JPH06320374A - Jig/tool automatic exchanging device by engineering robot - Google Patents

Abstract

PURPOSE:To provide a jig/tool automatic exchange method by an engineering robot through which a work time required for exchange of a jig/tool is shortened and control of a robot is simplified. CONSTITUTION:A plurality of carriers 9a, 9b... are reciprocatively formed between an advancing position protruded from a rack body 8A and a backward movement position. In carrier trains 9, 10... in a vertical direction, the same kind of jigs 3a, 3b... are contained. When the jigs 3a, 3b... are taken out, the jigs are taken our from the upper carrier. The carriers from which the jigs are taken out are moved, in order, to a backward movement position. In containing, the jigs are moved, in order, from the lower carrier to a forward movement position and orderly contained. This method simplifies operation of the jig/tool holding part of a robot 15 and shortens work time through reduction of the occurrence of racing of a robot arm.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically changing a jig (a jig and a tool are collectively referred to in this specification) by an industrial robot, and more particularly, it is arranged on a rack based on an instruction from a controller. The present invention relates to an automatic exchange method for picking up and transporting necessary jigs and tools from a wide variety of jigs and tools and mounting them on a processing device.

[0002]

2. Description of the Related Art An example of a jig / jig is an example of a jig / tool automatic changing method in which a jig / tool required from a variety of jigs / tools arranged on a rack is attached to a processing device by a robot that operates according to an instruction from a controller. Will be described with reference to FIG. Reference numeral 51 in the drawing denotes a processing device, which is the processing device 5.
Jigs 52a, 52 of different types at predetermined positions in the vicinity of 1
b, 52c ... A plurality of boxes 53a, 5 respectively accommodating
A rack 53 having 3b, 53c, ... Is arranged, and the robot 55 is operated by an instruction from the controller 54 in which various production instruction information is stored in advance.
The jig used in the processing apparatus 51, for example, 52a is removed from the processing apparatus 51 by the holding unit 55b provided at the tip of the arm 55a, and transferred to a predetermined box 53a for storage. Next, a jig to be attached to the processing device 51,
For example, the robot 55 holds 52b by the holding section 55b of the robot 55, takes it out of the box 53b, transfers it to a jig mounting section (not shown) of the processing apparatus 51, and mounts it.
Will return to its original position and wait.

[0003]

According to the above-described automatic jig / tool exchange method, the jig used as the jig / tool is removed from the processing apparatus by the robot operated by the instruction from the controller and stored in a predetermined box of the rack. The jigs to be used are taken out and mounted on the processing device, so that the jigs can be automatically replaced.

However, when the jig removed from the processing device is stored in the rack, the holding part of the robot is positioned so as to face the opening of the corresponding box, and further moved inward of the box in two motions, and the jig is stored. Even if the robot is moved to the outside of the box, the work to take out the jig to be replaced cannot be started, and the same robot operation is required to take out the jig stored in the box. It takes time for control and its work, and after all the jigs of the processing device are sequentially collected in the rack by the reciprocating motion of the robot arm rack and the processing device, it should be replaced from the rack again by the reciprocating motion of the robot arm. Since new jigs are transferred and loaded to the processing equipment one by one, the movement of the robot arm without holding the jig for each reciprocation of the robot arm It is necessary to empty movement, there are problems such as requiring a large become work time to the exchange of the jig.

Therefore, an object of the present invention is to reduce the working time required for tool replacement significantly, simplify the operation control of the robot, and expect a great improvement in work efficiency. There is a way to provide.

[0006]

