JPH0679572A - Automatic work reversing method applied to computer control machine tool and its apparatus - Google Patents

Abstract

PURPOSE:To realize automation and labor saving of reversing a work in a narrow space by keeping the reliability in action and enabling the minimization of the hour necessary for reversing the work through devising the simplification and miniaturization of the structure of an apparatus. CONSTITUTION:A computer control machine tool 50 is provided with such function as mounting a work 42 on to a chuck 53 and machining the work 42, thereafter taking out the work 42 from the chuck 53 reversing the direction of the taken out work 42 on the axial line of spindle 52 and immediately mounting the reversed work 42 on to the chuck 53 so as to enable the work 42 to be machined again.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic work reversing method and apparatus used in a computer-controlled machine tool.

[0002]

BACKGROUND ART Recently, a work tends to be processed on both sides by a computer numerically controlled lathe, and in this case,
A robot consisting of a work take-out mechanism and a work reversing mechanism is installed adjacent to the outside of the lathe.
The work is set in the chuck and the lathe machined the front side of the work, and then the take-out mechanism takes the work out of the chuck and out of the lathe, where the reversing mechanism takes it out of the take-out mechanism. The inverted work is received and inverted 180 degrees, and the inverted work is handed over to the take-out mechanism again, and the take-out mechanism carries the turned-up work from the outside of the lathe to the chuck and delivers it. Later on the lathe the backside of the work was machined. In this way, since the work reversing work was performed outside the lathe, the work space, the so-called motion area, became wider, and the robot
It is complicated and large in size, it is difficult to secure reliability in the operation of these mechanisms, the production tact becomes long, and there is a hindrance to popularization of automation and labor saving of work reversing work.

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to narrow the operating region to simplify and downsize the structure, to secure the reliability of the operation, and to set the time required for reversing the work to a minimum, thus making it narrow. To provide an automatic work reversing method and device used for a computer-controlled machine tool that enables automation and labor saving of work reversing work in a space, and improves production tact and reduce production cost. is there.

[0004]

[Means corresponding to the problem and its action]
When a work is machined in a computer-controlled machine tool by an automatic work reversal method, the work is attached to a chuck, machined, and then sequentially taken out from the chuck onto the axis of the spindle, and taken out. The work is inverted on the axis of the spindle, and the inverted work is attached to the chuck to machine the work again, and the work area is narrowed to enable the work to be inverted in a narrow space. This is where work can be processed on both sides.

According to the present invention, in the automatic work reversing method, when a work is machined in a computer-controlled machine tool, the work is attached to a chuck and machined, and then the turret is utilized to sequentially rotate the spindle. Take the work out of the chuck on the axis, reverse the taken out work on the axis of the main spindle, and then attach the reversed work to the chuck and machine the work again, narrowing the operation area. In addition, the work can be turned over in a small space, and the work can be processed on the front and back.

Further, the present invention provides that an automatic work reversing device is parallelized in a computer-controlled machine tool at a predetermined distance from a spindle in relation to a chuck, and
The arm shaft is supported by the spindle head so that it can be retracted by protruding the tip from the front and rear of the chuck and the tip of the arm shaft that is positioned in the direction orthogonal to the main axis. The arm to be supported, the finger chuck located at the tip of the arm and assembled to the arm, and the hand effector for gripping and reversing the work taken out from the chuck, the arm shaft and the arm A rotary cylinder that moves the finger effector between the storage position and the work reversal position via the arm, and swings the hand effector around the axis of the arm shaft via the arm, and the computer. In a controlled machine tool, supported by a turret and indexed on the axis of its spindle, and Is moved closer to and away from the chuck on the axis of the main shaft of the, and the workpiece to be taken out is conveyed from the chuck to the workpiece reversal position of the hand effector and delivered to the hand effector, and after being inverted by the hand effector, A work take-out mechanism that receives the work from the hand effector, and carries the reversed work from the work reversal position of the hand effector to the chuck and delivers it to the chuck, narrows the operation area, and operates the work. The reliability of the work is ensured, the work can be turned over in a narrow space in the computer-controlled machine tool, and the work can be processed from the front to the back.

Still further, according to the present invention, an automatic work reversing device is parallelized in a computer-controlled machine tool at a predetermined interval with respect to a main shaft in relation to a chuck, and a tip is projected and retracted in front of and behind the chuck. An arm shaft that is enabled and supported by the spindle head, and an arm that is positioned in a direction orthogonal to its main axis and that is supported by the tip of the arm shaft, and that allows expansion and contraction and rotation operation. Cylinder attached to the tip of the arm and holding the work taken out from the chuck, and a cylinder for moving the hand effector between the storage position and the work reversing position via the arm shaft and the arm. And, in the computer-controlled machine tool, the axis line of the spindle supported by the turret And then moved closer to and away from the chuck on the axis of the main shaft, and the work to be taken out is conveyed from the chuck to the work reversal position of the hand effector and is delivered to the hand effector. A work removing mechanism that receives the work from the hand effector after reversing by the hand effector, and carries the reversed work from the work reversing position of the hand effector to the chuck and delivers it to the chuck; The operation area is narrowed, the reliability of the operation is ensured, the work can be turned over in a narrow space in the computer-controlled machine tool, and the work can be machined from the front to the back.

[0008]

DESCRIPTION OF SPECIFIC EXAMPLES Specific specified examples of the automatic work reversing method and apparatus used in the computer-controlled machine tool of the present invention will be described below with reference to the drawings. 1 to 4 are automatic workpieces used in the computer-controlled machine tool of the present invention, which are applied to the front and back machining of a workpiece 45 by a computer numerically controlled lathe 50, specifically, the machining of a hole and both end surfaces of the workpiece 42. Specific example 1 of the reversing device
0, and in this automatic work reversing device 10,
As shown in FIG. 5, a disc-shaped blank (a) is used for the work 42, and when the work 42 is transferred from the front processing (b) to the back processing (d). The automatic work reversal method used in the computer-controlled machine tool of the present invention was carried out to perform the work reversal work.

In the computer numerically controlled lathe 50, the automatic work reversing device 10 is made parallel to the main shaft 52 at a predetermined interval in relation to the chuck 53, and the front and rear ends of the chuck 53 are projected and retracted. An arm shaft 11 that is made rotatably supported by the spindle head 51, and an arm 12 that is positioned in a direction orthogonal to the main axis 52 and is supported at the tip of the arm shaft 11. , The finger chuck 23 is attached to the arm 12 with the tip of the arm 12 positioned, and the workpiece 42 taken out from the chuck 53 is gripped on the axis of the spindle 52 and the shaft of the spindle 52 is gripped. The hand effector 13 which turns over 180 degrees on the line and its arm shaft 11 and arm 12 The tip effector 13 is moved between the storage position (A) and the work reversal position (B), and the hand effector 13 is swung via the arm 12 around the axis of the arm shaft 11. In the rotary cylinder 14 and the computer numerically controlled lathe 50, the main shaft 52 supported by the rotating turret 55 is supported.
Is aligned with the axis of the main shaft 52, and is then aligned with the axis of the main shaft 52, and the chuck 53 is aligned with the axis of the main shaft 52.
To the work reversal position (B) of the hand effector 13 and delivered to the hand effector 13, and after the work 42 is reversed by the hand effector 13, A work take-out mechanism 15 that receives the work 42 from the hand effector 13, and carries the reversed work 42 from the work reversing position (B) of the hand effector 13 to the chuck 53 and delivers it to the chuck 53. Then, it was assembled in the box-shaped cover 56 of the lathe 50 where work reversal work was performed.

