| 摘要 |
PURPOSE:To reduce the installation area by determining the configuration of a conveyor forming pallet based on a minimal sized workpiece and providing two pairs of hands which are not adjacent to each other with respect to the connecting pitch of each pallet. CONSTITUTION:The configuration of pallets PT that form a conveyor BC is determined based on a minimal sized workpiece M and is miniaturized, and the hands RH1, RH2 of a robot are provided at intervals 2XPc2 with respect to the connecting pitch Pc2 of each pallet PT. As for the feeding and discharging of the work-piece M, a first workpiece M1 is grasped by the hands RH1 at a position P1 and is fed to an NC machine tool by means of the reversal of an arm RA, and the next workpiece M2 is grasped when the pallet PT is moved by one pitch. Then, when machining of the M1 is completed, the arm RA is reversed while being rotated centering around a shaft RS, the M1 is released by the hands RH2 and placed on a pallet P3, and the hand RH1 feeds the M2 to the NC machine tool and then grasps the next workpiece M3. Thereby, the floor area for installing a conveyor can be reduced. |
