WO2019244827A1

WO2019244827A1 - Machining system and loader device used for machining system

Info

Publication number: WO2019244827A1
Application number: PCT/JP2019/023845
Authority: WO
Inventors: 翔太新元
Original assignee: 高松機械工業株式会社
Priority date: 2018-06-18
Filing date: 2019-06-17
Publication date: 2019-12-26

Abstract

[Problem] To provide a machining system that can further increase machining efficiency with a relatively simple structure by relatively simple control. [Solution] Provided is a machining system being provided with a machine tool for machining a workpiece, and a loader device for conveying the workpiece. The machine tool is provided with first and second main spindles which are rotatably supported on a machine tool body so as to be separated from each other in a prescribed direction, and first and second main spindle chucks which are respectively mounted to the first and second main spindles. The loader device is provided with: a loader which is mounted to a laid rail. The loader has a lifting member which is supported so as to be able to freely rise and fall; and a loader head which is provided to the lower end of the lifting member. The loader head is provided with first to third loader chucks. The loader device holds a workpiece by the first and second loader chucks at a carrying-in/receiving point, and conveys the workpiece to the machine tool body.

Description

Processing system and loader device used therefor

The present invention relates to a machine tool for processing a workpiece, a processing system provided with a workpiece transport device for transporting the workpiece to the machine tool, and a loader device used for the same.

Conventionally, as a machine tool for processing a workpiece, a lathe having two main spindles (for example, an NC lathe) has been widely and practically used. Such a conventional machine tool (NC lathe) includes first and second spindles arranged side by side in a lateral direction, and a loader device for transporting a workpiece, and the first spindle is provided on the first spindle. A chuck is mounted, and a second spindle chuck is mounted on the second spindle. A first tool rest is provided corresponding to the first spindle chuck, and a work tool attached to the first tool post acts on a workpiece attached to the first spindle chuck to perform predetermined machining. Is Further, a second tool rest is provided corresponding to the second spindle chuck, and a working tool attached to the second tool post acts on a workpiece attached to the second spindle chuck to perform predetermined machining. Is performed.

As a loader device mounted on this machine tool, there is known a loader device having an erecting rail extending in the lateral direction and a loader movably mounted on the erecting rail (for example, see Patent Document 1). The loader includes a traveling platform that is moved along an installation rail, a traveling platform that is supported by the traveling platform so as to be movable in the front-rear direction, an elevating member that is mounted on the traveling platform so as to be able to move up and down, and And a pair of loader chucks, that is, first and second loader chucks, are attached to the loader head.

In the processing system equipped with this loader device, the number of loader chucks provided on the loader head is two, and thus the transfer of the workpiece by the loader is performed alternately on the first and second spindle chucks. . For example, with respect to the first spindle chuck, a workpiece to be machined (also referred to as an “unprocessed member”) is held by one loader chuck (eg, the first loader chuck) and transported to the first spindle point ( At this time, the other loader chuck is empty and holds nothing. Then, at the first spindle point, a workpiece (also referred to as a “processed member”) held and processed by the first spindle chuck is received by the other loader chuck (second loader chuck), and thereafter, the loader The workpiece held by the chuck (first loader chuck) is transferred to the first spindle chuck, and the transferred workpiece is processed by a processing tool attached to the first tool rest. Is done.

Similarly, for the second spindle chuck, the workpiece (unprocessed member) to be processed is held by one loader chuck (first loader chuck) and transported to the second spindle point. At the second spindle point, the workpiece held and processed by the second spindle chuck is received by the other loader chuck (second loader chuck), and then held by this loader chuck (first loader chuck). The processed workpiece is transferred to the second spindle chuck, and the transferred workpiece is processed by a processing tool attached to the second tool rest.

When such a loader device is used, the workpieces are transported one by one to the first and second spindle chucks and delivered one by one, so that the workpieces (unprocessed members, processed members) are transported. There is a lot of waste in the movement of the loader, and the machining efficiency is sufficient despite using two spindle chucks (first and second spindle chucks) and two tool rests (first and second tool rests) in combination. There is a problem that can not be increased.

Therefore, in order to solve such a problem, a loader device in which two loaders, that is, a first loader and a second loader are movably mounted on an installation rail has been proposed (for example, see Patent Document 2). In this loader device, a first loader (including a pair of first loader chucks) is provided corresponding to the first spindle chuck, and a workpiece (an unprocessed member, a processed member) is provided between the first loader chuck and the first spindle chuck. The second loader (having a pair of second loader chucks) is arranged corresponding to the second spindle chuck, and a workpiece (workpiece) is provided between the second loader and the second spindle chuck. Delivery of unprocessed members and processed members) is performed.

JP 2016-175180 A JP-A-8-174304

However, when the above-mentioned loader device is used, a first loader (a pair of first loader chucks) is provided corresponding to the first spindle chuck, and a second loader (a pair of second loader chucks) is provided corresponding to the second spindle chuck. ) Must be provided, so that the configuration of the loader device itself is complicated and the control thereof is also complicated.

目的 An object of the present invention is to provide a machining system that can achieve a further improvement in machining efficiency with a relatively simple configuration and relatively simple control.

Another object of the present invention is to provide a loader device having a relatively simple configuration and capable of improving transport efficiency with relatively simple control.

The processing system of the present invention is a processing system including a machine tool for processing a workpiece, and a loader device for transporting the workpiece to the machine tool.
The machine tool includes a machine tool body, first and second spindles rotatably supported on the machine tool body at predetermined intervals, and first and second spindles mounted on the first and second spindles. A second spindle chuck, and first and second tool rests provided corresponding to the first and second spindle chucks,
The loader device includes an erecting rail extending in the predetermined direction, and a loader movably mounted on the erecting rail, wherein the loader includes an elevating member supported movably and a lower end of the elevating member. A loader head provided, wherein the loader head includes first to third loader chucks,
When processing the workpiece with the machine tool body, the loader device holds the workpiece with the first and second loader chucks at the carry-in / delivery point and transports the workpiece to the machine tool body. Transferring the workpiece held by one loader chuck to the first spindle chuck, and transferring the workpiece held by the second loader chuck to the first spindle chuck or the second spindle chuck. Features.

