JPH0645310Y2 - Work transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a work transfer device that can be used for loading and unloading works in various machine tools.

(Prior Art) Japanese Patent Laid-Open No. 62-176727 discloses a work transfer device of this type.
As disclosed in the publication, a manipulator for transferring a work to and from a work holding unit of a machine tool,
It is known that an arm provided with a work gripping means, a spindle that supports the arm and is movable in the rotational and axial directions, a rotation driving means for the spindle, and a cylinder unit that moves the spindle in the axial direction are known. ing.

In such a work transfer device, by moving the main shaft in the work pressing direction by the cylinder unit, the work holding means is moved closer to the work holding portion of the machine tool, and the work is moved to the work holding means and the work holding portion. The work is gripped between the work gripping means and the work holding part in a state of being sandwiched between the work gripping means and the work gripping means, and then the work gripping means is moved away from the work holding part. Although the pre-processed work is supplied to the holding part or the processed work is received from the work holding part, in the conventional device, the work holding means is supported to the arm so as to be movable back and forth within a certain range. In addition, a spring for biasing the work gripping means forward is interposed, and the work gripping means is connected to the work gripping means as described above. That pinched the workpiece between the over click holder, the workpiece holding means and the arm had been configured to detect the fact that relatively moves against the urging force of the spring.

(Problems to be Solved by the Invention) In the conventional configuration as described above, it is necessary to detect relative movement between the work gripping means at the leading edge of the manipulator and the arm that supports the work gripping means. It is arranged near the work gripping means, and it is necessary to guide the wiring from the detection switch to the base side of the manipulator so as not to be affected by the movement of the arm or the spindle, and the wiring becomes complicated and time-consuming. Not only that, but there is a drawback that failures on the wiring are likely to occur.

Further, when two work gripping means for loading and unloading are provided at the tip of the arm, each work gripping means must be supported so as to be movable back and forth, and a spring and a detection switch must be provided side by side. There is a problem that the number of parts increases and the structure becomes complicated, resulting in high cost.

(Means for Solving the Problems) In order to solve the above conventional problems, the present invention provides
In the work transfer device as described above, a spring is provided between the rod on the cylinder unit side and the spindle side to transmit the thrust of the rod in the work pressing direction to the spindle side, and the cylinder unit side. An object of the present invention is to propose a work transfer device including a switch provided between the rod and the spindle side to integrally move therewith, and to detect a relative movement between the spindle and the cylinder unit side rod against the spring.

(Advantage of the Invention) The work is gripped via the arm by moving the spindle in the work pressing direction by the cylinder unit with the work gripping means attached to the arm facing the work holding part of the machine tool. The means can be moved closer to the work holding part. At this time, since the thrust force of the cylinder unit is transmitted to the main shaft by meeting the spring, after the work is pinched between the work holding means and the work holding portion, the work from the main shaft to the work holding means is performed. All the parts stop, and the rod on the cylinder unit side with respect to the main shaft moves in the work pressing direction against the biasing force of the spring. Therefore, relative movement occurs between the rod on the cylinder unit side and the main shaft, and the switch detects this, so that the work is gripped between the work holding means and the work holding unit in conjunction with this detection. It is possible to complete the transfer of the work between the work gripping means and the work holding portion by causing the work to be performed and moving the spindle backward.

Even when the work is transferred between the work transfer device and the work transfer device, after the work is pinched between the work pallet or the like on the work transfer device side and the work holding device, Since the whole is pressed in the opposite direction against the biasing force of the spring, the same relative movement as described above occurs between the spindle and the lot on the cylinder unit side, and the switch detects this. Therefore, the next required operation can be started in conjunction with the detection.

(Embodiment) An embodiment of the present invention will be described below with reference to the attached exemplary drawings.

