Abstract: The invention relates to a change-over coupling, change-over device and checking or processing system, comprising: a clamping element for bracing with a corresponding clamping element on the change-over adapter, at least one electrical and/or optical plug connection element for connecting to at least one corresponding electrical and/or optical plug connection element on the change-over adapter, and a fluid coupling element for connecting to a corresponding fluid coupling element on the change-over adapter. In at least one example, the fluid coupling element protrudes further in the direction of the connection with the change-over adapter than the electrical and/or optical plug connection element.

Abstract: An automatic tool exchange coupler and an automatic tool exchange device are provided that achieve further improvement in the user-friendliness of the automatic tool exchange device. The coupler includes a coupler body, a first direction switching valve and a second direction switching valve that are provided to a first side surface of the coupler body. The coupler body has: in a first side surface, an uncoupling input port being connected to a pipe for introducing a gas for uncoupling; and in the second side surface opposite to the first side surface, an uncoupling output port being configured to connected to the uncoupling port. The uncoupling input port is located at a position where a center of the uncoupling input port is radially offset with respect to the uncoupling output port by at least an amount corresponding to a length of a diameter of the uncoupling input port.

Abstract: The invention relates to a device for changing bending tools (15, 16) in a bending machine (2) for bending metal sheets, in particular in a press brake, comprising at least one tool magazine (6) for storing the bending tools (15, 16), which, when positioned in a working area of the bending machine (2), cause the metal sheets to bend. The at least one tool magazine (6) is arranged on a frame (3) which is configured to be positioned in a free-standing manner without a mechanical connection to the bending machine (2) in an operating position of the device (1), wherein the at least one tool magazine (6) can be moved from a first position out of the frame (3) into a second position, in which at least a part of the tool magazine (6) that can be moved out lies in a contact-free manner within the bending machine (2).

Abstract: A combination component handling and connecting device connectable to a multi-axis robot for use in moving and connecting components and subassemblies includes a housing and an actuator fixedly connected to the housing. The actuator includes an actuating link movable from a first position to a second position. Connected to the actuating link is an end effector for concurrent movement with the actuating link. The component handling and connecting device includes a clamp having a first jaw and a second jaw. The second jaw is connected to the actuating link for selectively moving the second jaw toward the first jaw operative to engage a component.

Abstract: A head tool changer for use with a deposition-based digital manufacturing system, the head tool changer comprising a tooling unit configured to retain a deposition head, a grip unit configured to engage with tooling unit and to relay electrical power to the tooling unit, and a master unit operably mounted to a gantry and configured to engage with the tooling unit and to relay electrical power to the tooling unit.

Abstract: A combination trimming/flame treatment end effector adapted for mounting to the end of a robotic arm. A trimming blade extends from a main body portion of the end effector for performing a trimming operation. The trimming blade may be mounted in an exchangeable cartridge to facilitate blade changing. Also extending from the main body portion is a flame treatment element for performing a flame treatment operation. The flame treatment element generally comprises a torch or burner. Because both the trimming blade and the flame treatment element are part of the same end effector, the robot simply manipulates the end effector such that the desired one of the trimming blade or the flame treatment element is properly positioned for use. As such, a tooling change can be avoided. While not restricted thereto, it is contemplated that an end effector of the present invention may be used to process vehicle bumper fascias.

Abstract: A robotic tool changer removably attaches a robotic tool to a robotic arm. The changer includes a tool module connected to the robotic tool, and a master module connected to the robotic arm. To attach and detach the robotic tool, the changer couples and uncouples the tool module and the master module. A master electrical signal module (ESM) affixes to the master module and a tool ESM affixes to the tool module. In accordance with design requirements, the changer applies the same power supply to both the master ESM and the tool ESM. The changer, however, selectively suppresses application of the power supply to the tool ESM, while maintaining application of the power supply to the master ESM, during the coupling or uncoupling of the master module and the tool module. In doing so, the changer enables such coupling and uncoupling, while also preventing the formation of transient electric arcs.

