Work transport device and laser processing system

Abstract

A workpiece transport hand, a workpiece transport device, and a laser processing system are provided, which are equipped with a plurality of attachments whose layout can be changed in accordance with the shape of the workpiece. [Solution] The workpiece transport hand includes a plurality of attachments including a first attachment capable of adsorbing a workpiece and a second attachment capable of adsorbing a workpiece, and a plate to which the plurality of attachments are attached. 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 workpiece transport hand, a workpiece transport device, and a laser processing system. [Background technology]

[0002] 2. Description of the Related Art Apparatuses for transporting workpieces are known.

[0003] As a related technique, Patent Document 1 discloses a robot hand. The robot hand described in Patent Document 1 includes a hand portion with a slot formed therein and a plurality of vacuum pads. The position of each vacuum pad can be changed along the slot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] CD-ROM of Utility Model Application No. 4-22737 (Utility Model Application No. 5-80689) Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a workpiece transport hand, a workpiece transport device, and a laser processing system that are equipped with a plurality of attachments whose layout can be changed in accordance with the shape of the workpiece. [Means for solving the problem]

[0006] Embodiments of the present invention relate to a workpiece transport hand, a workpiece transport device, and a laser processing system as described below.

[0007] (1) a plurality of attachments including a first attachment capable of adsorbing a workpiece and a second attachment capable of adsorbing the workpiece; a plate to which the plurality of attachments are attached; and Equipped with The plurality of attachments are attachable to the plate in a first layout; each of the plurality of attachments is independently detachable from the plate; The plurality of attachments are reattachable to the plate in a second layout different from the first layout. Hand for transporting workpieces. (2) The first attachment is a first suction portion that suctions the plate; a second suction portion that suctions the workpiece; Equipped with The workpiece transport hand according to (1) above. (3) the first attraction portion is a first electromagnet, The second attraction portion is a second electromagnet. The workpiece transport hand according to (2) above. (4) a cable that supplies current to the first attachment; a first traction device that traction the cable; Equipped with The workpiece transport hand according to any one of (1) to (3) above. (5) a movable suction part capable of suctioning other workpieces; a suction part moving device that moves the movable suction part between a retracted position and an advanced position; Further provided with The workpiece transport hand according to any one of (1) to (4) above. (6) A fixed suction part is further provided which is always fixed to the plate and can suction the workpiece. The workpiece transport hand according to any one of (1) to (5) above. (7) The plate has an attachment mounting surface to which the plurality of attachments are attached, When an area of ​​the attachment mounting surface to which any of the plurality of attachments can be attached is defined as an attachable area, the attachable area exists continuously over 360 degrees around the central axis of the attachment mounting surface. The workpiece transport hand according to any one of (1) to (6) above. (8) The workpiece is a plate-shaped workpiece. The workpiece transport hand according to any one of (1) to (7) above. (9) a workpiece transport hand; a hand moving device that moves the workpiece transport hand; Equipped with The workpiece transport 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 to which the plurality of attachments are attached; and Equipped with The plurality of attachments are attachable to the plate in a first layout; each of the plurality of attachments is independently detachable from the plate; The plurality of attachments are reattachable to the plate in a second layout different from the first layout. Work transport device. (10) The apparatus further includes an attachment support device that supports an attachment that has been removed from the plate among the plurality of attachments, The mounting position of the first attachment relative to the plate is changed by moving the workpiece transport hand relative to the first attachment supported by the attachment support device. The workpiece transport device according to (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 according to (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 a plurality of workpieces including a first workpiece classified into a first group and a second workpiece classified into a second group; Further comprising: The control device is capable of executing a sorting mode in which the plurality of works are sorted into a plurality of groups, The sorting mode is transporting the first workpiece from the first platform to a first sorting area using the hand moving device while the first workpiece is being sucked by the attachments attached to the plate in the first layout; changing the layout of the plurality of attachments from the first layout to the second layout using the hand moving device and the attachment support device; transporting the second workpiece from the first platform to a second sorting area using the hand moving device while the second workpiece is being sucked by the attachments attached to the plate in the second layout; Contains The workpiece transport device according to (10) or (11) above. (13) an attachment support device that supports an attachment that has been detached from the plate among the plurality of attachments; a control device that controls the hand moving device and the attachment supporting device; Further comprising: the control device is capable of executing a first position change mode in which an attachment position of the first attachment relative to the plate is changed in a state in which the second attachment is attached to the plate, The control device is capable of executing a second position change mode in which, with the first attachment attached to the plate, the attachment position of the second attachment relative to the plate is changed. The workpiece transport device according to (9) above. (14) A laser processing device that forms a plurality of workpieces including a first workpiece and a second workpiece from an original workpiece by irradiating the original workpiece with a laser; a workpiece transport device that transports the plurality of workpieces; Equipped with The workpiece transport device is A workpiece transport hand; a hand moving device that moves the workpiece transport hand; Equipped with The workpiece transport 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 to which the plurality of attachments are attached; and Equipped with The plurality of attachments are attachable to the plate in a first layout; each of the plurality of attachments is independently detachable from the plate; The plurality of attachments are reattachable to the plate in a second layout different from the first layout. Laser processing system. (15) The apparatus further includes an attachment support device that supports an attachment that has been removed from the plate among the plurality of attachments, The mounting position of the first attachment relative to the plate is changed by moving the workpiece transport hand relative to the first attachment supported by the attachment support device. The laser processing system according to (14) above. [Effects of the Invention]

[0008] The present invention can provide a workpiece transport hand, a workpiece transport device, and a laser processing system that are equipped with a plurality of attachments whose layout can be changed in accordance with the shape of the workpiece. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic perspective view showing a state in which workpieces are sucked by a plurality of attachments arranged in a first layout. [Figure 2] FIG. 2 is a schematic perspective view showing how the layout of a plurality of attachments is changed. [Figure 3] FIG. 3 is a schematic perspective view showing how the layout of a plurality of attachments is changed. [Figure 4] FIG. 4 is a schematic perspective view showing how the layout of a plurality of attachments is changed. [Figure 5] FIG. 5 is a schematic perspective view showing how the layout of a plurality of attachments is changed. [Figure 6] FIG. 6 is a schematic perspective view showing how the layout of a plurality of attachments is changed. [Figure 7] FIG. 7 is a schematic perspective view showing how the layout of a plurality of attachments is changed. [Figure 8] FIG. 8 is a schematic perspective view showing a state in which the second workpiece is sucked by a plurality of attachments arranged in the second layout. [Figure 9] FIG. 9 is a schematic side view showing the workpiece transport hand according to the first embodiment. [Figure 10] FIG. 10 is a schematic side view showing the workpiece transport hand according to the first embodiment. [Figure 11] FIG. 11 is a schematic side view showing a workpiece transport hand according to a first modified example of the first embodiment. [Figure 12] FIG. 12 is a schematic bottom view for explaining the mountable region. [Figure 13] FIG. 13 is a schematic bottom view for explaining the mountable region. [Figure 14] FIG. 14 is a schematic perspective view showing a state in which a pipe-shaped workpiece is sucked by a plurality of attachments arranged in the second layout. [Figure 15] FIG. 15 is a schematic perspective view showing the workpiece transport device according to the first embodiment. [Figure 16] FIG. 16 is a schematic perspective view illustrating the workpiece transport device according to the first embodiment. [Figure 17] FIG. 17 is a schematic perspective view showing a workpiece transport hand according to the second embodiment. [Figure 18] FIG. 18 is a schematic perspective view showing a workpiece transport hand according to the second embodiment. [Figure 19] FIG. 19 is a schematic perspective view showing a workpiece transport hand according to the second embodiment. [Figure 20] FIG. 20 is a schematic perspective view showing a state in which workpieces are sucked by a plurality of attachments arranged in the first layout. [Figure 21] FIG. 21 is a schematic perspective view showing a workpiece transport hand according to the second embodiment. [Figure 22] FIG. 22 is a schematic perspective view showing a workpiece transport hand according to the second embodiment. [Figure 23] FIG. 23 is a schematic perspective view showing a workpiece transport device according to the second embodiment. [Figure 24] FIG. 24 is a schematic perspective view showing a part of the workpiece transport hand in the second embodiment. [Figure 25] FIG. 25 is a schematic side view showing a workpiece transport hand according to the second embodiment. [Figure 26] FIG. 26 is a schematic side view showing the first traction device. [Figure 27] FIG. 27 is a schematic side view showing the second traction device. [Figure 28] FIG. 28 is a schematic bottom view showing a part of the workpiece transport hand in the second embodiment. [Figure 29] FIG. 29 is a schematic side view showing a part of the workpiece transport hand in the second embodiment. [Figure 30] FIG. 30 is a schematic side view showing a state in which a small workpiece is sucked onto the movable suction portion. [Figure 31] FIG. 31 is a schematic side view showing a modified example of the arrangement of the movable attraction portion. [Figure 32] FIG. 32 is a schematic perspective view showing a workpiece transport device according to the second embodiment. [Figure 33] FIG. 33 is a schematic plan view showing an example of an attachment support device. [Figure 34] FIG. 34 is a cross-sectional view taken along the line AA in FIG. [Figure 35] FIG. 35 is a schematic cross-sectional view showing a state in which the gripping member has moved to a raised position. [Figure 36] FIG. 36 is a schematic bottom view showing the workpiece transport hand according to the second embodiment. [Figure 37] FIG. 37 is a schematic perspective view showing an example of a workpiece. [Figure 38] FIG. 38 is a diagram showing a schematic diagram of a state in which a control device can control a plurality of control target devices. [Figure 39] FIG. 39 is a schematic perspective view showing a state in which the first position change mode is being executed. [Figure 40] FIG. 40 is a schematic perspective view showing a state in which the second position change mode is being executed. [Figure 41] FIG. 41 is a schematic plan view showing a state in which a plurality of works are sorted into a plurality of groups. [Figure 42] FIG. 42 is a schematic plan view showing a state in which the sorting mode is being executed. [Figure 43] FIG. 43 is a schematic plan view showing a state in which the sorting mode is being executed. [Figure 44] FIG. 44 is a schematic plan view showing a state in which the sorting mode is being executed. [Figure 45] FIG. 45 is a schematic plan view showing a state in which the sorting mode is being executed. [Figure 46] FIG. 46 is a schematic plan view showing a state in which the sorting mode is being executed. [Figure 47] FIG. 47 is a schematic side view showing a laser processing system according to the third embodiment. [Figure 48] FIG. 48 is a schematic perspective view showing a part of the laser processing system according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a workpiece transport hand 1, a workpiece transport device 10, and a laser processing system 100 according to an embodiment will be described with reference to the drawings. In the following description of the embodiment, parts and members having the same functions are denoted by the same reference numerals, and repeated description of parts and members denoted by the same reference numerals will be omitted.

