JP4978228B2 - Work supply / discharge device - Google Patents

Description

  The present invention relates to a workpiece feeding / discharging device, and more particularly to a workpiece feeding / discharging device that feeds / discharges a ring-shaped workpiece such as a bearing race ring to / from a machining part of a machine tool such as a polishing machine.

  Conventionally, as a so-called double arm type supply / discharge device that supplies / discharges a ring-shaped workpiece such as a bearing ring of a rolling bearing to / from a processing machine, a pinion provided at each rotation center of the supply arm and the discharge arm is used. It is configured to mesh with a rack having teeth formed on both sides, and by moving the rack linearly, the supply arm and the discharge arm are swung in different directions so that the workpiece is supplied to the processing machine and discharged. There is known a workpiece supply / discharge device (see, for example, Patent Document 1). The pitch circle diameters of the pinion of the supply arm and the discharge arm are different, and the turning angle of the discharge arm is larger than the turning angle of the supply arm and simultaneously turns in different directions. By this turning, the supply arm transports the unprocessed workpiece supplied by its own weight by the supply chute from the supply chute to the processing unit, and at the same time, the discharge arm discharges the processed workpiece from the processing unit by its own weight. Transport to chute.

As another supply / discharge device, the unprocessed workpiece supplied by falling under its own weight in the carry-in chute is held by the supply arm and supplied to the processing part of the grinding device, and the processed workpiece is held by the discharge arm. Then, a shoe grinding apparatus is known which is transported to a discharge chute, dropped by its own weight and discharged outside the machine. The supply arm and the discharge arm swing independently of each other and convey the workpiece (see, for example, Patent Document 2).
Japanese Utility Model Publication No. 6-57538 Japanese Patent Laid-Open No. 48-17196

  The workpiece feeding / discharging devices described in Patent Documents 1 and 2 are each provided with a dedicated supply arm and a discharge arm, respectively, and a workpiece is supplied between a supply chute and a discharge chute installed in different parts, and a processing unit. Since it is configured to be transported and discharged, it is necessary to provide a carry-in mechanism and a carry-out mechanism separately, and there is a problem that the apparatus becomes large.

  In addition, each workpiece supply / discharge device is designed to move by its own weight while guiding the supply / discharge of the workpiece with a chute, so that collision between the workpieces or between the workpiece and the jig can be avoided during the movement. Difficult, depending on the material and weight, the work may be scratched, which not only deteriorates the appearance quality but also may affect the product performance depending on the size of the scratch and the site of the scratch. In addition, the workpiece may stick to the chute due to the adhesiveness of the machining fluid and may not move, which may hinder the supply and discharge of the workpiece.

  In particular, in the processing of bearing rings for rolling bearings, it is important to transport and process the product without damaging the product in order to maintain good appearance quality and product performance. It was requested.

  The present invention has been made in view of the above-described problems, and the object thereof is to reduce the size of the apparatus by holding and forcibly transporting workpieces one by one while simultaneously supplying and discharging. An object of the present invention is to provide a workpiece supply / discharge device that can reliably convey a workpiece while preventing the workpiece from being damaged.

