| 摘要 |
PURPOSE:To make it possible to simplify the entire structure of a working robot device, by incorporating a tool head and tool exchange stations for tools to a self-travelling type multi-joint robot disposed in a working station, in one unit body structure. CONSTITUTION:When actuating arms 10, 11 of a multi-joint robot 3 engage a first coupling member 14 attached to the front end thereof, with a second coupling member 15 attached to a tool head 4, a specified tool head 4 selected in accordance with a machining program for a workpiece is clamped in a tool head exchange station 5. In this condition the robot rotate toward a tool exchange station 7 for a tool 6, and the selected and specified tool 6 is clamped by a chuck mechanism 40 on the tool head 4 in accordance with the workpiece machining program. Thus, the robot device may have a simple entire structure with a less failure occurring frequency, thereby it is possible to sustain a highly productive and accurate operating condition for a long time. |
