In medium and small scale series production the aim of the automatic charging of the machines is affected by frequent tool changing. Conventional charging and interlink systems do not offer the sufficient changeability to achieve a profitable and productive application. For this purpose, Industrial Robots do offer a lot more possibilities. The high purchase costs, however, here too, do very often not permit an economic use. The aim of the development outlined in this paper was therefore to charge several machines on which different pieces being deposited in different stores are machined, by means of a centrally located robot. The sequence programme for this robot being extensive and the times for machining the pieces being varying a fixed charging order cannot be realized. As the robot control must select certain subprogrammes based on defined criteria a computer has been incorporated as the core of the control. In virtue of this technique the defined decisions can be taken and the tool changing can take place individually without disturbing the operation of the remaining machines.
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