JP7624353B2 - GANTRY LOADER, MACHINE TOOL EQUIPPED WITH SAME, AND WORK PROCESSING METHOD - Google Patents

Description

The present invention relates to a gantry loader, a machine tool equipped with the same, and a method for machining a workpiece.

Conventionally, multi-axis machines and other multi-processing machines that process multiple workpieces simultaneously are known, such as those described in Patent Document 1.

Also, as shown in Patent Document 2, a loading device is known that includes a rail section and a loader that travels along the rail section. In this loading device, the loader has a rotating section and an arm section that extends and retracts from the rotating section, and the arm section has multiple hand sections that hold the workpiece.

Patent No. 3833386 JP 2020-78847 A

When replacing workpieces attached to spindles or fixtures arranged in parallel, as in Patent Document 1, two hands for machined workpieces and two hands for unmachined workpieces are installed and replaced simultaneously.

Even with two hand units as in Patent Document 2, multiple arm units were still required.

In such cases, four or more chucks would be required, which would not only be expensive but would also make it difficult to center the workpiece and chuck, hindering productivity improvements.

The present invention was made in consideration of these points, and its purpose is to enable the efficient attachment and detachment of multiple workpieces using simple equipment, using three hand chucks with a simple structure and no need for centering.

To achieve the above objective, this invention uses a rotary table that has three rotatable hand chucks.

Specifically, the first invention is directed to a gantry loader that exchanges a plurality of workpieces of a machine tool,
The gantry loader is
Three hand chucks that can attach and detach the above workpieces,
a rotary table having the three hand chucks spaced at predetermined intervals in a circumferential direction and rotating the hand chucks at a predetermined angle;
and a loader for moving the rotary table to a predetermined position.

With the above configuration, the three hand chucks can be indexed to the same position by rotating them in the circumferential direction, so as long as they are positioned by the loader, there is no need to re-center the hand chucks when changing them. Also, three hand chucks are sufficient when replacing two workpieces at the same time, making the configuration and control easier.

In a second aspect of the present invention, in the first aspect of the present invention,
The rotary table has a rectangular prism-shaped table body, and the hand chucks are provided on three of four circumferentially continuous faces of the table body.

The above configuration allows for easy indexing between -90°, 0°, and +90°, resulting in a loader with a simple structure that is inexpensive and easy to control.

In a third aspect of the present invention, in the first or second aspect of the present invention,
The rotary table has a triangular prism-shaped table body, and the hand chuck is provided on each of three consecutive circumferential faces of the table body.

The above configuration allows for easy indexing between -120°, 0°, and +120°, resulting in a loader with a simple structure that is inexpensive and easy to control.

In a fourth aspect of the present invention, in any one of the first to third aspects of the present invention,
The hand chuck has a step in the jaw portion so that it can grip both a workpiece with a large outer diameter and a workpiece with a small outer diameter.

With the above configuration, a workpiece with a small outer diameter can be gripped with the small inner diameter part of the claw portion, and a workpiece with a large outer diameter can be gripped with the large inner diameter part of the claw portion, so even workpieces with different outer diameters can be efficiently attached and detached on a single rotary table.

A machine tool according to a fifth aspect of the present invention comprises:
A gantry loader according to any one of the first to fourth aspects of the present invention;
a work stocker on which unmachined and machined workpieces are placed;
A plurality of work chucks to which the work is fixed;
A plurality of processing units for processing the workpiece fixed to the workpiece chuck;
and a control unit that controls the rotary table to move to one of the work chucks, remove the machined workpiece with the hand chuck, then rotate the rotary table a predetermined angle to attach an unmachined workpiece to the work chuck, move the rotary table relatively to another of the work chucks, remove the machined workpiece with the hand chuck, and then rotate the rotary table a predetermined angle to attach an unmachined workpiece to the work chuck.

The above configuration provides a highly marketable machine tool that can efficiently exchange two workpieces with a simple configuration of three hand chucks. Note that "moving the rotary table relative to another one of the workpiece chucks" means that either the rotary table or the workpiece chuck can be moved.

