JPH091480A - Workpiece conveying device and machine tool using it - Google Patents

Abstract

PURPOSE: To improve movability so as to provide a workpiece conveying device using no driving cylinder and so as to provide a machine tool in which chips and cutting oil generated during machining are not leaked from a machining place while the number of movable parts such as a gate and a shutter arranged in a chute for feeding a workpiece is reduced. CONSTITUTION: A gripping arm 23, which is provided with at least one gripping member 27 gripping a workpiece 11, and a driving shaft 24 provided with the gripping arm 23 at the tip are provided, and a spiral track and an axial track are formed in the driving shaft 24. A first rotary member is engaged in the spiral track, while a second rotary member is engaged in the axial track. The first rotary member is rotated by means of a first driving motor 35, while the second rotary member is rotated by means of tub second driving motor 42.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device for automatically transferring a work to a chuck in a machine tool such as a lathe, and a machine tool using the same.

[0002]

2. Description of the Related Art In a machine tool such as a lathe, a work is usually gripped by a chuck during machining. The chuck is fixed to the tip of the spindle, and the spindle rotates during machining, and the work held by the chuck contacts the tool. The tool has a blade for cutting, and the blade scrapes a chip from the work. Cutting oil is also used to lubricate tools and workpieces. In order to automate a machine tool, an automatic chuck that automatically grips and releases a work is required. Further, in order to further promote automation, it is necessary to install a work on the chuck before starting the work and remove the work from the chuck after finishing the work. This work transfer device picks up an unprocessed work from a loading station such as a chute and transfers it to a chuck, and further removes a processed work from the chuck and transfers it to a discharge station such as a chute.

[0003]

In the conventional work transfer device, a movable shaft having a work gripping mechanism at its end is used. This movable shaft can move linearly in the axial direction and can also rotate in the rotational direction. Therefore, such a work transfer device requires a motor for rotational movement and a fluid cylinder or air cylinder for linear movement. Therefore, such a work transfer apparatus requires electric power for rotational movement and a separate fluid or air source for linear movement. Another type of work transfer device is disclosed in U.S. Pat. No. 4,646,422. This work transfer device has a shaft whose both ends are rotatably supported, and the arm is movably supported along the shaft and fixed in the rotation direction. The first drive motor is configured to rotate the shaft, and the second drive motor is configured to linearly move the arm by rotating a threaded rod provided inside the shaft. However, this axis has a limited range of movement because it extends between the tool and the chuck. Further, the work transfer mechanism has a problem that it is easy to cover chips and cutting oil generated during the work. Another type of work carrier is U.S. Pat. No. 4,458,
No. 566. Here, the movable shaft is allowed to go straight and rotate, and the arm is fixed to the end of the movable shaft. However, rotation is provided by screws mounted perpendicular to the arm and rotation is limited to rotation along an arc defined by the length of the rod. Therefore, the loading and ejecting capacity of the arm is also limited. Chips and cutting oil generated during machining are often released in unexpected directions. Furthermore, the intrusion of chips and cutting oil causes machine tool failure. For example, chips interfere with the operation of gripping devices used for loading and unloading workpieces. Therefore, it is desirable to prevent chips and cutting oil from leaking out from the part where the work is performed. The work gripping mechanism of the conventional work transfer device is composed of a 3-jaw chuck and a pusher plate. The work is held by a movable shutter so as not to fall from the opening of the chute. When the gripping mechanism moves toward the work and the shutter opens, the pusher plate engages with the work. After that, the claws are closed and engaged with the work, and the work is taken out from the chute. The second and lower works from the bottom are held at positions where the 3-jaw chuck of the gripping mechanism does not interfere with the operation of taking out the bottom work. Therefore, the first gate that suppresses the second work from the bottom and the second gate that suppresses the third work from the bottom are used. That is, when sending the next work, the first gate is opened while the second gate is closed, only one work is sent to the bottom, and then the first gate is closed and the second gate is opened. There is a need to. That is, this type of work transfer device requires a movable shutter and two movable gates, which increases the cost of the transfer device and complicates the structure.