Further, another processing system of the present invention is a processing system including a machine tool that processes a workpiece, and a loader device that transports the workpiece to the machine tool.
The machine tool includes a machine tool body, first and second spindles rotatably supported on the machine tool body at predetermined intervals, and first and second spindles mounted on the first and second spindles. A second spindle chuck, and first and second tool rests provided corresponding to the first and second spindle chucks,
The loader device includes an erecting rail extending in the predetermined direction, a loader movably mounted on the erecting rail, and a workpiece reversing device for inverting the workpiece, A lifting member freely supported, and a loader head provided at a lower end portion of the lifting member; the loader head includes first to third loader chucks;
The workpiece reversing device includes first and second reversing chucks, and is configured to reverse the workpiece by grasping using the first and second reversing chucks,
When processing the workpiece with the machine tool body, the loader device holds the workpiece with the first and second loader chucks at the carry-in / delivery point and transports the workpiece to the machine tool body. The workpiece held by the first and second loader chucks is transferred to the first spindle chuck, and the workpiece held by the first spindle chuck is subjected to primary processing, and the primary processing is performed. After the workpiece is inverted by the workpiece reversing device, the workpiece is transported to and held by the second spindle chuck, and the workpiece held by the second spindle chuck is subjected to secondary processing. It is characterized by being performed.

Further, the loader device of the present invention includes an erecting rail extending in a predetermined direction, and a loader movably mounted on the erecting rail, wherein the loader is an elevating member supported movably, and an elevating member of the elevating member. A loader head provided at a lower end portion, wherein a workpiece held by the loader head is transferred to first and second spindle chucks mounted on first and second spindles of a machine tool. ,
The loader head includes a head body attached to the elevating member, and a rotation support member rotatably mounted on the head body, wherein the rotation support member has a first space at a circumferential distance. To a third chuck mounting surface, and the first to third loader chucks are mounted on the first to third chuck mounting surfaces,
A first rotation control mode in which the first to third loader chucks are rotated through first to third transfer angular positions facing the first and second spindle chucks of the machine tool; The first to third loader chucks are configured to switch to a second rotation control mode in which the first to third loader chucks are rotated through first to third loading / unloading angular positions facing the transport surface of the loading / unloading device, and the rotation is controlled. Has been
In a state where the first to third loader chucks are located at the first to third delivery angle positions and face the first and second spindle chucks, the rotation shaft of the rotation support member is positioned with respect to a horizontal direction. And the first to third chuck mounting surfaces are configured to be inclined at an angle of 45 degrees with respect to the rotation axis. I do.

According to the processing system of the present invention, the loader movably mounted on the erection rail of the loader device has a lifting member supported movably and a loader head provided at a lower end portion of the lifting member. Since the first to third loader chucks are provided on the loader head, the workpiece (unprocessed member) is held by two of the three loader chucks (first and second loader chucks). Then, it can be transported to the first and second spindle chucks. At the carry-in / delivery point, the workpiece is held by the first and second loader chucks and transferred to the machine tool main body. At the first spindle point, the workpiece held by the first loader chuck is moved to the first spindle. Delivery to the chuck (before this delivery, the workpiece held and processed by the first spindle chuck is received by the third loader chuck), and the workpiece held by the second loader chuck is transferred to the second spindle chuck. Delivery (before the delivery, the workpiece held by the second loader chuck is received by the first loader chuck), and the two workpieces (unprocessed members) thus received at the carry-in delivery point are first and second. It can be transported and mounted on the second spindle chuck. Further, the workpiece held by the first and second loader chucks can be transferred to the first spindle chuck by the processing performed by the machine tool body.

Further, the first and second spindle chucks (or the first spindle chuck) holding two workpieces with a relatively simple configuration of attaching three loader chucks (first to third loader chucks) to one loader. The transfer along the erection rail can be controlled by one loader, and can be performed with relatively simple control.

According to another processing system of the present invention, the basic configuration is the same as the above-described configuration except that the workpiece reversing device is provided, so that the same operation and effect as described above are achieved. be able to. In addition, since the workpiece reversing device is provided in the above-described configuration, the workpiece (unprocessed member) is held by the first and second loader chucks at the loading / unloading point, and is conveyed to the machine tool main body. At one spindle point, the workpiece held by the first and second loader chucks is transferred to the first spindle chuck, and the workpiece held by the first spindle chuck is subjected to primary processing, and the primary processing is performed. After the workpiece (also referred to as a “primary processed member”) is inverted by the workpiece reversing device, the workpiece is conveyed to the second spindle chuck and held, and the workpiece (primary processing) held by the second spindle chuck ), The workpiece held by the first and second loader chucks is subjected to primary processing by the first spindle chuck, and the second spindle is To the chuck It can be subjected to secondary processing.

Further, according to the loader device of the present invention, the loader is movably mounted on the erection rail, the loader has a lifting member supported movably and a loader head provided at a lower end of the lifting member. Since the loader head is provided with the first to third loader chucks, it is possible to hold the two loader chucks of the first to third loader chucks in the carry-in area and transfer them to the processing area of the machine tool. As a result, the workpiece can be efficiently transported.

In addition, since the loader device is applied to a machine tool having two spindle chucks (for example, a two-spindle NC lathe), the same processing is performed on, for example, the workpiece held by the first and second spindle chucks. In some cases, the work is held by two loader chucks (e.g., first and second loader chucks) in the carry-in area and transferred to the machine tool. The workpiece held by the one loader chuck is transferred to one spindle chuck (first spindle chuck). (Before this delivery, the workpiece held and processed by the first spindle chuck is transferred by, for example, a third loader chuck. Receiving), and the workpiece held by the second loader chuck is delivered to the other spindle chuck (second spindle chuck) (before the delivery, the second spindle chuck is moved). The workpiece held in the first loader chuck is received by the first loader chuck, and the two workpieces (unprocessed members) thus received in the carry-in area can be transported and mounted on the first and second spindle chucks. it can.

The rotation support member includes a first rotation control mode in which the first to third loader chucks are rotated through first to third delivery angle positions facing the first and second spindle chucks; The first to third loader chucks are switched by switching to a second rotation control mode in which the loader chuck is rotated through first to third loading / unloading angular positions opposed to the transport surface of the loading / unloading device. Can be positioned at a predetermined angular position by a simple control.

Further, in a state where the first to third loader chucks face the first and second spindle chucks at the first to third transfer angle positions, the rotation axis of the rotation support member is at an angle of 45 degrees with respect to the horizontal direction. Since the first to third chuck mounting surfaces are configured to be inclined at an angle of 45 degrees with respect to the rotation axis, the first to third chuck mounting surfaces are tilted downward and attached to the first to third tilt mounting surfaces. The first to third loader chucks can be rotated through the first to third transfer angular positions and the first to third carry-in / out angular positions without requiring a large space.

