JP3335386B2 - Pallet supply device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of mounting a workpiece, a cutting tool or a machining electrode on a pallet table having a plurality of pallet storage areas, or on a machining center or other various machine tools such as a machining center or an electric discharge machine. A pallet feeder that supplies pallets that have been returned from a processing machine and stores the pallets returned from the processing machine in a pallet storage area of a pallet table, thereby automatically changing pallets with respect to the processing machine. Pallets can be stored at high density in a plurality of pallet storage areas provided in the arrangement, and can be moved to an arbitrary position in an orthogonal biaxial coordinate plane set in parallel above or below the plane of the pallet storage area Utilizes the linear movement function of the pallet gripping arm that can move up and down from the orthogonal biaxial coordinate plane to the pallet storage area. Pallet gripping Te, supply of pallets between processing machines and pallet table relates pallet feeder capable refunded.

[0002]

2. Description of the Related Art Conventionally, a numerically controlled machine tool equipped with an automatic tool changer has a configuration in which a large number of tools stored in a tool magazine are automatically tool-changed with a tool spindle of the machine tool. For example, Japanese Patent Application Hei 3-
No. 94337 discloses that a plurality of tools housed in a matrix of tool storage holes at high density are gripped by a tool gripping mechanism between a tool spindle of a numerical control (NC) machine tool and transferred to and from a transfer mechanism. Discloses an automatic tool changer that performs automatic tool change.

In addition, a plurality of pallets mounted on a pallet table having a transfer mechanism orbiting along an elliptical or circular orbit are cyclically moved by the transfer mechanism via a pallet change position, and the pallet change is performed. Conventionally, a machine tool with a pallet supply device has been proposed and provided in which a pallet on which a work is mounted is exchanged between a position and a work table of the machine tool by a pallet changing means to supply and change the work. ing. Recently, an articulated robot apparatus is also applied to the pallet changing means.

[0004]

However, in the automatic tool changer according to the above-mentioned applicant, the usefulness is improved in that the tool storage by the tool magazine is increased in density, but the tool magazine and the machine tool are not used. There is still room for improvement in terms of improving the operational reliability by simplifying the structure and operation of the automatic tool change mechanism between the tool spindle and the tool spindle.

In the latter pallet changing apparatus, in order to move and position one pallet to the pallet changing position, all the work-mounted pallets held on the pallet table are moved by the transfer mechanism. Since the method of sequentially bringing the target pallets closer to the pallet change position is adopted, increasing the number of pallets to be held increases the size of the pallet table, and it is inevitably large to transfer all pallets. There are problems such as having transfer driving means. In addition, when an articulated robot is used, there is a disadvantage that the cost of the robot itself is problematic.

[0006] In order to solve the above-mentioned problems, a main object of the present invention is to exchange workpieces, cutting tools, machining electrodes and the like with a wide range of machining machines including not only machine tools but also electric discharge machines. Is equipped with a pallet table that has a plurality of pallet storage areas and pallet replacement positions that can be supplied and exchanged with the pallet by being mounted on the pallet and that are arranged in high density in a matrix arrangement. Between the pallet gripping and releasing operations, the pallet storage area and the pallet exchange position by utilizing the linear movements of the pallet gripping means attached to the means in two orthogonal directions in the three-dimensional space and the other one axis direction perpendicular thereto. And a pallet supply device with a simplified structure capable of performing transfer of the pallet.

Another object of the present invention is to engage and disengage a gripping jig protruding from each pallet with a pallet gripping arm attached as an end effector to a tip of a ready-made linear traveling robot. It is an object of the present invention to provide a pallet supply device that simplifies pallet gripping and releasing operations and improves operation reliability by performing operations using three-dimensional orthogonal motions in a three-dimensional space of a linear traveling robot.

[0008]

According to the present invention, in order to achieve the above-mentioned object, a plurality of pallet storage areas provided in a matrix arrangement of pallet tables are formed in one orthogonal biaxial coordinate plane. A pallet gripping arm that travels linearly in a biaxial direction in a plane parallel to the coordinate plane, and moves integrally with a moving means that can move up and down in one axis direction perpendicular to the orthogonal two axes from each coordinate position. The pallet is transferred between the pallet storage area and the pallet changing position, and the pallet is transferred between the pallet changing position and the processing machine by the pallet changing means, so that the pallet is supplied to the processing machine and the same processing machine is used. And a pallet supply device having a simple structure for returning the pallet from the pallet to the pallet changing position.