In order to achieve the above object, an industrial robot automatic tool changing method in accordance with the present invention is a robot in which necessary jigs are selected from various kinds of jigs arranged on a rack according to an instruction from a controller. In the automatic tool exchange method in which the rack is taken out, transported and attached to the processing device, there are an forward position where the rack projects forward from the rack body to detachably support the jig and a retracted position where the jig is released and retracted. A plurality of carriers arranged in a matrix that reciprocate, forming a plurality of carrier rows arranged vertically to support jigs and tools of the same type, and the carriers to be mounted on the processing device. The robot picks up the jig from the uppermost carrier at the forward position of the carrier row that supports the tool, conveys it, and attaches it to the processing device. Move the carrier to the retracted position, move the lowest carrier in the retracted position of the carrier row containing the jigs and tools to be recovered from the processing equipment to the advanced position, and use the robot to collect the jigs and tools recovered from the processing equipment on this carrier. The jigs and tools are sequentially replaced by repeating the operation of transporting, descending from above and mounting and collecting, and another method for automatically changing jigs and tools by the industrial robot according to the present invention is a multi-tool arrangement. In the automatic jig / tool replacement method, in which the robot takes out the necessary jigs / tools from the types of jigs / tools according to the instructions from the controller and attaches them to the processing equipment, the rack projects forward from the rack body and supports the jigs / dismounters A plurality of carriers arranged in a matrix for reciprocating between a forward position and a retracted position where the jig and tool are separated and retracted; These carriers and the carrier fixed to the rack body at the lowest position in the forward position form a plurality of carrier rows arranged in the vertical direction to support jigs and tools of the same type, and bear the jigs and tools to be mounted on the processing device. A carrier row for accommodating the jigs and tools to be retrieved from the machining equipment by picking up the jigs and tools from the uppermost carrier in the forward position of the carrier row by the robot and mounting them on the machining equipment, and moving this carrier to the retracted position. After the jigs and tools to be collected from the processing equipment are transferred to the carrier fixed to the rack body of the robot by the robot and lowered and mounted from above, they are at the forward position of the carrier row that supports the jigs and tools to be mounted on the processing equipment. A jig / tool to be picked up by the robot from the top carrier and mounted on the processing equipment, and then recovered from the processing equipment. The lowermost carrier in the retracted position of the carrier row accommodating the is moved to the advanced position, and the robot carries the jig / tool to be recovered from the processing device to this carrier, lowers it from above, and mounts and recovers it. The jigs and tools are sequentially replaced. Further, according to still another method of automatically changing jigs and tools by the industrial robot according to the present invention, the robot takes out the necessary jigs and jigs from the various kinds of jigs and tools arranged on the rack according to the instruction from the controller, and conveys them to the processing device. In the automatic jig / tool changing method to be mounted, the rack is arranged in a matrix form that reciprocates between an forward position where the rack projects forward from the rack body and detachably supports the jig, and a retracted position where the jig is removed and retracted. A plurality of carriers, which form a plurality of carrier rows vertically arranged to support jigs and tools of the same type, and are arranged at the forward position of the carrier row for supporting jigs and tools to be mounted on the processing device. A robot picks up a jig from a certain top carrier and conveys it to the jig mounting position of the processing equipment, and then moves this carrier backward. The lowermost carrier in the retracted position of the carrier row accommodating the jigs and tools to be recovered from the processing device to the forward position, and precedes the mounting of the jigs and jigs by the robot to the carrier. Then, the jigs moved from the jig mounting position to the retracted position are conveyed by a robot, lowered from the upper side, mounted and collected repeatedly, and the jigs are sequentially replaced. The automatic tool changing method by the industrial robot of
The robot takes out the necessary jigs and tools from the various kinds of jigs and tools placed on the rack according to the instructions from the controller,
In the automatic jig / tool exchange method of transporting and mounting the jig on the processing device, the rack reciprocates between the forward position where the rack projects forward from the rack body and detachably supports the jig, and the retracted position where the jig is removed and retracted. A plurality of carriers arranged in a matrix form, and a plurality of carriers arranged vertically to support jigs and tools of the same type by the carriers and the carriers fixed to the rack body at the lowest position in the forward position. The uppermost carrier at the forward position of the carrier row for supporting the jigs and tools to be mounted on the processing device, and the robot picks up the jigs and tools to mount the jigs and tools to the processing device. The robot on the carrier fixed to the rack body of the carrier row that accommodates the jigs and tools to be recovered from the processing device. Before the jig is mounted to the jig mounting position by the robot, the jig that has moved from this jig mounting position to the retracted position is transported by the robot and lowered from the top to mount it, then to the jig mounting position of the processing equipment. The robot picks up the jig from the uppermost carrier at the forward position of the carrier row that supports the jig to be mounted, and mounts the jig in the jig mounting position of the processing device that has previously moved the jig to the retracted position. Move the lowest carrier in the retracted position of the carrier row containing the jigs and tools to be recovered in the retracted position to the forward position, and convey the jigs and tools in the retracted position to this carrier by the robot and lower it from above. The jigs and tools are sequentially replaced by repeating the operation of mounting and collecting.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method for automatically changing jigs and tools by an industrial robot according to the present invention is a cylinder block for an engine in which a workpiece is obtained by casting, and the jig is made by grinding the cylinder block. An example will be described where is a jig for positioning and mounting the cylinder block.

