JPH0622761B2 - Machine tool with autoloader - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] In the present invention, a workpiece (material and finished product) is loaded (received and delivered) between a conveyor and a headstock chuck such as an NC lathe. The present invention relates to an autoloader for machine tools.

[Prior art]

Generally, this kind of autoloader is installed between a carrier device and a machine tool to load a work. FIG. 1 shows an example thereof, which is a conveyor device 1 including a chain conveyor 11 having a pallet 12 on which a work is placed, a delivery device 13 for delivering the work on the pallet 12, and a blade on the bed 21. Stand 2
An automatic loader 3 is provided between the machine tool 2 and the machine tool 2 including the headstocks 23 and 23.

As shown in FIG. 2, the autoloader 3 receives a work from the transfer device 1 and receives the work 23 from the headstock 23.
Loading unit 31a for supplying the power to the unit 1 and the chuck 2
An arm 31 having an unloading portion 31b for receiving a processed work from 31 and delivering it to a transfer device, and rotating the arm 31, and at the time of exchanging the work with the chuck 231, the arm 31 is axially moved. And an arm shaft 32 for reciprocating movement.

Conventionally, this autoloader is equipped with various sensors such as a sensor that detects the swing angle of the arm, detects the swing angle of the arm and stops the swing of the arm, and detects the swing stop of the arm and detects the swing direction of the arm axis. The movement of the arc is detected, and the movement of the axial direction is detected to open and close the chuck of the headstock to perform arc loading and unloading. However, in such loading and unloading, the next operation is started after each operation is completed, so that the waiting time between each operation is long and the working time is long as a whole. Therefore, the conventional autoloader has a drawback that it cannot be applied to high-speed mass production processing.

[Object of the Invention]

The present invention has been made in view of the above-mentioned drawbacks. To load (unload) a work, a cam that synchronously interlocks each operation of turning the arm, reciprocating the arm shaft, and opening / closing the main shaft chuck is used. By doing so, the next operation can be started in synchronization with one operation, the waiting time between each operation can be shortened, and the work can be performed in a short time as a whole, and high-speed mass-production machining with short tact time can be supported. An object is to provide an autoloader for machine tools.

[Structure of Invention]

In order to achieve the above object, the present invention is a machine tool equipped with an autoloader for transferring a work to and from a transfer device for transferring a work, which is mounted on a main shaft rotatably supported by a headstock. A chuck provided with a gripping claw that can be opened and closed for gripping the work; and a chucking claw of the chuck that extends in the spindle and is movable back and forth in the spindle axis direction with respect to the spindle. A forward / backward member for opening and closing, a main body of the autoloader fixed to the headstock, and a main body provided with an axis line in a direction parallel to the main shaft axis direction, and rotatable about the axis line. The arm shaft is provided so as to have an arm shaft that is movable in the axial direction and two substantially V-shaped arms that have a predetermined angle, and one of the arms is provided by the transfer device. A loader arm for supplying the work to the backpack and the other for discharging the work from the chuck to the transfer device; and the transfer device or the transfer device provided at the arm tip of the loader arm when the loader arm rotates. A gripping unit that faces the chuck and has a gripping unit that grips the work and is rotatable with respect to the loader arm; and a work transfer position with respect to the transfer device, which is provided in the main body, around the arm axis, and An arm swivel mechanism having an arm swivel cam formed with a cam shape that swivels the loader arm between the chuck and the workpiece delivery angular position and temporarily suspends the swiveling operation near the workpiece delivery position and the workpiece delivery angular position; The operation of the arm turning mechanism provided on the main body causes the low When the arm stops turning operation in the workpiece delivery position or workpiece delivery angular position,
An arm moving mechanism having an arm moving cam having a cam shape for moving the loader arm in the arm axis direction between the workpiece transfer position between the chuck and the gripping means and the loader arm turning position; Since the work is transferred between the gripping means and the chuck by the operation of the arm moving mechanism provided on the main body, when the other loader arm moves to the work transfer position side, the grip claw of the chuck And a chuck opening / closing cam having a cam shape for causing the gripping claw to perform a gripping operation when the one loader arm moves to the work transfer position side, and the chuck opening / closing cam provided on the main body. Transmission means for transmitting movement of the cam along the cam shape to the advancing / retreating member for opening / closing the grip claw; An urging means that is provided between the shaft and the advancing / retreating member and urges the gripping claw to move in a direction in which the gripping claw is constantly gripped, and when moving the gripping claw in the opening / closing direction, A chuck opening / closing mechanism that applies an impact force in a direction to open the grip claw by the transmission means and moves the armature against the urging force of the urging means; the arm turning mechanism, the arm moving mechanism, and the chuck opening / closing mechanism. A drive body that is connected to the main body and drives the arm swivel mechanism, the arm moving mechanism, and the chuck opening / closing mechanism; When stopped near the workpiece transfer position, it moves forward and one of the two positioning holes formed corresponding to the gripping means of the two arms of the loader arm. And a first positioning member that positions one of the gripping means of the loader arm and the transfer device, a cylinder body that moves the first positioning member forward and backward, and a cylinder body that is provided in the main body. When the loader arm is moved to the chuck side by the operation of the arm moving mechanism after the loader arm has stopped near the workpiece transfer angular position with the chuck, the loader arm corresponds to the gripping means of the two arms. A second positioning member that engages with either one of the two positioning holes formed as described above and positions one of the gripping means of the loader arm and the chuck, and is rotatable with respect to the spindle. And a gripping claw cleaning means that is provided so as to extend in the main shaft and blows cleaning air to the gripping claws, and the drive body is driven to rotate in the same direction. Accordingly, the present invention resides in a machine tool including an autoloader that interlocks the arm swivel mechanism, the arm moving mechanism, and the chuck opening / closing mechanism in an interrelated manner and sequentially transfers a work between the chuck and the transfer device. .