In other words, according to the present invention, in a pallet supply device having a plurality of pallet storage areas for supplying a pallet to a processing machine and receiving a pallet returned from the processing machine, A plurality of matrix arrangement areas having orthogonal coordinates are formed in the plurality of pallet storage areas, and a pallet table provided with a pallet exchange position provided close to the pallet storage area;
The pallet storage area and the pallet exchange position are provided at a target coordinate position on the rectangular coordinate plane so as to be movable in orthogonal biaxial directions within a rectangular coordinate plane provided in parallel with the coordinate plane of the pallet storage area. A moving means provided to freely move toward and away from the other one axis direction perpendicular to the orthogonal two-axis direction, and a moving means integrally mounted on a tip of the moving means, and each pallet storage of the pallet table. And the gripping jigs provided on the pallets stored in the area and the pallet exchange position are engaged and engaged with the gripping jigs by the movement in the orthogonal two-axis direction and the other uniaxial direction to grip the pallet, and the orthogonal two-axis A gripping finger portion that is detached from the gripping jig by moving in the direction and the other uniaxial direction and stores the pallet in each pallet storage area of the pallet table and the pallet replacement position. Gripping arm means, and pallet exchange means for exchanging pallets mounted on the processing machine by performing transfer of pallet supply and return between the pallet exchange position of the pallet table and the processing machine. A pallet feeder is provided.

[0010]

According to the above construction, the gripping arm means, which moves integrally with the moving means, can move linearly in the orthogonal coordinate plane between each pallet storage area and the pallet changing position and can move up and down linearly in the other uniaxial direction. By the operation, the pallet is transferred, and the pallet changing means performs the pallet changing operation by supplying and returning the pallet between the pallet changing position and the processing machine. Hereinafter, the present invention will be described in more detail with reference to the embodiments shown in the accompanying drawings.

[0011]

FIG. 1 is a front view showing an example of an arrangement relationship between a pallet supply device and a processing machine according to an embodiment of the present invention.
FIG. 2 is a plan view of the pallet supply device and the processing machine, and FIG.
FIGS. 4A and 4B are perspective views respectively showing the structure of the tip of the pallet exchange arm constituting the pallet exchange means and the pallet exchange unit, and FIGS. Plan view and side view showing the steps,
FIGS. 5A and 5B are perspective views respectively showing a state in which the pallet gripping arm grips the pallet and a state in which the pallet exchange arm grips the pallet and starts the exchange operation. FIG. FIG. 7A is a side view showing sequential steps of a pallet gripping operation by the gripping arm in the embodiment in which the pallet approaches the pallet storage area from below.
FIG. 7B is a perspective view illustrating a structure of the gripping arm and the pallet stored in the pallet storage area according to the embodiment, and FIG. 7B is a perspective view illustrating a state of the pallet gripped by the gripping arm.

FIG. 1 and FIG. 2 show a state in which a pallet supply device according to the present invention is provided close to a side area of a machining machine. In this example, a case where the machining machine is an electric discharge machine is shown. Is shown. As is clear from the figure, the pallet supply device 10 is arranged in the side surface area of the adjacent processing machine 50 by installing the bottom of the pallet table 12 having a box shape on the floor via the legs. ing. An XY coordinate plane is defined on the upper surface of the pallet table 12,
A plurality of rail-shaped pallet seats, which will be described later, are provided extending parallel to the X-axis direction or the Y-axis direction of the Y coordinate plane, and pallet positioning seats are arranged along the pallet seats in the rail-shape. As a result, a plurality of pallet storage areas 14 are formed in a matrix in the XY coordinate plane. Each of the pallet storage areas 14 stores and mounts a pallet 30 to be described later on which a workpiece W to be processed by the processing machine 50 is mounted.

Further, two rails provided orthogonally to a plane parallel to the XY coordinate plane forming the above-mentioned pallet storage area 14 in a plane parallel to the XY coordinate plane, that is, the X-axis rail 1
6 and a Y-axis rail 18 are provided, and these two rails 16 and 18 are supported by a support post 20, and are arranged above the pallet storage area in this example.