Abstract: A method of placing a bottom block includes: placing bottom blocks on a block storage area in which a spindle can hold the bottom blocks; attaching a block-transferring tool to the spindle, the block-transferring tool having a main shaft attachment attached to the spindle and a block holder for holding the bottom block; and holding the bottom blocks by the block holder of the block-transferring tool and placing the held bottom blocks on a predetermined workpiece placing position on an upper surface of a table by relative movement.

Abstract: The present embodiment provides for methods and systems for use in processing objects such as wafers, including polishing and/or grinding wafers. Some embodiments provide systems that include a front-end module and a processing module. The front end module couples with a storage device that stores objects for processing. The front-end module can comprise a single robot, a transfer station, and a plurality of end effectors. The processing module is coupled with the front-end module such that the single robot delivers objects from the storage device to the processing module. The processing module comprising a rotating table, and a spindle with a carrier configured to retrieve the delivered object and process the object on the rotating table.

Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.

Abstract: Tool-changing system, storage device for this purpose and method for coupling a tool to a robot arm. The invention relates to a tool-changing system for an industrial robot, with a robot-side coupling device (100) provided in a robot arm, with at least one tool (70a, 70b) couplable to the robot-side coupling device (100) and having a tool-side coupling device (76a, 76b), and with a storage device (10) for receiving the at least one tool (76a, 76b) in the non-coupled state. The invention relates, furthermore, to a storage device suitable for this purpose and to a coupling method which can be carried out by means of the tool-changing system. According to the invention, the storage device comprises a base (12), securing means (32a, 32b) for securing the robot-side coupling device (100) and feeding means (50a, 50b) which are designed for generating a relative movement of the robot-side coupling device (100) and of the tool-side coupling device (76a, 76b) with respect to one another in a coupling direction (2).

Abstract: An automated tool includes a quick change spindle assembly. In another aspect of the present invention, the quick change spindle includes an attachment assembly for interchangeable fastener drivers. A further aspect of the present invention employs release member to actuate a drive member in the spindle assembly causing a retainer to uncouple a fastener driver with the spindle.

Abstract: A reconfigurable system having at least one detachable component and at least one detachable head assembly. The reconfigurable system may be a numerically controlled (NC) machine for manufacturing processes, such as milling or automatic fiber placement (AFP). The reconfigurable system may further comprise a gantry structure comprised of movably attached beams on which detachable components may be movably attached. The detachable components may include a concave component and a convex component. At least one detachable head assembly may be movably attached to at least one of the detachable components. The detachable components and head assemblies may be at least one of physically, electrically, and pneumatically connected to a connecting assembly attached to the gantry structure.

Abstract: A tool replacing device including a case member is disclosed. In the case member, engaging balls supported between a holding member and a movable member is projected into the holding member by an extruding surface of the movable member, resiliently urged by a second spring, thereby allowing a tool to be engaged. By pressing the movable member against a resilient urging force of the second spring, the engaging balls can be moved in the movable member. Also, since there are provided shock sensors for detecting a moving distance of the holding member holding the tool, collision or the like of the tool can be detected. Even if power supply is stopped, the present tool replacing device can hold the tool.

Abstract: A manipulator includes a yaw axis and a pitch axis disposed as joints on a distal end of a joint shaft and which are actuatable by motors, a needle variable in orientation by the joints, a coaxial connector disposed at a position closer to a proximal end of the manipulator than the joint shaft, and a coaxial cable providing within the joint shaft at least a portion of an electrical connection between the coaxial connector and the needle. A small board providing an impedance matching circuit, and which includes a coil and a capacitor, is interposed between the coaxial connector and the coaxial cable.

Abstract: A workpiece processing plant comprises several machine tools which are arranged in opposite rows. The rows define a free space between each other. A loading and unloading device is provided which comprises a girder above the machine tools and above the free space. Rails are provided on the upper side of the girder. A loading and unloading unit configured as a multiple-axis robot is displaceable along the rails, the loading and unloading unit comprising several arms which are articulated to one another.

