Workpiece handling hand, workpiece handling device, and laser processing system

Abstract

The present invention provides a workpiece handling hand, a workpiece handling device, and a laser processing system, all equipped with multiple attachments whose layout can be changed to accommodate the shape of a plate-shaped workpiece that will be held in place by the attachments. [Solution] The workpiece handling hand comprises a plurality of attachments, including a first attachment capable of adsorbing a plate-shaped workpiece and a second attachment capable of adsorbing a plate-shaped workpiece, and a plate to which the plurality of attachments are attached. The first attachment comprises a first electromagnet for adsorbing the plate and a second electromagnet for adsorbing the plate-shaped workpiece. The plurality of attachments can be attached to the plate in a first layout. Each of the plurality of attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout.

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 a plurality of attachments capable of changing the layout corresponding to the shape of a plate-like work to be adsorbed by the plurality of attachments. Another object of the present invention is to enable the layout change of a plurality of attachments including a first attachment corresponding to the shape of a plate-like work to be adsorbed by the plurality of attachments, facilitate the attachment of the first attachment to a plate and the removal of the first attachment from the plate, and facilitate the attachment of the plate-like work to the first attachment and the removal of the plate-like work from the first attachment.

Means for Solving the Problems

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

[0007] (1) A plurality of attachments including a first attachment capable of adsorbing a plate-shaped workpiece and a second attachment capable of adsorbing the plate-shaped workpiece, A plate on which the aforementioned multiple attachments are attached and It is equipped with, The first attachment is, A first electromagnet that attracts the aforementioned plate, The second electromagnet that attracts the plate-shaped workpiece and Equipped with, The plurality of attachments can be mounted on the plate in the first layout, Each of the aforementioned attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. Workpiece handling hand. (2) A hand for transporting workpieces, 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 plate-shaped workpiece and a second attachment capable of adsorbing the plate-shaped workpiece, A plate on which the aforementioned multiple attachments are attached and Equipped with, The first attachment is, A first electromagnet that attracts the aforementioned plate, The second electromagnet that attracts the plate-shaped workpiece and Equipped with, The plurality of attachments can be mounted on the plate in the first layout, Each of the aforementioned attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. Workpiece transport device. (3) A laser processing apparatus that irradiates a raw material workpiece with a laser to form a plurality of plate-shaped workpieces, including a plate-shaped first workpiece and a plate-shaped second workpiece, A workpiece transport device for transporting the aforementioned plurality of plate-shaped 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 plate-shaped first workpiece, and a second attachment capable of adsorbing the plate-shaped first workpiece, A plate on which the aforementioned multiple attachments are attached and Equipped with, The first attachment is, A first electromagnet that attracts the aforementioned plate, A second electromagnet that attracts the plate-shaped first workpiece and Equipped with, The plurality of attachments can be mounted on the plate in the first layout, Each of the aforementioned attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. Laser processing system. [Effects of the Invention]

[0008] The present invention provides a workpiece handling hand, a workpiece handling device, and a laser processing system, all equipped with multiple attachments whose layout can be changed to accommodate the shape of a plate-shaped workpiece that will be held in place by the attachments. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic perspective view schematically showing a state in which a workpiece is adsorbed by a plurality of attachments arranged in a first layout. [Figure 2] Figure 2 is a schematic perspective view schematically showing a state in which the layout of a plurality of attachments is changed. [Figure 3] Figure 3 is a schematic perspective view schematically showing a state in which the layout of a plurality of attachments is changed. [Figure 4] Figure 4 is a schematic perspective view schematically showing a state in which the layout of a plurality of attachments is changed. [Figure 5] Figure 5 is a schematic perspective view schematically showing a state in which the layout of a plurality of attachments is changed. [Figure 6] Figure 6 is a schematic perspective view schematically showing a state in which the layout of a plurality of attachments is changed. [Figure 7] Figure 7 is a schematic perspective view schematically showing a state in which the layout of a plurality of attachments is changed. [Figure 8] Figure 8 is a schematic perspective view schematically showing a state in which a second workpiece is adsorbed by a plurality of attachments arranged in a second layout. [Figure 9] Figure 9 is a schematic side view schematically showing a workpiece transfer hand in a first embodiment. [ [Figure 10] Figure 10 is a schematic side view schematically showing a workpiece transfer hand in a first embodiment. [Figure 11] Figure 11 is a schematic side view schematically showing a workpiece transfer hand in a first modification of the first embodiment. [Figure 12] Figure 12 is a schematic bottom view for explaining an attachable region. [Figure 13] Figure 13 is a schematic bottom view for explaining an attachable region. [Figure 14]Figure 14 is a schematic perspective view illustrating a pipe-shaped workpiece being held in place by multiple attachments arranged in the second layout. [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 transfer device in the first embodiment. [Figure 17] Figure 17 is a schematic perspective view illustrating the workpiece handling hand in the second embodiment. [Figure 18] Figure 18 is a schematic perspective view showing a workpiece handling hand in the second embodiment. [Figure 19] Figure 19 is a schematic perspective view illustrating the workpiece handling hand in the second embodiment. [Figure 20] Figure 20 is a schematic perspective view illustrating a state in which a workpiece is held in place by multiple attachments arranged in the first layout. [Figure 21] Figure 21 is a schematic perspective view illustrating the workpiece handling hand in the second embodiment. [Figure 22] Figure 22 is a schematic perspective view illustrating the workpiece handling hand in the second embodiment. [Figure 23] Figure 23 is a schematic perspective view illustrating the workpiece transfer device in the second embodiment. [Figure 24] Figure 24 is a schematic perspective view showing a portion of the workpiece handling hand in the second embodiment. [Figure 25] Figure 25 is a schematic side view illustrating the workpiece handling hand in the second embodiment. [Figure 26] Figure 26 is a schematic side view illustrating the first traction device. [Figure 27] Figure 27 is a schematic side view illustrating the second traction device. [Figure 28] Figure 28 is a schematic bottom view showing a portion of the workpiece handling hand in the second embodiment. [Figure 29] Figure 29 is a schematic side view illustrating a portion of the workpiece handling hand in the second embodiment. [Figure 30] Figure 30 is a schematic side view illustrating a state in which a small workpiece is attached to the movable suction part. [Figure 31] Figure 31 is a schematic side view illustrating a modified arrangement of the movable suction part. [Figure 32] Figure 32 is a schematic perspective view illustrating the workpiece transfer device in the second embodiment. [Figure 33] Figure 33 is a schematic plan view illustrating an example of an attachment support device. [Figure 34] Figure 34 is a cross-sectional view taken along the line AA in Figure 33. [Figure 35] Figure 35 is a schematic cross-sectional view illustrating the state in which the gripping member has moved to the raised position. [Figure 36] Figure 36 is a schematic bottom view illustrating the workpiece handling hand in the second embodiment. [Figure 37] Figure 37 is a schematic perspective view illustrating an example of a workpiece. [Figure 38] Figure 38 is a schematic diagram illustrating how a control device can control multiple devices. [Figure 39] Figure 39 is a schematic perspective view illustrating the execution of the first position change mode. [Figure 40] Figure 40 is a schematic perspective view illustrating the execution of the second position change mode. [Figure 41] Figure 41 is a schematic plan view illustrating how multiple workpieces are sorted into multiple groups. [Figure 42] Figure 42 is a schematic plan view illustrating the sorting mode in operation. [Figure 43] Figure 43 is a schematic plan view illustrating the sorting mode in operation. [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 side view illustrating the laser processing system in the third embodiment. [Figure 48] Figure 48 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 16, 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 a state in which a workpiece W is held in place by a plurality of attachments 2 arranged in the first layout LA1. Figures 2 to 7 are schematic perspective views showing how the layout of the plurality of attachments 2 is changed. Figure 8 is a schematic perspective view showing a state in which a second workpiece W2 is held in place by a plurality of attachments 2 arranged in the second layout LA2. Figures 9 and 10 are schematic side views showing the workpiece handling hand 1A in the first embodiment. Figure 11 is a schematic side view showing the workpiece handling hand 1A in a first modified example of the first embodiment. Figures 12 and 13 are schematic bottom views for explaining the mountable area RG1. Figure 14 is a schematic perspective view showing a state in which a pipe-shaped workpiece Wp is held in place by a plurality of attachments 2 arranged in the second layout LA2. Figures 15 and 16 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] Multiple attachments 2 can be attached to plate 3.

[0017] As illustrated in Figure 2, multiple attachments 2 can be mounted on plate 3 in the first layout LA1.

[0018] As illustrated in Figures 3 to 6, each of the multiple attachments 2 can be independently removed from the plate 3. Figure 3 shows the first attachment 21 removed from the plate 3. Figure 5 shows the second attachment 22 removed from the plate 3. Figure 6 shows the third attachment 23 removed from the plate 3.

[0019] 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.

[0020] In the example shown in Figure 3, the first attachment 21 can be removed from the plate 3 while the second attachment 22 is attached to the plate 3. Furthermore, the first attachment 21 can be removed from the plate 3 while both the second attachment 22 and the third attachment 23 are attached to the plate 3.

[0021] In the example shown in Figure 5, the second attachment 22 can be removed from the plate 3 while the first attachment 21 is attached to the plate 3. Furthermore, the second attachment 22 can be removed from the plate 3 while both the first attachment 21 and the third attachment 23 are attached to the plate 3.

[0022] In the example shown in Figure 6, the third attachment 23 can be removed from the plate 3 while the first attachment 21 is attached to the plate 3. Furthermore, the third attachment 23 can be removed from the plate 3 while both the first attachment 21 and the second attachment 22 are attached to the plate 3.

[0023] In the example shown in Figure 7, multiple attachments 2 can be reattached to the plate 3 in a second layout LA2 that is different from the first layout LA1. As illustrated in Figure 8, 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.

[0024] In the workpiece handling hand 1A of the first embodiment, multiple attachments 2 can be attached to the plate 3 in a first layout LA1, and multiple attachments 2 can be reattached to the plate 3 in a second layout LA2 that is different from the first layout LA1. In the first embodiment, the layout of the multiple attachments can be changed according to the shape of the workpiece W. Therefore, it is not necessary to prepare multiple types of workpiece handling hands to correspond to the shape of the workpiece.

[0025] Furthermore, in the workpiece handling hand 1A of the first embodiment, 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.

[0026] (Optional additional configuration) Next, with reference to Figures 1 to 16, 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.

[0027] (Example of the procedure for changing the layout) In the examples shown in Figures 2 to 7, the layout of the multiple attachments 2 can be changed from the first layout LA1 (see Figure 2) to the second layout LA2 (see Figure 7) by removing at least one of the multiple attachments 2 from the plate 3 and then reattaching it to the plate 3.

[0028] In the examples shown in Figures 2 to 7, the first attachment 21, the second attachment 22, and the third attachment 23 are each removed from the plate 3 and then reattached to the plate 3, thereby changing the layout of the multiple attachments 2 from the first layout LA1 (see Figure 2) to the second layout LA2 (see Figure 7).

[0029] In the examples shown in Figures 2 to 7, 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.

[0030] (First attachment 21) In the example shown in Figure 2, the first attachment 21 includes a first suction portion 210a for adsorbing the plate 3. When the first attachment 21 includes a first suction portion 210a for adsorbing the plate 3, it is easy to attach the first attachment 21 to the plate 3.

[0031] The first suction part 210a is a suction part that can change its state between an ON state in which it can adsorb the plate 3 and an OFF state in which it cannot adsorb the plate 3. Examples of suction parts that can change their state between an ON state in which it can adsorb the plate 3 and an OFF state in which it cannot adsorb the plate 3 include electromagnets and vacuum suction parts connected to negative pressure channels. When the first suction part 210a is a suction part that can change its state between an ON state and an OFF state, it is easy to attach the first attachment 21 to the plate 3 and to remove the first attachment 21 from the plate 3.

[0032] In the example shown in Figure 9, the first suction part 210a is the first electromagnet 211a. The first electromagnet 211a is energized when current is supplied to it. In the example shown in Figure 9, the workpiece handling hand 1A is equipped with a first cable 291a that supplies current to the first electromagnet 211a. In the example shown in Figure 9, the first cable 291a is arranged to wrap around the outside of the outer peripheral edge 30e of the plate 3.

