JPS63212433A - Work supply and carryout device for processing machine - Google Patents

Abstract

PURPOSE:To shorten the cycle time of supplying and carrying-out of works in a work supply/carryout device for an NC lathe etc. by performing carrying-in of work and its insertion, separation, discharge to/from a chuck with a single drive device by certain specified procedures. CONSTITUTION:If a rotary actuator 2 is driven, follower shafts 7a, 7b are reciprocated with rotation of a drive shaft 4. Intermittent rotation of these follower shafts 7a, 7b swings arms 30a, 30b borne thereby, and hand clamps 50a, 50b at their tips reciprocate between the work carrying position A and the position facing the chuck C and between the position facing the chuck C and the work carryout position B, and thus the work is transported. Reciprocation of a base 13 allows insertion of the work clamped by the hand clamp 50a into the chuck C and taking out of it with the hand clamp 50b. Opening/closing of the hand clamps 50a, 50b is made by opening/closing mechanisms 64a, 64b through intermittent rotation transmitting mechanisms 32a, 32b.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a loading/unloading device for a processing machine, such as a machine tool, and particularly relates to a device for supplying and unloading workpieces to and from a machine tool such as an NC lathe. .

(Prior Art) A conventional workpiece supply/unloading device for a machine tool has an arm having a hand for clamping the workpiece at the tip, and this arm is arranged between the workpiece loading position and the chuck of the machine tool, and between the chuck and the chuck. The hand is configured to swing between the position and the workpiece unloading position, and perform linear reciprocating motion for inserting and removing the workpiece into the chuck with the hand. Equipped with an opening and closing mechanism.

The swinging and reciprocating movement of the arm and the opening and closing of the hand are
They are each driven by separate drive sources.

(Problems to be Solved by the Invention) In the conventional workpiece supply/unloading device configured as described above, since there are a large number of drive sources, in order to prevent interference between each operation, it is necessary to After receiving the confirmation signal, the next operation is started. However, there is a problem that time is required to confirm the signal, which inevitably slows down the work speed.

Therefore, an object of the present invention is to provide a workpiece supply/unloading device that does not require receiving an operation confirmation signal after each operation as described above and can shorten the cycle time for supplying and unloading the workpiece. .

(Means for Solving the Problems) A workpiece supply and unloading device according to the present invention includes a drive shaft rotationally driven by a reciprocating drive device, first and second driven shafts provided along the drive shaft, an intermittent rotation transmission mechanism tPJl that is provided between the drive shaft and the first driven shaft and intermittently transmits the rotation of the drive shaft to the first driven shaft within a predetermined rotation angle range; and the drive shaft and the second driven shaft. A second drive shaft is provided between the
a second intermittent rotation transmission mechanism for transmitting information to the driven shaft; a base that supports the drive shaft and the first and second driven shafts and is movable in the longitudinal direction of those shafts; and a predetermined rotation angle range of the drive shaft. a base moving device that displaces the base in one and the other direction in the longitudinal direction in conjunction with the rotation of the shaft; first and second arms that swing according to the
A first arm that can be opened and closed supported at the tips of the first and second arms.
and a second hand clamp, and first and second clamp opening/closing mechanisms supported by the first and second driven shafts and connected to the first and second hand clamps, respectively;
a third intermittent rotation transmission mechanism that is provided between the drive shaft and the first driven shaft and transmits the rotation of the drive shaft to the first clamp opening/closing mechanism within a predetermined rotation angle range to open and close the first hand clamp; a fourth intermittent rotation transmission mechanism that is provided between the drive shaft and the second driven shaft and transmits the rotation of the drive shaft to the second clamp opening/closing mechanism in a predetermined rotation angle range to open and close the second hand clamp; The first intermittent rotation transmission mechanism moves the first arm via the first driven shaft so that the first hand clamp reciprocates between the workpiece loading position and the position facing the workpiece gripping chuck of the machine tool. The second intermittent rotation transmission mechanism is configured to swing the second arm via the second driven shaft so that the second hand clamp reciprocates between the workpiece unloading positions of the machine tool. the base moving device is configured to move the first or second
The base is reciprocated in the longitudinal direction by a distance corresponding to the distance between the hand clamp in a position facing the workpiece gripping chuck and a forward position in which the workpiece gripped by the hand clamp can be inserted into the chuck. The first, second, third, and fourth intermittent rotation transmission mechanisms and base moving devices operate in the following order:
That is, the second arm is swung so as to move the second hand clamp from the workpiece unloading position to the chuck facing position, and then the second hand clamp is moved to the forward position so as to grip the workpiece in the chuck, After gripping the workpiece with the second hand clamp, it is moved back to the position facing the chuck, and then the second arm is swung so as to move the second hand clamp to the workpiece unloading position.
When the hand clamp is moved to the forward position, the first hand clamp is at the workpiece loading position, and when the second hand clamp is retreated to the chuck facing position, the first hand clamp grips the workpiece to be loaded. The second hand clamp moves backward, and then the first hand clamp moves to the workpiece unloading position.
The first arm is oscillated so that the hand clamp moves to a position facing the chuck, and then the first hand clamp is advanced together with the second hand clamp to insert the workpiece gripped by the first hand clamp into the chuck. At the same time, the workpiece gripped by the second hand clamp is released, and then the first hand clamp is moved back to the position facing the chuck, and the first arm is swung to move the first hand clamp to the workpiece loading position. , the timing is mutually determined.