1 is a perspective view showing a main part of an embodiment of a processing system according to the present invention. FIG. 2 is a front view schematically showing a loader head included in the loader device in the processing system of FIG. 1. FIG. 3 is a side view schematically showing the loader head of FIG. 2. FIG. 3 is a side view showing a state where first to third loader heads of the loader head of FIG. 2 face downward. FIG. 2 is an explanatory diagram for describing a first workpiece transfer cycle executed in the processing system of FIG. 1. FIG. 6 is a flowchart illustrating a flow of transport of a workpiece by a first workpiece transport cycle in FIG. 5. FIG. 6 is a diagram for explaining holding states of first to third loader chucks at respective points in a first workpiece transfer cycle in FIG. 5. 9 is a flowchart showing a flow of conveyance of a work transfer cycle of a conventional processing system (using a conventional loader device). FIG. 9 is a diagram for explaining holding states of first and second loader chucks at respective points in the processing cycle of FIG. 8. FIG. 2 is an explanatory diagram for describing a second workpiece transfer cycle executed in the processing system of FIG. 1. It is a flowchart which shows the flow of conveyance of a workpiece by the 2nd workpiece conveyance cycle of FIG. 9 is a flowchart showing a flow of conveyance of a work transfer cycle of a conventional processing system (using a conventional loader device). FIG. 3 is an explanatory diagram for explaining a third workpiece transfer cycle executed in the processing system of FIG. 1. 14 is a flowchart showing the flow of the transfer of the workpiece by the third workpiece transfer cycle of FIG. 13. FIG. 14 is a diagram for explaining holding states of first to third loader chucks at respective points in a third workpiece transfer cycle in FIG. 13. 6 is a flowchart showing a flow of a workpiece transfer cycle of a conventional processing system (using a conventional loader device). FIG. 4 is an explanatory diagram for describing a fourth workpiece transfer cycle executed in the processing system of FIG. 1. It is a flowchart which shows the flow of conveyance of a workpiece by the 4th workpiece conveyance cycle of FIG. 6 is a flowchart showing a flow of a workpiece transfer cycle of a conventional processing system (using a conventional loader device). It is a front view showing a modification of a loader head of a loader device. FIG. 21 is a side view showing the loader head of FIG. 20. FIG. 21 is a front view showing a state when the loader head of FIG. 20 is controlled to rotate in a second rotation control mode. FIG. 21 is a side view showing a state where the rotation of the loader head of FIG. 20 is controlled in a second rotation control mode. 21 is a flowchart illustrating a flow of a workpiece to be transported by a fifth transport cycle using the loader device including the loader head of FIG. 20. 21 is a flowchart illustrating a flow of a workpiece to be transported by a sixth transport cycle using the loader device including the loader head of FIG. 20.

Hereinafter, an embodiment of a processing system according to the present invention will be described with reference to the accompanying drawings. In FIG. 1, the processing system includes a machine tool 2 for processing a workpiece (not shown), and a loader device 4 for transporting the workpiece to the machine tool 2. A description will be given by applying to an NC lathe 6 as an example.

The illustrated NC lathe 6 includes a bed main body 8 (which constitutes a machine tool main body) installed on a floor surface of a factory, and a lateral direction of the bed main body 8 (in the X-axis direction, from upper left to lower right in FIG. 1). Direction), a pair of headstocks, that is, first and

second headstocks

10 and 12 are provided substantially at the center. The first and

second headstocks

10, 12 are mounted in parallel with a space therebetween in the horizontal direction, and the first and

second headstocks

14, 16 are rotatably supported by the first and

second headstocks

10, 12. Have been.

The first and second

main shafts

14, 16 each extend in the front-rear direction (the Z-axis direction, which is from the lower left to the upper right in FIG. 1), and are arranged in parallel with the horizontal direction at intervals and correspond to the main shafts. It is rotationally driven by a drive motor (not shown). Spindle chucks for gripping a workpiece, that is, first and second spindle chucks 18, 20 are mounted on the first and

second spindles

14, 16, respectively. The first and second spindle chucks 18 and 20 are driven by corresponding cylinder mechanisms (not shown), and are configured to grip and release the workpiece by expansion and contraction.

一対 A pair of tool rests, that is, first and second tool rests 22 and 24 are arranged on both lateral sides of the bed body 8. The first tool rest 22 is disposed laterally outside the first headstock 10, and the second tool rest 24 is disposed laterally outside the second headstock 16. In this embodiment, the first and second tool rests 22 and 24 are constituted by turret-type tool rests (hereinafter simply referred to as “turrets”). A plurality of

tool attachment portions

26 and 28 are provided on the peripheral surfaces of the first and

second turrets

22 and 24, and a processing tool (not shown) is attached to the

tool attachment portions

26 and 28. Note that, as the tool rest (the first and second tool rests 22 and 24), a comb-shaped tool rest may be used instead of the turret tool rest.

On both outer sides of the first and

second headstocks

14 and 16, first and second feed stands 27 and 29 are supported by the bed body 8 movably in the front-rear direction and the lateral direction. First and

second turrets

22 and 24 are mounted on the two feed stands 27 and 29 so as to be indexable and rotatable. In the NC lathe 6, the workpiece held by the first spindle chuck 18 is subjected to required processing by a processing tool (not shown) attached to a corresponding first turret 22. The workpiece held by the two-spindle chuck 20 is subjected to required processing by a processing tool (not shown) mounted on the corresponding second turret 24.

The illustrated loader device 4 includes a construction rail 30 disposed above the NC lathe 6, a loader 32 movably supported along the construction rail 30, and a workpiece for reversing the workpiece. And a reversing device 34. The loader 32 includes a traveling platform 36 that moves along the erection rail 30, a traveling platform 38 installed on the traveling platform 36 so as to be movable in the front-rear direction, It comprises a loader head 41 provided at the lower end of the elevating member 40. The traveling platform 36 is reciprocated in the lateral direction (X-axis direction) along the erection rail 30 by a traveling driving motor (not shown), and the traveling platform 38 is moved forward and backward (Z) by a traveling driving motor (not shown). The elevating member 40 is reciprocated in the up-down direction (Y-axis direction) by an elevating drive motor (not shown).

In this embodiment, the loader head 41 includes three loader chucks for holding a workpiece, that is, first to third loader chucks 42, 44, and 46. The first to third loader chucks 42 to 46 are disposed in this order in the vertical direction (Y-axis direction), and the first to third loader chucks 42 to 46 hold a workpiece and grip the workpiece as described later. Perform cancellation. The configuration of the loader head 41 will be described later in detail.

The workpiece reversing device 34 includes a mounting main body (not shown) installed on the lower surface of the erection rail 30 and two reversing chucks mounted on the mounting main body, that is, first and second reversing

chucks

48, 48. 50, the first and second reversing

chucks

48, 50 are arranged above the intermediate position between the first and second spindle chucks 18, 20 at intervals in the vertical direction (Y-axis direction), as described later. The workpiece is gripped and released. The first and second reversing

chucks

48 and 50 are configured to be capable of changing the posture between a state facing the front (the state shown in FIG. 1) and a state facing each other in the up-down direction (Y-axis direction). In this embodiment, the second reversing chuck 50 is configured to be vertically movable.

