WO2004065061A1 - A machine tool, particularly for turning operations, with a manipulator device for loading and unloading workpieces - Google Patents

A machine tool, particularly for turning operations, with a manipulator device for loading and unloading workpieces Download PDF

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Publication number
WO2004065061A1
WO2004065061A1 PCT/IT2003/000021 IT0300021W WO2004065061A1 WO 2004065061 A1 WO2004065061 A1 WO 2004065061A1 IT 0300021 W IT0300021 W IT 0300021W WO 2004065061 A1 WO2004065061 A1 WO 2004065061A1
Authority
WO
WIPO (PCT)
Prior art keywords
mandrel
machine tool
piece
manipulator
rotation axis
Prior art date
Application number
PCT/IT2003/000021
Other languages
French (fr)
Inventor
Roberto Sammartin
Original Assignee
Maus S.P.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Maus S.P.A. filed Critical Maus S.P.A.
Priority to AU2003211202A priority Critical patent/AU2003211202A1/en
Priority to PCT/IT2003/000021 priority patent/WO2004065061A1/en
Publication of WO2004065061A1 publication Critical patent/WO2004065061A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B23Q39/021—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like
    • B23Q39/022—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with same working direction of toolheads on same workholder
    • B23Q39/024—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with same working direction of toolheads on same workholder consecutive working of toolheads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/045—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers using a tool holder as a work-transporting gripper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/048—Multiple gripper units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q2039/008—Machines of the lathe type