[0004]

OBJECTS OF THE INVENTION It is an object of the present invention to provide a work transfer device which improves mobility and does not use a drive cylinder. Another object of the present invention is to provide a machine tool in which chips and cutting oil generated during machining do not leak outside from the place where the machining is performed. Still another object of the present invention is to provide a machine tool in which the number of movable parts such as gates and shutters provided in a chute for loading a work is reduced.

[0005]

In order to achieve the above-mentioned object, a work transfer apparatus of the present invention has a gripping arm having at least one gripping member for gripping a work, and a drive having the gripping arm attached to a tip thereof. An axis and a spiral orbit and an axial orbit are formed on the drive shaft, a first rotating member is engaged with the spiral orbit, and a second rotating member is engaged with the axial orbit. In combination, the first rotation member is rotated by the first drive motor, and the second rotation member is rotated by the second drive motor. Here, the spiral trajectory is a groove or a convex portion formed in a spiral shape, and the axial trajectory is
It is a groove or a protrusion formed in the axial direction. A machine tool for automatically transporting and machining a work according to the present invention is a machine tool for automatically transporting and machining a work, including a chuck for grasping the work during machining and at least one grip for grasping the work. A work transfer device that has a gripping arm having a member and that transfers a work to a chuck; and a partitioning member that is arranged so that the chuck is located on one side and the transfer station for loading the work transfer device on the other side is located on the other side. The means for driving the work transfer device having
The partition member is located on the opposite side of the chuck, and the partition member has a first opening corresponding to the transfer station and a second opening for passing a drive shaft of the work transfer device. The first opening is sealed by a gripping arm of the work transfer device, and the second opening is provided with a telescopic cover member. A machine tool for automatically carrying and working a work according to the present invention includes a chuck that holds the work during working and a gripping arm that has at least one gripping member that holds the work, and the work that carries the work to the chuck. A transfer means and a transfer station for loading the work on the work transfer device;
Chute means for advancing the work to the transfer station, the chute means is provided on a bottom part of the chute means along a chute means, and on both sides of the chute means in parallel with the bottom guide. Provided 1
And a pair of side guides, and one of the pair of side guides has
The gripping member of the work transfer device has an opening for taking out the work, the gripping arm is provided with a pusher plate that elastically engages the work gripped by the gripping member, and the chute means is provided with the gripping member. Is provided with a stopper means for stopping the pusher plate at a position where the pusher plate forms the same plane as the one side guide when facing the transfer station. Further, a machine tool for automatically carrying and working a work according to the present invention includes a chuck for gripping the work at the time of working, a work carrying means for carrying the work to the chuck, and a transfer for loading the work on the work carrying device. Station and chute means for advancing the work to the transfer station, and at least one gripping member of the work transfer device for gripping the work has two claws. It is characterized in that there is only one gate that is movable between the two, and that restricts the work from rolling down to the transfer station when in the working position.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a machine tool 1 having a work transfer device 12.
0. The machine tool 10 has a device frame 13 and a motor-driven spindle 14. A chuck 15 is fixed to the end of the spindle 14. Chuck 15
Is a so-called automatic chuck that automatically grips and releases the work 11. The chuck 15 includes several walls 17 as described later.
And extends inside the work chamber 16 defined by the door 20. The tool turret 21 is provided at a position where the selected tool 22 contacts the work 11.

A gripping arm 23 for transporting the work 11 to the chuck 15 is arranged in the work chamber 16. The gripping arm 23 is supported by the device frame 13 so as to be movable in the axial direction and the rotation direction. As shown in FIG. 6, the gripping arm 23 is provided with a head 18, and a first gripping member 27 and a second gripping member 28 are attached to the head 18 as described later.

