Machine tool center with multipurpose robot assembly for loading and unloading tooling and workpieces from machine tool

In a machine tool center having (1) a machine tool for performing work upon a workpiece and having a work support station and at least one tool mounting station, (2) a tool storage magazine spaced from said machine tool and having a multiplicity of tool storage positions having stored therein tool members with grippable elements thereon, and (3) a workpiece storage area spaced from said machine tool, the combination therewith of:

• (A) a robot assembly for inserting and removing tools from said magazine and said tool mounting station and transporting them therebetween, and for moving workpieces between said work support station and said workpiece storage area;
• and
• (B) a control system for controlling the operation of said robot and of said machine tool, said robot assembly having:
• (i) a base;
• (ii) a body movable on said base at least about a vertical axis;
• (iii) a telescoping arm extending horizontally from said body, said arm being variable in length by telescoping movement thereof;
• (iv) gripping means pivotably supported intermediate its length at the outer end of said arm for pivotal movement about a vertical axis and including gripping elements at each end thereof;
• (v) workpiece engageable means adapted to engage workpieces for movement between said work support station and said workpiece storage area, said workpiece engageable means having grippable elements thereon, each of said gripping elements of said gripping means being configured and dimensioned to grip said grippable elements of said tool members and of said workpiece engageable means;
• and
• (vi) drive means for effecting movement of said body on said base, telescoping movement of said arm, and movement of said gripping means to grip and release said tool members and said workpiece engageable means, said drive means being controlled by said control means.