1 and 2, 1 is a numerically controlled machine tool (NC
It is a machine tool such as a machine and has a work chuck 2 that is driven to rotate about a horizontal axis 2a as a work holding portion. A work transfer device 3 is provided with a large number of work pallets 5 that can be rotated on the horizontal circulation path 4 at equal intervals. Reference numeral 6 denotes a work transfer device according to the present invention, which is a rotating frame 9 rotatable around a horizontal support shaft 8 with respect to a base frame 7, and is attached to the rotating frame 9 in a direction perpendicular to the axis of the horizontal support shaft 8. A main shaft 10 supported and capable of sliding in the axial direction and rotation, and the main shaft.
A manipulator 12 composed of an arm 11 fixed at a right angle to the tip of 10 is used, and the tip of the arm 11 in the manipulator 12 is rotatable about an axis 13a parallel to the main axis 10. Further, the revolving arm 13 is pivotally supported, and loading work holding means 14 and unloading work holding means 15 are provided at both ends of the revolving arm 13.

The swivel arm 13 has an air motor that supports the swivel arm 13 on its rotation axis, with the direction (length direction) connecting the workpiece gripping means 14, 15 at both ends being parallel to the arm 11.
It is driven by 16 in the range of 180 degrees. However,
By rotating the revolving arm 13 forward and backward, the two work gripping means 14 and 15 are moved to the work transfer position A on the side far from the spindle 10.
Alternatively, the work gripping means 14 or 15 at the work transfer position A can vertically position the main shaft 10 by the rotation of the rotary frame 9 as shown by the solid line in FIG. When 11 is laid down horizontally, it is positioned directly above the work transfer position B in the work transfer device 3 and faces the rotary frame 9 as shown by the phantom line in FIG.
The main spindle 10 is laid down horizontally by the rotation of
Rotation of 10 causes arm 11 to move to machine tool 1 as shown in FIG.
When it is laid down by a predetermined angle to the side, it concentrically faces the work chuck 2 of the machine tool 1.

Means for rotating the rotating frame 9 with respect to the base frame 7 is as shown in FIG. 3, FIG. 4, and FIG.
A pinion gear fixedly projected from the rotating frame 9 and fixed to one end of a horizontal support shaft 8 supported by the base frame 7.
17 and a rack gear 19 which is engaged with the pinion gear 17 and is driven up and down by a cylinder unit 18 attached to the base frame 7.
Rotation frame 9 (spindle 1
0) rotates forward and backward in the range of 90 degrees.

As shown in FIG. 3, the push-pull driving means of the main shaft 10 is connected to the rear end of the cylinder unit 20 fixed in the rotary frame 9 in parallel with the main shaft 10 so that only relative rotation is possible. The plate 21, the spring receiving seat 22 attached to the plate 21, the rod 20a that is driven by pushing and pulling by the cylinder unit 20 and penetrates the spring receiving seat 22, the intermediate portion of the rod 20a and the spring receiving seat 22. The compression coil spring 23 is interposed between the compression coil spring 23 and the stopper plate 24 attached to the rod 20a outside the spring receiving seat 22.

Therefore, by moving the rod 20a forward by the cylinder unit 20, the main shaft 10 moves in the work pressing direction F via the spring 23, the spring receiving seat 22, and the plate 21, and the cylinder unit 20 pulls back the rod 20a. The main shaft 10 is forcibly returned in the backward direction R via the stopper plate 24, the spring receiving seat 22, and the plate 21.

Reference numeral 25 is a guide rod supported by the rotating frame 9 in parallel with the main shaft 10, and the outer end of the guide rod is a member of the plate 21.
Fixed through 26. 27 is a work pressing detection switch, which is fixed to the free end of the stopper plate 24, the plate 21 (spindle 10) stops as shown by the phantom line, and only the rod 20a compresses the spring 23 to a predetermined amount. When moved, the member 26 moves to the actuator 27.
The detection operation is performed when a is separated.