Abstract: A spindle gripping device and method for use in a CNC machine for re-orienting a workpiece. The gripping device includes an attachment portion, a translational driver, and a gripping portion. The attachment portion mechanically attaches the gripping device to a spindle of the CNC machine, and allows a transfer of the rotation of the spindle to the gripping device. The translational driver translates the input rotational force into a linear movement. The gripping portion uses the linear movement to open and close claws of the gripping device. A controller monitors and controls the operation of the CNC machine, so as to control an exchange of the working tool with the gripping device, and to control actuation and subsequent movement of the gripping device to reposition the workpiece into a desired orientation.

Abstract: A manufacturing apparatus (2) for components (3), which has at least one movable loading station (20) designed as a tool magazine (13) and having reception points (39) with different tools (4, 5, 6, 7) for different component types A-I. The loading station (20) is connected to one or more machining stations (20, 22?) at which at least one machining device (23) and at least one handling device (24) for handling and releasing the components (3) from the tool (4, 5, 6, 7, 8) are arranged. The selected Figure is FIG. 5.

Abstract: An ergonomic tool lifting machine and method particularly useful for manipulating a machine tool or another heavy object. In one embodiment of the invention, the machine tool is a large milling cutter. The ergonomic tool lifting machine generally includes an articulating arm attached at a fixed end to a vertical lift mechanism, and at a free end to a grasping device or tool holder adapted for gripping and retaining an object of interest. When the object is a milling cutter, the ergonomic tool lifting machine may be used to transfer the cutter between a stored position and an installed position in a milling machine. Consequently, the tool holder of this embodiment is preferably able to rotate between a pick-up/drop-off position and an installation/removal position associated with the cutter. In general, the ergonomic tool lift machine allows heavy loads to be accurately moved with very little effort required on the part of an operator.

Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.

Abstract: An automatic cell cultivation apparatus is provided which is capable of conveying the culture container, exchanging the culture medium, and operating other jobs promptly by a robot. The automatic cell cultivation apparatus has a cultivation apparatus main body for cultivating cells in a culture container, and the cultivation apparatus main body is equipped with one or more incubator accommodating the culture container, a chemical suction machine for sucking chemicals in the culture container, and a multijoint robot for conveying the culture container, the multijoint robot having functions of conveying the culture container, detaching and attaching the lid of the culture container, and inclining the container when sucking chemicals in the culture container, so that cell cultivation operations can be promptly carried out by only one robot.

Abstract: A machining station and a method produce vehicle bodies of different types. A clamping station has interchangeable clamping frames, at least one clamping frame magazine, into which the interchangeable clamping frames are deposited when not in use and from which the interchangeable clamping frames are removed when in use, and at least one robot for transporting the interchangeable clamping frames. The interchangeable clamping frames, in particular the clamping frames for the vehicle body side parts, are divided into a plurality of separable segmental clamping frames, with, to convert to a different type of vehicle body, one segmental clamping frame in each case being transported by a robot from the clamping station to the clamping frame magazine, being deposited there, a segmental clamping frame of a different type being removed from the clamping frame magazine and this segmental clamping frame being transported to the clamping station.

Abstract: A robot with a body, at least one leg on each side of the body, and a hip connecting the leg to the body. The hip is configured to abduct and adduct the leg. A linkage is configured to rotate the leg along a predetermined path.

Abstract: A module storage rack is disclosed e.g. a probe rack suitable for use with a carrier e.g. a probe measurement head which is movable relative to the rack for picking a module from the rack. The rack includes a base member and a plurality of storage ports connected to the base for storing the modules, each port has an actuatable connecting or disconnecting tool for connecting or disconnecting a module to or from the carrier, and each storage port is movable relative to the base member the relative movement provides the actuation of the tool. The plurality of storage ports are movable together relative to the base. Additionally, there is disclosed a linkage having a plurality of pivotally interconnected rigid members being connected to the tool for causing the tool to connect or disconnect the module to or from the carrier. The linkage may be operated by movement of the rack or by alternative mechanisms.

Abstract: Apparatus (12) for storing robotic tooling for vehicle body sheet metal robotic assembly operates a robot to transfer robotic tooling between an assembly station and a rotary storage rack (56) of a storage rack assembly (28). The storage rack (56) has vertically spaced storage locations and is rotated about a vertical axis to provide circumferentially spaced storage locations.