In the sixth aspect of the present invention, a method for machining a workpiece includes:
preparing three hand chucks for mounting and dismounting a workpiece, a rotary table having the three hand chucks spaced at predetermined intervals in a circumferential direction and rotating the hand chucks at a predetermined angle, and a loader for moving the rotary table to a predetermined position;
The loader moves the three hand chucks to the work stocker, and the unmachined work is gripped by two of the three hand chucks.
While holding the two unmachined workpieces, the loader moves to one of the workpiece chucks;
removing a machined workpiece from one of the work chucks by the free hand chuck;
The rotary table is rotated in a circumferential direction to attach the unmachined workpiece to the workpiece chuck;
The rotary table is moved relatively to another of the work chucks, and the machined workpiece is removed by the vacant hand chuck. Then, the rotary table is rotated by a predetermined angle to mount another unmachined workpiece on the work chuck.
machining the unmachined workpieces fixed to the plurality of work chucks;
The loader is moved to the work stocker, and the two machined workpieces are placed on the work stocker.

According to the above configuration, the three hand chucks can be indexed to the same position by rotating them in the circumferential direction, so as long as they are positioned by the loader, there is no need to re-center the hand chucks when changing them, making control easy. In addition, three hand chucks are sufficient when replacing two workpieces at the same time, making control easy. Note that "moving the rotary table relatively to another workpiece chuck" means that either the rotary table or the workpiece chuck can be moved.

In a seventh aspect, in the sixth aspect,
The rotary table is rotated by 90 degrees to load and unload the workpiece.

The above configuration allows easy indexing between -90°, 0°, and +90° with a simple structure, making it extremely easy to control.

In an eighth aspect, in the sixth aspect,
The rotary table is rotated by 120 degrees at a time to load and unload the workpiece.

The above configuration allows easy indexing between -120°, 0°, and +120° with a simple structure, making it extremely easy to control.

As described above, according to the present invention, three hand chucks with a simple structure and no need for centering can be used to efficiently attach and detach multiple workpieces using simple equipment.

1 is a perspective view showing a machine tool including a gantry loader according to a first embodiment of the present invention; Regarding the first embodiment of the present invention, (a) is an oblique view showing the unloading of a machined workpiece from a first work chuck, (b) is an oblique view showing the rotating rotary table to determine the loading position of an unmachined workpiece, and (c) is an oblique view showing the attachment of an unmachined workpiece to the first work chuck. Regarding the first embodiment of the present invention, (a) is an oblique view showing how the machine moves in front of the second work chuck to determine the unloading position of the second machined work, (b) is an oblique view showing how the second machined work is unloaded from the second work chuck, and (c) is an oblique view showing how the rotary table is rotated to determine the loading position of the second unmachined work. Regarding the first embodiment of the present invention, (a) is an oblique view showing the state where a second unmachined workpiece is loaded onto the second work chuck, and (b) is an oblique view showing the state where the two work chucks are released and machining of the two unmachined workpieces begins. Regarding the first embodiment of the present invention, (a) is an oblique view showing how the machine moves up to above the work stocker and determines the discharge position, (b) is an oblique view showing how the second machined workpiece has been discharged to the work stocker, and (c) is an oblique view showing how the machine moves up to above the third unmachined workpiece and determines its clamp position. Regarding embodiment 1 of the present invention, (a) is an oblique view showing how the third unmachined workpiece is clamped, (b) is an oblique view showing how the discharge position of the first machined workpiece is determined, and (c) is an oblique view showing how after the first machined workpiece is discharged, it moves to the position of the fourth unmachined workpiece. FIG. 1A is a perspective view showing how the rotary table is rotated to determine the clamping position of the fourth unmachined workpiece according to the first embodiment of the present invention, and FIG. 1B is a perspective view showing how the fourth unmachined workpiece has been clamped. Regarding a second embodiment of the present invention, (a) is an oblique view showing how the rotary table moves up to the front of the first work chuck to determine the unloading position, (b) is an oblique view showing how the first machined workpiece is unloaded from the first work chuck, and (c) is an oblique view showing how the rotary table is rotated to determine the loading position of the first unmachined workpiece relative to the first work chuck. Regarding embodiment 2 of the present invention, (a) is an oblique view showing the state where the first unmachined workpiece is loaded onto the first workpiece chuck, (b) is an oblique view showing the state where the second workpiece chuck moves in front of the second workpiece chuck to determine the unloading position of the second machined workpiece, and (c) is an oblique view showing the state where the second machined workpiece is unloaded. Regarding embodiment 2 of the present invention, (a) is an oblique view showing how the loading position of the second unmachined workpiece is determined for the second workpiece chuck, (b) is an oblique view showing how the second unmachined workpiece has been loaded, and (c) is an oblique view showing how the two workpieces are released from the two workpiece chucks and machining of the two unmachined workpieces begins. Regarding the second embodiment of the present invention, (a) is an oblique view showing how the rotary table is moved up to above the work stocker and rotated 30° to determine the discharge position, (b) is an oblique view showing how the second machined workpiece is discharged to the work stocker, and (c) is an oblique view showing how the rotary table is moved up to above the third unmachined workpiece and its clamp position is determined. Regarding embodiment 2 of the present invention, (a) is an oblique view showing how the third unmachined workpiece is clamped, (b) is an oblique view showing how the rotary table is rotated 120 degrees to determine the discharge position of the first machined workpiece, and (c) is an oblique view showing how the first machined workpiece is discharged. FIG. 11A is a perspective view showing the state of moving to the fourth unmachined workpiece and determining its clamping position according to a second embodiment of the present invention, and FIG. 11B is a perspective view showing the state of clamping the fourth unmachined workpiece. 11A shows a rotary table and a work chuck according to another embodiment, in which (a) shows how the unloading position of the smaller work is determined, and (b) is an enlarged perspective view of the rotary table and its surroundings in a state in which a small unmachined workpiece and a large unmachined workpiece are clamped at their corresponding clamping positions.