Reference numeral 28 denotes a stroke limiting mechanism of the cylinder unit 20, which is supported by the rotating frame 9 by a guide roller unit 29 so as to be movable only in a direction parallel to the cylinder unit 20, as shown in FIGS. Sliding rod 30,
A connecting plate 30a fixedly connected to the outer end of the sliding rod 30 and having a free end connected to an intermediate portion of the rod 20a, the sliding rod 30
A screw shaft 32 which is concentrically projected from the inner end of the screw shaft and penetrates a through hole 31 provided in the rotating frame 9, and is screwed in a position adjustable manner to the screw shaft 32 as a limiting stroke adjusting means, and the through hole 31 A nut 33 having a size capable of penetrating movement, a movable stopper 35 whose one end is supported by the rotary frame 9 via a spherical bearing 34, a stopper switching plate 36 fixed to the base frame 7, and the movable stopper 35. It is composed of two urging springs 37 and 38.

However, the movable stopper 35 can swing within a certain range around the spherical bearing 34 in the direction orthogonal to the screw shaft 32, and the recess 39 that fits into the screw shaft 32 is formed in the vicinity of the outer end. Normally, the urging force of the spring 37 causes the sixth
As shown by the phantom line in the figure, the recess 39 is retracted to the restriction release position where it is separated from the screw shaft 32. As shown by the solid line in FIG. 1 and the phantom line in FIG. 2, when the rotary frame 9 rotates to the position where the main shaft 10 falls horizontally, as shown by the solid line in FIG. 6, the inner end protrusion of the movable stopper 35. 35a rides on the stopper switching plate 36 on the base frame 7 side, the movable stopper 35 swings against the biasing force of the spring 37, and the concave portion
39 is engaged with the screw shaft 32 and is switched to the stroke limiting position for receiving the nut 33. That is, the movable stopper
Reference numeral 35 denotes a stroke limit position and a limit release position, which switch the movable stopper 35 to the limit release position when the arm 11 is at the position of the work transfer device side and the arm 11 side to the machine tool side. The switching means for switching the movable stopper 35 to the stroke limiting position when it is in the position is constituted by the stopper switching plate 36 and the spring 37.

As shown in FIG. 7, the movable stopper 35 can swing about the spherical bearing 34 in a direction parallel to the screw shaft 32 within a certain range, and can be moved from the rotary frame 9 by the spring 38. Although held at the separated positions, the nut 33 presses the movable stopper 35, so that the movable stopper 35 abuts the side surface of the rotating frame 9 against the urging force of the spring 38, and the cylinder unit 20. The pressing force of can be received by the rotating frame 9. Of course, the movable stopper 35 may be provided so as to always be in sliding contact with the side surface of the rotating frame 9.

As shown in FIG. 3, the rotation driving means of the main shaft 10 is
A pinion gear 40 fixed to the rear end of the cylinder 10, a cylinder unit 41 attached to the plate 21 that moves integrally with the main shaft 10 as shown in FIG. 4, and a cylinder unit 41 that meshes with the pinion gear 40 and the cylinder unit 41. The rack gear 42 is driven up and down by the. Therefore, by driving the rack gear 42 up and down by the cylinder unit 41, the main shaft 10 can be normally and reversely rotated in an arbitrary angle range via the pinion gear 40. Of course,
The main shaft 10 can be rotationally driven regardless of the axial movement of the main shaft 10.

The work holding means 14 and 15 have the same structure,
As shown in FIG. 8, a turntable 44 rotatably supported by a swivel arm 13 via a bearing 43, a chuck body 45 fixed to the turntable 44, and a chuck body 45 movably supported in the radial direction. 3 rack gears 46 in the circumferential direction, chuck claws 47 attached to each rack gear 46, pinion gears 48 that mesh with each rack gear 46 and are axially supported in the chuck body 45, and a cylindrical rack gear that meshes with each pinion gear 48 at the same time. 49, a cylinder unit 50 supported by the revolving arm 13, a movable shaft 51 which is coupled to a piston rod 50a of the cylinder unit 50 and slidably supports the cylindrical rack gear 49 only in the axial direction, and It is composed of a floating plate 52 for pressing a work.

