| 摘要 |
PURPOSE:To efficiently replace and convey a pallet by moving the holding member of a robot in parallel to the arranged direction of plural pallets, positioning said holding member to a defined pallet, and holding and conveying said pallet from a work station. CONSTITUTION:The installing member 34 of a conveying means arrives at a replacing position EX and workpieces W1-W4 are positioned. A robot 100 is placed in its initial position R and a revolving body 173 is revolved and directed to the installing member 34. A slide table 166 is moved and positioned to the workpiece W4, a slide body 175 is moved to hold the pallet of the workpiece W4 with an arm 160, and a rod 176 is lifted up to extract the pallet out of a hole H4. Then, a rotary disk 174 is rotated, the rod 176 is lowered, the slide table 166 is positioned to the workpiece W1, and the slide body 175 is moved to hold its pallet with an arm 161 and extract it out of a hole W1. And, the revolving body 173 is rotated and the slide table 166 is moved to fit the pallet into a hole 7a. After machining, the pallet is removed and the rotary disk 174 is 180 deg. rotated and the pallet of the workpiece W4 is fitted into the hole 7a by means of the arm 160. |
