth cable 293b that supplies current to the sixth electromagnet 23b.

[0157] The structure of the third attachment 23 may be the same as that of the first attachment 21. The explanation of the structure of the third attachment 23 will be based on the explanation of the structure of the first attachment 21, and repetitive explanations will be omitted.

[0158] (Fourth attachment 24) In the example shown in Figure 30, the multiple attachments 2 include a fourth attachment 24. The fourth attachment 24 comprises a seventh electromagnet 24a capable of attracting a workpiece and an eighth electromagnet 24b capable of attracting a plate 3. In the example shown in Figure 30, the workpiece transport hand 1B comprises a seventh cable 294a that supplies current to the seventh electromagnet 24a and an eighth cable 294b that supplies current to the eighth electromagnet 24b.

[0159] The structure of the fourth attachment 24 may be the same as that of the first attachment 21. The explanation of the structure of the first attachment 21 will be used to describe the structure of the fourth attachment 24, and any repetitive explanations will be omitted.

[0160] (Fifth attachment 25) In the example shown in Figure 31, the multiple attachments 2 include a fifth attachment 25. The fifth attachment 25 comprises a ninth electromagnet 25a capable of attracting a workpiece and a tenth electromagnet 25b capable of attracting a plate 3. In the example shown in Figure 31, the workpiece transport hand 1B comprises a ninth cable 295a that supplies current to the ninth electromagnet 25a and a tenth cable 295b that supplies current to the tenth electromagnet 25b.

[0161] The structure of the fifth attachment 25 may be the same as that of the first attachment 21. The explanation of the structure of the fifth attachment 25 will be based on the explanation of the structure of the first attachment 21, and repetitive explanations will be omitted.

[0162] (Attachment 26, No. 6) In the example shown in Figure 34, the multiple attachments 2 include a sixth attachment 26. The sixth attachment 26 comprises an eleventh electromagnet 26a capable of attracting a workpiece and a twelfth electromagnet 26b capable of attracting a plate 3. In the example shown in Figure 34, the workpiece transport hand 1B comprises an eleventh cable 296a that supplies current to the eleventh electromagnet 26a and a twelfth cable 296b that supplies current to the twelfth electromagnet 26b.

[0163] The structure of the sixth attachment 26 may be the same as that of the first attachment 21. The explanation of the structure of the sixth attachment 26 will be based on the explanation of the structure of the first attachment 21, and repetitive explanations will be omitted.

[0164] (Attachment 27, No. 7) In the example shown in Figure 31, the multiple attachments 2 include a seventh attachment 27. The seventh attachment 27 comprises a thirteenth electromagnet 27a capable of attracting a workpiece and a fourteenth electromagnet 27b capable of attracting a plate 3. In the example shown in Figure 31, the workpiece transport hand 1B comprises a thirteenth cable 297a that supplies current to the thirteenth electromagnet 27a and a fourteenth cable 297b that supplies current to the fourteenth electromagnet 27b.

[0165] The structure of the seventh attachment 27 may be the same as that of the first attachment 21. The explanation of the structure of the seventh attachment 27 will be based on the explanation of the structure of the first attachment 21, and repetitive explanations will be omitted.

[0166] (Attachment 28, No. 8) In the example shown in Figure 16, the multiple attachments 2 include an eighth attachment 28. The eighth attachment 28 comprises a 15th electromagnet 28a capable of attracting a workpiece and a 16th electromagnet 28b capable of attracting a plate 3. In the example shown in Figure 16, the workpiece transport hand 1B comprises a 15th cable 298a that supplies current to the 15th electromagnet 28a and a 16th cable 298b that supplies current to the 16th electromagnet 28b.

[0167] The structure of the eighth attachment 28 may be the same as that of the first attachment 21. The explanation of the structure of the eighth attachment 28 will be based on the explanation of the structure of the first attachment 21, and repetitive explanations will be omitted.

[0168] (Number of Attachment 2s) In the example shown in Figure 16, there are 8 attachments 2 that can be attached to plate 3 and that can hold workpieces. Alternatively, the number of attachments 2 may be 3, 4, 5, 6, 7, 9, or 10. Further alternatives, the number of attachments 2 may be 11 to 20, or 21 to 30. Further alternatives, the number of attachments 2 may be 31 or more.

[0169] (Attaching and detaching attachment 2 to plate 3) As illustrated in Figure 32, each of the multiple attachments 2 can be independently removed from the plate 3.

[0170] As illustrated in Figure 33, multiple attachments 2 can be attached to the plate 3 in the first layout LA1. As illustrated in Figure 34, multiple attachments 2 can be reattached to the plate 3 in a second layout LA2 that is different from the first layout LA1.

[0171] (Workpiece transport device 10B) In the example shown in Figure 35, the workpiece transport device 10B comprises a workpiece transport hand 1B and a hand moving device 11 for moving the workpiece transport hand 1B.

[0172] As illustrated in Figure 35, the hand transfer device 11 may include an articulated robot 11a. In the example shown in Figure 35, a workpiece transfer hand 1B is attached to the end arm 115a of the articulated robot 11a.

[0173] In the example shown in Figure 35, the articulated robot 11a comprises multiple arms AM, multiple joints JT, and multiple arm drive devices (e.g., multiple motors MT that move the multiple joints JT). The articulated robot 11a has, for example, at least six rotation axes.

[0174] When the hand movement device 11 includes an articulated robot 11a, there are fewer constraints on the movement path of the workpiece transport hand 1B. Therefore, as illustrated in Figure 36, the position of the platform, such as the second platform 13a, can be freely set.

[0175] As illustrated in Figure 36, the hand moving device 11 may include a robot moving device 11b that moves the entire articulated robot 11a. The robot moving device 11b moves the articulated robot 11a in a direction parallel to the horizontal plane. In the example shown in Figure 36, the robot moving device 11b moves the articulated robot 11a in a direction along the X-axis parallel to the horizontal plane.

[0176] When the hand movement device 11 includes the robot movement device 11b, the reachable range of the workpiece transport hand 1B is increased. Therefore, as illustrated in Figure 36, the position of the platform, such as the second platform 13a, can be set more freely.

[0177] (Plate 3) Plate 3 is, for example, a ferromagnetic material that attracts the energized second electromagnet 21b. The main component of plate 3 is, for example, iron. As illustrated in Figure 16, plate 3 has an attachment mounting surface 31a to which a plurality of attachments 2 are attached. In the example shown in Figure 16, plate 3 has a first main surface 31. The first main surface 31 is the surface of plate 3 on the first direction DR1 side. In the example shown in Figure 16, the first main surface 31 includes the attachment mounting surface 31a.