The above object of the present invention can be achieved by the following constitution.
(1) a first arm that has a first holding part that holds a workpiece and is capable of turning so as to move the first holding part to a machining position and a supply / discharge position on a first track around a turning axis;
A second arm having a second holding part for holding the workpiece, and capable of turning around the turning axis while the second holding part moves on a second track passing through the machining position and the supply / discharge position;
A drive mechanism for driving the first and second arms in different directions around the pivot axis by a single drive motor;
With
At the same time that the first holding part moves from one of the machining position and the supply / discharge position to the other, the second holding part prevents the interference with the first holding part and the machining position and the supply / discharge position. A workpiece feeding / discharging device characterized in that the workpiece moves from one to the other.
(2) The above-described (1), further comprising a transport mechanism having a chuck portion that can move to the supply / discharge position and can hold the workpiece positioned at the supply / discharge position simultaneously with the first or second holding portion. The workpiece feeding / discharging device according to 1).
(3) The drive mechanism includes a pulley mechanism that transmits the rotation of the drive motor to the first and second arms, and a gear unit that rotates the second arm in a direction different from that of the first arm. The work feeding / discharging device according to the above (1) or (2).
(4) The second holding portion is configured to rotate in conjunction with the turning of the second arm,
At the same time that the first holding part moves from one of the machining position and the supply / discharge position to the other, the second holding part rotates while preventing the interference with the first holding part and the machining position and The workpiece supply / discharge device according to any one of (1) to (3), wherein the workpiece supply / discharge position moves from one of the supply / discharge positions to the other.
(5) The first arm is turned by rotating the first turning shaft portion around the turning axis by the drive mechanism, and the second arm is turned around the turning axis. Swiveled by rotating the second swivel shaft portion arranged concentrically with the drive mechanism by the drive mechanism,
The work feeding / discharging device according to (4), wherein the second arm includes another pulley mechanism that transmits the rotation of the first turning shaft portion to the second holding portion.
(6) The other pulley mechanism includes a drive pulley attached to the first turning shaft portion and a driven pulley attached to the rotation shaft of the second holding portion,
When the swivel angle of the first and second arms is α [°], the pulley ratio of the other pulley mechanism is
The driving pulley / the driven pulley = 2 × α / 360
The workpiece feeding / discharging device according to (5) above, wherein

  According to the work feeding / discharging device of the present invention, the first holding part that holds the work is provided, and the first holding part can be turned to move to the machining position and the supply / discharge position on the first track around the turning axis. The first arm and the second arm that has a second holding part that holds the workpiece, and the second holding part is capable of turning about the turning axis while moving on the second track passing through the machining position and the supply / discharge position. And a drive mechanism that drives the first and second arms in different directions around the pivot axis by a single drive motor, respectively, and the first holding portion is moved from one of the machining position and the supply / discharge position to the other. Simultaneously with the movement, the second holding unit moves from the other one of the machining position and the supply / discharge position while preventing interference with the first holding unit. Can be supplied and discharged as well That. Thereby, it is not necessary to separately provide a carry-in mechanism and a carry-out mechanism, and the apparatus can be reduced in size.

  Moreover, the workpiece | work can be hold | maintained one by one with the 1st and 2nd holding | maintenance part, and a workpiece | work can be forcibly conveyed from one to the other of a processing position and a supply / discharge position, and the other to one side, respectively. This prevents workpieces from dropping, colliding, frictioning, rolling, etc., which occurred during transportation due to its own weight drop, and preventing transportation failures such as workpiece damage and sticking to the chute. can do.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a workpiece supply / discharge device according to the present invention will be described in detail with reference to the drawings. As shown in FIGS. 1 and 2, the workpiece supply / discharge device 1 of the present embodiment includes a first arm 10 having a first holding part 11, a second arm 20 having a second holding part 21, A drive mechanism 30 that drives the second arms 10 and 20 in different directions and a transport mechanism 40 having a chuck portion 41 are provided.

  The first arm 10 can turn about the turning axis O, thereby moving the first holding part 11 along the arc-shaped first track 13 around the turning axis O (see FIG. 4). Further, the second arm 20 can turn around the same turning axis O as the first arm 10, and thereby the second arm 20 can be turned while rotating the second holding portion 21 as will be described later. And move along the second track 23. The second track 23 is set so as to pass through the machining position WP and the supply / discharge position TP located on the first track 13.

  The drive mechanism 30 that drives the first and second arms 10 and 20 includes a pulley mechanism 31 and a gear portion 32. As shown in FIGS. 1 and 3, the pulley mechanism 31 includes a drive pulley 33 fixed to the rotation shaft of the drive motor 50 fixed to the base 9 of the workpiece supply / discharge device 1, and the first swing shaft portion 12. A first driven pulley 34 fixed to one end, a second driven pulley 36 rotatably fitted to an intermediate shaft 35 fixed to the base 9, a drive pulley 33, a first driven pulley 34 and a second driven pulley A belt 37 wound around a pulley 36.