The arm shaft 11 is rotatably and reciprocally slidably supported by a bracket 30 screwed on the spindle head 51 with bearings 31 and 31 interposed therebetween, and its tip is covered with a box-shaped cover. 56 was extended from the opening 57 into the box-shaped cover 56, and its tip was projected and retracted in front of and behind the chuck 53, and was arranged in parallel with the main shaft 52 at a predetermined interval. The arm shaft 11 is sealed with a wiper 58 at the opening 57 of the box-shaped cover 56.

The arm 12 is aligned with its own axis, and a drive shaft bore 20 is opened from the rear end to the tip, and a shaft insertion port 21 is formed on the outer peripheral surface orthogonal to the axis. It is machined into an open structure, and the end of the arm shaft 11 is inserted into the shaft insertion port 21, and the end of the arm shaft 11 is non-rotatably coupled to the main shaft 52 in a direction orthogonal to the main shaft 52. It was supported at the tip of the arm shaft 11.

The hand effector 13 is rotatably mounted around the axis of the arm 12 and is supported by the tip of the arm 12, and is attached to the tip of the band body 22 so as to be opened and closed. Fingers
Chuck 23, a gripping operation mechanism (not shown) which is connected to the finger chuck 23 in the hand body 22 and opens and closes the finger chuck 23, and a gripping operation mechanism incorporated in the hand body 22 and the gripping operation mechanism. Pneumatic cylinders (not shown) for moving the bearings 25, 2
5 is rotatably fitted to the drive shaft bore 20 of the arm 12 through the hand of the hand.
Drive shaft 2 in which body 22 is connected to prevent rotation
4 and a pneumatic vane motor 26 screwed to the rear end of the arm 12 and coupled to the rear end of the drive shaft 24. The pneumatic cylinder and the pneumatic vane motor 26 are, of course, arranged such that compressed air supplied from an air pressure source (not shown) is directionally controlled by respective air pressure control valves (not shown) and then supplied and discharged. Each produces a power whose pneumatic cylinder opens and closes its finger chuck 23 via its gripping mechanism, while its pneumatic vane motor 26 drives its hand shaft via its drive shaft 24. The body 22 is turned over 180 degrees around the axis of the arm 12 so that the workpiece 42 gripped by the finger chuck 23 can be turned over 180 degrees. Then, in the hand effector 13, the gripping operation mechanism is embodied as a link mechanism that connects the pneumatic cylinder to the finger chuck 23.

As the rotary cylinder 14, a hollow rotary hydraulic cylinder in which a splint shaft 27 is combined is used, and the splint shaft 28 is aligned with the axis of the arm shaft 11 at the front end and the rear end. Coupled with a coupling 29, and the cylinder body 27 was screwed to its bracket 30.
Of course, in the rotary cylinder 14, pressure oil supplied from a hydraulic pressure source (not shown) is directionally controlled by a hydraulic pressure control valve (not shown), and is supplied and discharged to generate power. Splind shaft 28, arm
The hand effector 13 is moved to the storage position (A) and the work reversal position (B) via the shaft 11 and the arm 12, and the splint shaft 28, the arm shaft 11, and , The arm effector 13 via the arm 12 around the axis of the splint shaft 28 and arm shaft 11
Swing 0 degrees.

The work take-out mechanism 15 is the lathe 5
The carrying pin 32, which is embodied in the case where the turning turret 55 provided for 0 is also used, and which is supported by the turret 55 and enables the workpiece 42 to be transferred to the chuck 53, and the carrying pin 32. A detent device 33 which is arranged at the tip and holds the work 42 taken out from the chuck 53 on the carrying pin 32, and a chucking which delivers the work 42 from the carrying pin 32 to the chuck 53. Device 34, whose carrying pin 32 is its turret 55.
Is indexed to the axis of the main shaft 52 and subsequently height-adjusted to the axis of the main shaft 52, so-called centering the axis of the carrying pin 32 to be the same as the axis of the main shaft 52, Then, the workpiece 42 is received from the chuck 53 by being moved closer to and away from the chuck 53 on the axis of the spindle 52, and at that time, the detent device 33 causes the workpiece 42 to move the workpiece 42 to the tip of the carrying pin 32. To prevent it from slipping up, and
The taken work 42 is conveyed from the chuck 53 to the work reversal position (B) of the end effector 13, and is delivered to the end effector 13 there, and the work 42 is moved by the end effector 13 to the main shaft 52 thereof. After being inverted 180 degrees on the axis of the work piece 42, the work 42 is received from the hand effector 13 and the hand effector 1
The reversed work 42 is carried from the work reversal position (B) of No. 3 to the chuck 53 and delivered to the chuck 53. At this time, the chucking device 34 holds the work 42 on the chuck 53 in a close contact state. The operation of pushing is enabled.

The detent device 33 is embodied in an inner diameter grasping structure corresponding to the work 42, and more specifically, it penetrates the tip of the carrying pin 32 in a direction orthogonal to the axis. A pair of balls 36 fitted in the drilled holes 35 and a coil for partially pushing the balls 36 to the outer peripheral surface of the carrying pin 32.
It was assembled with the spring 37.

On the other hand, the chucking device 34
In the so-called position, the slot 39 is axially drilled and is then carried by the stopper pin 41 fitted into the carrying pin 32 and driven into the carrying pin 32 through the slot 39. The collar 38 secured to the pin 32 and the carrying pin 32 between the turret 55 and the collar 38.
Assembled with a compression coil spring 40 disposed around the.

The automatic work reversing device 10 constructed as described above was operated as follows in order to have the computer numerically controlled lathe 50 automate the front and back processing of the work 42. Of course, the operation procedure of the automatic work reversing device 10 is pre-programmed in a program of a control unit (not shown) for instructing the computer numerically controlled lathe 50 to prepare for performing the work reversing work. . First, the work 42 is artificially set on the chuck 53 of the lathe 50, and a start button (not shown) is pressed in the control unit. The lathe 50 is commanded by the control unit
The drill 59 and the cutting tools 60, 61 are sequentially indexed by the turret 55 to the axis of the spindle 52, and subsequently height-adjusted to the axis of the spindle 52, and to the chuck 53 on the axis of the spindle 52. The workpiece 42 is brought closer and farther away from the workpiece, and the workpiece 42 is subjected to drilling, end face finishing, chamfering of the inner and outer diameters, and the surface machining of the workpiece 42, so-called primary machining is completed. And the spindle 52
Is stopped.