[0178] As illustrated in Figure 37, a mountable area RG1 may be provided around the central area RG2 of plate 3, to which any of a plurality of attachments can be attached. The mountable area RG1, to which any of the plurality of attachments can be attached, may be present continuously around the central area RG2 of plate 3 in a 360-degree radius.

[0179] In the example shown in Figure 37, the plate 3 has a flat surface 311a to which multiple attachments 2 can be attached. Multiple attachments 2 can be attached to this flat surface 311a in a non-engaging manner.

[0180] (Plate support device 4) In the example shown in Figure 35, the workpiece transport hand 1B includes a plate support device 4 that supports the plate 3. In the example shown in Figure 35, the plate support device 4 includes a mounting portion 41 that can be attached to the hand moving device 11. The hand moving device 11 moves the workpiece transport hand 1A, thereby transporting the workpieces W that are held in place by the multiple attachments 2.

[0181] In the example shown in Figure 35, the plate support device 4 is attached to the central region of the back surface 33 of the plate 3. In the example shown in Figure 35, the plate support device 4 extends in a direction perpendicular to the plate 3. In the example shown in Figure 35, the plate support device 4 has a roughly columnar shape.

[0182] The plate support device 4 may include a mounting plate 42 positioned along the back surface 33 of the plate 3. The mounting plate 42 is attached to the plate 3 via a plurality of bolts BT1 (see Figure 37). The mounting plate 42 may support the first traction device 421 described above.

[0183] (Securing plate 3 to plate support device 4) In the example shown in Figure 37, plate 3 is fixed to plate support device 4 (see Figure 35) by a plurality of bolts BT1. In the example shown in Figure 37, the central region RG2 of plate 3 is fixed to plate support device 4 by a plurality of bolts BT1. The central region RG2 of plate 3 may be set as an area where attachment 2 is not placed. In the example shown in Figure 37, the fixed electromagnet 510 described later is fixed to the central region RG2 of plate 3. In the example shown in Figure 37, the first through-hole 341h and the second through-hole 342h described above are provided in the central region RG2 of plate 3.

[0184] (Fixed electromagnet 510) As illustrated in Figure 16, the workpiece handling hand 1B may be equipped with a fixed electromagnet 510 capable of attracting the workpiece W. The fixed electromagnet 510 is permanently fixed to the plate 3.

[0185] If the workpiece handling hand 1B is equipped with a fixed electromagnet 510 that is permanently fixed to the plate 3, the time required to change the layout of multiple electromagnets is reduced compared to the case where all electromagnets are arranged on attachments 2. For example, multiple attachments 2 may be mounted around the fixed electromagnet 510, with the position of the fixed electromagnet 510 as the reference point.

[0186] In the example shown in Figure 16, the fixed electromagnet 510 is located in the center of the plate 3. More specifically, the fixed electromagnet 510 is located on the central axis C2 of the plate support device 4 that supports the plate 3.

[0187] In the example shown in Figure 30, the workpiece transport hand 1B is equipped with a cable 511 that supplies power to the fixed electromagnet 510.

[0188] (Movable electromagnet 530) As illustrated in Figure 38, the workpiece handling hand 1B may include a movable electromagnet 530 capable of attracting other workpieces (for example, small workpieces Ws smaller than the first workpiece W1) and an electromagnet moving device 535. In the example shown in Figure 38, the workpiece handling hand 1B includes a cable 532 that supplies power to the movable electromagnet 530.

[0189] The electromagnet moving device 535 moves the movable electromagnet 530 between the retracted position Q5 (see Figure 31) and the extended position Q6 (see Figure 38).

[0190] In the example shown in Figure 38, with the movable electromagnet 530 in the extended position Q6, the movable electromagnet 530 can release the small workpieces Ws. In the example shown in Figure 38, the small workpieces Ws released from the movable electromagnet 530 are stacked on top of the workpiece W. In the example shown in Figure 38, because the movable electromagnet 530 is in the extended position Q6, the attachment 2 does not interfere with the workpiece W when the small workpieces Ws are stacked on top of the workpiece W.

[0191] In the example shown in Figure 38, the electromagnet moving device 535 moves the movable electromagnet 530 in a direction intersecting the attachment mounting surface 31a. In the example shown in Figure 38, the electromagnet moving device 535 moves the movable electromagnet 530 in a direction perpendicular to the attachment mounting surface 31a.

[0192] As illustrated in Figure 38, the electromagnet moving device 535 may include a fluid pressure cylinder 535s for moving the movable electromagnet 530. Alternatively, the electromagnet moving device 535 may include a motor for moving the movable electromagnet 530.

[0193] (Traction device 56) In the example shown in Figure 38, the workpiece handling hand 1B includes a traction device 56 for pulling the cable 532. By being pulled by the traction device 56, the slack in the cable 532 is reduced. The traction device 56 may include a motor 56m for pulling the cable 532, or it may include a fluid pressure cylinder for pulling the cable 532.

[0194] (Attachment support device 15) In the example shown in Figure 36, the workpiece transfer device 10B includes an attachment support device 15 that supports the attachment 2 that has been removed from the plate 3 among a plurality of attachments 2. The attachment support device 15 may include a first support device 15a that supports the first attachment 21 and a second support device 15b that supports the second attachment 22.

[0195] In the example shown in Figure 36, the mounting position of the first attachment 21 on the plate 3 is changed by the relative movement of the workpiece handling hand 1B relative to the first attachment 21, which is supported by the attachment support device 15 (more specifically, the first support device 15a). In the example shown in Figure 36, the mounting position of the second attachment 22 on the plate 3 is changed by the relative movement of the workpiece handling hand 1B relative to the second attachment 22, which is supported by the attachment support device 15 (more specifically, the second support device 15b).

[0196] In the example shown in Figure 36, the mounting position of each of the multiple attachments 2 is changed using the workpiece transport hand 1B, the hand moving device 11 for moving the workpiece transport hand 1B, and the attachment support device 15. Therefore, it is not necessary to manually change the mounting position of each of the multiple attachments 2. Thus, the workload of the operator does not increase.

[0197] (Platform 12) In the example shown in Figure 36, the workpiece transfer device 10B includes a first platform 12 capable of supporting multiple workpieces, including a first workpiece W1 and a second workpiece W2. The first platform 12 may include a first pallet PT1 on which multiple workpieces, including the first workpiece W1 and the second workpiece W2, can be placed, and a first support base 121 that supports the multiple workpieces via the first pallet PT1.

[0198] The first support base 121 may include a pallet moving device 121b for moving a pallet (e.g., the first pallet PT1). In the example shown in Figure 36, the pallet moving device 121b moves the first pallet PT1 in a direction parallel to the horizontal plane. In the example shown in Figure 36, the pallet moving device 121b moves the first pallet PT1 in a direction along the X-axis parallel to the horizontal plane.