  The gear portion 32 is integrally fixed to the second driven pulley 36 and is rotatably fitted to the intermediate shaft 35 and is rotatably fitted to the first turning shaft portion 12. And a driven gear 39 fixed to one end of a cylindrical second turning shaft portion 22 having the same turning axis O as the first turning shaft portion 12. The drive gear 38 and the driven gear 39 have a gear ratio of 1: 1, and mesh with each other and rotate in different directions at the same rotational speed. Further, the second turning shaft portion 22 is rotatably supported on the base 9 by a plurality of bearings 51.

  When the drive motor 50 is driven and the rotation shaft rotates, the first driven pulley 34 and the second driven pulley 36, whose rotation is transmitted from the drive pulley 33 via the belt 37, rotate in the same direction at the same rotational speed. To do. At this time, the driven gear 39 that meshes with the driving gear 38 that rotates together with the second driven pulley 36 rotates in the different direction at the same rotational speed as the driving gear 38. Thereby, the 1st turning shaft part 12 and the 2nd turning shaft part 22 rotate in the different direction at the same rotational speed, synchronizing, the 1st arm 10 fixed to the other end of the 1st turning shaft part 12, The second arm 20 fixed to the other end of the second turning shaft portion 22 rotates at the same speed in different directions C. Since the first arm 10 is disposed on the axially outer side (right outer side in FIG. 1) than the second arm 20, it can be rotated in different directions without interference.

  A first holding part 11 that holds a ring-shaped workpiece W such as a bearing ring of a rolling bearing is disposed at the tip of the first arm 10. The first holding portion 11 has an outer diameter substantially the same as the inner diameter of the ring-shaped workpiece W, and includes a holding pin 14 that can move in the direction perpendicular to the paper surface in FIG. The work W is moved up and down and the work W is held or separated. The first holding unit 11 moves between the machining position WP and the supply / discharge position TP along the first track 13 by turning the first arm 10 about the turning axis O.

  A second holding portion 21 that holds the ring-shaped workpiece W is disposed at the tip of the second arm 20. The second holding portion 21 moves in the axial direction E (see FIG. 1) of the rotary shaft 25 with respect to the rotary base 24 having the rotary shaft 25, and protrudes and retracts into the inner diameter of the ring-shaped workpiece W. A holding pin 26 for holding or releasing the workpiece W is provided. The rotation shaft 25 of the turntable 24 is rotatably supported at the tip of the second arm 20, and the turntable 24 can turn in the direction D around the rotation shaft 25 with respect to the second arm 20. . In the present embodiment, the holding pins 14 and 26 have holding surfaces having an outer diameter slightly smaller than the inner diameter of the workpiece W so that the holding pins 14 and 26 and the workpiece W do not come into contact with each other during processing. For this reason, at the time of conveyance, the workpiece | work W is hold | maintained by contact | abutting with these holding pins 14 and 26 by gravity or centrifugal force.

  The second arm 20 includes a driven pulley 61 fixed to the rotating shaft 25 of the turntable 24, a driving pulley 62 fixed to the first turning shaft portion 12 located in the second arm 20, and the driven pulley 61 and the driving pulley 61. Other pulleys including a belt 63 wound around a pulley 62 and an idler pulley 65 that is rotatably arranged around an intermediate shaft 64 attached to an intermediate portion of the second arm 20 and applies tension to the belt 63. The mechanism 60 is provided, and the rotation of the first turning shaft portion 12 is transmitted to the turntable 24 via the driving pulley 28, the belt 29, the driven pulley 27, and the rotating shaft 25, and the second holding portion 21 is rotated around the rotating shaft. Rotate around 25.