Thus, when the spindle 52 is stopped, the lathe 50 commanded by its control unit.
Then, the turret 55 is returned to its original position, where the carrying pin 32 at which the workpiece 45 is taken out from the chuck 53 is indexed to the axis of the spindle 52, and subsequently, to the axis of the spindle 52. Height adjusted. On the other hand, in the rotary cylinder 14, the hydraulic control valve is commanded by the control unit to control the supply and discharge of the pressure oil to and from the rotary cylinder 14, so that the rotary cylinder 14 is first directly moved. The arm shaft 11 is stretched and pushed by the rotary cylinder 14 along with the arm 12 to move the tip from the rear surface to the front surface of the chuck 53, and the hand effector 1 accompanied by the arm 12
3 is from the storage position (A) to the work reversal position (B)
When the hand effector 13 reaches the work reversal position (B), the rotary cylinder 1
4 is rotated 90 degrees and stopped at a position where the work gripping center of the hand effector 13 is aligned with the axis of the main shaft 52,
Then, at this time, in the hand effector 13, since the pneumatic control valve is commanded by the control unit to control the supply and discharge of compressed air to and from the pneumatic cylinder, power is generated in the pneumatic cylinder to grip it. The finger chuck 23 through the operating mechanism
And the hand effector 13 is put on standby on the axis of the main shaft 52.

Thus, when the minion effector 13 is in the standby state with its finger chuck 23 open, its turret 55 is commanded by its control unit to begin advancing towards its chuck 53 and its It is brought closer to the chuck 53, and the carrying pin 32 is inserted into the hole 43 of the work 42, and the work 42 is retained by the detent device 33 on the tip of the carrying pin 32. Immediately after that, in the chuck 53, the claw 54 is pneumatically opened by the command of the control unit, and when the chuck 53 is opened, the work 42 is held on the tip of the carrying pin 32. , And subsequently, the turret 55 is commanded by the control unit to begin retracting from the chuck 53 and away from the chuck 53, and
When the work 42 is retracted to the work reversal position (B) on the axis of the main shaft 52, the work 42 is stopped there.

In this way, when the work 42 is carried to the work reversal position (B) by the work take-out mechanism 15, in the hand effector 13, the pneumatic control valve is commanded by the control unit. Since the compressed air is controlled to be supplied to and discharged from the pneumatic cylinder, power is generated in the pneumatic cylinder and the finger chuck 23 is closed by the power of the pneumatic cylinder via the gripping operation mechanism to move the work 42 to its main spindle. Gripping on the axis of 52 and, at the same time, its turret 55 until the tip of its carrying pin 32 is disengaged from its workpiece 42 gripped by its finger chuck 23 as commanded by its control unit. It is retracted and then temporarily stopped there. When the turret 55 is stopped, in the hand effector 13, the pneumatic control valve is also commanded by the control unit to control the supply and discharge of compressed air to the pneumatic vane motor 26, and thus the pneumatic pressure. Power is generated in the vane motor 26,
The pneumatic vane motor 26 reverses the hand body 22 together with the work 42 through the drive shaft 24 by 180 degrees on the axis of the main spindle 52,
Then it is stopped. The work 42 gripped by the finger chuck 23 is accompanied by the hand body 22 and is rotated 180 degrees, and the work spindle 42 is rotated.
It is placed on the axis of 2.

Subsequently, the turret 55 starts to advance toward the chuck 53 at the command of the control unit, the tip of the pin 32 is inserted into the hole 43 of the work 42, and at the same time, the hand effector 13 thereof. , The pneumatic control valve is commanded by the control unit to control the supply and discharge of compressed air to and from the pneumatic cylinder, so that power is generated in the pneumatic cylinder and the finger chuck is moved through the gripping mechanism. 23 is opened by the power of the pneumatic cylinder, and the work 42 is moved to the detent device 33 by the opening operation of the finger chuck 23.
And is retained on the tip of the carrying pin 32. And, continuously, the turret 55
Commanded by the control unit, it continues to move concentrically toward the chuck 53 and toward the chuck 53, and the carrying pin 3
The workpiece 42 held on the tip of the two is conveyed to the chuck 53, the chucking device 34
Compresses the compression coil spring 40 and pushes the work 42 into the chuck 53 to bring them into close contact.

In this way, when the work 42 is carried to the chuck 53 by the work take-out mechanism 15, the claw 54 of the chuck 53 is closed hydraulically by the command of the control unit. The work 42 is reattached to the chuck 53. Then, when the work 42 is attached to the chuck 53, the turret 55 starts to retreat from the chuck 53 and is moved away from the chuck 53 by the command of the control unit, and is returned to the original position and stopped. And there, index the bit 60 that will be used for the next machining. On the other hand, in the rotary cylinder 14, since the hydraulic control valve is commanded by the control valve to control the supply and discharge of pressure oil to and from the rotary cylinder 14,
The cylinder 14 is first rotated 90 degrees so that the arm 12
Is oscillated by 90 degrees, and is then linearly moved and contracted to retract its arm shaft 11 and move its arm 12. As such, as the rotary cylinder 14 is operated, the hand effector 13 supported by the arm 12 has its work reversal position (B).
Is moved to the storage position (A) and then returned. Then, subsequently, in the lathe 50, the back machining, that is, the secondary machining is started on the work 42.

In the secondary processing, diameter expansion drilling, end surface finishing, and inner / outer diameter chamfering are sequentially carried out, and the work 42 is penetrated through the work 42 by the primary and secondary processing as shown in FIG. Hole 43, expanded hole 44, end face 4
5, 45 and chamfers 46, 46, 47, 47 were formed. Further, since the automatic work reversing device 10 also serves as the turret 55 of the computer numerically controlled lathe 50, the working space, so-called operation area is extremely narrowed, and the structure is greatly simplified and miniaturized. The deflection of the link becomes a negligible small, the consideration of the deflection is avoided, the reliability of operation is secured, and the lathe 5
The work 45 can be turned over in the box-shaped cover 56 of 0, and the time required for turning the work 45 can be set to a minimum, resulting in a dramatic improvement in the production tact.

FIGS. 6 to 8 show another embodiment 70 of the automatic work reversing device used in the computer controlled machine tool of the present invention, which is applied to the front and back machining of the work 42 by the computer numerically controlled lathe 50. In the automatic work reversing device 70, in the lathe 50,
When the work 42 is transferred from front processing to back processing,
The automatic work reversal method used in the computer-controlled machine tool of the present invention was carried out to perform work reversal work.

