JP2002178238A - Machine tool with automatic feed/discharge device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a machine tool capable of shortening a cycle time by reducing the size of a hand fitting part of an automatic feeder and eliminating the lowering of the machining accuracy and the defective on a finishing surface. SOLUTION: This machine tool is provided with a work feed/storage part 12 feeding and storing unworked works, a carrier robot 9 having a robot body 10 freely advancing/retreating and robot hands 15a and 15b provided in the robot body 10 and advancing/retreating in the direction crossing to the advancing/retreating direction of the robot body 10, and rotational movement arms 19a and 19b rotationally moving between a first position delivering and accepting the works with the robot hands 15 and 15b and a second position delivering and accepting the works with a work retainer part 3. This machine tool is so constituted that, while the robot body 10 advances/retreats between the rotational movement arms 19a and 19b and the work feed/storage part 12, the robot hands 15a and 15b advance/retreat so as to deliver/accept the works.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic feeder having a machine tool for performing predetermined processing on a work held by a work holding portion, and an automatic feeding / discharging device for automatically feeding / discharging the work to / from the machine tool. The present invention relates to a machine tool with a discharge device.

[0002]

2. Description of the Related Art For example, various types of lathes are known as machine tools having an automatic supply / discharge device for automatically supplying / discharging a workpiece in order to automatically process a part. However, most of them are automatic supply / discharge devices that automatically supply / discharge a workpiece by a robot hand provided to a robot such as a rectangular coordinate robot or an articulated robot. In many cases, the posture of the work at the unprocessed work storage position where the unprocessed work is stored is different from the posture of the work. Configuration.
Therefore, inevitably, the robot, especially the hand mounting portion, must be large. Therefore, these automatic supply / discharge devices are for turning relatively large parts, and are not suitable for small automatic lathes.

When it is intended to automatically supply and discharge a work to a small machine tool, for example, a small automatic lathe using such a conventional automatic supply and discharge device, the size of the automatic lathe and the automatic supply and discharge device is large. The unbalance of the pieces makes it difficult to connect them to fix their mutual position. Also, even if it is connected, if the automatic supply and discharge device is operated during the processing of the work on the automatic lathe, the vibration by the automatic supply and discharge device affects the processing of the automatic lathe,
This may cause a reduction in processing accuracy, a failure in the finished surface, and the like. If the operation of the automatic supply / discharge device is to be performed after the end of the processing by the automatic lathe in order to prevent the processing accuracy from being lowered and the occurrence of defects in the finished surface due to the operation of the automatic supply / discharge device, it goes without saying that In addition, it is inevitable that the cycle time for processing one product becomes longer and the productivity is reduced.

Further, the large size of the automatic supply / discharge device, particularly, the size of the hand mounting portion means that it becomes difficult to arrange the hand of the automatic supply / discharge device close to the automatic lathe. The amount of movement of the hand of the ejection device increases, and the time required for movement increases, which inevitably increases the cycle time. Further, when the automatic supply / discharge device, particularly the hand attachment portion, is large, the front surface of a small automatic lathe is almost completely covered by the hand of the automatic supply / discharge device, so that the work to be machined is changed or the automatic lathe is used. At the time of various adjustments and maintenance such as alignment with the hand, the accessibility of the operator becomes extremely poor, and it takes time for the adjustment and the like, and as a result, the overall operation rate is reduced.

[0005]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems of the prior art, and is generated during operation by reducing the size and weight of an automatic supply / discharge device, particularly, a hand mounting portion. It is an object of the present invention to prevent vibrations, enable high-speed movement, and reduce the cycle time by eliminating the reduction in machining accuracy and the failure of a finished surface due to vibrations.

Accordingly, the present invention completely reviews the mechanism for automatic supply and discharge and the operation thereof, and provides a more rational mechanism and configuration of the automatic supply and discharge apparatus, thereby providing automatic supply and discharge. Prevents vibrations that occur during the operation of the ejector and enables high-speed movement of the hand holding the work.Only operations that cannot be duplicated with work of the work are used as cycles for automatic supply and discharge. Is performed during the machining of the workpiece to reduce the cycle time as much as possible.Furthermore, by greatly improving the accessibility of the operator, the time for adjustment etc. has been shortened, and the overall operation rate has been improved. An object of the present invention is to provide a machine tool with a supply / discharge device and a processing method therefor.

[0007]

In order to solve the above-mentioned problems, a machine tool with an automatic supply / discharge device according to the present invention is provided with a machine tool for performing a predetermined turning operation on a work held by a work holding section, and In a machine tool with an automatic supply / discharge device having an automatic supply / discharge device for automatically supplying / discharging a work to / from a machine, the automatic supply / discharge device includes: a work supply unit configured to supply an unprocessed work; A transfer robot having a work storage section to be stored, a robot body movable forward and backward, and a robot hand provided on the robot body and moving forward and backward in a direction crossing the forward and backward movement direction of the robot body; A swing arm that swings between a first position for transferring the work between the first position and a second position for transferring the work between the work holding unit; The robot body is configured to move forward and backward between the turning arm, the work supply unit, and the work storage unit, and the robot hand is moved forward and backward to transfer a work therebetween. I have.

[0008] Here, the robot hand and the turning arm each have two pieces, and one of the robot hands transfers an unprocessed work to the work holding portion via one of the turning arms, and the other of the robot hands. It is preferable that the robot hand be configured to receive the processed work from the work holding unit via the other turning arm. Alternatively, the distance between the two robot hands is L
1. The distance between the two turning arms is L2, the position where the other robot hand transfers the processed work to the work storage unit, and the one robot hand is the unprocessed work from the work supply unit. When the distance to the position for receiving L3 is L3, at least one or both of the distance L1 and the distance L2 and the distance L1 and the distance L3 may be the same. Further, the distance between the two robot hands is L1, and the transfer of the processed work between the robot hand and the other turning arm and the supply position of the unprocessed work of the work supply unit are performed. Distance to L
4. When the distance between the one turning arm and the position where the robot hand transfers the processed work to the work storage portion when exchanging the unprocessed work with the robot hand is L5. Alternatively, at least one or both of the distance L1 and the distance L4 and the distance L1 and the distance L5 may be configured to be the same.

