Abstract: A rotary transfer mechanism has carrier means (18) rotatable with a drive shaft (16) on a support member (15), at least one support shaft (19) rotatable on the carrier means (18), with a pinion (24) secured coaxially to the support shaft and engageable with an arcute rack (25) secured to the support member (15) when a cam follower (26) is not engaged with a cam track (27) secured to the support member, whereby at least one suction cup (21) attached to the support shaft (19) is caused to follow a path having a "node point" at the discharge opening (11) of a magazine (12), for extracting a flat sleeve carton (10), and whereby the suction cup (21) is caused to move past a receiving station (13) on a conveyor (14) in the same direction as the conveyor with the carton (10) generally parallel to the conveyor, for accurate placement and deposit of the carton on the conveyor.

Abstract: A workpiece positioner usable with a lathe having a headstock rotatable about a lathe axis has a base adjacent the lathe and defining an upright base axis offset from the lathe axis, a gripper support pivotal on the base about the base axis and defining a horizontal support axis, a positioner head pivotal on the support about the support axis, and a pair of grippers each including a respective pair of gripper jaws displaceable on the head transversely of the support axis.

Abstract: In this manipulator system, a small arm is coupled with an arm portion of a large arm excepting the tip, and the large arm and the small arm are independently controlled to operate. For coupling the small arm with the arm portion of the large arm, a capturing mechanism located at the tip of the large arm is actuated to be coupled with a capturing mechanism of the small arm. Another capturing mechanism of the small arm is moved to a capturing mechanism located on the arm portion of the large arm to be mechanically and electrically coupled therewith. When this coupling has been completed, the coupling between the capturing mechanism located on the tip of the large arm and the capturing mechanism of the small arm is released. As a result, the small arm can be branch-connected to the large arm, and expansion of the work range and complex work become possible.

Abstract: A tool changing device for tool systems in which a tool head and a tool holder are connected with one another by means of an automatic clamping mechanism which includes an integrated clamping screw. The tool changing device includes a lifting carriage which is movable on several axes and a rotatably mounted, motor driven pivot arm which is mounted on the lifting carriage. The pivot arm has a free end which is equipped with a gripper holder having at least four tool locations and an integrated clamping shaft. Both ends of the clamping shaft are provided with profiles which permit transfer of torques. The clamping shaft can be moved axially in such a manner that it can be coupled with the clamping screw of a tool holder either from the left or from the right.

Abstract: Apparatus for conveying counterweights and retaining springs from magazines and a spring supply device to insertion heads of a wheel balancing installation includes a single transfer unit that simultaneously conveys retaining springs and counterweights from the respective magazines and insertion device to the insertion heads along a rigid rectilinear guide. The transfer unit has pockets with releasable clamps for the counterweights and springs. The clamps are controlled by a reciprocatory cam assembly outside of the transfer unit.

Abstract: A palletizing method for articles by a robot wherein a final stacking pallet is moved as a hand portion of the robot moves, and when an article is loaded on the pallet, the final stacking pallet is made to assume a position in the neighborhood of a position where the article is gripped up by the robot hand to transfer the article.

Abstract: The invention is directed to a method and apparatus for selectively and simultaneously drilling a plurality of holes in thin panels such as printed circuit boards, while providing for automatic changing of the drill bits, individually or plurally, as required. A tray of drill bits is driveable in X and a row of vacuum pickers are driveable in Y, so that the various bit locations of the tray are addressable by such X-Y positioning, and selectable vacuum pickers are extensible and retractable so as to pick and place the drill bits at various matrix locations of the tray. The vacuum pickers also are extensible and retractable through corresponding tray openings in order to deliver replacement bits to, and retrieve used bits from, a flipper assembly associated with each drilling module.

Abstract: This invention relates to a device for transferring objects from a gripping station to a depositing station, and is particularly applicable to the loading or unloading of panes of glass. The device includes at least one arm mounted perpendicularly to a shaft which drives it in rotation, with the arm being adapted to slide perpendicularly relative to the shaft. Gripping devices such as suction cups are mounted at each end of the arm, and a motor and indexer are provided for automatically controlling the rotation of the shaft, the sliding and locking of the arm, and the maneuvering of the gripping devices.