FIG. 1 is a schematic explanatory view of this embodiment. Reference numeral 1 is a processing device for grinding a cylinder block obtained by casting.

A plurality of processing apparatuses 1, in this embodiment, eight stations, that is, a first station 101, a second station 102, ... An eighth station 108 are arranged in a circle, and extend radially around the center of rotation. A transfer device 2 having eight arms 2a, 2b, ... 2h to be installed is provided. Jigs 3e and 3e for positioning and mounting a cylinder block (not shown) to be ground at a jig tool position (not shown) provided at the tip of each arm 2a, 2b, ... 2h.
... are detachably and rotatably provided, and the arms 2a, 2b, ... 2h are sequentially rotated by a predetermined angle.
Are arranged so that the jigs 3e, 3e, ...

Further, the first station 101 is provided with a seating confirmation device 4 for seating confirmation of a cast cylinder block which is a workpiece supplied by the workpiece supply robot 7 to the jig 3e located at this station and for detecting abnormal burrs. The second station 102 is a station that corrects or takes out the cylinder block supplied from the first station 101 when the cylinder block is defective.

The third station 103 is provided with a grinding device 5 for grinding the upper and lower surfaces of the supplied cylinder block, and the fourth station 104 measures the grinding surface ground by the third station 103. In addition, it is a station that changes the direction of the jig 3e in preparation for the next grinding.

The fifth station 105 is provided with a grinding device 6 for grinding the front and rear surfaces of the supplied cylinder block. The cylinder block ground by the fifth station 105 is ground by the next sixth station 106. The surface is measured and carried out.

With this configuration, the cylinder blocks successively supplied to the jigs 3e of the transfer device 2 located at the first station 101 by the work supply robot 7 are sequentially transferred to the first block by the transfer device 2 which is rotationally driven. It is conveyed to the station 101, the second station 102, ... The fifth station 105, and a predetermined portion is ground and carried out.

The seventh station 107 is a station for exchanging a jig corresponding to a new cylinder block according to the change when grinding a different type of cylinder block. The eighth station 108 is the seventh station. At 107, the arms 2a, 2b, ...
This station detects erroneous attachment of the jig attached to the jig attachment position at the tip of h and changes the direction of the jig.

Each of the arms 2a, 2b of the carrier device 2 ...
At the tip of 2h, a jig retracting device (not shown) is provided for detaching the jig from the jig device position and moving it for a predetermined distance and holding it when the jig is replaced.

A rack 8 for accommodating various kinds of jigs required for positioning and mounting various kinds of cylinder blocks is provided near the seventh station 107 of the processing apparatus 1.

The rack 8 is shown in a perspective view in FIG.
As shown in FIG. 3 which is a sectional view taken along the line A, arms 2a, 2b ... Forming the transfer device 2 of the processing device 1 on the rack body 8A.
Eight carriers 9a, 9b, ... 9h corresponding to the number of 2h
Are arranged in the vertical direction to form a carrier row 9.

The other carriers 9a, 9b, ... 9g except the lowermost carrier 9h are supported by rollers 9i provided in front of and behind the rack body 8A so as to be instructed by a controller (not shown). The cylinder 9j is configured to reciprocate between an advancing position projecting forward from the rack body 8A and a retracted position accommodated in the rack body 8A by expansion and contraction of the cylinder 9j, and the carrier 9h corresponds to the advancing position. It is fixed to the rack body 8A at the position. Each of the carriers 9a, 9b ... 9h has a positioning pin 9k projecting upward, and is fitted into a long hole 3g opened in a jig 3a mounted from above to be positioned and supported.