(Function) With the above configuration, when the drive device is operated, the first and second driven shafts rotate intermittently at predetermined timings as the drive shaft rotates, and the base moving device moves to the first drive shaft on the base.
The second driven shaft is reciprocated in its longitudinal direction at predetermined timing, and the intermittent rotation of the first and second driven shafts causes the first and second arms supported thereto to swing. The second hand clamp reciprocates between the workpiece loading position and the chuck facing position, and between the chuck facing position and the workpiece unloading position, and moves the unprocessed workpiece from the loading position to the chuck facing position and back to the chuck facing position. The workpiece is transported from the position facing the chuck to the unloading position. and,
The reciprocating movement of the base by the base moving device causes the workpiece gripped by the first hand clamp to be inserted into the chuck, and the machined workpiece to be removed from the chuck by the second hand clamp. Furthermore, the opening and closing of both hand clamps is performed at appropriate timings by operating the first and second clamp opening/closing mechanisms by the drive shaft via the third and fourth intermittent rotation transmission mechanisms.

(Example) Hereinafter, the present invention will be described in detail with reference to the drawings.

In FIG. 1, reference numeral 2 denotes a low reactuator that constitutes a drive device, and is adapted to drive a drive shaft 4 via a coupling 3. As shown in FIG. 2, the drive shaft 4 is rotatably supported by bearings 5 and 6. On both sides of the drive shaft 4, a first driven shaft 7a and a second driven shaft 7b, which are longer than the drive shaft, are provided parallel to it, and these driven shafts 7a, 7b are supported by bearings 8, 9 and ga, 3b. has been done. The bearings 4.9a, 9b are provided inside a bearing support 10 also shown in FIG.
+ 8 a + 8 b are provided inside the bearing support 11 .

The drive device 2 and the bearing support 10.11 are fixed on the base 13. As shown in FIG. 1, the base 13 is guided by rails 15 laid on a base 14 and is capable of reciprocating sliding displacement in the longitudinal direction of the drive shaft 4. As shown in FIG.

A rotary cam 17 is fixed in the middle of the drive shaft 4. This cam has a cylindrical shape, and a cam groove 18 is provided on the circumferential surface of the cam. A fixed engagement protrusion 19 protruding from below is engaged in the cam groove 18 as shown in FIG. There is. The engagement protrusion 19 is fixed on a support 20 fixed on the base 14.

The cam groove 18 has a circumferential portion of 18 m as shown in FIG.
and an inclined portion 18n, and in a predetermined rotation angle range of the drive shaft 4, the engagement protrusion 19 engages with the inclined portion 18n, so that the rotating cam 17 receives an axial force, and therefore the drive shaft 4 and the first and second driven shafts 7a, 7b, the base 13 moves in the longitudinal direction of the drive shaft. An opening 21 is formed in the base portion surrounding the support stand 20 so as not to impede movement of the base 13. The amount and timing of movement of the base 13 will be described later.