[0011] (Definition of terms) In this specification, the surface of the plate 3 to which the attachments 2 are attached is defined as the attachment mounting surface 31a. Also, the surface of the plate 3 opposite the attachment mounting surface 31a is defined as the back surface 33.

[0012] In this specification, the direction from the plate support device 4 that supports the plate 3 toward the plate 3 is defined as a first direction DR1. The direction opposite to the first direction DR1 is defined as a second direction DR2. In the example shown in FIG. 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) A workpiece transport hand 1A and a workpiece transport device 10A according to a first embodiment will be described with reference to FIGS. 1 to 16. FIG. 1 is a schematic perspective view showing a state in which a workpiece W is sucked by a plurality of attachments 2 arranged in a first layout LA1. FIGS. 2 to 7 are schematic perspective views showing how the layout of the plurality of attachments 2 is changed. FIG. 8 is a schematic perspective view showing a state in which a second workpiece W2 is sucked by a plurality of attachments 2 arranged in a second layout LA2. FIGS. 9 and 10 are schematic side views showing the workpiece transport hand 1A according to the first embodiment. FIG. 11 is a schematic side view showing the workpiece transport hand 1A according to a first modified example of the first embodiment. FIGS. 12 and 13 are schematic bottom views for explaining the mountable region RG1. FIG. 14 is a schematic perspective view showing a state in which a pipe-shaped workpiece Wp is sucked by a plurality of attachments 2 arranged in the second layout LA2. 15 and 16 are schematic perspective views showing a workpiece transport device 10A according to the first embodiment.

[0014] As shown in FIG. 1, the workpiece transport hand 1A in the first embodiment includes a plurality of attachments 2 and a plate 3.

[0015] 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., the first workpiece W1). The multiple attachments 2 may include a third attachment 23 capable of adsorbing a workpiece W (e.g., the first workpiece W1).

[0016] A plurality of attachments 2 are attached to the plate 3.

[0017] As illustrated in FIG. 2, a plurality of attachments 2 can be attached to the plate 3 in a 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 a state in which the first attachment 21 has been removed from the plate 3. Figure 5 shows a state in which the second attachment 22 has been removed from the plate 3. Figure 6 shows a state in which the third attachment 23 has been removed from the plate 3.

[0019] Note that the fact that each of the multiple attachments 2 can be independently removed from the plate 3 does not mean that the multiple attachments 2 are necessarily independently removed from the plate 3. For example, the multiple attachments 2 may be simultaneously removed from the plate 3 after all of the work performed using the workpiece transport hand 1A has been completed.

[0020] 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 the second attachment 22 and the third attachment 23 are attached to the plate 3.

[0021] 5, with the first attachment 21 attached to the plate 3, the second attachment 22 can be removed from the plate 3. Also, with the first attachment 21 and the third attachment 23 attached to the plate 3, the second attachment 22 can be removed from the plate 3.

[0022] 6, with the first attachment 21 attached to the plate 3, the third attachment 23 can be removed from the plate 3. Also, with the first attachment 21 and the second attachment 22 attached to the plate 3, the third attachment 23 can be removed from the plate 3.

[0023] In the example shown in Fig. 7, the attachments 2 can be reattached to the plate 3 in a second layout LA2 that is different from the first layout LA1. As shown in Fig. 8, the attachments 2 attached to the plate 3 in the second layout LA2 can pick up a second workpiece W2 that has a different shape from the workpiece W picked up by the attachments 2 attached to the plate 3 in the first layout LA1.

[0024] In the workpiece transport hand 1A in 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 in accordance with the shape of the workpiece W. Therefore, there is no need to prepare many types of workpiece transport hands in accordance with the shape of the workpiece.

[0025] Furthermore, in the workpiece transport hand 1A in 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 remains attached to the plate 3. This provides a high degree of freedom in the procedure for changing the layout of the multiple attachments 2.

[0026] (Optional configuration) Next, with reference to Figures 1 to 16, we will explain optional additional configurations that can be adopted in the work transport hand 1A in the first embodiment (or the work transport device 10A in the first embodiment), or the work transport hand 1B in the second embodiment described below (or the work transport device 10B in the second embodiment described below).

[0027] (Example of layout change procedure) In the example shown in Figures 2 to 7, the layout of the multiple attachments 2 can be changed from a first layout LA1 (see Figure 2) to a 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 example 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] 2 to 7, the multiple attachments 2 are removed one by one in order from the plate 3. Furthermore, the removed attachment 2 is reattached to the plate 3 before the next attachment is removed from the plate 3. There is no particular limitation on the order in which the multiple attachments 2 are removed from the plate 3.

[0030] (First Attachment 21) 2, the first attachment 21 includes a first suction portion 210a that suctions the plate 3. When the first attachment 21 includes the first suction portion 210a that suctions the plate 3, the first attachment 21 can be easily attached to the plate 3.

[0031] The first suction portion 210a is, for example, an suction portion that can change its state between an ON state where it can suction the plate 3 and an OFF state where it cannot suction the plate 3. Examples of suction portions that can change their state between an ON state where it can suction the plate 3 and an OFF state where it cannot suction the plate 3 include an electromagnet and a vacuum suction portion connected to a negative pressure flow path. When the first suction portion 210a is an suction portion 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 detach the first attachment 21 from the plate 3.

[0032] 9, the first attraction portion 210a is a first electromagnet 211a. The first electromagnet 211a is excited by supplying a current to the first electromagnet 211a. In the example shown in FIG. 9, the workpiece transport hand 1A includes a first cable 291a that supplies a current to the first electromagnet 211a. In the example shown in FIG. 9, the first cable 291a is arranged so as to wrap around the outside of the outer peripheral edge portion 30e of the plate 3.

[0033] 2, the first attachment 21 includes a second suction portion 210b that adsorbs the workpiece W. When the first attachment 21 includes the second suction portion 210b that adsorbs the workpiece W, it is easy to attach the workpiece W to the first attachment 21.

[0034] The second suction unit 210b is, for example, an 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 an electromagnet and a vacuum suction unit connected to a negative pressure flow path. When the second suction unit 210b is an 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 remove the workpiece W from the first attachment 21.

[0035] 9, the second attraction portion 210b is a second electromagnet 211b. When a current is supplied to the second electromagnet 211b, the second electromagnet 211b is excited. In the example shown in FIG. 9, the workpiece transport hand 1A includes a second cable 291b that supplies a current to the second electromagnet 211b. In the example shown in FIG. 9, the second cable 291b is arranged so as to wrap around the outside of the outer peripheral edge portion 30e of the plate 3.

[0036] (Second attachment 22) 2, the second attachment 22 includes a third suction portion 220a that suctions the plate 3. When the second attachment 22 includes the third suction portion 220a that suctions the plate 3, the second attachment 22 can be easily attached to the plate 3.

[0037] The third suction portion 220a is, for example, an suction portion that can change its state between an ON state where it can suction the plate 3 and an OFF state where it cannot suction the plate 3. Examples of suction portions that can change their state between an ON state where it can suction the plate 3 and an OFF state where it cannot suction the plate 3 include an electromagnet and a vacuum suction portion connected to a negative pressure flow path. When the third suction portion 220a is an suction portion 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 detach the second attachment 22 from the plate 3.

[0038] 9, the third attraction portion 220a is a third electromagnet 221a. The third electromagnet 221a is excited by supplying a current to the third electromagnet 221a. In the example shown in FIG. 9, the workpiece transport hand 1A includes a third cable 292a that supplies a current to the third electromagnet 221a. In the example shown in FIG. 9, the third cable 292a is arranged so as to wrap around the outside of the outer peripheral edge portion 30e of the plate 3.

[0039] 2, the second attachment 22 includes a fourth suction portion 220b that adsorbs the workpiece W. When the second attachment 22 includes the fourth suction portion 220b that adsorbs the workpiece W, it is easy to attach the workpiece W to the second attachment 22.

[0040] The fourth suction portion 220b is, for example, an suction portion that can change its state between an ON state where it can suction the workpiece W and an OFF state where it cannot suction the workpiece W. Examples of suction portions that can change their state between an ON state where it can suction the workpiece W and an OFF state where it cannot suction the workpiece W include an electromagnet and a vacuum suction portion connected to a negative pressure flow path. When the fourth suction portion 220b is an suction portion 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 remove the workpiece W from the second attachment 22.

[0041] 9, the fourth attraction portion 220b is a fourth electromagnet 221b. The fourth electromagnet 221b is excited by supplying a current to the fourth electromagnet 221b. In the example shown in FIG. 9, the workpiece transport hand 1A includes a fourth cable 292b that supplies a current to the fourth electromagnet 221b. In the example shown in FIG. 9, the fourth cable 292b is arranged so as to wrap around the outside of the outer peripheral edge portion 30e of the plate 3.

[0042] (Third Attachment 23) 2, the third attachment 23 includes a fifth suction portion 230a that suctions the plate 3. The third attachment 23 also includes a sixth suction portion 230b that suctions the workpiece W.

[0043] In the example shown in FIG. 9, the fifth attraction portion 230a is a fifth electromagnet 231a. The fifth electromagnet 231a is excited by supplying a current to the fifth electromagnet 231a. In the example shown in FIG. 9, the workpiece transport hand 1A includes a fifth cable 293a that supplies a current to the fifth electromagnet 231a. In the example shown in FIG. 9, the sixth attraction portion 230b is a sixth electromagnet 231b. The sixth electromagnet 231b is excited by supplying a current to the sixth electromagnet 231b. In the example shown in FIG. 9, the workpiece transport hand 1A includes a sixth cable 293b that supplies a current to the sixth electromagnet 231b.

[0044] (Plate support device 4) In the example shown in Fig. 1, the workpiece transporting hand 1A includes a plate support device 4 that supports a plate 3. In the example shown in Fig. 1, the plate support device 4 includes an attachment portion 41 that can be attached to a hand moving device 11. The hand moving device 11 moves the workpiece transporting hand 1A, thereby transporting the workpieces W that are sucked onto the multiple attachments 2.

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

[0046] 9, the 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 FIG. 11, the first cable 291a and the second cable 291b may be bundled together. In other words, the cable 291 may include a bundling region 291c in which the first cable 291a and the second cable 291b are bundled together. When the cable 291 includes the bundling region 291c, the congestion of wiring around the plate 3 is reduced.

[0047] (1st traction device 421) 9, the workpiece transport hand 1A includes a first traction device 421 that traction the cable 291. By traction of the cable 291, the slack of the cable 291 is reduced.