[0199] In the example shown in Figure 36, the hand moving device 11 (more specifically, the articulated robot 11a and the robot moving device 11b) can move the workpiece transport hand 1B (more specifically, the plate 3) between a position facing the first platform 12 and a position facing the attachment support device 15.

[0200] In the example shown in Figure 36, the hand moving device 11 (more specifically, the articulated robot 11a and the robot moving device 11b) can move the workpiece transport hand 1B (more specifically, the plate 3) between a position facing the first platform 12 and a position facing the second platform 13a.

[0201] In the example shown in Figure 36, the hand moving device 11 (more specifically, the articulated robot 11a and the robot moving device 11b) can move the workpiece transport hand 1B (more specifically, the plate 3) between a position facing the first platform 12 and a position facing the third platform 13b.

[0202] (Second platform 13a, and third platform 13b) As illustrated in Figure 36, the workpiece transfer device 10B may include a second platform 13a for receiving workpieces W (e.g., a first workpiece W1) that are transferred by a workpiece transfer hand 1B. The second platform 13a may include a second pallet PT2 on which workpieces W (e.g., a first workpiece W1) can be placed, and a second support base 131a for supporting workpieces W (e.g., a first workpiece W1) via the second pallet PT2.

[0203] In the example shown in Figure 36, the workpiece transport device 10B can transport a workpiece W (for example, a first workpiece W1) from the first platform 12 to the second platform 13a.

[0204] The workpiece transfer device 10B may include a third platform 13b for receiving workpieces W transported by a workpiece transfer hand 1B. The third platform 13b may include a third pallet PT3 on which workpieces W can be placed, and a third support base 131b for supporting workpieces W via the third pallet PT3.

[0205] In the example shown in Figure 36, the workpiece transport device 10B is capable of transporting the workpiece W from the first platform 12 to the third platform 13b.

[0206] The workpiece transfer device 10B may include a fourth platform 13c for receiving workpieces W that are transferred by a workpiece transfer hand 1B.

[0207] (Work W) The workpiece W (for example, the first workpiece W1) is, for example, a plate-shaped workpiece Wa. More specifically, the multiple attachments 2 arranged on the plate 3 in a first layout LA1 are capable of adsorbing the plate-shaped workpiece Wa. Since the workpiece W has already been described in the first embodiment, a repeated description of the workpiece W will be omitted.

[0208] As illustrated in Figure 39, the workpiece W (for example, the first workpiece W1) may be a plate-shaped workpiece in which multiple sub-components PD are connected via weakened regions J. In other words, the workpiece W (for example, the first workpiece W1) may be divisible into multiple sub-components PD. In the example shown in Figure 39, multiple slits SL are formed in the workpiece W (for example, the first workpiece W1).

[0209] (Work 2 W2) The second workpiece W2 is, for example, a second plate-shaped workpiece Wb. Multiple attachments 2 arranged on the plate 3 in the second layout LA2 are capable of adsorbing the second plate-shaped workpiece Wb. Since the second workpiece W2 has already been described in the first embodiment, a repeated description of the second workpiece W2 will be omitted.

[0210] The second workpiece W2 may be a plate-shaped workpiece in which a plurality of sub-components are connected via a weakened area. In other words, the second workpiece W2 may be dividable into a plurality of sub-components.

[0211] (Power supply device 6) As illustrated in FIG. 40, the workpiece transfer device 10B includes a power supply device 6 that supplies current to the first electromagnet 21a and the second electromagnet 21b. In the example described in FIG. 40, the power supply device 6 can supply current to the third electromagnet 22a and the fourth electromagnet 22b.

[0212] The power supply device 6 may be able to supply current to the fifth electromagnet 23a and the sixth electromagnet 23b. Also, the power supply device 6 may be able to supply current to the seventh electromagnet 24a and the eighth electromagnet 24b.

[0213] The power supply device 6 may be able to supply current to the ninth electromagnet 25a and the tenth electromagnet 25b. Also, the power supply device 6 may be able to supply current to the eleventh electromagnet 26a and the twelfth electromagnet 26b.

[0214] The power supply device 6 may be able to supply current to the thirteenth electromagnet 27a and the fourteenth electromagnet 27b. Also, the power supply device 6 may be able to supply current to the fifteenth electromagnet 28a and the sixteenth electromagnet 28b.

[0215] The power supply device 6 may be able to supply current to the fixed electromagnet 510. Alternatively, or additionally, the power supply device 6 may be able to supply current to the movable electromagnet 530.

[0216] (Control device 7) In the example described in FIG. 40, the workpiece transfer device 10B includes a control device 7 that controls the hand movement device 11. Also, the control device 7 controls the suction operation of each of the plurality of attachments 2. More specifically, the control device 7 controls the suction operation of each of the plurality of attachments 2 by controlling the power supply device 6.

[0217] For example, the control device 7 controls the suction operation of the first attachment 21 (more specifically, the ON / OFF of the first electromagnet 21a and the ON / OFF of the second electromagnet 21b). More specifically, the control device 7 can control the power supply device 6 so that current is supplied to the first electromagnet 21a of the first attachment 21. When current is supplied to the first electromagnet 21a, the first electromagnet 21a is excited. When the first electromagnet 21a is excited, the first electromagnet 21a of the first attachment 21 attracts the workpiece W. Also, the control device 7 can control the power supply device 6 so that the supply of current to the first electromagnet 21a of the first attachment 21 is stopped. When the supply of current to the first electromagnet 21a is stopped, the first electromagnet 21a is demagnetized. When the first electromagnet 21a is demagnetized, the workpiece W is released from the first attachment 21.

[0218] For example, the control device 7 can control the power supply device 6 so that current is supplied to the second electromagnet 21b of the first attachment 21. When current is supplied to the second electromagnet 21b, the second electromagnet 21b is excited. When the second electromagnet 21b is excited, the second electromagnet 21b of the first attachment 21 attracts the plate 3. Also, the control device 7 can control the power supply device 6 so that the supply of current to the second electromagnet 21b of the first attachment 21 is stopped. When the supply of current to the second electromagnet 21b is stopped, the second electromagnet 21b is demagnetized. When the second electromagnet 21b is demagnetized, the first attachment 21 is released from the plate 3.

[0219] For example, the control device 7 controls the attraction operation of the second attachment 22 (more specifically, the ON / OFF of the third electromagnet 22a and the ON / OFF of the fourth electromagnet 22b). More specifically, the control device 7 can control the power supply device 6 so that current is supplied to the third electromagnet 22a of the second attachment 22. When current is supplied to the third electromagnet 22a, the third electromagnet 22a is energized. When the third electromagnet 22a is energized, the third electromagnet 22a of the second attachment 22 attracts the workpiece W. The control device 7 can also control the power supply device 6 so that the supply of current to the third electromagnet 22a of the second attachment 22 is stopped. When the supply of current to the third electromagnet 22a is stopped, the third electromagnet 22a is demagnetized. When the third electromagnet 22a is demagnetized, the workpiece W is released from the second attachment 22.