As shown in FIGS. 9 and 10, the floating plate 52 has a through hole provided at the center of the tip of the chuck body 45 via a support shaft 53 attached at the center position.
The notch groove 54 is supported by 45a so that it can be swung in any direction by 360 degrees, and each chuck claw 47 is loosely fitted so as to be movable in the radial direction. The floating plate 52
Is an end surface of each chucking claw 47 that opposes the work end surface Wa so as to directly contact the work end surface Wa as shown in FIG.
It is slightly protruding from 47a.

The work transfer device 3 shown in FIG. 1 is a drive chain 55 stretched along the horizontal circulation path 4 as shown in FIGS. 11 to 13, and is attached to the drive chain 55 at equal intervals. Base 5 that slides on the support surface 56 via three wheels 57
8, a guide shaft 59 erected on each base 58, and a work pallet lifter 60 attached to the work transfer position B
It consists of Reference numeral 61 is a drive tooth wheel that drives the drive chain 55 to rotate in either forward or reverse directions.
Is linked to.

The work pallet lifter 60 has two guide rods.
The work pallet lifting fork 64 supported by 63 so as to be able to move up and down, and the cylinder unit 65 that drives the fork 64 to move up and down, and the fork 64 is formed on the support surface 56 when in the lower limit position. The support groove 56 is loosely fitted in the groove 66.

The work pallet 5 has through-holes through which the guide shafts 59 of the bases 58 pass, and is placed on the bases 58 in a state of being vertically guided by the guide shafts 59. Workpiece W to be positioned
Are supported in a stacked state.

Next, the method of use will be described. As shown by the solid line in FIG. 2, the rotating frame 9 of the manipulator 12 in the work transfer device 6 is rotated to vertically raise the main shaft 10 and the arm 11 of the work transfer device 3. The work holding means 14 for loading at the work transfer position A is positioned right above the work transfer position B in the work transfer device 3 so as to face downward. In this state, the spindle 10 is moved in the work pressing direction F, and the work gripping means 14, 15 are lowered. That is, the rod 20a is moved forward by the cylinder unit 20 shown in FIG. 3, and the main shaft 10 is moved in the workpiece pressing direction F via the spring 23 and the plate 21. At this time, the rotary frame 9 rotates as described above. Therefore, as shown by phantom lines in FIG. 6, the movable stopper 35 in the stroke limiting mechanism 28 of the cylinder unit 20.
Is separated from the stopper switching plate 36, and the movable stopper 35 is switched to the restriction release position by the spring 37, so that the nut 33 of the screw shaft 32 that moves integrally with the rod 20a of the cylinder unit 20 is received by the movable stopper 35. It is possible to move through the through hole 31 of the rotary frame 9 without being moved. Therefore, the stroke of the cylinder unit 20 is not limited, and the spindle 10 is moved in the work pressing direction F to the stroke end of the cylinder unit 20. As a result, as shown by the phantom line in FIG. 11, the work gripping means 14 located immediately above the work transfer position B in the work transfer device 3 is shown.
However, it is lowered to a predetermined level slightly above the upper end of the guide shaft 59 on the base 58 at the work transfer position B.