The drive shaft 24 defines a shaft 30, as shown in FIG. Further, the drive shaft 24 is in the axial direction (that is, the Z direction).
It is attached to the device frame 13 so that it can move in the direction of rotation about the axis (that is, C direction). A spiral track 31 and an axial track 32 are formed on the drive shaft 24 along the drive shaft 24.

The drive shaft 24 is partially supported by the first drive means 38. The first drive means 38 has a first nut 33 having a spiral track 34 that engages with the spiral track 31. The first nut 33 is the device frame 1
It is fixed to No. 3 and allows only the movement of the drive shaft 24 around the axis 30 in the rotation direction, and restricts the movement in the axial direction. The first nut is connected to the first drive motor 35 via the belt 36. Since the first drive motor is a reversible motor, the first nut can rotate in both directions. Therefore, when the first nut 33 rotates in a certain direction, the drive shaft 24 moves in the axial direction, and when the first nut 33 rotates in the opposite direction, the drive shaft 24 moves in the opposite axial direction.

The spiral orbit 31, as shown in FIGS. 6 and 7, is a single groove formed on the surface of the drive shaft 24. The spiral track 31 may be formed in multiple lines, for example, two lines. The spiral track 34 of the first nut 33 and the spiral track 31 of the drive shaft 24 operate via balls 37.
The balls 37 are designed so that each of them can rotate freely.
It may be restricted so that it does not come out of the nut 33, or the ball 37 may circulate through the first nut 33 by using a return tube or the like like a general ball screw. It should be noted that the spiral track 31 can be formed as a convex portion rising from the surface of the drive shaft 24 instead of the groove as described above. In this case, the ball 37 is not used,
The drive shaft 24 and the first nut 33 are in sliding contact with each other.

As shown in FIG. 2, the drive shaft 24 is also supported by the second drive means 39. The second drive means 39 has a second nut 40, and an axial track 41 that engages with the axial track 32 of the drive shaft 24 is formed on the inner surface of the second nut 40. The second nut 40 is fixed to the device frame 13, and fixes the drive shaft 24 in the axial direction and holds it so as to be movable in the rotation direction. The second nut 40 is connected to the second drive motor 42 via the belt 43. Like the first drive motor 35,
The second drive motor is also a reversible motor. Therefore,
When the second drive motor 42 rotates the nut 40, the track 41 formed on the nut 40 engages with the track 32 of the drive shaft 24 to rotate the drive shaft 24. Further, the second drive motor is provided with a brake 44 for stopping the rotation of the second nut 40, that is, the rotation of the drive shaft 24.

The orbit 32 extending in the axial direction is a single or multiple groove formed on the outer periphery of the drive shaft 24 in parallel with the shaft 30. As a preferable example, as shown in FIGS. 6 and 7,
The tracks 32 are formed on the outer periphery of the drive shaft 24 at equal intervals.
It can be formed as a pair of grooves. In addition, the track 41 of the second nut 40 and the track 32 of the drive shaft 24 are
Operate via The balls 45 may be regulated so as not to come out of the second nut 40 by allowing them to rotate freely, or by using a return tube or the like like a general linear guide, the balls 45 are prevented from coming out of the second nut 40. May be circulated. The drive shaft 24 is used instead of the groove.
It is also possible to form it as a convex portion that rises from the surface of the. In this case, the ball 45 is not used and the drive shaft 24 and the second nut 40 make sliding contact.

With this structure, the first drive motor 35 is driven to move the gripping arm 23 in the Z direction. The drive shaft 24 tends to rotate due to the torque applied to the drive shaft 24 due to the operation of the first nut 33, the weight of the gripping arm 23, the weight of the workpiece 11 gripped by the gripping arm, or the like. In order to prevent such unnecessary rotation, a brake 44 is provided on the second motor. Further, in order to rotate the gripping arm 23, first, the brake 44 is released and the second drive motor 42 is driven. Thus, while the drive shaft 24 is rotating, the first nut 33 rotates together with the drive shaft 24 and does not rotate with respect to the drive shaft 24.