[0220] For example, the control device 7 can control the power supply device 6 so that current is supplied to the fourth electromagnet 22b of the second attachment 22. When current is supplied to the fourth electromagnet 22b, the fourth electromagnet 22b is energized. When the fourth electromagnet 22b is energized, the fourth electromagnet 22b of the second attachment 22 is attracted to the plate 3. Alternatively, the control device 7 can control the power supply device 6 so that the supply of current to the fourth electromagnet 22b of the second attachment 22 is stopped. When the supply of current to the fourth electromagnet 22b is stopped, the fourth electromagnet 22b is demagnetized. When the fourth electromagnet 22b is demagnetized, the second attachment 22 is released from the plate 3.

[0221] Additionally, the control device 7 may control the attachment support device 15.

[0222] One computer may function as the control unit 7, or multiple computers may cooperate to function as the control unit 7. For example, the control unit 7 may include a lower-level computer that controls multiple attachments 2 and the hand movement device 11, and a higher-level computer that transmits commands or data to the lower-level computer.

[0223] In the example shown in Figure 40, the control device 7 comprises a hardware processor 70 (hereinafter simply referred to as "processor 70"), a memory 72, a communication circuit 74, an input device 76, and a display 77. The processor 70, the memory 72, the communication circuit 74, the input device 76, and the display 77 are connected to each other via a bus 78. In the example shown in Figure 40, the input device 76 includes a touch panel 76t on the display 77. In other words, the display 77 is a display with a touch panel 76t. The input device 76 may include buttons, switches, levers, pointing devices, and / or a keyboard.

[0224] The memory 72 is a storage medium readable by the processor 70 of the control device 7. The memory 72 may be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, or it may be a magnetic disk or other type of memory.

[0225] Memory 72 stores data DT and program PM. The processor 70 of the control device 7 executes the program PM stored in memory 72, thereby generating control commands. The communication circuit 74 then transmits these control commands to the controlled devices (more specifically, the hand movement device 11, the power supply device 6, the attachment support device 15, etc.). In this way, by the processor 70 executing the program PM, the control device 7 can control the controlled devices (more specifically, the hand movement device 11, the power supply device 6, the attachment support device 15, etc.).

[0226] (First position change mode M1-1) As illustrated in Figure 6 or Figure 41, the control device 7 can perform a first position change mode M1-1 by controlling the hand moving device 11 and the attachment support device 15. The first position change mode M1-1 is a mode in which the mounting position of the first attachment 21 relative to the plate 3 is changed while the second attachment 22 is attached to the plate 3. In the example shown in Figure 41, the first position change mode M1-1 includes changing the mounting position of the first attachment 21 relative to the plate 3 from a first mounting position T1 to a second mounting position T2.

[0227] As illustrated in Figure 41, the first position change mode M1-1 may be performed with the third attachment 23 attached to the plate 3. As illustrated in Figure 41, the first position change mode M1-1 may be performed with the fourth attachment 24 attached to the plate 3.

[0228] The first position change mode M1-1 may include the control device 7 transmitting a first movement command to the hand movement device 11 so that the first attachment 21 moves to a position facing the attachment support device 15 (more specifically, the first support device 15a).

[0229] The first position change mode M1-1 may include the control device 7 transmitting a first upward command to the lifting device 157 (more specifically, the first lifting device 157a of the first support device 15a) so that the gripping member 151 (more specifically, the first gripping member 151a of the first support device 15a) moves from the lowered position to the raised position. If the gripping member 151 is unable to rise, the transmission of the first upward command is omitted.

[0230] The first position change mode M1-1 may include transmitting a first gripping command from the control device 7 to the gripping member moving device 153 (more specifically, the first drive device 153a of the first support device 15a) so that the first attachment 21 is gripped by the gripping member 151 (more specifically, the first gripping member 151a). The first position change mode M1-1 may also include transmitting a first demagnetization command from the control device 7 to the power supply device 6 so that the second electromagnet 21b is demagnetized after the first attachment 21 has been gripped by the gripping member 151 (more specifically, the first gripping member 151a).

[0231] The first position change mode M1-1 may include transmitting a second movement command from the control device 7 to the hand movement device 11 so that the second mounting position T2 on the plate 3 moves to a position opposite the first attachment 21.

[0232] The first position change mode M1-1 may include transmitting a first excitation command from the control device 7 to the power supply device 6 so that the second electromagnet 21b is energized after the second mounting position T2 on the plate 3 moves to a position facing the first attachment 21. The first position change mode M1-1 may also include transmitting a first grip release command from the control device 7 to the gripping member moving device 153 (more specifically, the first drive device 153a) so that the gripping member 151 (more specifically, the first gripping member 151a) releases its grip on the first attachment 21 after the second mounting position T2 on the plate 3 moves to a position facing the first attachment 21.

[0233] The first position change mode M1-1 may include, after the first attachment 21 is attached to the second mounting position T2 on the plate 3, sending a first descent command from the control device 7 to the lifting device 157 (more specifically, the first lifting device 157a) so that the gripping member 151 (more specifically, the first gripping member 151a) moves from the raised position to the lowered position. If the gripping member 151 is unable to descend, the transmission of the first descent command is omitted.

[0234] (Second position change mode M1-2) As illustrated in Figure 8 or Figure 42, the control device 7 can perform a second position change mode M1-2 by controlling the hand moving device 11 and the attachment support device 15. The second position change mode M1-2 is a mode in which the mounting position of the second attachment 22 relative to the plate 3 is changed while the first attachment 21 is attached to the plate 3. In the example shown in Figure 42, the second position change mode M1-2 includes changing the mounting position of the second attachment 22 relative to the plate 3 from a third mounting position T3 to a fourth mounting position T4.

[0235] As illustrated in Figure 42, the second position change mode M1-2 may be performed with the third attachment 23 attached to the plate 3. As illustrated in Figure 42, the second position change mode M1-2 may be performed with the fourth attachment 24 attached to the plate 3.

[0236] The second position change mode M1-2 may include the control device 7 transmitting a third movement command to the hand movement device 11 so that the second attachment 22 moves to a position facing the attachment support device 15 (more specifically, the second support device 15b).

[0237] The second position change mode M1-2 may include the control device 7 transmitting a second upward command to the lifting device 157 (more specifically, the second lifting device 157b of the second support device 15b) so that the gripping member 151 (more specifically, the second gripping member 151b of the second support device 15b) moves from the lowered position to the raised position. If the gripping member 151 is unable to rise, the transmission of the second upward command is omitted.