In this embodiment, the column 20 for supporting the X-axis rail 16 in the two rails 16 and 18 has a runner 21 at a base end.
Are slidably engaged with a rail 22 provided in a fixed arrangement in parallel with the Y-axis rail 18, so that the X-axis rail 16 itself is Y-shaped with respect to the Y-rail 18 in the fixed arrangement.
It is formed so as to be movable in the direction of the shaft rail 18. A moving body 24 is supported on the X-axis rail 16 in a suspended state, and the moving body 24 is configured to be movable on the X-axis rail 16 in the same rail direction. That is, since the X-axis rail 16 is slidable along the Y-axis rail 18 and the movable body 24 is slidable in the X-axis direction on the X-axis rail 16 as described above, It is possible to move to an arbitrary coordinate position on the XY coordinate plane above the plurality of pallet storage areas 14 arranged in a matrix, so that it can be stopped and positioned above each pallet storage area 14.

Further, the moving body 24 has its own lower end point 2
There is also provided a configuration in which the 4a can be moved up and down in another axial direction (the Z-axis direction shown) perpendicular to the XY coordinate plane. That is, in this embodiment, two X axes and Y
The axis rails 16 and 18, the fixed rail 22, and the moving body 24 form a linear traveling robot mechanism, and the pallet gripping arm 26 attached to the lower end point 24a of the moving body 24 forms an end effector. Note that such a linear traveling type robot is generally commercialized as a gantry type robot or a crane robot, and the pallet gripping arm 26 is moved to the XY coordinates using the linear traveling robot obtained through these sales channels. Moving means for moving along the plane and in the Z-axis direction perpendicular to the XY coordinate plane may be formed.

On the pallet table 12 of the pallet supply device 10, the position closest to the XY coordinate plane forming the pallet storage area 14, in this example, the position specified by reference numeral PC in FIG. From the pallet exchange position PC to the pallet mounting table on the processing machine 50 or the chuck device 54 of the work table 52.
Conversely, from the chuck device 54, the pallet exchange position PC
A single pallet 30 is transferred to the pallet 30, and the pallet 30 can be replaced by supplying and returning the pallet 30. For this reason, in this example, the pallet exchange arm 60 that grips the pallet 30 from the pallet exchange position PC to the chuck device 54 of the work table 52 on the processing machine 50 and performs a linear transfer operation (elevation and extension), that is, Pallet changing means is provided. 1 and 2, the pallet exchange arm 60 is provided with the chuck device 5 of the processing machine 50.
A state where the pallet has been moved straight to the area 4 is shown by a broken line, and FIG. 2 is a solid line showing the pallet changing arm 60 retracted to the rear of the pallet changing position PC.

The above-mentioned pallet changing position PC is used for removing the processed work W mounted on the pallet 30 or
It can be used as a setup position for attaching the unprocessed work W to the pallet 30, or a setup position is provided at an appropriate position close to the pallet storage area separately from the pallet exchange position PC shown in the figure. The setup work may be performed.

The machining machine 50 has a work head 52 and a chuck device 54, and a spindle head 56 is erected on a column 58a erected on a base 58. A tool, that is, electric discharge machining, is provided at the lower end of the spindle head 56. In the case of a machine, a machining electrode 56a is mounted, mounted on the chuck device 54 of the work table 52, and the workpiece W mounted on the held pallet 30 is subjected to electric discharge machining. When the processing machine 50 is a normal machine tool,
The workpiece W on the pallet held by the chuck device 54 of the work table 52 is machined by a cutting tool mounted on the tool spindle of the spindle head 56.

As can be understood from the above description, the pallet supply device 10 according to the present invention includes the pallet storage areas 14 provided at a high density in a matrix arrangement in the XY coordinate plane.
Further, the pallet gripping arm 26, which can be moved integrally with the moving body 24, moves to a coordinate position of an arbitrary target storage area, and can further perform an ascending and descending operation at the coordinate position, thereby gripping the pallet 30 stored in the target storage area. It is also possible to temporarily move the pallet 30 returned from the processing machine 50 to the pallet exchange position PC to supply the pallet 30 to the pallet exchange position PC so as to supply the pallet 30 to the pallet exchange position PC, and perform a predetermined setup operation. After the operation, it can be gripped, returned to the empty pallet storage area 14, and stored.

Next, the structure and operation of the pallet 30 by the pallet grip arm 26 of the pallet supply device 10 will be described in more detail. Now, referring first to FIG. 3, the pallet gripping arm 26, the pallet 30, and the pallet exchange arm 60 are shown.