において In the workpiece reversing device 34, the reversal of the workpiece is performed as follows. That is, the first and second reversing

chucks

48, 50 stand by in a state of being separated from each other and facing the front (the state shown in FIG. 1) (standby state). To receive the workpiece from Next, the first and second reversing

chucks

48 and 50 are switched to the facing posture (facing state), the second reversing chuck 50 descends toward the first reversing chuck 48, and removes the workpiece from the first reversing chuck 48. receive. Thereafter, after the second reversing chuck 50 has been raised to the original position, the first and second reversing

chucks

48 and 50 return to the standby state in which both face to the front. In this manner, by transferring the workpiece from the first reversing chuck 48 to the second reversing chuck 50, the workpiece is turned over.

In this embodiment, the workpiece is received by the first reversing chuck 48 and is transferred from the first reversing chuck 48 to the second reversing chuck 50, thereby reversing the workpiece. Alternatively, the workpiece may be received by the second reversing chuck 50 and transferred from the second reversing chuck 50 to the first reversing chuck 48 to reverse the workpiece.

Next, the loader head 41 will be described with reference to FIGS. 2 to 4 together with FIG. The illustrated loader head 41 includes a head main body 52 attached to the elevating member 40, and first and

second support members

54 and 56 rotatably mounted on the head main body 52. The head body 52 has a pair of

support plates

58, 60, and a support shaft 62 is mounted between the

support plates

58, 60. The first support member 54 is rotatably mounted on the support shaft 62, and a first cylinder mechanism 64 is interposed between the first support member 54 and the head main body 52. The second support member 56 is pivotally mounted on the support shaft 62, and a second cylinder mechanism 66 is interposed between the second support member 56 and the head main body 52. The first and

second cylinder mechanisms

64 and 66 are constituted by, for example, air cylinder mechanisms.

More specifically, the cylinder body 68 of the first cylinder mechanism 64 is attached to a predetermined portion of the head body 52, and the output rod 70 is connected to the first support member 54 via the first connection member 72 (see FIG. 3). Have been. A cylinder body 74 of a second cylinder mechanism 66 is attached to another portion of the head body 52, and its output rod 76 is connected to the second support member 56 via a second connecting member 78 (see FIG. 3). Are linked.

In this embodiment, the first support member 54 has the first loader chuck 42 attached thereto, and the second support member 56 has the second and third loader chucks 44 and 46 attached thereto. Therefore, when the output rod 70 of the first cylinder mechanism 64 is extended, the first support member 54 is positioned at the delivery angle position shown in FIGS. 2 and 3 and the first loader attached to the first support member 54 The chuck 42 faces in a direction facing the first and second spindle chucks 18 and 20, and faces rearward. When the output rod 70 of the first cylinder mechanism 64 contracts, the first support member 54 pivots counterclockwise in FIG. 3 around the support shaft 62 and is positioned at the carry-in / out angle position shown in FIG. The first loader chuck 42 attached to the one support member 54 faces downward and is in a state of facing downward.

In a state where the output rod 76 of the second cylinder mechanism 66 is extended, the second support member 56 is positioned at the delivery angle position shown in FIGS. 2 and 3, and the second support member 56 is attached to the second support member 54. The third loader chucks 44 and 46 face the first and second spindle chucks 18 and 20 and face rearward. When the output rod 76 of the second cylinder mechanism 66 contracts, the second support member 56 is pivoted counterclockwise in FIG. 3 to be positioned at the carry-in / out angle position shown in FIG. The attached second and third loader chucks 44 and 46 face downward and face downward.

In this embodiment, the center line of rotation of the first loader chuck 42 (the axis of the support shaft 62) coincides with the center line of rotation of the second and third loader chucks 44 and 46 (the axis of the support shaft 62). The relative positional relationship between the first to third loader chucks 42 to 46 in the state shown in FIG. 3 (that is, the state in which they are lined up and down in the rearward direction) and the state shown in FIG. The relative positional relationship between the first to third loader chucks 42 to 46 in the state of being aligned in the horizontal direction) is the same constant positional relationship.

In this embodiment, the first loader chuck 42 is attached to the first support member 54, and the second and third loader chucks 44, 46 are attached to the second support member 56. The first and second rotor chucks 42 and 44 may be attached to the first support member 54, and the third loader chuck 46 may be attached to the second support member 56.

The first to third loader chucks 42 to 46 have substantially the same configuration, and the configuration of one of the first loader chucks 42 (the second loader chuck 44 and the third loader chuck 46) will be described as follows. is there. The first loader chuck 42 (second loader chuck 44, third loader chuck 46) includes a chuck body 80 attached to the first support member 54 (second support member 56). Three chuck claws 82 are mounted at intervals so as to be movable in the radial direction. These three chuck claws 82 are driven by a drive actuator (not shown) such as an air cylinder mechanism. When the drive actuator is driven in the opening direction, the three chuck claws 82 move outward in the radial direction. When the driving actuator is driven in the gripping direction, the three chuck claws 82 move inward in the radial direction to hold a workpiece (not shown). In FIG. 4, the chuck claws 82 are omitted.

Next, the first workpiece transfer cycle of the above-described processing system will be described with reference to FIGS. 1 to 4 and FIGS. Referring mainly to FIGS. 5 to 7, in the first workpiece transfer cycle, a loading / unloading transport device 92 for transporting a workpiece (not shown) to one side of the NC lathe 6 (machine tool 2). The workpiece to be processed (also referred to as an “unprocessed member”) is carried in from the loading / unloading transport device 92, and is processed by the NC lathe 6 (also referred to as a “processed member”). ) Is carried out to the carrying-in / out carrying device 92 and carried to the downstream side.

The loading / unloading delivery point B in FIG. 5 corresponds to a loading / unloading area for loading / unloading the workpiece, and the first spindle point D is a first spindle point D for processing the workpiece held by the first spindle chuck 18. The second spindle point F corresponds to one machining area, and corresponds to a second machining area for machining a workpiece held by the second spindle chuck 20. In the first workpiece transfer cycle, the workpiece reversing device 34 is not used, and the workpiece (unprocessed member) received at the loading / unloading transfer point B is transferred to the first and second processing areas (first processing area). And the second spindle points D and F), and the workpiece (processed member) after the machining is carried out at the carry-in / carry-out delivery point B.

In the first workpiece transfer cycle, first, the lifting member 40 of the loader device 4 is moved downward, whereby the loader head 41 is lowered from the reference point A (so-called origin point) to the loading / unloading delivery point B. (Step S1). Then, at the time of this lowering, the first and

second cylinder mechanisms

64 and 66 of the loader head 41 are contracted, and the first and

second support members

54 and 56 are positioned at the carry-in / out angle positions, and the first to the second are carried out. The three loader chucks 42 to 46 are held so as to face downward. At this time, the three chuck claws 82 of the first to third loader chucks 42 to 46 are held open.