Definitions

  • a machine tool particularly for turning operations, with a manipulator device for loading and unloading workpieces
  • the present invention relates to a machine tool for machining operations, particularly turning operations, equipped with a manipulator device for loading and unloading workpieces, according to the preamble to the main claim.
  • manipulator devices for example, in the form of gripping pincers, directly on the tool-holder slides; these manipulators provide for the loading and unloading of the workpieces, utilizing the movements of the slide along the controlled axes of movement of the machine.
  • a known application provides for manipulators, suitable for cooperating with corresponding workpiece loading and unloading stations, to be arranged on the respective opposed side walls of the tool-holder slide; the gripping of a machined piece from the mandrel and the gripping, in the loading station, of a piece to be machined thus take place simultaneously and, as a result of the movement of the tool-holder slide, the machined piece is deposited in an unloading station simultaneously with the loading of the piece to be machined onto the mandrel.
  • One of the main objects of the invention is to provide a machine tool equipped with manipulator devices which is designed structurally and functionally to improve the productivity of the work centre by means of a more marked reduction in workpiece loading and unloading times in relation to the working- cycle time.
  • Another object is to reduce, with the machine tool of the invention, dynamic stresses originating in the apparatus for gripping the pieces being machined, in particular the stresses which are generated in the mandrel during its acceleration and deceleration, at the same time achieving a reduction in the down times of the machine for maintenance and resetting of the operating conditions.
  • Figures 1 to 4 are schematic front elevational views of a machine tool with a tool-holder slide provided with workpiece manipulators, at different stages of the loading of a piece onto the mandrel and of its unloading therefrom.
  • a lathe for example, a vertical lathe, shown only partially, is generally indicated 1 and comprises a tool-holder slide 2 guided transversely along a cross-member 3 in the directions of the axis marked X.
  • the invention is intended to be suitable for applications with machine tools of various types although the type described represents a preferred selection.
  • the cross-member 3 is in turn movable on guides 4 of a base .5 in the directions of the axis indicated Z.
  • the axes X and Z are preferably perpendicular to one another.
  • the slide 2 is arranged for supporting a pair of tool stations 6, 7 but it is intended that a different number of stations may be provided, in dependence on specific requirements for the machining of the pieces.
  • the lathe 1 also has a workpiece-holding apparatus 8 carrying a mandrel 9 which is driven so as to rotate about its principal axis C.
  • the axis C is advantageously perpendicular to the axis X.
  • the mandrel 9 has members for clamping a piece P to be machined, which may be of various types and shapes.
  • the turning of the piece P in accordance with predetermined working cycles is performed by the rotation of the mandrel about the axis C and the movement of the tool stations 6, 7 along the controlled axes X and Z.
  • the lathe 1 is also provided with a manipulator device, generally indicated 10, for manipulating the workpieces P; the manipulator device is mounted directly on the tool-holder slide 2, preferably in the region of a side wall 2a thereof.
  • the manipulator device 10 comprises an arm 11 which is fixed to the slide 2 and on which a support 12 is mounted so as to be rotatable about a rotation axis XI.
  • the axis XI is parallel to the axis C of rotation of the mandrel 9.
  • Two manipulator members 13, 14 extend, both in the same direction, from a plate-like portion 12a of the support 12 and are constructed, for example, in the form of gripping pincers which are arranged for gripping the piece P during its movement relative to the mandrel 9, as will become clear from the following description.
  • the manipulators 13 and 14 have respective principal axes X2 and X3 about which they are also arranged to be rotated, with independent movements, by means of a drive transmission, not shown, disposed on the support 12.
  • the manipulators 13, 14 are advantageously arranged on diametrally opposed sides of the axis XI of the support 12. More particularly, the axes X2 and X3 are coplanar with and equidistant from the axis XI and are arranged angularly at 180? relative to one another.
  • a slide loader, indicated 15, cooperates with the lathe 1 and has the function of a station for loading/unloading the workpieces in accordance with the operating cycle explained in detail below.
  • the piece P is being machined on the lathe. It has previously been clamped on the mandrel 9 which is rotated about the axis C and the tool station 6 has been brought to the region of the mandrel in order to perform the turning of the piece P.
  • the slide 2 is moved along the axes X and Z by numerically controlled movements to the position in which the manipulator 13 is brought to the region of the mandrel 9 (with the axes C and XI coaxial) in order to pick up the machined piece P.
  • the loader 15, on which a new, rough piece P' to be machined is disposed is moved parallel to the axis X (arrow B) in the region of the manipulator 14 to the position in which both of the manipulators 13, 14 are coaxial with the respective pieces P and P'.
  • the support 12 is raised (in the direction of the axis Z) and rotated through 180? about its rotation axis XI so as to bring the manipulator 14 to the position for unloading the piece P' onto the mandrel 9 and the manipulator 13 to the position for unloading the machined piece P onto the loader 15 ( Figure 3).
  • the rough piece P' is placed on the mandrel 9 and the machined piece P is deposited on the loader 15.
  • the loader is then moved away from the working region of the lathe in order to discharge the machined piece from the line.
  • a new working cycle is then started on the piece P' and is completed by the cyclic repetition of the stages of Figures 1 to 4 for the loading and unloading of the pieces.
  • the positioning of the loader 15 is advantageously designed to optimize the travel of the slide 2, reducing the times required for supplying the mandrel 9 in comparison with the effective cycle times.
  • the manipulators 13 and 14 may also be arranged to be rotated at the rate of rotation of the mandrel 9. The operations to pick up the piece P from the mandrel 9 and to transfer it thereto can thus take place with the mandrel in rotation, ensuring that the relative rate of rotation between the mandrel 9 and the manipulators 13, 14 is zero.
  • the mandrel 9 does not need to be accelerated or decelerated during the loading and unloading of the piece P and the dynamic stresses generated by its accelerations/decelerations are consequently greatly reduced, if not eliminated, reducing the times required for loading/unloading the pieces.
  • the manipulators 13, 14 may also be capable of being driven with independent rotational movements, in dependence on specific requirements, in order to assist the gripping movements of the manipulators during operations to load/unload the mandrel 9. The invention thus achieves the objects proposed affording the abovementioned advantages over known solutions.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Turning (AREA)

Abstract

A machine tool for machining operations, particularly turning operations, is described and comprises a piece-holding apparatus including at least one mandrel (9) for supporting the piece (P) to be machined, the mandrel being driven so as to rotate about its own axis (C), at least one tool-holder slide (2) guided movably relative to the mandrel (9) for the machining of the piece, and at least one manipulator device (10) provided on the slide (2), for moving the pieces to be machined from a loading station to the mandrel (9) and moving the machined pieces from the mandrel to an unloading station. The manipulator device comprises at least a pair of manipulator members (13, 14) provided on a common support (12) which is mounted on the tool-holder slide (2) so as to be rotatable about a first rotation axis (X1) arranged parallel to the rotation axis (C) of the mandrel.