The control means 46 is a computer or other controller, and controls the drive motors 35 and 42 and the brake 44. An operator can create a program for the control means 46 from the operation panel 47 provided on the machine tool 10 shown in FIG. In addition, the control means 46 controls the opening / closing of the automatic chuck 15, the rotation of the spindle 14, the movement of the tool with respect to the work 11 and the like to achieve the complete automation of the machining work. In this way, the gripping arm 23 is moved in the Z direction, the C direction, or a combination of both by the operation of the drive motors 35 and 42.

The work transfer device 12 moves the work 11 between two axially and horizontally separated positions. That is, the work 11 is conveyed between the first position (shown in FIG. 8) where the work 11 is loaded and the second position (shown in FIG. 9) corresponding to the automatic chuck 15. A position where a work is gripped by a so-called work station 50 such as the automatic chuck 15 is called a work station 49. Here, the first position for loading the work 11 will be described later.

As shown in FIG. 3, the work transfer means 51 is fixed to the apparatus frame. The work transfer means 51 has a loading means 52 and a discharging means 53. The work loading means 52 has a charging chute 54 which is inclined downward toward the apparatus frame 13. Raw work 11
By an operator or an automatic conveyor (not shown)
It is placed on the charging chute 54 and rolls down along the charging chute 54 toward a bumper 55 provided at the end of the charging chute 54. The end of chute 54 forms a loading station 56. This loading station 56
From the above, the work 11 is taken out by the first gripping member 27 provided on the head 18 of the gripping arm 23.

The work discharge means 53 is a device frame 13.
It has the discharge chute 57 which inclines downward from. The upper end of the discharge chute 57 forms a discharge station 60. The discharge station 60 includes the second gripping member 28.
Thus, the processed work 11a is placed.

The ejection station 60 is adjacent to the loading station 56. Then, the first gripping member 27 and the second
The gripping members 28 are separated by the same distance as the distance between the discharge station 60 and the loading station 56. That is, the first
The gripping member 27 and the second gripping member 28 can simultaneously face the ejection station 60 and the loading station 56, respectively.

4A to 4C show a work transfer device 12
The processed workpiece 11a to the unprocessed workpiece 11a.
The process of replacing with is shown. As shown in FIG. 4A, when the gripping arm 23 is in the first position, the loading station 56
At, the unworked workpiece 11 is gripped by the first gripping member 27. FIG. 8 is a side view of the work transfer device 12 at this time.
Is shown by a solid line. Then, by the drive of the first drive motor 35, the gripping arm 23 moves in the axial direction and moves away from the first position. A side view of the work transfer device 12 at this time is shown by a two-dot chain line in FIG. At the same time, in order to prevent unnecessary rotation of the gripping arm 23, the brake 44 of the second drive motor 42 is
Operates. Subsequently, the brake 44 is released, the second drive motor 42 is operated, and the gripping arm 23 moves downward until the position shown in FIG. 4B is reached.

Then, the brake 44 is activated again, and the first
The drive motor 35 is driven in the opposite direction to that of FIG. 4A, and the gripping arm 23 moves axially toward the chuck 15.
The second gripping member 28 picks up the processed work 11 a from the automatic chuck 15. Then, the first drive motor is driven again to move the gripping arm 23 in the direction away from the chuck 15 in the axial direction. Subsequently, the gripping arm 23 moves further downward and reaches the position shown in FIG. 4C.
Then, the gripping arm 23 moves axially toward the chuck 15 again. A side view of the work transfer device 12 at this time is shown in FIG. Here, the first gripping member 27 is opened, and the unprocessed workpiece 11 is placed on the automatic chuck 15. The gripping arm 23 then moves axially away from the automatic chuck 15 and then upwardly back to the position of FIG. 4A. After that, the gripping arm 23 moves in the axial direction to reach the first position. Therefore, the processed work 11 a with the second gripping member 28 opened is placed on the discharge station 60 of the discharge chute 57. Workpiece 11 that has been processed
The a rolls from the discharge chute 57 to the conveyor.