[Operation] Therefore, in the present invention, unloading and loading can be continuously performed by the arm turning mechanism, the arm moving mechanism, and the chuck opening / closing mechanism, and these mechanisms are operated by the cams that rotate in synchronization. Since the timing is determined, the waiting time between each operation is extremely shortened so that the work can be performed in a short time, and at the time of opening the gripping claw, a transmission means for applying an impact force in the opening direction and opening it is provided. Since it has, the reliability of the opening operation is improved, and further, since it has the gripping claw cleaning means, it has an effect of not causing a defective product due to a gripping defect even if mass-production processing is performed.

〔Example〕

Hereinafter, embodiments of the present invention will be described with reference to the drawings. It is to be noted that FIGS. 3 and 4 show an overall configuration of an embodiment of the autoloader of the present invention, FIGS. 5 to 13 show configurations of respective parts, and FIGS. 14 and 15 are explanatory diagrams showing operation. Indicates.

The autoloader of the embodiment shown in FIGS. 3 and 4 has a main body 30 which is provided so as to penetrate the arm shaft 32 and a drive device 34 which is provided outside. A headstock 23 is provided below the main body 30. Further, an arm 31 having a V-shaped loading part 31a and an unloading part 31b is provided on the tip end side of the arm shaft 32, and a gripping part 33 is provided on each of the loading part 31a and the unloading part 31b. . On the other hand, a positioning device 35 for positioning the arm shaft 32 is provided on the base end side of the arm shaft 32.
Is provided.

Inside the main body 30, as shown in FIGS. 5 to 9,
A first rotary shaft 41 that is connected to the drive device 34 and is rotationally driven, a second rotary shaft 42 that is linked to the rotary shaft 41 via gears 43 and 44 and is rotationally driven, and the second rotary shaft 42. An arm revolving mechanism 50 rotatably driven by the rotating shaft 42, an arm moving mechanism 60 rotatably driven by the first rotating shaft 41, and a chuck opening / closing mechanism 70 are provided.

The arm revolving mechanism 50 engages with an arm revolving disk cam 51 mounted on a support plate 46 fixed to the second rotating shaft 42, engages with the cam 51, and oscillates by its displacement. , A transmission member 5 for transmitting the displacement to the arm shaft 32
3 and 3.