Description

A machine tool, particularly for turning operations, with a manipulator device for loading and unloading workpieces
Technical field
The present invention relates to a machine tool for machining operations, particularly turning operations, equipped with a manipulator device for loading and unloading workpieces, according to the preamble to the main claim. Technological background
In the specific technical field, with reference particularly but not exclusively to machining operations performed in turning centres, it is known to provide manipulator devices, for example, in the form of gripping pincers, directly on the tool-holder slides; these manipulators provide for the loading and unloading of the workpieces, utilizing the movements of the slide along the controlled axes of movement of the machine. A known application provides for manipulators, suitable for cooperating with corresponding workpiece loading and unloading stations, to be arranged on the respective opposed side walls of the tool-holder slide; the gripping of a machined piece from the mandrel and the gripping, in the loading station, of a piece to be machined thus take place simultaneously and, as a result of the movement of the tool-holder slide, the machined piece is deposited in an unloading station simultaneously with the loading of the piece to be machined onto the mandrel. Description of the invention
One of the main objects of the invention is to provide a machine tool equipped with manipulator devices which is designed structurally and functionally to improve the productivity of the work centre by means of a more marked reduction in workpiece loading and unloading times in relation to the working- cycle time.
Another object is to reduce, with the machine tool of the invention, dynamic stresses originating in the apparatus for gripping the pieces being machined, in particular the stresses which are generated in the mandrel during its acceleration and deceleration, at the same time achieving a reduction in the down times of the machine for maintenance and resetting of the operating conditions. These and other objects which will become clear from the following description are achieved by a machine tool equipped with workpiece manipulator devices which is formed in accordance with the appended claims.
Brief description of the drawings. The characteristics and the advantages of the invention will become clearer from the following detailed description of a preferred embodiment thereof which is described by way of non-limiting example with reference to the appended drawings, in which:
Figures 1 to 4 are schematic front elevational views of a machine tool with a tool-holder slide provided with workpiece manipulators, at different stages of the loading of a piece onto the mandrel and of its unloading therefrom.
Preferred embodiment of the invention
With reference to the drawings mentioned, a lathe, for example, a vertical lathe, shown only partially, is generally indicated 1 and comprises a tool-holder slide 2 guided transversely along a cross-member 3 in the directions of the axis marked X. The invention is intended to be suitable for applications with machine tools of various types although the type described represents a preferred selection.
The cross-member 3 is in turn movable on guides 4 of a base .5 in the directions of the axis indicated Z. The axes X and Z are preferably perpendicular to one another.
The slide 2 is arranged for supporting a pair of tool stations 6, 7 but it is intended that a different number of stations may be provided, in dependence on specific requirements for the machining of the pieces. The lathe 1 also has a workpiece-holding apparatus 8 carrying a mandrel 9 which is driven so as to rotate about its principal axis C. The axis C is advantageously perpendicular to the axis X. The mandrel 9 has members for clamping a piece P to be machined, which may be of various types and shapes.
The turning of the piece P in accordance with predetermined working cycles is performed by the rotation of the mandrel about the axis C and the movement of the tool stations 6, 7 along the controlled axes X and Z. The lathe 1 is also provided with a manipulator device, generally indicated 10, for manipulating the workpieces P; the manipulator device is mounted directly on the tool-holder slide 2, preferably in the region of a side wall 2a thereof. The manipulator device 10 comprises an arm 11 which is fixed to the slide 2 and on which a support 12 is mounted so as to be rotatable about a rotation axis XI.
The axis XI is parallel to the axis C of rotation of the mandrel 9. Two manipulator members 13, 14 extend, both in the same direction, from a plate-like portion 12a of the support 12 and are constructed, for example, in the form of gripping pincers which are arranged for gripping the piece P during its movement relative to the mandrel 9, as will become clear from the following description.
The manipulators 13 and 14 have respective principal axes X2 and X3 about which they are also arranged to be rotated, with independent movements, by means of a drive transmission, not shown, disposed on the support 12. The manipulators 13, 14 are advantageously arranged on diametrally opposed sides of the axis XI of the support 12. More particularly, the axes X2 and X3 are coplanar with and equidistant from the axis XI and are arranged angularly at 180? relative to one another. A slide loader, indicated 15, cooperates with the lathe 1 and has the function of a station for loading/unloading the workpieces in accordance with the operating cycle explained in detail below.
The operation of the machine tool is described with reference to the work stages shown in sequence in Figures 1 to 4. In Figure 1, the piece P is being machined on the lathe. It has previously been clamped on the mandrel 9 which is rotated about the axis C and the tool station 6 has been brought to the region of the mandrel in order to perform the turning of the piece P. Upon completion of the machining in accordance with the predetermined working cycle (which may also involve the use of the tool station 7), the slide 2 is moved along the axes X and Z by numerically controlled movements to the position in which the manipulator 13 is brought to the region of the mandrel 9 (with the axes C and XI coaxial) in order to pick up the machined piece P. Simultaneously with the movement of the slide 2, the loader 15, on which a new, rough piece P' to be machined is disposed, is moved parallel to the axis X (arrow B) in the region of the manipulator 14 to the position in which both of the manipulators 13, 14 are coaxial with the respective pieces P and P'. After the pieces P and P' have been gripped on the manipulators 13 and 14 (Figure 2), the support 12 is raised (in the direction of the axis Z) and rotated through 180? about its rotation axis XI so as to bring the manipulator 14 to the position for unloading the piece P' onto the mandrel 9 and the manipulator 13 to the position for unloading the machined piece P onto the loader 15 (Figure 3). By means of the movement of the slide 2 in the direction of the axis Z, the rough piece P' is placed on the mandrel 9 and the machined piece P is deposited on the loader 15. The loader is then moved away from the working region of the lathe in order to discharge the machined piece from the line. A new working cycle is then started on the piece P' and is completed by the cyclic repetition of the stages of Figures 1 to 4 for the loading and unloading of the pieces.
The positioning of the loader 15 is advantageously designed to optimize the travel of the slide 2, reducing the times required for supplying the mandrel 9 in comparison with the effective cycle times. The manipulators 13 and 14 may also be arranged to be rotated at the rate of rotation of the mandrel 9. The operations to pick up the piece P from the mandrel 9 and to transfer it thereto can thus take place with the mandrel in rotation, ensuring that the relative rate of rotation between the mandrel 9 and the manipulators 13, 14 is zero. As a result, the mandrel 9 does not need to be accelerated or decelerated during the loading and unloading of the piece P and the dynamic stresses generated by its accelerations/decelerations are consequently greatly reduced, if not eliminated, reducing the times required for loading/unloading the pieces. The manipulators 13, 14 may also be capable of being driven with independent rotational movements, in dependence on specific requirements, in order to assist the gripping movements of the manipulators during operations to load/unload the mandrel 9. The invention thus achieves the objects proposed affording the abovementioned advantages over known solutions.