At the loading / unloading delivery point B, the workpiece (unprocessed member) transported by the loading / unloading transporting device 92 is received (step S2). In the first workpiece transfer cycle, two loader chucks of the first to third loader chucks 42 to 46, in this embodiment, drive actuators (not shown) of the first and second loader chucks 42 and 44 are gripped. The chuck claws 82 are moved inward in the radial direction to hold the workpiece (see FIG. 7).

(4) When two workpieces (unprocessed members) are received at the loading / unloading delivery point B, steps S3 to S5 are executed. That is, the lifting member 40 is moved upward, whereby the loader head 41 is raised to the reference point A (step S3). At this time, the first and

second cylinder mechanisms

64, 66 of the loader head 41 are moved. The first and

second support members

54 and 56 are extended and positioned at the delivery angle position, and the first to third loader chucks 42 to 46 are held in a state facing the first and second spindle chucks 18 and 20. You.

Next, the traveling platform 36 is moved along the erection rail 30 in the direction shown by the arrow 94, whereby the loader head 41 is moved from the reference point A to the point C on the first spindle (step S4). Thereafter, the lifting member 40 descends, whereby the loader head 41 is moved from the first spindle point C to the first spindle point D (step S5).

At the first spindle point D, a workpiece (processed member) held by the first spindle chuck 18 and processed by a processing tool (not shown) of the first tool rest 22 is moved to the first spindle chuck 18. , The workpiece (unprocessed member) held by the first loader chuck 42 is transferred to the first spindle chuck 18 (step S6). That is, after the drive actuator of the third loader chuck 46 is driven in the gripping direction and the chuck claws 82 move radially inward to hold the processed member, the first spindle chuck 18 is opened to perform the processing. The completed member is received. Then, the loader head 41 is moved as required so that the first loader chuck 42 faces the first spindle chuck 18, and in this state, the first spindle chuck 18 is closed (gripped state) and unprocessed. After holding the member, the drive actuator of the first loader chuck 42 is driven in the opening direction, and the chuck claw 82 moves radially outward to release the holding of the unprocessed member. Is received and delivered. The unprocessed member delivered to the first spindle chuck 18 is processed by a processing tool (not shown) of the first tool rest 22.

(4) After receiving the processed member from the first spindle chuck 18 and delivering the unprocessed member, Steps S7 to S9 are executed. That is, the lifting member 40 is moved upward, whereby the loader head 41 is raised from the first spindle point D to the first spindle point C (step S7). Next, the traveling platform 36 is moved along the erection rail 30 in the direction indicated by the arrow 96, whereby the loader head 41 is moved from the first spindle point C to the second spindle point E (step S8). Thereafter, the lifting member 40 is moved downward, whereby the loader head 41 descends from the second spindle point E to the second spindle point F (step S9).

At the second spindle point F, a workpiece (processed member) held by the second spindle chuck 20 and processed by a processing tool (not shown) of the second tool rest 24 is moved to the second spindle chuck 20. , The workpiece (unprocessed member) held by the second loader chuck 44 is transferred to the second spindle chuck 20 (step S10). That is, the drive actuator of the first loader chuck 42 is driven in the gripping direction, the chuck pawl 82 moves inward in the radial direction to hold the processed member, and then the second spindle chuck 20 is opened to perform processing. The completed member is received. Then, the loader head 41 is moved as required so that the second loader chuck 44 faces the second spindle chuck 20, and in this state, the second spindle chuck 20 is closed (gripped state) and unprocessed. After holding the member, the drive actuator of the second loader chuck 44 is driven in the opening direction, and the chuck claw 82 moves radially outward to release the holding of the unprocessed member. Is received and delivered. The unprocessed member delivered to the second spindle chuck 20 is processed by a processing tool (not shown) of the second tool rest 24.

When the reception of the processed member and the delivery of the unprocessed member from the second spindle chuck 20 are completed, the processed member is held by the first and third loader chucks 42 and 46 of the loader head 41, and thereafter, step Steps S11 to S14 are executed, and the two processed members are carried out.

That is, the lifting member 40 is moved upward, whereby the loader head 41 moves up from the second spindle point F to the second spindle point E (step S11). Next, the traveling platform 36 is moved along the erection rail 30 in the direction indicated by the arrow 96, whereby the loader head 41 is moved from the second spindle point E to the reference point A (step S12). Next, the lifting member 40 is moved downward, whereby the loader head 41 is lowered from the reference point A to the loading / unloading point B (step S13). The first and

second support members

54 and 56 are positioned at the carry-in / carry-out angular position, and the first to third loader chucks 42 to 46 face down.

Thereafter, the drive actuators (not shown) of the first and third loader chucks 42 and 46 are driven in the opening direction, and the chuck claws 82 move outward in the radial direction to release the processed member held. Then, the two processed members are carried out to the carry-in / carry-out transfer device 92 in this manner (step S14).

After being unloaded as described above, the first and second loader chucks 42 and 44 receive a new unprocessed member as described above (step S15), and thereafter return from step S15 to step S3, and return to the newly received unprocessed member. The above-described operation is repeatedly performed.

In the above-described workpiece transfer cycle, the workpiece held by the first loader chuck 42 is transferred to the first spindle chuck 18, and the workpiece held by the second loader chuck 44 is transferred to the second spindle chuck 20. On the contrary, the workpiece held by the first loader chuck 42 is delivered to the second spindle chuck 20, and the workpiece held by the second loader chuck is delivered to the first spindle chuck 18. In this case, the second spindle chuck means 20 functions as a first spindle chuck means, and the first spindle chuck means 18 functions as a second spindle chuck means.

In the above-described workpiece transfer cycle, the workpiece received at the loading / unloading transfer point B is delivered to the second spindle chuck 20 after being delivered to the first spindle chuck 18. Alternatively, the workpiece may be delivered to the second spindle chuck 20 and then delivered to the first spindle chuck 18.

Here, in order to facilitate the understanding of the operation and effect in the above-described workpiece transfer cycle, referring to FIGS. 8 and 9, a conventional loader device (first and second loader heads are provided in the loader head). This will be described in comparison with the work transfer cycle of FIG. 8 and 9, the conventional workpiece transfer device has only two loader chucks, that is, first and second loader chucks, and therefore, one workpiece at the loading / unloading transfer point B. Only the (unprocessed member) can be received, and the workpiece thus received is transferred to, for example, the first spindle point D (steps S21 to S25).

Then, at this first spindle point D, a workpiece (processed member) held by the first spindle chuck 18 and processed by a processing tool (not shown) of the first tool rest 22 is moved to the first spindle chuck. After being received from the empty second loader chuck 18, the workpiece (unprocessed member) held by the first loader chuck is transferred to the first spindle chuck 18 (step S <b> 26). The passed unprocessed member is processed by a processing tool (not shown) of the first tool rest 22.