Abstract: A portal system is described which consists of two translational axes and two rotary axes which are so arranged and controlled that every point within a cubic working space can be computed and reached. As a result of this special kinematic construction the total complexity for the frame and also the mechanical complexity and cost are substantially reduced in comparison to customary portal systems.

Abstract: A system and method for handling and delaminating a bobbin of sheet-like material, such as tipping paper, comprising a delaminator apparatus (100), a robotic arm assembly (182) having a robotic hand (185) connected thereto and a control console (212) for controlling the delaminator apparatus (100), the robotic arm assembly (182) and robotic hand (185) connected to the robotic arm assembly (182).

Abstract: A parts manipulator formed by a head and a robot (10) for attachment to a robot arm and rotatable therewith, the head including a rotatable mount (26) attached to the robot arm (19) and a plurality of gripper mechanisms (21) secured about the mount (26). Each gripper mechanism includes a set of finger portions (51), each selectively and independently of each other shiftable between first and second orientations on the mount to extend either parallel to and downwardly from, or outwardly from the mount (26), allowing flexibly programmed handling of a part.

Abstract: A pick and place machine has two pairs of centering jaws slidably mounted in rectilinear slots of a shift plate, with each jaw pair being driven by a pair of scissor links respectively pivoted to a pair of nuts mounted on a dual reverse threaded shaft.

Abstract: A robotic positioning device has a support structure and a tool implement holding member which is positional within the three dimensional space of the support structure. The tool implement holding member is connected to the support structure utilizing five positioning members. Each of these positioning members is connected to the tool implement holding member. Three of the positioning members are connected to the holding member at a first common center of rotation and the other two positioning members are connected to the holding member at a second common center of rotation. Each of the positioning members is attached to the support structure utilizing a connecting member which allows for the positioning member to freely pivot with respect to the support structure and additionally allows the member to move with respect to the support structure axially along an axis of the member. This is accomplished by moving the members axially toward or away from the support structure.

Abstract: A robot device for loading empty spools (b) and the unloading of filled spools (b') into and from wire winding machines arranged in a single file on one side of a path (4). The longitudinal axis of the path (4) is substantially parallel to the winding axes of the wire winding machines. The robot device comprises a transport carriage (2) movable along the path (4) and carrying a vertical supporting structure (1) on which is cantilevered a turret-like gripping frame (41-55) having an axis of rotation (10) which is horizontal and parallel to the path (4) and carries at least one pair of diametrically opposite self-centering clamps (P, P'), each clamp being adapted to grip a spool (B, B') the axis of which is parallel to the rotational axis (10) of the gripping frame (41-55), by clamping the end flanges of the spool (B, B').

Abstract: A double-handed, robot end effector or gripper which can be used for moving nd positioning machine parts. The gripper is elongate and symmetric about its longitudinal axis, having a first and a second set of hands extending in each of the two transverse directions. Each hand has a removable finger and is positioned about an accurately repeatable midpoint. The hands are mounted on and are moved about the longitudinal plane by a ball screw which is rotated by either an electric motor or an air driven motor through gears located at one end.

Abstract: The present invention provides an apparatus and method of utilization of the same of tooling for a robot or the like for installing rocker arm assemblies to the cylinder banks of an engine. A preferred embodiment of the present invention includes jaws to grip the rocker arm assembly, a bolt runner to torque the rocker arm bolt and means to angularly float the jaws, allowing the rocker arm assembly to align itself with the engine cylinder bank push rod and valve spring.

Abstract: The present invention relates to a method and apparatus for inserting the gerotor oil pump assembly into the housing of an engine. The present invention provides a first jaw and a second jaw which allow the gear assembly to be picked up by the robot or the like while at the same time decreasing the possibility of lock up between the primary outer and secondary inner gears of the gerotor assembly.

Abstract: A device for separating slices of bread from sliced loaves of bread and for transferring the separated slices one by one to a conveyor for further processing. The device incorporates an inclined, intermittently driven infeed conveyor for conveying the slices of bread in generally upright positions and in surface-to-surface contact with one another to a separating and transfer position. The separating and transfer position incorporates a primary rotatable member which rotates about its horizontally extending central axis. The primary rotatable member carries a plurality, for example, four, of secondary rotatable members, each of which rotates about its longitudinal central axis, which is spaced outwardly from and extends generally parallel to, the longitudinal central axis of the primary rotatable member.