[0238] The second position change mode M1-2 may include transmitting a second gripping command from the control device 7 to the gripping member moving device 153 (more specifically, the second driving device 153b of the second support device 15b) so that the second attachment 22 is gripped by the gripping member 151 (more specifically, the second gripping member 151b). Further, the second position change mode M1-2 may include transmitting a second demagnetization command from the control device 7 to the power supply device 6 so that the fourth electromagnet 22b is demagnetized after the second attachment 22 is gripped by the gripping member 151 (more specifically, the second gripping member 151b).

[0239] The second position change mode M1-2 may include transmitting a fourth movement command from the control device 7 to the hand moving device 11 so that the fourth attachment position T4 on the plate 3 moves to a position facing the second attachment 22.

[0240] The second position change mode M1-2 may include transmitting a second excitation command from the control device 7 to the power supply device 6 so that the fourth electromagnet 22b is excited after the fourth attachment position T4 on the plate 3 moves to a position facing the second attachment 22. The second position change mode M1-2 may include transmitting a second gripping release command from the control device 7 to the gripping member moving device 153 (more specifically, the second driving device 153b) so that the gripping of the second attachment 22 by the gripping member 151 (more specifically, the second gripping member 151b) is released after the fourth attachment position T4 on the plate 3 moves to a position facing the second attachment 22.

[0241] The second position change mode M1-2 may include transmitting a second lowering command from the control device 7 to the lifting device 157 (more specifically, the second lifting device 157b) so that the gripping member 151 (more specifically, the second gripping member 151b) moves from the raised position to the lowered position after the second attachment 22 is attached to the fourth attachment position T4 on the plate 3. When the gripping member 151 cannot be lowered, the transmission of the second lowering command is omitted.

[0242] (Third position change mode M1-3) As illustrated in Figure 9, the control device 7 may be capable of executing a third position change mode M1-3, which changes the mounting position of the third attachment 23 on the plate 3 while the first attachment 21 and the second attachment 22 are attached to the plate 3.

[0243] (Layout change mode M1) As illustrated in Figures 5 to 10 (or as illustrated in Figures 41 and 42), the control device 7 can perform a layout change mode M1 that changes the layout of multiple attachments 2 from a first layout LA1 to a second layout LA2 using the hand moving device 11 and the attachment support device 15.

[0244] The layout change mode M1 includes the first position change mode M1-1 described above, and the second position change mode M1-2 described above. The layout change mode M1 may also include the third position change mode M1-3 described above.

[0245] In this specification, when changing the layout of multiple attachments 2 attached to plate 3 from a first layout LA1 to a second layout LA2, the number of attachments 2 whose mounting position on plate 3 needs to be changed is defined as "N".

[0246] Layout change mode M1 may include sending control commands from the control device 7 to the hand moving device 11, the power supply device 6, and the attachment support device 15 so that the positions of the multiple attachments 2 mounted on the plate 3 are changed in sequence.

[0247] More specifically, when "K" is defined as any natural number less than "N", the layout change mode M1 may include the control device 7 sending control commands to the hand moving device 11, the power supply device 6, and the attachment support device 15 such that after the mounting position of the "K"th attachment 2 on the plate 3 is changed, the mounting position of the "K+1"th attachment 2 on the plate 3 is changed.

[0248] The mounting position of the "K"th attachment 2 on plate 3 is changed by removing the "K"th attachment 2 from plate 3 and reattaching it to plate 3. The mounting position of the "K+1"th attachment 2 on plate 3 is changed by removing the "K+1"th attachment 2 from plate 3 and reattaching it to plate 3.

[0249] The layout change mode M1 may include changing the layout of multiple attachments 2 on the plate 3 from a first layout LA1 that conforms to the shape of the first workpiece W1 to a second layout LA2 that conforms to the shape of the second workpiece W2, based on CAD data (computer-aided design data) that includes the shape data of the first workpiece W1 and the shape data of the second workpiece W2.

[0250] Alternatively, the layout change mode M1 may include changing the layout of the multiple attachments 2 on the plate 3 from a first layout LA1 that conforms to the shape of the first workpiece W1 to a second layout LA2 that conforms to the shape of the second workpiece W2, based on instructions from the user. For example, in response to the user specifying the re-mounting positions of the multiple attachments 2 on the display 77 of the control device 7, the layout of the multiple attachments 2 on the plate 3 may be changed from a first layout LA1 that conforms to the shape of the first workpiece W1 to a second layout LA2 that conforms to the shape of the second workpiece W2.

[0251] (Sorting mode M3) The control device 7 may be capable of executing a sorting mode M3 in which multiple workpieces W are sorted into multiple groups by controlling the hand moving device 11, the attachment support device 15, and the suction operation of each of the multiple attachments 2.

[0252] Figure 43 schematically shows how multiple workpieces W are sorted into multiple groups. In sorting mode M3, multiple workpieces W may be sorted into multiple groups based on the type of subsequent process. For example, in sorting mode M3, multiple workpieces W may be sorted into a group that requires welding and a group that does not require welding. Alternatively, or additionally, in sorting mode M3, multiple workpieces W may be sorted into a group that requires bending and a group that does not require bending.

[0253] Alternatively, or additionally, in sorting mode M3, multiple workpieces W may be sorted into a small-size group and a large-size group.

[0254] In the example shown in Figure 43, the first workpiece W1 is classified into the first group. The first workpiece W1, classified into the first group, is transported from the first platform 12 to one side 1311a of the second platform 13a. In the example shown in Figure 43, the second workpiece W2 and the third workpiece W3 are classified into the second group. The second workpiece W2 and the third workpiece W3, classified into the second group, are transported from the first platform 12 to the other side 1312a of the second platform 13a.

[0255] In the example shown in Figure 43, the first workpiece W1, the second workpiece W2, and the third workpiece W3 are classified into the third group. The first workpiece W1, the second workpiece W2, and the third workpiece W3, classified into the third group, are transported from the first platform 12 to the second platform 13a. In the example shown in Figure 43, the fourth workpiece W4 and the fifth workpiece W5 are classified into the fourth group. The fourth workpiece W4 and the fifth workpiece W5, classified into the fourth group, are transported from the first platform 12 to the third platform 13b.

[0256] Sorting mode M3 may include transporting at least one workpiece (e.g., first workpiece W1) classified into a first group from among multiple workpieces W, from the first platform 12 to one side 1311a of the second platform 13a (e.g., one side of the second pallet PT2) using the hand transfer device 11. Sorting mode M3 may also include transporting at least one workpiece (e.g., second workpiece W2, third workpiece W3) classified into a second group from among multiple workpieces W, from the first platform 12 to the other side 1312a of the second platform 13a (e.g., the other side of the second pallet PT2) using the hand transfer device 11.