[0033] In the example shown in Figure 2, the first attachment 21 includes a second suction part 210b for adsorbing the workpiece W. When the first attachment 21 includes a second suction part 210b for adsorbing the workpiece W, it is easy to attach the workpiece W to the first attachment 21.

[0034] The second suction unit 210b is a suction unit that can change its state between an ON state in which it can attract the workpiece W and an OFF state in which it cannot attract the workpiece W. Examples of suction units that can change their state between an ON state in which it can attract the workpiece W and an OFF state in which it cannot attract the workpiece W include electromagnets and vacuum suction units connected to negative pressure channels. When the second suction unit 210b is a suction unit that can change its state between an ON state and an OFF state, it is easy to attach the workpiece W to the first attachment 21 and to remove the workpiece W from the first attachment 21.

[0035] In the example shown in Figure 9, the second suction part 210b is the second electromagnet 211b. The second electromagnet 211b is energized when current is supplied to it. In the example shown in Figure 9, the workpiece handling hand 1A is equipped with a second cable 291b that supplies current to the second electromagnet 211b. In the example shown in Figure 9, the second cable 291b is arranged to wrap around the outside of the outer peripheral edge 30e of the plate 3.

[0036] (Second attachment 22) In the example shown in Figure 2, the second attachment 22 is equipped with a third suction portion 220a for adsorbing the plate 3. When the second attachment 22 is equipped with a third suction portion 220a for adsorbing the plate 3, it is easy to attach the second attachment 22 to the plate 3.

[0037] The third suction part 220a is a suction part that can change its state between an ON state in which the plate 3 can be attracted and an OFF state in which the plate 3 cannot be attracted. Examples of suction parts that can change their state between an ON state in which the plate 3 can be attracted and an OFF state in which the plate 3 cannot be attracted include electromagnets and vacuum suction parts connected to negative pressure channels. When the third suction part 220a is a suction part that can change its state between an ON state and an OFF state, it is easy to attach the second attachment 22 to the plate 3 and to remove the second attachment 22 from the plate 3.

[0038] In the example shown in Figure 9, the third suction part 220a is the third electromagnet 221a. The third electromagnet 221a is energized when current is supplied to it. In the example shown in Figure 9, the workpiece handling hand 1A is equipped with a third cable 292a that supplies current to the third electromagnet 221a. In the example shown in Figure 9, the third cable 292a is arranged to wrap around the outside of the outer peripheral edge 30e of the plate 3.

[0039] In the example shown in Figure 2, the second attachment 22 is equipped with a fourth suction part 220b for adsorbing the workpiece W. When the second attachment 22 is equipped with a fourth suction part 220b for adsorbing the workpiece W, it is easy to attach the workpiece W to the second attachment 22.

[0040] The fourth suction unit 220b is a suction unit that can change its state between an ON state in which it can attract the workpiece W and an OFF state in which it cannot attract the workpiece W. Examples of suction units that can change their state between an ON state in which it can attract the workpiece W and an OFF state in which it cannot attract the workpiece W include electromagnets and vacuum suction units connected to negative pressure channels. When the fourth suction unit 220b is a suction unit that can change its state between an ON state and an OFF state, it is easy to attach the workpiece W to the second attachment 22 and to remove the workpiece W from the second attachment 22.

[0041] In the example shown in Figure 9, the fourth suction part 220b is the fourth electromagnet 221b. The fourth electromagnet 221b is energized when current is supplied to it. In the example shown in Figure 9, the workpiece transport hand 1A is equipped with a fourth cable 292b that supplies current to the fourth electromagnet 221b. In the example shown in Figure 9, the fourth cable 292b is arranged to wrap around the outside of the outer peripheral edge 30e of the plate 3.

[0042] (Third attachment 23) In the example shown in Figure 2, the third attachment 23 includes a fifth suction section 230a for adsorbing the plate 3. The third attachment 23 also includes a sixth suction section 230b for adsorbing the workpiece W.

[0043] In the example shown in Figure 9, the fifth suction part 230a is the fifth electromagnet 231a. The fifth electromagnet 231a is energized when current is supplied to it. In the example shown in Figure 9, the workpiece handling hand 1A is equipped with a fifth cable 293a that supplies current to the fifth electromagnet 231a. In the example shown in Figure 9, the sixth suction part 230b is the sixth electromagnet 231b. The sixth electromagnet 231b is energized when current is supplied to it. In the example shown in Figure 9, the workpiece handling hand 1A is equipped with a sixth cable 293b that supplies current to the sixth electromagnet 231b.

[0044] (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.

[0045] (Cable 291) In the examples shown in Figures 9 and 10, the workpiece handling hand 1A includes a cable 291 that supplies current to the first attachment 21.

[0046] In the example shown in Figure 9, cable 291 includes a first cable 291a that supplies current to the first electromagnet 211a and a second cable 291b that supplies current to the second electromagnet 211b. As illustrated in Figure 11, the first cable 291a and the second cable 291b may be bundled together. In other words, cable 291 may include a bundled region 291c in which the first cable 291a and the second cable 291b are bundled together. When cable 291 includes a bundled region 291c, the congestion of wiring around plate 3 is reduced.

[0047] (1st traction device 421) In the example shown in Figure 9, the workpiece transport hand 1A is equipped with a first traction device 421 that pulls the cable 291. When the cable 291 is pulled, the slack in the cable 291 is reduced.

[0048] The first traction device 421 includes a first support portion 431 that supports a part of the cable 291, and a first moving device 441 that moves the first support portion 431 relative to the plate 3.

[0049] In the example shown in Figure 9, the first support 431 holds a portion of the cable 291. Alternatively, the first support 431 may be a movable pulley that supports a portion of the cable 291.

[0050] In the example shown in Figure 9, the cable 291 can be loosened using the first moving device 441. In the example shown in Figure 9, the first attachment 21 can be attached to the plate 3 while the cable 291 is loosened, and the first attachment 21 can be removed from the plate 3 while the cable 291 is loosened. Therefore, the attachment and detachment of the first attachment 21 to the plate 3 can be performed smoothly. In the example shown in Figure 9, the cable 291 is loosened by the first moving device 441 moving the first support portion 431 in the first direction DR1.

[0051] In the example shown in Figure 10, the slack in the cable 291 can be reduced using the first moving device 441. More specifically, the cable 291 can be tensioned using the first moving device 441. In the example shown in Figure 10, with the slack in the cable 291 reduced (more specifically, with the cable 291 tensioned), the first attachment 21 can attract the workpiece W. Therefore, interference between the workpiece W and the cable 291 during attraction of the workpiece W is prevented or suppressed. In the example shown in Figure 10, the slack in the cable 291 is reduced by the first moving device 441 moving the first support portion 431 in the second direction DR2.

[0052] In the examples shown in Figures 9 and 11, a portion of the first cable 291a and a portion of the second cable 291b are supported or held by the first support portion 431. As illustrated in Figure 11, a portion of the bundled area 291c of the cable 291 may also be supported or held by the first support portion 431.

[0053] In the examples shown in Figures 9 and 11, the plate support device 4 includes a first guide member 451 (more specifically, a first guide rail 451r) that guides the movement of the first support portion 431. In the examples shown in Figures 9 and 11, the first guide member 451 (more specifically, the first guide rail 451r) extends in a direction parallel to the first direction DR1.

[0054] The first moving device 441 may include a motor 441m for moving the first support portion 431. Alternatively, the first moving device 441 may include a fluid pressure cylinder for moving the first support portion 431. In this specification, the fluid pressure cylinder includes pneumatic cylinders and hydraulic cylinders.

[0055] In the examples shown in Figures 9 and 11, the first attachment 21 and the plate support device 4 are connected via a cable 291. Therefore, the cable 291 prevents the loss of the first attachment 21 after it has been removed from the plate 3. The cable 291 may have the function of supplying current to the first attachment 21 and the function of preventing the loss of the first attachment 21. The first cable 291a may have the function of supplying current to the first electromagnet 211a and the function of preventing the loss of the first attachment 21. The second cable 291b may have the function of supplying current to the second electromagnet 211b and the function of preventing the loss of the first attachment 21.

[0056] (Cable 292) In the examples shown in Figures 9 and 10, the workpiece handling hand 1A includes a cable 292 that supplies current to the second attachment 22.

[0057] In the example shown in Figure 9, cable 292 includes a third cable 292a that supplies current to the third electromagnet 221a and a fourth cable 292b that supplies current to the fourth electromagnet 221b. As illustrated in Figure 11, the third cable 292a and the fourth cable 292b may be bundled together. In other words, cable 292 may include a bundled region 292c in which the third cable 292a and the fourth cable 292b are bundled together. When cable 292 includes a bundled region 292c, the congestion of wiring around plate 3 is reduced.

[0058] (Second traction device 422) In the example shown in Figure 9, the workpiece transport hand 1A is equipped with a second traction device 422 that pulls the cable 292. When the cable 292 is pulled, the slack in the cable 292 is reduced.

[0059] The second traction device 422 includes a second support portion 432 that supports a part of the cable 292, and a second moving device 442 that moves the second support portion 432 relative to the plate 3.

[0060] In the example shown in Figure 9, the second support 432 holds a portion of the cable 292. Alternatively, the second support 432 may be a movable pulley that supports a portion of the cable 292.

[0061] In the example shown in Figure 9, the cable 292 can be loosened using the second moving device 442. In the example shown in Figure 9, the second attachment 22 can be attached to the plate 3 while the cable 292 is loosened, and the second attachment 22 can be removed from the plate 3 while the cable 292 is loosened. Therefore, the attachment and detachment of the second attachment 22 to the plate 3 can be performed smoothly. In the example shown in Figure 9, the cable 292 is loosened by the second moving device 442 moving the second support part 432 in the first direction DR1.

[0062] In the example shown in Figure 10, the slack in the cable 292 can be reduced using the second moving device 442. More specifically, the cable 292 can be tensioned using the second moving device 442. In the example shown in Figure 10, with the slack in the cable 292 reduced (more specifically, with the cable 292 tensioned), the second attachment 22 can attract the workpiece W. Therefore, interference between the workpiece W and the cable 292 during attraction of the workpiece W is prevented or suppressed. In the example shown in Figure 10, the slack in the cable 292 is reduced by the second moving device 442 moving the second support portion 432 in the second direction DR2.

[0063] In the examples shown in Figures 9 and 11, a portion of the third cable 292a and a portion of the fourth cable 292b are supported or held by the second support portion 432. As illustrated in Figure 11, a portion of the bundled area 292c of the cable 292 may also be supported or held by the second support portion 432.

[0064] In the examples shown in Figures 9 and 11, the plate support device 4 includes a second guide member 452 (more specifically, a second guide rail 452r) that guides the movement of the second support portion 432. In the examples shown in Figures 9 and 11, the second guide member 452 (more specifically, the second guide rail 452r) extends in a direction parallel to the first direction DR1.

[0065] The second moving device 442 may include a motor 442m for moving the second support portion 432. Alternatively, the second moving device 442 may include a fluid pressure cylinder for moving the second support portion 432.

[0066] In the examples shown in Figures 9 and 11, the second attachment 22 and the plate support device 4 are connected via a cable 292. Therefore, the cable 292 prevents the loss of the second attachment 22 after it has been removed from the plate 3. The cable 292 may have the function of supplying current to the second attachment 22 and the function of preventing the loss of the second attachment 22. The third cable 292a may have the function of supplying current to the third electromagnet 221a and the function of preventing the loss of the second attachment 22. The fourth cable 292b may have the function of supplying current to the fourth electromagnet 221b and the function of preventing the loss of the second attachment 22.

[0067] (Cable 293, and third traction device 423) In the examples shown in Figures 9 and 10, the workpiece transport hand 1A includes a cable 293 that supplies current to the third attachment 23 and a third traction device 423 that pulls the cable 293.

[0068] In the example shown in Figure 9, cable 293 includes a fifth cable 293a that supplies current to the fifth electromagnet 231a and a sixth cable 293b that supplies current to the sixth electromagnet 231b. As illustrated in Figure 11, the fifth cable 293a and the sixth cable 293b may be bundled together.