In this state, as shown in FIG. 12, by raising the fork 64 of the work pallet lifter 60 by the cylinder unit 65, the work pallet 5 on the base 58 at the work transfer position B is lifted by the fork 64. . As a result, the work W on the work pallet 5 rises along the guide shaft 59, and the work W at the uppermost stage is pressed against the floating plate 52 of the loading work holding means 14. This pressing force is the work gripping means.
14 to swivel arm 13, arm 11, spindle 10, and plate
21 and the whole of them is shown in FIG.
Since the member 26 on the plate 21 side is separated from the actuator 27a of the detection switch 27, it is pushed up in the backward direction R against the urging force of the work, and the state where the detection switch 27 is related, that is, the work W floats in the work gripping means 14. plate
The state of being pressed against 52 is detected. In accordance with this detection, the cylinder unit 50 of the work holding means 14 shown in FIG. 8 is operated to move the cylindrical rack gear 49 backward,
By interlockingly moving each chuck claw 47 in the centripetal direction via each pinion gear 48 and rack gear 46, the work W pressed against the floating plate 52 can be gripped by each chuck claw 47. After that, the fork 64 of the work pallet lifter 60 is lowered to the lower limit position, and the spindle 10 is moved backward in the backward direction R to the stroke limit by the cylinder unit 20 shown in FIG. 9 is rotated by 90 degrees in the reverse direction to return to a state shown by an imaginary line in FIG. 2, that is, a state in which the main shaft 10 falls to the horizontal state and the arm 11 stands upright.

As described above, the reception of the workpiece W before processing is completed, but when the processing of the workpiece W held by the workpiece chuck 2 of the machine tool 1 is completed, the swivel arm 13 is moved by the air motor 16 to 180
After the unloading work gripping means 15 is rotated to the work transfer position A, the main shaft 10 is rotated by a predetermined angle, and the arm 11 is tilted to the machine tool 1 side as shown in FIG. 1 to unload the work. The gripping means 15 is opposed to the work chuck 2 of the machine tool 1.

In such a state, the cylinder unit 20 shown in FIG. 3 again moves the spindle 10 in the work pressing direction F via the spring 23 and the plate 21, and as shown in FIG.
The floating plate 52 of the unloading work holding means 15 is pressed against the end surface Wa of the processed work W held by the side work chuck 2. As a result, the third
Since the main shaft 10 and the plate 21 shown in the figure are prevented from moving in the work pressing direction F, only the rod 20a has the spring 23.
Is moved while being compressed, the actuator 27a of the detection switch 27 is separated from the member 26 on the plate 21 side, and the detection switch 27 detects such a state. On the other hand, as a result of rotation of the rotary frame 9 to the position where the main shaft 10 falls horizontally, as shown by the solid line in FIG.
Since the movable stopper 35 in the stroke limiting mechanism 28 of 20 is switched to the stroke limiting position by the stopper switching plate 36 and the recess 39 is fitted in the screw shaft 32, the floating plate of the work gripping means 15 is set as described above. 52
Immediately after the detection switch 27 detects that the workpiece has pressed against the end surface Wa of the processed work W, the nut 33 of the screw shaft 32 that moves integrally with the rod 20a moves the movable stopper 35 to the movable stopper 35 as shown by the solid line in FIG. By adjusting the position of the nut 33 in advance according to the thickness of the work W so that the nut 33 is pressed against and brought into contact with the side surface of the rotary frame 9, the subsequent pressing force of the cylinder unit 20 is reduced by the screw shaft 32 and the nut. 33, the processed work W received by the side surface of the rotary frame 9 via the movable stopper 35 and held by the work chuck 2 of the machine tool 1, the work gripping means 15, the swing arm 13, the arm 1
Only the compression reaction force of the spring 23 acts on the plate 1, the plate 21, and the main shaft 10.

Based on the detection operation of the detection switch 27, the machine tool 1
The workpiece chuck 2 on the side of the machine tool 1 is released and the chuck claws 47 of the workpiece gripping means 15 are moved in the centripetal direction by the cylinder unit 50 as described above, and the workpiece chuck 2 held by the workpiece chuck 2 on the machine tool 1 side is processed. The work W is held by the work holding means 15. After that, the main shaft 10 is forcibly moved in the backward direction R by the cylinder unit 20 to the end of the stroke, the processed work W is released from the work chuck 2 on the machine tool 1 side, and then the revolving arm 13 is driven by the air motor 16. By rotating 180 degrees, the positions of the loading work holding means 14 holding the pre-worked work W and the unloading work holding means 15 holding the processed work W are exchanged.