  The pulley ratio PR of the driving pulley 28 attached to the first turning shaft portion 12 and the driven pulley 27 attached to the rotating shaft 25 of the second holding portion 21 is the turning angle of the first and second arms 10 and 20 (that is, When the angle between the processing position WP and the supply / discharge position TP in the first track is α °, the driving pulley diameter / the driven pulley diameter = 2 × α / 360 is set. Thereby, the first arm 10 and the second arm 20 are rotated in different directions by the drive motor 50, and the first holding unit 11 and the second holding unit 21 are moved from one of the processing position WP and the supply / discharge position TP to the other. When moving from the other side to the other side, the second holding portion 21 rotates 360 °. In the present embodiment, the turning angle α is set to 100 °.

  That is, when the first arm 10 turns and the first holding unit 11 moves along the first track 13 from one of the processing position WP and the supply / discharge position TP to the other and from the other to the second holding unit 21. Is rotated 360 ° around the rotation axis 25 while turning by the second arm 20, and moves along the second track 23 from one of the machining position WP and the supply / discharge position TP, or from one to the other. When the second holding unit 21 moves while rotating 360 degrees about the rotation axis 25, the first holding unit 11 and the second holding unit 21 can move on the same plane without interfering with each other. In FIG. 1, the workpiece W indicated by the solid line held by the second arm 20 is in the machining position WP or the supply / discharge position TP, and the workpiece W indicated by the two-dot chain line is 2 shows the position in a state where the holding unit 21 is rotated 180 °.

  The transport mechanism 40 is a gantry loader, for example, which has a chuck portion 41 and can move in a horizontal direction A and a vertical direction B between an unillustrated pre-process and post-process apparatus and a supply / discharge position TP. The chuck portion 41 has a pair of gripping arms 42 and 43 that are movable in a direction to approach or separate from each other by a drive device (not shown) such as a cylinder device, and the outer periphery of the workpiece W by the gripping arms 42 and 43. Hold the surface and hold it. And the unprocessed workpiece | work W is received from the apparatus of a front process, and it supplies to the supply / discharge position TP. Further, the processed workpiece W is received at the supply / discharge position TP, and is carried out to an apparatus in a subsequent process.

  The operation of this embodiment will be described. For convenience of explanation, it is assumed that the second holding part 21 is located at the supply / discharge position TP and the first holding part 11 is located at the machining position WP.

  As shown in FIGS. 1 and 2, the chuck portion 41 that holds the unprocessed workpiece W with the pair of gripping arms 42 and 43 in the apparatus in the previous process moves in the horizontal direction A and further descends in the vertical direction B. Then, the workpiece W is conveyed to the supply / discharge position TP. Here, the holding pin 26 of the second holding unit 21 enters the inner diameter of the ring-shaped workpiece W to hold the unprocessed workpiece W, and the unprocessed workpiece W is delivered to the second holding unit 21. While the unprocessed ring-shaped workpiece W is transferred from the chuck portion 41 to the second holding portion 21, the workpiece W is processed at the processing position WP. The workpiece W is transferred between the chuck portion 41 and the second holding portion 21 by moving the workpiece W in the direction approaching or separating from the holding pin 26 by the chuck portion 41 instead of moving the holding pin 26 in the axial direction. The workpiece W may be delivered between the chuck portion 41 and the first holding portion 11 in the same manner.

  When the machining at the machining position WP is completed, the drive motor 50 starts to rotate, and the first driven pulley 34 and the second driven pulley 36 to which the rotation is transmitted from the drive pulley 33 via the belt 37 are at the same rotational speed. Rotate in the same direction. The driven gear 39 that meshes with the driving gear 38 that rotates together with the second driven pulley 36 rotates in different directions at the same rotational speed. Thereby, the 1st turning shaft part 12 and the 2nd turning shaft part 22, ie, the 1st arm 10 and the 2nd arm 20, turn in the different direction C at the same rotational speed, synchronizing with the turning axis O as a center.

  As a result, as shown in FIG. 3, the first holding unit 11 moves on the first track 13 from the machining position WP to the supply / discharge position TP, and conveys the held workpiece W to the supply / discharge position TP. To do. At the same time, the second holding unit 21 moves on the second track 23 from the supply / discharge position TP to the machining position WP, and transports the held unprocessed workpiece W to the machining position WP.