The turning arm is disposed on a tool rest of the machine tool, and the relative movement between the turning arm and the work holding part is performed by the forward and backward movement of the tool rest with respect to the work holding part. It is desirable to be
Further, it is preferable that the center of rotation of the swing arm is arranged on a tool rest of the machine tool, and is arranged offset from a center line of the work holding unit. Further, it is preferable that the entire machine tool is covered with a cover, and an opening door that can be opened and closed according to the movement of the robot hand is provided on the movement path of the robot hand.

According to another aspect of the present invention, there is provided a method of machining a machine tool with an automatic supply / discharge device, wherein the machine tool performs a predetermined turning process on a workpiece held by a workpiece holding unit. A machine tool with an automatic supply / discharge device having an automatic supply / discharge device for automatically supplying / discharging a workpiece to the automatic supply / discharge device, wherein the automatic supply / discharge device is moved in two orthogonal directions orthogonal to each other, and the workpiece is transferred to the machine tool. A robot hand that carries in and out, and rotates between a first position facing the robot hand and a second position facing the work holding unit, and holds an unprocessed work or a processed work. A swing arm is prepared to enable transfer of a work between the work holding unit and the robot hand via the swing arm, and the robot hand is Moving in two axial directions to carry the work into the swivel arm from a predetermined unprocessed work storage position, and the swivel arm swings from the first position to the second position, A supply step of supplying the work received from the robot hand to the work holding unit, a processing step of performing a predetermined turning process on the work supplied to the work holding unit, and A discharging step of rotating the robot hand to the first position, taking out the processed work from the work holding unit and transferring the processed work to the robot hand, and moving the robot hand in the two-axis directions orthogonal to each other to form a predetermined processed work. An object of the present invention is to provide a processing method using a machine tool with an automatic supply / discharge device, which has an unloading step of unloading the work to a storage position.

A supply step of having two robot hands and two turning arms respectively, wherein one of the robot hands transfers an unprocessed work to the work holding unit via one of the turning arms; It is preferable that a part of the discharging process in which the other robot hand receives a processed work from the work holding unit via the other rotating arm is simultaneously and simultaneously performed.

Further, the distance between the two robot hands, the distance between the two turning arms, the position where the other robot hand delivers the processed work to the processed work storage position, and the one of the two robot hands. The robot hand prepares an automatic supply / discharge device with the same distance from the unprocessed work storage position to the position where the unprocessed work is received, and one of the robot hands controls the unprocessed work in the unprocessed work storage position. At the same time as holding the work, the other robot hand stores the processed work in the processed work storage position, or transfers the unprocessed work from one robot hand to one of the turning arms, The other robot hand receives the processed workpiece held by the other swing arm, or The distance between the bot hand, the distance between the other turning arm and the position for receiving the unprocessed work from the unprocessed work supply position when transferring the processed work with the robot hand, Automatically setting the same distance between the one turning arm and the position for transferring the processed work from the robot hand to the processed work storage position when exchanging the unprocessed work with the robot hand. A supply / discharge device is prepared, and one robot hand holds the unprocessed work at the unprocessed work supply position, and the other robot hand holds the processed work held on the other turning arm. At the same time as transferring an unprocessed work from one robot hand to one of the revolving arms, the processed work held by the other robot hand. It is also possible to discharge the over clause.

[0013]

Embodiments of the present invention will be described below with reference to the drawings showing examples. In the following description, an automatic lathe will be described as an example of a machine tool.However, the present invention is also applicable to other machine tools such as a drilling machine and a grinding machine that may use the same automatic supply and discharge device. Applicable. 1 to 4 show an embodiment of a lathe with an automatic supply / discharge device according to the present invention. FIG. 1 is a front view, FIG. 2 is a plan view, and FIG. 3 is a right side view. Is a left side view showing an automatic supply / discharge device (particularly, a palletizer). In the following description, "left" or "right" refers to the left or right of the automatic lathe of FIG.
When referring to "up" or "below", it refers to the upper or lower part of the automatic lathe in the figure, and when "before" or "rear", the front side or the back side in the direction orthogonal to the paper surface of the automatic lathe in the figure is referred to. Shall point to.

As shown in the figure, a lathe with an automatic supply / discharge device of the present invention comprises an automatic lathe 1 and an automatic lathe 1
And an automatic supply / discharge device 2 provided outside. Here, the automatic lathe 1 is a lathe capable of automatically performing a predetermined turning process in accordance with a start signal of the turning process and transmitting an end signal upon completion of the turning process. Although it can be used, it is desirable that the NC automatic lathe be configured to be able to transmit and receive various timing signals to and from the outside, and it is particularly desirable to apply the present invention to a small NC automatic lathe.

The automatic lathe 1 performs a predetermined turning operation on a workpiece held by a spindle chuck, which is a workpiece holding unit.
A processing tool (in this embodiment, a drilling tool 5 such as a drill and a cutting tool 6 such as a cutting tool 6) is provided on the opposed tool rest 4) arranged opposite to. Furthermore, this opposed tool post 4
The turning arm device 7 which constitutes a part of the automatic supply / discharge device 2 of the present invention is arranged side by side with the drilling tool 5 and the cutting tool 6, as will be described in detail later.

The automatic supply / discharge device 2 is a device for automatically supplying an unprocessed work to the automatic lathe 1 and automatically discharging the processed work after turning.
In the present embodiment, a palletizer 8 as a work supply / storage device that places and holds an unprocessed work and a processed work at predetermined positions, and a transfer robot that moves in the horizontal direction and the vertical direction, for example, a rectangular coordinate type It is composed of a robot 9 and the aforementioned swing arm device 7. The orthogonal coordinate robot 9 includes a robot body 10 that moves in the left-right direction,
The robot body 10 has robot arms 11a and 11b movably provided in the vertical direction.

In the present embodiment, the palletizer 8 has a plurality of workpiece storage positions for aligning and storing a plurality of workpieces.
They are arranged in a matrix. At this work storage position, an unprocessed work is stored in an upright state (hereinafter, this state is referred to as a “vertical position”). Further, by preparing a plurality of the pallets 12 and sending the pallets 12 in order, it is possible to continuously process a large number of works.

The palletizer 8 stores the unprocessed work in a vertical position at the work storage position of the pallet 12 and sends the unprocessed work backward (to the left in FIG. 4) by the transport chain 13. Positioning of the unprocessed work and replacement of the pallet 12 are performed. The rectangular coordinate robot 9 stops above the unprocessed work stored in the work storage position of the pallet 12 by moving in the left-right direction (the direction orthogonal to the plane of FIG. 4) along the guide rail 14. Then, the robot arms 11a and 11b are lowered, and the workpiece is held by the robot hands 15a and 15b. Thereafter, the robot arms 11a and 11b are raised to take out the work from the work storage position,
To the place. On the other hand, the processed work that has been turned by the automatic lathe 1 is removed from the chuck by the swivel arm device 7, conveyed to the pallet 12 along the reverse path, and after the unprocessed work is taken out. It is stored in the work storage position.