The following describes an embodiment of the present invention with reference to the drawings.

(Embodiment 1)
1 shows a machine tool 1 including a gantry loader 20 according to a first embodiment of the present invention. This machine tool 1 is, for example, a grinding machine, and is equipped with a bed 2 that is placed on a mounting surface in a factory or the like. The machine tool 1 may be another type of machining machine, such as a lathe. The machine tool 1 is equipped with a controller 41 as a control unit that controls the entire machine tool 1. This controller 41 is, for example, composed of a microcomputer.

The bed 2 is provided with two X-axis tables 3 that are movable in the X-axis direction, and each X-axis table 3 is equipped with a Z-axis table 4 that is movable in the Z-axis direction. Each Z-axis table 4 is provided with a spindle 5 as a processing unit that can rotate with a tool 5a attached. In this embodiment, two spindles 5 are provided. Two or more spindles 5 may be provided in the machine tool 1. Although not described in detail, the tool 5a can be automatically replaced from the tool stocker under the control of the controller 41.

Y-axis tables 7 that can move in the Y-axis direction are mounted on a pair of columns 6 that extend vertically from the bed 2, and each Y-axis table 7 is provided with a main shaft (C-axis 8). A work chuck 9 is rotatably mounted on this C-axis 8. Although not shown, actuators that move each table 3, 4, 7 are not limited to, but may be, for example, air cylinders, electric motors, hydraulic cylinders, etc.

The machine tool 1 is equipped with a gantry loader 20 above the bed 2 for replacing multiple workpieces.

The gantry loader 20 comprises, for example, four vertical support columns 21 and two horizontal running rails 22, and one horizontal rail 23 is provided for horizontal movement on these two running rails 22. A lifting member 24 is provided on this horizontal rail 23 so that it can move up and down. Although not shown, the actuator that moves the horizontal rail 23 and the lifting member 24 is not particularly limited and may be, for example, an air cylinder, an electric motor, or a hydraulic cylinder. With this configuration, the lifting member 24 can move within a predetermined range on the bed 2. The loader is made up of these support columns 21, running rails 22, horizontal rails, lifting members, and the actuators that drive them.

The lifting member 24 is provided with a rotatable rotary table 30. Although not shown, this rotary table 30 is rotated by a motor such as a servo motor whose rotation angle can be easily controlled.

As shown enlarged in FIG. 2, the rotary table 30 has a rectangular prism-shaped (rectangular parallelepiped) table body 30a, and hand chucks 31, 32, and 33 are provided at a predetermined interval in the circumferential direction on three of the four consecutive circumferential faces of the table body 30a. The hand chucks 31, 32, and 33 have, for example, openable and closable claw members, allowing a workpiece of a predetermined size to be attached and detached. The three hand chucks 31, 32, and 33 may each be configured to be rotatable so that the posture of the workpiece can be changed. The rotary table 30 is configured to rotate the hand chucks 31, 32, and 33 by a predetermined angle under the control of the controller 41.

A work stocker 40 is provided on the side of the bed 2, on which unmachined and machined workpieces are placed. The work stocker 40 may be in the form of a conveyor through which the workpieces are transported in and out.