.. 14 formed in the same manner as the thus formed carrier row 9 are juxtaposed on the rack body 8, and the carriers 9a, 9b, ... 14g, 14h are arranged in a matrix.

In FIG. 1, reference numeral 15 designates a jig, for example, 3a, housed in the rack 8 and arms 2a, 2b, ... Of the transfer device 2 located at the seventh station 107 of the processing device 1.
A jig retracting device (not shown) is conveyed from the jig attaching position of the arms 2a, 2b, ... This is a jig / tool exchange robot that transports and stores a jig, for example, 3e, which has been moved to the retracted position by the rack 8, and has the arm 15a of the robot 15 formed with jigs 3a, 3b, ... 3f as shown in FIG. It has a grip finger 15b that serves as a holding portion that is inserted into the pair of elongated holes 3g to hold and release the jig.

Next, a jig exchanging method by the jig / tool automatic exchanging device configured as described above will be described.

First, a case where a jig is not attached to the processing apparatus 1 and a jig is newly attached will be described.

Prior to mounting the jig on the processing apparatus 1, jigs corresponding to various types of cylinder blocks to be processed on the carriers 9a, 9b ... 14g, 14h of the rack 8 are prepared in advance.

For the jig preparation work for the rack 8, first, the carrier 9 located at the lowest position of each carrier row 9, 10, ...
Each carrier 9a, 9b ... 1 except h, 10h ... 14h
4f and 14g are moved to a retracted position housed in the rack body 8A by extension of the cylinder 9j according to an instruction from the controller, and are conveyed to the vicinity of the robot 15, for example, a jig prepared in the long hole 3g of the robot 15a. The grip finger 15b provided at the tip of the arm 15a is inserted to grasp the jig 3a and lower it from above onto a predetermined carrier row, for example, the lowest carrier 9h of the carrier row 9, thereby making the long hole 3g pin 9k. The jig 15a is engaged and positioned for placement, the grip 15b releases the jig 3a, and the arm 15a of the robot 15 is retracted from the rack 8.

Next, the carrier 9g located directly above the carrier 9h on which the jig 3a is mounted is moved to the forward position by contraction of the corresponding cylinder 9j, and the robot 1
The jig 3a is positioned and mounted on the carrier 9g by 5.
The same operation is performed on each of the carriers 9f, 9e, ... 9a, and the carriers 9f, 9e ,.
The jig 3a is placed on the carrier 9a and the carrier 9 in the carrier row 9 is mounted.
Preparations for a, 9b ... 9h are completed.

Each of the carriers 10a, 10b ... 10 of the carrier row 10 is similar to the work for preparing the jig 3a for the carrier row 9.
A jig 3b corresponding to a cylinder block for other types of machining is prepared. Similarly, the jig 3 is attached to each carrier row 11.
c, the jig 3d for the carrier row 12, the jig 3e for the carrier row 13, and the jig 3f for the carrier row 14, respectively, to complete the preparation of the jig for the rack 8.

The work of mounting the jig on the processing apparatus is located on the carrier 13a at the top of the carrier row 13 on which the jig corresponding to the type of cylinder block to be ground, for example, the jig 3e is mounted. The grip finger 15b of the robot 15 is inserted into the long hole 3g of the jig 3e from above to grip and hold the jig 3e, and the jig 3e is lifted, separated from the carrier 13a, and swung by the arm 15a of the robot 15. The processing device 1 is transferred to and mounted on the jig mounting position provided at the tip of the arm, for example, the arm 2a of the transfer device 2 located at the seventh station 107 of the processing device 1.

In parallel with this carrying and mounting operation, the carrier 13a, which has carried out the jig 3e, is moved to the retracted position in the rack body 8A by the extension of the cylinder 9j.
The upper part of the carrier 13b located immediately below 3a is opened to allow the grip finger 15b provided at the arm tip of the robot 15 to descend from above.

Next, the arm of the robot 15 is swung back to the rack 8 side, and the grip finger 15b is attached to the long hole 3g of the jig 3e mounted on the carrier 13b at the uppermost position of the forward position in the carrier row 13. The jig 3e is inserted from above and lifted by gripping the jig 3e to separate the jig 3e from the carrier 13b, and the seventh station 10 of the processing apparatus 1 is rotated by a predetermined angle of rotation of the carrier device 2 during this period.
The new arm 2b moved to 7 is transported to and mounted on the jig / tool mounting position provided on the tip of the new arm 2b.