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

[0049] 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] 9, the cable 291 can be loosened using the first moving device 441. In the example shown in FIG. 9, the first attachment 21 can be attached to the plate 3 with the cable 291 in a loosened state, and the first attachment 21 can be detached from the plate 3 with the cable 291 in a loosened state. Thus, the first attachment 21 can be smoothly attached to and detached from the plate 3. In the example shown in FIG. 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 FIG. 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 FIG. 10, the first attachment 21 can adsorb the workpiece W in a state where the slack in the cable 291 is reduced (more specifically, in a state where the cable 291 is tensioned). Therefore, when the workpiece W is adsorbed, interference between the workpiece W and the cable 291 is prevented or suppressed. In the example shown in FIG. 10, the first moving device 441 moves the first support part 431 in the second direction DR2, thereby reducing the slack in the cable 291.

[0052] 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 FIG. 11, a portion of the bundling region 291c of the cable 291 may be supported or held by the first support portion 431.

[0053] 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 example shown in Fig. 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 that moves the first support part 431. Alternatively, the first moving device 441 may include a fluid pressure cylinder that moves the first support part 431. In this specification, the fluid pressure cylinder includes an air pressure cylinder and a hydraulic cylinder.

[0055] 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 first attachment 21, which is detached from the plate 3, from being lost. The cable 291 may have a function of supplying a current to the first attachment 21 and a function of preventing the first attachment 21 from being lost. The first cable 291a may have a function of supplying a current to the first electromagnet 211a and a function of preventing the first attachment 21 from being lost. The second cable 291b may have a function of supplying a current to the second electromagnet 211b and a function of preventing the first attachment 21 from being lost.

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

[0057] 9, the 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 FIG. 11, the third cable 292a and the fourth cable 292b may be bundled together. In other words, the cable 292 may include a bundling region 292c in which the third cable 292a and the fourth cable 292b are bundled together. When the cable 292 includes the bundling region 292c, the congestion of wiring around the plate 3 is reduced.

[0058] (Second traction device 422) 9, the workpiece transport hand 1A includes a second traction device 422 that traction the cable 292. By traction of the cable 292, the slack of the cable 292 is reduced.

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

[0060] 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] 9, the cable 292 can be loosened using the second moving device 442. In the example shown in FIG. 9, the second attachment 22 can be attached to the plate 3 with the cable 292 in a loosened state, and the second attachment 22 can be detached from the plate 3 with the cable 292 in a loosened state. Thus, the second attachment 22 can be smoothly attached to and detached from the plate 3. In the example shown in FIG. 9, the cable 292 is loosened by the second moving device 442 moving the second support portion 432 in the first direction DR1.

[0062] In the example shown in FIG. 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 FIG. 10, the second attachment 22 can adsorb the workpiece W in a state where the slack in the cable 292 is reduced (more specifically, in a state where the cable 292 is tensioned). Therefore, when the workpiece W is adsorbed, interference between the workpiece W and the cable 292 is prevented or suppressed. In the example shown in FIG. 10, the second moving device 442 moves the second support part 432 in the second direction DR2, thereby reducing the slack in the cable 292.

[0063] 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 FIG.

[0064] 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 example 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 that moves the second support portion 432. Alternatively, the second moving device 442 may include a fluid pressure cylinder that moves the second support portion 432.

[0066] 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 second attachment 22, which is detached from the plate 3, from being lost. The cable 292 may have a function of supplying a current to the second attachment 22 and a function of preventing the second attachment 22 from being lost. The third cable 292a may have a function of supplying a current to the third electromagnet 221a and a function of preventing the second attachment 22 from being lost. The fourth cable 292b may have a function of supplying a current to the fourth electromagnet 221b and a function of preventing the second attachment 22 from being lost.

[0067] (cable 293 and third traction device 423) In the example shown in FIGS. 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] 9, the 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 FIG. 11, the fifth cable 293a and the sixth cable 293b may be bundled together.

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

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

[0071] The plate 3 has an attachment mounting surface 31a to which a plurality of attachments 2 are attached.

[0072] In this specification, the region of the attachment mounting surface 31a where any one of the multiple attachments can be attached is defined as the attachable region RG1. In the example shown in FIG. 12, the attachable region RG1 exists continuously over 360 degrees around the central axis C of the attachment mounting surface 31a (more specifically, around the centroid C1 of the attachment mounting surface 31a). In other words, any one 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, there is a higher degree of freedom in arranging the attachments 2 compared to when the attachable region RG1 exists discretely around the central axis C of the attachment mounting surface 31a.

[0073] Substantially the entire attachable region RG1 (or the entire attachment mounting surface 31a) may be made of a ferromagnetic material. Alternatively, substantially the entire attachable region RG1 (or the entire attachment mounting surface 31a) may be made of a coating layer that covers the ferromagnetic material.

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

[0075] Any of the multiple attachments 2 may be attachable to the first main surface 31 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). More specifically, any of the multiple attachments 2 may be attachable to the first main surface 31 at any position on an imaginary circle HC centered on the central axis C of the first main surface 31. In this case, there is a high degree of freedom in arranging the attachments 2 relative to the first main surface 31.

[0076] 12, the plate 3 has a flat surface 311a to which multiple attachments 2 are attached. Multiple attachments 2 can be attached to the flat surface 311a in a non-engaging manner. When the attachments 2 (e.g., the first attachment 21) are attached in a non-engaging manner, there is a higher degree of freedom in arranging the attachments 2 (e.g., the first attachment 21) compared to when the convex portions (or concave portions) of the attachments 2 (e.g., the first attachment 21) engage with the concave portions (or convex portions) of the attachment mounting surface 31a.

[0077] In the example shown in Fig. 12, the first attachment 21 can be attached to a first position P1 on the attachment mounting surface 31a. In the example shown in Fig. 12, the first attachment 21 can be attached to a second position P2 on the attachment mounting surface 31a. In the example shown in Fig. 12, the angular position of the first position P1 around the central axis C of the attachment mounting surface 31a is the same as the angular position of the second position P2 around the 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 a 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 a second distance L2. In the example shown in FIG. 12, the second distance L2 is greater than the first distance L1. In the example shown in FIG. 12, the first attachment 21 can be mounted at any position on a line segment LS1 connecting the first position P1 and the second position P2.

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

[0080] In the example shown in Fig. 13, the second attachment 22 can be attached to a third position P3 on the attachment mounting surface 31a. In the example shown in Fig. 13, the second attachment 22 can be attached to a fourth position P4 on the attachment mounting surface 31a. In the example shown in Fig. 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 a 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 a fourth distance L4. In the example shown in FIG. 13, the fourth distance L4 is greater than the third distance L3. In the example shown in FIG. 13, the second attachment 22 can be mounted at any position on a line segment LS2 connecting the third position P3 and the fourth position P4.

[0082] (Work W) 1, the workpiece W is a plate-shaped workpiece Wa. More specifically, the 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 made of, for example, a ferromagnetic material that is attracted by the second electromagnet 211b in an energized state. 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 is, 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 is, for example, 5 kg or more, or 10 kg or more. Alternatively, the plate-shaped workpiece Wa may be a lightweight workpiece.

[0085] (Second work W2) 8, the second workpiece W2 is a plate-shaped workpiece Wb. More specifically, the 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, for example, a ferromagnetic material that is attracted by 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] The workpiece W or the second workpiece W2 may be a pipe-shaped workpiece. Fig. 14 shows how a pipe-shaped workpiece Wp is transported using the workpiece transport hand 1A. In the example shown in Fig. 14, the multiple attachments 2 arranged on the plate 3 in the second layout LA2 can adsorb the pipe-shaped workpiece Wp.

[0088] (Work transport device 10A) 15, the workpiece transport device 10A includes a workpiece transport hand 1A and a hand moving device 11 that moves the workpiece transport hand 1A. The workpiece transport hand 1A has already been described, so a repeated description of the workpiece transport hand 1A will be omitted. The workpiece transport device 10A in the first embodiment has the same effects as the workpiece transport hand 1A in the first embodiment.

[0089] (Hand moving device 11) In the example shown in FIGS. 15 and 16, the hand moving device 11 can move the workpiece transport hand 1A three-dimensionally.

[0090] It is preferable that the hand movement device 11 has at least three degrees of freedom. In the example shown in Figures 15 and 16, the hand movement device 11 has a degree of freedom parallel to the vertical direction and two degrees of freedom parallel to the horizontal plane. The hand movement device 11 may also have a degree of freedom of rotation about an axis parallel to the vertical direction.

[0091] In this specification, an axis parallel to the vertical direction is defined as the Z-axis, an axis parallel to a 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 FIG. 15 , the hand moving device 11 includes a Z-axis moving device 111 that moves the workpiece transfer hand 1A in a direction along the Z-axis parallel to the vertical direction. The hand moving device 11 may also include a Y-axis moving device 112 that moves the workpiece transfer 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 transfer 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 rotation device 114 that rotates the workpiece transfer hand 1A around an axis parallel to the Z-axis.

[0092] (1st Platform 12) The workpiece transport device 10A includes a first platform 12 capable of supporting a plurality of workpieces including a first workpiece W1 and a second workpiece W2. The first platform 12 may include a first pallet PT1 on which a plurality of workpieces including the first workpiece W1 and the second workpiece W2 can be placed, and a first support table 121 that supports the plurality of workpieces via the first pallet PT1.

[0093] (Second platform 13a and third platform 13b) The workpiece transportation device 10A may include a second platform 13a that receives the first workpiece W1 transported by the workpiece transport 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 table 131a that supports the first workpiece W1 via the second pallet PT2. In the example shown in FIG. 15, the workpiece transportation device 10A transports the first workpiece W1 from the first platform 12 to the second platform 13a.

[0094] The workpiece transportation device 10A may include a third platform 13b that receives the second workpiece W2 transported by the workpiece transport 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 table 131b that supports the second workpiece W2 via the third pallet PT3. In the example shown in Fig. 16, the workpiece transportation device 10A transports 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 be transported with at least one item (e.g., the first work W1) classified into a first group among multiple workpieces including the first workpiece W1 and the second workpiece W2.

[0096] The third platform 13b (more specifically, the third pallet PT3) may be transported with at least one item (e.g., the second work W2) classified into a second group from among multiple workpieces including the first workpiece W1 and 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 (e.g., one side of the second pallet PT2) and the second workpiece W2 to the other side of the second platform 13a (e.g., the other side of the second pallet PT2).

[0098] (Attachment support device 15) In the example shown in FIGS. 15 and 16, the workpiece transport device 10A includes an attachment support device 15 that supports an attachment 2 that has been removed from the plate 3 out of the multiple attachments 2.

[0099] 2 to 5, the mounting position of the first attachment 21 relative to the plate 3 is changed by moving the workpiece transport hand 1A relative to the first attachment 21 supported by the attachment support device 15. In the example shown in Fig. 2 to 5, there is no need to manually change the mounting position of the first attachment 21. Therefore, the workload on the operator does not increase.