Here, the palletizer 8 as the work supply / storing device is not limited to the one shown in the embodiment shown here. Any type may be used as long as the work can be taken out and carried into the turning arm device 7, and the processed work can be carried out and discharged to a predetermined discharge position. It is not always necessary to return the processed work to the work storage position after the unprocessed work is taken out. Therefore, any type of automatic supply device and automatic discharge device can be used as the work supply and storage device.

The orthogonal coordinate robot 9 as a transfer robot is a robot body 1 that can move in the horizontal direction in a horizontal plane.
And a robot arm 11a, 11b provided on the robot body 10 and movable vertically. In the automatic lathe 1, a beam 17 is horizontally supported by two columns 16 in a direction perpendicular to the main shaft 3 of the automatic lathe 1 (the left-right direction in FIG. 1), and a guide rail 14 is provided on the beam 17. Have been. The robot body 10 is fixed to a slide guide 8 that moves in the left-right direction while being guided by the guide rails 14.
Robot hands 15a and 15b are provided at the lower ends of the robot arms 11a and 11b. Then, the workpiece held by the robot hands 15a, 15b is moved by the robot body 10 movable in the left-right direction and the robot arms 11a, 11b movable in the up-down direction in the two orthogonal directions of the left-right direction and the up-down direction. This allows unprocessed and processed workpieces to be
It can be carried in and out of swivel arms 19a, 19b described later.

5 to 8 show the main part of the automatic lathe 1. FIG. 5 is a plan view of the opposed tool post 4, and FIG. 6 shows details of the revolving arm device 7 provided on the opposed tool post 4. FIG. 7 is a right side view showing a state in which the turning arms 19a and 19b have turned the workpiece in a lateral direction (hereinafter, this state is referred to as a “lateral position”). FIG. 7 is a right side view of the same turning arm device 7. FIG. 8 is a view showing a state in which the turning arms 19a and 19b are turned to the vertical position. FIG. 8 is a view showing the turning arms 19a and 19b.
It is a figure for explaining the positional relationship of b and a processing tool (drilling tool 5).

As shown in the figure, three cutting tools 6 and three drilling tools 5 can be mounted on the opposed tool post 4 in the lathe with an automatic supply / discharge device of the present embodiment. Between three drilling tools 5 and one cutting tool 6,
The turning arm device 7 is arranged to face the spindle 3 (only the spindle chuck 20 is shown in FIGS. 5 and 6). The opposed tool post 4 provided inside the automatic lathe 1 moves left and right in a horizontal plane with respect to the main shaft 3 to select three drilling tools 5 and three cutting tools 6. Further, the selected cutting tool 6 is positioned offset from the axis of the main shaft 3 by a predetermined dimension (the radius of the work to be cut). Thus, the cutting tool 6 is positioned at a position where the workpiece is turned to a predetermined size.

Further, according to the present invention, as will be described later, one of the two turning arms 19a and 19b constituting the turning arm device 7 is moved by the movement of the opposed tool rest 4, as described later. The spindle 3 can be positioned at a position directly facing the spindle chuck 20. Here, in the present embodiment, only the opposed tool post 4 is shown as a tool post. However, in this embodiment, similarly to the well-known lathe configuration, the left and right of the spindle 3 (spindle chuck 20) are also provided. It is possible to arrange the tool rest also above and above, and there is no hindrance even with this configuration.

As shown in FIG.
It has a plurality of turning arms 19a and 19b, and a hand is provided at the tip thereof. In the turning arms 19a and 19b shown in FIG. 5, the turning arm on the left side of the drawing is denoted by reference numeral 19a, the hand is denoted by reference numeral 21a, the turning arm on the right side is denoted by reference numeral 19b, and the hand is denoted by reference numeral 21b.

One hand 21a, as described later,
An unprocessed work held and carried by the robot hand 15a of the robot arm 11a of the orthogonal coordinate robot 9 is received and supplied to the spindle chuck 20. The other hand 21b receives the machined workpiece turned by the spindle 3 from the spindle chuck 20 and
It is carried out to the 1b robot hand 15b. As described above, in the present embodiment, the left hand 21 shown in FIG.
a is a hand that supplies an unprocessed work to the spindle chuck 20, and a hand 21b on the right side is a hand that discharges a processed work from the spindle chuck 20.

The turning arms 19a, 19b provided with these hands 21a, 21b are supported rotatably by a pivot 22, which is arranged offset above the center line of the main shaft 3, and operates the hydraulic cylinder 23. By
As shown in FIG. 6, the swing arms 19a and 19b are in a horizontal position, which is a second position directly facing the spindle chuck 20, and in FIG.
As shown in (1), the robot turns between a vertical position which is a first position facing the robot hands 15a and 15b. Here, FIG.
The horizontal positions of the swing arms 19a and 19b shown in (1) are positions where the work is supplied to the spindle chuck 20 or discharged from the spindle chuck 20, and the rod 23a of the hydraulic cylinder 23 is retracted and provided on the swing arms 19a and 19b. The stopper 24 is positioned by contact with the stopper screw 25.

On the other hand, the vertical position of the turning arms 19a, 19b is determined by the robot hands 15a, 1
This is the position where the workpiece is transferred to and from 5b. This vertical position is determined by the turning arms 19a and 19b when the workpiece gripped by the chuck 20 of the spindle 3 is turned by a processing tool.
The rod 23a of the hydraulic cylinder 23 is pushed out, and the stopper screw 26 provided on the turning arms 19a and 19b comes into contact with the stopper 27, so that the positioning is performed.

The turning arms 19a, 1 of the turning arm device 7
9b is located at a vertical position which is usually a retreat position, and the robot hand 15a, 1
The work is exchanged with 5b. Then, at a position where the opposing turret 4 is retracted by the control means, one of the turning arms 19a and 19b is turned to the horizontal position, and when the opposing turret 4 advances to a predetermined position by the control means, the spindle is rotated. The work is supplied or discharged to and from the third chuck 20. When discharging the processed workpiece held by the chuck 20 of the spindle 3 and supplying a new unprocessed workpiece, compressed air is supplied from an air nozzle (not shown) provided inside the spindle chuck 20 to the spindle. It is preferable that the inner surface of the spindle chuck 20 be cleaned by blowing out chips and cutting oil remaining on the inner surface of the spindle chuck 20 by blowing air to the inner surface of the chuck 20.