This disc cam 51 is shown in FIG. The loading section 31a and the unloading section 31b
(Fig. 3) is reciprocally swung between the delivery position of the transport device and the delivery position of the spindle chuck, and a groove 52 is provided along a use curve set to temporarily stop at both positions. The radial displacement of the groove 52 causes the arm 3 to move.
The rotation angle of the cam required for the displacement corresponds to the turning angle of 1, and the angle between the starting point and the ending point of the displacement.

As shown in FIGS. 6 and 7, the transmission member 53 has an intermediate portion swingably supported by a fulcrum 54, and a pin 55 engaging with the groove 52 is projectingly provided at one end thereof. An arcuate gear 56 is provided at the other end. This gear 56
It meshes with a gear 321 provided at a proper position on the outer circumference of the arm shaft 32, and converts the swing of the transmission member 53 due to the displacement of the groove 52 into a rotational motion and transmits it to the arm shaft 32.

The arm moving mechanism 60 is shown in FIG.
A disk cam 61 for arm movement mounted on a support plate 45 fixed to the rotary shaft 41 of the above, and engaged with the cam 61, swinging by the displacement, and transmitting the displacement to the arm shaft 32. And a transmission member 63.

This disc cam 61 is shown in FIG. The loading section 31a and the unloading section 31b
(Fig. 3) respectively reach the delivery position of the spindle chuck, the groove 62 is formed along the use curve set so that the arm shaft 32 is reciprocally moved in the axial direction to move them toward and away from the spindle chuck. It is provided. The radial displacement of the groove 62 corresponds to the reciprocating stroke of the arm shaft 32, and the angle between the starting point and the ending point of the displacement is the rotation angle of the cam required for the displacement.

The transmission member 63, as shown in FIGS. 6 and 7,
The middle part is swingably supported by a fulcrum 64, and at one end,
A pin 65 that engages with the groove 62 is provided in a protruding manner, and at the other end, a pin 66 that engages with an engaging flange portion 322 provided at an appropriate position in the middle portion of the arm shaft 32 is provided. This pin 66 causes the transmission member 63 to swing to cause the flange portion 3 to move.
The arm shaft 32 is reciprocated in the axial direction by pressing 22 forward and backward.

In FIG. 5, the chuck opening / closing mechanism 70 engages with the disk opening / closing disk cam 71 mounted on the opposite surface side of the support plate 45, and engages with the cam 71, and swings due to the displacement thereof. A transmission member 73 that transmits the displacement to the chuck (collect chuck in this embodiment) 231 of the headstock 23.
It consists of and.

This disc cam 71 is shown in FIG. A groove 72 is provided along a use curve set so that the main shaft chuck is opened when the unloading portion is brought closer to the stop while the spindle chuck is closed when the loading portion is brought closer to the stop. The radial displacement of the groove 72 corresponds to the opening and closing of the chuck, and the angle between the starting point and the ending point of the displacement is the rotation angle of the cam required for the displacement.