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

[0101] 3, changing the mounting position of the first attachment 21 relative to the plate 3 involves the hand moving device 11 (not shown in FIG. 3) moving the workpiece transport hand 1A in a direction (more specifically, in a vertically upward direction) away from the first attachment 21 supported by the attachment support device 15 (see the dashed arrow AR1 in FIG. 3). By moving the workpiece transport hand 1A in a direction 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 relative to 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 direction (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 relative to the plate 3 involves the hand moving device 11 moving the workpiece transport hand 1A in a direction approaching the first attachment 21 supported by the attachment support device 15 (more specifically, in a vertically downward direction). By moving the workpiece transport hand 1A in a direction approaching the first attachment 21 supported by the attachment support device 15, the first attachment 21 is re-attached to the plate 3. Figure 5 shows the state after the first attachment 21 has been re-attached to the plate 3.

[0104] In this specification, an attachment that has been removed from the plate 3 out of the multiple attachments 2 is defined as a removed attachment 2m.

[0105] As illustrated in Figures 2 and 3, the attachment support device 15 includes a gripping member 151 that grips the detached attachment 2m (e.g., the first attachment 21), and a gripping member moving device 153 that moves 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 detached attachment 2m (for example, the first attachment 21) is placed.

[0107] Additionally, the attachment support device 15 may include an elevator device 157 that moves the gripping member 151 between a lowered position Q3 (see FIG. 2) and an elevated position Q4 (see FIG. 3). In the example shown in FIG. 2, when the gripping member 151 is located at 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 FIG. 3, when the gripping member 151 is located at the elevated position Q4, the gripping member 151 can grip the first attachment 21. In the examples shown in FIGS. 2 and 3, the elevator device 157 moves the gripping member 151 relative to the stand 155 in a direction parallel to the vertical direction.

[0108] 4, the attachment support device 15 is capable of supporting the first attachment 21 detached from the plate 3. In the example shown in FIG. 5, the attachment support device 15 is capable of supporting the second attachment 22 detached from the plate 3. As illustrated in FIGS. 4 and 5, the attachment support device 15 may be capable of selectively supporting the first attachment 21 and the second attachment 22.

[0109] 6, the attachment support device 15 can support the third attachment 23 detached from the plate 3. As illustrated in FIGS. 5 and 6, the attachment support device 15 may be able to selectively support the second attachment 22 and the third attachment 23.

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

[0111] In the second embodiment, differences from the first embodiment will be mainly described. On the other hand, in the second embodiment, repeated descriptions of matters already described in the first embodiment will be omitted. Therefore, it goes without saying that matters already described in the first embodiment can be applied to the second embodiment even if they are not explicitly described in the second embodiment.

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

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

[0114] As illustrated in Fig. 19, a plurality of attachments 2 can be attached to the plate 3 in a first layout LA1. As illustrated in Fig. 21, a plurality of attachments 2 can be reattached to the plate 3 in a second layout LA2 that is different from the first layout LA1.

[0115] Therefore, the workpiece transport hand 1B in the second embodiment has the same effects as the workpiece transport hand 1A in the first embodiment.

[0116] As shown in FIG. 23, a workpiece transport device 10B in the second embodiment includes the above-mentioned workpiece transport hand 1B and a hand moving device 11 that moves the workpiece transport hand 1B.

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

[0118] (Optional configuration) Next, with reference to Figures 1 to 46, optional additional configurations that can be adopted in the work transport hand 1B in the second embodiment (or the work transport device 10B in the second embodiment), or the work transport hand 1A in the first embodiment described above (or the work transport device 10A in the first embodiment described above) will be described.

[0119] (First Attachment 21) In the example shown in FIG. 24, the first attachment 21 includes a first suction portion 210a (more specifically, a first electromagnet 211a) that adsorbs the plate 3, and a second suction portion 210b (more specifically, a second electromagnet 211b) that adsorbs the workpiece.

[0120] In the example shown in FIG. 24, the workpiece transport hand 1B includes cables 291 (more specifically, a first cable 291a and a second cable 291b) that supply electric current (for example, direct current) to the first attachment 21.

[0121] When the first attachment 21 is attached to the plate 3, a 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 detached from the plate 3, the power supply to the first electromagnet 211a is stopped. More specifically, after the first attachment 21 is supported by the attachment support device 15 (see FIG. 15 or FIG. 39), the power supply to the first electromagnet 211a is stopped.

[0122] 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 detached from the first attachment 21, power supply to the second electromagnet 211b is stopped.

[0123] 24, the first attachment 21 includes a first insulator 211c disposed between the first electromagnet 211a and the second electromagnet 211b. The first insulator 211c electrically insulates the first electromagnet 211a from the second electromagnet 211b.

[0124] 24, a first through-hole portion 341h through which the cables 291 (more specifically, a first cable 291a and a second cable 291b) pass is formed in the plate 3. The cables 291 (more specifically, the first cable 291a and the second cable 291b) passing through the first through-hole portion 341h cross 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 portion 341h of the plate 3, the congestion of the wiring is reduced compared to when the cable 291 is arranged to pass outside the outer peripheral edge portion of the plate 3 (see FIG. 9). Also, the possibility that the cable 291 will come into contact with devices other than the workpiece conveyance device 10B is reduced.

[0126] 24, both the first cable 291a and the second cable 291b pass through one and the same first through-hole portion 341h. A bundling region 291c in which the first cable 291a and the second cable 291b are bundled may be arranged to pass through the first through-hole portion 341h.

[0127] 24, when the first attachment 21 is detached from the plate 3, the cables 291 (more specifically, the first cable 291a and the second cable 291b) can be unwound from the first through-hole portion 341h in the first direction DR1. Therefore, when the first attachment 21 is detached from the plate 3, the cables 291 can be easily relaxed.

[0128] 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 in the second direction DR2 from the first through-hole portion 341h. Therefore, when the first attachment 21 is attached to the plate 3, slack in the cables 291 can be easily reduced.

[0129] (1st traction device 421) 25, the workpiece transport hand 1B includes 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. The cable 291 (more specifically, the first cable 291a and the second cable 291b) is pulled by the first traction device 421, thereby reducing slack in the cable 291.

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

[0131] 26, the cables 291 (more specifically, the first cable 291a and the second cable 291b) can be loosened using the first movement device 441. Therefore, the first attachment 21 can be smoothly attached to and detached from the plate 3.

[0132] In the example shown in FIG. 26, the slack in the cables 291 (more specifically, the first cable 291a and the second cable 291b) can be reduced using the first moving device 441. More specifically, the cables 291 can be tensioned using the first moving device 441. In the example shown in FIG. 20, the first attachment 21 can adsorb the workpiece W in a state where the slack in the cables 291 is reduced (more specifically, in a state where the cables 291 are tensioned).

[0133] 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 FIG. 26, a portion of the bundling region 291c in which the first cable 291a and the second cable 291b are bundled may be supported by the movable pulley 431p.

[0134] 26 , the first moving device 441 includes a motor 441m that moves the first support portion 431. The first moving device 441 may include a ball screw 441b that is driven by the motor 441m. Alternatively, the first moving device 441 may include a fluid pressure cylinder that moves the first support portion 431.

[0135] 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, which has been detached from the plate 3, from being lost.

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

[0137] In the example shown in FIG. 24, the workpiece transport hand 1B includes cables 292 (more specifically, a third cable 292a and a fourth cable 292b) that supply electric current (for example, direct current) to the second attachment 22.

[0138] When the second attachment 22 is attached to the plate 3, a 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 detached 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 FIG. 15 or FIG. 40), the power supply to the third electromagnet 221a is stopped.

[0139] 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 detached from the second attachment 22, power supply to the fourth electromagnet 221b is stopped.

[0140] 24, the second attachment 22 includes a second insulator 221c disposed between the third electromagnet 221a and the fourth electromagnet 221b. The second insulator 221c electrically insulates the third electromagnet 221a from the fourth electromagnet 221b.

[0141] 24, a second through-hole portion 342h through which the cables 292 (more specifically, the third cable 292a and the fourth cable 292b) pass is formed in the plate 3. The cables 292 (more specifically, the third cable 292a and the fourth cable 292b) passing through the second through-hole portion 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 portion 342h of the plate 3, the congestion of the wiring is reduced compared to when the cable 292 is arranged to pass outside the outer peripheral edge portion of the plate 3 (see FIG. 9). Also, the possibility that the cable 292 will come into contact with devices other than the workpiece transportation device 10B is reduced.

[0143] 24, both the third cable 292a and the fourth cable 292b pass through one and the same second through-hole portion 342h. A bundling region 292c in which the third cable 292a and the fourth cable 292b are bundled may be arranged to pass through the second through-hole portion 342h.

[0144] 24, when the second attachment 22 is detached from the plate 3, the cables 292 (more specifically, the third cable 292a and the fourth cable 292b) can be unwound from the second through-hole portion 342h in the first direction DR1. Therefore, when the second attachment 22 is detached from the plate 3, the cables 292 can be easily relaxed.

[0145] 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 portion 342h. Therefore, when the second attachment 22 is attached to the plate 3, slack in the cables 292 can be easily reduced.

[0146] (Second traction device 422) 27, the workpiece transport hand 1B includes 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. The cables 292 (more specifically, the third cable 292a and the fourth cable 292b) are pulled by the second traction device 422, thereby reducing slack in the cables 292.

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

[0148] 27, the cables 292 (more specifically, the third cable 292a and the fourth cable 292b) can be loosened using the second movement device 442. Therefore, the second attachment 22 can be smoothly attached to and detached from the plate 3.

[0149] In the example shown in FIG. 27, the slack in the cables 292 (more specifically, the third cable 292a and the fourth cable 292b) can be reduced using the second moving device 442. More specifically, the cables 292 can be tensioned using the second moving device 442. In the example shown in FIG. 20, the second attachment 22 can adsorb the workpiece W in a state in which the slack in the cables 292 is reduced (more specifically, in a state in which the cables 292 are tensioned).

[0150] 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 FIG. 27, a portion of the bundling region 292c in which the third cable 292a and the fourth cable 292b are bundled may be supported by the movable pulley 432p.

[0151] 27, the second movement device 442 includes a motor 442m that moves the second support portion 432. The second movement device 442 may include a ball screw 442b that is driven by the motor 442m. Alternatively, the second movement device 442 may include a fluid pressure cylinder that moves the second support portion 432.

[0152] (Third Attachment 23) 24, the multiple attachments 2 include a third attachment 23. In the example shown in Fig. 24, the third attachment 23 includes a fifth suction portion 230a (more specifically, a fifth electromagnet 231a) that attracts the plate 3, and a sixth suction portion 230b (more specifically, a sixth electromagnet 231b) that attracts the workpiece.

[0153] In the example shown in FIG. 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 FIG. 23, the workpiece transport hand 1B includes a third traction device 423 that pulls the fifth cable 293a and the sixth cable 293b.