As shown in FIG. 1, the chuck 15, the gripping arm 23, and the tool turret 21 are arranged inside the working chamber 16. The work chamber 16 is surrounded by several walls 17 and a door 20, and chips and cutting oil generated at the time of work do not leak out of the work chamber 16 so as not to reach other parts of the machine tool 10 and workers. To do so.

On one of the walls 17 of the work chamber 16 is a panel 61 fixed to the machine frame 13. A transfer station 62 such as a loading station 56 and a discharging station 60 is provided on one side of the panel 61, and the chuck 15 is located on the opposite side of the panel 61. A first opening 63 is formed in the panel 61.
The first opening 63 corresponds to the transfer station 62.
In addition, a second opening 64 is formed in the panel 61,
The drive shaft 24 of the gripping arm 23 passes through the second opening 64.
Is extending. FIG. 5 shows the positional relationship between the respective openings of the panel 61 and the chuck 15. When the gripping arm 23 is in the first position, the gripping members 27, 28 pass through the first opening 63 and reach their respective transfer stations 62. One,
When the gripping arm 23 is in the second position, the gripping member 2
7 and 28 reach the chuck 15.

When the gripping arm 23 is moved to the first position, the gripping arm 23 is moved toward the opening position 63, and the gripping members 27 and 28 of the gripping arm 23 pass through the opening 63 and the loading station 56 and the discharging station, respectively. Station 6
Try to reach 0. As shown in FIG. 3, the first opening 6
The size and shape of 3 are set to be the same as the head 18 of the gripping arm 23. Further, the head 18 is formed with a flange 65 surrounding the gripping members 27, 28, and the surface of the flange 65 surrounds the opening 63 of the panel 61.
It is configured to be in close contact with 7. Thus, when the gripping arm 23 is located at the first position, the gripping members 27, 2
8 is located on the side opposite to the side on which the panel 61 is machined, and the flange 65 of the head 18 and the panel surface 6
Due to the close contact with 7, the gripping members 27, 28 are not exposed to chips or cutting oil. Note that, more preferably, an elastic seal 66 can be used as the flange 65 in order to obtain a good sealing effect.

Further, since the gripping arm 23 comes into close contact with the panel surface 68 surrounding the second opening 64, it is possible to prevent chips and cutting oil from being applied to the first and second driving means. In addition,
More preferably, in order to obtain a good sealing effect, the elastic seal 66a can be used to be in close contact with the panel surface 68.

The gripping arm 23 is provided with a telescopic cover 69 for covering the drive shaft 24. As shown in FIG. 9, the expandable cover 69 is composed of a telescopic tube and extends from the gripping arm 23 through the second opening 64 to the second drive means 39. The expandable cover 69 prevents the drive shaft 24, the first nut 33, and the second nut 40 from being impaired in operation due to intrusion of chips and cutting oil.

As shown in FIG. 6, the gripping members 27, 28 respectively have claw means 70, 71 for gripping and releasing the work 11. The claw means 70 of the first grip member has two claws 72 that move toward and away from each other. Further, the claw means 71 of the second grip means 28 has three claws that move toward and away from each other. The claws 72, 73 are driven by air supplied from an air source (not shown) by an air hose 74 passing through the drive shaft 24 and the gripping arm 23.

Further, the gripping members 27 and 28 are provided with pusher plates 75 which can be compressed and moved. The pusher plate 75 is annular and has a diameter larger than that of the work 11. The pusher plate 75 is fixed to the gripping arm 23 by a support shaft 76 with a spring. Therefore, in the case of the second grip member 28, the pusher plate 75 contacts the work 11a,
When 8 further moves toward the chuck 15, the pusher plate 75 is pushed and the spring of the support shaft 76 is compressed. When the work 11 is gripped by the claws, the pusher plate 75 maintains the urging force on the work 11.