Similarly, the arm 2 that moves to the seventh station 107 while sequentially rotating the transfer device 2 of the processing device 1.
c, 2d ... 2h to the jig mounting position, the carrier 13c,
The jigs 3e placed on 13d, ..., 13h are sequentially carried out from above by the robot 15 and mounted to complete the mounting of the jig 3e on the processing apparatus 1.

As described above by the processing apparatus 1 equipped with the jig 3e, the cylinder block supplied to the first station 101 of the processing apparatus 1 by the work supply robot 7 is ground and the sixth station 106 performs the following processing. It is delivered to the process.

A jig 3e mounted on the processing apparatus 1 in accordance with a change in the type of cylinder block to be ground next.
Will be described, for example, when the jig 3a is replaced.

First, the robot is inserted into the long hole 3g of the jig 3a supported on the uppermost carrier 9a of the carrier row 9 of the rack 8 on which the jig 3a to be newly mounted on the processing apparatus 1 is placed. The grip finger 15b provided at the tip of the arm 15a of 15 is dropped from the upper side to be inserted, and the jig 3a is held and lifted to be detached from the carrier 9a. 7 arm 107, eg arm 2
The jig 3e mounted at the jig mounting position provided at the tip of a is removed from the jig mounting position by the jig retracting device and moved to the retracting position indicated by the dotted line 3e '.

Next, the arm 2a from which the jig 3e is removed
The robot 15 is transported to and mounted on the jig mounting position by swinging the arm 15a of the robot 15. The carrier 9a, from which the jig 3e has been carried out, is moved to the retracted position by the extension of the cylinder 9j in conjunction with the work of mounting and mounting the jig 3e.

Subsequently, the robot 15 inserts the grip finger 15b from above into the elongated hole 3g of the jig 3e that has been moved to the retracted position, holds the jig 3e, and raises it.

Next, the arm 15a of the robot 15 is swung to the rack 8 side and is lowered from above onto the lowest carrier 13h of the predetermined carrier row 13 to engage the elongated hole 3g with the pin 9k. Then, it is positioned and placed, and the grip of the jig 3e by the grip 15b is released.

Next, the robot 15 having the jig 3e mounted on the carrier 13h attaches the grip finger 15b to the elongated hole 3g of the jig 3a mounted on the carrier 9b located at the uppermost position of the forward position in the carrier row 9. The jig 3e is inserted from above, grasped and taken out of the jig 3e, and is provided at the tip of the next arm 2b which is moved to the seventh station 107 of the processing apparatus 1 by the rotation of the transporting apparatus 2 and is fixed by the jig retracting apparatus as described above. Carry the tool 3a to the jig / tool mounting position where it was unloaded,
And wear it.

Subsequently, the jig 3e moved to the retracted position by the jig retracting device prior to the attachment of the jig 3e to the jig mounting position of the arm 2b is the arm 15a of the robot 15.
Is held by the grip fingers 15b provided on the upper side and is moved upward, and is conveyed to the rack 8 side by swinging of the arm 15a. The carrier 13g moved to is positioned and placed in the same manner as above by descending from above.

Next, the robot 15 mounts the jig 3a mounted on the uppermost carrier 9c located at the forward position of the carrier row 9 to the jig mounting position provided on the arm 2c of the processing apparatus 1 as described above. , The jig 3e at the retracted position of the processing device 1 is collected in the carrier 13f that has moved to the forward position.

By repeating the same operation, the jig 3 mounted on the carriers 9d, 9e ...
2a from the top to the 7th station 107 in order at the jig / tool mounting positions provided on the arms 2d, 2e ... 2f, and the jig 3e from the processing device 1 at the retracted position of the carrier row 13 and the carrier 13g at the lowest position. To the forward position, the carriers 13e, 13d, ... 13a are sequentially recovered to complete the jig replacement work, and the next type of cylinder block can be ground by the processing device.