In this embodiment, the swing arms 19a, 19b
Are pivotally offset above the center line of the spindle 3, the pivot arms 19a and 19b are turned when the workpiece held by the chuck 20 of the spindle 3 is turned by a machining tool. When you retreat to the vertical position,
As shown in FIG. 8, the turning arms 19a and 19b are located sufficiently behind (the right side in FIG. 8) the machining tool (the drilling tool 5 in FIG. 8), and the turning arms 19a and 19b are used for turning. Retreat to a position where it does not interfere. In addition, the hands 21a and 21b of the revolving arms 19a and 19b are located at a sufficient height, so that it is easy to exchange work with the robot hands 15a and 15b of the rectangular coordinate robot 9.

As shown in FIG. 3, the automatic lathe 1 has an entire machining area covered with a cover 28 in order to prevent the cutting fluid from being scattered during the turning operation. A slide door 29 is provided to perform the above operation. The sliding door 29 is provided with an opening at a position where the robot hands 15a and 15b of the Cartesian coordinate robot 9 descend to transfer the work to and from the turning arms 19a and 19b. Is provided with a door 30 that opens and closes as the robot hands 15a and 15b of the orthogonal coordinate robot 9 descend. The door 30 is moved by the robot hand 1 in response to a turning end signal.
5A and 15b, the robot hands 15a and 1b are opened by arbitrary opening and closing means such as a hydraulic cylinder.
5b rises and is closed.

FIGS. 9 to 11 show details of the Cartesian coordinate type robot 9 of the automatic supply / discharge device in the lathe with the automatic supply / discharge device of the present invention. FIG. FIG. 10 and FIG. 10 are side sectional views of a driving source for driving the rectangular coordinate robot 9 in the left-right direction.
FIG. 3 is a front view showing a relationship between the orthogonal coordinate robot 9 and the turning arm device 7. As described above, the Cartesian robot 9 of the automatic supply / discharge device 2 is provided with the guide rails 14 of the beam 17 fixed to the automatic lathe 1 by the two columns 16.
Guide 1 that moves left and right while being guided by
8 attached. The robot body 10 moves between the palletizer 8 and the turning arm device 7 in the left-right direction, and has robot arms 11a and 11b moving in the up-down direction. At the lower ends of the robot arms 11a and 11b, robot hands 15a and 15b for holding a work are provided.

The robot body 10 of the rectangular coordinate robot 9
Is moved in the left-right direction by an endless belt 31 arranged along the guide rail 14, as shown in the figure. In the movement of the robot body 10, the driving force from the servomotor 32 is transmitted to the shaft 36 via the pulley 33, the belt 34, and the pulley 35, and the rotation of the shaft 36 rotates the pulley 37 and winds around the pulley 37. The endless belt 31 is moved in the left-right direction. Then, as described above, at the left end of the movement range, the palletizer 8 stops above the work storage position of the pallet 12 and descends to hold an unprocessed work or to store a processed work. At the right end of the moving range, the robot stops above the swing arm device 7 and descends to deliver the unprocessed work and the processed work to the swing arms 19a and 19b.

The robot body 10 has the robot hands 15a, 15a together with the robot arms 11a, 11b.
There is provided a feed screw 38 for driving the 5b in the vertical direction. The driving force from the servomotor 39 is transmitted to the feed screw 38 via the pulley 40, the belt 41, and the pulley 42, and the rotation of the feed screw 38 causes the head 43 on which the robot arms 11a and 11b are arranged to move up and down. Move in the direction. Thereby, the robot arms 11a,
11b is driven up and down.

At the lower ends of the robot arms 11a and 11b, robot hands 15a and 15b are provided downward. As described above, the unprocessed work is placed and held in the work storage position of the pallet 12 in the vertical position. The turning arm 19 provided on the opposed tool post 4
The workpieces a and 19b rotate to transfer the workpiece in the vertical position. Therefore, the robot hands 15a, 15
As for b, it is sufficient that only the downward posture is always used without changing its direction. That is, the robot arms 11a,
There is no need to provide a mechanism for changing the posture in the robot hands 11b or the robot hands 15a and 15b.
a, 15b can be used.

The workpiece held by the robot hand 15a is lowered to the position shown by the imaginary line in FIG. 11 by the lowering of the robot arm 11a, and is transferred to the hand 21a of the turning arm 19a. Here, in FIG. 11, two robot arms 11a and 11b are provided side by side, but the horizontal distance L1 between the robot hands 15a and 15b is the horizontal distance between the turning arms 21a and 21b. L
2 (the distances L1 and L2 are
1), the left robot hand 15a transfers the unprocessed work to the left hand 21a of the revolving arm 19a, and the right robot hand 15b receives the processed work from the hand 21b of the right revolving arm 19b. be able to.

The robot arms 11a and 11b are respectively attached to the head 43 so as to be slidable in the axial direction (vertical direction), and are constantly urged downward by a spring 44. Therefore, for example, when the work is taken out from the work storage position of the pallet 12 by the robot hand 15a, or when the work is not normally taken out or delivered when the work is delivered to the revolving arm 19a, the robot arm 11a is pushed up. , Head 43
The movement is detected by a sensor 45 provided in the. When the sensor 45 outputs a detection signal, the operation of the Cartesian coordinate robot 9 is stopped so that the robot hand 15
It is possible to prevent the occurrence of processing defects of the work due to breakage of the a and 15b and erroneous delivery.

FIGS. 12 to 20 are conceptual diagrams illustrating the steps of carrying in / out and supplying / discharging the work in the lathe with the automatic supply / discharge device according to the present invention. Here, the unprocessed work is displayed in black, and the processed work is displayed in white and distinguished. FIG. 12 shows a state in which the automatic lathe 1 is performing a turning operation, and the orthogonal coordinate robot 9 of the automatic supply / discharge device 2 is waiting above the pallet 12. Also, a robot hand 15 provided on the left robot arm 11a
At a, an unprocessed work is held. Further, the hand 21b provided on the right turning arm 19b of the turning arm device 7 holds the processed work, and
And waits until the machining step of performing a predetermined turning process on the workpiece held by the spindle chuck 20 is completed.