[0155] (4th Attachment 24) 24, the multiple attachments 2 include a fourth attachment 24. In the example shown in FIG. 24, the fourth attachment 24 includes a seventh suction portion 240a (more specifically, a seventh electromagnet 241a) that suctions the plate 3, and an eighth suction portion 240b (more specifically, an eighth electromagnet 241b) that suctions the workpiece. In the example shown in FIG. 24, the workpiece transport hand 1B includes a seventh cable 294a that supplies current to the seventh electromagnet 241a, and an eighth cable 294b that supplies current to the eighth electromagnet 241b.

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

[0157] (5th Attachment 25) 25, the multiple attachments 2 include a fifth attachment 25. In the example shown in FIG. 25, the fifth attachment 25 includes a ninth suction portion 250a (more specifically, a ninth electromagnet 251a) that suctions the plate 3, and a tenth suction portion 250b (more specifically, a tenth electromagnet 251b) that suctions the workpiece. In the example shown in FIG. 25, the workpiece transport hand 1B includes a ninth cable 295a that supplies current to the ninth electromagnet 251a, and a tenth cable 295b that supplies current to the tenth electromagnet 251b.

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

[0159] (6th Attachment 26) 21, the multiple attachments 2 include a sixth attachment 26. In the example shown in FIG. 21, the sixth attachment 26 includes an eleventh suction portion 260a (more specifically, an eleventh electromagnet 261a) that suctions the plate 3, and a twelfth suction portion 260b (more specifically, a twelfth electromagnet 261b) that suctions the workpiece. In the example shown in FIG. 21, the workpiece transport hand 1B includes an eleventh cable 296a that supplies current to the eleventh electromagnet 261a, and a twelfth cable 296b that supplies current to the twelfth electromagnet 261b.

[0160] (6th traction device 426) In the example shown in FIG. 23, the workpiece transport hand 1B includes a sixth traction device 426 that pulls the eleventh cable 296a and the twelfth cable 296b.

[0161] (7th Attachment 27) 25, the multiple attachments 2 include a seventh attachment 27. In the example shown in FIG. 25, the seventh attachment 27 includes a thirteenth suction portion 270a (more specifically, a thirteenth electromagnet 271a) that suctions the plate 3, and a fourteenth suction portion 270b (more specifically, a fourteenth electromagnet 271b) that suctions the workpiece. In the example shown in FIG. 25, the workpiece transport hand 1B includes a thirteenth cable 297a that supplies current to the thirteenth electromagnet 271a, and a fourteenth cable 297b that supplies current to the fourteenth electromagnet 271b.

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

[0163] (8th Attachment 28) 22, the multiple attachments 2 include an eighth attachment 28. In the example shown in FIG. 22, the eighth attachment 28 includes a fifteenth suction portion 280a (more specifically, a fifteenth electromagnet 281a) that suctions the plate 3, and a sixteenth suction portion 280b (more specifically, a sixteenth electromagnet 281b) that suctions the workpiece. In the example shown in FIG. 22, the workpiece transport hand 1B includes a fifteenth cable 298a that supplies current to the fifteenth electromagnet 281a, and a sixteenth cable 298b that supplies current to the sixteenth electromagnet 281b.

[0164] (8th traction device 428) In the example shown in FIG. 25, the workpiece transport hand 1B includes an eighth traction device 428 that pulls the fifteenth cable 298a and the sixteenth cable 298b.

[0165] (Number of attachments 2) In the example shown in Fig. 17, the number of attachments 2 that can be attached to the plate 3 and that can adsorb workpieces is eight. Alternatively, the number of attachments 2 may be three, four, five, six, seven, nine, or ten. Still alternatively, the number of attachments 2 may be 11 or more and 20 or less, or 21 or more and 30 or less. Still alternatively, the number of attachments 2 may be 31 or more.

[0166] (Fixed suction part 510) 17, the workpiece transport hand 1B may include a fixed suction portion 510 that can suck and hold the workpiece W. The fixed suction portion 510 is fixed to the plate 3 at all times.

[0167] When the workpiece transport hand 1B is provided with the fixed suction portion 510 that is always fixed to the plate 3, the time required to change the layout of the multiple suction portions is reduced compared to when all of the suction portions are arranged on the attachments 2. For example, the multiple attachments 2 may be attached around the fixed suction portion 510, with the position of the fixed suction portion 510 as a reference.

[0168] 17, the fixed suction portion 510 is disposed in the center of the plate 3. More specifically, the fixed suction portion 510 is disposed on the central axis C2 of the plate support device 4 that supports the plate 3.

[0169] 25, the fixed attracting portion 510 is an electromagnet 510a (in other words, a fixed electromagnet) that attracts the workpiece W. In this case, the workpiece transport hand 1B includes a cable 511 that supplies power to the electromagnet 510a.

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

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

[0172] 28, an attachable region RG1 to which any one of a plurality of attachments can be attached may be provided around the central region RG2 of the plate 3. The attachable region RG1 to which any one of a plurality of attachments can be attached may be present continuously over 360 degrees around the central region RG2 of the plate 3.

[0173] (movable suction part 530) As illustrated in FIG. 25, the workpiece transport hand 1B may be equipped with a movable suction part 530 capable of suctioning other workpieces (for example, a small workpiece Ws smaller than the first workpiece W1), and a suction part moving device 535.

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

[0175] The attraction part moving device 535 moves the movable attraction part 530 (for example, the electromagnet 530a) between a retracted position Q5 (see FIG. 29) and an advanced position Q6 (see FIG. 30).

[0176] 30, the movable suction part 530 can release the small workpiece Ws when it is located at the advancing position Q6. In the example shown in FIG. 30, the small workpiece Ws released from the movable suction part 530 is stacked on top of the workpiece W. In the example shown in FIG. 30, because the movable suction part 530 is located at the advancing position Q6, the attachment 2 does not interfere with the workpiece W when the small workpiece Ws is stacked on top of the workpiece W.

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

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

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

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

[0181] 29 , the adsorption unit moving device 535 may include a fluid pressure cylinder 535s that moves the movable adsorption unit 530. Alternatively, the adsorption unit moving device 535 may include a motor that moves the movable adsorption unit 530.

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

[0183] (Traction device 56) 29 and 30, the workpiece transport hand 1B includes a traction device 56 that traction the cable 532. When the cable 532 is pulled by the traction device 56, the slack in the cable 532 is reduced.

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

[0185] 29 and 30, the movement device 562 can be used to reduce slack in the cable 532. More specifically, the movement device 562 can be used to tighten the cable 532.

[0186] 29 and 30, the moving device 562 includes a motor 562m that moves the support portion 561 (more specifically, the movable pulley 561p). The moving device 562 may include a ball screw 562b that is driven by the motor 562m. Alternatively, the moving device 562 may include a fluid pressure cylinder that moves the support portion 561.

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

[0188] (Attachment support device 15) In the example shown in FIG. 32, the workpiece transport device 10B includes an attachment support device 15 that supports an attachment 2 that has been detached from the plate 3 out of the multiple attachments 2.

[0189] In the example shown in FIG. 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 that moves 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 that moves the first gripping member 151a between a lowered position and an elevated position. As illustrated in FIG. 34 , the first lifting device 157a may include a fluid pressure cylinder 1570a that raises and lowers the first gripping member 151a. Alternatively, the first lifting device 157a may include a motor that raises and lowers 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 direction.

[0191] 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 that moves 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 that moves 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 direction.

[0193] 32 and 33, the attachment support device 15 includes a first support device 15a capable of supporting the first attachment 21 detached from the plate 3, and a second support device 15b capable of supporting the second attachment 22 detached from the plate 3. The mounting position of the first attachment 21 on the plate 3 is changed by moving the workpiece transport hand 1B relative to the first attachment 21 supported by the first support device 15a. Furthermore, the mounting position of the second attachment 22 on the plate 3 is changed by moving the workpiece transport hand 1B relative to the second attachment 22 supported by the second support device 15b.

[0194] 32 and 33, the attachment support device 15 has a plurality of support devices including a first support device 15a and a second support device 15b. In this case, when the mounting positions of a plurality of attachments 2 are changed, the relative movement distance of the plate 3 with respect to the attachment support device 15 can be short. For example, if the first support device 15a is used to remove the first attachment 21 from the plate 3 and reattach the first attachment 21 to the plate 3, and then the second support device 15b is used to remove the second attachment 22 from the plate 3 and reattach the second attachment 22 to the plate 3, the relative movement distance of the plate 3 with respect to the attachment support device 15 can be short.

[0195] 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 that moves 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 that moves 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] 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 support devices whose number is equal to or greater than the number of attachments 2. For example, when the number of attachments 2 included in the workpiece transport hand 1B that can adsorb the plate 3 is "N1" (note that "N1" is any natural number equal to or greater than 3), the attachment support device 15 may include "N1" or more support devices. In this case, when the workpiece transport hand 1B is not in use, the attachment support device 15 can support all of the attachments 2 that have been detached from the plate 3.

[0198] Alternatively, the number of support devices included 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] 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 FIG. 32, most of the first support device 15a and most of the second support device 15b are disposed in an internal space SP defined by the outer frame 16. In this case, the amount by which the first support device 15a protrudes upward from the outer frame 16 and the amount by which the second support device 15b protrudes upward from the outer frame 16 can be small. This prevents unintended interference between each of the multiple attachments 2 attached to the plate 3 and each of the first support devices 15a and second support devices 15b.

[0200] 33, the outer frame 16 includes a first side wall 161 and a second side wall 162 facing the first side wall 161. In the example shown in FIG. 33, a first support device 15a is disposed near the first side wall 161, and a second support device 15b is disposed near the second side wall 162. The first support device 15a, a third support device 15c, and a fifth support device 15e may be disposed along the first side wall 161. The second support device 15b, a fourth support device 15d, and a sixth support device 15f may be disposed 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 0.8 to 1 times the width L6 of the plate 3 (see FIG. 36).

[0202] 32, the shape of the inner peripheral edge of the outer frame 16 may be substantially similar to the shape of the outer peripheral edge of the plate 3. The size of the inner peripheral edge of the outer frame 16 may be larger than the size of the outer peripheral edge of the plate 3.

[0203] 32 to 35, the mounting position of the first attachment 21 relative to the plate 3 is changed by moving the workpiece transport hand 1B relative to the first attachment 21 (see FIG. 35) supported by the attachment support device 15. In the example shown in FIGS. 32 to 35, there is no need to manually change the mounting position of the first attachment 21. Therefore, the workload on the operator does not increase.

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

[0205] As illustrated in Fig. 36, the plate 3 has an attachment mounting surface 31a to which a plurality of attachments 2 are attached. In the example shown in Fig. 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 Fig. 36, the first main surface 31 includes the attachment mounting surface 31a.