[0257] Sorting mode M3 may include transporting at least one workpiece (e.g., first workpiece W1, second workpiece W2, third workpiece W3) classified into a third group from among multiple workpieces W to the second platform 13a (e.g., second pallet PT2) using the hand transfer device 11. Sorting mode M3 may also include transporting at least one workpiece (e.g., fourth workpiece W4, fifth workpiece W5) classified into a fourth group from among multiple workpieces W to the third platform 13b (e.g., third pallet PT3) using the hand transfer device 11.

[0258] In the example shown in Figure 43, the first platform 12 supports multiple workpieces, including a first workpiece W1 classified as a first group and a second workpiece W2 classified as a second group.

[0259] In the example shown in Figure 44, sorting mode M3 includes transporting the first workpiece W1 from the first platform 12 to the first sorting area SR1 using a hand-moving device 11, with the first workpiece W1 being held in place by a plurality of attachments 2 mounted on the plate 3 in the first layout LA1. In the example shown in Figure 45, the first sorting area SR1 is an area on the second platform 13a (more specifically, one side 1311a of the second platform 13a). The transport of the first workpiece W1 may be performed with the first workpiece W1 being held in place by the plurality of attachments 2 and a fixed electromagnet 510 (see Figure 16).

[0260] In the examples shown in Figures 41 and 42, sorting mode M3 includes changing the layout of multiple attachments 2 from a first layout LA1 to a second layout LA2 using a hand moving device 11 and an attachment support device 15. More specifically, sorting mode M3 includes multiple position change modes, including a first position change mode M1-1 and a second position change mode M1-2. Since the first position change mode M1-1 and the second position change mode M1-2 have already been described, a repetitive explanation of the first position change mode M1-1 and the second position change mode M1-2 will be omitted.

[0261] In the example shown in Figure 45, sorting mode M3 includes transporting the second workpiece W2 from the first platform 12 to the second sorting area SR2 using a hand transfer device 11, with the second workpiece W2 being held in place by a plurality of attachments 2 mounted on the plate 3 in the second layout LA2. In the example shown in Figure 46, the second sorting area SR2 is the other side 1312a of the second platform 13a. Alternatively, the second sorting area SR2 may be an area on the third platform 13b. The transport of the second workpiece W2 may be performed with the second workpiece W2 being held in place by the plurality of attachments 2 and a fixed electromagnet 510 (see Figure 16).

[0262] Sorting mode M3 may include changing the layout of multiple attachments 2 from a second layout LA2 (see Figure 45) to a third layout LA3 (see Figure 46) using the hand moving device 11 and the attachment support device 15.

[0263] In the examples shown in Figures 46 and 47, sorting mode M3 includes transporting the third workpiece W3 onto the first workpiece W1 or the second workpiece W2 using a hand-moving device 11, with the third workpiece W3 being held in place by a plurality of attachments 2 mounted on the plate 3 in a third layout LA3. By stacking the third workpiece W3 on top of the first workpiece W1 or the second workpiece W2, the area occupied by the multiple workpieces W is reduced. The transport of the third workpiece W3 may be performed with the third workpiece W3 held in place by the plurality of attachments 2 and a fixed electromagnet 510 (see Figure 16).

[0264] As illustrated in Figure 48, sorting mode M3 may include transporting the small workpieces Ws onto the first workpiece W1 or the second workpiece W2 using the hand-moving device 11 while the small workpieces Ws are attracted by the movable electromagnet 530.

[0265] (Third embodiment) The laser processing system 100 in the third embodiment will be described with reference to Figures 1 to 50. Figure 49 is a schematic side view illustrating the laser processing system 100 in the third embodiment. Figure 50 is a schematic perspective view illustrating a portion of the laser processing system 100 in the third embodiment.

[0266] The third embodiment will primarily describe the differences from the first and second embodiments. On the other hand, the third embodiment will omit repetitive explanations of matters already described in the first or second embodiment. Therefore, it goes without saying that even if not explicitly explained in the third embodiment, matters already described in the first or second embodiment can be applied to the third embodiment.

[0267] As illustrated in Figure 49, the laser processing system 100 in the third embodiment comprises a laser processing device 101 and a workpiece transport device 10.

[0268] As illustrated in Figure 50, the laser processing apparatus 101 irradiates the raw material workpiece RW with a laser LB to form a plurality of workpieces W, including a first workpiece W1 and a second workpiece W2, from the raw material workpiece RW.

[0269] As illustrated in Figure 49, the workpiece transport device 10 comprises a workpiece transport hand 1 and a hand moving device 11 for moving the workpiece transport hand 1. The workpiece transport device 10 transports a plurality of workpieces W. As illustrated in Figure 1 or Figure 16, the workpiece transport hand 1 comprises a plurality of attachments 2, including a first attachment 21 capable of attracting a first workpiece W1 and a second attachment 22 capable of attracting a first workpiece W1, and a plate 3 to which each of the plurality of attachments 2 is attached by magnetic force.

[0270] The workpiece transport device 10 may be the workpiece transport device 10A in the first embodiment, the workpiece transport device 10B in the second embodiment, or any other workpiece transport device. The workpiece transport hand 1 may be the workpiece transport hand 1A in the first embodiment, the workpiece transport hand 1B in the second embodiment, or any other workpiece transport hand. The workpiece transport hand 1A in the first embodiment, the workpiece transport device 10A in the first embodiment, the workpiece transport hand 1B in the second embodiment, and the workpiece transport device 10B in the second embodiment have already been described, so a repetitive explanation of them will be omitted.

[0271] As illustrated in Figure 2 or Figure 26, the first attachment 21 comprises (1) a first electromagnet 21a having a first surface 211a that contacts the first workpiece W1 and capable of attracting the first workpiece W1, and (2) a second electromagnet 21b having a second surface 211b that contacts the plate 3 and capable of attracting the plate 3.

[0272] As illustrated in Figures 3 and 4 (or Figures 26 and 27), the first electromagnet 21a is tiltable relative to the second electromagnet 21b.

[0273] Therefore, the laser processing system 100 in the third embodiment provides the same effects as the workpiece handling hand 1A, the workpiece handling device 10A in the first embodiment, the workpiece handling hand 1B in the second embodiment, or the workpiece handling device 10B in the second embodiment.

[0274] (Optional additional configuration) Next, with reference to Figures 1 to 50, optional additional configurations that can be adopted in the laser processing system 100 in the third embodiment will be described.

[0275] (Laser processing device 101) In the example shown in Figure 50, the laser processing apparatus 101 comprises a laser irradiation device 102 having a laser head 102a, a head moving device 103 for moving the laser head 102a, and a workpiece support device 106.

[0276] In the example shown in Figure 50, the workpiece support device 106 supports the workpiece (e.g., raw material workpiece RW) via a pallet (e.g., first pallet PT1).