When the machining process by the automatic lathe 1 is completed,
A signal indicating the end of processing is output from the automatic lathe 1, and the head 43 of the orthogonal coordinate robot 9 moves rightward by the signal of the end of processing, and stops above the turning arm device 7 as shown in FIG. 13. Next, the cover 28 of the automatic lathe 1
(In the present embodiment, the slide door 29 is used. However, since the slide door 29 is also a part of the cover 28, the cover 28 is used here.
It is described. The door 30 of the opening provided in ()) opens. Then, as shown in FIG. 14, the robot hands 15a, 1
5b descends and the hand 2 of the swing arms 19a and 19b
An unprocessed work and a processed work are simultaneously transferred to and from 1a and 21b. After that, as shown in FIG.
The workpieces a and 15b rise to carry the workpiece into the revolving arm 19a from a predetermined unprocessed workpiece storage position. Thus, the loading process is completed.

In this step, the processed work delivered from the hand 21b of the turning arm 19b to the robot hand 15b is the work that has been turned in the previous processing step and held by the hand 21b of the turning arm 19b. . Further, in the process until the head 43 of the rectangular coordinate robot 9 moves rightward and stops above the turning arm device 7 shown in FIG. While the machining process is being performed by the automatic lathe 1, on condition that no vibration is generated by the operation, or even if it is generated, the vibration is small enough not to cause a decrease in machining accuracy in the turning process or a defective finished surface. To reduce the cycle time.

Next, as shown in FIG. 16, the door 30 of the opening provided in the cover 28 of the automatic lathe 1 closes, and the head 43 of the orthogonal coordinate robot 9 moves to the left. At the same time, the right turning arm 19b moves to the position of the center line of the main shaft 3 and turns from the vertical position to the horizontal position, and the opposed tool rest 4 on which the turning arm device 7 is mounted moves forward toward the main shaft 3. . Then, the workpiece that has been turned and newly processed in the current machining process is discharged from the chuck 20 of the spindle 3 and held by the hand 21b.
Retreats. Further, as shown in FIG. 18, the right turning arm 19b turns to the vertical position, discharges the processed work from the spindle chuck, and delivers it to the robot arm. Thus, the discharging step is completed. In the next step shown in FIG. 14, the robot hands 15a and 15b descend and wait until the unprocessed work and the processed work are respectively transferred between the hands 21a and 21b of the turning arms 19a and 19b. .

The hand 2 of the left swing arm 19a
As shown in FIG. 14, the spindle chuck 2a receives an unprocessed work from the robot hand 15a on the left side and discharges the processed work from the unprocessed work.
Supply 0. In this step, as shown in FIG. 19, the left turning arm 19a moves to the position of the center line of the main shaft 3 and turns from the vertical position to the horizontal position, and the opposed tool rest on which the turning arm device 7 is mounted. 4 advances toward the main shaft 3,
The unprocessed work held by the hand 21b is supplied to the chuck 20 of the spindle 3. In this way, the opposing turret 4 is retracted, the turning arms 19a, 19b are turned from the vertical position to the horizontal position, and a supply step of supplying the work received from the robot arm to the spindle chuck is performed.

In the above description, the right swing arm 1
Although the description has been made assuming that the turning arm 9b and the left turning arm 19a turn at different timings, the right turning arm 19b and the left turning arm 19a are simultaneously turned from the vertical position to the horizontal position to remove the processed work. After discharging
It goes without saying that the opposed tool rest 4 can be immediately moved in the horizontal direction to supply unprocessed work. In this case, when exchanging a work between the other turning arm 19b and the spindle chuck, one turning arm 19b is used.
a so that the unprocessed work held by the swing arm 19a and the spindle chuck do not interfere with each other.
It is necessary to take a sufficient distance between 9a and 19b.

In the meantime, as shown in FIG.
The rectangular coordinate robot 9 moves above the work storage position of the pallet 12, and the robot hands 15a and 15b descend to store the processed work in the work storage position of the pallet 12, so that the robot arm moves in the left-right direction. Then, an unloading step of moving the processed work up and down to the predetermined processed work storage position is performed. The step of moving the head 43 of the Cartesian coordinate robot 9 to the left (unloading step) is similar to the loading step in that the operation of the Cartesian coordinate robot 9 does not cause vibrations, or even if it occurs, it is turned. Under the condition that the machining accuracy is small and the finished surface is not defective, the cycle time can be shortened by moving while the machining process by the automatic lathe 1 is being performed.

When the supply process of supplying the work to the spindle chuck 20 is completed, as shown in FIG. 20, the two hands 21a and 21b are both stopped in the vertical position and automatically supplied from the automatic supply / discharge device. A signal indicating that the discharging process has been completed is output. The turning process by the automatic lathe 1 is started by this signal.

Therefore, in the lathe with the automatic supply / discharge device and the machining method according to the present invention, the loading step in which the robot arm moves in the left-right direction and the up-down direction, and loads the workpiece from the predetermined unprocessed workpiece storage position into the turning arm. Figure 13
15 to FIG. The supply process in which the turning arm turns from the vertical position to the horizontal position and supplies the work received from the robot arm to the spindle chuck is performed in FIGS. Further, a machining process for performing a predetermined turning process on the workpiece supplied to the spindle chuck is performed between FIGS.

In the steps shown in FIGS. 17 to 19, the robot hands 15a and 15b are lowered to first remove the processed workpiece held by the right robot hand 15b.
Delivery to the processed work storage position of the pallet 12 (FIG. 1)
7) Thereafter, the robot hands 15a and 15b are raised and moved to the left (FIG. 18), and when the left robot hand 15a is directly above the unprocessed work storage position, the robot hands 15a and 15b are lowered. The left robot hand 15a holds the unprocessed work (FIG. 19). However, as shown in FIG. 21, a horizontal position between the unprocessed work storage position and the processed work storage position on the pallet 12 is obtained. Direction distance L3, robot hand 1
By matching the distance L1 between the robot hands 5a and 15b, it is possible to simultaneously receive an unprocessed work and deliver a processed work between the robot hands 15a and 15b and the pallet 12.

Further, the discharge step in which the turning arm turns from the horizontal position to the vertical position, and the processed work is discharged from the spindle chuck and transferred to the robot arm is performed in FIGS. 16 to 18 and FIG. Further, an unloading step in which the robot arm moves in the left-right direction and the up-down direction and unloads it to a predetermined processed work storage position is performed in FIGS. 16 to 17.