The automatic work reversing device 70 has the chuck 53 in the computer numerically controlled lathe 50.
In relation to the main shaft 52 with a predetermined distance between them, and two arm shafts 71 supported by the spin head 51 so that their tips can be protruded and retracted in front of and behind the chuck 53. And an arm 72 which is positioned in a direction orthogonal to the main axis 52 and is supported between the tips of the two arm shafts 71, and which enables expansion and contraction and rotation, and is attached to the tip of the arm 72. Then, the hand effector 73 for gripping the work 42 taken out from the chuck 53 and the storage position (A) and the work reversal position (B) of the hand effector 73 via the arm shaft 71 and the arm 72. ), And the turret 5 in the computer numerically controlled lathe 50.
5 and is indexed to the axis of the main shaft 52, and subsequently adjusted in height so as to be aligned with the main shaft 52,
Then, on the axis of the main shaft 52, the workpiece 42 which is brought close to and away from the chuck 53 and is taken out is carried from the chuck 53 to the workpiece reversing position (B) of the finger effector 73 and the finger effector. 73, the work 42 is received from the hand effector 73 after being turned over by the hand effector 73, and the work 42 turned over to the chuck 53 from the work reversing position (B) of the hand effector 73. It was assembled where the work reversing work was carried out in the box-shaped cover 56 of the lathe 50 with the work take-out mechanism 15 which carried and delivered it to the chuck 53.

The two arm shafts 71 are reciprocally slidably supported by bearings 76, 76, 76, 76 on a bracket 75 screwed onto the spindle head 51, and the tip ends thereof. Is extended from the openings 77, 77 of the box-shaped cover 56 into the box-shaped cover 56, and when the tip of the box-shaped cover 56 projects forward and backward of the chuck 53 and is retractable, the spindle 52 is paralleled at a predetermined interval. Was placed. Further, the two arm shafts 71 are provided with openings 77, 77 in the box-shaped cover 56.
At, it was sealed with a wiper 78.

The arm 72 uses a hollow rotary hydraulic cylinder 79 in combination with a splint shaft 81, and the cylinder body 80 is positioned in a direction orthogonal to the main axis 52 thereof so that the two arm shafts are positioned. Fixedly bonded between the tips of 71. Of course, in this hollow rotary hydraulic cylinder 79, the pressure oil supplied from a hydraulic pressure source (not shown) is directionally controlled by a hydraulic pressure control valve (not shown), and is supplied and discharged to generate power. The hand effector 73 through the splint shaft 81.
Is moved to the extended position (C) and the contracted position (D), and the hand effector 73 can be rotated by 180 degrees around the axis of the splint shaft 81 via the splint shaft 81. Thus, the work 42 can be inverted 180 degrees on the axis of the main shaft 52.

The hand effector 73 can be opened and closed by the hand body 22 supported by the tip of the splint shaft 81 on the axis of the spline shaft 81, and by the tip of the hand body 22. The assembled finger chuck 23, the gripping mechanism (not shown) that is connected to the finger chuck 23 in the hand body 22 to open and close the finger chuck 23, and the hand body 22. It consisted of its pneumatic cylinder (not shown) incorporated within and moving its gripping motion mechanism. And, of course, in the pneumatic cylinder, the compressed air supplied from the pneumatic pressure source (not shown) is direction-controlled by an air pressure control valve (not shown), and the compressed air is supplied and discharged to generate power. The finger chuck 23 is opened and closed through the gripping operation mechanism. Further, in the hand effector 73, the gripping operation mechanism is embodied as a link mechanism that connects the pneumatic cylinder to the finger chuck 23.

The hydraulic cylinder 74 is of a direct acting type, and the tip of the piston rod 83 is at the rear end of the two arm shafts 71 and the floating joint 84.
And the cylinder body 82 was screwed to its bracket 75 and placed on its spindle head 51. Of course, this hydraulic cylinder 74
The pressure oil supplied from a hydraulic pressure source (not shown) is directionally controlled by a hydraulic control valve (not shown), and is supplied and discharged to generate power.
And the hand effector 73 is moved to the storage position (A) and the work reversal position (B) via the arm 72.

The automatic work reversing device 70 having the above-described structure is used as the computer numerical control lathe 50.
In the above, when the work 42 is processed on the front and back sides, the work reversal work was performed on the axis of the main shaft 52. Of course,
The operating procedure of the automatic work reversing device 70 was prepared in advance so that the work reversing work could be performed by being pre-programmed in the program of the control unit that instructs the computer numerical control lathe 50. Further, since the work reversing work is performed in the same manner as that of the automatic work reversing device 10 described above, detailed description thereof will be omitted.

FIGS. 9 to 12 show still another embodiment 90 of the automatic work device used for the computer-controlled machine tool of the present invention, which is applied to the front and back machining of the work 105 by the computer numerically controlled lathe 50. Further, in this automatic work reversing device 90, the work taking-out mechanism 15 is replaced with a deformed work taking-out mechanism 91 in the above-mentioned automatic work reversing device 70 and is embodied, and the work 105 is exposed on the lathe 50. During the transition from machining to back machining, the automatic work reversal method used in the computer controlled machine tool of the present invention was implemented to perform work reversal work on the axis of its spindle 52.

This automatic work reversing device 90 has its two arm shafts 71, its arm 72 which is its hollow rotary hydraulic cylinder 79 combining its splint shaft 81, and its hand effector 73. The hydraulic cylinder 74 and its work take-out mechanism 91 were assembled in the box-shaped cover 56 of the lathe 50 where the work was turned over.

The work take-out mechanism 91 corresponds to the shape of the work 42 in which the work take-out mechanism 15 in the above-described automatic work reversing device 10, 70 is embodied in the inner diameter grasping structure and is surface-processed. In comparison with the above, it was embodied in the outer diameter grasping structure. More specifically,
The work take-out mechanism 91 also serves as the turret 55 of the lathe 50, and is provided at the tip of the carrying pin 92, which is supported by the turret 55 and allows the work 105 to be transferred to the chuck 53. The jaw gripper 93 for gripping the work 105 taken out from the chuck 53 in a state of abutting against the tip end surface of the carrying pin 92, and the killing pin 92 can slide on the turret 55 with a predetermined stroke. To the chuck 53 from the carrying pin 92 to the workpiece 105.
A chucking device 94 for delivering its carrying pin 92, its carrying pin 92 being indexed by its turret 55 to the axis of its main shaft 52 and subsequently height-adjusted to align with said main shaft 52, and , The chuck 53 is moved closer to or away from the chuck 53 on the axis of the spindle 52, and the workpiece 10 is removed from the chuck 53.
5, and at that time, the jaw gripper 93 concentrically moves the work 105 to the carrying pin 9
The workpiece 105 taken out from the chuck 53 is conveyed to the workpiece reversal position (B) of the hand effector 73, and is delivered to the hand effector 73 there, and the work is also stopped. 105 is 180 on the axis of the main shaft 52 by the hand effector 73.
After being inverted, the work 105 is received from the hand effector 73, and the reversed work 105 is carried to the chuck 53 from the work reversal position (B) of the hand effector 73 and is transferred to the chuck 53. Hand over,
At that time, the chucking device 94 is allowed to operate to push the work 105 into the chuck 53 in a close contact state.