The transmission member 73, as shown in FIGS. 6 and 9,
The middle part is swingably supported by a fulcrum 74, and at one end,
A pin 75 that engages with the groove 72 is provided in a protruding manner, and at the other end, a connecting rod 76 that is connected to the chuck opening / closing lever 232.
Is rotatably connected. When the transmission member 73 swings due to the displacement of the groove 72 (FIG. 13), the connecting rod 76 moves back and forth in the axial direction ( _BL and _BR directions in FIG. 9) correspondingly,
Operate the chuck opening / closing lever 232 to open the chuck 231.
Open and close. That is, the chuck 231 is attached to the front end of the spindle 233 that is rotatably supported by the spindle stock 23.
The work W is held by the plurality of gripping claws 235 of the collet 234.
Is gripped. A drawing tube 236 is provided in the through hole of the main shaft 233, and the adapter 237a, 237b is provided.
The collet 234 is fixed via the. The one end surface of the work W is in contact with the cylindrical member 238 with its axial position restricted. Therefore, when the work W is delivered to the chuck 231, the gripping portion 33 (FIG. 10) of the arm 31 presses against the plurality of springs 336 to determine the gripping position. The cylindrical member 238 is fixed to the end portion 233a of the main shaft 233 via a main shaft adapter 237c. A shifter 239 is provided behind the main shaft 233 via a rear adapter 238. The shifter 239 is the outer peripheral portion 2 of the rear adapter 238.
Slide on 38a. Further, a closing lever 240 is provided in the shifter 239, and the chuck opening / closing lever 232 is operated to rotate around the contact portion 240a as a fulcrum to collect 23.
Close 4 That is, when the connecting rod 76 moves in the direction _{L in} FIG. 9B, the chuck opening / closing lever 232 causes the pin member 24 to move.
Swings 1 as a fulcrum, to move the cam follower 242 engaged with the shifter 239 to _{C R} direction. The closing lever 240 rides on the inclined surface 239a of the shifter 239 and rotates about the contact portion 240a as a fulcrum. Coupling 243
A plurality of disc springs 244 that are built to move compressed into C _R direction through the collar 245. Coupling 243
Go to anchored also _{C R} direction drawing Chi Yubu 236, this and the adapter 237a, collet linked via 237b 234's body 231a inclined surface 23
By sliding on 1b, it moves in the radial direction and the plurality of grip claws 235 grip the work W. The gripping force of the work W is determined by the set force of the disc spring. The connecting rod 76 is the ninth
When operating in FIG. _{B R} direction, the chuck closing lever 232 swings the pin member 241 as a fulcrum, to move the cam follower 242 engaged with the shifter 239 to _{C L} direction. The closing lever 240 is, as shown by an imaginary line in the figure,
Since it is separated from the inclined surface 239a, it is pushed upward by the restoring force of the disc spring 244. At the same time, the cam follower 246 provided at the rear end of the chuck opening / closing lever 232 rotates in the D direction and strikes the flange portion 243a of the coupling 243 (hammer effect). Impact force is drawing tube
It is transmitted to 236, and drawing Chi Yubu 236 while being conducive by the restoring force of the disc springs 244 to move to the C _L direction. Adapters 237a, 237 by a collet 234 drawing tube 236 which has been locked by the wedge effect.
It is pushed forward through b and opens in the radial direction by the spring force of the collet 234 itself. Therefore, the work W separates from the plurality of grip claws 235. Reference numeral 247 denotes an air pipe which allows air to pass through the air tube 248, through the through hole 249 of the adapter 237a, and through the plurality of nozzles 25 of the cylindrical member 238.
Eject from 0 and clean chips and the like when handing over the work.

The gear ratio of the gears 43 and 44 is set so that the first rotary shaft 41 and the second rotary shaft 42 rotate in synchronization with each other. Further, the arm turning disk cam 51, the arm moving disk cam 61 and the chuck opening / closing disk cam 71 are provided such that the reference points of the displacement start angles of the respective grooves 52, 62 and 72 are matched in advance. Therefore,
The operations of the respective mechanisms 50, 60, 70 that occur with the rotation of the first and second rotary shafts 41, 42 are synchronized with each other.

The driving device 34 that rotationally drives the first and second rotating shafts 41 and 42 includes a motor 341, a belt 342, and a pulley 343, as shown in FIGS. 3 to 6 and 9.
The clutch brake 344 and the gear device 345 are included, and the first rotary shaft 41 is rotationally driven via the gear device 345.

Positioning device 3 provided on the base end side of the arm shaft 32
As shown in FIGS. 3, 4, 7, and 8, reference numeral 5 denotes through holes 352a, 352b at an angle corresponding to the loading portion 31a and the unloading portion 31b.
Is held by the positioning arm 351 provided with a cylinder 353 so as to be retractable, and when the arm 31 stops at the transfer position of the transfer device, the arm 31 protrudes to penetrate the through holes 352a, 3a.
A locator pin 354 on the side of the transport device which is inserted through 52b,
It has a chuck side locating pin 356 which is fixedly held by the support member 355, the arm 31 stops at the front of the chuck, and the arm shaft 32 moves axially when it is inserted into the through holes 352a and 352b. Consists of

The loading section 31a and the unloading section 3
The gripping portions 33 provided on the respective 1b have the structure shown in FIG. 10, for example. Although FIG. 10 shows the gripping portion of the loading portion 31a, the gripping portion of the unloading portion 31b basically has the same structure.

