15  EP 3 800 007 A1 16  attachment step for processing the eyeglass lens on the eyeglass lens installed at the installation position 10B. When the attachment step is completed, the eyeglass lens is unloaded from the installation position 10B. 5 of the robot arm 3 according to the present embodiment includes a base 31, a shoulder 32,a lowerarm 33,a first upper arm 34, a second upper arm 35, a wrist 36, and a holding unit 37. In FIG. 2, rotation axes X1 to X6 are respectively illustrated by illustrating directions around the rotation axes X1 to X6. [0040] In addition, the cup attachment device 1B can outputinformation ofa position on the lens surface where the cup is attached to the eyeglass lens (hereinafter, re- ferred to as"informationofthe cup position")to the control device 5. Furthermore, the cup attachment device 1B can output information of an angle of the cup attached to the eyeglass lens with respect to the eyeglass lens (hereinafter,referredto as "information ofthe attachment angle") to the control device 5. At least one of the infor- mation of the cup position and the information of the at- tachment angle may be stored in advance in a memory device (forexample,the memorydevice 52 ofthe control device 5). 10 15 [0045] The base 31 supports the whole arm unit 30. The shoulder 32 is connected to an upper portion of the base 31via a firstjointportion J1.The shoulder32rotates with respect to the base 31 around the rotation axis X1 extending in a direction (vertical direction in the present embodiment) intersecting with a base 40 (details will be described later). One end portion of the lower arm 33 is connected to a portion of the shoulder 32 via a second joint portion J2. The lower arm 33 rotates with respect to the shoulder 32 around the rotation axis X2 extending in ahorizontaldirection.The firstupperarm34 isconnected to an end portion of the lower arm 33 which is located on a side opposite to a side connected to the shoulder 32 via a third joint portion J3. The first upper arm 34 rotates with respect to the lower arm 33 around the rotation axis X3 extending in the horizontal direction. The second up- per arm 35 is connected to a tip side (side having the holding unit 37) of the first upper arm 34 via a fourth joint portion J4.The second upperarm35 rotateswithrespect to the firstupperarm 34 around therotationaxis X4.The wrist 36 is connected to a tip side of the second upper arm 35 via a fifth joint portion J5. The wrist 36 rotates with respect to the second upper arm 35 around the ro- tation axis X5. The holding unit 37 is connected to a tip side ofthe wrist36 via a sixth jointportion J6.Theholding unit 37 rotates with respect to the wrist 36 around the rotation axis X6. A motor (for example, a step motor) for rotating each portion around each of the rotation axes X1 to X6 is incorporated into the arm unit 30. [0041] Thelensprocessing device 1C mounts (inserts) the chuck shaft on the cup attached to an eyeglass lens, and pinches and holds (chucks) the eyeglass lens. The lens processing device 1C steps the peripheral edge of the eyeglass lens held by the chuck shaft into a target lens shape of the eyeglass frame. That is, the processing device 1C performs the processing step of processing theperipheraledge oftheeyeglasslens.The lens processing device1C includes a processingtool(for example, at least one of a grindstone and a cutter), and steps theperipheral edge of the eyeglasslens,based on data ofthe targetlens shape ofthe eyeglass frame which is acquired by an eyeglass frame shape measurement device (not illustrated). 20 25 [0042] Thelens processing device 1C performsthepe- ripheral edge processing step on the eyeglass l mounted on the chuck shaft at an installation position 10C. When the processing step is completed, the eye- glass lens is unloaded from the installation position 10C. 35 [0043] The robotarm 3 holds and moves the object.In the present embodiment, the object to be moved by the robot arm 3 includes the eyeglass lens. However,an ob- ject other than the eyeglass lens (for example, at least one of the eyeglass frame and the cup) may be moved by the robotarm 3. In addition, the eyeglass lens periph- eral edge processing system 100 according to present embodiment includes a plurality of robot arms 3 (specifically, a robot arm 3A and a robot arm 3B). Each ofthe pluralityofrobotarms3 canbe independentlydriv- en. Accordingly, the plurality of eyeglass lenses can be movedin parallel(simultaneously)bythe plurality ofrobot arms 3. In addition, the object (eyeglass lens in present embodiment) can be transferred between plurality ofrobot arms 3.Therefore,the step ofmanufac- turing the eyeglass lens is more smoothly performed. 40 [0046] The holding unit 37 holds and releases the ob- ject(forexample,the eyeglass lens).As an example,the holding unit 37 according to the present embodiment holds and releases the object by causing an actuator to changea distance between a pairofholding pieces.How- ever, a method for holding and releasing the object can be changed.Forexample,the holding unit37may switch between holding and releasing the object by switching between suctioningand releasing a surface ofthe object. 45 50 [0047] The arm unit 30 (specifically, the base part 31 of the arm unit 30) is fixed to the base 40. In the present embodiment, the base 40 is placed on a horizontal in- stallation surface. The base 40 has an arm movement unit 41 that moves the arm unit 30 in a direction parallel to the installation surface. The arm movement unit 41 is driven so that the whole arm unit 30 moves in parallel on the installation surface.A configuration ofthe arm move- mentunit41 can be appropriatelyselected.Forexample, the arm movement unit 41 may include a wheel and a motor for rotating the wheel. In addition, a belt conveyor may function as the arm movement unit. In addition, the base 40 (arm unit 30) may be fixed to the installation surface (details will be described later). In this case, the [0044] Referring to FIG. 2, the robot arm 3 according to the present embodiment will be described. The robot arm 3 according to the present embodiment includes an arm unit 30. The arm unit 30 has a plurality of joint por- tions, and a posture can be changed by rotating each portion via the joint portion. Specifically, the arm unit 30 55 9