| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To connect and disconnect a tool head end member used by screwing itself on a tool main body without adding a driving source. <P>SOLUTION: A robot positions a rotating member A by making a tool approach the rotating member A when a changing commanding order is input and rotating by more than one round around an rotation axis Z when the tool head end member 21 arrives below an upper end of a positioning member C and stopping at a specified position. Consequently, the robot moves to immediately above a vacant tool head end member holding means B and inserts the tool head end member 21 into the head end member holding means B by lowering. The robot is made to move in a state of locking the tool head end member 21 by a friction body 35, etc. in the tool head end member holding means B, to rotate the tool 20 with the rotating member A around the rotation axis Z and to release screwing. A procedure at the time of mounting by the screwing is a reversed one. A tool cleaning means may be provided on the rotating member A. <P>COPYRIGHT: (C)2004,JPO&NCIPI</p> |