In the conventional workpiece transfer cycle (having only two loader chucks), when the reception and delivery of the workpiece to the first spindle chuck 18 are completed, the processed member is unloaded and the unprocessed member is loaded. Therefore, steps S27 to S33 are performed after step S26. That is, the loader head is moved from the first spindle point D to the loading / unloading delivery point B via the first spindle point C and the reference point A (steps S27 to S29). Then, at the loading / unloading transfer point B, after the workpiece (processed member) held by the second loader chuck is unloaded to the loading / unloading transport device 92, the first loader chuck performs the loading / unloading transport. A workpiece (unprocessed member) is received from the device 92 (step S30). Thereafter, the loader head is moved from the loading / unloading delivery point B to the second spindle point F via the reference point A and the second spindle point E (steps S31 to S33).

Then, at this second spindle point F, a workpiece (processed member) held by the second spindle chuck 20 and processed by a processing tool (not shown) of the second tool rest 24 is moved to the second spindle chuck 20. , The workpiece (unprocessed member) held by the second loader chuck is delivered to the second spindle chuck 20 (step S34), and is delivered in this manner. The unprocessed member is processed by a processing tool (not shown) of the second tool rest 24.

Thereafter, steps S35 to S38 are performed. That is, the loader head is moved from the second spindle point F to the loading / unloading delivery point B again via the second spindle point E and the reference point A (steps S35 to S37). Then, at this loading / unloading transfer point B, after the workpiece (processed member) held by the second loader chuck is again delivered to the loading / unloading transport device 92, the first loader chuck carries out the loading / unloading. The workpiece (unprocessed member) is received from the unloading and transporting device 92 (step S38), and the above-described workpiece transport cycle is repeatedly performed.

Comparing this conventional workpiece transport cycle with the workpiece transport cycle of the above-described embodiment, the conventional workpiece transport cycle includes two loader chucks in association with only two loader chucks. In order to process a workpiece (unprocessed workpiece), the loader head moves twice to the loading / unloading transfer point B to receive and transport the workpieces one by one. On the other hand, in the workpiece transfer cycle according to the above-described embodiment, the loading / unloading is related to the provision of three loader chucks (the first to third loader chucks 42 to 46). At the transfer point B, two workpieces can be received, and the workpieces thus received can be delivered to the first and second spindle chucks 18 and 20, respectively. Therefore, in this workpiece transfer cycle, the loader head 41 does not need to return to the loading / unloading transfer point B while processing two workpieces. In this connection, the processing time of the processing system is reduced. Shortening can be achieved.

In this processing system, processing can be performed according to the second workpiece transfer cycle shown in FIGS. 10 and 11. Referring to FIGS. 10 and 11 together with FIGS. 1 to 4, in this second workpiece transfer cycle, a workpiece (not shown) is transported to one side of NC lathe 6 (machine tool 2). A carry-in / transport device 102 for carrying in is provided, and a workpiece (unprocessed member) to be processed is carried in from the carry-in / transport device 102, and a carry-out / transport for carrying out the work-piece to the other side of the NC lathe 6 and carrying it. An apparatus 104 is provided, and a workpiece (processed member) processed on the NC lathe 6 is unloaded to the unloading and transporting apparatus 104 and transported downstream.

10 corresponds to the carry-in area where the work is carried in, and the first spindle point D corresponds to the first work area where the work held on the first spindle chuck 18 is machined. , The second spindle point F corresponds to a second machining area for machining the workpiece held by the second spindle chuck 20, and the unloading delivery point H corresponds to an unloading area for unloading the workpiece. I have. Also in the second workpiece transfer cycle, the workpiece reversing device 34 is not used, and the workpiece (unprocessed member) received at the transfer point B is subjected to the first and second processing areas (first and second processing areas). The workpieces are machined at the second spindle points D and E), and the workpiece (processed member) after the machining is carried out at the delivery / delivery point H.

In the second workpiece transfer cycle, the loader head 41 descends from the reference point A (so-called origin point) to the carry-in transfer point B (step S41), and is carried by the carry-in transfer device 102 at the carry-in transfer point B. The received workpiece (unprocessed member) is received (step S42), and the reception is performed by, for example, the first and second loader chucks 42 and 44.

When two workpieces (unprocessed members) are received at the loading / receiving point B, steps S43 to S45 are executed, and the loader head 41 moves the loading / receiving point B from the reference point A to the first spindle point. It is moved to the first spindle point D via C. Then, at this first spindle point D, after the workpiece (processed member) held by the first spindle chuck 18 is received from the first spindle chuck 18 by the empty third loader chuck 46, for example, The workpiece (unprocessed member) held by the 1 loader chuck 42 is transferred to the first spindle chuck 18 (step S46), and the processed unprocessed member is processed by the first tool rest 22. Primary processing is performed by a tool (not shown).

(4) After receiving the processed member from the first spindle chuck 18 and delivering the unprocessed member, steps S47 to S50 are performed. That is, the loader head 41 is moved to the second spindle point F via the first spindle point D, the first spindle point C, and the second spindle point E. Then, at the second spindle point F, after the empty first loader chuck 42 receives the workpiece (processed member) held by the second spindle chuck 20, the workpiece is held by, for example, the second loader chuck 44. The workpiece (unprocessed member) is transferred to the second spindle chuck 20, and the transferred unprocessed member is processed by a processing tool (not shown) of the second tool rest 24. . The cycle operation from step S41 to step S50 in the second workpiece transfer cycle is substantially the same as step S1 to step S10 in the first workpiece transfer cycle described above.

In the second workpiece transfer cycle, the processed member is unloaded to the unloading and transporting device 104, and the unprocessed member is loaded from the loading and unloading device 102, so that the processed member is received from the second spindle chuck 20. When the delivery of the unprocessed member is completed, the following steps S51 to S56 are executed. That is, the loader head 41 is moved to the unloading delivery point H via the second spindle point F, the second spindle point E, and the unloading delivery point G. Then, the workpiece (processed member) held by the first and third loader chucks 42 and 46 is carried out to the carry-out / transport device 104 (the first to third loader chucks 42 to 46 are empty). ). Thereafter, the loader head 41 moves from the unloading / delivery point H to the reference point A via the unloading / delivery upper point G, and then returns to step S41, where the loader head 41 descends to the loading / delivery point B and the above-described new work piece is processed. Receiving is performed, and steps S41 to S56 are repeatedly performed.

In the second workpiece transfer cycle, the two workpieces held by the loader head 41 (for example, the first and second loader chucks 42 and 44) are also held in the same manner as in the first workpiece transport cycle described above. The loader head 41 does not move to the carry-out / delivery point H and the carry-in / delivery point B until the workpiece is transferred to the first and second spindle chucks 18 and 20, and the second workpiece transfer cycle is adopted in the above-described processing system. Also in this case, the transfer cycle time can be shortened and the processing efficiency can be improved.