The jaw gripper 93 is embodied in an outer diameter gripping structure corresponding to the work 105, and
Specifically, the three jaws 95 arranged at equal intervals on the outer peripheral surface of the carrying pin 92 and swingably connected to the tip of the carrying pin 92, and the three jaws 95 are always provided. It was assembled with three coil springs 96 that slammed the closed position. Of course, the three coil springs 96 are fitted into the three holes 97 corresponding to the three jaws 95, which are opened at equal intervals on the outer peripheral surface of the carrying pin 92.

On the other hand, the chucking device 94
Supported by the turret 55,
A clamping sleeve 98 in which the rear end of the pin 92 is fitted so as to be reciprocally slidable with a predetermined stroke, the clamping sleeve 98 and the carrying pin 92 thereof.
It was assembled with a compression coil spring 100 located around the rear end of its carrying pin 92 between spring seats 99 which were stepped on each other. In this case, the predetermined stroke is determined by the elongated hole 101 formed in the rear end of the carrying pin 92 in the axial direction, and the stopper pin driven into the clamping sleeve 98 and passed through the elongated hole 101. Given by 102 and.

The automatic work reversing device 90 described above.
In the computer numerically controlled lathe 50, the work reversal work was performed on the axis of the main spindle 52 when the work 105 was machined on the front and back sides. Particularly, in this automatic work reversing device 90, since the work take-out mechanism 91 is embodied as an outer diameter grip type, the work reversing work is performed even though the surface machining of the work 105 does not include drilling. Became possible on the axis of the main shaft 52. Further, the operation procedure of the automatic work reversing device 90 is pre-programmed in the program of the control unit for instructing the computer numerical control lathe 50 so that the work reversing work can be executed. Of course, since the work reversing work is performed in the same manner as those of the above-described automatic work reversing devices 10 and 70,
The detailed explanation is omitted.

FIGS. 13 and 14 show a work take-out mechanism 1 modified to suit the automatic work reversing method and the automatic work reversing devices 10, 70 and 90 described above.
In particular, the work take-out mechanism 110 has been modified so as to be suitable for the spherical work 135 in which the drilling is not performed by the primary machining, that is, the surface machining. The work picking mechanism 110 uses two carrying pins 111 and 112, and one of the carrying pins 111 and 112 is one of the carrying pins 111 and 112.
However, in a turret 131, which is a linear turret 131, which enables linear movements in two axial directions orthogonal to each other in a horizontal plane, the spherical work 1 is supported by a certain station 132 from the chuck 130.
35, and the other side 112 of the carrying pins 111 and 112 has a linear shape.
In the turret 131, the carrying pin 11
1, the spherical workpiece 135 is supported by another station 133 located away from the chuck 1
It has just been made available for mounting on 30.

More specifically, the work take-out mechanism 110 is a carrying pin dedicated to take-out, which is supported by the station 132 in the turret 131 and receives the spherical work 135 from the chuck 130 on the axis of the spindle. 111, a detent device 33 arranged at the tip of the carrying pin 111 for exclusive use for taking out the spherical work 135 taken out from the chuck 130 to prevent the carrying pin 111 for exclusive use for taking out, and the linear turret. 1
At 31, a carrying pin 112 dedicated to mounting, which carries the spherical work 135 after being inverted and supported by the station 133 to the chuck 130 on the axis of the spindle, and a carrying pin 112 dedicated to the mounting.
The magnet holder 113, which holds the inverted spherical work 135 placed at the tip of the holder, in a state of abutting against the tip surface of the carrying pin 112 dedicated to its mounting, and the carrying pin 112 dedicated to its mounting to the chuck 130 thereof. The chucking device 114 delivers the inverted spherical workpiece 135.

Carrying pin 111 for exclusive use of the taking out
In the linear turret 131, the main pin 115 supported by the station 132, and the stud end 118 inserted into the hole 116 opened in the tip surface of the main pin 115 are screwed to the tip of the main pin 115. The detent device 33 has just been manufactured with the split pin structure assembled by the assembled tip pin 117, and the detent device 33 has been placed on the tip pin 117. And carrying pin 111 for exclusive use of this taking out
However, the point where such a split type structure is adopted is that several types of tip pins having different outer diameters are prepared in advance and appropriately selected so as to be suitable for drilling a workpiece.

On the other hand, the carrying pin 112 for exclusive use in mounting is the main pin 119 supported by the station 133 in the linear turret 131, and the magnet embedding hole 1 opened on the end face on the chuck side.
It was assembled with a tip pin 121 having a chucking device 114 that was reciprocally slidably fitted to the tip of its main pin 119. In the carrying pin 112 dedicated to this attachment, the chucking device 114 is partitioned from the magnet embedding hole 122 by the partition wall 123 and opened on the end face of the tip pin 117 on the turret side, and the main pin 119 thereof. Sleeve hole 124 that fits the tip of the
And in the sleeve hole 124, the partition wall 1
23 and compression coil arranged between the tip pin 121.
A spring 125 and a retaining pin 126 on the main pin 119 of which the stroke of the tip pin 121 is restricted;
It is composed of a roll stopper pin 127 in which the tip pin 121 is prevented from rotating around the main pin 119. A bush 128 is fitted into the sleeve hole 124, and the tip of the main pin 119 is fitted so as to be reciprocally slidable.
One end of the compression coil spring 125 is seated in the spring seat recess 129 of the partition wall 123, and the other end of the compression coil spring 125 is fitted into a spring receiving hole 120 formed in the tip surface of the main pin 119. It was arranged between the main pin 119 and the tip pin 121.

The magnet holder 113 is fitted in the magnet embedding hole 122 and the tip pin 1 thereof is inserted.
It was screwed to 21. In this case, the magnet holder 113 has a spherical tip 1 with its tip end surface.
It was processed into a partially spherical concave surface according to the curvature of 35.
Of course, the magnet holder 113 can be replaced with an electromagnetic means such as a solenoid.

With the work take-out machine 110 having such a structure, it becomes possible to perform drilling of a spherical work,
Further, the operation of the work take-out mechanism 110 is the same as that of the work take-out mechanisms 15, 91 performed by the automatic work reversing devices 10, 70 and 90 described above, except that the number of times the turret 131 is indexed is increased. , Omit a detailed explanation of it.