When the loading work holding means 14 holding the pre-processing work W reaches the work transfer position A, the spindle 10 is moved again in the work pressing direction F to change the pre-processing work W.
Is pressed against the work chuck 2 on the machine tool 1 side. In this case as well, the unworked work W held by the work holding means 14 is pressed on the work chuck 2 on the machine tool 1 side as shown in FIG. The detection switch 27 operates when pressed by the compression reaction force of the spring 23, and immediately after that, the pressing force of the cylinder unit 20 is received by the side surface of the rotating frame 9 via the screw shaft 32, the nut 33, and the movable stopper 35. It will be.

Interlocking with the detection operation of the detection switch 27, the cylindrical rack gear 49 is moved forward by the cylinder unit 50 of the work holding means 14 shown in FIG. 8, and the chuck claws 47 are centrifugally moved through the pinion gear 48 and the rack gears 46. 3 to move the workpiece W before machining to release the gripping action, and then the workpiece chuck 2 on the machine tool 1 side grips the workpiece W, and thereafter, the cylinder unit 20 shown in FIG.
To forcibly move the spindle 10 in the backward direction R to the end of the stroke,
The loading of the unprocessed work W is completed by removing the work gripping means 14 from the unprocessed work W.

The unloading work gripping means 15 gripping the processed work W reversely rotates the main shaft 10 to raise the arm 11 as shown by the phantom line in FIG. 2, and then positively rotates the rotary frame 9. The main shaft 10 is erected, the arm 11 is horizontally laid down toward the work transfer device 3, and the revolving arm 13 is rotated 180 degrees, so that the work transfer position B of the work transfer device 3 is right above. Can be located. On the other hand, in the work transfer device 3, the drive chain 55 is rotationally driven, and among the many bases 58, the specific base 58 set for receiving the processed work W is set to the work transfer position B. Since it is called, move the spindle 10 in the work pressing direction F to the stroke end of the cylinder unit 20,
The workpiece gripping means 15 is a processed saturated receiving base.
After lowering to a predetermined level slightly above the upper end of the guide shaft 59 on the 58, the work pallet lifter 60 is operated as described above and the work pallet 5 on the base 58 is raised by the fork 64, and the work is already moved. The processed work W (or empty work pallet 5) transferred onto the pallet 5 is transferred to the work holding means 15 as shown in FIG.
It is pressed against the lower end surface of the processed work W gripped by. Since the work gripping means 15 descends to a position in the vicinity of the upper end of the guide shaft 59, when the work W having a large thickness is gripped, a part of the work W causes a noise.
It may be possible to fit 59.

As a result, in the same manner as described above, the work holding means 15, the swing arm
13, the arm 11, the main shaft 10, and the plate 21 move integrally in the backward direction R against the spring 23 (Fig. 3), and the detection switch 27 detects this, and the work is interlocked with this detection operation. After releasing the chuck claw 47 of the gripping means 15 as described above, by forcibly moving the main shaft 10 in the backward direction R to the stroke end by the cylinder unit 20, and lowering the fork 64 of the work pallet lifter 60,
The processed work W held by the work holding means 15 is transferred via the work pallet 5 onto the processed work receiving base 58.

As described above, the loading of the unworked work and the unloading of the processed work are completed.

In the above embodiment, the loading work holding means 14
And a workpiece gripping means 15 for unloading
Although it is attached to the arm 11 via 13, one work holding means may be attached directly to the arm 11. in this case,
Loading and unloading will be performed separately. Further, as the work transfer device, two work transfer devices for loading and unloading may be installed. The manipulator 12 has shown the one in which the main shaft 10 supporting the arm 11 with the work gripping means is supported by the rotary frame 9 rotatable about the horizontal support shaft 8, but the positional relationship between the machine tool 1 and the work transfer device 3 is shown. Depending on
It is also possible to use a manipulator in which the base frame 7 supporting the rotating frame 9 is further rotatable around a vertical support shaft.