FIG. 12 shows a conventional work transfer cycle corresponding to the second work transfer cycle (having only two loader chucks), and shows a basic cycle of this conventional work transfer cycle. Is the same as the conventional workpiece transfer cycle shown in FIG. 8, except that unprocessed members are received from the transfer device 102 at the transfer point B, and processed members are transferred at the transfer point H. The difference is that they are carried out to the device 104.

In the workpiece transfer cycle shown in FIG. 12, the loader head is moved to the first spindle point D after the workpiece (unprocessed member) is received at the loading / delivery point B by, for example, the first loader chuck. At the spindle point D, the reception of the processed member and the delivery of the unprocessed member from the first spindle chuck 18 are performed. The operation contents of steps S61 to S66 are the same as those of the conventional work transfer cycle of FIG. This is the same as S21 to S26.

(4) After the reception of the processed member and the delivery of the unprocessed member at the first spindle point D, steps S67 to S74 are executed, and the unloading of the processed member and the unloading of the unprocessed member are performed. That is, the loader head is moved to the unloading delivery point H via the first spindle point D, the first spindle point C, and the unloading delivery point G, and at this unloading delivery point H, for example, the processed load received by the second loader chuck. The member is carried out (Steps S67 to S70). Thereafter, the loader head is moved from the unloading / delivery point H to the loading / unloading point B via the unloading / delivery point G and the reference point A, and the unloading member is again received at the loading / delivery point B by the first loader chuck. (Steps S71 to S74).

と When the unprocessed member is received in this way, next, steps S75 to S78 are executed. That is, the loader head moves to the second spindle point F via the carry-in / delivery point B, the reference point A, and the second spindle point E, and at this second spindle point F, the processed member from the second spindle chuck 20 is moved. Receiving and delivery of the unprocessed member are performed, and the operation in steps S76 to S78 is the same as that in steps S31 to S34 of the conventional workpiece transfer cycle in FIG.

(4) After receiving the processed member and delivering the unprocessed member at the second spindle point F, steps S79 to S84 are executed, and the unloading of the processed member and the unloading of the unprocessed member are performed again. That is, the loader head moves to the unloading delivery point H via the second spindle point F, the second spindle point E, and the unloading delivery point G, and at this unloading delivery point H, for example, the processed load received by the second loader chuck. The member is carried out (Steps S79 to S82). Thereafter, the loader head is moved from the unloading / delivery point H to the reference point A via the unloading / delivery point G (steps S83 to S84), and thereafter returns to step S61, and steps S61 to S84 are repeatedly performed.

As described above, in the case where the loader head has only two loader chucks, the carry-in / delivery point B and the unloading point are carried out while the workpieces held on the first and second spindle chucks 18 and 20 are subjected to predetermined processing. The loader head moves to the transfer point H twice to receive (load) and transfer (unload) the workpiece, and in this connection, the processing cycle of the processing system is lengthened and the processing efficiency is reduced. There's a problem. On the other hand, in the processing system employing the second workpiece transfer cycle, the loader head is operated while the workpiece held on the first and second spindle chucks 18 and 20 is subjected to predetermined processing. Only one transfer to the carry-in / delivery point B and the carry-out / delivery point H is performed. In this connection, the processing efficiency of the processing system can be improved.

Next, the third workpiece transfer cycle of the above-described processing system will be described with reference to FIGS. 1 to 4 and FIGS. Referring mainly to FIGS. 13 to 15, in the third workpiece transfer cycle, a loading / unloading transport device 112 for transporting a workpiece (not shown) to one side of the NC lathe 6 (machine tool 2). The workpiece (unprocessed member) to be processed is carried in from the carry-in / carry-out transfer device 112, and the workpiece (processed member) processed on the NC lathe 6 is carried in / out. It is carried out to the transport device 112 and transported downstream.

The loading / unloading delivery point B in FIG. 13 corresponds to the loading / unloading area, the first spindle point D corresponds to the first machining area, and the second spindle point F corresponds to the second machining area, as described above. In addition, the reversal point R corresponds to a reversal area for reversing the front and back of the workpiece, and the above-described workpiece reversing device 34 is provided corresponding to the reversal area. In the third workpiece transfer cycle, the workpiece reversing device 34 is used, and the workpiece primarily processed in the first processing area (the first spindle point D) is moved to the reversal area (reversal point R). After being reversed, secondary processing is performed in the second processing area (second spindle point F).

In the third workpiece transfer cycle, the loader head 41 descends from the reference point A (so-called origin point) to the carry-in / carry-out transfer point B (step S101). At this carry-in / carry-out transfer point B, the carry-in / carry-out is performed. The workpiece (unprocessed member) transported by the delivery transport device 112 is received (step S102), and this receiving is performed by, for example, the first and second loader chucks 42 and 44 (see FIG. 15). ).

Then, after receiving two workpieces (unprocessed members) at the loading / unloading transfer point B, the loader head 41 moves from the loading / unloading receiving point B to the first point via the reference point A and the first spindle point C. The workpiece is moved to the spindle point D. At this first spindle point D, the workpiece (primary processed member) held by the first spindle chuck 18 is received from the first spindle chuck 18 by the empty third loader chuck 46. After that, for example, the workpiece (unprocessed member) held by the first loader chuck 42 is transferred to the first spindle chuck 18 (steps S101 to S104) (see FIG. 15), and is transferred. Primary processing is performed on the unprocessed member by a processing tool (not shown) of the first tool rest 22. The operations in steps S101 to S104 are the same as those in steps S1 to S6 of the first workpiece transfer cycle in FIG.

After step S104, steps S105 to S108 are performed, and after the primary processed workpiece (primary processed member) is inverted, it is conveyed to the second spindle point F to deliver the primary processed member. Is performed. That is, the loader head 41 is moved to the reversal point R via the first spindle point D and the first spindle point C, and at this reversal point R, the loader head 41 is reversed by the second reversing chuck 50 of the workpiece reversing device 34. After the held workpiece (reversed primary processed member) is received by the empty second loader chuck 44, the workpiece (primary processed member) held by the third loader chuck 46 becomes the first workpiece. It is delivered to the reversing chuck 48 (steps S105 to S106) (see FIG. 15). The primary processed member delivered to the first reversing chuck 48 is delivered to the second reversing chuck 50 as described above, and the primary processed member is turned upside down by the delivery, and It is held by the reversing chuck 50.