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

[0207] 36, the above-mentioned attachable region RG1 exists continuously over 360 degrees around the central axis C of the attachment attachment surface 31a (or around the central axis C of the first main surface 31). In this case, there is a higher degree of freedom in arranging the attachment 2 compared to when the attachable region RG1 exists discretely around the central axis C of the attachment attachment surface 31a.

[0208] 36, the plate 3 has a flat surface 311a to which a plurality of attachments 2 can be attached. The plurality of attachments 2 can be attached to the flat surface 311a in a non-engagement manner.

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

[0210] As illustrated in Fig. 23, the plate 3 may include a reinforcing member 35. More specifically, a reinforcing member 35 that reinforces the plate 3 may be attached to the rear surface 33 of the plate 3. The reinforcing member 35 suppresses deflection of the plate 3. In the example illustrated in Fig. 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) 23, the plate support device 4 is attached to a central region of the rear surface 33 of the plate 3. In the example shown in FIG. 23, the plate support device 4 extends in a direction perpendicular to the plate 3. In the example shown in FIG. 23, the plate support device 4 has a roughly columnar shape.

[0212] The plate support device 4 may include a mounting plate 42 disposed along the rear surface 33 of the plate 3. The mounting plate 42 is attached to the plate 3 via a plurality of bolts BT2 (see FIG. 36). The mounting plate 42 may support the above-mentioned first traction device 421. FIG. 23 shows the state in which the above-mentioned fourth traction device 424 is attached to the mounting plate 42.

[0213] In the example shown in FIG. 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] (Work transport device 10B) As illustrated in Fig. 23, the hand moving device 11 may include an articulated robot 11a. In the example illustrated in Fig. 23, a workpiece transport hand 1B is attached to a distal arm 115a of the articulated robot 11a.

[0215] 23, the articulated robot 11a includes a plurality of arms AM, a plurality of joints JT, and a plurality of arm driving devices (e.g., a plurality of motors MT that move the plurality of joints JT) that move the plurality of joints JT. The articulated robot 11a has, for example, at least six rotation axes.

[0216] As illustrated in Fig. 32, the hand movement device 11 may include a robot movement device 11b that moves the entire articulated robot 11a. The robot movement device 11b moves the articulated robot 11a in a direction parallel to a horizontal plane. In the example illustrated in Fig. 32, the robot movement device 11b moves the articulated robot 11a in a direction along the X-axis that is parallel to a horizontal plane.

[0217] (1st Platform 12) 32, the workpiece transport device 10B includes a first platform 12 capable of supporting a plurality of workpieces including a first workpiece W1 and a second workpiece W2. The first platform 12 may include a first pallet PT1 on which a plurality of workpieces including the first workpiece W1 and the second workpiece W2 can be placed, and a first support table 121 that supports the plurality of workpieces via the first pallet PT1.

[0218] The first support stand 121 may be equipped with a pallet moving device 121b that moves a pallet (for example, the first pallet PT1). In the example shown in Fig. 32, the pallet moving device 121b moves the first pallet PT1 in a direction parallel to the horizontal plane. In the example shown in Fig. 32, the pallet moving device 121b moves the first pallet PT1 in a direction along the X-axis that is 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 work 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 work 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 work 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) 32, the workpiece transport device 10B may include a second platform 13a that receives the workpiece W (e.g., the first workpiece W1) transported by the workpiece transport hand 1B. The second platform 13a may include a second pallet PT2 on which the workpiece W (e.g., the first workpiece W1) can be placed, and a second support table 131a that supports the workpiece W (e.g., the first workpiece W1) via the second pallet PT2.

[0223] In the example shown in FIG. 32, the workpiece transport device 10B can transport the workpiece W (for example, the first workpiece W1) from the first platform 12 to the second platform 13a.

[0224] The workpiece transport device 10B may include a third platform 13b that receives the workpiece W transported by the workpiece transport hand 1B. The third platform 13b may include a third pallet PT3 on which the workpiece W can be placed, and a third support table 131b that supports the workpiece W via the third pallet PT3.

[0225] In the example shown in FIG. 32, the workpiece transport device 10B can transport the workpiece W from the first platform 12 to the third platform 13b.

[0226] The workpiece transport device 10B may include a fourth platform 13c that receives the workpiece W transported by the workpiece transport hand 1B.

[0227] (Work W) The workpiece W (e.g., first workpiece W1) is, for example, a plate-shaped workpiece Wa. More specifically, the attachments 2 arranged on the plate 3 in the first layout LA1 are capable of adsorbing the plate-shaped workpiece Wa. The workpiece W has already been described in the first embodiment, so 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 multiple child parts PD are connected via weakened regions J. In other words, the workpiece W (e.g., the first workpiece W1) may be divisible into multiple child parts PD. In the example illustrated in FIG. 37, multiple slits SL are formed in the workpiece W (e.g., the first workpiece W1). The second electromagnet 211b (see FIG. 19) of the first attachment 21 can preferably attract the workpiece W (e.g., the first workpiece W1) regardless of the presence or absence of the slits SL.

[0229] (Second work W2) The second workpiece W2 is, for example, a second plate-shaped workpiece Wb. The attachments 2 arranged on the plate 3 in the second layout LA2 are capable of adsorbing the second plate-shaped workpiece Wb. The second workpiece W2 has already been described in the first embodiment, so a 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 weakened regions, i.e., the second workpiece W2 may be divisible into a plurality of sub-components.

[0231] (Third Work W3) In the example shown in Fig. 22, the attachments 2 can be reattached to the plate 3 in a third layout LA3 that is different from the first layout LA1 and the second layout LA2. The attachments 2 arranged on the plate 3 in the third layout LA3 can adsorb a third workpiece W3 (see Fig. 32). In the example shown 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 made of, for example, a ferromagnetic material that is 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] (Power supply device 6) 38, when the first attachment 21 includes the first electromagnet 211a and / or the second electromagnet 211b, the workpiece transportation device 10B includes a power supply device 6 that supplies current to the first electromagnet 211a and / or the second electromagnet 211b. Alternatively, when the first attachment 21 includes a vacuum suction portion, the workpiece transportation device 10B includes a vacuum pump that sucks air from the vacuum suction portion of the first attachment 21.

[0234] 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). Also, the power supply device 6 can 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 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 be capable of supplying current to the fifth attachment 25 (more specifically, the ninth electromagnet 251a and / or the tenth electromagnet 251b). 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 be capable of supplying current to the seventh attachment 27 (more specifically, the thirteenth electromagnet 271a and / or the fourteenth electromagnet 271b). The power supply device 6 may also be capable of supplying current to the eighth attachment 28 (more specifically, the fifteenth electromagnet 281a and / or the sixteenth electromagnet 281b).

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

[0239] (Control device 7) 38, the workpiece transport device 10B includes a control device 7 that controls the hand moving 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 power supply device 6 to control the suction operation of each of the multiple attachments 2.

[0240] For example, the control device 7 can control the power supply device 6 to supply current to the first electromagnet 211a of the first attachment 21. When current is supplied to the first electromagnet 211a, the first electromagnet 211a is excited. When the first electromagnet 211a is excited, the first electromagnet 211a of the first attachment 21 is attracted to the plate 3. Furthermore, the control device 7 can control the power supply device 6 to stop supplying current to the first electromagnet 211a of the first attachment 21. 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 to supply current to the second electromagnet 211b of the first attachment 21. By supplying current to the second electromagnet 211b, the second electromagnet 211b is excited. By exciting the second electromagnet 211b, the second electromagnet 211b of the first attachment 21 attracts the workpiece W. Furthermore, the control device 7 can control the power supply device 6 to stop supplying current to the second electromagnet 211b of the first attachment 21. By stopping the supply of current to the second electromagnet 211b, the second electromagnet 211b is demagnetized. By demagnetizing the second electromagnet 211b, the workpiece W is released from the first attachment 21.

[0242] For example, the control device 7 can control the power supply device 6 to supply current to the third electromagnet 221a of the second attachment 22. By supplying current to the third electromagnet 221a, the third electromagnet 221a is excited. By exciting the third electromagnet 221a, the third electromagnet 221a of the second attachment 22 is attracted to the plate 3. Furthermore, the control device 7 can control the power supply device 6 to stop supplying current to the third electromagnet 221a of the second attachment 22. By stopping the supply of current to the third electromagnet 221a, the third electromagnet 221a is demagnetized. By demagnetizing the third electromagnet 221a, the second attachment 22 is released from the plate 3.

[0243] For example, the control device 7 can control the power supply device 6 to supply current to the fourth electromagnet 221b of the second attachment 22. By supplying current to the fourth electromagnet 221b, the fourth electromagnet 221b is excited. By exciting the fourth electromagnet 221b, the fourth electromagnet 221b of the second attachment 22 attracts the workpiece W. Furthermore, the control device 7 can control the power supply device 6 to stop the supply of current to the fourth electromagnet 221b of the second attachment 22. By stopping the supply of current to the fourth electromagnet 221b, the fourth electromagnet 221b is demagnetized. By demagnetizing the fourth electromagnet 221b, 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 device 7, or multiple computers may work together to function as the control device 7. For example, the control device 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 FIG. 38, the control device 7 includes 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 one another via a bus 78. In the example shown in FIG. 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 a button, a switch, a lever, a pointing device, 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, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, a magnetic disk, or any other type of memory.

[0248] The memory 72 stores data DT and a program PM. The processor 70 of the control device 7 executes the program PM stored in the memory 72, causing the control device 7 to generate a control command. The communication circuit 74 transmits the control command to the controlled device (more specifically, the hand movement device 11, the power supply device 6, the attachment support device 15, etc.). In this way, the processor 70 executes the program PM, allowing the control device 7 to control the controlled device (more specifically, the hand movement device 11, the power supply device 6, the attachment support device 15, etc.).

[0249] (First position change mode M1-1) 3 or 39, the control device 7 can execute a first position change mode M1-1 by controlling the hand movement device 11 and the attachment support device 15. The first position change mode M1-1 is a mode in which the attachment position of the first attachment 21 relative to the plate 3 is changed with the second attachment 22 attached to the plate 3. In the example shown in FIG. 39, the first position change mode M1-1 includes changing the attachment position of the first attachment 21 relative to the plate 3 from the first attachment position T1 to the second attachment position T2.

[0250] 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 sending a first movement command from the control device 7 to the hand movement device 11 so that the first attachment 21 moves to a position opposite the attachment support device 15 (more specifically, the first support device 15a).

[0252] The first position change mode M1-1 may include transmitting a first lift 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 lowered position to the raised position. Note that if the gripping member 151 cannot be raised, the transmission of the first lift 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 driving device 153a) so that the first attachment 21 is gripped by the gripping member 151 (more specifically, the first gripping member 151a). Furthermore, the first position change mode M1-1 may include transmitting a first demagnetization command from the control device 7 to the power feeding device 6 so that the first electromagnet 211a is demagnetized after the first attachment 21 is gripped by the gripping member 151 (more specifically, the first gripping member 151a).