(Effect of the Invention) As described above, according to the work transfer device of the present invention, it is possible to elastically and smoothly clamp a work between the work gripping means and the work holding part on the machine tool side or the work transfer device. Moreover, it is possible to reliably detect such a state with a switch and automatically start the next required operation.However, a spring for transmitting the thrust of the cylinder unit to the work gripping means is connected to the rod and the spindle on the cylinder unit side. Since it is interposed between the work gripping means and the work holding part on the machine tool side or the work transfer device side, a switch for detecting the state of sandwiching the work is also near the connection point between the spindle and the cylinder unit. Can be installed in the manipulator, compared with the case where the switch is installed near the work holding means which is the most advanced state of the manipulator, Wiring to the switch can be done easily and wiring troubles will be reduced.

Further, it is not necessary to support the work holding means itself so as to be movable back and forth with respect to the arm, and even when two work holding means are arranged side by side as in the embodiment, only one spring or switch is required. The device as a whole has a small number of parts, has a simple structure, and can be implemented at low cost.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing a state of use of a work transfer device according to the present invention, FIG. 2 is a side view of the same, FIG. 3 is a vertical sectional side view showing an essential part of the work transfer device, and FIG. FIG. 5, FIG. 5 is a cross-sectional plan view of the main part, FIG. 6 is a vertical cross-sectional rear view of the main part, FIG. 7 is a cross-sectional plan view showing the stroke limiting mechanism of the cylinder unit, and FIG. FIG. 9 is a vertical sectional side view showing the means, FIG. 9 is a front view of the work holding means,
FIG. 10 is a vertical cross-sectional side view of an essential part for explaining a work transfer state between the work gripping means and a work chuck on the machine tool side, and FIG. 11 is a side view showing the main part of the work transfer device and the work gripping means. FIG. 12 is a vertical cross-sectional rear view for explaining a state in which a work is transferred between the work transfer device and the work gripping means, and FIG. 13 is a plan view showing a main part of the work transfer device. 1 ... Machine tool, 2 ... Work chuck (work holding part), 3 ... Work transfer device, 5 ... Work pallet,
6 ... Work transfer device, 7 ... Base frame, 9 ...
… Rotating frame, 10 …… spindle, 11 …… arm, 12 …… manipulator, 13 …… swivel arm, 14 …… loading work gripping means, 15 …… unloading work gripping means, 16 …… air motor, 17,40,48 …… Pinion gear, 18,20,41,50,65 …… Cylinder unit, 19,42,
46 …… Rack gear, 21 …… Plate, 23 …… Compression coil spring, 24 …… Stopper plate, 27 …… Detecting switch, 28 …… Stroke limiting mechanism of cylinder unit 20, 47 …… Chuck claw, 52 …… Floating plate, 55 …… Drive chain, 58 …… Base, 59 …… Guide shaft, 60 …… Work pallet lifter, 64 …… Work pallet lifting fork, A …… Work transfer position, B …… Work transfer device Work transfer position in 3,
W …… Work.

Claims (1)

[Scope of utility model registration request] 1. A manipulator for transferring a work to and from a work holding portion of a machine tool, an arm with a work gripping means, a spindle for supporting the arm, which is rotatable and axially movable, and a rotational drive for the spindle. In a work transfer device provided with a means and a cylinder unit for moving the spindle in the axial direction, a thrust force of the rod in the work pressing direction is provided between the rod on the cylinder unit side and the spindle side. A spring for transmitting to the main shaft side is provided, and the rod is moved integrally with the cylinder unit side rod and the main shaft side, and the relative movement between the main shaft and the cylinder unit side rod is resisted against the biasing force of the spring. Work transfer device with a switch for detection.