| 摘要 |
PURPOSE:To remarkably shorten packaging time by providing a tool holder moving mechanism which moves one tool and a tool holder holding the one tool to a position apart from the moving range of the other tool held by means of a holding section along with the protective motion of the two tools of a manipulator body. CONSTITUTION:When a manipulator body 8 comes to the peripheral section of a second tool 6 to hold the second tool 6 at a tool holding section with another holding section 12 holding a first tool 6, a tool holder 5, which holds the second tool 6 in the moving range of the first tool 6 held by the holding section 12 along with the holding motion of the manipulator body 8 to hold the second tool 6, is moved by a tool holder moving mechanism 21. With this constitution, this tool holder and the tool held by this tool holder are arranged at a position apart from the moving range of the first tool 6, allowing the other holding section to hold the second tool. |