Abstract: A device for transferring crosswound coils from a crosswound-coil delivery location of a textile machine into a box-shaped conveyance includes a flat conveyor for collecting crosswound coils in mutually adjacent rows, and grippers for unloading the collected crosswound coils, the flat conveyor and the grippers being combined into one structural unit, the structural unit being pivotable in a vertical plane through an angle of substantially 180.degree. and being controllably changeable in position in vertical and horizontal direction.

Abstract: A double-hand apparatus for an industrial robot, in which a first and second hand are mounted on a common frame. Two supporting arms are pivotally supported at respective ends on a pair of rotary shafts on the common frame and at their other ends at two respective points on a base such that the two arms extend parallel to each other so as to constitute a parallel link. At least one of the supporting arms is pressed at one end by an energizing spring. Thereby the two supporting arms in a normal state are held in a predetermined parallel link attitude by the spring force by the energizing spring. When either the first or the second hand receives a reaction force from a workpiece that is being set on a table, this reaction force deforms the parallel link of the supporting arms against the force of the energizing spring to thereby lessen the effect of the reaction force.

Abstract: A tool transfer mechanism for transferring a tool between a gateway position of a tool storage magazine and an exchange position adjacent a spindle which includes a base mounted on a frame, an actuator for rectilinearly moving the base, and a holding arm mounted on the base resiliently biased toward the tool to hold the same. The holding arm is moved outwardly to release the tool when the base is at the gateway position. The base is rotated in accordance with its rectilinear movement to change the posture of the tool between a first posture where the tool is parallel with remaining tools stored in the magazine and a second posture where the tool is parallel with the spindle.

Abstract: A system for producing confectionary products, especially lollipops, is disclosed. The system includes a plurality of molds mounted on a conveyor belt assembly. A dispensing means adapted for injecting a predetermined quantity of fluid into each of the molds is positioned proximate the belt. A stick handle inserter for receiving a plurality of elongated sticks, and thereafter inserting a single handle into each of the fluid retaining molds, is positioned adjacent the belt either before or after the dispensing means. A cooling means for cooling the viscous fluid to aid in its solidification is associated with the belt. A transfer means positioned proximate the belt is adapted to remove the finished confectionary product from the mold and thereafter transfer that product to a station for wrapping.

Abstract: A load clamp has two selectively openable and closable opposing clamping assemblies, one of which comprises at least a pair of clamp arms movable separately from each other toward and away from the other clamping assembly. Separate actuators for the respective clamp arms are controlled automatically in such a way that, during closure, the respective movements are simultaneous until such time as one of the arms attains a predetermined clamping force, at which time an override system permits their respective movements to become non-simultaneous to enable further closure of the other clamp arm. Corresponding actuator regulation occurs during opening of the clamp arms, the override function being triggered by full opening of one of the clamp arms.

Abstract: A central base of a gripper is adapted to be attached to a robot wrist flange. Carriage rods and stabilizing bars extend outwardly, on both sides of the central base. Sliding carriages, which move along the carriage rods on linear bearings, each carry two flexible urethane grippers which are capable of expanding and gripping a part from the inside when the flexible grippers are pressurized. Each carriage when slid from a first position to a second position by an air cylinder, causes the second flexible gripper of a carriage to occupy the same position in space that the first flexible gripper of the same carriage, previously occupied.

Abstract: A manipulator for positioning a series of workpieces relative to a robot. The manipulator contains at least two separate fixture supports. The fixture supports are alternately transferred between a loading position and an operative position adjacent the robot by a transfer motor. The fixture supports are rotated by a single turning motor which is alternately placed into engagement with each fixture only when that fixture in the operative position.

Abstract: A two-handed robot device in which a hand supporting frame, which is moved to a position to grasp or release a workpiece by indexed rotation of a wristlike member, is provided with a first hand fixed on one side of the supporting frame, a striker which moves back against a spring force when touching a workpiece to be grasped by the first hand, a first detector which is made to operate by the backward movement of the striker, a second hand having its base portion fitted pivotally on the other side of the supporting frame so that it can be tilted from an engagement position toward the supporting frame and which is actuated toward the engagement position by a spring, and a second detector which is made to operate by said tilting movement of the second hand, and in which the movement of the first hand when approaching a workpiece and the movement of the second hand when approaching a workpiece stand are stopped according to the detection signals of the first and second detectors respectively.