The pallet 30 has a rectangular main body structure portion 32, and has a mounting hole 34 on its upper surface so that a mounting object, for example, a work W (see FIG. 1) can be mounted. A holding jig 36 having a U-shaped cross section is attached to both side surfaces of the main body structure 32. The gripping jig 36 includes a pair of left and right projections 38 provided in two pairs in the upper and lower directions, a recess 40 formed between the left and right projections 38, 38, and one groove formed between the upper and lower recesses 40, 40. And a path 42.

On the other hand, the pallet gripping arm 2 attached to the lower end point 24a of the moving body 24 of the above-mentioned linear traveling robot
6 has a U-shaped gripping finger portion 80 at the lower portion, the gripping finger portion 80 includes left and right fingers 82, 82, and these fingers 8
2, 82, complementary recesses 8 for receiving and fitting the upper left and right protrusions 38 of the above-described protrusions 38 of the pallet 30.
4 are formed. In addition, there is an escape 86 between the recesses 84.
Is provided.

Therefore, when the projections 38 of the pallet 30 are received in the recesses 84, stable pallet gripping without slippage or the like is achieved. That is, in gripping the pallet, the gripping fingers 82 of the gripping arm 26 are moved straight into and engaged with the grooves 42 of the gripping jigs 36 mounted on both side surfaces of the pallet 30, and the protrusions 38 of the pallet 30 are engaged.
When the gripping arm 26 is moved upward at a position where the grip 84 and the recess 84 of the gripping arm 26 are vertically aligned, the projection 38
Are received like tooth engagement, and both are integrated . In this way, after the integration, the grip arm 26
Is moved, the pallet 30 gripped can be transported.

On the other hand, the pallet exchanging arm 60 has forked gripping fingers 62, 62 at the distal end thereof as in the case of the gripping arm 26 described above, and a positioning plate is provided on the upper surface of the gripping fingers 62, 62. 64, 64 are respectively attached. The positioning plates 64, 64 hold the holding jig 36 of the pallet 30,
36 has a length that engages with the left and right recesses 40, 40.
4 are the holding jigs 36 of the pallet 30,
When the pallet 30 is engaged with the pallet 30, the pallet 30 is supported by being lifted from below, and can be gripped and transferred. FIGS. 5A and 5B show a state in which the gripping arm 26 in FIG. 3 grips the pallet 30 and a state in which the pallet exchange arm 60 in FIG.

Now, referring to FIGS. 4A and 4B, steps (1) to (5) in FIG.
Explains the sequential steps for gripping the pallet 30 stored in the target pallet storage area 14 by moving the gripping arm 26 to the desired pallet storage area 14 by being attached to the lower end point 24a of the moving body 24. FIG. 2B is a plan view corresponding to the steps (1) to (5), and shows the pallet table 1 described with reference to FIGS.
The position specified by the second X-Y coordinate plane surface positioning plate 72 and 72 of the pallet seat 70, 70 of the rail-like arrangement to be described later extended in the extending been X-axis direction in the pallet storage zone 14 4 (a) and 4 (b), one pallet 30 stored in a single pallet storage area 14 is held by a gripping arm. 26 explains the action of grasping and lifting. Therefore, it can be understood that the operation of returning the pallet 30 gripped by the gripping arm 26 to the predetermined pallet storage area 14 can be performed by operating the gripping arm in the opposite direction as illustrated.

Referring to step (1), a work W is mounted on the pallet 30 stored in the pallet storage area 14, and the pallet storage set by the positioning plates 72, 72 of the pallet seats 70, 70. Sitting in area 14. The gripping arm 26 is moved to the coordinate position of the pallet storage area 14 by the movement of the movable body 24 (FIG. 1).
The state of movement along the −Y coordinate plane and reached is shown in step (2). The gripping arm 26 stopped in the state of step (2) is then formed on the gripping fingers 82 of the arm 26 in response to the moving body 24 descending (arrow Z1) toward the storage area 14. Using the recesses 86, 86 (see FIG. 3) described above, the fingers 82, 82 are used to hold the grooves 40, 42 in the holding jigs 36, 36 of the pallet 30.
Engage in 40.

Then, the gripping arm 26 is further moved to the moving body 2.
4 in the X-axis direction, the arm 26
Of the gripping jigs 36, 36,
40, go straight (arrow), and as a result, each finger 82, 82
Of the pallet 30 in the recesses 84, 84 of the pallet 30
The projections 38, 38 at 6 are received and meshed to complete the gripping state. Such an engaged and meshed state is shown in step (3). Next, the grip arm 26 is started to move up as indicated by the arrow Z2 in response to the moving operation of the moving body 24 (step 4).