A first intermittent rotation transmission mechanism 23a is provided between the drive shaft 4 and the first driven shaft 7a, and a second intermittent rotation transmission mechanism 23b is provided between the drive shaft 4 and the second driven shaft 7b. There is. The first intermittent rotation transmission mechanism 23a is composed of a known Geneva mechanism, and includes a driving wheel 24 and a driven wheel 25a.
The second intermittent rotation transmission mechanism 23b also has a driving wheel 24 and a driven wheel 25b.

As shown in FIGS. 4 and 5, the Geneva mechanism 23a,
23b has an arcuate notch 26 and an engagement pin 27 on the driving wheel side, and an elongated notch 28 with which the engagement pin 27 engages and an arcuate notch on either side of the elongated notch 28 on the driven wheel side.

Since the Geneva mechanism is well known, further explanation will be omitted.

The first and second intermittent rotation transmission mechanisms 23a described above
, 23b, when the drive shaft 4 rotates, the first and second driven shafts 7a, 7b are intermittently rotated within a predetermined rotation angle range of the drive shaft. 1st and 2nd
The intermittent rotation of the driven shafts 7a, 7b
The first and second arms 30 have their bases attached to the tips of b.
a.

This is done to swing 30b as described below.

A third intermittent rotation transmission mechanism 32a is provided between the drive shaft 4 and the first driven shaft 7a, and a fourth intermittent rotation transmission mechanism 32b is provided between the drive shaft 4 and the second driven shaft 7b. There is. The third intermittent rotation transmission mechanism 32a includes the drive wheel 3
3 and a driven wheel 34a, and the fourth intermittent rotation transmission mechanism 32b includes a driving wheel 33 and a driven wheel 34b.
Consisting of The third and fourth intermittent rotation transmission mechanisms include two circumferentially spaced pins 36 and 36 on the periphery of the drive wheel 33, as shown for example in FIG. 6 for the fourth intermittent rotation transmission mechanism. It has a protrusion 37 on the side of the driven wheel 34b so as to be displaced by being pushed by these pins.

Third and fourth intermittent rotation transmission mechanisms 32a.

32b directs the rotation of the drive shaft 4 to the first and second driven shafts 7.
a, 7b, but intermittent rotation is transmitted to the first and second rotating cam bodies 39a, 39b rotatably supported around the first and second driven shafts 7a, 7b. It is set up for the purpose of For this purpose,
The rotating cam bodies 39a, 39b are provided integrally with the driven wheels 34a, 34b, respectively, and the rotating cam bodies 39a, 39b are mounted on the driven shaft by bearings, as shown in FIG. 3 for the case of the rotating cam body 39b. Supported.

Both rotating cam bodies 39a.

39b has a cylindrical shape and has spiral-like cam grooves 40a and 40b (FIG. 2) on its outer periphery. These cams? M40a, 40b are the arms 30a, 3
A bent portion 42 is provided at the end closer to 0b. Cam followers 41a and 41b are engaged with these cam grooves 40a and 40b.

Both cam followers protrude downward from the bridge member 43 shown in FIG. 2, and in the case of the cam follower 41b enters into the cam groove from above to below as shown in FIG. 3. Both ends of the bridge member 43 are connected to the first and second driven shafts 7a.
, 7b so as to be slidably supported in the longitudinal direction. And the first and second driven shafts 7a, 7b
A receiving ring 46a is fixed immovably in the axial direction, respectively.

Compression springs 47a and 47b are interposed between 46b and the first and second sliding bodies 44a and 44b, respectively.

With the above configuration, when the drive wheel 33 rotates due to the rotation of the drive shaft 4, the driven wheels 34a and 34b rotate intermittently at appropriate timing, thereby causing the rotating cam body 3 to rotate.
Since 9a and 39b also rotate intermittently, both sliding bodies 44a and 4
4b are springs 47a and 4 due to the action of the cam grooves 40a and 40b.
It is slidably displaced in the axial direction overcoming the force of 7b or under the action of springs 47g and 47b. This sliding displacement is performed to open and close the hand clamp, which will be described later.

As shown in FIG. 1, the first and second arms 30a, 3
At the tip of 0b, there are first and second
hand clamp 50a.