[0069] The third traction device 423 includes a third support portion 433 that supports a portion of the cable 293, and a third moving device 443 that moves the third support portion 433 relative to the plate 3. In the example shown in Figures 9 and 11, a portion of the fifth cable 293a and a portion of the sixth cable 293b are supported by the third support portion 433.

[0070] (Plate 3) Plate 3 is, for example, a ferromagnetic material that attracts the energized first electromagnet 211a. The main component of plate 3 is, for example, iron.

[0071] Plate 3 has an attachment mounting surface 31a to which multiple attachments 2 are attached.

[0072] In this specification, the area of ​​the attachment mounting surface 31a to which any of multiple attachments can be attached is defined as the attachable area RG1. In the example shown in Figure 12, the attachable area RG1 exists continuously around the central axis C of the attachment mounting surface 31a (more specifically, around the centroid C1 of the attachment mounting surface 31a) for 360 degrees. In other words, any of the multiple attachments 2 can be attached at any angular position around the central axis C of the attachment mounting surface 31a. In this case, the degree of freedom in the arrangement of the attachments 2 is greater compared to when the attachable area RG1 exists discretely around the central axis C of the attachment mounting surface 31a.

[0073] The entire mountable area RG1 (or the entire attachment mounting surface 31a) may be made of a ferromagnetic material. Alternatively, the entire mountable area RG1 (or the entire attachment mounting surface 31a) may be made of a coating layer covering a ferromagnetic material.

[0074] 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 12, the first main surface 31 includes the attachment mounting surface 31a.

[0075] At any angular position within 360 degrees around the central axis C of the first main surface 31 (more specifically, at any angular position within 360 degrees around the centroid C1 of the first main surface 31), any of the multiple attachments 2 may be attached to the first main surface 31. More specifically, at any position on a virtual circle HC centered on the central axis C of the first main surface 31, any of the multiple attachments 2 may be attached to the first main surface 31. In this case, there is a high degree of freedom in the arrangement of the attachments 2 on the first main surface 31.

[0076] In the example shown in Figure 12, the plate 3 has a flat surface 311a to which multiple attachments 2 can be attached. Multiple attachments 2 can be attached to the flat surface 311a in a non-engaging manner. When attachments 2 (e.g., the first attachment 21) are attached in a non-engaging manner, there is a greater degree of freedom in the arrangement of the attachments 2 (e.g., the first attachment 21) compared to when the protrusions (or recesses) of the attachments 2 (e.g., the first attachment 21) engage with the recesses (or protrusions) of the attachment mounting surface 31a.

[0077] In the example shown in Figure 12, the first attachment 21 can be attached to a first position P1 on the attachment mounting surface 31a. In the example shown in Figure 12, the first attachment 21 can be attached to a second position P2 on the attachment mounting surface 31a. In the example shown in Figure 12, the angular position of the first position P1 about the central axis C of the attachment mounting surface 31a is the same as the angular position of the second position P2 about the same central axis C.

[0078] The distance between the first position P1 and the central axis C of the attachment mounting surface 31a is defined as the first distance L1, and the distance between the second position P2 and the central axis C of the attachment mounting surface 31a is defined as the second distance L2. In the example shown in Figure 12, the second distance L2 is greater than the first distance L1. In the example shown in Figure 12, the first attachment 21 can be attached at any position on the line segment LS1 connecting the first position P1 and the second position P2.

[0079] In the example shown in Figure 13, the second attachment 22 can be attached to the attachment mounting surface 31a.

[0080] In the example shown in Figure 13, the second attachment 22 can be attached to the third position P3 on the attachment mounting surface 31a. In the example shown in Figure 13, the second attachment 22 can be attached to the fourth position P4 on the attachment mounting surface 31a. In the example shown in Figure 13, the angular position of the third position P3 about the central axis C of the attachment mounting surface 31a is the same as the angular position of the fourth position P4 about the central axis C of the attachment mounting surface 31a.

[0081] The distance between the third position P3 and the central axis C of the attachment mounting surface 31a is defined as the third distance L3, and the distance between the fourth position P4 and the central axis C of the attachment mounting surface 31a is defined as the fourth distance L4. In the example shown in Figure 13, the fourth distance L4 is greater than the third distance L3. In the example shown in Figure 13, the second attachment 22 can be attached at any position on the line segment LS2 connecting the third position P3 and the fourth position P4.

[0082] (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.

[0083] The workpiece W (more specifically, the plate-shaped workpiece Wa) is composed of a ferromagnetic material attracted by, for example, the energized second electromagnet 211b. The main component of the workpiece W (more specifically, the plate-shaped workpiece Wa) is, for example, iron.

[0084] 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.

[0085] (Work 2 W2) In the example shown in Figure 8, 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.

[0086] The second workpiece W2 (more specifically, the second plate-shaped workpiece Wb) is made of a ferromagnetic material that is attracted by, for example, the energized second electromagnet 211b. The main component of the second workpiece W2 (more specifically, the second plate-shaped workpiece Wb) is, for example, iron.

[0087] Workpiece W, or second workpiece W2, may be a pipe-shaped workpiece. Figure 14 shows how a pipe-shaped workpiece Wp is transported using a workpiece transport hand 1A. In the example shown in Figure 14, multiple attachments 2 arranged on the plate 3 in the second layout LA2 are capable of picking up the pipe-shaped workpiece Wp.

[0088] (Workpiece transport device 10A) In the example shown in Figure 15, 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.

[0089] (Hand-operated moving device 11) In the examples shown in Figures 15 and 16, the hand moving device 11 can move the workpiece transport hand 1A in three dimensions.

[0090] The hand-moving device 11 preferably has at least three degrees of freedom. In the examples shown in Figures 15 and 16, 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.

[0091] 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 15, 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.

[0092] (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.

[0093] (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 15, the workpiece transfer device 10A transfers the first workpiece W1 from the first platform 12 to the second platform 13a.

[0094] 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 16, the workpiece transfer device 10A transfers the second workpiece W2 from the first platform 12 to the third platform 13b.

[0095] 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.

[0096] 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).

[0097] 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).

[0098] (Attachment support device 15) In the examples shown in Figures 15 and 16, 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.

[0099] In the examples shown in Figures 2 to 5, 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 2 to 5, there is no need to manually change the mounting position of the first attachment 21. Therefore, the workload of the operator does not increase.

[0100] In the examples shown in Figures 2 to 5, the mounting position of the first attachment 21 on the plate 3 is changed by moving the workpiece transport hand 1A.

[0101] More specifically, as illustrated in Figure 3, changing the mounting position of the first attachment 21 on the plate 3 involves the hand moving device 11 (not shown in Figure 3) 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 3). 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.

[0102] As illustrated in Figure 4, changing the mounting position of the first attachment 21 on the plate 3 involves the hand moving device 11 (not shown in Figure 4) 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 4).

[0103] 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 5 shows the state after the first attachment 21 has been reattached to the plate 3.

[0104] 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.

[0105] As illustrated in Figures 2 and 3, 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 2) and a closed position Q2 (see Figure 3).

[0106] The attachment support device 15 may include a stand 155 on which the removed attachment 2m (for example, the first attachment 21) is placed.

[0107] 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 2) and an elevated position Q4 (see Figure 3). In the example shown in Figure 2, when the gripping member 151 is in the lowered position Q3, the first attachment 21 attached to the plate 3 does not interfere with the gripping member 151. In the example shown in Figure 3, when the gripping member 151 is in the elevated position Q4, the gripping member 151 can grip the first attachment 21. In the examples shown in Figures 2 and 3, the lifting device 157 moves the gripping member 151 relative to the stand 155 in a direction parallel to the vertical.

[0108] In the example shown in Figure 4, the attachment support device 15 is capable of supporting the first attachment 21 after it has been removed from the plate 3. In the example shown in Figure 5, the attachment support device 15 is capable of supporting the second attachment 22 after it has been removed from the plate 3. As illustrated in Figures 4 and 5, the attachment support device 15 may be capable of selectively supporting the first attachment 21 and the second attachment 22.

[0109] In the example shown in Figure 6, the attachment support device 15 is capable of supporting the third attachment 23 after it has been removed from the plate 3. As illustrated in Figures 5 and 6, the attachment support device 15 may be capable of selectively supporting the second attachment 22 and the third attachment 23.

[0110] (Second embodiment) The workpiece handling hand 1B and workpiece handling device 10B in the second embodiment will be described with reference to Figures 1 to 46. Figures 17 to 19 are schematic perspective views illustrating the workpiece handling hand 1B in the second embodiment. Figure 20 is a schematic perspective view illustrating the state in which the workpiece W is held in place by a plurality of attachments 2 arranged in the first layout LA1. Figures 21 and 22 are schematic perspective views illustrating the workpiece handling hand 1B in the second embodiment. Figure 23 is a schematic perspective view illustrating the workpiece handling device 10B in the second embodiment. Figure 24 is a schematic perspective view illustrating a part of the workpiece handling hand 1B in the second embodiment. Figure 25 is a schematic side view illustrating the workpiece handling hand 1B in the second embodiment. Figure 26 is a schematic side view illustrating the first traction device 421. Figure 27 is a schematic side view illustrating the second traction device 422. Figure 28 is a schematic bottom view showing a portion of the workpiece handling hand 1B in the second embodiment. Figure 29 is a schematic side view showing a portion of the workpiece handling hand 1B in the second embodiment. Figure 30 is a schematic side view showing a state in which a small workpiece Ws is attached to the movable suction part 530. Figure 31 is a schematic side view showing a modified arrangement of the movable suction part 530. Figure 32 is a schematic perspective view showing the workpiece handling device 10B in the second embodiment. Figure 33 is a schematic plan view showing an example of the attachment support device 15. Figure 34 is a cross-sectional view taken along the line AA in Figure 33. Figure 35 is a schematic cross-sectional view showing a state in which the gripping member 151 has moved to the raised position. Figure 36 is a schematic bottom view showing the workpiece handling hand 1B in the second embodiment. Figure 37 is a schematic perspective view showing an example of a workpiece W. Figure 38 is a schematic diagram showing how the control device 7 can control multiple control target devices. Figure 39 is a schematic perspective view showing the first position change mode M1-1 being executed. Figure 40 is a schematic perspective view showing the second position change mode M1-2 being executed.In Figures 39 and 40, the attachments 2 located on the underside of the plate 3 are shown with dashed lines to make it easier to understand the arrangement of the attachments 2 attached to the plate 3. Figure 41 is a schematic plan view illustrating how multiple workpieces W are sorted into multiple groups. Figures 42 to 46 are schematic plan views illustrating how sorting mode M3 is being executed. In Figures 42 to 44, the attachments 2 and workpieces W located on the underside of the plate 3 are shown with dashed lines to make it easier to understand the arrangement of the attachments 2 attached to the plate 3 and the arrangement of the workpieces W that are attracted by the attachments 2.

[0111] The second embodiment will primarily describe the differences from the first embodiment. On the other hand, in the second embodiment, repetitive explanations of matters already explained in the first embodiment will be omitted. Therefore, it goes without saying that even if not explicitly explained in the second embodiment, matters already explained in the first embodiment can be applied to the second embodiment.

[0112] As illustrated in Figure 17, the workpiece handling hand 1B in the second embodiment comprises (1) a plurality of attachments 2 including a first attachment 21 capable of holding a workpiece and a second attachment 22 capable of holding a workpiece, and (2) a plate 3 to which the plurality of attachments 2 are attached.

[0113] As illustrated in Figure 18, each of the multiple attachments 2 can be independently removed from the plate 3.

[0114] As illustrated in Figure 19, multiple attachments 2 can be mounted on plate 3 in the first layout LA1. As illustrated in Figure 21, multiple attachments 2 can be reattached to plate 3 in a second layout LA2 that is different from the first layout LA1.

[0115] Therefore, the workpiece handling hand 1B in the second embodiment provides the same effect as the workpiece handling hand 1A in the first embodiment.

[0116] As illustrated in Figure 23, the workpiece transport device 10B in the second embodiment includes the workpiece transport hand 1B described above and a hand moving device 11 for moving the workpiece transport hand 1B.

[0117] Therefore, the workpiece transfer device 10B in the second embodiment provides the same effects as the workpiece transfer device 10A in the first embodiment.