[0254] The first position change mode M1-1 may include sending 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 feeding device 6 so as to excite the first electromagnet 211a after the second mounting position T2 on the plate 3 has moved to a position facing the first attachment 21. The first position change mode M1-1 may include transmitting a first grip release command from the control device 7 to the gripping member moving device 153 (more specifically, the first driving device 153a) so as to release the grip of the first attachment 21 by the gripping member 151 (more specifically, the first gripping member 151a) after the second mounting position T2 on the plate 3 has moved to a position facing the first attachment 21.

[0256] The first position change mode M1-1 may include transmitting a first lowering 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 after the first attachment 21 is attached to the second attachment position T2 on the plate 3. Note that if the gripping member 151 cannot be lowered, the transmission of the first lowering command is omitted.

[0257] (Second position change mode M1-2) 5 or 40, the control device 7 can execute the second position change mode M1-2 by controlling the hand movement device 11 and the attachment support device 15. The second position change mode M1-2 is a mode in which the attachment position of the second attachment 22 with respect to the plate 3 is changed while the first attachment 21 is attached to the plate 3. In the example shown in FIG. 40, the second position change mode M1-2 includes changing the attachment position of the second attachment 22 with respect to the plate 3 from the third attachment position T3 to the fourth attachment position T4.

[0258] 40, the second position change mode M1-2 may be executed in a state where the third attachment 23 is attached to the plate 3. As illustrated in FIG. 40, the second position change mode M1-2 may be executed in a state where the fourth attachment 24 is attached to the plate 3.

[0259] The second position change mode M1-2 may include sending a third movement command from the control device 7 to the hand movement device 11 so that the second attachment 22 moves to a position opposite the attachment support device 15 (more specifically, the second support device 15b).

[0260] The second position change mode M1-2 may include transmitting a second lift 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 lowered position to the raised position. Note that if the gripping member 151 cannot be raised, the transmission of the second lift command is omitted.

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

[0262] The second position change mode M1-2 may include sending a fourth movement command from the control device 7 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 transmitting a second excitation command from the control device 7 to the power feeding device 6 so as to excite the third electromagnet 221a after the fourth mounting position T4 on the plate 3 has moved to a position facing the second attachment 22. The second position change mode M1-2 may include transmitting a second grip release command from the control device 7 to the gripping member moving device 153 (more specifically, the second driving device 153b) so as to release the grip of the second attachment 22 by the gripping member 151 (more specifically, the second gripping member 151b) after the fourth mounting position T4 on the plate 3 has moved to a position facing the second attachment 22.

[0264] The second position change mode M1-2 may include transmitting a second lowering command from the control device 7 to the lifting device 157 (more specifically, the second lifting device 157b) so that the gripping member 151 (more specifically, the second gripping member 151b) moves from the raised position to the lowered position after the second attachment 22 is attached to the fourth attachment position T4 on the plate 3. Note that if the gripping member 151 cannot be lowered, the transmission of the second lowering 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 that changes the mounting position of the third attachment 23 relative to the plate 3 when 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 execute a layout change mode M1 using the hand movement device 11 and the attachment support device 15 to change the layout of multiple attachments 2 from a first layout LA1 to a second layout LA2.

[0267] The layout change mode M1 includes the above-mentioned first position change mode M1-1 and the above-mentioned second position change mode M1-2.The layout change mode M1 may also include the above-mentioned third position change mode M1-3.

[0268] In this specification, when changing the layout of multiple attachments 2 attached to a plate 3 from a first layout LA1 to a second layout LA2, the number of attachments 2 whose attachment positions on the plate 3 need to be changed is defined as "N".

[0269] The layout change mode M1 may include sending control commands from the control device 7 to the hand movement device 11, the power supply device 6, and the attachment support device 15 so that the positions of multiple attachments 2 attached to the plate 3 are changed in sequence.

[0270] More specifically, when "K" is defined as any natural number smaller than "N", the layout change mode M1 may include sending control commands from the control device 7 to the hand movement device 11, the power supply device 6, and the attachment support device 15 so that after the attachment position of the "K"th attachment 2 on the plate 3 is changed, the attachment 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 the plate 3 can be changed by removing the "K"th attachment 2 from the plate 3 and re-mounting the "K"th attachment 2 on the plate 3. The mounting position of the "K+1"th attachment 2 on the plate 3 can be changed by removing the "K+1"th attachment 2 from the plate 3 and re-mounting the "K+1"th attachment 2 on the plate 3.

[0272] 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 fits the shape of the first workpiece W1 to a second layout LA2 that fits the shape of the second workpiece W2 based on CAD data (computer-aided design data) including shape data of the first workpiece W1 and shape data of the second workpiece W2.

[0273] Alternatively, the layout change mode M1 may include changing the layout of the multiple attachments 2 relative to the plate 3 from a first layout LA1 that fits the shape of the first workpiece W1 to a second layout LA2 that fits the shape of the second workpiece W2, based on instructions from the user. For example, in response to the user specifying re-attachment positions of the multiple attachments 2 on the display 77 of the control device 7, the layout of the multiple attachments 2 relative to the plate 3 may be changed from the first layout LA1 that fits the shape of the first workpiece W1 to the second layout LA2 that fits the shape of the second workpiece W2.

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

[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] 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 the sorting mode M3, the plurality of workpieces W may be sorted into a small-sized group and a large-sized group.

[0278] In the example shown in FIG. 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 FIG. 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 FIG. 41, the first workpiece W1, the second workpiece W2, and the third workpiece W3 are classified into a 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 FIG. 41, the fourth workpiece W4 and the fifth workpiece W5 are classified into a 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] The sorting mode M3 may include transporting at least one workpiece (e.g., the first workpiece W1) classified into a first group among the 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 moving device 11. The sorting mode M3 may also include transporting at least one workpiece (e.g., the second workpiece W2, the third workpiece W3) classified into a second group among the 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 moving device 11.

[0281] The 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 among the plurality of workpieces W from the first platform 12 to the second platform 13a (e.g., second pallet PT2) using the hand moving device 11. The sorting mode M3 may also include transporting at least one workpiece (e.g., fourth workpiece W4, fifth workpiece W5) classified into a fourth group among the plurality of workpieces W from the first platform 12 to the third platform 13b (e.g., third pallet PT3) using the hand moving device 11.

[0282] In the example shown in FIG. 41, the first platform 12 supports a plurality of workpieces including a first workpiece W1 classified into a first group and a second workpiece W2 classified into a second group.

[0283] 42, the sorting mode M3 includes using the hand moving device 11 to transport the first workpiece W1 from the first platform 12 to the first sorting area SR1 while the first workpiece W1 is being adsorbed by a plurality of attachments 2 attached to the plate 3 in the first layout LA1. In the example shown in FIG. 43, the first sorting area SR1 is an area on the second platform 13a (more specifically, one side portion 1311a of the second platform 13a). The transport of the first workpiece W1 may be performed while the first workpiece W1 is being adsorbed by the plurality of attachments 2 and the fixed adsorption unit 510 (see FIG. 19).

[0284] 39 and 40, the sorting mode M3 includes changing the layout of the 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. More specifically, the sorting mode M3 includes multiple position change modes including a first position change mode M1-1 and a second position change mode M1-2. Because the first position change mode M1-1 and the second position change mode M1-2 have already been described, repeated description 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 FIG. 43, the sorting mode M3 includes transporting the second workpiece W2 from the first platform 12 to the second sorting area SR2 using the hand moving device 11 while the second workpiece W2 is being adsorbed by a plurality of attachments 2 attached to the plate 3 in the second layout LA2. In the example shown in FIG. 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 while the second workpiece W2 is being adsorbed by a plurality of attachments 2 and the fixed adsorption unit 510 (see FIG. 21).

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

[0287] 44 and 45, the sorting mode M3 includes using the hand moving device 11 to transport the third workpiece W3 onto the first workpiece W1 or the second workpiece W2 while the third workpiece W3 is being adsorbed by the multiple attachments 2 attached to the plate 3 in the third layout LA3. By stacking the third workpiece W3 on the first workpiece W1 or the second workpiece W2, the area occupied by the multiple workpieces W can be reduced. The transportation of the third workpiece W3 may be performed while the third workpiece W3 is being adsorbed by the multiple attachments 2 and the fixed adsorption unit 510 (see FIG. 22).

[0288] As illustrated in FIG. 46, sorting mode M3 may include using the hand moving device 11 to transport the small work Ws onto the first work W1 or the second work W2 while the small work Ws is adsorbed by the movable adsorption portion 530 (more specifically, the electromagnet 530a of the movable adsorption portion 530).

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

[0290] In the third embodiment, differences from the first and second embodiments will be mainly described. On the other hand, in the third embodiment, repeated descriptions of matters already described in the first or second embodiment will be omitted. Therefore, it goes without saying that matters already described in the first or second embodiment can be applied to the third embodiment, even if they are not explicitly described in the third embodiment.

[0291] As illustrated in FIG. 47, a laser processing system 100 according to the third embodiment includes a laser processing device 101 and a workpiece transport device 10.

[0292] As illustrated in FIG. 48, the laser processing device 101 forms a plurality of workpieces W including a first workpiece W1 and a second workpiece W2 from the original workpiece RW by irradiating the original workpiece RW with a laser beam LB.

[0293] 47, the work transport device 10 includes a work transport hand 1 and a hand moving device 11 that moves the work transport hand 1. The work transport device 10 transports multiple workpieces W. As illustrated in FIG. 1 or FIG. 20, the work transport hand 1 includes multiple attachments 2 including a first attachment 21 that can pick up a first workpiece W1 and a second attachment 22 that can pick up the first workpiece W1, and a plate 3 to which the multiple attachments 2 are attached.

[0294] The work transport device 10 may be the work transport device 10A in the first embodiment, the work transport device 10B in the second embodiment, or another work transport device. The work transport hand 1 may be the work transport hand 1A in the first embodiment, the work transport hand 1B in the second embodiment, or another work transport hand. The work transport hand 1A in the first embodiment, the work transport device 10A in the first embodiment, the work transport hand 1B in the second embodiment, and the work transport device 10B in the second embodiment have already been explained, so repeated explanations of these will be omitted.

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

[0296] As illustrated in Fig. 2 or 19, a plurality of attachments 2 can be attached to the plate 3 in a first layout LA1. As illustrated in Fig. 7 or 21, a plurality of 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 achieves the same effects as the work transport hand 1A in the first embodiment, the work transport device 10A in the first embodiment, the work transport hand 1B in the second embodiment, or the work transport device 10B in the second embodiment.

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

[0299] (Laser processing device 101) In the example shown in FIG. 48, the laser processing device 101 includes a laser irradiation device 102 having a laser head 102a, a head moving device 103 that moves the laser head 102a, and a workpiece supporting device 106.