The work supply / discharge process by the automatic supply / discharge device 2 is not limited to the order and process described above. For example, after the discharge process and the supply process in FIGS. Delivery of the work of FIG.
It goes without saying that various changes can be made without departing from the gist of the present invention, such as performing the unloading process and the loading process up to the process shown in FIG. 15 while overlapping with the turning process.

Next, a second embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. In the following description, the same parts and members as those of the previous embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. In this embodiment, a parts feeder 5 that is a work supply device that supplies an unprocessed work to the outside of the automatic lathe 1 on the left side of the turning arm device 7.
And a discharge chute 68 serving as a work discharge device and a hopper 69 for receiving a processed work collected through the chute 68 inside the automatic lathe 1 on the right side of the turning arm device 7. I have.

The orthogonal coordinate robot 59 includes a robot main body 60 that moves in the horizontal direction along the guide rail 14 in a horizontal plane, and a pair of left and right robot arms 61a provided on the robot main body 60 so as to be movable up and down. , 61
b and robot hands 65a and 65b provided at the lower ends of the robot arms 61a and 61b.
The robot arm 61a and the robot hand 65a, and the robot arm 61b and the robot hand 65b, respectively, are support arms 66a and 66b that are parallel to the left and right movement directions of the robot main body 60 and extend in directions opposite to each other.
Are connected via Robot hands 65a, 65
b is attached to the distal ends of the support arms 66a and 66b, respectively, and is arranged so that the distance between them becomes a predetermined distance described later. The robot body 6
The drive mechanism for moving the robot arms 61a, 61b and the robot arms 61a, 61b right and left or up and down is the same as that of the previous embodiment, and the description is omitted here.

As the parts feeder 58, for example, a known one capable of sending out a work while applying vibration can be used, and an alignment section 58a for aligning the work in a line in an upright state is provided on the outlet side. . The alignment section 58a is arranged such that the head of the workpieces aligned in a line is located directly below the movement path of the robot hand 65a moving in the left-right direction. The discharge chute 68 provided inside the lathe 1 has an input port 68a into which a processed work is input, and the input port 68a is
The robot hand 65b that moves in the left-right direction is arranged so as to be located immediately below the movement path.

The pair of left and right robot hands 65 described above.
FIG. 24 shows the positional relationship between the workpieces a, 65b, the first workpiece aligned in the alignment section 58a, the input port 68a of the discharge chute 68, and the turning arm device 7. Robot hand 6
L1 is the horizontal distance between 5a and 65b,
The right hand 21 holding the work after machining of the revolving arm device 7 at the position (the position shown in FIGS. 22 to 24) at the time of exchanging the work at the top of the work and the work directly facing the spindle 3.
The left hand 21a and the discharge chute 6 hold the work before machining of the revolving arm device 7 at the position where the work is directly transferred to the main spindle 3 while the horizontal distance to the main shaft 3 is L4.
Assuming that the horizontal distance between the input port 68a and the input port 68a is L5,
The robot hands 65a and 65b, the parts feeder 58, and the discharge chute 68 are arranged so that the relationship of L1 = L4 = L5 holds between these three distances. Also, the height of the work at the head of the alignment section 58a, the work held by the left hand 21a and the right hand 21b of the turning arm device 7, and the height of the work when thrown into the slot 68a are set to be substantially the same. , A parts feeder 58, a swing arm device 7, and a discharge chute 68 are arranged.

By arranging them in such a positional relationship, the left robot hand 65a receives an unprocessed work from the alignment unit 58a, and at the same time, the right robot hand 65b transfers the processed work to the right hand 21b. From the left hand 65a to the left hand 21a, and at the same time, feed the unprocessed work held by the right hand 65b into the input port 68a of the discharge chute 68. Will be able to

The operation of this embodiment will be described with reference to FIG. Revolving arm device 7 and spindle 3 of automatic lathe 1
As shown in FIG. 25A, the rectangular coordinate robot 59 waits while raising the left and right robot hands 65a and 65b while the unprocessed work and the processed work are being exchanged between the robot hands 65a and 65b. are doing. At this time, the robot hand 65a on the left side is located right above the first work among the unprocessed works arranged in a line in the alignment section 58a, and the robot hand 65b on the right side is
Is located right above the right hand 21b. When the transfer of the unprocessed work and the processed work between the swing arm device 7 and the spindle 3 is completed, the right hand 21b of the swing arm device 7
Holds a processed work.

Thereafter, when the door 30 is opened and the left and right robot hands 65a and 65b are lowered as shown in FIG. 25 (b), and the left robot hand 65a holds the unprocessed work of the alignment section 58a. At the same time, the processed work held by the right hand 21b of the turning arm device 7 is held by the right robot hand 65b. As shown in FIG. 25 (c), the rectangular coordinate robot 59 raises the left and right robot hands 65a, 65b to take out the unprocessed work from the alignment unit 58a, and removes the processed work from the right hand 21b. receive. Then, the robot hand 65a moves to the right and moves the robot hand 65a on the left side to the turning arm device 7.
And the robot hand 65b on the right side is positioned directly above the input section 68a of the discharge chute 68.

Then, as shown in FIG. 25D, the left and right robot hands 65a and 65b are
Left hand 21a and input section 68a of discharge chute 68
Is lowered to a position where the workpiece can be delivered.
After transferring the workpieces to the left hand 21a and the input section 68a of the discharge chute 68, the rectangular coordinate robot 5
No. 9 raises the left and right robot hands 65a and 65b, moves to the left, and returns to the state shown in FIG. When the left and right robot hands 65a and 65b rise, the door 3
0 is closed. At the same time, the left hand 21a
Pivots from the vertical position to the horizontal position, and delivers the workpiece to be processed next to the spindle 3. The left hand 21a immediately returns to the vertical position after transferring the work to the main shaft 3. Then, the processing of the workpiece transferred to the spindle 3 is started. Thereafter, the procedure of FIGS. 25B to 25D is repeated.

According to the automatic lathe of this embodiment, the transfer of the unprocessed work and the transfer of the processed work can be performed in one operation, so that the stop time from the end of the processing to the start of the processing can be reduced. And the operating rate of the automatic lathe can be increased. In this embodiment, the distances L1,
Parts feeder 5 so that all of L4 and L5 are the same
8, a swing arm 7, a discharge chute 68 and left and right robot hands 65a and 65b are arranged.
Even if only one of L4 and distances L1 and L5 is the same, the operation rate of the automatic lathe can be increased.