The jigs 3a, 3b, ... 3f housed in the carrier rows 9, 10, ...
It is possible to grind corresponding various types of cylinder blocks by appropriately performing the above-mentioned processes.

In the embodiment described above, the carriers 9h, 10 located at the bottom of each carrier row 9, 10, ...
14h is fixed to the rack body 8A, but it is also possible to reciprocate between the forward position and the backward position like other carriers, and the carrier rows 9 and 10 can be moved.
The number of each carrier and the number of carrier rows in 14 are
It can be appropriately changed depending on the type of processing device and cylinder block.

According to the jig automatic changing method by the industrial robot having the above-mentioned structure, the plurality of carriers arranged on the matrix are formed so as to be reciprocable between the forward position and the backward position protruding from the rack body. , The same type of jigs should be accommodated in each vertical carrier row, and when the jigs are accommodated in each carrier row, the jigs should be placed sequentially by moving from the lower carrier to the forward position. In addition, when removing the jig from the rack, the upper carrier is sequentially taken out, and the carrier from which the jig is taken out is sequentially moved to the retracted position. It is possible with only one motion in one direction, simplification of robot control and reduction of work time can be obtained. Furthermore, jig transfer from the rack to the processing equipment and processing equipment The jigs are collected from the rack to the rack by continuous rocking of the robot arm, and compared with the conventional jig replacement that requires so-called empty movement to move the rack and processing equipment without holding the jig. It is possible to reduce the work time required for various jig replacements and improve work efficiency.

In the above description, a jig for positioning and mounting a cylinder block as a work has been described as an example, but a jig for mounting another work, a cutting tool used in a processing apparatus, and a processing tool for a drilling tool. It is also possible to apply it to other jigs and tools exchanges such as the replacement.

[0045]

According to the method for automatically changing the jigs and tools by the industrial robot of the present invention described above, when the jigs and tools are carried out from the rack and stored in the rack, the holding portion of the robot can be moved by only one motion in the vertical direction. It is possible to simplify the robot control and shorten the working time, and to supply the jigs and tools from the rack to the processing equipment and collect the jigs and tools from the processing equipment to the rack by continuous reciprocating movement of the robot arm. Therefore, there are advantages peculiar to the present invention, such as drastic reduction of the robot's idle motion, drastically shortening the working time required for jig and tool replacement, and greatly improving working efficiency.

[Brief description of drawings]

FIG. 1 is a schematic explanatory diagram showing an embodiment of a method for automatically changing jigs and tools by an industrial robot according to the present invention.

FIG. 2 is a perspective view illustrating the outline of a rack used in this embodiment as well.

3 is a cross-sectional view taken along the line AA in FIG.

FIG. 4 is a perspective view of an essential part showing the same jig holding state by a robot.

FIG. 5 is a perspective view illustrating an outline of a conventional jig / tool replacement method.

[Explanation of symbols]

 1 Processing Equipment 3a, 3b ... 3f Jig 8 Rack 8A Rack Main Body 9, 10 ... 14 Carrier Row 9a, 9b ... 14g, 14h Carrier 15 Robot

Claims (4)