Abstract: A gripper mechanism for feeding a pair of elongate strips such as a pair of slide fastener stringers has a pair of gripper holders supporting a pair of grippers for gripping the slide fastener stringers, respectively, and a pair of sliders joined to the gripper holders, respectively, and slidably disposed in a housing for independent movement therein. In response to engagement with a cam on a feed path, the grippers are opened to grip or release the slide fastener stringers. The grippers are normally urged by a spring to clamp the slide fastener stringers. A pinion is angularly movably supported on a slide block in the housing and held in mesh with a pair of racks, respectively, of the sliders. A spring acts between the housing and the slide block for normally urging the slide block in a direction to move the gripper holders into abutment against the housing. The gripper holders can be moved relatively to each other toward and away from the housing.

Abstract: The disclosure relates to a tool changing mechanism comprising an arm with hands at each end thereof having means to pick up both boring and turning tools. The arm is actuated by hydraulic rotary actuators and the tools are gripped by air operated fingers. A turret assembly is equipped with a boring tool holder and a turning tool holder for the acceptance of tools changed by the changing mechanism.A magazine holds replacement boring bars and turning tools until a tool change is required. An automatic tool lock-unlock mechanism is provided to lock the tools in cutting position.

Abstract: A robot installation for performing a plurality of assembling or machining operations at a work or assembly station comprises a robot with a rotatable tool support, e.g. a ring or disc, carrying a number of tools. The turning and positioning of the tool support are controlled by control equipment of the robot. The tools are adjustably positioned on the tool support.

Abstract: A press machine has a transfer device for transferring blanks to be machined from a blank supply station to a blank machining station. The transfer device includes a rail extending in the longitudinal direction of a bed of the press machine and mounted in front of a press machine body through brackets fixedly secured, respectively, to side faces of the press machine body, a main body located in front of the press machine body so as to be movable along the rail, a lift member mounted on the main body so as to be movable in the vertical direction, a transfer unit fitted to the lift member so as to be movable back and forth with respect to the press machine body, and drive units for driving the main body, lift member and transfer unit, respectively.

Abstract: A numerically controlled machine tool capable of milling and turning operations has a continuously rotatable first spindle (10) to which is releasably secured a work holder (50). A rotationally positionable second spindle (20) has releasably secured thereto a tool holder (60). For turning operations, the second spindle (20) is locked against rotation and has secured thereto a tool holder having a turning tool (61), the workpiece (51) being held by the work holder on the first spindle (10). For milling operations, the second spindle (20) is unlocked, the work holder (50) is secured to the second spindle (20), and a tool holder (60) with a milling tool therein is secured to the first spindle (10). The changeover of work and tool holders is done by a transfer mechanism which takes appropriate holders (60), as well as work blanks, from a magazine system.

Abstract: A gripper assembly for incorporation in a programmable machine comprises a gripper having a peripheral portion defining a plurality of different shaped object-receiving recesses therein, a member for supporting the gripper, an arrangement for securing the gripper to the supporting member for rotation relative thereto, and apparatus responsive to an electrical signal for rotating the gripper relative to the supporting member. A programmable machine incorporating two such gripper assemblies is also disclosed.

Abstract: The disclosure relates to a tool changer which is disposed at a workpiece exchanger for machine tools. The workpiece exchanger is intended for automatic exchange of workpieces intended for fixedly clamping between the tailstock and/or chuck and comprises a carriage drivable in the longitudinal direction of the lathe, a slide vertically movable along the carriage, and a gripping device disposed on the slide. The gripping device is rotatable about a horizontal axis and has first and second jaw pairs which are horizontally shiftable parallel to and disposed on opposite sides of the above-mentioned axis.The tool changer according to the invention includes a pair of gripping means disposed on each jaw pair, the gripping devices of the gripping means being movable with the jaws for the purposes of tool change.

Abstract: Precise and fastenerless connection of a fixture to rotatable headstock and tailstock positioners is provided by a slidably engageable ball and socket arrangement located on the headstock positioner and on one end of the fixture, and by a tapered roller located at the opposite end of the fixture which is cradled between two grooved rollers located on the tailstock positioner. The ball and socket centers the headstock end of the fixture on the rotational axis of the headstock positioner while the tapered roller and grooved rollers locate the fixture linearly as well as centrally. The overall fixture support arrangement permits misalignment of the headstock and tailstock positioners without binding of the fixture. A second slidably engageable connecting device at the headstock end assures precise rotaton of the fixture in unison with the headstock positioner.