Although details will be described later, in this embodiment, the controller 41 is configured to control the following: move the rotary table 30 to one of the work chucks 9, remove the machined workpiece with the hand chucks 31, 32, and 33, rotate the rotary table 30 a predetermined angle to attach an unmachined workpiece to the work chuck 9, move the rotary table 30 relatively to another one of the work chucks 9, remove the machined workpiece with the hand chucks 31, 32, and 33, and then rotate the rotary table 30 a predetermined angle to attach an unmachined workpiece to the work chuck 9.

- Gantry loader operation -
Next, an operation of the gantry loader 20 according to this embodiment will be described. Hereinafter, the controller 41 controls the operation of the entire machine tool 1 in accordance with a preset program.

First, as shown in Figure 1, the unmachined workpieces WB1, WB2, etc. are lined up on the work stocker 40.

Next, the first and second unmachined workpieces WB1 and WB2 are chucked by the hand chucks 32 and 33.

Next, in this state, the traveling rail 22 and horizontal rail 23 are used to move the rotary table 30 to the position of the first work chuck 9, and the first machined workpiece WA1 is identified.

Next, as shown in FIG. 2(a), the machined workpiece WA1 is unloaded from the first workpiece chuck 9.

Next, as shown in FIG. 2(b), the rotary table 30 is rotated 90° to determine the loading position of the unmachined workpiece WB1.

Next, as shown in Figure 2(c), the first unmachined workpiece WB1 is attached to the first workpiece chuck 9.

Next, as shown in FIG. 3(a), the horizontal rail 23 is used to move the rotary table 30 to the front of the second work chuck 9 to determine the unloading position of the second machined work WA2.

Next, as shown in FIG. 3(b), the second machined workpiece WA2 is unloaded from the second workpiece chuck 9.

Next, as shown in FIG. 3(c), the rotary table 30 is rotated 90° to determine the loading position of the second unmachined workpiece WB2.

Next, as shown in FIG. 4(a), the second unmachined workpiece WB2 is loaded onto the second workpiece chuck 9.

Next, as shown in FIG. 4(b), the rotary table 30 moves away from the two work chucks 9, and processing of the two unmachined workpieces WB1 and WB2 begins.

Then, while the unmachined workpiece is being machined, the lifting member 24 moves to above the workpiece stocker 40 as shown in FIG. 5(a) to determine the discharge position. In this embodiment, hand chucks are provided on the outer periphery of the rotary table 30 in 90° increments, which is advantageous in that it is not necessary to rotate the rotary table 30 from the position in which the second unmachined workpiece WB2 is loaded.

Next, as shown in FIG. 5(b), the lifting member 24 is raised and lowered to discharge the second machined workpiece WA2 into the workpiece stocker 40.

Next, as shown in FIG. 5(c), the lifting member 24 is moved horizontally to move it above the third unmachined workpiece WB3 and determine its clamp position.

Next, as shown in FIG. 6(a), the lifting member 24 is raised and lowered to clamp the third unmachined workpiece WB3.

Next, as shown in FIG. 6(b), the rotary table 30 is rotated 90° to determine the ejection position of the first machined workpiece WA1.

Next, as shown in FIG. 6(c), after the first machined workpiece WA1 is discharged, the lifting member 24 is moved horizontally to the position of the fourth unmachined workpiece WB4.

Next, as shown in FIG. 7(a), the rotary table 30 is rotated 180° above the fourth unmachined workpiece WB4 to determine its clamping position.

Next, as shown in FIG. 7(b), the lifting member 24 is raised and lowered to clamp the fourth unmachined workpiece WB4.

Then, return to the state shown in Figure 1 and repeat the same process.

In this way, the three hand chucks 31, 32, and 33 are moved to the work stocker 40 by the lifting member 24, the unmachined work is gripped by two of the three hand chucks 31, 32, and 33, and while the two unmachined workpieces WB1 and WB2 are gripped, the lifting member 24 is moved to one of the two workpiece chucks 9, the machined workpiece WA1 is removed from one of the workpiece chucks 9 by the free hand chuck 31, and the rotary table 30 is rotated in the circumferential direction to remove the unmachined workpiece WB1. It is attached to the work chuck 9, the rotary table 30 is moved to another work chuck 9 by the lifting member 24, the machined work WA2 is removed by the free hand chuck 32, the rotary table 30 is then rotated 90° to attach another unmachined work WB2 to the work chuck 9, the unmachined work secured to the multiple work chucks 9 is machined, and the lifting member 24 is moved to the work stocker 40, and the two machined workpieces WA1 and WA2 are placed on the work stocker 40.