[Claims] 1. In a jig / tool automatic replacement method in which a robot takes out necessary jigs / tools from various kinds of jigs / tools arranged on a rack according to an instruction from a controller, and conveys and mounts the jig / tool on a processing apparatus, the rack is a rack body. A plurality of carriers arranged in a matrix shape that reciprocate between an advancing position for projecting the jig and tools to detachably support the jig and a retracted position for leaving and retracting the jig, and these carriers are of the same type. Forming a plurality of carrier rows vertically arranged to support the jigs and tools, and the robot moves the jigs and tools upward from the uppermost carrier in the forward position of the carrier row that supports the jigs and tools to be mounted on the processing device. Retreat position of the carrier row that stores the jigs and tools to be taken out, transported, mounted on the processing device, and moved to the retracted position to recover the carrier from the processing device. Move the lowest carrier in the table to the forward position, convey the jig / tool collected from the processing device to this carrier by the robot, lower it from above and mount it, and repeat the operation to collect and repeat the jig / tool replacement. A method for automatically changing jigs and tools by an industrial robot, which is characterized in that 2. In a jig / tool automatic exchange method in which a robot takes out necessary jigs / tools from a large variety of jigs / tools arranged on a rack according to an instruction from a controller, and conveys the jigs / tools to a processing apparatus, the rack is a rack body. A plurality of carriers arranged in a matrix shape that reciprocate between a forward position that projects forward from the base and detachably supports the jig and a retracted position that separates and retracts the jig. In the forward position, the carrier fixed to the rack body at the forward position forms a plurality of carrier rows arranged vertically to support the same type of jigs and tools, and the forward position of the carrier row that supports the jigs and tools to be mounted on the processing device. Remove the jig and tool from the uppermost carrier in the robot by the robot, attach it to the processing equipment, and move the carrier to the retracted position. , Robots convey the jigs / tools to be collected from the processing equipment to the carrier fixed to the rack body of the carrier row that accommodates the jigs / tools to be collected from the processing equipment, lower it from above, and attach it to the processing equipment. The robot picks up the jig and tools from the uppermost carrier in the forward position of the carrier row that supports the jigs and jigs to be mounted on the processing device, and then the carrier row that contains the jigs and tools to be recovered from the processing device. The lowest carrier in the retracted position is moved to the forward position, and the jigs and tools to be collected from the processing equipment are transferred to this carrier by a robot, lowered from above and mounted and collected to repeat the replacement of jigs and tools. A method for automatically changing jigs and tools by an industrial robot characterized by: 3. In a jig / tool automatic replacement method in which a robot takes out necessary jigs / tools from a large variety of jigs / tools arranged on a rack according to an instruction from a controller, and conveys and mounts the jig / tool on a processing apparatus, the rack is a rack body. A plurality of carriers arranged in a matrix shape that reciprocate between an advancing position for projecting the jig and tools to detachably support the jig and a retracted position for leaving and retracting the jig, and these carriers are of the same type. Forming a plurality of carrier rows vertically arranged to support the jigs and tools, and the robot moves the jigs and tools upward from the uppermost carrier in the forward position of the carrier row that supports the jigs and tools to be mounted on the processing device. A key for picking up and transporting it, mounting it at the jig mounting position of the processing device, moving this carrier to the retracted position, and storing the jig to be recovered from the processing device. The lowermost carrier at the retracted position of the carrier row is moved to the forward position, and the jig is moved from the jig mounting position to the retracted position prior to the robot mounting the jig on the carrier. A method for automatically changing jigs and tools by an industrial robot, characterized in that the jigs and tools are transferred by a robot, lowered from above, mounted and recovered, and jigs and tools are sequentially replaced. 4. In a jig / tool automatic exchange method in which a robot takes out necessary jigs / tools from a large variety of jigs / tools arranged on a rack according to an instruction from a controller, and conveys and mounts the jig / tool on a processing apparatus, the rack is a rack body. A plurality of carriers arranged in a matrix shape that reciprocate between a forward position that projects forward from the base and detachably supports the jig and a retracted position that separates and retracts the jig. In the forward position, the carrier fixed to the rack body at the forward position forms a plurality of carrier rows arranged vertically to support the same type of jigs and tools, and the forward position of the carrier row that supports the jigs and tools to be mounted on the processing device. Robot picks up the jig from the uppermost carrier in the robot, mounts it on the jig mounting position of the processing equipment, and retracts this carrier. Move to the position, and retract from the jig mounting position prior to the jig mounting to the jig mounting position by the robot on the carrier fixed to the rack body of the carrier row that houses the jigs to be collected from the processing equipment. The robot moves the jig / tool that has been moved to the position where the jig / tool is lowered and mounted from the top, and then the robot moves from the highest carrier in the forward position of the carrier row that supports the jig / tool to be mounted to the jig mounting position of the processing device. To remove the jig upwards and mount it in the jig mounting position of the processing device that has previously moved the jig to the retracted position, and then at the retracted position of the carrier row that houses the jig to be recovered at the retracted position. The operation of moving the lower carrier to the forward position, transporting the jig / tool at the retracted position to this carrier by the robot, lowering it from above, and mounting it Tools automatically exchanging method according to an industrial robot, characterized in that to replace the sequential tooling repeatedly.