| 摘要 |
PROBLEM TO BE SOLVED: To dispense with a mechanism for forcibly reducing a clearance in detaching a tool, by eliminating teaching of change of all tools for each robot, reducing costs by not requiring repeated positioning precision of the robot in frame mounting precision, eliminating a limit of the working attitude in a compliance function in hardware, and reducing a fitting clearance by providing a compliance in software. SOLUTION: This automatic tool changer is provided with a rotatable turn table 1; tool loading plates 2a, 2b, 2c,... attached to the turn table 1 and having two holes 10 and pins 9 for positioning; a first jig D attached to the wrist tip of a first robot 3a, installed from a specified reference point S same as reference points on tools 4a 4b 4c,..., and having two detachable pins 7 to be fitted to the holes of the tool loading plates 2a, 2b, 2c,...; and a second jig E attached to the second or the later robot 3b and having two holes 7a to be fitted to the pins 7 of the first jig D.
|