50b is provided. In the state shown in the figure, the first hand clamp 50a is at the workpiece loading position A opposite to the exit of the workpiece loading chute 51a, and the second hand clamp 50b is opposite to the entrance of the workpiece unloading chute 51b. It is located at workpiece unloading position B. A chuck C of a processing machine such as a machine tool that grips and rotates a workpiece is located between the workpiece carry-in position A and the workpiece discharge position B.

Both hand clamps 50a and 50b have the same structure, for example, as shown in FIG. 7. The hand clamp has a pair of claws 53,53 for gripping the workpiece,
These claws are connected to both sides of the sliding member 54 by links 55. Further, the base end of the six claws 53 is pivotally mounted by a movable pin 56. A compression spring 57 is interposed between the enlarged front end portion 54a of the sliding member 54 and the fixed portion. This compression spring 57 serves to push out the workpiece when the pawls 53.53 are opened and released. The tip of a lever 59 is pivotally attached to the sliding member 54, and when the sliding member 54 is displaced to the right in the figure by the force of the lever 59 against the force of a spring 57, the claws 53 and 53 are separated. The clamp is released. The claws 53.53 are connected to the springs 47a, 47.
It is given elasticity in the closing direction by the action of b.

The first and second sliding bodies 44a, 44b include a first
and links 60a, 60 along the second driven shafts 7a, 7b.
One end of b is pivotally connected by a pin 61. The other ends of the links 60a and 60b are connected to a lever 59 by a pin 62.
a, 59b, and each lever is connected to one end of arm 30a or 30b by a pin 63, as shown in FIG.
It is pivoted to. The other ends of the levers 59a and 59b are connected to a hand clamp 50a as shown by the lever 59 in FIG.
, 50b. Therefore, due to the sliding displacement of the first and second sliding bodies 44a and 44b, the link 60
The levers 59a and 59b rotate via the levers a and 60b, and the hand clamp 50a.

50b will be opened and closed. The above sliding body 44 a
, 44 b-, link 60a, 5Qb, lever 59a
, 59b constitute first and second clamp opening/closing mechanisms 64a, 64b, respectively.

Next, the operation of the workpiece supply and carry-out device described above will be explained.

The state shown in FIG. 1 is a state in which a workpiece is being chucked in a chuck C of a machine tool or machine and being processed (the workpiece is not shown). In this state, the first arm 30a swings so that the hand clamp 50a is at the workpiece carry-in position A, and the second arm 30b swings so that the hand clamp 50b is at the workpiece carry-out position B. There is.

The following description will be made assuming that the cycle starts from this standby state.

This standby state is the state shown in FIG. 8(a), in which the workpiece W1 is chucked on the chuck C. On the other hand, the first
The second intermittent rotation transmission mechanisms 23a and 23b are in the state shown in FIG. 8(a), the rotating cam 17 is also in the state shown in FIG. in the center of the section. This standby state is a position where the drive shaft 4 is rotated, for example, 135 degrees clockwise from the starting end when viewed from the left side in FIG. The rotational directions described below are all rotational directions when the drive shaft 4 is viewed from the left side of FIG. 1.

When machining of the workpiece gripped by the chuck C is completed, the drive shaft 4 starts to rotate counterclockwise by the drive device 2 until it reaches the 60' position (the rotation angle described below is only an example). do not have). As a result, the driven wheel 25b and the rotary cam 17 rotate to the state shown in FIG. 8(b). Therefore, the second arm 30b rotates via the second driven shaft 7b to the position shown in FIG. During this time, the first arm 30a does not swing.

- The drive shaft 4 is further rotated counterclockwise, thereby obtaining the state shown in FIG. 3(C). In this state, the rotation angle of the drive shaft 4 becomes 0@ through 15''.During this period, the arm 30b is maintained at the angle shown in FIG. , the base 13 supporting the rotating cam moves toward the right in FIG. 2. As a result, the first and second driven shafts 7a on the base 13,
7b, including the drive shaft 4, moves in the same direction, and the first and second arms 30g, 30b also move in the same direction.

As a result, the eleventh second hand clamp 50a.

50b advance to the exit of the workpiece loading chute 51a and the workpiece gripped by the chuck C, respectively.

When the rotation angle of the drive shaft reaches 15'', the hand clamps 50a and 50b are released.