[0118] (Optional additional configuration) Next, with reference to Figures 1 to 46, 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.

[0119] (First attachment 21) In the example shown in Figure 24, the first attachment 21 includes a first suction part 210a (more specifically, a first electromagnet 211a) for adsorbing the plate 3, and a second suction part 210b (more specifically, a second electromagnet 211b) for adsorbing the workpiece.

[0120] In the example shown in Figure 24, the workpiece handling hand 1B includes a cable 291 (more specifically, a first cable 291a and a second cable 291b) that supplies current (e.g., DC current) to the first attachment 21.

[0121] When the first attachment 21 is attached to the plate 3, current is supplied to the first electromagnet 211a via the first cable 291a. By supplying power to the first electromagnet 211a, the first attachment 21 is attracted to the plate 3. When the first attachment 21 is removed from the plate 3, the power supply to the first electromagnet 211a is stopped. More specifically, the power supply to the first electromagnet 211a is stopped after the first attachment 21 is supported by the attachment support device 15 (see Figure 15 or Figure 39).

[0122] In the example shown in Figure 20, when the workpiece W is attached to the first attachment 21, current is supplied to the second electromagnet 211b via the second cable 291b. By supplying power to the second electromagnet 211b, the first attachment 21 attracts the workpiece W. When the workpiece W is removed from the first attachment 21, the power supply to the second electromagnet 211b is stopped.

[0123] In the example shown in Figure 24, the first attachment 21 includes a first insulator 211c positioned between the first electromagnet 211a and the second electromagnet 211b. The first insulator 211c electrically insulates the first electromagnet 211a and the second electromagnet 211b.

[0124] In the example shown in Figure 24, the plate 3 has a first through-hole 341h through which the cable 291 (more specifically, the first cable 291a and the second cable 291b) passes. The cable 291 (more specifically, the first cable 291a and the second cable 291b) passing through the first through-hole 341h crosses the attachment mounting surface 31a of the plate 3 and the back surface 33 of the plate 3.

[0125] When the cable 291 passes through the first through-hole 341h of the plate 3, wiring congestion is reduced compared to when the cable 291 is arranged to pass outside the outer edge of the plate 3 (see Figure 9). In addition, the possibility of the cable 291 coming into contact with devices other than the workpiece transport device 10B is reduced.

[0126] In the example shown in Figure 24, both the first cable 291a and the second cable 291b pass through the same first through-hole 341h. The bundled region 291c, where the first cable 291a and the second cable 291b are bundled together, may be arranged to pass through the first through-hole 341h.

[0127] In the example shown in Figure 24, when the first attachment 21 is removed from the plate 3, the cables 291 (more specifically, 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, the cables 291 can be easily slackened when the first attachment 21 is removed from the plate 3.

[0128] In the example shown in Figure 24, when the first attachment 21 is attached to the plate 3, the cables 291 (more specifically, 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 the cables 291 can be easily reduced.

[0129] (1st traction device 421) In the example shown in Figure 25, the workpiece handling hand 1B is equipped with a first traction device 421 that pulls the cable 291. The first traction device 421 pulls the first cable 291a and the second cable 291b. By pulling the cable 291 (more specifically, the first cable 291a and the second cable 291b) by the first traction device 421, the slack in the cable 291 is reduced.

[0130] In the example shown in Figure 26, the first traction device 421 includes a first support portion 431 that supports a portion of the cable 291, and a first moving device 441 that moves the first support portion 431 relative to the plate 3. In the example shown in Figure 26, the first support portion 431 includes a movable pulley 431p that supports a portion of the cable 291. The first moving device 441 moves the movable pulley 431p. The first support portion 431 may include a plurality of movable pulleys 431p.

[0131] In the example shown in Figure 26, the first moving device 441 can be used to loosen the cables 291 (more specifically, the first cable 291a and the second cable 291b). This allows for smooth attachment and detachment of the first attachment 21 to the plate 3.

[0132] In the example shown in Figure 26, the slack in the cable 291 (more specifically, the first cable 291a and the second cable 291b) can be reduced using the first moving device 441. More specifically, the cable 291 can be tensioned using the first moving device 441. In the example shown in Figure 20, with the slack in the cable 291 reduced (more specifically, with the cable 291 tensioned), the first attachment 21 can attract the workpiece W.

[0133] In the example shown in Figure 26, a portion of the first cable 291a and a portion of the second cable 291b are supported by the movable pulley 431p. As illustrated in Figure 26, a portion of the bundled area 291c, in which the first cable 291a and the second cable 291b are bundled together, may also be supported by the movable pulley 431p.

[0134] In the example shown in Figure 26, the first moving device 441 includes a motor 441m for moving the first support 431. The first moving device 441 may also include a ball screw 441b driven by the motor 441m. Alternatively, the first moving device 441 may include a fluid pressure cylinder for moving the first support 431.

[0135] In the examples shown in Figures 24 and 25, the first attachment 21 and the plate support device 4 are connected via a cable 291. Therefore, the cable 291 prevents the first attachment 21 from being lost after being removed from the plate 3.

[0136] (Second attachment 22) In the example shown in Figure 24, the second attachment 22 includes a third suction part 220a (more specifically, a third electromagnet 221a) for adsorbing the plate 3, and a fourth suction part 220b (more specifically, a fourth electromagnet 221b) for adsorbing the workpiece.

[0137] In the example shown in Figure 24, the workpiece handling hand 1B includes a cable 292 (more specifically, a third cable 292a and a fourth cable 292b) that supplies current (e.g., DC current) to the second attachment 22.

[0138] When the second attachment 22 is attached to the plate 3, current is supplied to the third electromagnet 221a via the third cable 292a. By supplying power to the third electromagnet 221a, the second attachment 22 is attracted to the plate 3. When the second attachment 22 is removed from the plate 3, the power supply to the third electromagnet 221a is stopped. More specifically, after the second attachment 22 is supported by the attachment support device 15 (see Figure 15 or Figure 40), the power supply to the third electromagnet 221a is stopped.

[0139] In the example shown in Figure 20, when the workpiece W is attached to the second attachment 22, current is supplied to the fourth electromagnet 221b via the fourth cable 292b. By supplying power to the fourth electromagnet 221b, the second attachment 22 attracts the workpiece W. When the workpiece W is removed from the second attachment 22, the power supply to the fourth electromagnet 221b is stopped.

[0140] In the example shown in Figure 24, the second attachment 22 includes a second insulator 221c positioned between the third electromagnet 221a and the fourth electromagnet 221b. The second insulator 221c electrically insulates the third electromagnet 221a and the fourth electromagnet 221b.

[0141] In the example shown in Figure 24, the plate 3 has a second through-hole 342h through which the cables 292 (more specifically, the third cable 292a and the fourth cable 292b) pass. The cables 292 (more specifically, the third cable 292a and the fourth cable 292b) passing through the second through-hole 342h cross the attachment mounting surface 31a of the plate 3 and the back surface 33 of the plate 3.

[0142] When the cable 292 passes through the second through-hole 342h of the plate 3, wiring congestion is reduced compared to when the cable 292 is positioned to pass outside the outer edge of the plate 3 (see Figure 9). In addition, the possibility of the cable 292 coming into contact with devices other than the workpiece transport device 10B is reduced.

[0143] In the example shown in Figure 24, both the third cable 292a and the fourth cable 292b pass through the same second through-hole 342h. The bundled region 292c, into which the third cable 292a and the fourth cable 292b are bundled, may be arranged to pass through the second through-hole 342h.

[0144] In the example shown in Figure 24, when the second attachment 22 is removed from the plate 3, the cables 292 (more specifically, 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, the cables 292 can be easily slackened when the second attachment 22 is removed from the plate 3.

[0145] In the example shown in Figure 24, when the second attachment 22 is attached to the plate 3, the cables 292 (more specifically, the third cable 292a and the fourth cable 292b) can be pulled in the second direction DR2 from the second through-hole 342h. Therefore, when attaching the second attachment 22 to the plate 3, the slack of the cables 292 can be easily reduced.

[0146] (Second traction device 422) In the example shown in Figure 27, the workpiece handling hand 1B is equipped with a second traction device 422 that pulls the cable 292. The second traction device 422 pulls the third cable 292a and the fourth cable 292b. By having the cable 292 (more specifically, the third cable 292a and the fourth cable 292b) pulled by the second traction device 422, the slack in the cable 292 is reduced.

[0147] In the example shown in Figure 27, the second traction device 422 includes a second support portion 432 that supports a portion of the cable 292, and a second moving device 442 that moves the second support portion 432 relative to the plate 3. In the example shown in Figure 27, the second support portion 432 includes a movable pulley 432p that supports a portion of the cable 292. The second moving device 442 moves the movable pulley 432p. The second support portion 432 may include a plurality of movable pulleys 432p.

[0148] In the example shown in Figure 27, the second moving device 442 can be used to loosen the cables 292 (more specifically, the third cable 292a and the fourth cable 292b). This allows for smooth attachment and detachment of the second attachment 22 to the plate 3.

[0149] In the example shown in Figure 27, the slack in the cable 292 (more specifically, the third cable 292a and the fourth cable 292b) can be reduced using the second moving device 442. More specifically, the cable 292 can be tensioned using the second moving device 442. In the example shown in Figure 20, with the slack in the cable 292 reduced (more specifically, with the cable 292 tensioned), the second attachment 22 can attract the workpiece W.

[0150] In the example shown in Figure 27, a portion of the third cable 292a and a portion of the fourth cable 292b are supported by the movable pulley 432p. As illustrated in Figure 27, a portion of the bundled area 292c, where the third cable 292a and the fourth cable 292b are bundled together, may also be supported by the movable pulley 432p.

[0151] In the example shown in Figure 27, the second moving device 442 includes a motor 442m for moving the second support 432. The second moving device 442 may also include a ball screw 442b driven by the motor 442m. Alternatively, the second moving device 442 may include a fluid pressure cylinder for moving the second support 432.

[0152] (Third attachment 23) In the example shown in Figure 24, the multiple attachments 2 include a third attachment 23. In the example shown in Figure 24, the third attachment 23 comprises a fifth suction part 230a (more specifically, a fifth electromagnet 231a) for adsorbing the plate 3, and a sixth suction part 230b (more specifically, a sixth electromagnet 231b) for adsorbing the workpiece.

[0153] In the example shown in Figure 24, the workpiece transport hand 1B includes a fifth cable 293a that supplies current to the fifth electromagnet 231a and a sixth cable 293b that supplies current to the sixth electromagnet 231b.

[0154] (Third traction device 423) In the example shown in Figure 23, the workpiece transport hand 1B is equipped with a third traction device 423 that pulls the fifth cable 293a and the sixth cable 293b.

[0155] (Fourth attachment 24) In the example shown in Figure 24, the multiple attachments 2 include a fourth attachment 24. In the example shown in Figure 24, the fourth attachment 24 comprises a seventh suction part 240a (more specifically, a seventh electromagnet 241a) for attracting the plate 3, and an eighth suction part 240b (more specifically, an eighth electromagnet 241b) for attracting the workpiece. In the example shown in Figure 24, the workpiece transport hand 1B comprises a seventh cable 294a for supplying current to the seventh electromagnet 241a, and an eighth cable 294b for supplying current to the eighth electromagnet 241b.

[0156] (4th traction device 424) In the example shown in Figure 23, the workpiece transport hand 1B is equipped with a fourth traction device 424 that pulls the seventh cable 294a and the eighth cable 294b.

[0157] (Fifth attachment 25) In the example shown in Figure 25, the multiple attachments 2 include a fifth attachment 25. In the example shown in Figure 25, the fifth attachment 25 comprises a ninth suction part 250a (more specifically, a ninth electromagnet 251a) for attracting the plate 3, and a tenth suction part 250b (more specifically, a tenth electromagnet 251b) for attracting the workpiece. In the example shown in Figure 25, the workpiece transport hand 1B comprises a ninth cable 295a for supplying current to the ninth electromagnet 251a, and a tenth cable 295b for supplying current to the tenth electromagnet 251b.

[0158] (5th traction device 425) In the example shown in Figure 23, the workpiece transport hand 1B is equipped with a fifth traction device 425 that pulls the ninth cable 295a and the tenth cable 295b.