In FIG. 10, the gripper 33 holds the gripping claw 331 that presses the work W and grips the work W.
2 are provided on the same circumference at equal intervals at 3 locations, and a shaft 333 is provided at the center of the grip claw holding portion 332. The shaft 333 is provided with a holding portion 334 at the tip of the loading portion 31a.
The bearing portion 335 provided inside is rotatably mounted. A plurality of springs 336 are interposed between the bearing portion 335 and the holding portion 334 to urge the end portion of the grip claw holding portion 332 against the work W. Therefore, since the gripping portion 33 can be rotated together with the spindle chuck when transferring the workpiece to and from the spindle chuck, the workpiece can be loaded while the spindle chuck is rotated. Although this point is not shown, the same applies to the grip portion in the unloading portion 31b.

Next, regarding the operation of the above-mentioned embodiment, the above-mentioned respective drawings and the fourteenth
It will be described with reference to the drawings. Note that FIG. 14 is an explanatory diagram showing the operation of the cam in the above embodiment.

First, as shown in FIGS. 1 and 2, the autoloader of this embodiment is installed between the work transfer device 13 of the transfer device 1 and the headstock 23. Then, the work is conveyed by the chain conveyor 11 of the conveying device 1, and the delivery device 1
At 3, pass the work to the autoloader.

At this time, in the autoloader, the drive device 34 rotates the first and second rotating shafts 41, 42 to cause the disk cam 51,
61 and 71 are rotationally driven. In each of the above-mentioned cams, the starting angle of the displacement of each groove 52, 62, 72 is set with reference to the time (0 °) when the loading part 31a is at the position of the work transfer device 13. Therefore, when the loading part 31a is at the work transfer position, the pins 55, 65, 75 of the respective transmission members 53, 63, 73 are in the range of 0 ° of the respective disc cams 51, 61, 71. Within the same angular position.

In this state, in the arm turning mechanism 50, as shown in FIG. 11, the pin 55 of the transmission member 53 is engaged with the groove 52 at the 0 ° position of the arm turning disk cam 51. The arm 31 stops turning at the angle shown in FIG. 15 (A),
The loading unit 31a receives the work from the delivery device 13. Since the unloading part 31b has a V shape with an angle of 35 ° with the loading part 31a, it is always at a position different from the loading part by 35 °.

When the disc cam 51 rotates and is in the range of 5 ° to 60 °, the groove 5
No. 2 is largely displaced outward in the radial direction as shown in FIG. Therefore, the transmission member 53 (FIG. 6) engaged with the groove 52 largely swings, and the arm shaft 32 is swung via the gear 321 that meshes with the gear 56 (FIGS. 11 and 14). The range shown in the figure and FIG. 15 (B)). After that, the groove 52 is not displaced as it is from 60 ° to 135 ° and is on the same circumference, and the arm 31 is stopped at the position shown in FIG. 15 (B).

On the other hand, in the arm moving mechanism 60, the groove 62 is not displaced and stays on the same circumference until the disc cam 61 is rotated to the position of 60 ° during the above period. Therefore, the transmission member 63 does not swing and the arm 31 does not move. When the disc cam 61 rotates between 60 ° and 90 °, the groove 62 is suddenly displaced outward. As a result, the transmission member 63 swings largely, and as shown in FIG. 7, the flange portion 322 of the arm shaft 32 is pressed to displace the arm shaft 32 in the axial direction (arrow A).

At this time, as shown in FIG. 15 (B), the unloading portion 31b of the arm 31 is located in front of the chuck. Therefore, the displacement of the arm shaft 32 brings the unloading portion 31b close to the chuck. at the same time,
Positioning device 35 for base end of arm shaft 32 shown in FIG.
Then, the through hole 352 provided in the positioning arm 351
At b, as the arm shaft 32 is displaced, the chuck side locate pin 356 is inserted and the arm 31 is turned.