The work 11 is conveyed to the chuck 15 or the discharge station 60 of the discharge chute 57, and the nail 7
When 2, 73 are opened, the work 11 is pushed by the pusher plate 75.
It is pushed out from the gripping arm 23 by. Due to the operation of the pusher plate 75, at the same time when the claws 72 and 73 are opened, the work 11 is reliably placed on the chuck 15 or the discharge chute 57.

As shown in FIG. 8, the charging chute 54 is provided with a bottom guide 77, first and second side surface guides 81, 82 for supporting the unworked work 11 rolling down the charging chute 54. Has been. A bumper 55 is provided at the lower end of the closing chute 54, and a proximity sensor 79 for detecting the presence or absence of the work 11 at the lower end of the closing chute 54 is provided. Input chute 5
The lower part of 4 forms a loading station 56.

A gate 80 is provided on the charging chute 54. The gate 80 is movable between an operating position and a retracted position, and when it is in the operating position, it is located between the position of the work 11 at the bottom of the charging chute 54 and the position of the second work 11 from the bottom. . Also, the gate 80
Are controlled by the control means 46 in response to the signal from the sensor 79. The operation of the gate 80 will be described later.

The first side guide 81 facing the gripping arm 23 does not extend to the bumper 55. An opening 83 is formed at the lower end of the charging chute 54. 1
On the other hand, the second side guide 82 extends to the bumper 55.
When the work 11 is picked up by the first gripping member,
The work 11 is taken out from the charging chute 11 through the opening 83 of the first side surface guide.

Stopper means 84 composed of one or more pusher plate stoppers is fixed to the charging chute 54 in the vicinity of the opening 83 of the first side guide. The stopper means 84 extends into the opening 83 enough to contact and push the pusher plate 75. Further, the stopper means 84 is flush with the inner surface of the first side guide 81. Therefore, when the first gripping member 27 moves to the loading station 56 and the claw 72 enters the charging chute 54, the pusher plate 75 that contacts the stopper means 84 closes the opening 83. At this time, the first side guide 81 and the pusher plate 75 are on the same plane.

Even if the unworked workpiece 11 is taken out from the charging chute 54, the remaining workpieces 11 in the charging chute 54 are stopped by the gate 80 in the operating position. Therefore, at this time, there is no work 11 in the loading station 56.

While the work 11 is being machined, the gate 80 moves to the retracted position and the next unprocessed work 11 is moved.
Rolls down and comes into contact with the bumper 55 to stop. The next work 11 comes into contact with the first work 11 and stops. As such, only one gate 80 is needed and not two gates as in conventional devices. In the conventional device, since the 3-jaw chuck was used, the adjacent work was 3
Since it was necessary to stop the work at a position separated by a predetermined distance so as not to disturb the operation of the claw chuck, at least two gates 80 were required.

When the work 11 at the lowest position rolls down toward the bumper 55, the pusher plate 75 forms the same plane as the bottom guide 77, the second side guide 82, and the first side guide 81 for a time. The work 11 is supported by. In this way, pusher plate 7
Since 5 acts as an extension of the first side surface guide 81, the work 11 is sufficiently supported from three surfaces. Further, since the claw 72 of the first grip member 27 is open, the work 11 rolls down to the loading station 56, and when the claw 72 is closed, the work 11 is firmly gripped. Then, after the work of the work 11 gripped by the chuck 15 is finished, the unprocessed work 11 is taken out from the charging chute 54. The pusher plate 84 does not project into the opening 83 to the extent that it interferes with the removal of the work 11.

As described above, according to the work transfer apparatus of this embodiment and the machine tool using the same, the spiral orbit and the axial orbit are formed on the drive shaft to which the gripping arm is attached, and they are engaged with each other. By configuring the first and second nuts to be driven by the first and second drive motors, it is possible to move the gripping arm in a wide range in the straight traveling direction and the rotating direction, and the air source or the fluid source for driving can also be used. It becomes unnecessary. Further, since the panel around the opening corresponding to the transfer station and the head of the gripping arm are in close contact with each other, a nestable cover extending from the gripping arm to the panel is further provided in the opening through which the drive shaft is inserted. This makes it possible to prevent chips and cutting oil generated during machining from leaking out of the machining chamber. Furthermore, since the pusher plate of the gripping arm is configured to close the opening of the transfer station, it is not necessary to provide a dedicated shutter for the opening. Also, one of the gripping members is of the two-claw type. Since only one gate for the charging chute is required, the number of components can be reduced.

