Industrial robot with workpiece handling means for attaching a workpiece to and removing a workpiece from a machine tool

An industrial robot provided with a workpiece handling means for attaching a workpiece to and removing a workpiece from a chucking device of a machine tool according to instructions prestored by teaching in a robot controller, said robot comprising:

• a robot body means including a casing provided with a base means to be attached to a predetermined part of said machine tool, and two built-in rotation drive means;
• a first rotational output shaft projecting from the robot body means and connected to one of said two rotation drive means;
• a rotational transmission shaft connected to the other rotation drive means and extended through said first rotational output shaft;
• a second rotational output shaft interlocked with said rotational transmission shaft by a gear mechanism and extended perpendicularly to said first rotational output shaft;
• a robot shoulder means holding said second rotational output shaft, connected to said first rotational output shaft and capable of stopping at a predetermined workpiece handling position, a standby position away from said workpiece handling position, and an optional position between said workpiece handling position and said standby position;
• a suspended robot arm means having a base end connected to said second rotational output shaft to be able to move linearly in a predetermined range along an axis of said second rotational output shaft within said robot shoulder means;
• and
• a plurality of workpiece gripping robot hand means attached to a front end of said robot arm means, and capable of being alternately located at a position opposite to said chucking device of said machine tool by a rotational action of said second rotational output shaft when said robot shoulder means is located at said workpiece handling position.