[0159] (Attachment 26, No. 6) In the example shown in Figure 21, the multiple attachments 2 include a sixth attachment 26. In the example shown in Figure 21, the sixth attachment 26 comprises an eleventh suction part 260a (more specifically, an eleventh electromagnet 261a) for attracting the plate 3, and a twelfth suction part 260b (more specifically, a twelfth electromagnet 261b) for attracting the workpiece. In the example shown in Figure 21, the workpiece transport hand 1B comprises an eleventh cable 296a for supplying current to the eleventh electromagnet 261a, and a twelfth cable 296b for supplying current to the twelfth electromagnet 261b.

[0160] (6th traction device 426) In the example shown in Figure 23, the workpiece transport hand 1B is equipped with a sixth traction device 426 that pulls the 11th cable 296a and the 12th cable 296b.

[0161] (Attachment 27, No. 7) In the example shown in Figure 25, the multiple attachments 2 include a seventh attachment 27. In the example shown in Figure 25, the seventh attachment 27 comprises a thirteenth suction part 270a (more specifically, a thirteenth electromagnet 271a) for attracting the plate 3, and a fourteenth suction part 270b (more specifically, a fourteenth electromagnet 271b) for attracting the workpiece. In the example shown in Figure 25, the workpiece transport hand 1B comprises a thirteenth cable 297a for supplying current to the thirteenth electromagnet 271a, and a fourteenth cable 297b for supplying current to the fourteenth electromagnet 271b.

[0162] (7th traction device 427) In the example shown in Figure 25, the workpiece transport hand 1B is equipped with a seventh traction device 427 that pulls the thirteenth cable 297a and the fourteenth cable 297b.

[0163] (Attachment 28, No. 8) In the example shown in Figure 22, the multiple attachments 2 include an eighth attachment 28. In the example shown in Figure 22, the eighth attachment 28 comprises a 15th suction part 280a (more specifically, a 15th electromagnet 281a) for adsorbing the plate 3, and a 16th suction part 280b (more specifically, a 16th electromagnet 281b) for adsorbing the workpiece. In the example shown in Figure 22, the workpiece transport hand 1B comprises a 15th cable 298a for supplying current to the 15th electromagnet 281a, and a 16th cable 298b for supplying current to the 16th electromagnet 281b.

[0164] (8th traction device 428) In the example shown in Figure 25, the workpiece transport hand 1B is equipped with an eighth traction device 428 that pulls the 15th cable 298a and the 16th cable 298b.

[0165] (Number of Attachment 2s) In the example shown in Figure 17, 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.

[0166] (Fixed suction part 510) As illustrated in Figure 17, the workpiece handling hand 1B may be equipped with a fixed suction part 510 capable of holding a workpiece W. The fixed suction part 510 is permanently fixed to the plate 3.

[0167] If the workpiece handling hand 1B is equipped with a fixed suction part 510 that is permanently fixed to the plate 3, the time required to change the layout of the multiple suction parts is reduced compared to the case where all suction parts are arranged on attachments 2. For example, multiple attachments 2 may be mounted around the fixed suction part 510, with the position of the fixed suction part 510 as the reference point.

[0168] In the example shown in Figure 17, the fixed suction part 510 is located in the center of the plate 3. More specifically, the fixed suction part 510 is located on the central axis C2 of the plate support device 4 that supports the plate 3.

[0169] In the example shown in Figure 25, the fixed suction part 510 is an electromagnet 510a (in other words, a fixed electromagnet) that attracts the workpiece W. In this case, the workpiece transport hand 1B is equipped with a cable 511 that supplies power to the electromagnet 510a.

[0170] In the example shown in Figure 28, the fixed suction part 510 (more specifically, the electromagnet 510a) is fixed to the plate 3 by bolt BT1.

[0171] (Securing plate 3 to plate support device 4) In the example shown in Figure 28, plate 3 is fixed to plate support device 4 (see Figure 25) by a plurality of bolts BT2. In the example shown in Figure 28, the central region RG2 of plate 3 is fixed to plate support device 4 by a plurality of bolts BT2. The central region RG2 of plate 3 may be set as a region where attachment 2 is not placed. In the example shown in Figure 28, a fixed suction part 510 (more specifically, an electromagnet 510a) is fixed to the central region RG2 of plate 3. In the example shown in Figure 28, the first through-hole 341h and the second through-hole 342h described above are provided in the central region RG2 of plate 3.

[0172] As illustrated in Figure 28, 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 360 degrees around the central area RG2 of plate 3.

[0173] (Movable suction part 530) As illustrated in Figure 25, the workpiece transport hand 1B may include a movable suction unit 530 capable of picking up other workpieces (for example, small workpieces Ws smaller than the first workpiece W1) and a suction unit moving device 535.

[0174] In the example shown in Figure 30, the movable suction part 530 is an electromagnet 530a (in other words, a movable electromagnet) that attracts other workpieces (for example, small workpieces Ws). In the example shown in Figure 30, the workpiece transport hand 1B is equipped with a cable 532 that supplies power to the electromagnet 530a (in other words, the movable electromagnet).

[0175] The suction unit moving device 535 moves the movable suction unit 530 (for example, the electromagnet 530a) between a retracted position Q5 (see Figure 29) and an extended position Q6 (see Figure 30).

[0176] In the example shown in Figure 30, the movable suction unit 530 can release the small workpieces Ws when it is in the extended position Q6. In the example shown in Figure 30, the small workpieces Ws released from the movable suction unit 530 are stacked on top of the workpieces W. In the example shown in Figure 30, because the movable suction unit 530 is in the extended position Q6, the attachment 2 does not interfere with the workpieces W when the small workpieces Ws are stacked on top of the workpieces W.

[0177] In the example shown in Figure 30, when the movable suction part 530 is in the extended position Q6, the end face 530f of the movable suction part 530 on the first direction DR1 side is located closer to the first direction DR1 than the end face 2f of the attachment 2 on the first direction DR1 side (for example, the end face of the first attachment 21 on the first direction DR1 side). As illustrated in Figure 29, when the movable suction part 530 is in the retracted position Q5, the end face 530f of the movable suction part 530 on the first direction DR1 side may be located closer to the second direction DR2 than the end face 2f of the attachment 2 on the first direction DR1 side (for example, the end face of the first attachment 21 on the first direction DR1 side). In this case, interference between the movable suction part 530 and the workpiece W is suppressed when the movable suction part 530 is not in use.

[0178] In the example shown in Figure 29, the movable suction part 530 is positioned outside the outer edge 3e of the plate 3 when viewed along the central axis C3 of the movable suction part 530 (more specifically, along the second direction DR2). In this case, interference between the movable suction part 530 and the attachment 2 is prevented when the attachment 2 is attached to any position on the plate 3.

[0179] Alternatively, as illustrated in Figure 31, the movable suction part 530 may be positioned inside the outer peripheral edge 3e of the plate 3 when viewed along the central axis C3 of the movable suction part 530 (more specifically, along the second direction DR2). In the example shown in Figure 31, the suction part moving device 535 moves the movable suction part 530 between a retracted position Q5 and an extended position Q6. The position of the movable suction part 530 may be maintained at an intermediate position Q7 between the retracted position Q5 and the extended position Q6. In this case, the movable suction part 530 located at the intermediate position Q7 and the attachment 2 attached to the plate 3 may be capable of picking up one workpiece W.

[0180] In the examples shown in Figures 29 and 30, the suction unit moving device 535 moves the movable suction unit 530 (e.g., electromagnet 530a) in a direction intersecting the attachment mounting surface 31a (or the first main surface 31). In the examples shown in Figures 29 and 30, the suction unit moving device 535 moves the movable suction unit 530 (e.g., electromagnet 530a) in a direction perpendicular to the attachment mounting surface 31a (or the first main surface 31).

[0181] As illustrated in Figure 29, the suction unit moving device 535 may include a fluid pressure cylinder 535s for moving the movable suction unit 530. Alternatively, the suction unit moving device 535 may include a motor for moving the movable suction unit 530.

[0182] As illustrated in Figures 29 and 30, the workpiece handling hand 1B may include a guide member 54 that guides the movement of the movable suction part 530. In the example shown in Figures 29 and 30, the movable suction part 530 and the guide rod 551 are attached to the block 553. In the example shown in Figures 29 and 30, the guide rod 551 is guided by the guide member 54. In the example shown in Figures 29 and 30, the guide member 54 is fixed to the plate 3.

[0183] (Traction device 56) In the examples shown in Figures 29 and 30, the workpiece handling hand 1B is equipped with a traction device 56 for pulling the cable 532. By pulling the cable 532 with the traction device 56, the slack in the cable 532 is reduced.

[0184] In the examples shown in Figures 29 and 30, the traction device 56 comprises a support portion 561 that supports a portion of the cable 532, and a moving device 562 that moves the support portion 561 relative to the plate 3. In the examples shown in Figures 29 and 30, the support portion 561 includes a movable pulley 561p that supports a portion of the cable 532. The moving device 562 moves the movable pulley 561p. The support portion 561 may include a plurality of movable pulleys 561p.

[0185] In the examples shown in Figures 29 and 30, the slack in the cable 532 can be reduced using the moving device 562. More specifically, the cable 532 can be tensioned using the moving device 562.

[0186] In the examples shown in Figures 29 and 30, the moving device 562 includes a motor 562m for moving the support 561 (more specifically, the movable pulley 561p). The moving device 562 may also include a ball screw 562b driven by the motor 562m. Alternatively, the moving device 562 may include a fluid pressure cylinder for moving the support 561.

[0187] In the examples shown in Figures 29 and 30, the traction device 56 is fixed to the plate 3.

[0188] (Attachment support device 15) In the example shown in Figure 32, the workpiece transport 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.

[0189] In the example shown in Figure 33, the attachment support device 15 includes a first support device 15a capable of supporting the first attachment 21. The first support device 15a may include a first gripping member 151a capable of gripping the first attachment 21, and a first drive device 153a for moving the first gripping member 151a between an open position and a closed position. The first support device 15a may also include a first lifting device 157a for moving the first gripping member 151a between a lowered position and an raised position. As illustrated in Figure 34, the first lifting device 157a may include a fluid pressure cylinder 1570a for raising and lowering the first gripping member 151a. Alternatively, the first lifting device 157a may include a motor for raising and lowering the first gripping member 151a.

[0190] The first support device 15a may include a first stand 155a on which the first attachment 21 is placed. In the example shown in Figures 34 and 35, the first lifting device 157a moves the first gripping member 151a relative to the first stand 155a in a direction parallel to the vertical.

[0191] In the example shown in Figure 33, the attachment support device 15 includes a second support device 15b capable of supporting the second attachment 22. The second support device 15b may include a second gripping member 151b capable of gripping the second attachment 22, and a second drive device 153b for moving the second gripping member 151b between an open position and a closed position. The second support device 15b may also include a second lifting device 157b for moving the second gripping member 151b between a lowered position and an raised position.

[0192] The second support device 15b may include a second stand 155b on which the second attachment 22 is placed. The second lifting device 157b moves the second gripping member 151b relative to the second stand 155b in a direction parallel to the vertical.

[0193] In the example shown in Figures 32 and 33, the attachment support device 15 comprises a first support device 15a capable of supporting the first attachment 21 removed from the plate 3, and a second support device 15b capable of supporting the second attachment 22 removed from the plate 3. The mounting position of the first attachment 21 on the plate 3 is changed by the relative movement of the workpiece handling hand 1B with respect to the first attachment 21 supported by the first support device 15a. Similarly, the mounting position of the second attachment 22 on the plate 3 is changed by the relative movement of the workpiece handling hand 1B with respect to the second attachment 22 supported by the second support device 15b.

[0194] In the examples shown in Figures 32 and 33, the attachment support device 15 has multiple support devices, including a first support device 15a and a second support device 15b. In this case, when the mounting positions of the multiple attachments 2 are changed, the relative movement distance of the plate 3 with respect to the attachment support device 15 can be kept short. For example, if the first attachment 21 is removed from the plate 3 and reattached to the plate 3 using the first support device 15a, and then the second attachment 22 is removed from the plate 3 and reattached to the plate 3 using the second support device 15b, the relative movement distance of the plate 3 with respect to the attachment support device 15 can be kept short.