The automatic work reversing device 10 described above,
In the 70 and 90, the finger effectors 13 and 73 were embodied by using a pneumatic cylinder as an actuator for causing the finger chuck 23 to perform a gripping operation.
The actuator may be embodied where either an electric motor combined with a reduction gear, a solenoid or the like is used. In particular, when a solenoid is used for the actuator, the gripping operation mechanism can be omitted.

Further, the hand effectors 13 and 73 are embodied by using the pneumatic vane motor 26 and the hollow rotary hydraulic cylinder 79 as an actuator for reversing the finger chuck 23 by 180 degrees.
The actuator is an electric motor, such as a torque
It may be embodied using any of a motor, servo motor, stepper motor, or the like.

Further, the work take-out mechanism 15, 91, 110 described above is embodied as a mechanical gripping means or a mechanical-magnet-like gripping means. 110 is a pneumatic gripping means, a hydraulic gripping means, a vacuum pressure gripping means, and
It may be embodied by any means such as an electromagnetic grasping means.

As is apparent from the embodiments of the present invention described with reference to the drawings as described above, those skilled in the art who have ordinary knowledge in the technical field to which the present invention belongs have the following contents. In order to achieve the object of the invention, it is easy to obtain a mode that is derived from the technical essence of the invention, which is essential for the formation of the invention and is the nature of the invention, and which is objectively recognized as being inherent. Is embodied in.

[0047]

As will be understood from the above, the automatic work reversal method used in the computer-controlled machine tool of the present invention is such that when a work is machined in a computer-controlled machine tool, the work is attached to a chuck for machining. Then, the workpiece is taken out of the chuck on the axis of the spindle, the taken-out workpiece is reversed on the axis of the spindle, and the reversed workpiece is directly attached to the chuck and the workpiece is again attached. Therefore, in the automatic work reversal method of the present invention, the operation area is narrowed, the work can be reversed in a narrow space, and the reliability of the motion of reversing the work on the axis of the main shaft And the time required for reversing the work can be set to a minimum, and the work of reversing the work is narrow. It is automated and labor-saving at a pace, improving the production tact, increasing the production capacity, and reducing the production cost.As a result, it is very useful and practical for the front and back machining of workpieces by computer-controlled machine tools. is there.

Further, according to the automatic work reversal method used for the computer-controlled machine tool of the present invention, when the work is machined in the computer-controlled machine tool, the work is attached to the chuck and machined, and then the turret is utilized. Sequentially, take out the work from the chuck on the axis of the spindle, reverse the taken-out work on the axis of the spindle, and immediately attach the reversed work to the chuck and re-install it. Since the work can be machined, in the automatic work reversing method of the present invention, the operation area becomes extremely narrow, the work can be reversed in a narrow space, and the work is reversed on the axis of the spindle. The reliability of the work can be secured, and the time required to reverse the work can be set to the minimum, and the work of reversing the work can be performed. Narrow space automated and labor saving, the production tact is further improved production capacity is further improved, and, it further allows reduced production costs,
As a result, it is much more useful and practical for the front and back processing of a work by two computer-controlled machine tools.

Further, the automatic work reversing device used in the computer-controlled machine tool of the present invention, in the computer-controlled machine tool, is made parallel to the spindle at a predetermined distance in relation to the chuck, and then the chuck is moved. An arm that is supported by the spindle head, with its tip protruding forward and backward so that it can be retracted
The shaft, the arm positioned in the direction perpendicular to the main axis of the arm and supported by the tip of the arm shaft, and the finger chuck located at the tip of the arm are assembled to the arm and then removed from the chuck. The hand effector for gripping and reversing the workpiece to be moved and the hand effector via the arm shaft and arm between the storage position and the work reversing position, and
A rotary cylinder that swings the end effector through its arm around the axis of its arm shaft and, in its computer-controlled machine tool, supported by a turret and indexed on the axis of its main spindle; and , Is moved closer to and away from the chuck on the axis of the main spindle, and the workpiece to be taken out is conveyed from the chuck to the workpiece reversal position of the hand effector and is delivered to the hand effector, and after being turned by the hand effector. ,
The automatic work reversal mechanism of the present invention includes a work pick-up mechanism that receives the work from the hand effector, and carries the reversed work from the work reversal position of the hand effector to the chuck and delivers it to the chuck. In the device, the operation area is narrowed, the structure is simplified and downsized, the work can be inverted in a narrow space, the reliability of the operation of reversing the work on the axis of the spindle is ensured, and the work The time required for reversing can be set to a minimum, especially the reversing work of the work is automated and labor-saving in the computer-controlled machine tool, the production tact is improved, the production capacity is improved, and the production cost is reduced. As a result, it is very useful and practical for processing the front and back of a workpiece by a computer-controlled machine tool.

Furthermore, the automatic work reversing device used in the computer-controlled machine tool of the present invention, in the computer-controlled machine tool, is made parallel to the spindle at a predetermined interval in relation to the chuck, and the chuck is then made. The arm shaft supported by the spindle head, with its tip protruding forward and backward, is supported by the tip of the arm shaft positioned in the direction orthogonal to its main axis, and the expansion and contraction and rotation operation And a hand effector that is attached to the tip of the arm and holds the work taken out from the chuck, and the hand effector is retracted through the arm shaft and arm. In the cylinder to be moved between positions and its computer controlled machine tool, Supported by the pallet and indexed on the axis of the spindle, and moved closer to and away from the chuck on the axis of the spindle, and the workpiece to be ejected from the chuck to the workpiece inversion position of the hand effector. Carry it and deliver it to the minion effector, receive the work from the minion effector after reversal by the minion effector, and carry the reversed work to the chuck from the work reversal position of the minion effector. Since the automatic work reversing device of the present invention includes the work take-out mechanism which is handed over to the chuck, the operation area is narrowed, the structure is simplified and downsized, and the work can be reversed in a narrow space. The reliability of the operation of reversing on the axis of is ensured, and the time required for reversing the work can be set to the minimum. , Especially in computer-controlled machine tools, the work of reversing the work is automated and labor-saving, the production tact is improved, the production capacity is improved, and the production cost is reduced, so that the work by the computer-controlled machine tool is reduced. For the front and back processing of
Very useful and practical.

[Brief description of drawings]

FIG. 1 is a concrete example of an automatic work reversing device used for a computer-controlled machine tool according to the present invention, which is applied to a computer numerically controlled lathe in which front and back processing including drilling, both end surface finishing, and inner and outer chamfering is applied to a work. It is the front view which showed the example.

FIG. 2 is a partial plan view of the automatic work reversing device shown in FIG.

FIG. 3 is a partial side view of the automatic work reversing device shown in FIG.

4 is an enlarged partial plan view of the automatic work reversing device shown in FIG. 1. FIG.

FIG. 5 is an illustration showing a work machined on both sides by the computer numerically controlled lathe shown in FIG. 1 in each machining step.