Abstract: An industrial robot of the articulated arm type comprises a movable robot body (11) arranged on a base (10). An upper arm (13) having root and tip portions is rotatably pivoted to the robot body (11) at the root portion thereof. A forearm (16) having rear and front ends is rotatably pivoted to the tip portion of the upper arm (13) at a portion between the rear and front ends. Preferably, a wrist assembly (20) includes two moving elements (21,22) which are rotatable about different axes in relation to the front end of the forearm (16). The moving elements (21,22) of the wrist assembly (20) are rotated about the corresponding axes by means of wrist drive units (27, 28), respectively. The wrist drive units (27, 28) include first sprockets (29, 36), respectively, each rotatably arranged in the rear end of the forearm (16). Drive motors (31, 37), each rotating the first sprockets (33, 39), are arranged on the rear end of the forearm (16 ), respectively.

Abstract: A robotic gripper tool pivots under the force of gravity to orient itself to enable the actuation of a selected gripping surface. The self-pivoting action is accomplished solely by the force of gravity acting upon the mass distribution of the tool with respect to the pivot axis of the tool. Several different gripping surfaces are provided on the tool whereby time consuming tool changes are substantially eliminated. The gripper tool is pivotally connected to a robotic arm. By pitching the robotic arm, the self-pivoting tool will be positioned by the gravitational force acting upon it.

Abstract: A multiple-function hand useful in automated laboratory operations, particularly liquid transfer operations. A gripper and a piston operated syringe are made compatible on a single function by mounting such that their mechanical actuating mechanisms are operated parallel to one another, while the operating vector of the syphon, i.e., the direction of piston movement and direction of gripper lift are at right angles one to the other.

Abstract: A rotational apparatus for molding dolls including an automatic control mechanism, a mold holding mechanism, a robot mechanism having a mold cover opening and closing means for opening and closing the mold, mold releasing means for releasing a molded product from the mold, mold release detecting and cleaning means and a raw material charging means, a heating means and a cooling means.

Abstract: A dual axis gripper for use with a robot arm having a rotatable wrist is provided with a first and second gripper. A bracket couples the first gripper to the robot arm in line with an axis about which one form of robot wrist rotation occurs. The bracket also couples a second gripper to the robot arm perpendicular to the first axis of rotation. The wrist rotation also includes rotation about a horizontal axis perpendicular to the first axis of rotation. Both the grippers are provided with a fixed jaw and a linearly actuated movable jaw so that both grippers form compliant type grippers. By rotating the grippers through the first axis of rotation and about the second axis of rotation, the two grippers may interchange positions and are capable of moving parts between any locations within a defined work envelope adjacent the end of the robot arm.

Abstract: An apparatus for selectively storing a thin tray or sheet in an elongate storage location, and retrieving trays therefrom, includes a tray extractor and a transport assembly. The tray extractor comprises a tray engagement mechanism and a tray linear movement actuator. The tray engagement mechanism operates as a hand to selectively grip or release trays which are being handled by the apparatus. The tray linear movement actuator acts as an arm to position the tray engagement mechanism and, when operated, to move an engaged tray. The tray linear movement actuator comprises a linear movement link and pulley arrangement which moves an engaged tray along a linear path of motion, and which maintains the tray engagement mechanism in a selected orientation with respect to that path of movement. The tray engagement mechanism comprises an X-shaped scissors mechanism having a plurality of jaws thereon. Scissors motion of the mechanism opens and closes the pairs of jaw members to selectively engage or disengage a tray.

Abstract: The conveyor robot which, in particular, is intended for being mounted between presses, comprises a double arm (14) that is rotatable about a central, vertical axis (12) and swingable about a central, horizontal axis (16). Both ends of the double arm (14) support engaging members (26) which, independently of one another, are extendable to opposite sides. The double arm (14) is formed with an articulated joint the axis of which coincides with the central, horizontal axis (16). The two parts (36,38) of the double arm (14) separated by the articulated joint are interconnected by a cross-bar (28) variably adjustable in length.

Abstract: A device for heavy duty use in loading or unloading industrial presses comprises a mechanism that tilts a frame (which carries a stroke arm and a work support) in a vertical plane at opposite ends of the stroke so as to provide a desired stroke pattern.