In this embodiment, the rotary table 30 is rotated in 90° increments to load and unload the workpiece. Since it can be indexed to -90°, 0°, and +90°, it has a simple structure and can be easily indexed, resulting in a lifting member 24 that is inexpensive and easy to control.

As described above, according to the present invention, the three hand chucks have a simple structure and do not require centering, making it possible to efficiently mount and remove a plurality of workpieces using simple equipment.
FIG.

In this embodiment, the three hand chucks 31, 32, and 33 can be indexed to the same position by rotating them in the circumferential direction, so as long as they are positioned by the lifting member 24, there is no need to re-center the hand chucks when changing them. Three hand chucks are sufficient when replacing two workpieces at the same time, making the configuration and control easier.

Therefore, according to the gantry loader 20 of this embodiment, the three hand chucks 31, 32, and 33 have a simple structure and do not require centering, allowing multiple workpieces to be efficiently attached and detached with simple equipment.

(Embodiment 2)
8 to 13 show a second embodiment of the present invention, which differs from the first embodiment in the shape of the rotary table 130. In the following embodiments, the same parts as those in Figs. 1 to 7 are denoted by the same reference numerals and detailed description thereof will be omitted.

The rotary table 130 of this embodiment has a triangular prism-shaped table body 130a, and hand chucks 31, 32, and 33 are provided on three consecutive circumferential faces of the table body 130a. In this embodiment, the rotary table 30 is rotated 120° at a time to load and unload the workpiece.

In addition, in this embodiment, the X-axis table 3 and the Z-axis table 4 are provided on the C-axis 8 side where the work chuck 9 is located, rather than on the spindle 5 side. Although not shown, the spindle 5 side is provided on the Y-axis table 6.

Next, the operation of the gantry loader 20 according to this embodiment will be described.

As in the first embodiment, as shown in FIG. 8(a), the lifting member 24 uses the running rail 21 and horizontal rail 23 to move to just before the first work chuck 9 and determine the unloading position.

Next, as shown in FIG. 8(b), the lifting member 24 or the Z-axis table 4 is moved to unload the first machined workpiece WA1 from the first workpiece chuck 9.

Next, as shown in FIG. 8(c), the rotary table 130 is rotated 120° to determine the loading position of the first unmachined workpiece WB1 relative to the first workpiece chuck 9.

Next, as shown in FIG. 9(a), the lifting member 24 or the Z-axis table 4 is moved to load the first unmachined workpiece WB1 onto the first workpiece chuck 9.

Next, as shown in FIG. 9(b), the X-axis table 3 is moved to move the rotary table 130 in front of the second work chuck 9, and the unloading position of the second machined workpiece WA2 is determined.

Next, as shown in FIG. 9(c), the lifting member 24 or the Z-axis table 4 is moved to unload the second machined workpiece WA2.

Next, as shown in FIG. 10(a), the rotary table 30 is rotated 120° to determine the unloading position of the second unmachined workpiece WB2 relative to the second workpiece chuck 9.

Next, as shown in FIG. 10(b), the lifting member 24 or the Z-axis table 4 is moved to unload the second unmachined workpiece WB2.

Next, as shown in FIG. 10(c), the lifting member 24 moves away from the two work chucks 9, and processing of the two unmachined workpieces WB1 and WB2 begins.

Next, as shown in FIG. 11(a), the lifting member 24 moves to above the work stocker 40 to determine the discharge position of the second machined workpiece WA2. Unlike the first embodiment, the hand chucks are provided in 120° increments, so the workpiece cannot be discharged in the current position, but the second machined workpiece WA2 can be brought directly below by simply returning the angle by 30°, making control easy.

Next, as shown in FIG. 11(b), the lifting member 24 moves up and down to discharge the second machined workpiece WA2 into the workpiece stocker 40.

Next, as shown in FIG. 11(c), the lifting member 24 moves to above the third unmachined workpiece WB3 and determines its clamping position.

Next, as shown in FIG. 12(a), the lifting member 24 moves up and down to clamp the third unmachined workpiece WB3.

Next, as shown in FIG. 12(b), the rotary table 130 is rotated 120° to determine the ejection position of the first machined workpiece WA1.