When the disc cam 61 rotates between 90 ° and 105 °, the groove 62 is on the circumference of the radius after the displacement.
Therefore, the arm 31 is fixed while being close to the chuck. Then, the grip portion 3 of the unloading portion 31b
The work gripped on the chuck is gripped by the grip claws 3. At this time, the gripping portion is rotated by the rotation of the chuck. This state is shown in FIG. 12, FIG. 14 and FIG. 15 (B).

Further, in the chuck opening / closing mechanism 70, the groove 72 is not displaced and stays on the same circumference until the disk cam 71 is rotated up to 80 ° during the above period. Therefore, the transmission member 73 also does not swing, and the chuck is in the closed state while holding the processed work (complete product). When the rotation of the disc cam 71 exceeds 80 °, the disc cam 71 is displaced outwardly up to 105 °. As a result, the transmission member 73 swings greatly, and the transmission member 73 swings largely, as shown in FIGS.
As shown in the drawing, the connecting rod 76 is displaced in the axial direction, the chuck opening / closing lever 232 is operated to loosen the chuck, and the work is opened.

After this, in the disc cam 71, the groove 72 is not displaced up to 190 °, and the chuck remains open.

On the other hand, in the arm moving mechanism 60, the disk cam 61 has 105
When rotated up to °, the groove 62 displaces in the opposite direction,
It rotates up to 5 °, returns to the circumference at 0 °, and stays on the same circumference up to 165 °. Therefore, the arm shaft 32 is moved in the opposite direction by the transmission member 63, and the unloading portion 31b is separated from the chuck.

When the movement of the arm shaft 32 is completed (position of 135 °),
In the arm turning mechanism 50, the disk cam 51 is provided with the groove 52.
Is displaced outward in the range of 135 ° to 165 °, and accordingly, FIG. 11, FIG. 14 and FIG. 15 (C)
The arm 31 pivots 35 °, as shown by.
The groove 52 remains on the same circumference up to 245 °. Therefore, the arm 31 includes the loading portion 31.
a is located in front of the chuck and is in a stopped state.

Simultaneously with the turning of the arm 31 being stopped (at a position of 165 °), in the arm moving mechanism 60, the groove 62 of the disk cam 61 is in the range of 165 ° to 195 ° and the above-mentioned 60 ° to 90 °.
The arm shaft 32 is displaced in the same manner as in the range of ° to move the loading portion 31a in the direction of approaching the chuck. Then, the groove 62 is not displaced to 215 °, and the loading portion 31a is stopped and held as it is (the state shown in FIGS. 12, 14 and 15 (C)).

While the loading portion 31a is approaching, the chuck is in an open state, so that the work held by the loading portion 31a gripping portion is rotated and pushed into the chuck. The chuck opening / closing mechanism 70 is used for the disc cam 7
When 1 reaches 190 °, the above 80
The displacement is inward, contrary to the displacement in the range of ° to 105 °. Therefore, contrary to the above, the chuck is closed to grip the work.

At the same time the chuck grips the workpiece completely (215 °
Position), in the arm moving mechanism 60, the disk cam 61
In the range of 215 ° to 245 °, the groove 62 of 105
Similar to the case of ° to 135 °, the arm shaft 32 is displaced inward to move the arm shaft 32 to the original position. After this, the groove 62 is
It is not displaced to 0 ° and the arm shaft 32 does not move.

Simultaneously with the end of the movement of the arm shaft 32 (position of 245 °), in the arm turning mechanism 50, the groove 52 of the disk cam 51 is displaced inward in the range of 245 ° to 315 °,
The arm 31 is rotated as shown in FIGS. 11, 14, and 15D. This turning is in the clockwise direction contrary to the above (see FIG. 15 (D)). As a result, the unloading section 31b is positioned in front of the work transfer device. Here, 315 ° to 32
Since the groove 52 is not displaced up to 5 °, the unloading part 31b is stopped and the work transfer device receives the work.

At this time, in the positioning device 35, the locate pin 354 is projected by the cylinder 353 shown in FIG. 4 and is inserted into the through hole 352b of the positioning arm 351 so that the arm 3
Lock 1 so that it does not turn.