[0300] In the example shown in FIG. 48, the workpiece supporting device 106 supports a workpiece (for example, an original workpiece RW) via a pallet (for example, a 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 direction. 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 Fig. 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 workpiece RW is processed by the laser emitted from the laser head 102a, to a second area LR2 accessible to the workpiece transport hand 1. In the example shown in Fig. 47, the pallet moving device 121b moves the first pallet PT1 in a direction parallel to the horizontal plane. In the example shown in Fig. 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 moving device 11) As illustrated in Fig. 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 that moves the articulated robot 11a. In the example shown in Fig. 32, the robot moving device 11b can move the articulated robot 11a in a direction along the X-axis parallel to a horizontal plane. Alternatively, as illustrated in Fig. 15, the hand moving device 11 may include a portal frame 11m that supports the workpiece transport hand 1, and a moving device (e.g., an X-axis moving device 113) that moves the portal frame 11m.

[0304] (Attachment support device 15) The laser processing system 100 may include an attachment support device 15 that supports an attachment 2 that has been detached from the plate 3, among the multiple attachments 2. The attachment support device 15 has already been described in the first or second embodiment, and therefore a description of the attachment support device 15 will be omitted.

[0305] (First platform 12, second platform 13a, third platform 13b) The laser processing system 100 may include a first platform 12. The laser processing system 100 may 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 already been described in the first embodiment or the 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 already been described in the second embodiment, a description of the power supply device 6 and the control device 7 will be omitted.

[0307] The present invention is not limited to the above-described embodiments or modifications, 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, various techniques used in each embodiment or modification can be applied to other embodiments or modifications as long as no technical contradiction occurs. Furthermore, optional additional configurations in each embodiment or modification can be omitted as appropriate. [Explanation of symbols]

[0308] 1, 1A, 1B... workpiece transport hand, 2... attachment, 2f... end surface, 2m... removed attachment, 3... plate, 3e... outer periphery, 4... plate support device, 6... power supply device, 7... control device, 10, 10A, 10B... workpiece transport device, 11... hand movement device, 11a... articulated robot, 11b... robot movement device, 11m... portal 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 portion, 31...first main surface, 31a...attachment mounting surface, 33...back surface, 35...reinforcing member, 41...mounting portion, 42...mounting plate, 54...guide member, 56... Traction device, 70...processor, 72...memory, 74...communication circuit, 76...input device, 76t...touch panel, 77...display, 78...bus, 100...laser processing system, 101...laser processing device, 102...laser irradiation device, 102a...laser head, 103...head moving device, 103a...Z-axis moving device, 103b...Y-axis moving device, 103c...X-axis moving device, 106...workpiece support device, 111...Z-axis moving device, 112...Y-axis moving device, 113...X-axis moving device, 114...rotation device, 115a...tip arm, 121...first support base, 121b...pallet moving device 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 portion, 210b...second suction portion,211a...first electromagnet, 211b...second electromagnet, 211c...first insulator, 220a...third suction portion, 220b...fourth suction portion, 221a...third electromagnet, 221b...fourth electromagnet, 221c...second insulator, 230a...fifth suction portion, 230b...sixth suction portion, 231a...fifth electromagnet, 231b...sixth electromagnet, 240a...seventh suction portion, 240b...eighth suction portion, 241a...seventh electromagnet, 241b...eighth electromagnet, 250a...ninth suction portion, 250b...tenth suction portion, 251a...ninth electromagnet, 251b...tenth electromagnet, 260a...eleventh suction portion, 260b...twelfth suction portion, 26 1a...11th electromagnet, 261b...12th electromagnet, 270a...13th suction portion, 270b...14th suction portion, 271a...13th electromagnet, 271b...14th electromagnet, 280a...15th suction portion, 280b...16th suction portion, 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...first through-hole portion, 342h...second through-hole portion, 421...first traction device, 422...second traction device, 423...third traction device, 424...fourth traction device, 425...fifth traction device, 426...sixth traction device, 427...seventh traction device, 428...eighth traction device, 431...first support portion, 431 p...movable pulley, 432...second support part, 432p...movable pulley, 433...third support part, 441...first movement device, 441b...ball screw, 441m...motor, 442...second movement device, 442b...ball screw, 442m...motor, 443...third movement 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 surface, 532...cable, 535...suction part movement device, 535s...fluid pressure cylinder,551...guide rod, 553...block, 561...support part, 561p...moving pulley, 562...moving device, 562b...ball screw, 562m...motor, 1311a...one side part, 1312a...other side part, 1570a...fluid pressure cylinder, AM...arm, BT1...bolt, BT2...bolt, C...central axis of attachment mounting surface, C1...centroid of attachment mounting surface, C2...central axis of plate support device, C3...central axis of movable suction part ,DR1...first direction, DR2...second direction, DT...data, HC...virtual circle, J...weakened 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...first position, P2...second position, P3...third position, P4...fourth position, PD...child part, PM...program, PT1...first pallet, PT2...second pallet, PT3...third pallet, Q1...open position, Q2...close position, Q3...lower position, Q4...upper position, Q5...retract position, Q6...advance position, Q7...intermediate position, RG1...mountable area, RG2...center area, R W...raw 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 workpiece transport device for removing and transporting a plurality of plate-shaped workpieces, including a plate-shaped first workpiece and a plate-shaped second workpiece, formed from a plate-shaped raw material workpiece by irradiating the laser onto the raw material workpiece, from the remainder of the raw material workpiece formed from the raw material workpiece by irradiating the laser onto the raw material workpiece, A workpiece transport hand; a hand moving device that moves the workpiece transport hand; Equipped with The workpiece transport hand is a plurality of attachments including a first attachment capable of adsorbing each of the plurality of plate-shaped workpieces and a second attachment capable of adsorbing each of the plurality of plate-shaped workpieces; a plate to which the plurality of attachments are attached; and Equipped with The first attachment includes: a first electromagnet that attracts the plate; a second electromagnet that attracts each of the plurality of plate-shaped workpieces; Equipped with The plurality of attachments are attachable to the plate in a first layout; each of the plurality of attachments is independently detachable from the plate; the plurality of attachments are reattachable to the plate in a second layout different from the first layout; the plurality of attachments arranged on the plate in the first layout are capable of suction-removing only the first workpiece in the remaining portion from the remaining portion; The plurality of attachments arranged on the plate in the second layout are capable of suction-holding only the second workpiece in the remaining portion and removing it from the remaining portion. Work transport device.

2. The workpiece transport hand is a cable that supplies current to the first attachment; a first traction device for traction of the cable; Equipped with The workpiece transport device according to claim 1 .

3. The workpiece transport hand is an electromagnet as a movable suction part capable of suctioning other workpieces; an attraction portion moving device that moves the electromagnet between a retracted position and an advanced position; Equipped with The workpiece transport device according to claim 1 .

4. The workpiece transport hand includes a plate support device that supports the plate, When a direction from the plate support device toward the plate is defined as a first direction, an end face of the movable suction part located at the advanced position on the first direction side is located closer to the first direction than an end face of the first attachment attached to the plate on the first direction side. The workpiece transport device according to claim 3 .

5. The workpiece transport hand is always fixed to the plate and is provided with a fixed electromagnet capable of attracting the plate-shaped workpiece. The workpiece transport device according to claim 1 .

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

7. The apparatus further includes an attachment support device that supports an attachment that has been removed from the plate out of the plurality of attachments, The mounting position of the first attachment relative to the plate is changed by moving the workpiece transport hand relative to the first attachment supported by the attachment support device. The workpiece transport device according to any one of claims 1 to 5.

8. The attachment support device includes: a gripping member that grips the first attachment; a gripping member moving device that moves the gripping member between an open position and a closed position; a stand on which the first attachment is placed; an elevator device that moves the gripping member relative to the stand in a vertical direction; Equipped with The workpiece transport device according to claim 7.

9. 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 7.

10. The attachment support device includes the support devices in a number equal to or greater than the number of the attachments. The workpiece transport device according to claim 9.

11. 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 the plurality of plate-shaped workpieces including the first plate-shaped workpieces classified into a first group and the second plate-shaped workpieces classified into a second group; Further comprising: The control device is capable of executing a sorting mode in which the plurality of plate-shaped works are sorted into a plurality of groups, The sorting mode is transporting the first workpiece from the first platform to a first sorting area using the hand moving device while the first workpiece is being sucked by the attachments attached to the plate in the first layout; changing the layout of the plurality of attachments from the first layout to the second layout using the hand moving device and the attachment support device; transporting the second workpiece from the first platform to a second sorting area using the hand moving device while the second workpiece is being sucked by the attachments attached to the plate in the second layout; Contains The workpiece transport device according to claim 7.

12. an attachment support device that supports an attachment that has been detached from the plate among the plurality of attachments; a control device that controls the hand moving device and the attachment supporting device; Further comprising: the control device is capable of executing a first position change mode in which an attachment position of the first attachment relative to the plate is changed in a state in which the second attachment is attached to the plate, The control device is capable of executing a second position change mode in which, with the first attachment attached to the plate, the attachment position of the second attachment relative to the plate is changed. The workpiece transport device according to any one of claims 1 to 5.

13. A laser processing device that forms a plurality of plate-shaped workpieces, including a plate-shaped first workpiece and a plate-shaped second workpiece, and a remainder of the original workpiece, from the original workpiece by irradiating a laser onto the original workpiece; a workpiece transport device that removes the plurality of plate-shaped workpieces from the remaining portion and transports them; Equipped with The workpiece transport device is A workpiece transport hand; a hand moving device that moves the workpiece transport hand; Equipped with The workpiece transport hand is a plurality of attachments including a first attachment capable of adsorbing each of the plurality of plate-shaped workpieces and a second attachment capable of adsorbing each of the plurality of plate-shaped workpieces; a plate to which the plurality of attachments are attached; and Equipped with The first attachment includes: a first electromagnet that attracts the plate; a second electromagnet that attracts each of the plurality of plate-shaped workpieces; Equipped with The plurality of attachments are attachable to the plate in a first layout; each of the plurality of attachments is independently detachable from the plate; the plurality of attachments are reattachable to the plate in a second layout different from the first layout; the plurality of attachments arranged on the plate in the first layout are capable of suction-removing only the first workpiece in the remaining portion from the remaining portion; The plurality of attachments arranged on the plate in the second layout are capable of suction-holding only the second workpiece in the remaining portion and removing it from the remaining portion. Laser processing system.

14. The apparatus further includes an attachment support device that supports an attachment that has been removed from the plate out of the plurality of attachments, The mounting position of the first attachment relative to the plate is changed by moving the workpiece transport hand relative to the first attachment supported by the attachment support device. The laser processing system according to claim 13.

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