Abstract: A gripping arrangement, particularly for manipulators, tool exchange devi and the like, has a housing, a guide provided in the housing, and two gripping fingers having gripping ends and moveable along the guide of the housing in a translatory reciprocating movement between a gripping position in which the gripping ends receive and hold an object therebetween and the gripping ends extend outwardly beyond the housing, and a releasing position in which the gripping ends release the object and gripping fingers are withdrawn substantially completely into and without projecting beyond the housing, the guide includes arcuate guiding tracks and guiding elements guided in and along the latter so that the movement of the gripping fingers includes a rectilinear component extending in a direction toward the object to be gripped and a transverse component extending transverse to the first component and in a direction toward the object to be gripped, whereby each of the gripping fingers during its movement from the releasi

Abstract: Bolts (10, 13) of material such as fabric, supported in open-topped bearing elements (6, 14) are exchanged by apparatus comprising a carrier (24). The carrier (24) has closable openings for engagement with spindle ends (8) projecting from the bolts (10, 13). When the carrier (24) has engaged the bolts (10, 13), it is raised (arrow 28), rotated about 180.degree. (arrow 26) and lowered (arrow 28), so changing over the positions of the bolts (10, 13). For example, operations performed on a table (1) on material taken from one bolt (10) may be completed, so that bolt (10) is replaced by a further bolt (13) taken from a magazine (12), the first bolt (10) simultaneously taking the place of the second bolt (13) in the magazine.

Abstract: A tool changing machine of a machine tool, comprising a base, a plurality of cartridges which have a plurality of tools, a main tool magazine on the base, which has index positions for tool change and which has a rotatable circular magazine body on which the cartridges are supported so as to move in the radial directions, a mechanism for indexing the main tool magazine into the index positions, and a mechanism for moving the cartridges into the index position in the radial directions.

Abstract: A robot hand to be joined in use to the free end of an industrial robot wrist unit (10) is provided with a right and left work gripping units (28b and 28a) having pairs of work gripping fingers (30b and 30a), respectively, and separately disposed on the right and the left sides of a hand base, and an offset adjusting mechanism (34, 36, 40 and 42) for fastening the hand base with fastening means after the completion of the lateral adjustment of the hand base by a desired degree with respect to the wrist unit (10).

Abstract: The wheeled frame remaining after removal of the detachable cargo container, is gripped by clamping mechanism of a carrying unit mounted on a tractor or lift truck, then elevated above the ground and pivoted from its normal horizontal disposition to vertical position, and then transported to a multiple storage unit where it is deposited and retained in the vertical position removably in one of a plurality of compartments making up the storage unit. A plurality of such wheeled frames may be stored in this manner by deposit in successive ones of the compartments, and they are removed from the compartment in the reverse order of deposit.

Abstract: An apparatus and method for loading a front loading molding press in which a loading board is pivoted at one edge on a horizontal pivot shaft which extends into a lower corner of the press opening adjacent one side of the mold in the press. Loading of the press is performed by loading the board with a predetermined array of articles to be molded while the board is in an upwardly pivoted oblique preloading position to one side of the press opening; thereafter pivoting the loaded board downwardly to a loading position directly in front of the press; thereafter sliding the board on the pivot shaft into the press opening to an unloading position directly overlying the mold; and thereafter discharging the articles downwardly onto the mold.

Abstract: A robot system for use with a machine tool having a spindle, comprising a robot having a body for being mounted on the machine tool, an arm pivotally mounted on the body and rotatable in a plane transverse to an axial direction of the spindle of the machine tool, and a hand mounted on a distal end of said arm for gripping a workpiece for transfer to the machine tool, and a workpiece feeder disposed adjacent to the robot and movably supporting a succession of pallets for carrying unmachined and machined workpieces thereon.

Abstract: An automatic tools changing method and apparatus for a multi-spindle machine tool, in which a tools changing operation between spindles and a tool magazine or magazines is carried out simultaneously through at least one tool-changing arm movable between the spindles and the tool magazine or magazines. For this reason, the spindles are arranged at predetermined intervals and pots of the tool magazine or magazines for storing tools and grasping members on the tool-changing arm or arms are arranged at positions corresponding to the positions of the spindles to receive or deliver the tools simultaneously.