Then, both hand clamps move forward in the open state,
The first hand clamp 50a is a workpiece carrying chute 51a.
The second hand clamp 50b is in contact with the workpiece at the outlet of the
comes into contact with the machined workpiece in the chuck C.

In the state described above, the cam follower 41a shown in FIG.
, 41b are not in the positions shown in the figure, but in the cam grooves 40a, 40b.
is in a state of being engaged with the bent portion 42 of the
The first and second sliding bodies 44a, 44b are springs 47a, 4
7b is compressed and displaced to a position close to the arms 30a, 30b and held at that position. Therefore, link 6
0a, 60b are also displaced toward the arms 30a, 30b, and the hand clamp 50a in FIG.

50b is now open.

As mentioned above, the first and second hand clamps 50a,
When the drive shaft 4 reaches the position θ'', the third and fourth intermittent rotation transmission mechanisms 3
The driven wheels 34a, 34b of the cam followers 2a, 32b receive rotational force from the drive wheel 33, and therefore the cam followers 4
1a.

41b is disengaged from the bent portion 42 of the cam grooves 40a, 40b, and is moved in the axial direction to the position shown in FIG. 2 by the force of the springs 47a, 47b. Therefore, the first and second clamp opening/closing mechanisms 64a.

first and second hand clamps 50a via 64b;
50b closes and both clamp the workpiece.

The drive shaft 4, which has rotated counterclockwise to the 0'' position as described above, then begins to rotate clockwise.

From 0° to 15", all the intermittent rotation transmission mechanisms idle, and from 0" to 60", the rotating cam 17 rotates clockwise, and the engaging protrusion 19 is inserted into the cam groove 18 as shown in FIG. The base 13 starts to move back to the initial position via the rotating cam 17, and the first hand clamp 50a moves the workpiece W from the workpiece loading chute.
2 (Fig. 8 (C)) and retreats, and the second hand clamp 50b is used to hold the workpiece Wl (Fig. 8 (C)) in the chuck C.
(Fig. (C)) and pull it out from the chuck C.

From the state shown in FIG. 8(d) obtained in the above manner, the drive shaft 4 further rotates clockwise from 60" to the 135° position. After passing the state shown in FIG. 8(d), 2. The drive wheel 24 of the intermittent rotation transmission mechanism 23b is the driven wheel 2.
5b, the second driven shaft 7b starts rotating counterclockwise, the second arm 30b swings toward the position shown in FIG. 8(e), and the second hand clamp 50b While holding W1, move to a position opposite workpiece unloading position B. At this time, the rotating cam 17 does not exert any action, and the base 13 is maintained at the same position.

While the drive shaft 4 rotates up to 210 degrees, as shown in Fig. 8 (
As shown in e), the drive wheel 24 of the first intermittent rotation transmission mechanism 23a begins to act on the driven wheel 25a, the first driven shaft 7a begins to rotate counterclockwise, and the first arm 30a moves as shown in FIG. Swing counterclockwise toward the state shown in f). As a result, the first hand clamp 50a reaches the position facing the chuck as shown in FIG. 8(f) while holding the workpiece W2.

When the drive shaft 4 continues to rotate clockwise toward 270' from the state shown in FIG. 8(f) to the position shown in FIG. 8(g).
), the base 13 moves forward again,
First and second arms 30a, 30 supported thereon
b also moves forward, and the first and second hand clamps 50a.

50b moves forward while gripping the workpieces W2 and Wl, the first hand clamp 50a inserts the workpiece W2 into the chuck C, and the second hand clamp 50b inserts the workpiece W1 into the chuck C.
is inserted into the entrance of the workpiece loading chute 51b.

Subsequently, the third and fourth intermittent rotation transmission mechanisms 32a, 32
b is their driven wheel 34a.

34b, which causes the first and second slides 44a, 44b to begin to move towards the first and second arms 30a, 30b, so that the first
The first and second hand clamps 50a, 50b are opened via the second clamp opening/closing mechanisms 64a, 64b, and this open state is caused by the bent portions 42 of the cam grooves 40a, 40b.
The cam followers 41a and 41b are engaged with the cam followers 41a and 41b to be held. In this way, the workpieces Wl and W2 are left in the workpiece loading chute 51b and the chuck C. The opening of hand clamps 50a, 50b is completed when the drive shaft reaches 270'.