Abstract: A system for lapping gear sets with a ring gear and a pinion gear. The system includes a lapping machine tool and a robot. The lapping machine tool has a first spindle and a second spindle. The second spindle is rotatable about an axis that is generally perpendicular to a rotational axis of the first spindle. The lapping machine tool has a loading zone for loading the first and second spindles. The robot has an end effector with a first end that is configured to hold one of the gear sets. The robot is configured to position the first end of the end effector into the loading zone and to load the first gear set to the lapping machine tool without removing the end effector from the loading zone such that the ring gear is loaded onto the first spindle and the pinion gear is loaded onto the second spindle.

Abstract: In an automatic chuck jaw change system, a combined machining lathe capable of positioning with high precision and a robot with lower positioning precision than the combined machining lathe cooperate to automatically change a chuck jaw. The system includes a robot disposed in front of the combined machining lathe, and the robot can be selectively mounted on a front end of an arm thereof with a work hand for operating a work, a chuck jaw, and a nut runner hand for operating a drive mechanism of the chuck. The robot cooperates with a tool for jaw mounted on a tool spindle of the combined machining lathe to automatically change a chuck jaw of a main spindle.

Abstract: The inventive device comprises a tool holder (1), which can be displaced in an x-direction, in a y-direction that is perpendicular thereto, and in a z-direction that is perpendicular to both the x-direction and the y-direction, and which can rotate about the z-direction. A solid matter dosing head (350), provided as a tool, is automatically attached in a removable manner to the tool holder (1) by means of a permanent magnet (351). The tool can be easily exchanged for another tool due to this automatic removable attachment of said tool to the tool holder (1) involving the use of a permanent magnet (351).

Abstract: The invention relates to an exchangeable tool having a tool body with a receiving end for holding the tool in a receiving structure, wherein a connector is arranged in the tool body for providing a substantially non-rotatable connection with a manipulator for manipulating the tool into and out from the receiving structure, to a combination of such tool with a manipulator for manipulating the tool into and out from a receiving structure, and to a method for manipulating such tool into and out from a receiving structure.

Abstract: The inventive device comprises a tool holder, which can be displaced in an x-direction, in a y-direction that is perpendicular thereto, and in a z-direction that is perpendicular to both the x-direction and the y-direction, and which can rotate about the z-direction A solid matter dosing head, provided as a tool, is automatically attached in a removable manner to the tool holder by means of a permanent magnet. The tool can be easily exchanged for another tool due to this automatic removable attachment of said tool to the tool holder involving the use of a permanent magnet.

Abstract: A clamp changing apparatus includes a holder (70) including a plurality of clamp-holding devices (72), each of which holding a clamp (10) thereon, a robot (50) including a shaft (501), and a coupling device (30) secured on the shaft of the robot. The robot selects one of the clamps held on the clamp-holding devices according to a predetermined machining program therein, changes out a used clamp for the selected clamp, and mounts the selected clamp on the coupling device.

Abstract: A robotic system including a rotatable turntable that has an arm pivotally mounted on the turntable for rotation about an axis displaced from the turntable's rotational axis. The arm's axis of rotation may be positioned nearer the turntable's axis of rotation than a bearing that supports the turntable on a base. The arm may have a portion that extends in a direction transverse to the arm's axis of rotation located below the turntable. The turntable may be supported on the base by a single bearing having portions located in a common plane.

Abstract: A wire-processing device has a belt-drive that feeds a wire to a swivel-arm with a gripper. Drives operate the swivel-arm in a swiveling motion and/or in a linear motion. The swivel-arm has a neutral position on a longitudinal axis of the wire and on the axis is a processing station with a cutting-head that cuts off the leading end and strips the insulation of a wire-end being held by the gripper and a guide-tube arranged on the gripper. An internal diameter of the guide-tube fits onto an external diameter of the wire. Other guide-tubes with different internal diameters are stored in a magazine with the swivel-arm being able to execute a change of guide-tubes automatically.