  At this time, relative rotation (2 × α °) between the first turning shaft portion 12 and the second turning shaft portion 22 causes the drive pulley 28, the belt 29, and the driven pulley 27 to move on the rotation shaft 25 of the second holding portion 21. Therefore, the second holding part 21 rotates about the rotation axis O and simultaneously rotates about the rotation axis 25 in the direction of arrow D. Here, since the driving pulley diameter / driven pulley diameter is set to 2 × α / 360, the second holding portion 21 is moved by the turning angle α ° from the supply / discharge position TP to the machining position WP. The holding part 21 rotates 360 ° around the rotation shaft 25.

  The first holding part 11 and the second holding part 21 pass each other at an intermediate position (α / 2 °) of the turning angle α ° of the first and second arms 10 and 20. At this time, since the second holding portion 21 is rotated in the direction of the arrow D by 180 °, the position 23a on the second track 23 at the intermediate position is the farthest from the position 13a on the first track 13. . Accordingly, the unprocessed ring-shaped workpiece W held by the second holding unit 21 and the processed workpiece W held by the first holding unit 11 are different in the same plane without interfering with each other. Move to the same time and pass each other.

  The unprocessed ring-shaped workpiece W transferred to the processing position WP by the second holding unit 21 is processed by a processing device (not shown). On the other hand, the processed workpiece W transported to the supply / discharge position TP by the first holding unit 11 is gripped by the pair of gripping arms 42 and 43 of the chuck unit 41 and transported in the vertical and horizontal directions by the transport mechanism 40. It is delivered to the post-process equipment. Next, the chuck unit 41 receives a new unprocessed ring-shaped workpiece W from the apparatus of the previous process, conveys it to the supply / discharge position TP, and holds it on the first holding unit 11 waiting at the supply / discharge position TP.

  When the processing by the processing apparatus is completed, after the processed workpiece W is held by the second holding unit 21, the drive motor 50 rotates in the opposite direction to the previous position, and the first arm 10 is moved from the supply / discharge position TP to the processing position. Further, the second arm 20 is rotated from the processing position WP to the supply / discharge position TP. Thereby, the unprocessed workpiece W held by the first holding unit 11 is moved from the supply / discharge position TP to the machining position WP, and the processed workpiece W held by the second holding unit 21 is moved from the machining position WP to the supply / discharge position TP. It is conveyed to. Also at this time, the second holding unit 21 moves on the second track 23 while rotating 360 ° about the rotation axis 25 (in the direction of arrow F), so that the two workpieces W can be turned without interfering with each other. Pass at an intermediate position of α ° (α / 2 °).

  Thereafter, similarly, the first holding part 11 and the second holding part 21 are alternately turned from one of the supply / discharge position TP and the processing position WP to the other, and from the other to the other, and the unprocessed or processed work W. Are held one by one and forcibly transported.

  Therefore, according to the workpiece feeding / discharging device 1 of the present embodiment, the first holding unit 11 that holds the workpiece W is provided, and the processing position WP and the feeding / discharging position TP on the first track 13 around the turning axis O are the first. A first arm 10 that can be swiveled to move the first holding unit 11 and a second holding unit 21 that holds the workpiece W, and the second holding unit 21 passes through the machining position WP and the supply / discharge position TP. The first arm 10 and the second arm 10 and 20 are rotated in the directions different from each other around the turning axis O by the second arm 20 that can turn around the turning axis O while moving the two tracks 23 and the single drive motor 50. The first holding unit 11 moves from one of the processing position WP and the supply / discharge position TP to the other, and the second holding unit 21 prevents interference with the first holding unit 11. While working position WP and feed Since moving from the other position TP to one, the supply-discharge position TP of the workpiece W and one place, supplies the workpiece W from the same place, and may be discharged. Thereby, it is not necessary to separately provide a carry-in mechanism and a carry-out mechanism, and the apparatus can be reduced in size.