Claims

1. A machine tool for machining operations, particularly turning operations, comprising :
- a piece-holding apparatus including at least one mandrel (9) for supporting the piece (P) to be machined, the mandrel being driven so as to rotate about its own axis (C),
- at least one tool-holder slide (2) guided movably relative to the mandrel (9) for the machining of the piece, and
- at least one manipulator device (10), provided on the slide (2), for moving the pieces to be machined from a loading station to the mandrel (9) and moving the machined pieces from the mandrel to an unloading station, characterized in that the manipulator device comprises at least a pair of manipulator members (13, 14) provided on a common support (12) which is mounted on the tool-holder slide (2) so as to be rotatable about a first rotation axis (XI) arranged parallel to the rotation axis (C) of the mandrel.
2. A machine tool according to Claim 1 in which the first rotation axis (XI) of the support (12) is parallel to and equally spaced from the respective principal axes (X2, X3) of the manipulator members (13, 14).
3. A machine tool according to Claim 1 or Claim 2 in which the manipulators (13, 14) are disposed on opposite sides of the first rotation axis (XI) of the support (12).
4. A machine tool according to Claim 2 in which the principal axes (X2, X3) of the manipulators are coplanar with the rotation axis (XI) of the support (12) and are arranged angularly at 180? relative to one another, with respect to the rotation axis of the support.
5. A machine tool according to one or more of the preceding claims in which at least one of the manipulator members (13, 14) is driven so as to rotate about its respective axis (X2, X3).
6. A machine tool according to Claim 5 in which both of the manipulators (13, 14) are driven about their respective principal axes (X2, X3).
7. A machine tool according to Claim 6 in which the manipulator members (13, 14) are driven with independent rotational movements about their respective axes (X2, X3).
8. A machine tool according to one or more of the preceding claims in which the manipulator members (13, 14) comprise respective gripping pincers for gripping the workpieces radially.
PCT/IT2003/000021 2003-01-23 2003-01-23 A machine tool, particularly for turning operations, with a manipulator device for loading and unloading workpieces WO2004065061A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2003211202A AU2003211202A1 (en) 2003-01-23 2003-01-23 A machine tool, particularly for turning operations, with a manipulator device for loading and unloading workpieces
PCT/IT2003/000021 WO2004065061A1 (en) 2003-01-23 2003-01-23 A machine tool, particularly for turning operations, with a manipulator device for loading and unloading workpieces

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IT2003/000021 WO2004065061A1 (en) 2003-01-23 2003-01-23 A machine tool, particularly for turning operations, with a manipulator device for loading and unloading workpieces

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WO2004065061A1 true WO2004065061A1 (en) 2004-08-05