When the disc cam 51 is rotated up to 325 °, the pin 354 is retracted by the cylinder 353 and the arm 31
Can turn. At the same time, the groove 52 is 325 ° to 355 °
Is displaced outward in the range of, and as shown in FIGS. 11, 14 and 15 (A), the arm 3 is rotated counterclockwise.
Turn 1 As a result, the loading portion 31a
Reaches the work transfer position of the work transfer device and returns to the initial state.

At this time, similarly to the above, the positioning device 35 locks the rotation of the arm 31, and the lock is released when the disk cam 51 reaches 5 °.

In this way, the autoloader according to the present embodiment has one of the arm swing cam, the arm moving cam, and the chuck opening / closing cam.
By the rotation, the work (material) can be received from the transfer device and supplied to the chuck, and the processed work (complete product) can be received from the chuck and passed to the transfer device.
In the meantime, in the spindle check, as shown in FIG. 14, for example, the machining of the work is started when the rotation angle of the cam is 320 °, and the machining is finished when the rotation angle of the cam is 0 °. The time required for loading (idle time) in this autoloader is 4 seconds in the range of 0 ° to 320 °.

Although the disk cam is used as the cam in the above embodiment, another cam, such as a drum cam, may be used as long as it has an equivalent function. Further, it goes without saying that the turning angle and the like of the arm can be appropriately set.

〔The invention's effect〕

As described above, according to the present invention, in order to load (unload) a work, a cam in which each operation of rotating the arm, reciprocating the arm shaft and opening / closing the main shaft chuck is synchronized is used. As a result, the next operation is started in synchronization with one operation, the waiting time between each operation can be shortened, and the work can be performed in a short time as a whole.

Therefore, there is an effect that it can sufficiently cope with high-speed mass production processing with a short tact time.

Further, according to the present invention, when the gripping claw is opened, since it has a transmitting means for applying an impact force in the opening direction and opening the gripping claw, it has the effect of improving the reliability of the opening operation and the gripping claw cleaning means. Therefore, even if mass-production processing is performed, there is an effect that a defective product due to a defective grip does not occur.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an example of a work transfer device to which an autoloader is applied, FIG. 2 is an enlarged configuration diagram showing an autoloader portion in the transfer device, and FIG. 3 is a front view showing an embodiment of the autoloader of the present invention. FIG. 4 is a right side view of the above embodiment, FIG. 5 is a sectional view showing a cam storage portion in the above embodiment, and FIG. 6 is a fragmentary front view showing an arm turning mechanism portion in the above embodiment. FIG. 7 is a sectional view of an essential part of the arm shaft portion in the above embodiment as viewed from the left side surface, FIG. 8 is a rear view of the above embodiment, and FIG. 9 is a view of the chuck opening / closing mechanism portion in the above embodiment as viewed from the left side surface. FIG. 10 is a cross-sectional view showing a gripping portion of the arm, FIG. 11 is a front view showing an arm rotating disk cam used in the above embodiment, and FIG. 12 is an arm used in the above embodiment. Transfer Disk FIG. 13 is a front view showing the disk cam for opening and closing the chuck used in the above embodiment, and FIG. 14 is a time chart showing the operation of the cam in the above embodiment, FIGS. 15 (A), (B). ), (C), and (D) are explanatory views showing the turning position of the arm corresponding to the time chart. 1 ... conveying device, 11 ... chain conveyor, 13 ...
Delivery device, 2 ... Machine tool, 23 ... Headstock, 231
…… Check, 232 …… Check opening / closing lever, 3 ……
Auto loader, 30 ... Main body, 31 ... Arm, 31a
…… Loading section, 31b …… Unloading section,
32 ... Arm shaft, 321 ... Gear, 322 ... Flange part, 33 ... Gripping part, 331 ... Gripping claw, 34 ... Driving device, 35 ... Positioning device, 351 ... Positioning arm, 352a, b ...... Through hole, 354, 356 Locating pin, 41 ...... First rotating shaft, 42 ...... Second rotating shaft, 43,44 ...... Gear, 50 ...... Arm turning mechanism,
60 ... Arm moving mechanism, 70 ... Chuck opening / closing mechanism,
51, 61, 71 ... Disc cams, 52, 62, 72
... Grooves, 53, 63, 73 ... Transmission members, 54, 64,
74 ... fulcrum, 55, 65, 75 ... pin, 56 ... gear, 66 ... pin, 76 ... connecting rod.

