| 摘要 |
PURPOSE:To facilitate pottrey of an article, reduce rotating torque and to thereby miniaturize the captioned gripper device by coupling the gripper device with a movable arm via a grip position correcting member, and providing a coupling member so as to form a crossing angle of 45 deg. between a center of gripping of a chuck and a rotary center of a rotation driving device. CONSTITUTION:With a movable arm 5 lifted to a prescribed position to grip a bobbin, a compressed air supply path to a cylinder 31 is charged over, whereby a positioning and fixing piece 32 is lowered together with a rod and engaged with a washer 17 to prevent the chuck 1 from being horizontally moved, and furthermore an output shaft is rotated by 180 deg. by means of a rotation driving device 3 to rotate a package P from a vertical to horizontal state thereof together with a bracket 16 and the chuck 1. Then turned the arm 5 in a direction of a peg of a creel stand to move the package P to the peg position, the arm 5 is projected horizontally, whereby a bobbin B hole is fitted to a peg tip end. In succession, with the supply path being changed over to compress a pawl of the chuck 1 the gripping of the bobbin is reached, and a supply path to a cylinder 33 is changed over to project a push piece 34 together with the rod and to thereby mount the package p on the peg. |