For example, when a work accommodating portion for accommodating a processed work is provided outside the lathe,
Only the distances L1 and L4 need to be the same. This allows
At least, it is possible to simultaneously take out the unprocessed work from the parts feeder 58 and receive the processed work from the right turning arm 21b. The delivery of the processed work to the work storage section may be performed during the processing of the work.

Although the preferred embodiment of the present invention has been described, the present invention is not limited by the above description. For example, in the above description, a horizontal machine tool (automatic lathe) in which the spindle is supported in the horizontal direction has been described as an example, but the invention is also applied to a vertical machine tool in which the spindle is supported in the vertical direction. Is possible. Further, in the above-described embodiment, the description has been given assuming that the work is held by the spindle chuck. However, the work holding unit is not limited to the spindle chuck, and may be a table or another form of work holding unit. Furthermore, although the first position has been described as a vertical position and the second position as a horizontal position orthogonal thereto, the first position and the second position are not necessarily limited to this position, and are orthogonal. It is not limited to two directions. The first position and the second position can be selected at any angle.

[0060]

The lathe with an automatic supply / discharge device and the method for processing the same according to the present invention are constructed as described above, so that it is not necessary to provide a posture changing mechanism in the hand mounting portion, and the automatic supply / discharge device, especially The size of the hand mounting portion can be reduced in size and weight, so that vibration generated during operation can be prevented and high-speed movement can be performed. In addition, it can be used as an automatic supply / discharge device with excellent accessibility for workers during various adjustments and maintenance, eliminating the occurrence of processing accuracy deterioration and surface finish defects due to vibration, and enabling high-speed movement. I do. Moreover,
Since various adjustments and maintenance can be easily performed, the cycle time as a whole can be reduced.

Further, the device for transferring the work of the automatic supply / discharge device is divided into a transfer robot and a swing arm device, and the control axes for controlling the transfer are distributed to the transfer robot and the swing arm device. Has been simplified, and as a result, it is possible to increase the speed and reduce the size.

[Brief description of the drawings]

FIG. 1 is a front view showing an example of a lathe with an automatic supply / discharge device of the present invention.

FIG. 2 is a plan view showing an example of a lathe with an automatic supply / discharge device of the present invention.

FIG. 3 is a right side view showing an example of a lathe with an automatic supply / discharge device of the present invention.

FIG. 4 is a left side view showing an example of a lathe with an automatic supply / discharge device of the present invention, showing an automatic supply / discharge device (particularly, a palletizer).

FIG. 5 is a plan view of the main part of the automatic lathe, showing the opposed tool post.

FIG. 6 is a right side view showing details of a swing arm device provided on the opposed tool post, and is a diagram showing a state where the swing arm has swung in a state in which the work is turned sideways.

FIG. 7 is a right side view showing details of a turning arm device provided on the opposed tool post, and is a diagram showing a state where the turning arm has turned to a state in which the work is oriented vertically.

FIG. 8 is a view showing a main part of the automatic lathe and showing a positional relationship between a turning arm and a processing tool (drilling tool).

FIG. 9 is a side sectional view of the orthogonal coordinate robot showing details of the orthogonal coordinate robot of the automatic supply / discharge device in the lathe with the automatic supply / discharge device of the present invention.

FIG. 10 is a side sectional view of a drive source for driving a rectangular coordinate robot of the automatic supply / discharge device in the lathe with the automatic supply / discharge device of the present invention in the left-right direction.

FIG. 11 is a front view showing the details of the orthogonal coordinate robot of the automatic supply / discharge device in the lathe with the automatic supply / discharge device of the present invention, and showing the relationship between the orthogonal coordinate robot and the turning arm.

FIG. 12 is a conceptual diagram illustrating a process of loading / unloading and supplying / discharging a work in a lathe with an automatic supply / discharge device of the present invention.

FIG. 13 is a conceptual diagram illustrating steps of loading / unloading and supplying / discharging a workpiece in a lathe with an automatic supply / discharge device according to the present invention.

FIG. 14 is a conceptual diagram illustrating steps of loading / unloading and supplying / discharging a workpiece in a lathe with an automatic supply / discharge device of the present invention.

FIG. 15 is a conceptual diagram illustrating a process of loading / unloading and supplying / discharging a work in a lathe with an automatic supply / discharge device of the present invention.

FIG. 16 is a conceptual diagram illustrating a process of loading / unloading and supplying / discharging a work in a lathe with an automatic supply / discharge device of the present invention.

FIG. 17 is a conceptual diagram illustrating steps of carrying in / out and supplying / discharging a work in a lathe with an automatic supply / discharge device of the present invention.

FIG. 18 is a conceptual diagram illustrating steps of loading / unloading and supplying / discharging a workpiece in a lathe with an automatic supply / discharge device of the present invention.

FIG. 19 is a conceptual diagram illustrating steps of carrying in / out and supplying / discharging a work in a lathe with an automatic supply / discharge device of the present invention.

FIG. 20 is a conceptual diagram illustrating steps of carrying in / out and supplying / discharging a work in a lathe with an automatic supply / discharge device of the present invention.

FIG. 21 is a diagram illustrating a positional relationship among a robot hand, a swing arm device, and a work on a pallet in the automatic supply device.

FIG. 22 is a front view of a lathe with an automatic supply / discharge device according to a second embodiment of the present invention.

FIG. 23 is a plan view of a main part of the lathe with the automatic supply / discharge device of FIG. 22;

24 is a diagram illustrating the positional relationship among a robot hand, a parts feeder, a chute, and a turning arm device in the lathe with the automatic supply / discharge device in FIG. 22.