[0277] The head moving device 103 may include a Z-axis moving device 103a that moves the laser head 102a in a direction along the Z-axis parallel to the vertical. The head moving device 103 may include a Y-axis moving device 103b that moves the laser head 102a in a direction along the Y-axis parallel to the horizontal plane. The head moving device 103 may include an X-axis moving device 103c that moves the laser head 102a in a direction along the X-axis perpendicular to both the Z-axis and the Y-axis.

[0278] (Pallet moving device 121b) As illustrated in Figure 49, the laser processing system 100 may include a pallet moving device 121b that moves a pallet (e.g., a first pallet PT1) from a first area LR1 where the raw material workpiece RW is processed by a laser emitted from the laser head 102a to a second area LR2 accessible by the workpiece handling hand 1. In the example shown in Figure 49, the pallet moving device 121b moves the first pallet PT1 in a direction parallel to the horizontal plane. In the example shown in Figure 36, the pallet moving device 121b moves the first pallet PT1 in a direction along the X-axis parallel to the horizontal plane.

[0279] (Hand-operated moving device 11) As illustrated in Figure 36, the hand moving device 11 may include an articulated robot 11a. The hand moving device 11 may also include a robot moving device 11b for moving the articulated robot 11a. In the example shown in Figure 36, the robot moving device 11b can move the articulated robot 11a in a direction along the X-axis parallel to the horizontal plane. Alternatively, as illustrated in Figure 14, the hand moving device 11 may include a gantry frame 11m supporting the workpiece handling hand 1 and a moving device (e.g., an X-axis moving device 113) for moving the gantry frame 11m.

[0280] (Attachment support device 15) The laser processing system 100 may include an attachment support device 15 that supports attachments removed from the plate 3 among a plurality of attachments 2. Since the attachment support device 15 has been described in the first or second embodiment, a description of the attachment support device 15 will be omitted.

[0281] (Platform 12, Platform 23a, Platform 33b) The laser processing system 100 may include a first platform 12. The laser processing system 100 may also include a second platform 13a and / or a third platform 13b. The first platform 12, the second platform 13a, and the third platform 13b have been described in the first or second embodiment, so a description of these platforms will be omitted.

[0282] (Power supply device 6, control device 7) The laser processing system 100 may include a power supply device 6 and / or a control device 7. Since the power supply device 6 and the control device 7 have been described in the second embodiment, a description of the power supply device 6 and the control device 7 will be omitted.

[0283] The present invention is not limited to the embodiments or modifications described above, and it is clear that each embodiment or modification can be appropriately modified or changed within the scope of the technical concept of the present invention. Furthermore, the various technologies used in each embodiment or modification can be applied to other embodiments or other modifications, as long as no technical inconsistencies arise. In addition, any optional additional configurations in each embodiment or modification can be omitted as appropriate. [Explanation of symbols]

[0284] 1, 1A, 1B...Workpiece handling hand, 2...Attachment, 2m...Removed attachment, 3...Plate, 4...Plate support device, 6...Power supply device, 7...Control device, 10, 10A, 10B...Workpiece handling device, 11...Hand moving device, 11a...Articulated robot, 11b...Robot moving device, 11m...Gantry frame, 12...First platform, 13a...Second platform, 13b...Third platform, 13c...Fourth platform, 15...Attachment support device, 15a...First support device, 15b...Second support device, 21...First attachment 21a...1st electromagnet, 21b...2nd electromagnet, 21c...1st support, 21e...spring, 21f...spring, 22...2nd attachment, 22a...3rd electromagnet, 22b...4th electromagnet, 22c...2nd support, 22e...spring, 22f...spring, 23...3rd attachment, 23a...5th electromagnet, 23b...6th electromagnet, 24...4th attachment, 24a...7th electromagnet, 24b...8th electromagnet, 25...5th attachment, 25a...9th electromagnet, 25b...10th electromagnet, 26...6th attachment, 26a...11th electromagnet, 26b...12th electromagnet, 27...7th attachment 27a...13th electromagnet, 27b...14th electromagnet, 28...8th attachment, 28a...15th electromagnet, 28b...16th electromagnet, 31...1st main surface, 31a...Attachment mounting surface, 33...Back surface, 41...Mounting part, 42...Mounting plate, 56...Traction device, 56m...Motor, 70...Processor, 72...Memory, 74...Communication circuit, 76...Input device, 76t...Touch panel, 77...Display, 78...Bus, 100...Laser processing system, 101...Laser processing device, 102...Laser irradiation device, 102a...Laser head, 103...Head moving device, 103a...Z-axis moving device 103b…Y-axis moving device, 103c…X-axis moving device, 106…Work support device, 111…Z-axis moving device, 112…Y-axis moving device, 113…X-axis moving device, 114…Rotation device, 115a…Tip arm, 121…First support base, 121b…Pallet moving device, 131a…Second support base, 131b…Third support base, 151…Gripping member, 151a…First gripping member, 151b…Second gripping member, 153…Gripping member moving device, 153a…First drive device, 153b…Second drive device, 155…Stand, 157…Lifting device, 157a…First lifting device, 157b…Second lifting device,210a... Upper end, 210c... First recess, 211a... First surface, 211b... Second surface, 211e... First spring, 212e... Second spring, 213c... Fixing member, 213e... Third spring, 214c... First shaft member, 214e... Fourth spring, 215c... First hole, 217c... Fixing member, 218a... First coil, 218b... Second coil, 219a... First yoke, 219b... Second yoke, 220a... Upper end, 220c... Second recess, 221a... Third surface, 221b... Fourth surface, 221e... Fifth spring, 222e... Sixth spring, 223c... Fixing member, 224c... Second shaft member, 225c... Second hole 227c…Fixing member, 228a…Third coil, 228b…Fourth coil, 229a…Third yoke, 229b…Fourth yoke, 231a…Fifth surface, 231b…Sixth surface, 291a…First cable, 291b…Second cable, 292a…Third cable, 292b…Fourth cable, 293a…Fifth cable, 293b…Sixth cable, 294a…Seventh cable, 294b…Eighth cable, 295a…Ninth cable, 295b…Tenth cable, 296a…Eleventh cable, 296b…Twelfth cable, 297a…Thirteenth cable, 297b…Fourteenth cable, 298a ...15th cable, 298b...16th cable, 311a...flat surface, 341h...1st through hole, 342h...2nd through hole, 421...1st traction device, 421m...1st motor, 422...2nd traction device, 422m...2nd motor, 510...fixed electromagnet, 511...cable, 530...movable electromagnet, 532...cable, 535...electromagnet moving device, 535s...fluid pressure cylinder, 1311a...one side of the second platform, 1312a...other side of the second platform 13a, 2140c...1st fixing member, 2141c...1st bolt, 2146c...1st spacer, 2240c ...Second fixing member, 2241c...Second bolt, 2246c...Second spacer, AM...Arm, AT1...Central axis of the first hole, AT2...Central axis of the second hole, AT3...Central axis of the first attachment, AT4...Central axis of the second attachment, BK...Block, BK1...Third block, BK2...Fourth block, BL...Block, BL1...First block, BL2...Second block, BT1...Bolt, C2...Central axis of the plate support device, DR1...First direction, DR2...Second direction, DT...Data, G1...First gap, G2...Second gap, G3...Third gap, G4...Fourth gap, J...Weakening area,JT…Joint, L1…Distance between the top surface of the first electromagnet and the bottom surface of the head of the first bolt, LA1…First layout, LA2…Second layout, LA3…Third layout, LB…Laser, LR1…First area, LR2…Second area, M1…Layout change mode, M1-1…First position change mode, M1-2…Second position change mode, M1-3…Third position change mode, M3…Sorting mode, MT…Motor, PD…Sub-component, PM…Program, PT1…First pallet, PT2…Second pallet, PT3…Third pallet, Q1…Open position, Q2…Closed position, Q3…Down position, Q4…Up position, Q5…Retracted position, Q6…Extended position, RG1…Mountable area, RG2…Central area RW...raw material workpiece, S1...inner surface, S2...inner surface, S3...inner surface, S4...inner surface, SL...slit, SP1...internal space, SP2...internal space, SR1...first sorting area, SR2...second sorting area, T1...first mounting position, T2...second mounting position, T3...third mounting position, T4...fourth mounting position, U1...outer surface, U2...outer surface, U3...outer surface, U4...outer surface, W...workpiece, W1...first workpiece, W2...second workpiece, W3...third workpiece, W4...fourth workpiece, W5...fifth workpiece, Wa...plate-shaped workpiece, Wb...plate-shaped workpiece, Wp...pipe-shaped workpiece, Ws...small workpiece, Wu...top surface of workpiece, h1...first hole, h2...second hole, h3...third hole, h4...fourth hole,