Abstract: A mobile robotic system includes a charging device and a mobile robot. The charging device is provided with a light emitter and a set of first charging contacts for supplying a charging signal. The mobile robot has a first side provided with a first light sensor, a second side provided with a second light sensor and a set of second charging contacts corresponding to the first charging contacts, a rechargeable battery unit, and a control unit. When charging of the battery unit is intended, the control unit enables movement of the mobile robot until the first light sensor detects light emitted by the light emitter, subsequently enables rotation of the mobile robot until the second light sensor detects the light from the light emitter, and then enables movement of the mobile robot toward the charging device until the first and second charging contacts come into contact.

Abstract: Tool-switching device for a machine for measuring coordinates wherein the tool is fastened on the tool-carrier and held by the action of elements exerting an axial force. The locking force is taken over symmetrically by the elements of a Boys connection, which increases the repeatability of the connection; in one embodiment, two pins or spheres are driven by a sliding bushing provided with two “V”-shaped slits or with two lateral gorges. In the subsequent embodiments, the pins are replaced by spheres, by levers or by a stirrup.

Abstract: A manipulating arrangement having a horizontal portal on which a slide is horizontally traversable, an arm being pivotably mounted on the slide about a pivot axis which runs parallel to the portal, and a gripper for at least one of workpieces and tools being arranged on the end of the arm. The slide has an elongated support, on which a further slide is mounted in a vertically traversable manner, and the arm is pivotably mounted on the further slide.

Abstract: A tool magazine system and a gripper for a machining spindle. The gripper is fed to the tool laterally with respect to the rotational or longitudinal axes of the tool, particularly substantially at right angles to the axis, and should grasp the tool.

Abstract: A plurality of atomizers or other tools are disposed in a mounting plate (10) in storage places (12), respectively. The mounting plate (10) is rotatable relative a paint robot of a coating installation and has a pneumatic lock or a tool holder (19) that can only be released automatically during storage of the atomizers by an external control device of the mounting plate.

Abstract: Device for automatically mounting and dismantling tools (10) on a robot (16), comprising means (1) for storing a number of identical fresh tools (10) and means (11) for centering one of these tools (10) in a position for automatic mounting on the robot (16), each tool (10) comprising an axial orifice for mounting on a rotating pin (15) provided on the robot (16).

Abstract: A tool identification system has a tool holder allowing removable attachment thereto of any one of a plurality of tools; a sensor arrangement operable to sense features present on a tool attached to the tool holder; a processor operable to identify uniquely, from the sensed features, the type of the tool attached to the tool holder; and an insulation arrangement provided between the tool holder and the sensor arrangement, thereby electrically insulating the tool holder from the sensor arrangement.

Abstract: A mounting system for mounting tools to a base includes a movable base, a tool mounting frame for selective attachment to the base, and a locking assembly movable between a locked position where the tool mounting frame is securely attached to the base and an unlocked position where the tool mounting frame is movable relative to the base. The tool mounting frame includes at least one tool mount for supporting a first tool to perform a tooling operation after the locking assembly is moved to the locked position. The locking assembly includes a first mount supported by the base and a second mount supported by the tool mounting. The locking assembly is automatically interlocks the first and second mounts. A first sensor component is mounted to the base and a second sensor component is mounted to the tool mounting frame. A controller controls mounting speed based on the proximity of the sensor components. Additionally, a code corresponding to the type of tool mounting frame may be used.

Abstract: A robotic tool changer with an improved safety interlock includes a master unit, a tool unit, and a coupler movable between coupled and decoupled positions and operative to couple the master and tool units. A circuit for actuating the coupler is associated with the tool unit, for connection to an interlock that closes when the tool is safely parked in a tool stand. The circuit enables the coupler to assume the decoupled position when the master and tool units are coupled and the circuit is closed. The robotic tool changer additionally includes a circuit operative to enable the coupler to assume the decoupled position when the master unit is decoupled from the tool unit.

Abstract: A tool identification system, comprising: a tool holder allowing removable attachment thereto of any one of a plurality of tools; a sensor arrangement operable to sense features present on a tool attached to the tool holder; a processor operable to identify uniquely, from the sensed features, the type of the tool attached to the tool holder; and an insulation arrangement provided between the tool holder and the sensor arrangement, thereby electrically insulating the tool holder from the sensor arrangement.