FIG. 25 is a diagram illustrating the operation of a lathe with an automatic supply / discharge device according to the second embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic lathe 2,52 Automatic supply / discharge device 3 Main shaft 4 Opposite turret 5 Drilling tool 6 Cutting tool 7 Revolving arm device 8 Palletizer 9,59 Cartesian coordinate robot 10,60 Robot body 11a, 11b Robot arm 12 Pallet 13 Transport Chain 14 Guide rail 15a, 15b Robot hand 16 Post 17 Beam 18 Slide guide 19a, 19b Swivel arm 20 Spindle chuck 21a, 21b Hand 22 Pivot 23 Hydraulic cylinder 23a Rod 24, 27 Stopper 25, 26 Stopper screw 28 Cover 29 Slide door 30 Door 31 Endless belt 32 Servo motor 33, 35, 37 Pulley 34 Belt 36 Shaft 38 Feed screw 39 Servo motor 40, 42 Pulley 41 Belt 43 Head 44 Spring 45 Sensor 58 Tsufida 58a aligning unit 68 discharge chute 69 hoppers

Claims (13)

[Claims] 1. A machine tool having an automatic supply / discharge device, comprising: a machine tool for performing a predetermined processing on a workpiece held by a workpiece holding portion; and an automatic supply / discharge device for automatically supplying / discharging the workpiece to / from the machine tool. A work supply unit configured to supply an unprocessed work, a work storage unit configured to store a processed work, a robot body movable in and out, and a robot body provided in the robot body; A transfer robot having a robot hand that moves forward and backward in a direction crossing the forward and backward movement directions of the work; and a transfer position of the work between the robot hand and a first position for transferring the work between the robot hand and the work holding unit. A swing arm that swings between a second position at which transfer is performed and the robot main body is arranged between the swing arm, the work supply unit, and the work storage unit. Move forward and backward,
A machine tool with an automatic supply / discharge device, wherein the robot hand moves forward and backward to transfer a workpiece between them. 2. The apparatus according to claim 2, wherein the robot hand includes two robot hands and the turning arm, wherein one of the robot hands transfers an unprocessed work to the work holding unit through one of the turning arms, and the other of the robot hands. The machine tool with an automatic supply / discharge device according to claim 1, wherein the hand receives the processed work from the work holding unit via the other one of the turning arms. 3. The distance between two robot hands is L.
1. The distance between the two turning arms is L2, the position where the other robot hand transfers the processed work to the work storage unit, and the one robot hand is the unprocessed work from the work supply unit. 3. The automatic supply / discharge device according to claim 2, wherein when the distance to the position for receiving the distance is L3, at least one or both of the distance L1 and the distance L2 and the distance L1 and the distance L3 are the same. With machine tool. 4. The distance between the two robot hands is L
1. The distance between the other revolving arm and the supply position of the unprocessed work of the work supply unit when exchanging the processed work between the robot hand and the robot hand is L4. Assuming that the distance between the one of the turning arms and the position where the robot hand transfers the processed work to the work storage unit when transferring the unprocessed work is L5, the distance L1, the distance L4, and the distance L1
The machine tool with an automatic supply / discharge device according to claim 2, wherein at least one or both of the distance L5 and the distance L5 are the same. 5. The machine tool according to claim 1, wherein the work supply unit and the work storage unit are provided in a common work supply and storage unit. 6. The turning arm is disposed on a tool rest of the machine tool, and relative movement between the turning arm and the work holding part is performed by forward and backward movement of the tool rest with respect to the work holding part. The machine tool with an automatic supply / discharge device according to any one of claims 1 to 5, wherein: 7. The turning center of the turning arm is disposed on a tool rest of the machine tool, and is disposed at a position offset from a center line of the work holding unit. A machine tool with an automatic supply / discharge device according to item 1. 8. The machine tool according to claim 1, wherein an entirety of the machine tool is covered with a cover, and an opening door that can be opened and closed according to the movement of the robot hand is provided on a movement path of the robot hand. The machine tool with an automatic supply / discharge device according to any one of claims 1 to 7. 9. A machine tool having an automatic supply / discharge device, comprising: a machine tool for performing a predetermined turning process on a workpiece held by a workpiece holding portion; and an automatic supply / discharge device for automatically supplying / discharging the workpiece to / from the machine tool. A robot hand for moving the workpiece in and out of the machine tool by moving in the orthogonal two-axis direction to the automatic supply / discharge device, a first position facing the robot hand, and holding the workpiece. The work holding unit and the robot hand are pivoted between the second position opposing the unit and a turning arm that holds an unprocessed work or a processed work, and the work holding unit and the robot hand are provided through the turning arm. The robot hand moves in the orthogonal two-axis direction to move the work from a predetermined unprocessed work storage position to the turning arm. A loading step of loading the workpiece into the robot, a pivoting arm pivoting from the first position to the second position, and a supply step of supplying the workpiece received from the robot hand to the workpiece holding unit; A machining step of performing a predetermined turning process on the workpiece supplied to the unit, the pivot arm pivots from the second position to the first position, and the robot removes the processed workpiece from the workpiece holding unit, and Discharging and delivering the workpiece to a hand, and unloading the robot hand moving in the two orthogonal directions to unload the work to a predetermined processed work storage position. A processing method using a machine tool with a device. 10. A supply step having two robot hands and two turning arms respectively, wherein one of the robot hands transfers an unprocessed work to the work holding unit via one of the turning arms; 10. The automatic discharging apparatus according to claim 9, wherein a part of the discharging step in which the other robot hand receives the processed workpiece from the workpiece holding unit via the other rotating arm is performed simultaneously and simultaneously. A processing method using a machine tool with a supply and discharge device. 11. A distance between two robot hands, a distance between two turning arms, a position where the other robot hand transfers a processed work to the processed work storage position, and a position between the one robot hand and the one hand. The robot hand prepares an automatic supply / discharge device in which the distance from the unprocessed work storage position to the position where the unprocessed work is received is the same as that of the unprocessed work storage position. At the same time as holding the work, the other robot hand stores the processed work in the processed work storage position, or transfers the unprocessed work from one robot hand to one of the turning arms,
The method according to claim 10, wherein the other robot hand receives the processed workpiece held by the other turning arm. 12. An unprocessed work is supplied from the distance between the two robot hands and the other turning arm and the unprocessed work supply position when a processed work is transferred between the robot hands. A distance from a receiving position, and a position at which a processed work is transferred from the one turning arm and the robot hand to the processed work storage position when an unprocessed work is transferred to and from the robot hand. An automatic supply / discharge device with the same distance is prepared, and at the same time one of the robot hands holds the unprocessed work at the unprocessed work supply position, and the other robot hand holds the unprocessed work at the other turning arm. While holding the unprocessed work from one robot hand to one of the revolving arms at the same time as the other robot hand. Working method using an automatic supply and discharge device with a machine tool according to claim 10, characterized in that for discharging the processed workpiece held in the command. 13. The processing method according to claim 9, wherein the loading step and the unloading step are performed in an overlapping manner with the processing step. .