FIG. 6 shows another automatic work reversing device used in the computer-controlled machine tool of the present invention, which is applied to a computer numerically controlled lathe in which front and back machining including boring, both end surfaces finishing, and inner and outer diameter chamfering is applied to a work. It is a front view showing a concrete example of.

7 is a partial plan view of the automatic work reversing device shown in FIG.

8 is a partial side view of the automatic work reversing device shown in FIG.

FIG. 9 is still another automatic work reversing device used in the computer-controlled machine tool of the present invention, which is applied to a computer numerically controlled lathe in which front and back surface finishing including both end surface finishing and outer diameter chamfering is applied to a work. It is the front view which showed the specific example.

FIG. 10 is a partial plan view of the automatic work reversing device shown in FIG.

11 is a partial side view of the automatic work reversing device shown in FIG. 9. FIG.

12 is an enlarged partial plan view of the automatic work reversing device shown in FIG.

FIG. 13 is a partial front view showing the carrying pin side only for taking out the deformed work taking-out mechanism in a partial cross section.

14 is a partial front view showing the carrying pin side dedicated to mounting the work take-out mechanism shown in FIG. 13 in a partial cross section.

[Explanation of symbols]

 11 Arm Shaft 12 Arm 13 Hand Effector 14 Rotary Cylinder 15 Work Extracting Mechanism 22 Hand Body 23 Finger Chuck 26 Pneumatic Vane Motor 33 Detent Device 34 Chucking Device 50 Computer Numerical Control Lathe 51 Spindle Head 52 Main spindle 53 Chuck 54 Claw 55 Turret (swivel) 71 Arm / shaft 72 Arm 73 Hand effector 74 Hydraulic cylinder 79 Hollow rotary hydraulic cylinder 91 Workpiece take-out mechanism 92 Carrying pin 93 jaw gripper 94 Chucking device 95 Jaw 110 Workpiece take-out Mechanism 111 Carrying pin for taking out 112 Carrying pin for mounting 113 Magnet holder 114 Chucking device 11 The main pin 117 distal pin 119 main pin 121 distal pin 131 turret (linear)

Claims (29)

