TOOL TRANSFER APPARATUS INCLUDING GRIPPING FORCE MEASURING UNIT FOR TOOL HOLDING UNIT OF TOOL MAGAZINE, AND MACHINING SYSTEM

摘要

To provide a tool transfer apparatus including gripping force measuring unit for tool holding unit of a tool accommodation apparatus and a machining system including the tool transfer apparatus, a handling robot can perform operation of detaching a tool from a grip positioned at a tool attachment/detachment position of a tool magazine in a machine tool and transferring the tool to a tool stocker, and operation of transferring a tool from the tool stocker and attaching the tool to a grip positioned at the tool attachment/detachment position of the tool magazine. A hand portion of the handling robot is provided with a force sensor, which can detect a load applied to the hand portion. Also, a control apparatus of the handling robot and a control apparatus of the machine tool are connected via a data cable capable of transmission and reception of information.

主权项

1. A machining system comprising:
a machine tool including a tool accommodation apparatus having one or more tool holding unit; and a tool transfer apparatus which attaches and detaches a tool to and from the tool holding unit of the tool accommodation apparatus, wherein the tool transfer apparatus includes a load measuring apparatus which measures a load applied to the tool transfer apparatus when the tool is attached to or detached from the tool holding unit.