The workpiece W is placed on the workpiece unloading chute 51b and the chuck C.
l, hand clamp 50a to which W2 was passed.

Due to the retraction of 50b, the drive shaft 4 is then rotated in the opposite direction. All intermittent rotation transmission mechanisms idle until the drive shaft 4 reaches 255'. On the other hand, the rotary cam 17 also continues to rotate in the opposite direction, so that the fixed engagement protrusion 19 within the cam groove 18 reaches the position shown in FIG. 8(h) from the position shown in FIG. 8(g).

This position is the 210'' position, during which the rotating cam 17
The base 13 is retracted through the chuck C and the open hand clamps 50a and 50b are separated from the chuck C and the entrance of the workpiece unloading chute 51b.

When the drive shaft 4 continues to rotate further in the counterclockwise direction, the driven wheel 25a of the first intermittent rotation transmission mechanism 23a receives a clockwise rotational force, and the first arm 30a supported by the first driven shaft 7a rotates as shown in FIG. Swinging is started from the position shown in (h) to the position shown in FIG. 8 (i), and this swinging is completed at 135°. Therefore, the first hand clamp 50a reaches a position facing the entrance of the workpiece loading chute 51a, and the initial state shown in FIG. 8(a) is obtained.

Thereafter, the operations are repeated exactly as described above.

〔Effect of the invention〕

As described above, in the present invention, by the reciprocating motion of a single reciprocating drive device, loading of the workpiece, insertion and removal of the workpiece into and from the chuck, and unloading of the workpiece are performed in a predetermined order with opening and closing of the hand clamp. This eliminates the need to confirm the completion of operations by various drive devices each time before starting operation of the next drive device, as was the case in the past, and the speed of a series of operations can be determined solely by the speed of the drive devices. It is possible to increase the feeding and unloading speed of workpieces and increase the percentage of actual working time of the processing machine body.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of the workpiece supply and unloading device of the present invention, FIG. 2 is a partially sectional plan view of the device in FIG. 1, FIG. 3 is a longitudinal sectional view, and FIG. 4 is a first intermittent rotation. Diagram showing the transmission mechanism, No. 5
FIG. 6 is a diagram showing the second intermittent rotation transmission mechanism, FIG. 6 is a diagram showing the fourth intermittent rotation transmission mechanism, FIG. 7 is a cross-sectional view of the hand clamp, and FIG. 8 is a workpiece supply/unloading device of the present invention. FIG. 2 is a diagram illustrating the order of operations. 1... Drive device, 4... Drive shaft, 5.6.8. 9
゜8a, 9a...bearing, 7a...first driven shaft, 7b
...Second driven shaft, 13...Base, 17...Rotating cam, 18...Cam groove, 19...Engaging protrusion, 23a
...First intermittent rotation transmission mechanism, 23b... Second intermittent rotation transmission mechanism, 24... Drive wheel, 25a, 25b
...Followed wheel, 30 a-...First arm, 30
b--Second arm, 32a-Third intermittent rotation transmission mechanism, 32b-Fourth intermittent rotation transmission mechanism, 33...
Drive wheel, 34a. 34b...driven wheel, 39a, 39b.
...Rotating cam body, 40a, 40b-cam groove, 41a, 4
1b...Cam follower, 43...Bridge member, 44a...
- 1st sliding body, 44b... 2nd sliding body, 50. a...
・First hand clamp, 50b...Second hand clamp, A...Workpiece carry-in position, B...Workpiece carry-out position, C...Chuck, 53...Claw, 56...Movable Pin, 57... Spring, 59a, 59b... Lever, 6
0a, 60b...link, 64a...first clamp opening/closing mechanism, 64b...second clamp opening/closing mechanism.