As a result, the pallet 30 is gripped by the gripping arm 26 via the gripping jigs 36, 36, and leaves the pallet storage area 14 of the seats 70, 70 (step 5). In practice, steps (4) and (5) are continuously performed without interruption. In this way, after leaving the pallet storage area 14 formed in the receivers 70, 70 of the pallet table 12, the X together with the moving body 24 is again
By moving in a plane parallel to the -Y coordinate plane in orthogonal two-axis directions (X-axis and Y-axis directions), it is possible to move to the pallet exchange position PC (see FIG. 2).

As is clear from the above description, in the pallet supply device 10 according to the present invention, the gripping operation performed by the gripping arm 26 of the pallet 30 is performed, for example, by opening and closing the gripping arm of a known articulated robot. Unlike the case where the workpiece is gripped by the operation, the pallet 30 can be engaged with the gripping jig 36, engaged with the gripping jig 36, or can be released from the meshed state using the linear traveling action of the gripping arm 26. This means that the pallet 30 can be gripped and released by orthogonal three-axis movement in a three-dimensional space of the moving means having the moving body 24 composed of the linearly traveling robot. In other words, it is possible to simplify the structure and improve the reliability of the operation in that there is no need to separately provide a driving means for the gripping operation.

In the above-described embodiment, the moving body 24 is mounted on the gripping arm 26 and moves linearly in a parallel plane above the XY coordinate plane that defines the pallet storage area 14 in a high-density matrix arrangement. However, if necessary, the side of the pallet storage area 14 is arranged above and below the plane of movement of the gripping arm 26, and the gripping arm 26 approaches the target pallet storage area 14 from below, and grips the pallet. It is also possible to adopt a configuration for performing this.

FIG. 6 shows such a pallet gripping arm 2.
6 shows the pallet gripping action in an order of steps in the embodiment by the approach movement method from below to the pallet storage area 14. That is, in step (1) of FIG. 6, the pallets 30 stored in the pallet storage area 14 formed in the pallet receiver 70 of the pallet table 12.
And the work W mounted on the pallet 30 are shown.

Step (2) is performed on the pallet 30.
Then, the gripping arm 26 reaches a position corresponding to the coordinate value of the predetermined pallet storage area 14 by the movement in the orthogonal biaxial directions in the XY coordinate plane, and is positioned by the arrow Z1.
Are in a state of trying to engage the pallet 30 by the upward movement in the Z-axis direction indicated by.

In step (3), the grip arm 2
Reference numeral 6 denotes a state in which engagement with the gripping jig 36 of the pallet 30 and engagement with the pallet 30 have been achieved by Z-axis movement and linear movement in the X-axis direction by the arrow X. That is, the grip of the pallet 30 by the grip arm 26 has been completed.

Next, as shown in step (4), when the gripping arm 26 moves down as indicated by the arrow Z2, the gripped pallet 30 and the work W also start lowering. Note that the illustration of step (4) shows a state in which the pallet 30 has not yet been separated from the storage area 14 of the receiving seat 70, that is, a state immediately before separation. Then, as shown in step (5), the pallet 30 is gripped by the gripping arm 26 and the pallet storage area 14
Move away from In practice, steps (4) and (5) are continuously performed without interruption.

FIGS. 7A and 7B show an example of the structure of the gripping arm 26 in the downward approach type embodiment described above, and the pallet 30 has exactly the same structure as the above-described embodiment. Recesses 180, 180 of the receiving seats 70, 70
The gripping jigs 36, 36
And is seated.

Now, the gripping arm 26 has two gripping fingers 1
It is the same as the gripping arm 26 of the previous embodiment in that it has the 82 and 182, but the positioning of the pallet 30 for engaging the recesses 40 and 40 of the gripping jigs 36 and 36 from below. It has plates 184, 184. By moving the gripping arm 26 having such positioning plates 184, 184 as indicated by arrows, the positioning plate 1
84 and 184 are engaged, and the pallet 30 is gripped by the jig 3
As shown in FIG. 7 (b), it is possible to stably support through the steps 6 and 36 even in the moving process. Therefore, for example, the pallet 30 can be transferred to the pallet exchange position PC or from the pallet exchange position PC to the desired pallet storage area 14.