Next, as shown in FIG. 12(c), the lifting member 24 is moved up and down to discharge the first machined workpiece WA1.

Next, as shown in FIG. 13(a), the lifting member 24 moves to above the fourth unmachined workpiece WB4 and determines its clamping position.

Next, as shown in FIG. 13(b), the lifting member 24 is raised and lowered to clamp the fourth unmachined workpiece WB4.

After this, the state returns to that shown in Figure 1, and the same process is repeated.

In this embodiment, the indexing is performed between -120°, 0°, and +120°, and therefore a lifting member 24 can be obtained that is simple in structure and can be easily indexed, inexpensive, and easy to control. Since there is no surface without a hand chuck as in the first embodiment, there is no waste in the rotation of the rotary table 130 itself.

Therefore, the gantry loader 20 according to this embodiment also has three hand chucks with a simple structure that do not require centering, allowing multiple workpieces to be efficiently attached and detached with simple equipment.

Other Embodiments
The present invention may have the following embodiments.

For example, as shown in FIG. 14, the two workpieces to be handled may be of different sizes. In this case, the hand chucks 31', 32', 33' may have unequal gripping portions, with a small inner diameter portion X for gripping an unmachined workpiece WB1' with a small outer diameter, and a large inner diameter portion Y for gripping an unmachined workpiece WB2' with a large outer diameter. In this way, even two workpieces of different sizes can be easily handled by the hand chucks 31', 32', 33' provided on one rotary table 30.

In the above embodiment, a microcomputer has been described as an example of the control unit (controller 41). However, the control unit may be configured in any physical manner as long as it controls the machine tool 1. For example, the control unit may utilize software (programs), such as a microcomputer or a programmable logic controller (PLC). Alternatively, the control unit may be realized by combining hardware (circuit components).

Note that the above embodiments are essentially preferred examples and are not intended to limit the scope of the present invention, its applications, or uses.

1. Machine tools
2 beds
3 X-axis table
4 Z-axis table
5 Spindle (processing part)
5a Tools
5b Tool stocker
6. Column
7 Y-axis table
8 C-axis
9 Work chuck
20 Gantry loader
21 Support column (loader)
22 Running rail (loader)
23 Horizontal rail (loader)
24 Lifting member (loader)
30 Rotary table
30a Table body
31 Hand chuck
31, 32, 33 Hand chuck
40 Work Stocker
41 Controller (control unit)
130 Rotary Table
130a Table body
WA1, WA2 Machined workpiece
WB1, WB2 Unmachined workpiece

Claims (3)

A gantry loader for exchanging a plurality of workpieces of a machine tool,
Three hand chucks that can attach and detach the above workpieces,
a rotary table having the three hand chucks spaced at predetermined intervals in a circumferential direction and rotating the hand chucks at a predetermined angle;
and a loader that moves the rotary table to a predetermined position .
The gantry loader is characterized in that the rotary table has a triangular prism-shaped table body, and the hand chuck is provided on each of three consecutive circumferential faces of the table body . A gantry loader according to claim 1 ;
a work stocker on which unmachined and machined workpieces are placed;
A plurality of work chucks to which the work is fixed;
A plurality of processing units for processing the workpiece fixed to the workpiece chuck;
a control unit that controls the rotary table to move to one of the work chucks, remove the machined workpiece with the hand chuck, then rotate the rotary table a predetermined angle to attach an unmachined workpiece to the work chuck, move the rotary table relatively to another of the work chucks, remove the machined workpiece with the hand chuck, and then rotate the rotary table a predetermined angle to attach an unmachined workpiece to the work chuck. Providing a gantry loader according to claim 1 ;
The loader moves the three hand chucks to the work stocker, and the unmachined work is gripped by two of the three hand chucks.
While holding the two unmachined workpieces, the loader moves to one of a plurality of work chucks;
removing a machined workpiece from one of the work chucks by the free hand chuck;
The rotary table is rotated in a circumferential direction to attach the unmachined workpiece to the workpiece chuck;
The rotary table is moved relatively to another of the work chucks, and the machined workpiece is removed by the vacant hand chuck. Then, the rotary table is rotated by a predetermined angle to mount another unmachined workpiece on the work chuck.
machining the unmachined workpieces fixed to the plurality of work chucks;
a loader for moving to the work stocker and placing the two machined workpieces on the work stocker, said loader comprising: a workpiece processing unit for processing the workpieces;

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