  Moreover, the workpiece | work W is hold | maintained one by one with the 1st and 2nd holding | maintenance parts 11 and 21, and the workpiece | work W is forcedly conveyed from one side to the other of the processing position WP and the supply / discharge position TP, respectively. be able to. This prevents the workpiece W from dropping, colliding, frictioning, rolling, etc., which has occurred during transportation due to its own weight drop, and preventing damage to the workpiece W and sticking to the chute. Can be conveyed.

  Further, according to the workpiece supply / discharge device 1 of the present embodiment, the transport mechanism 40 has the chuck portion 41 that can move to the supply / discharge position TP and hold the workpiece W positioned at the supply / discharge position TP. It is possible to share the transport mechanism 40 that loads and transports the workpiece W from the position TP to the pre-process and post-process devices, which enables further miniaturization of the device, and manufactures the work supply / discharge device 1 at a low cost. Can do.

  Furthermore, according to the workpiece supply / discharge device 1 of the present embodiment, the drive mechanism 30 transmits the rotation of the single drive motor 50 to the first and second arms 10 and 20, and the second arm 20. The first arm 10 and the second arm 20 can be simultaneously rotated in different directions by one drive motor 50. The drive mechanism of the 1 arm 10 and the 2nd arm 20 can be simplified, the workpiece supply / discharge device 1 can be miniaturized, and can be manufactured at low cost.

  Furthermore, according to the workpiece feeding / discharging device 1 of the present embodiment, the second holding unit 21 is configured to rotate in conjunction with the turning of the second arm 20, and the first holding unit 11 is in the processing position WP. At the same time as moving from one of the supply / discharge positions TP to the other, the second holding part 21 rotates from the other one of the machining position WP and the supply / discharge position TP while preventing interference with the first holding part 11. Since it has moved, the interference between the first holding part 11 and the second holding part 21 is reliably prevented, and the workpiece W is moved from one of the machining position WP and the supply / discharge position TP to the other, and from the other to the other. It can be transported in the same plane and in synchronization. In addition, this makes it possible to efficiently transport the workpiece W by supplying and discharging the workpiece W in a short time.

  Further, according to the workpiece supply / discharge device 1 of the present embodiment, the first arm 10 is fixed to the first turning shaft portion 12 centering on the turning axis O, and the second arm 20 is concentric with the first turning shaft portion 12. It is being fixed to the 2nd turning shaft part 22 arrange | positioned in. The first turning shaft portion 12 and the second turning shaft portion 22 are rotationally driven by the drive mechanism 30 to turn the first arm 10 and the second arm 20. Further, since the second arm 20 includes another pulley mechanism 60 that transmits the rotation of the first turning shaft portion 12 to the second holding portion 21, the processing positions WP and supply / discharge of the first arm 10 and the second arm 20 are provided. The three operations, ie, the synchronous turning operation from one to the other of the positions TP and from the other to the one and the rotation operation of the second holding portion 21 can be performed by an extremely compact mechanism, and the workpiece supply / discharge device 1 can be It can be downsized.

  Furthermore, according to the workpiece supply / discharge device 1 of the present embodiment, the other pulley mechanism 60 includes a drive pulley 62 attached to the first turning shaft portion 12 and a driven pulley attached to the rotation shaft 25 of the second holding portion 21. 61, and the pulley ratio is set to drive pulley 62 / driven pulley 61 = 2 × α / 360, so that the first arm 10 and the second arm 20 turn α ° in different directions from each other. The second holding part 21 rotates in synchronism with 360 °. As a result, the workpiece W held by the second holding unit 21 can be reliably prevented from interfering with the workpiece W held by the first holding unit 11 from one of the processing position WP and the supply / discharge position TP to the other, or It is transported from one side to the other.