[0195] In the example shown in Figure 33, the attachment support device 15 includes a third support device 15c capable of supporting the third attachment 23. The third support device 15c may include a third gripping member 151c capable of gripping the third attachment 23, and a third drive device 153c for moving the third gripping member 151c between an open position and a closed position. The third support device 15c may also include a third lifting device 157c for moving the third gripping member 151c between a lowered position and an raised position. The third support device 15c may also include a third stand 155c on which the third attachment 23 is placed.

[0196] In the example shown in Figure 33, the attachment support device 15 includes a fourth support device 15d capable of supporting the fourth attachment 24. The attachment support device 15 may also include a fifth support device 15e capable of supporting the fifth attachment 25, and / or a sixth support device 15f capable of supporting the sixth attachment 26. The attachment support device 15 may also include a seventh support device 15g capable of supporting the seventh attachment 27, and / or an eighth support device 15h capable of supporting the eighth attachment 28.

[0197] The attachment support device 15 may include a number of support devices corresponding to or greater than the number of attachments 2. For example, if the number of attachments 2 capable of holding the plate 3 in the workpiece handling hand 1B is "N1" (where "N1" is any natural number greater than or equal to 3), the attachment support device 15 may include "N1" or more support devices. In this case, when the workpiece handling hand 1B is not in use, the attachment support device 15 can support all attachments 2 that have been removed from the plate 3.

[0198] Alternatively, the number of support devices in the attachment support device 15 may be less than the number of attachments 2. For example, the first support device 15a may selectively support the first attachment 21 and the third attachment 23, and the second support device 15b may selectively support the second attachment 22 and the fourth attachment 24.

[0199] In the example shown in Figure 32, the attachment support device 15 includes an outer frame 16 that surrounds the first support device 15a and the second support device 15b. In the example shown in Figure 32, most of the first support device 15a and most of the second support device 15b are located in the internal space SP defined by the outer frame 16. In this case, the amount of upward protrusion of the first support device 15a and the amount of upward protrusion of the second support device 15b from the outer frame 16 can be kept small. Therefore, unintended interference between each of the multiple attachments 2 attached to the plate 3 and each of the first support device 15a and the second support device 15b is suppressed.

[0200] In the example shown in Figure 33, the outer frame 16 comprises a first side wall 161 and a second side wall 162 opposite to the first side wall 161. In the example shown in Figure 33, a first support device 15a is positioned near the first side wall 161, and a second support device 15b is positioned near the second side wall 162. The first support device 15a, third support device 15c, and fifth support device 15e may be positioned along the first side wall 161. The second support device 15b, fourth support device 15d, and sixth support device 15f may be positioned along the second side wall 162.

[0201] The distance between the first support device 15a and the second support device 15b may be approximately the same as the width of the plate 3. For example, the distance L5 between the center of the first stand 155a of the first support device 15a and the center of the second stand 155b of the second support device 15b may be between 0.8 and 1 times the width L6 of the plate 3 (see Figure 36).

[0202] As illustrated in Figure 32, the shape of the inner periphery of the outer frame 16 may be substantially similar to the shape of the outer periphery of the plate 3. The size of the inner periphery of the outer frame 16 may be larger than the size of the outer periphery of the plate 3.

[0203] In the examples shown in Figures 32 to 35, 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 (see Figure 35) which is supported by the attachment support device 15. In the examples shown in Figures 32 to 35, it is not necessary to manually change the mounting position of the first attachment 21. Therefore, the workload of the operator is not increased.

[0204] (Plate 3) Plate 3 is, for example, a ferromagnetic material that attracts the energized first electromagnet 211a. The main component of plate 3 is, for example, iron.

[0205] As illustrated in Figure 36, the plate 3 has an attachment mounting surface 31a to which multiple attachments 2 are attached. In the example shown in Figure 36, the plate 3 has a first main surface 31. The first main surface 31 is the surface of the plate 3 on the first direction DR1 side. In the example shown in Figure 36, the first main surface 31 includes the attachment mounting surface 31a.

[0206] In the example shown in Figure 36, the fixed suction part 510 is positioned on the central axis C of the attachment mounting surface 31a (or on the central axis C of the first main surface 31). Therefore, attachment 2 cannot be attached to the central axis C. In the example shown in Figure 36, the mountable area RG1 of the attachment mounting surface 31a, to which any of the multiple attachments can be attached, is located at a predetermined distance or more from the central axis C. Furthermore, since multiple bolts BT2 for fixing the plate 3 to the plate support device 4 are positioned in the central area RG2 of the first main surface 31 of the plate 3, attachment 2 cannot be attached to the central area RG2. Alternatively, if the thickness of the plate 3 is greater than the thickness of the bolt heads BT2, the heads of the bolts BT2 may be inserted into the recesses of the plate 3. In this case, attachment 2 can be attached to the central area RG2 of the first main surface 31 of the plate 3.

[0207] In the example shown in Figure 36, the mountable area RG1 described above exists continuously 360 degrees around the central axis C of the attachment mounting surface 31a (or around the central axis C of the first main surface 31). In this case, the degree of freedom in arranging the attachment 2 is greater compared to when the mountable area RG1 exists discretely around the central axis C of the attachment mounting surface 31a.

[0208] In the example shown in Figure 36, 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.

[0209] The width L6 of plate 3 is, for example, 30 cm to 150 cm, or 50 cm to 100 cm. The length L7 of plate 3 is, for example, 60 cm to 300 cm, or 100 cm to 200 cm.

[0210] As illustrated in Figure 23, the plate 3 may be provided with a reinforcing member 35. More specifically, a reinforcing member 35 that reinforces the plate 3 may be attached to the back surface 33 of the plate 3. The reinforcing member 35 suppresses the deflection of the plate 3. In the example shown in Figure 23, the reinforcing member 35 is arranged to surround the plate support device 4 when viewed in a direction perpendicular to the main surface of the plate 3.

[0211] (Plate support device 4) In the example shown in Figure 23, 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 23, the plate support device 4 extends in a direction perpendicular to the plate 3. In the example shown in Figure 23, the plate support device 4 has a roughly columnar shape.

[0212] 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 BT2 (see Figure 36). The mounting plate 42 may support the first traction device 421 described above. Figure 23 shows the mounting plate 42 with the fourth traction device 424 described above attached.

[0213] In the example shown in Figure 23, the plate support device 4 includes a mounting portion 41 that is attached to the hand moving device 11 (more specifically, the articulated robot 11a).

[0214] (Workpiece transport device 10B) As illustrated in Figure 23, the hand transfer device 11 may include an articulated robot 11a. In the example shown in Figure 23, a workpiece handling hand 1B is attached to the end arm 115a of the articulated robot 11a.

[0215] In the example shown in Figure 23, 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.

[0216] As illustrated in Figure 32, 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 32, the robot moving device 11b moves the articulated robot 11a in a direction along the X-axis parallel to the horizontal plane.

[0217] (Platform 12) In the example shown in Figure 32, 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.

[0218] 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 32, the pallet moving device 121b moves the first pallet PT1 in a direction parallel to the horizontal plane. In the example shown in Figure 32, the pallet moving device 121b moves the first pallet PT1 in a direction along the X-axis parallel to the horizontal plane.

[0219] In the example shown in Figure 32, 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.

[0220] In the example shown in Figure 32, 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.

[0221] In the example shown in Figure 32, 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.

[0222] (Second platform 13a, and third platform 13b) As illustrated in Figure 32, 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.

[0223] In the example shown in Figure 32, 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.

[0224] 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.

[0225] In the example shown in Figure 32, the workpiece transport device 10B is capable of transporting the workpiece W from the first platform 12 to the third platform 13b.

[0226] The workpiece transfer device 10B may include a fourth platform 13c for receiving workpieces W that are transferred by a workpiece transfer hand 1B.

[0227] (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.

[0228] As illustrated in FIG. 37, the workpiece W (e.g., the first workpiece W1) may be a plate-shaped workpiece in which a plurality of sub-components PD are connected via a weakened region J. In other words, the workpiece W (e.g., the first workpiece W1) may be dividable into a plurality of sub-components PD. In the example described in FIG. 37, a plurality of slits SL are formed in the workpiece W (e.g., the first workpiece W1). The second electromagnet 211b of the first attachment 21 (see FIG. 19) can preferably adsorb the workpiece W (e.g., the first workpiece W1) regardless of the presence or absence of the slits SL.

[0229] (The second workpiece W2) The second workpiece W2 is, for example, a second plate-shaped workpiece Wb. The plurality of attachments 2 arranged on the plate 3 in the second layout LA2 can adsorb the second plate-shaped workpiece Wb. Since the second workpiece W2 has been described in the first embodiment, repeated description of the second workpiece W2 will be omitted.

[0230] The second workpiece W2 may be a plate-shaped workpiece in which a plurality of sub-components are connected via a weakened region. In other words, the second workpiece W2 may be dividable into a plurality of sub-components.

[0231] (The third workpiece W3) In the example described in FIG. 22, the plurality of attachments 2 can be reattached to the plate 3 in a third layout LA3 different from the first layout LA1 and the second layout LA2. The plurality of attachments 2 arranged on the plate 3 in the third layout LA3 can adsorb the third workpiece W3 (see FIG. 32). In the example described in FIG. 32, the third workpiece W3 is a third plate-shaped workpiece Wc.

[0232] The third workpiece W3 (more specifically, the third plate-shaped workpiece Wc) is composed of, for example, a ferromagnetic material attracted by an electromagnet. The main component of the third workpiece W3 (more specifically, the third plate-shaped workpiece Wc) is, for example, iron.

[0233] (The power supply device 6) As illustrated in Figure 38, if the first attachment 21 includes the first electromagnet 211a and / or the second electromagnet 211b described above, the workpiece transfer device 10B includes a power supply device 6 that supplies current to the first electromagnet 211a and / or the second electromagnet 211b described above. Alternatively, if the first attachment 21 includes a vacuum suction section, the workpiece transfer device 10B includes a vacuum pump that sucks air from the vacuum suction section of the first attachment 21.

[0234] In the example shown in Figure 38, the power supply device 6 can supply current to the first attachment 21 (more specifically, the first electromagnet 211a and / or the second electromagnet 211b). The power supply device 6 can also supply current to the second attachment 22 (more specifically, the third electromagnet 221a and / or the fourth electromagnet 221b).

[0235] The power supply device 6 may also be capable of supplying current to the third attachment 23 (more specifically, the fifth electromagnet 231a and / or the sixth electromagnet 231b). The power supply device 6 may also be capable of supplying current to the fourth attachment 24 (more specifically, the seventh electromagnet 241a and / or the eighth electromagnet 241b).

[0236] The power supply device 6 may also be capable of supplying current to the fifth attachment 25 (more specifically, the ninth electromagnet 251a and / or the tenth electromagnet 251b). Furthermore, the power supply device 6 may also be capable of supplying current to the sixth attachment 26 (more specifically, the eleventh electromagnet 261a and / or the twelfth electromagnet 261b).

[0237] The power supply device 6 may also be capable of supplying current to the seventh attachment 27 (more specifically, the 13th electromagnet 271a and / or the 14th electromagnet 271b). Furthermore, the power supply device 6 may also be capable of supplying current to the eighth attachment 28 (more specifically, the 15th electromagnet 281a and / or the 16th electromagnet 281b).

[0238] The power supply device 6 may also be capable of supplying current to the electromagnet 510a of the fixed adsorption part 510 (in other words, the fixed electromagnet). Alternatively, or additionally, the power supply device 6 may also be capable of supplying current to the electromagnet 530a of the movable adsorption part 530 (in other words, the movable electromagnet).

[0239] (Control device 7) In the example shown in Figure 38, the workpiece transfer device 10B includes a control device 7 that controls the hand movement device 11. The control device 7 also controls the suction operation of each of the multiple attachments 2. More specifically, the control device 7 controls the suction operation of each of the multiple attachments 2 by controlling the power supply device 6.

