TOOL TRANSPORTATION APPARATUS WITH GRIP FORCE MEASUREMENT MEANS FOR TOOL HOLDING MEANS OF TOOL MAGAZINE, AND PROCESSING SYSTEM

摘要

PROBLEM TO BE SOLVED: To provide a tool transportation apparatus with grip force measurement means for tool holding means of a tool storage device and a processing system with the tool transportation apparatus.SOLUTION: A handling robot 502 can perform an operation for detaching a tool 401 from a grip 301 located at a tool attachment/detachment position of a tool magazine 201 of a machine tool 101, and transporting the tool 401 to a tool stocker 503; and an operation for transporting the tool 401 from the tool stocker 503, and attaching the tool 401 to the grip 301 located at the tool attachment/detachment position of the tool magazine 201. A force sensor 507 is provided in a hand part 506 of the handling robot 502 and can detect a load applied to the hand part 506. Furthermore, a control unit 508 of the handling robot 502 is connected to a control unit 505 of the machine tool 101 by a data cable 510 through which information can be transmitted and received.SELECTED DRAWING: Figure 5