Claims (1)

[Claims] 1. A drive shaft rotationally driven by a reciprocating drive device, first and second driven shafts provided along the drive shaft, and a drive shaft provided between the drive shaft and the first driven shaft. a first intermittent rotation transmission mechanism that intermittently transmits the rotation of the drive shaft to the first driven shaft within a predetermined rotation angle range; a second intermittent rotation transmission mechanism that intermittently transmits transmission to the second driven shaft in a predetermined rotation angle range; a base that supports the drive shaft and the first and second driven shafts and is displaceable in the longitudinal direction of those shafts; , a base moving device that displaces the base in one and the other of the longitudinal directions in conjunction with the rotation of the shaft within a predetermined rotation angle range of the drive shaft; and base ends at the ends of the first and second driven shafts, respectively. first and second arms that are fixed and swing in response to rotation of both driven shafts; first and second hand clamps that can be opened and closed supported at the tips of the first and second arms; First and second clamp opening/closing mechanisms supported by two driven shafts and connected to the first and second hand clamps, respectively, are provided between the drive shaft and the first driven shaft, and are provided between the drive shaft and the first driven shaft to control the rotation of the drive shaft according to its predetermined direction. A third intermittent rotation transmission mechanism is provided between the drive shaft and the second driven shaft, and the third intermittent rotation transmission mechanism transmits the transmission to the first clamp opening/closing mechanism to open and close the first hand clamp in the rotation angle range of . a fourth intermittent rotation transmission mechanism that transmits the transmission to the second clamp opening/closing mechanism to open/close the second hand clamp in a rotation angle range of
The intermittent rotation transmission mechanism is configured to swing the first arm via the first driven shaft so that the first hand clamp reciprocates between a workpiece loading position and a position facing a workpiece gripping chuck of the machine tool. The second intermittent rotation transmission mechanism is configured to swing the second arm via the second driven shaft so that the second hand clamp reciprocates between workpiece unloading positions of the machine tool. , the base moving device moves the first or second hand clamp at a distance between a position facing the workpiece gripping chuck and an advanced position where the workpiece gripped by the hand clamp can be inserted into the chuck. The base is configured to reciprocate in the longitudinal direction by a corresponding distance, and the first, second, third, and fourth intermittent rotation transmission mechanisms and base moving devices are configured to cause the movements in the following order. That is, the second arm is swung to move the second hand clamp from the workpiece unloading position to the chuck facing position, and then the second hand clamp is moved to the forward position so as to grip the workpiece in the chuck. , After gripping the workpiece with the Q hand clamp, it is moved back to the position facing the chuck, and then the second arm is swung so as to move the second hand clamp to the workpiece unloading position, while the second hand When the clamp is moved to the forward position, the first hand clamp is at the workpiece loading position, and when the second hand clamp is moved back to the position facing the chuck, the first hand clamp grasps the workpiece to be loaded and retreats. Then, after the second hand clamp moves to the workpiece unloading position, the first arm is swung so that the first hand clamp moves to the chuck facing position, and then the first hand clamp is moved together with the second hand clamp. move forward first
The workpiece gripped by the hand clamp is inserted into the chuck, and the workpiece gripped by the second hand clamp is released at the workpiece unloading position, and then the first hand clamp is retreated to the position facing the chuck, and the first hand clamp is moved back to the position facing the chuck. 1. A workpiece supply and carry-out device for a machine tool, characterized in that timings are mutually determined so that the first arm swings in order to move the hand clamp to a workpiece carry-in position. 2. The workpiece supply and carry-out device according to claim 1, wherein the first, second, third, and fourth intermittent rotation transmission mechanisms are Geneva mechanisms. 3. The base moving device engages with a rotary cam fixed to the drive shaft so as to rotate together with the drive shaft,
2. The workpiece supply and carry-out device according to claim 1, further comprising a fixed engagement protrusion that moves the workpiece in the axial direction of the drive shaft when the workpiece is rotated. 4. The third and fourth intermittent rotation transmission mechanisms include a drive side wheel fixed to a drive shaft, and first and second driven side intermittent rotation wheels fixed to first and second driven shafts,
The first and second clamp opening/closing mechanisms include first and second rotating cam bodies supported on first and second driven shafts so as to rotate together with the first and second driven intermittent rotating wheels;
first and second sliding bodies that engage with the first and second rotating cam bodies and are slidably displaced in the longitudinal direction on both driven shafts when the first and second rotating cam bodies rotate; Second
2. The workpiece supply and carry-out device according to claim 1, comprising a link mechanism that connects the hand clamps and converts sliding displacement of the sliding body into opening/closing movement of the hand clamps.