Abstract: A machining machine-tool having a fixed frame with a closed structure. The machining zone is delimited by the fixed frame internal surfaces and includes a machining head supporting the driving unit of a machine-tool. The machine-tool fixed frame has a C-shaped profile, and ends of branches of the C are linked to the machine-tool machining head. The ergonomic arrangement of the machine-tool functional parts is also considered.

Abstract: A robotically manipulable tool, such as a colony picking head or robotic pipetting tool, includes a processor on the tool. The processor may receive high level instruction from a robot controller and use the instruction to cause devices on the tool to perform desired functions. The processor can also store maintenance and other information regarding past use or repair of the tool. In addition, the processor may perform self-diagnostic tests on the tool or be used to perform functions during bench testing of the tool.

Abstract: A system for changing a tool head (24) carried by a robot (20) includes a locking mechanism (23) having a keyhole-shaped slot (37) therein, and a lock key assembly (25) having a key (65). Depression of a button (52) rotates a cam arm (57) to extend the key (65) outwardly where it can be received in the larger opening (38) of the slot (37). Depression of the button (35) of the locking mechanism (23) moves the slot (37) such that the neck (68) of the key (65) is received in the smaller opening (39) of the slot (37). Release of the buttons (52, 35) then allows a spring (71) to retract the key (65) until its head (69) is received in a recess (40) of the locking mechanism (23) to attach the tool head (24) to the robot (20). The parts are detached by again depressing the button (52) which extends the key (65) to remove its head (69) from the recess (40) and then depressing a button (34) to move the slot (37) so that the key (65) is again in the larger opening (38) from where it may be removed.

Abstract: Disclosed is an apparatus for passing solid objects for use in a robotic tool changing system. The apparatus comprises a housing mounted on either a master assembly or a tool assembly. A tubular member is disposed in the housing and defines a passage through which solid objects can pass. The tubular member includes a head portion at one end and a stem portion at the other end that is connected to a solid objects feed tube. Means are provided for retaining the tubular member in the opening in the housing for movement relative to the housing during the coupling and uncoupling of the master and tool assemblies to accommodate misalignment of the master and tool assemblies. Another apparatus is disclosed for passing solid objects from a source to a work tool. The apparatus comprises first and second housings mounted on a master assembly and tool assembly, each housing tubular members.

Abstract: The present invention provides a tool changer for removal and installation of tools in a machining center having a spindle for holding a tool including a tool rack having a plurality of locations for holding tools and a rotatable arm movable between the spindle and the plurality of locations. Each of the plurality of locations has a clip for holding a tool and each clip has two arms with the arm on a first side of the clip having an inclined surface. The rotatable arm includes at least two grippers with each gripper defining at least one cam surface, the cam surface being structured and arranged to engage the inclined surface of the clip to allow for the removal of a tool in the clip.

Abstract: A method and a device for assembling an air-craft wing incorporating at least two of the operations drilling, riveting and fitting of anchor nuts (20), where a robot (7) is mobile relative to the wing in a plane parallel to the wing and where the robot (7) is equipped with an arm (9) designed to accommodate a tool holder (15), where the tool holder (15) is primarily equipped with tools for performing a single work operation, whereby the robot is moved so that the robot arm (9) is positioned at the first work position on the aircraft wing unit, where the robot (7) carries out the first work operation at the said first work position, where the robot arm (9) is manoeuvred in the correct order to new work positions on the wing unit within a work area (10) reachable by the robot arm (9), and carries out the first work operation at these new work positions.

Abstract: A floating cylinder 12 and a rotating shaft fixing cylinder 11 are attached to a flange RB1 at the distal end of a robot arm via an attaching member 17. Attached to the floating cylinder 12 is a rotary tool 10. To mount or demount a bladed tool to or from a collet chuck 13, the rotating shaft fixing cylinder 11 is operated to advance a stopper 15 so that a rotating shaft 14 of the rotary tool is locked. The chuck nut of the collet chuck 13 is inserted and fixed into a collet fixing groove in which the bladed tool is stored. The robot is operated so as to rotate the flange RB1, by which the rotating shaft 14 and the chuck nut of the collet chuck 13 are rotated relatively to tighten or loosen the bladed tool in the collet chuck 13.