  In addition, this invention is not limited to embodiment mentioned above, A deformation | transformation, improvement, etc. are possible suitably. For example, in the present embodiment, the workpiece has been described as a ring-shaped workpiece such as a bearing race ring. However, the workpiece is not limited to this, and various types of workpieces can be handled by modifying the holding mechanism of the holding portion. Therefore, the workpieces can be transferred efficiently in the same plane. Moreover, the apparatus which processes a ring-shaped workpiece | work may be arbitrary processing apparatuses, such as grinding | polishing, cutting, and grinding.

  Furthermore, in this embodiment, the workpiece is processed with the holding pin inserted, but the workpiece may be processed after the holding pin is removed from the workpiece.

It is a principal part longitudinal cross-sectional view of the workpiece | work feeding / discharging apparatus which is embodiment of this invention. It is a principal part side view of the workpiece | work feeding / discharging apparatus in FIG. It is a side view which shows typically the structure of the pulley mechanism which transmits rotation of a drive motor to the 1st and 2nd arm. It is a side view which shows the movement locus | trajectory of the workpiece | work hold | maintained at a 1st holding | maintenance part and a 2nd holding | maintenance part, and is conveyed from one side to the other of a processing position and a supply / discharge position.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Work supply / discharge device 10 1st arm 11 1st holding part 12 1st turning shaft part 13 1st track 20 Second arm 21 2nd holding part 22 2nd turning shaft part 23 2nd track 25 Rotation of the 2nd holding part Shaft 30 Drive mechanism 31 Pulley mechanism 32 Gear part 40 Transport mechanism 41 Chuck part 50 Drive motor 60 Other pulley mechanism 61 Driven pulley 62 Drive pulley O Turning axis SP Processing position TP Supply / discharge position W Workpiece (ring-shaped work)
WP Machining position α Turning angle PR Pulley ratio of other pulley mechanisms

Claims (6)

A first arm having a first holding part for holding a workpiece and capable of turning so as to move the first holding part to a machining position and a supply / discharge position on a first track around a turning axis;
A second arm having a second holding part for holding the workpiece, and capable of turning around the turning axis while the second holding part moves on a second track passing through the machining position and the supply / discharge position;
A drive mechanism for driving the first and second arms in different directions around the pivot axis by a single drive motor;
With
At the same time that the first holding part moves from one of the machining position and the supply / discharge position to the other, the second holding part prevents the interference with the first holding part and the machining position and the supply / discharge position. A workpiece feeding / discharging device characterized in that the workpiece moves from one to the other.   2. The transfer mechanism according to claim 1, further comprising a chuck portion that is movable to the supply / discharge position and can hold the workpiece positioned at the supply / discharge position simultaneously with the first or second holding portion. Work supply / discharge device.   The drive mechanism includes a pulley mechanism that transmits the rotation of the drive motor to the first and second arms, and a gear unit that rotates the second arm in a direction different from the first arm. The work feeding / discharging device according to claim 1 or 2. The second holding part is configured to rotate in conjunction with the turning of the second arm,
At the same time that the first holding part moves from one of the machining position and the supply / discharge position to the other, the second holding part rotates while preventing the interference with the first holding part and the machining position and The workpiece feeding / discharging device according to claim 1, wherein the workpiece feeding / discharging device moves from one of the feeding / discharging positions to the other. The first arm is turned by rotating a first turning shaft portion around the turning axis by the drive mechanism, and the second arm is concentric with the first turning shaft portion around the turning axis. Is rotated by rotating the second turning shaft portion arranged in the drive mechanism,
5. The work feeding / discharging device according to claim 4, wherein the second arm includes another pulley mechanism that transmits rotation of the first turning shaft portion to the second holding portion. The other pulley mechanism includes a drive pulley attached to the first turning shaft portion, and a driven pulley attached to the rotation shaft of the second holding portion,
When the swivel angle of the first and second arms is α [°], the pulley ratio of the other pulley mechanism is
The driving pulley / the driven pulley = 2 × α / 360
The workpiece feeding / discharging device according to claim 5, wherein the workpiece feeding / discharging device is set.

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