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2108479A1 (en) * 2008-04-11 2009-10-14 Rudi M. Lang Machine tool and method for loading and unloading workpieces in such a machine tool
EP2253423A1 (en) 2009-05-15 2010-11-24 Mori Seiki Co., Ltd. Workpiece changer of machine tool and machine tool
JP2013043223A (en) * 2011-08-22 2013-03-04 Matsuura Machinery Corp Pallet exchange system and machining center provided with the system
JP2016022573A (en) * 2014-07-24 2016-02-08 Dmg森精機株式会社 Machine tool and arrangement structure of the same
CN105328500A (en) * 2015-12-16 2016-02-17 山东威达重工股份有限公司 Numerical control machine tool internally provided with automatic feeding and discharging mechanism and method for conducting workpiece feeding and discharging
US20160107240A1 (en) * 2014-10-20 2016-04-21 Murata Machinery, Ltd. Machine tool
CN109227292A (en) * 2018-10-17 2019-01-18 宁波市江北欣盛数控机械有限公司 A kind of cross workpiece grinding machine and control method
WO2019162956A1 (en) * 2018-02-24 2019-08-29 SARUP Siddhant System and method for automatic loading and unloading of jobs in cnc machines
WO2019171391A1 (en) * 2018-03-05 2019-09-12 SARUP Siddhant Auto loading & unloading system and method for double spindle cnc machines
CN110732917A (en) * 2019-11-15 2020-01-31 广东通立工业自动化系统有限公司 Closed shell numerical control machining production line and machining method

Citations (3)

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Publication number Priority date Publication date Assignee Title
DE3418893A1 (en) * 1983-05-23 1984-11-29 Cincinnati Milacron Industries, Inc., Cincinnati, Ohio Method and device for loading and unloading workpieces on a machine tool
EP0539837A1 (en) * 1991-10-31 1993-05-05 MINGANTI S.p.A. Vertical lathe
US5210917A (en) * 1990-03-26 1993-05-18 Esco S.A. Multiple station machine for bar machining

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3418893A1 (en) * 1983-05-23 1984-11-29 Cincinnati Milacron Industries, Inc., Cincinnati, Ohio Method and device for loading and unloading workpieces on a machine tool
US5210917A (en) * 1990-03-26 1993-05-18 Esco S.A. Multiple station machine for bar machining
EP0539837A1 (en) * 1991-10-31 1993-05-05 MINGANTI S.p.A. Vertical lathe

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2108479A1 (en) * 2008-04-11 2009-10-14 Rudi M. Lang Machine tool and method for loading and unloading workpieces in such a machine tool
EP2253423A1 (en) 2009-05-15 2010-11-24 Mori Seiki Co., Ltd. Workpiece changer of machine tool and machine tool
JP2010264569A (en) * 2009-05-15 2010-11-25 Mori Seiki Co Ltd Workpiece replacement apparatus of machine tool
JP2013043223A (en) * 2011-08-22 2013-03-04 Matsuura Machinery Corp Pallet exchange system and machining center provided with the system
CN102950497A (en) * 2011-08-22 2013-03-06 株式会社松浦机械制作所 Pallet changing system and machining center equipping the system
EP2561957A3 (en) * 2011-08-22 2013-08-28 Matsuura Machinery Corporation Pallet changing system and machining center equipping the system
JP2016022573A (en) * 2014-07-24 2016-02-08 Dmg森精機株式会社 Machine tool and arrangement structure of the same
US20160107240A1 (en) * 2014-10-20 2016-04-21 Murata Machinery, Ltd. Machine tool
US9844850B2 (en) * 2014-10-20 2017-12-19 Murata Machinery, Ltd. Machine tool
CN105328500A (en) * 2015-12-16 2016-02-17 山东威达重工股份有限公司 Numerical control machine tool internally provided with automatic feeding and discharging mechanism and method for conducting workpiece feeding and discharging
WO2019162956A1 (en) * 2018-02-24 2019-08-29 SARUP Siddhant System and method for automatic loading and unloading of jobs in cnc machines
WO2019171391A1 (en) * 2018-03-05 2019-09-12 SARUP Siddhant Auto loading & unloading system and method for double spindle cnc machines
CN109227292A (en) * 2018-10-17 2019-01-18 宁波市江北欣盛数控机械有限公司 A kind of cross workpiece grinding machine and control method
CN110732917A (en) * 2019-11-15 2020-01-31 广东通立工业自动化系统有限公司 Closed shell numerical control machining production line and machining method

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