[0240] For example, the control device 7 can control the power supply device 6 so that current is supplied to the first electromagnet 211a of the first attachment 21. When current is supplied to the first electromagnet 211a, the first electromagnet 211a is energized. When the first electromagnet 211a is energized, the first electromagnet 211a of the first attachment 21 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 first electromagnet 211a of the first attachment 21 is stopped. When the supply of current to the first electromagnet 211a is stopped, the first electromagnet 211a is demagnetized. When the first electromagnet 211a is demagnetized, the first attachment 21 is released from the plate 3.

[0241] For example, the control device 7 can control the power supply device 6 so that current is supplied to the second electromagnet 211b of the first attachment 21. When current is supplied to the second electromagnet 211b, the second electromagnet 211b is energized. When the second electromagnet 211b is energized, the second electromagnet 211b of the first attachment 21 attracts the workpiece W. Alternatively, the control device 7 can control the power supply device 6 so that the supply of current to the second electromagnet 211b of the first attachment 21 is stopped. When the supply of current to the second electromagnet 211b is stopped, the second electromagnet 211b is demagnetized. When the second electromagnet 211b is demagnetized, the workpiece W is released from the first attachment 21.

[0242] For example, the control device 7 can control the power supply device 6 so that current is supplied to the third electromagnet 221a of the second attachment 22. When current is supplied to the third electromagnet 221a, the third electromagnet 221a is energized. When the third electromagnet 221a is energized, the third electromagnet 221a 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 third electromagnet 221a of the second attachment 22 is stopped. When the supply of current to the third electromagnet 221a is stopped, the third electromagnet 221a is demagnetized. When the third electromagnet 221a is demagnetized, the second attachment 22 is released from the plate 3.

[0243] For example, the control device 7 can control the power supply device 6 so that current is supplied to the fourth electromagnet 221b of the second attachment 22. When current is supplied to the fourth electromagnet 221b, the fourth electromagnet 221b is energized. When the fourth electromagnet 221b is energized, the fourth electromagnet 221b of the second attachment 22 attracts the workpiece W. Alternatively, the control device 7 can control the power supply device 6 so that the supply of current to the fourth electromagnet 221b of the second attachment 22 is stopped. When the supply of current to the fourth electromagnet 221b is stopped, the fourth electromagnet 221b is demagnetized. When the fourth electromagnet 221b is demagnetized, the workpiece W is released from the second attachment 22.

[0244] Additionally, the control device 7 may control the attachment support device 15.

[0245] 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.

[0246] In the example shown in Figure 38, 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 38, 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.

[0247] The memory 72 is a storage medium readable by the processor 70 of the control device 7. The memory 72 may be a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, etc., may be a magnetic disk, or may be other forms of memory.

[0248] The memory 72 stores the data DT and the program PM. By the processor 70 of the control device 7 executing the program PM stored in the memory 72, the control device 7 generates a control command. Also, the communication circuit 74 transmits the control command to the controlled device (more specifically, the hand moving device 11, the power supply device 6, the attachment support device 15, etc.). Thus, by the processor 70 executing the program PM, the control device 7 can control the controlled device (more specifically, the hand moving device 11, the power supply device 6, the attachment support device 15, etc.).

[0249] (First position change mode M1-1) As illustrated in FIG. 3 or FIG. 39, the control device 7 can execute the 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 of changing the attachment position of the first attachment 21 with respect to the plate 3 in a state where the second attachment 22 is attached to the plate 3. In the example described in FIG. 39, the first position change mode M1-1 includes changing the attachment position of the first attachment 21 with respect to the plate 3 from the first attachment position T1 to the second attachment position T2.

[0250] As illustrated in FIG. 39, the first position change mode M1-1 may be executed in a state where the third attachment 23 is attached to the plate 3. As illustrated in FIG. 39, the first position change mode M1-1 may be executed in a state where the fourth attachment 24 is attached to the plate 3.

[0251] 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).

[0252] 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) so that the gripping member 151 (more specifically, the first gripping member 151a) 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.

[0253] 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) 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 first electromagnet 211a is demagnetized after the first attachment 21 has been gripped by the gripping member 151 (more specifically, the first gripping member 151a).

[0254] 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.

[0255] 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 first electromagnet 211a 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.

[0256] 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.

[0257] (Second position change mode M1-2) As illustrated in Figure 5 or Figure 40, 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 40, 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.

[0258] As illustrated in Figure 40, the second position change mode M1-2 may be performed with the third attachment 23 attached to the plate 3. As illustrated in Figure 40, the second position change mode M1-2 may be performed with the fourth attachment 24 attached to the plate 3.

[0259] 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).

[0260] 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) so that the gripping member 151 (more specifically, the second gripping member 151b) 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.

[0261] The second position change mode M1-2 may also include transmitting a second gripping command from the control device 7 to the gripping member moving device 153 (more specifically, the second drive device 153b) so that the second attachment 22 is gripped by the gripping member 151 (more specifically, the second gripping member 151b). Furthermore, the second position change mode M1-2 may also include transmitting a second demagnetization command from the control device 7 to the power supply device 6 so that the third electromagnet 221a is demagnetized after the second attachment 22 has been gripped by the gripping member 151 (more specifically, the second gripping member 151b).

[0262] The second position change mode M1-2 may include the control device 7 transmitting a fourth movement command to the hand movement device 11 so that the fourth mounting position T4 on the plate 3 moves to a position opposite the second attachment 22.

[0263] The second position change mode M1-2 may include the control device 7 sending a second excitation command to the power supply device 6 so that the third electromagnet 221a is energized after the fourth mounting position T4 on the plate 3 moves to a position facing the second attachment 22. The second position change mode M1-2 may also include the control device 7 sending a second grip release command to the gripping member moving device 153 (more specifically, the second drive device 153b) so that the gripping member 151 (more specifically, the second gripping member 151b) releases its grip on the second attachment 22 after the fourth mounting position T4 on the plate 3 moves to a position facing the second attachment 22.

[0264] The second position change mode M1-2 may include, after the second attachment 22 is attached to the fourth mounting position T4 on the plate 3, sending a second descent 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. If the gripping member 151 is unable to descend, the transmission of the second descent command is omitted.

[0265] (Third position change mode M1-3) As illustrated in Figure 6, 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.

[0266] (Layout change mode M1) As illustrated in Figures 2 to 7 (or as illustrated in Figures 39 and 40), 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.

[0267] 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.

[0268] 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".

[0269] 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.

[0270] 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.

[0271] 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.

[0272] 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.

[0273] 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.

[0274] (Second layout change mode M2) As illustrated in Figures 21 and 22, the control device 7 can perform a second layout change mode M2, which changes the layout of the multiple attachments 2 from a second layout LA2 to a third layout LA3, using the hand moving device 11 and the attachment support device 15.

[0275] (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.

[0276] Figure 41 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.

[0277] Alternatively, or additionally, in sorting mode M3, multiple workpieces W may be sorted into a small-size group and a large-size group.

[0278] In the example shown in Figure 41, 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 41, 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.

[0279] In the example shown in Figure 41, 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 41, 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.

[0280] 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.

[0281] 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.

[0282] In the example shown in Figure 41, 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.

[0283] In the example shown in Figure 42, sorting mode M3 includes transporting the first workpiece W1 from the first platform 12 to the first sorting area SR1 using a hand transfer device 11, with the first workpiece W1 being held by a plurality of attachments 2 mounted on the plate 3 in the first layout LA1. In the example shown in Figure 43, 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 by a plurality of attachments 2 and a fixed suction unit 510 (see Figure 19).

[0284] In the examples shown in Figures 39 and 40, 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.

[0285] In the example shown in Figure 43, 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 44, 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 suction unit 510 (see Figure 21).

[0286] Sorting mode M3 may include changing the layout of multiple attachments 2 from a second layout LA2 (see Figure 21) to a third layout LA3 (see Figure 22) using the hand moving device 11 and the attachment support device 15.

[0287] In the examples shown in Figures 44 and 45, 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 being held in place by the plurality of attachments 2 and a fixed suction unit 510 (see Figure 22).

[0288] As illustrated in Figure 46, 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 held in place by the movable suction unit 530 (more specifically, the electromagnet 530a of the movable suction unit 530).

[0289] (Third embodiment) The laser processing system 100 in the third embodiment will be described with reference to Figures 1 to 48. Figure 47 is a schematic side view illustrating the laser processing system 100 in the third embodiment. Figure 48 is a schematic perspective view illustrating a portion of the laser processing system 100 in the third embodiment.

[0290] 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.

[0291] As illustrated in Figure 47, the laser processing system 100 in the third embodiment comprises a laser processing device 101 and a workpiece transport device 10.

[0292] As illustrated in Figure 48, 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.

[0293] As illustrated in Figure 47, 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 20, the workpiece transport hand 1 comprises a plurality of attachments 2, including a first attachment 21 capable of picking up a first workpiece W1 and a second attachment 22 capable of picking up a first workpiece W1, and a plate 3 to which the plurality of attachments 2 are attached.

[0294] 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.

[0295] In the workpiece handling hand 1, each of the multiple attachments 2 can be independently detached from the plate 3.

[0296] As illustrated in Figure 2 or Figure 19, multiple attachments 2 can be mounted on the plate 3 in the first layout LA1. As illustrated in Figure 7 or Figure 21, multiple attachments 2 can be reattached to the plate 3 in a second layout LA2 that is different from the first layout LA1.

[0297] 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.

[0298] (Optional additional configuration) Next, with reference to Figures 1 to 48, optional additional configurations that can be adopted in the laser processing system 100 in the third embodiment will be described.

[0299] (Laser processing device 101) In the example shown in Figure 48, 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.

[0300] In the example shown in Figure 48, the workpiece support device 106 supports the workpiece (e.g., raw material workpiece RW) via a pallet (e.g., first pallet PT1).

[0301] 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.

[0302] (Pallet moving device 121b) As illustrated in Figure 47, 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 47, the pallet moving device 121b moves the first pallet PT1 in a direction parallel to the horizontal plane. In the example shown in Figure 32, the pallet moving device 121b moves the first pallet PT1 in a direction along the X-axis parallel to the horizontal plane.

[0303] (Hand-operated moving device 11) As illustrated in Figure 32, 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 32, 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 15, 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.

[0304] (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.

[0305] (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.

[0306] (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.

[0307] (Note) Embodiments of the present invention relate to the following workpiece handling hand, workpiece handling device, and laser processing system. (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 on which the aforementioned multiple attachments are attached and It is equipped with, The plurality of attachments can be mounted on the plate in the first layout, Each of the aforementioned attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. Workpiece handling hand. (2) The first attachment is A first adsorption unit that adsorbs the aforementioned plate, A second adsorption unit that adsorbs the workpiece and Equipped with The workpiece handling hand described in (1) above. (3) The first adsorption part is a first electromagnet, The second adsorption part is a second electromagnet. The workpiece handling hand described in (2) above. (4) A cable that supplies current to the first attachment, A first traction device for pulling the aforementioned cable, Equipped with A workpiece handling hand as described in any one of the above (1) to (3). (5) A movable suction part capable of adsorbing other workpieces, A suction unit moving device moves the aforementioned movable suction unit between a retracted position and an extended position. It further comprises A workpiece handling hand described in any one of the above (1) to (4). (6) Further comprising a fixed suction part that is permanently fixed to the plate and capable of adsorbing the workpiece. A workpiece handling hand as described in any one of the above (1) to (5). (7) The plate has an attachment mounting surface to which the plurality of attachments are attached, When the area on the attachment mounting surface to which any of the plurality of attachments can be attached is defined as the mountable area, the mountable area exists continuously 360 degrees around the central axis of the attachment mounting surface. A workpiece handling hand as described in any one of the above (1) to (6). (8) The workpiece is a plate-shaped workpiece. A workpiece handling hand described in any one of the above (1) to (7). (9) 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, A plate on which the aforementioned multiple attachments are attached and Equipped with, The plurality of attachments can be mounted on the plate in the first layout, Each of the aforementioned attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. Workpiece transport device. (10) Further comprising an attachment support device for supporting the attachments that have been removed from the plate among the plurality of attachments, The mounting position of the first attachment on the plate is changed by the relative movement of the workpiece handling hand relative to the first attachment, which is supported by the attachment support device. The workpiece transport device described in (9) above. (11) The attachment support device has a plurality of support devices, including a first support device capable of supporting the first attachment and a second support device capable of supporting the second attachment. The workpiece transport device described in (10) above. (12) A control device that controls the hand moving device, the attachment support device, and the suction operation of each of the plurality of attachments, A first platform capable of supporting multiple workpieces, including a first workpiece classified into the first group and a second workpiece classified into the second group. It further comprises, The control device is capable of executing a sorting mode that sorts the multiple workpieces into multiple groups, The aforementioned sorting mode is, With the first workpiece being held in place by the plurality of attachments mounted on the plate in the first layout, the first workpiece is transported from the first platform to the first sorting area using the hand-moving device. Using the hand-moving device and the attachment support device, the layout of the plurality of attachments is changed from the first layout to the second layout. With the second workpiece being held in place by the multiple attachments mounted on the plate in the second layout, the second workpiece is transported from the first platform to the second sorting area using the hand-moving device. including The workpiece transport device described in (10) or (11) above. (13) An attachment support device for supporting the attachments that have been removed from the plate among the plurality of attachments, A control device that controls the hand moving device and the attachment support device. It further comprises, The control device is capable of executing a first position change mode, which changes the mounting position of the first attachment on the plate while the second attachment is attached to the plate. The control device is capable of executing a second position change mode, which changes the mounting position of the second attachment relative to the plate, while the first attachment is attached to the plate. The workpiece transport device described in (9) above. (14) A laser processing apparatus that irradiates a raw material workpiece with a laser to form a plurality of workpieces, including a first workpiece and a second workpiece, 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, A plate on which the aforementioned multiple attachments are attached and Equipped with, The plurality of attachments can be mounted on the plate in the first layout, Each of the aforementioned attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. Laser processing system. (15) Further comprising an attachment support device for supporting the attachments that have been removed from the plate among the plurality of attachments, The mounting position of the first attachment on the plate is changed by the relative movement of the workpiece handling hand relative to the first attachment, which is supported by the attachment support device. The laser processing system described in (14) above.