[0037]

As described above, according to the work transfer apparatus of the present invention and the machine tool using the same, it is possible to move the gripping arm in a wide range in the straight traveling direction and the rotating direction, and at the same time, the driving air source is used. Alternatively, no fluid source is required. or,
It is possible to prevent chips and cutting oil generated during the work from leaking out from the place where the work is performed. Further, since it is not necessary to provide a dedicated shutter in the opening and only one gate for the charging chute is required, the number of components can be reduced and the manufacturing cost can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a machine tool having a work transfer device according to an embodiment of the present invention.

FIG. 2 is a side view showing a work transfer device according to an embodiment of the present invention.

FIG. 3 is a cross-sectional view taken along the line 3-3 in FIG. 1, showing the work transfer device with a part of the head removed.

FIG. 4 is a front view showing the carrying operation of the work carrying device step by step.

FIG. 5 is a front view of the panel with the work transfer device removed.

FIG. 6 is a perspective view showing a drive shaft and a gripping arm.

7 is a cross-sectional view taken along the line 7-7 of FIG. 6, showing the drive shaft of the work transfer device.

8 is a cross-sectional view of the work transfer device taken along line 8-8 in FIG.

9 is a cross-sectional view of the work transfer device taken along line 9-9 in FIG.

[Explanation of symbols]

 11 Work 13 Device Frame 15 Chuck 16 Work Chamber 23 Grip Arm 24 Drive Shaft 33 First Nut 35 First Drive Motor 40 Second Nut 42 Second Drive Motor 46 Control Means 54 Input Chute 57 Ejection Chute 56 Loading Station 60 Ejection Station 61 Panel 63 Opening 65 Flange 75 Pusher plate 80 Gate 84 Stopper means

Claims (21)