In the embodiment shown in FIGS. 6 and 7, the work W is mounted and placed on the upper surface of the pallet 30. However, the lower surface of the pallet 30 is attached to the mounting surface of this kind of work or the like. An electrode for electric discharge machining is mounted on the mounting surface, a mechanism that can be gripped on the main shaft of the electric discharge machine is formed on the upper surface, and a tool spindle 56 of the machining machine 50 including the electric discharge machine shown in FIG. It is also possible to adopt a structure in which the same electrode is mounted on the lower end of the pallet together with the pallet by an automatic supply system.

[0038]

As can be understood from the description of the above embodiments, according to the pallet supply apparatus of the present invention, a plurality of pallet storage areas provided in a matrix arrangement on a pallet table at a high density are arranged in one orthogonal direction. Formed in a biaxial coordinate plane, linearly traveling in a biaxial direction in a plane parallel to the orthogonal biaxial coordinate plane, moving to a desired coordinate position, and moving from each coordinate position to the perpendicular biaxial axis. The pallet gripping arm, which moves integrally with another moving means that can move up and down in one axial direction, engages with, engages with, and grips the pallet, thereby transferring the pallet between the pallet storage area and the pallet changing position. In addition, the pallet is transferred between the pallet changing position and the processing machine by the pallet changing means to supply the pallet to the processing machine and to return the pallet from the processing machine to the pallet changing position. A simple pallet feeder has been constructed, so that a large number of pallets can be stored in a small storage space as much as possible. Simple and highly reliable pallet supply that can be used as it is to carry out pallet gripping has become possible.

[Brief description of the drawings]

FIG. 1 is a front view showing an example of an arrangement relationship between a pallet supply device and a processing machine according to one embodiment of the present invention.

FIG. 2 is a plan view of the pallet supply device and a processing machine.

FIG. 3 is a perspective view showing a grip arm, a pallet alone, and a structure of a distal end portion of a pallet exchange arm constituting pallet exchange means.

FIGS. 4A and 4B are a plan view and a side view showing sequential steps of a pallet gripping operation by a gripping arm.

FIGS. 5A and 5B are perspective views respectively showing a state in which the pallet gripping arm grips the pallet and a state in which the pallet exchange arm grips the pallet and starts the exchange operation.

FIG. 6 is a side view showing sequential steps of a pallet gripping operation by the gripping arm in the embodiment in which the pallet gripping arm approaches the pallet storage area from below.

FIGS. 7A and 7B are perspective views showing a structure of a gripping arm and a pallet stored in a pallet storage area according to the embodiment and a state of the pallet gripped by the gripping arm.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Pallet supply apparatus 12 ... Pallet table 14 ... Pallet storage area 16 ... X-axis rail 18 ... Y-axis rail 20 ... Prop 22 ... Fixed rail 24 ... Moving body 26 ... Grasping arm 30 ... Pallet 36 ... Grasping jig 50 ... Processing Machine 52 Work table 54 Chuck device 56 Spindle head 60 Pallet exchange arm 70 Seat W Work

Claims (1)

(57) [Claims] 1. A pallet supply device having a plurality of pallet storage areas for supplying a pallet to a processing machine and receiving a pallet returned from the processing machine, wherein the plurality of pallets have rectangular coordinates in one plane. A pallet table having a matrix arrangement area formed and provided in the plurality of pallet storage areas and having a pallet exchange position provided in proximity to the pallet storage area; and a pallet storage area provided in parallel with the coordinate plane of the pallet storage area. And another axis perpendicular to the orthogonal biaxial direction with respect to the pallet storage area and the pallet replacement position at a target coordinate position on the orthogonal coordinate plane, and movably provided in the orthogonal coordinate plane in the orthogonal biaxial directions. A moving means movably provided in the direction of approaching and moving away from the pallet; and Delivery area and pallet change position
A gripping tool which is provided on the pallet to be stored in location, the orthogonal biaxial direction and therefore engaging enter the movement of the other axial direction, and meshes with gripping the pallet, the orthogonal biaxial directions
And from the gripping jig by the other uniaxial movement.
Remove the pallets and collect the pallets on the pallet table.
The gripping fingers to be stored in the delivery area and the pallet replacement position
A gripping arm means having a pallet changing means for exchanging mounting pallet on the processing machine by performing transfer of the supply and return of the pallet between the pallet exchange position and the machinery of the pallet base, pallet supply apparatus characterized by comprising a.