[Claims] 1. When machining a workpiece in a computer-controlled machine tool, the workpiece is attached to the chuck and machined, and then the workpiece is sequentially taken out from the chuck on the axis of the spindle, and the taken-out workpiece is taken out. An automatic workpiece reversing method used in a computer-controlled machine tool, in which a workpiece is reversed on the axis of its main axis, and the reversed workpiece is attached to the chuck so that the workpiece can be machined again. 2. When machining a work in a computer-controlled machine tool, the work is attached to the chuck and machined, and then the turret is utilized to sequentially take out the work from the chuck on the axis of the spindle. , Automatic work reversal used in computer controlled machine tools where the picked work is reversed on the axis of its main axis and the reversed work is attached to the chuck and the work can be machined again Method. 3. A computer-controlled machine tool, wherein a spindle is paralleled to a main shaft at a predetermined distance in relation to a chuck, and a front end and a rear end of the chuck are protruded so as to be retractable and rotatable. Arm shaft supported by the spindle head, an arm positioned in the direction orthogonal to its main axis and supported at the tip of the arm shaft, and a finger chuck positioned at the tip of the arm And a hand effector for gripping and reversing the work taken out from the chuck, and moving the hand effector between the storage position and the work reversing position via the arm shaft and arm, and , Rotary rotary that swings the hand effector through the arm around the axis of the arm shaft. And the computer-controlled machine tool, the turret supports and indexes on the axis of the spindle, and then moves closer to and away from the chuck on the axis of the spindle. From the hand effector to the work reversing position of the hand effector and handing over to the hand effector, after reversing by the hand effector, the work is received from the hand effector, and from the work reversing position of the hand effector to the chuck. An automatic work reversing device used for a computer-controlled machine tool including a work picking mechanism which carries the reversed work and delivers it to the chuck. 4. A finger effector, a finger chuck, a pneumatic cylinder, a gripping operation mechanism for opening and closing the finger chuck by the power of the pneumatic cylinder, and
4. A pneumatic vane motor for reversing the finger chuck about the axis of the arm.
An automatic work reversing device used in the computer-controlled machine tool according to. 5. The finger effector has a finger chuck, an electric motor, a reduction gear, a gripping operation mechanism for opening and closing the finger chuck by the power of the electric motor via the reduction gear, and the finger chuck. An automatic work reversing device for use in a computer-controlled machine tool according to claim 3, which is constituted by a pneumatic vane motor for reversing the arm around the axis of the arm. 6. A finger effector, a finger chuck, a pneumatic cylinder, a gripping operation mechanism for opening and closing the finger chuck by the power of the pneumatic cylinder, and
4. An automatic work reversing device for use in a computer controlled machine tool according to claim 3, comprising an electric motor for reversing the finger chuck about the axis of the arm. 7. The finger effector has a finger chuck, an electric motor, a reduction gear, a gripping operation mechanism for opening and closing the finger chuck with the power of the electric motor via the reduction gear, and the finger chuck. An automatic work reversing device used in a computer-controlled machine tool according to claim 3, wherein the automatic work reversing device comprises another electric motor for reversing the arm around the axis of the arm. 8. The hand effector comprises a finger chuck, a solenoid for opening and closing the finger chuck, and a pneumatic vane motor for reversing the finger chuck about the axis of the arm. An automatic work reversing device used in the computer-controlled machine tool according to item 3. 9. The finger effector has a finger chuck, a solenoid, a gripping operation mechanism for opening and closing the finger chuck by the power of the solenoid, and the finger chuck being inverted about the axis of the arm. An automatic work reversing device for use in a computer-controlled machine tool according to claim 3, which comprises a pneumatic vane motor. 10. The finger effector comprises a finger chuck, a solenoid for opening and closing the finger chuck, and an electric motor for reversing the finger chuck about the axis of the arm. An automatic work reversing device for use in the computer-controlled machine tool described. 11. The finger effector has a finger chuck, a solenoid, a gripping operation mechanism for opening and closing the finger chuck by the power of the solenoid, and an electric motor for reversing the finger chuck around the axis of the arm. An automatic work reversing device for use in a computer-controlled machine tool according to claim 3, which comprises a motor. 12. A carrying pin having a work picking mechanism supported by the turret and capable of delivering the work to the chuck, and the work picked up from the chuck by being arranged at the tip of the carrying pin. 4. The automatic work reversal used in a computer-controlled machine tool according to claim 3, comprising a detent device for preventing the carrying pin from slipping off, and a chucking device for delivering the work from the carrying pin to the chuck. apparatus. 13. A carrying pin having a work taking-out mechanism supported by the turret and capable of passing the work to the chuck, and a work arranged at the tip of the carrying pin and taken out from the chuck. The computer-controlled machine tool according to claim 3, comprising a jaw gripper that grips the tip end surface of the pin in a butt state, and a chucking device that delivers the work from the carrying pin to the chuck. Automatic work reversing device. 14. A carrying pin whose work take-out mechanism is supported by the turret and can transfer the work to the chuck, and a work which is arranged at the tip of the carrying pin and taken out from the chuck.・ Magnet holder that holds the tip of the pin in abutting state and its carrying
4. The automatic work reversing device used in a computer-controlled machine tool according to claim 3, comprising a chucking device for delivering the work from a pin to the chuck. 15. A carrying pin whose work picking mechanism is supported by the turret so as to transfer the work to the chuck, and a work which is placed at the tip of the carrying pin and picked up from the chuck.・ Solenoid holder that holds the tip of the pin in abutting state and its carrying
4. The automatic work reversing device used in a computer-controlled machine tool according to claim 3, comprising a chucking device for delivering the work from a pin to the chuck. 16. A carrying pin whose work take-out mechanism is supported by a station having the turret and receives the work from the chuck, and a work pin which is placed at the tip of the carrying pin and taken out from the chuck. A detent device that prevents the carrying pin from slipping out, another carrying pin that is supported by another station on the turret and transfers the work after reversing to the chuck, and it is placed at the tip of another carrying pin and reversing it And a chucking device for transferring the reversed work from the other carrying pin to the chuck, the magnet holder holding the finished work in abutting state with the tip surface of the other carrying pin. Computer system described in 3 Automatic work reversing device used for machine tools. 17. A carrying pin whose work take-out mechanism is supported by a station having the turret and receives the work from the chuck, and the work taken out from the chuck by being arranged at the tip of the carrying pin. A detent device that prevents the carrying pin from slipping out, another carrying pin that is supported by another station on the turret and transfers the work after reversing to the chuck, and it is placed at the tip of another carrying pin and reversing it And a chucking device for delivering the reversed work from the other carrying pin to the chuck, the solenoid holder holding the finished work in abutment with the tip surface of the other carrying pin. Computer system described in 3 Automatic work reversing device used for machine tools. 18. In a computer controlled machine tool,
An arm shaft that is parallel to the main shaft at a predetermined distance in relation to the chuck, and has a tip protruding forward and backward of the chuck and supported by a spindle head, and a direction orthogonal to the main shaft. And an arm that is supported by the tip of the arm shaft and that enables expansion and contraction and rotation, and a hand effector that is attached to the tip of the arm and that grips the workpiece that is taken out from the chuck. And its arm
A cylinder that moves the hand effector between a storage position and a work reversal position via a shaft and an arm;
In the computer-controlled machine tool, supported by a turret and indexed on the axis of the spindle, moved closer to and away from the chuck on the axis of the spindle, and the workpiece to be taken out from the chuck Carry it to the work reversal position of the effector and deliver it to the hand effector, and after reversing by the hand effector, receive the work from the hand effector, and from the work reversal position of the hand effector to the chuck Automatic work reversing device used for a computer-controlled machine tool including a work taking-out mechanism for carrying a conveyed work and delivering it to the chuck. 19. The automatic reversing device used in a computer controlled machine tool according to claim 18, wherein the arm is a rotary cylinder. 20. The computer-controlled machine tool according to claim 18, wherein the hand effector comprises a finger chuck, a pneumatic cylinder, and a gripping operation mechanism for opening and closing the finger chuck by the power of the pneumatic cylinder. Automatic work reversing device used for. 21. The finger effector comprises a finger chuck, an electric motor, a reduction gear, and a gripping operation mechanism for opening and closing the finger chuck with the power of the electric motor via the reduction gear. Item 18. An automatic work reversing device used in the computer-controlled machine tool according to Item 18. 22. The automatic work reversing device for use in a computer-controlled machine tool according to claim 18, wherein the hand effector comprises a finger chuck and a solenoid for opening and closing the finger chuck. 23. The computer-controlled machine tool according to claim 18, wherein the finger effector comprises a finger chuck, a solenoid, and a gripping operation mechanism that opens and closes the finger chuck by the power of the solenoid. Automatic work reversing device. 24. A carrying pin having a work taking-out mechanism supported by the turret and capable of delivering the work to the chuck, and the work taken out from the chuck being arranged at a tip of the carrying pin. 19. An automatic work reversal device for use in a computer-controlled machine tool according to claim 18, which comprises a detent device that prevents the carrying pin from slipping off, and a chucking device that delivers the work from the carrying pin to the chuck. apparatus. 25. A carrying pin having a work picking mechanism supported by the turret and capable of delivering the work to the chuck, and a work picked up from the chuck and arranged at the tip of the carrying pin to carry the work. The computer-controlled machine tool according to claim 18, which comprises a jaw gripper that grips the tip end surface of the pin in a butt state, and a chucking device that transfers the work from the carrying pin to the chuck. Automatic work reversing device. 26. A carrying pin having a work taking-out mechanism supported by the turret and capable of passing the work to the chuck, and a work arranged at the tip of the carrying pin to take the work taken out from the chuck.・ Magnet holder that holds the tip of the pin in abutting state and its carrying
19. The automatic work reversing device used in a computer-controlled machine tool according to claim 18, comprising a chucking device that delivers the work from a pin to the chuck. 27. A carrying pin having a work taking-out mechanism supported by the turret and capable of passing the work to the chuck, and a work arranged at the tip of the carrying pin to take the work taken out from the chuck.・ Solenoid holder that holds the tip of the pin in abutting state and its carrying
The automatic work reversing device used in a computer-controlled machine tool according to claim 18, which comprises a chucking device for delivering the work from a pin to the chuck. 28. A carrying pin whose work take-out mechanism is supported by a station having the turret and receives the work from the chuck, and the work taken out from the chuck by being arranged at the tip of the carrying pin. A detent device that prevents the carrying pin from slipping out, another carrying pin that is supported by another station on the turret and transfers the work after reversing to the chuck, and it is placed at the tip of another carrying pin and reversing it And a chucking device for delivering the reversed work from the other carrying pin to the chuck, the magnet holder holding the formed work in abutting state with the tip surface of the other carrying pin. The computer according to item 18. Automatic work reversing device used for controlled machine tools. 29. A work picking mechanism, wherein the work picking mechanism is supported by a station having the turret and receives the work from the chuck, and the work picked out from the chuck is disposed at the tip of the carrying pin. A detent device that prevents the carrying pin from slipping out, another carrying pin that is supported by another station on the turret and transfers the work after reversing to the chuck, and it is placed at the tip of another carrying pin and reversing it And a chucking device for delivering the reversed work from the other carrying pin to the chuck, the solenoid holder holding the finished work in abutment with the tip surface of the other carrying pin. The computer according to item 18. Automatic work reversing device used for controlled machine tools.