Claims

1. A plurality of attachments, including a first attachment capable of adsorbing a workpiece and a second attachment capable of adsorbing the workpiece, Each of the aforementioned multiple attachments is attached to a plate by magnetic force. It is equipped with, The first attachment is, A first electromagnet having a first surface that contacts the workpiece and capable of attracting the workpiece, A second electromagnet having a second surface that contacts the plate and capable of adsorbing the plate, Equipped with, The first electromagnet is tiltable relative to the second electromagnet. Workpiece handling hand.

2. The aforementioned attachment comprises a first group of springs, When the first electromagnet tilts relative to the second electromagnet, the springs of the first group deform. A workpiece handling hand according to claim 1.

3. The first attachment is, spring and, A first fixing member is arranged to pass through the internal space of the spring and is attached to the first electromagnet. Equipped with, When the first electromagnet tilts relative to the second electromagnet, the spring deforms. A workpiece handling hand according to claim 1.

4. The first attachment comprises a first support that is attached to the second electromagnet, The first support has a first recess for receiving the upper end of the first electromagnet, A first gap is formed between the inner surface of the first recess and the outer surface of the upper end, which allows the first electromagnet to tilt. A workpiece handling hand according to any one of claims 1 to 3.

5. The first attachment comprises a first support that is attached to the second electromagnet, The first support is The first shaft member to which the first electromagnet is attached, The first hole through which the first shaft member passes and Equipped with, A second gap is formed between the inner surface of the first hole and the outer surface of the first shaft member, allowing the first electromagnet to tilt. A workpiece handling hand according to any one of claims 1 to 3.

6. The first shaft member is movable relative to the first hole in a direction parallel to the central axis of the first hole. A workpiece handling hand according to claim 5.

7. The first attachment comprises a first support that is attached to the second electromagnet, The first support is A first block supporting the first electromagnet and positioned between the first electromagnet and the second electromagnet, A second block that supports the second electromagnet and is positioned between the first block and the second electromagnet, A fixing member for fixing the first block to the second block and Equipped with A workpiece handling hand according to any one of claims 1 to 3.

8. The second attachment is, A third electromagnet having a third surface that contacts the workpiece and capable of attracting the workpiece, A fourth electromagnet having a fourth surface that contacts the plate and capable of attracting the plate, Equipped with, The third electromagnet is tiltable relative to the fourth electromagnet. A workpiece handling hand according to any one of claims 1 to 3.

9. The distance between the first electromagnet and the second electromagnet is variable. The distance between the third electromagnet and the fourth electromagnet is variable. A workpiece handling hand according to claim 8.

10. The plurality of attachments can be mounted on the plate in the first layout, The aforementioned multiple attachments are removable from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. A workpiece handling hand according to any one of claims 1 to 3.

11. Workpiece handling hand, A hand moving device for moving the aforementioned workpiece handling hand and It is equipped with, The aforementioned workpiece handling hand is A plurality of attachments, including a first attachment capable of adsorbing a workpiece and a second attachment capable of adsorbing the workpiece, Each of the aforementioned multiple attachments is attached to a plate by magnetic force. Equipped with, The first attachment is, A first electromagnet having a first surface that contacts the workpiece and capable of attracting the workpiece, A second electromagnet having a second surface that contacts the plate and capable of adsorbing the plate, Equipped with, The first electromagnet is tiltable relative to the second electromagnet. Workpiece transport device.

12. The hand movement device includes a multi-joint robot. The workpiece transport device according to claim 11.

13. The hand movement device includes a robot movement device for moving the entire articulated robot. The workpiece transport device according to claim 12.

14. The system further comprises a control device for controlling the aforementioned hand movement device, The control device controls the suction operation of the first attachment. A workpiece transport device according to any one of claims 11 to 13.

15. A laser processing apparatus that forms a plurality of workpieces, including a first workpiece and a second workpiece, from a raw material workpiece by irradiating the workpiece with a laser, A workpiece transport device for transporting the aforementioned multiple workpieces It is equipped with, The workpiece transport device is, Workpiece handling hand, A hand moving device for moving the aforementioned workpiece handling hand and Equipped with, The aforementioned workpiece handling hand is A plurality of attachments, including a first attachment capable of adsorbing the first workpiece and a second attachment capable of adsorbing the first workpiece, Each of the aforementioned multiple attachments is attached to a plate by magnetic force. Equipped with, The first attachment is, A first electromagnet having a first surface that contacts the first workpiece and capable of attracting the first workpiece, A second electromagnet having a second surface that contacts the plate and capable of adsorbing the plate, Equipped with, The first electromagnet is tiltable relative to the second electromagnet. Laser processing system.

Images