[0308] 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]

[0309] 1, 1A, 1B...Workpiece handling hand, 2...Attachment, 2f...End face, 2m...Removed attachment, 3...Plate, 3e...Outer edge, 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 ,15c...Third support device, 15d...Fourth support device, 15e...Fifth support device, 15f...Sixth support device, 15g...Seventh support device, 15h...Eighth support device, 16...Outer frame, 21...First attachment, 22...Second attachment, 23...Third attachment, 24...Fourth attachment, 25...Fifth attachment, 26...Sixth attachment, 27...Seventh attachment, 28...Eighth attachment, 30e...Outer peripheral edge, 31...First main surface, 31a...Attachment mounting surface, 33...Back surface, 35...Reinforcement member, 41...Mounting part, 42...Mounting plate, 54...Guide member, 56... 70...Traction device, 72...Processor, 74...Memory, 76...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...End arm, 121...First support base, 121b...Pallet movement Device, 131a...Second support base, 131b...Third support base, 151...Gripping member, 151a...First gripping member, 151b...Second gripping member, 151c...Third gripping member, 153...Gripping member moving device, 153a...First drive device, 153b...Second drive device, 153c...Third drive device, 155...Stand, 155a...First stand, 155b...Second stand, 155c...Third stand, 157...Lifting device, 157a...First lifting device, 157b...Second lifting device, 157c...Third lifting device, 161...First side wall, 162...Second side wall, 210a...First suction part, 210b...Second suction part,211a...1st electromagnet, 211b...2nd electromagnet, 211c...1st insulator, 220a...3rd adsorption part, 220b...4th adsorption part, 221a...3rd electromagnet, 221b...4th electromagnet, 221c...2nd insulator, 230a...5th adsorption part, 230b...6th adsorption part, 231a...5th electromagnet, 231b...6th electromagnet, 240a...7th adsorption part, 240b...8th adsorption part, 241a...7th electromagnet, 241b...8th electromagnet, 250a...9th adsorption part, 250b...10th adsorption part, 251a...9th electromagnet, 251b...10th electromagnet, 260a...11th adsorption part, 260b...12th adsorption part, 26 1a...11th electromagnet, 261b...12th electromagnet, 270a...13th adsorption part, 270b...14th adsorption part, 271a...13th electromagnet, 271b...14th electromagnet, 280a...15th adsorption part, 280b...16th adsorption part, 281a...15th electromagnet, 281b...16th electromagnet, 291...cable, 291a...1st cable, 291b...2nd cable, 291c...bundling area, 292...cable, 292a...3rd cable, 292b...4th cable, 292c...bundling area, 293...cable, 293a...5th cable, 293b...6th cable, 294a...7th cable, 294b...8th cable, 295a...9th cable, 295b...10th cable, 296a...11th cable, 296b...12th cable, 297a...13th cable, 297b...14th cable, 298a...15th cable, 298b...16th cable, 311a...flat surface, 341h...1st through hole, 342h...2nd through hole, 421...1st traction device, 422...2nd traction device, 423...3rd traction device, 424...4th traction device, 425...5th traction device, 426...6th traction device, 427...7th traction device, 428...8th traction device, 431...1st support part, 431 p...movable pulley, 432...second support part, 432p...movable pulley, 433...third support part, 441...first moving device, 441b...ball screw, 441m...motor, 442...second moving device, 442b...ball screw, 442m...motor, 443...third moving device, 451...first guide member, 451r...first guide rail, 452...second guide member, 452r...second guide rail, 510...fixed suction part, 510a...electromagnet, 511...cable, 530...movable suction part, 530a...electromagnet, 530f...end face, 532...cable, 535...suction part moving device, 535s...fluid pressure cylinder551... Guide rod, 553... Block, 561... Support part, 561p... Movable pulley, 562... Moving device, 562b... Ball screw, 562m... Motor, 1311a... One side, 1312a... Other side, 1570a... Fluid pressure cylinder, AM... Arm, BT1... Bolt, BT2... Bolt, C... Center axis of attachment mounting surface, C1... Centroid of attachment mounting surface, C2... Center axis of plate support device, C3... Center axis of movable suction part DR1...First direction, DR2...Second direction, DT...Data, HC...Virtual circle, J...Weakening area, JT...Joint, LA1...First layout, LA2...Second layout, LA3...Third layout, LB...Laser, LR1...First area, LR2...Second area, LS1...Line segment, LS2...Line segment, M1...Layout change mode, M1-1...First position change mode, M1-2...Second position change mode, M1-3...Third position change mode, M2...Second Layout change mode, M3...sorting mode, MT...motor, P1...1st position, P2...2nd position, P3...3rd position, P4...4th position, PD...sub-component, PM...program, PT1...1st pallet, PT2...2nd pallet, PT3...3rd pallet, Q1...open position, Q2...closed position, Q3...down position, Q4...up position, Q5...retracted position, Q6...advance position, Q7...intermediate position, RG1...mountable area, RG2...central area, R W... Raw material workpiece, SL... Slit, SP... 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, 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, Wc... Plate-shaped workpiece, Wp... Pipe-shaped workpiece, Ws... Small workpiece,

Claims

1. A plurality of attachments, including a first attachment capable of adsorbing a plate-shaped workpiece and a second attachment capable of adsorbing the plate-shaped workpiece, A plate on which the aforementioned multiple attachments are attached and It is equipped with, The first attachment is, A first electromagnet that attracts the aforementioned plate, The second electromagnet that attracts the plate-shaped workpiece and Equipped with, The plurality of attachments can be mounted on the plate in the first layout, Each of the aforementioned attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. Workpiece handling hand.

2. A cable that supplies current to the first attachment, A first traction device for pulling the aforementioned cable, Equipped with A workpiece handling hand according to claim 1.

3. An electromagnet as a movable suction part capable of attracting other workpieces, A suction part moving device that moves the electromagnet between a retracted position and an extended position It further comprises A workpiece handling hand according to claim 1.

4. The system includes a plate support device for supporting the aforementioned plate, When the direction toward the plate from the plate support device is defined as the first direction, the end face of the movable suction part located in the extension position on the first direction side is located toward the first direction side than the end face of the first attachment attached to the plate on the first direction side. A workpiece handling hand according to claim 3.

5. The system further comprises a fixed electromagnet that is permanently fixed to the plate and capable of attracting the plate-shaped workpiece. A workpiece handling hand according to claim 1.

6. The plate has an attachment mounting surface to which the plurality of attachments are attached, When the area on the attachment mounting surface to which any of the plurality of attachments can be attached is defined as the mountable area, the mountable area exists continuously 360 degrees around the central axis of the attachment mounting surface. A workpiece transport hand according to any one of claims 1 to 5.

7. 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 plate-shaped workpiece and a second attachment capable of adsorbing the plate-shaped workpiece, A plate on which the aforementioned multiple attachments are attached and Equipped with, The first attachment is, A first electromagnet that attracts the aforementioned plate, The second electromagnet that attracts the plate-shaped workpiece and Equipped with, The plurality of attachments can be mounted on the plate in the first layout, Each of the aforementioned attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. Workpiece transport device.

8. The system further comprises an attachment support device for supporting the attachments that have been removed from the plate among the plurality of attachments, The mounting position of the first attachment on the plate is changed by the relative movement of the workpiece handling hand relative to the first attachment, which is supported by the attachment support device. The workpiece transport device according to claim 7.

9. The aforementioned attachment support device is A gripping member for gripping the first attachment, A gripping member moving device for moving the gripping member between an open position and a closed position, The stand on which the first attachment is placed, A lifting device that moves the gripping member relative to the stand in a vertical direction, Equipped with The workpiece transport device according to claim 8.

10. The attachment support device has a plurality of support devices, including a first support device capable of supporting the first attachment and a second support device capable of supporting the second attachment. The workpiece transport device according to claim 8.

11. The attachment support device includes a number of support devices corresponding to or greater than the number of attachments. The workpiece transport device according to claim 10.

12. The hand-moving device, the attachment support device, and the control device for controlling the suction operation of each of the plurality of attachments, A first platform capable of supporting a plurality of plate-shaped workpieces, including a first plate-shaped workpiece classified into a first group and a second plate-shaped workpiece classified into a second group. It further comprises, The control device is capable of executing a sorting mode that sorts the plurality of plate-shaped workpieces into a plurality of groups, The aforementioned sorting mode is, With the first workpiece being held in place by the plurality of attachments mounted on the plate in the first layout, the first workpiece is transported from the first platform to the first sorting area using the hand-moving device. Using the hand-moving device and the attachment support device, the layout of the plurality of attachments is changed from the first layout to the second layout. With the second workpiece being held in place by the plurality of attachments mounted on the plate in the second layout, the second workpiece is transported from the first platform to the second sorting area using the hand-moving device. including A workpiece transport device according to any one of claims 8 to 11.

13. An attachment support device for supporting the attachment that has been removed from the plate among the plurality of attachments, A control device that controls the hand moving device and the attachment support device. It further comprises, The control device is capable of executing a first position change mode, which changes the mounting position of the first attachment on the plate while the second attachment is attached to the plate. The control device can execute a second position change mode, which changes the mounting position of the second attachment on the plate while the first attachment is attached to the plate. The workpiece transport device according to claim 7.

14. A laser processing apparatus that forms a plurality of plate-shaped workpieces, including a plate-shaped first workpiece and a plate-shaped second workpiece, from a raw material workpiece by irradiating the workpiece with a laser, A workpiece transport device for transporting the aforementioned plurality of plate-shaped 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 plate-shaped first workpiece, and a second attachment capable of adsorbing the plate-shaped first workpiece, A plate on which the aforementioned multiple attachments are attached and Equipped with, The first attachment is, A first electromagnet that attracts the aforementioned plate, A second electromagnet that attracts the plate-shaped first workpiece and Equipped with, The plurality of attachments can be mounted on the plate in the first layout, Each of the aforementioned attachments can be independently removed from the plate. The plurality of attachments can be reattached to the plate in a second layout different from the first layout. Laser processing system.

15. The system further comprises an attachment support device for supporting the attachments that have been removed from the plate among the plurality of attachments, The mounting position of the first attachment on the plate is changed by the relative movement of the workpiece handling hand relative to the first attachment, which is supported by the attachment support device. The laser processing system according to claim 14.

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