[Claims] 1. A transporting device for transporting a work between two positions separated from each other, comprising: a gripping arm having at least one gripping member for gripping the work; and a drive shaft having the gripping arm attached to a tip thereof. A spiral orbit and an axial orbit are formed on the drive shaft, a first rotating member is engaged with the spiral orbit, and a second rotating member is engaged with the axial orbit. The work transfer device, wherein the first rotating member is rotated by a first drive motor, and the second rotating member is rotated by a second drive motor. 2. The spiral track and the axial track are at least one spiral track and an axial track formed on the outer surface of the drive shaft, respectively, and the first rotating member is the drive shaft. It is a 1st nut which has a spiral track which engages with the spiral track of a shaft in an inside, The 2nd rotation member is a 2nd nut which has a track which engages with the above-mentioned axial track of a drive shaft in an inside. The work transfer device according to claim 1, wherein the work transfer device is provided. 3. The first drive motor and the second drive motor are driven to move the gripping arm between a first position for loading a work and a second position separated from the first position. The work transfer device according to claim 1, further comprising control means for controlling the work transfer device. 4. The gripping arm has a first gripping member and a second gripping member, each of which comprises a claw means for releasably engaging a work, and the positions of the first gripping member and the second gripping member are: 4. The work transfer device according to claim 1, wherein the loading station for loading the work and the discharging station for discharging the work are set so that they can be positioned at the same time. . 5. The work transfer device according to claim 4, wherein the claw means of the first gripping member has two claws that can be brought into contact with and separated from each other. 6. The work transfer device according to claim 4, wherein the claw means of the second gripping member has three claws that can be brought into contact with and separated from each other. 7. The second motor has brake means connected to the control means.
7. The work transfer device according to any one of 1 to 6. 8. The work transfer device according to claim 1, wherein the spiral orbit is a groove formed in a spiral shape on the surface of the drive shaft. 9. The work transfer device according to claim 8, wherein the first nut and the drive shaft operate via balls. 10. The work transfer device according to claim 1, wherein the axial track is a groove formed on the drive shaft and extending in the axial direction. 11. The work transfer device according to claim 10, wherein the second nut and the axial track are operated via balls. 12. A machine tool for automatically transferring and machining a work, comprising a chuck for gripping the work during the machining and a gripping arm having at least one gripping member for gripping the work, and transporting the work to the chuck. And a partition member arranged so that the chuck is located on one side and the transfer station for loading the work on the work transportation apparatus is located on the other side, and drives the work transportation apparatus. The means is located on the side opposite to the chuck with respect to the partition member, and the partition member has a first opening corresponding to the transfer station and a second opening for passing a drive shaft of the work transfer device.
An opening is formed, the first opening of the partition member is sealed by the gripping arm of the work transfer device, and a telescopic cover member is provided in the second opening. . 13. The partition member is at least one panel, and the gripping arm is located at a first position where the gripping member faces the transfer station on the same side as the chuck with respect to the panel by the gripping arm driving means. And the gripping member is movably driven between a second position facing the chuck, and when the gripping arm is in the first position, the gripping arm and the panel have surfaces in close contact with each other, and Machine tool according to claim 12, characterized in that it is configured to seal one opening. 14. The gripping arm drive means includes a drive shaft,
It comprises a first drive means for moving the drive shaft in the axial direction and a second drive means for rotationally driving the drive shaft around the axis, wherein the first drive means and the second drive means are provided on the panel. Machine tool according to claim 12 or 13, characterized in that it is arranged on the same side as the transfer station. 15. The telescopic cover member of the second opening is a telescopic cover that extends from the gripping arm to the panel and covers the drive shaft. The machine tool described in Crab. 16. The transfer station comprises a loading station and a discharge station, the gripping arm has a first gripping member and a second gripping member, and the first gripping member and the second gripping member can release a work. Characterized in that the first gripping member and the second gripping member are positioned such that they can be positioned at the loading station and the discharging station at the same time. The machine tool according to any one of claims 12 to 15. 17. A working chamber defined by said at least one panel, a plurality of adjacent walls, and a door, wherein said chuck is inside said working chamber. The machine tool according to any one of 1. 18. A machine tool for automatically conveying and machining a work, comprising a chuck for grasping the work during the machining and a grasping arm having at least one grasping member for grasping the work, and conveys the work to the chuck. Work transfer means, a transfer station for loading the work into the work transfer device, and a chute means for advancing the work to the transfer station, the chute means at the bottom of the chute means And a bottom guide provided along the bottom chute means on both sides of the chute means in parallel with the bottom guide.
A pair of side guides, one of the pair of side guides has an opening formed in one of the pair of side guides for allowing the gripping member of the work transfer device to take out a work. A pusher plate that elastically engages the gripped work is provided, and the pusher plate forms the same plane as the one side guide when the gripping member faces the transfer station. A machine tool characterized in that stopper means for stopping the pusher plate at a position to be provided is provided. 19. A bumper is provided at an end of the bottom guide in the previous term, and one of the pair of side guides is the first side guide located on the side of the gripping arm, and the other side guide. 19. The machine tool according to claim 18, wherein the side guide is a second side guide located on the side opposite to the gripping arm and extending along the bottom guide to the transfer station. 20. A machine tool for automatically carrying and machining a work, comprising a chuck for gripping the work during the work, a work carrying means for carrying the work to the chuck, and a work carrying device for loading the work. A transfer station, for advancing the work to the transfer station,
At least one gripping member for gripping a work of the work transfer device is a two-claw type, and the chute means has a working position and a retracting position. A machine tool which is movable to and from a position and is provided with only one gate for restricting the work from rolling down to the transfer station when in the working position. 21. The machine tool according to claim 18, further comprising a discharge chute that discharges the work from the discharge station.