Claims (1)

[Claims] 1. A machine tool having an autoloader for transferring a work to and from a transfer device for transferring the work, which is mounted on a main shaft rotatably supported by a headstock and grips the work. And a chuck provided with a gripping claw that can be opened and closed, and an advancing / retracting device that extends in the spindle and is movable in the spindle axis direction with respect to the spindle to open and close the gripping claw of the chuck. A member, a main body of the autoloader fixed to the headstock, and an axis line provided in the main body in a direction parallel to the main shaft axis direction, which is rotatable about the axis line and movable in the axial direction. Is provided on the arm shaft having an arm shaft formed on the arm and two substantially V-shaped arms having a predetermined angle, and one of the arms is connected to the chuck from the transfer device. A loader arm for supplying the work from the chuck to the transfer device on the other side, and a loader arm provided at the tip of the arm of the loader arm. The loader arm opposes the transfer device or the chuck when the loader arm rotates. A gripping means for gripping the work and having a grip part rotatable with respect to the loader arm; a work transfer position with respect to the transfer device and a work transfer with respect to the chuck, which is provided in the main body and is centered on the arm axis axis. An arm swivel mechanism having an arm swivel cam formed with a cam shape that swivels the loader arm between the angular position and the work transfer position and the swivel motion is temporarily stopped in the vicinity of the work transfer angular position; The loader arm is moved by the operation of the arm turning mechanism. When the turning operation is stopped at the delivery position or workpiece delivery angle position,
An arm moving mechanism having an arm moving cam having a cam shape for moving the loader arm in the arm axis direction between the workpiece transfer position between the chuck and the gripping means and the loader arm turning position; Since the work is transferred between the gripping means and the chuck by the operation of the arm moving mechanism provided on the main body, when the other loader arm moves to the work transfer position side, the grip claw of the chuck And a chuck opening / closing cam having a cam shape for causing the gripping claw to perform a gripping operation when the one loader arm moves to the work transfer position side, and the chuck opening / closing cam provided on the main body. Transmission means for transmitting movement of the cam along the cam shape to the advancing / retreating member for opening / closing the grip claw; An urging means that is provided between the shaft and the advancing / retreating member and urges the gripping claw to move in a direction in which the gripping claw is constantly gripped, and when moving the gripping claw in the opening / closing direction, A chuck opening / closing mechanism that applies an impact force in a direction to open the grip claw by the transmission means and moves the armature against the urging force of the urging means; the arm turning mechanism, the arm moving mechanism, and the chuck opening / closing mechanism. A drive body that is connected to the main body and drives the arm swivel mechanism, the arm moving mechanism, and the chuck opening / closing mechanism; When stopped near the workpiece transfer position, it moves forward and one of the two positioning holes formed corresponding to the gripping means of the two arms of the loader arm. And a first positioning member that positions one of the gripping means of the loader arm and the transfer device, a cylinder body that moves the first positioning member forward and backward, and a cylinder body that is provided in the main body. When the loader arm is moved to the chuck side by the operation of the arm moving mechanism after the loader arm has stopped near the workpiece transfer angular position with the chuck, the loader arm corresponds to the gripping means of the two arms. A second positioning member that engages with either one of the two positioning holes formed as described above and positions one of the gripping means of the loader arm and the chuck, and is rotatable with respect to the spindle. And a gripping claw cleaning means that is provided so as to extend in the main shaft and blows cleaning air to the gripping claws, and the drive body is driven to rotate in the same direction. In addition, the arm rotating mechanism, the arm moving mechanism, and the chuck opening / closing mechanism are interlocked with each other in an interlocking manner, and the work can be sequentially transferred between the chuck and the transfer device. Machine tool.