After receiving the reversed primary processed member, the loader head 41 is moved from the reversing point R to the second spindle point F via the second spindle point E, and at this second spindle point F, the third loader chuck is moved. After receiving the workpiece (secondarily processed member) held by the second spindle chuck 20 and having been subjected to the secondary processing, the workpiece 46 (inverted state) held by the second loader chuck 44 is received. The inverted primary processed member) is delivered to the second spindle chuck 20 (steps S107 to S108) (see FIG. 15). The primary processed member delivered to the second spindle chuck 20 is subjected to secondary processing by a processing tool (not shown) of the second tool rest 24.

受 After the delivery of the inverted primary processed member, steps S109 to S110 are performed, and the primary processing is performed on the unprocessed member held by the first loader chuck. That is, the loader head 41 is moved from the second spindle point F to the first spindle point D via the second spindle point E and the first spindle point C, and at this first spindle point D, the first spindle chuck 18 After the held work (primary processed member) is received by the second loader chuck 44, the work (unprocessed member) held by the first loader chuck 42 is received by the first spindle chuck 18. The workpiece is transferred (see FIG. 15), and is subjected to primary processing by a processing tool (not shown) of the first tool rest 22.

Next, Steps S111 to S114 are performed, and as in Steps S105 to S108, the work piece (primary processed member) that has been subjected to the primary processing is inverted, and then transported to the second spindle point F. Delivery of the primary processed member is performed. That is, as described above, the loader head 41 is moved to the reversal point R via the first spindle point D and the point C on the first spindle, and at this reversal point R, the loader head 41 is reversed and held by the second reverse chuck 50. After the workpiece (reversed primary processed member) is received by the empty first loader chuck 42, the workpiece (primary processed member) held by the second loader chuck 44 is transferred to the first reverse chuck 48. It is delivered (steps S111 to S112) (see FIG. 15). The primary processed member delivered to the first reversing chuck 48 is delivered to the second reversing chuck 50 as described above, and the primary processed member is turned upside down by the delivery, and It is held by the reversing chuck 50.

After receiving the reversal primary processed member, the loader head 41 is moved from the reversal point R to the second spindle point F via the second spindle point E, as described above, and the second spindle point F In the above, after the second loader chuck 44 receives the workpiece (secondarily processed member) held by the second spindle chuck 20, the inverted workpiece (reversed) held by the first loader chuck 42 is received. The primary processed member) is delivered to the second spindle chuck 20 (steps S113 to S114) (see FIG. 15). The primary processed member delivered to the second spindle chuck 20 is subjected to secondary processing by a processing tool (not shown) of the second tool rest 24.

と When the primary processing and the secondary processing are performed on the two workpieces in this way, after the secondary processed member is carried out, a new unprocessed member is carried in. That is, the loader head 41 is moved from the second spindle point F to the loading / unloading transfer point B via the second spindle point E and the reference point A (step S115). After the workpiece (secondarily processed member) held by the third loader chucks 44 and 46 is carried out to the carry-in / carry-out carrier device 112, the first and second loader chucks 42 and 44 are moved by the carry-in / carry-out carrier device 112. , A new workpiece (unprocessed member) is received (step S116), and thereafter, the process returns to step S103, and the above-described steps S103 to S116 are repeatedly performed.

In this third workpiece transfer cycle, the two workpieces held by the loader head 41 (for example, the first and second loader chucks 42 and 44) are substantially similar to the first and second workpiece transport cycles described above. The loader head 41 does not move to the loading / unloading delivery point B until the workpiece is transferred to the first spindle chuck 18, and the loader head 41 does not move even when the third workpiece transfer cycle is adopted in the above-described processing system. Processing efficiency can be improved by shortening the transport cycle time.

In the third workpiece transfer cycle, the workpiece (unprocessed member) held on the first spindle chuck 18 is subjected to primary processing, and the workpiece held on the second spindle chuck 20 (inverted primary). In contrast, the unprocessed member is held on the second spindle chuck 20 to perform primary processing, and the inverted primary processed member is applied to the first spindle chuck 18. The second spindle chuck 20 may function as a first spindle chuck, and the first spindle chuck 18 may function as a second spindle chuck.

FIG. 16 shows a conventional work transfer cycle corresponding to the third work transfer cycle (provided with only two loader chucks). The basic cycle of this conventional work transfer cycle is shown in FIG. Is substantially the same as the conventional workpiece transfer cycle shown in FIG. 8, except that the workpiece (primary processed member) that has been primary-processed while being held by the first spindle chuck 18 is processed by the workpiece reversing device 34. It is different in that after being turned over, it is held on the second spindle chuck 20 and subjected to secondary processing.

In the workpiece transfer cycle shown in FIG. 16, after the workpiece (unprocessed member) is received at the loading / unloading transfer point B by, for example, the first loader chuck, the loader head is moved to the reference point A and the first spindle. The first spindle point D is moved to the first spindle point D via the point C. At the first spindle point D, the reception of the primary processed member and the delivery of the unprocessed member from the first spindle chuck are performed, and these steps S121 to S124 are performed. The contents of the operation are the same as those in steps S21 to S26 of the conventional workpiece transfer cycle in FIG. The workpiece (unprocessed member) delivered to the first spindle chuck is subjected to primary processing.

After the reception of the processed member and the delivery of the unprocessed member at the first spindle point D, steps S125 to S128 are executed, and the primary processed workpiece (primary processed member) is inverted. After being inverted by the device 34, it is transferred to the second spindle chuck 20. That is, the loader head 41 is moved from the first spindle point D to the reversal point R via the first spindle point C, and at the reversal point R, the workpiece held by the second reversing chuck 50 of the workpiece reversing device 34 is moved. After the workpiece (reversed primary processed member) is received by the empty first loader chuck, the workpiece (primary processed member) held by the second loader chuck is delivered to the first reverse chuck 48. . Then, the transferred primary processed member is transferred from the first reversing chuck 48 to the second reversing chuck 50 as described above, and the primary processed member is turned upside down by this transfer. It is held by the two reversing chuck 50 (steps S125 to S126).

After receiving the reversed primary processed member, the loader head 41 is moved from the reversing point R to the second spindle point F via the second spindle point E, and at this second spindle point F, the empty second spindle point F After the loader chuck receives the workpiece (secondarily processed member) held by the second spindle chuck 20, the workpiece (reversed primary processed member) held by the first loader chuck is moved to the second spindle chuck. 20 (steps S127 to S128), and the transferred inverted primary processed member is subjected to secondary processing.

(4) When the second loader chuck receives the secondary processed member in this way, steps S129 to S130 are executed, and the received secondary processed member is carried out. That is, the loader head is moved from the second spindle point F to the loading / unloading delivery point B via the second spindle point E and the reference point A, and the workpiece (secondarily processed member) held by the second loader chuck is moved. ) Is carried out to the carry-in / carry-out transfer device 112, and the first loader chuck receives the workpiece (unprocessed member) from the carry-in / carry-out transfer device 112. An unprocessed member is carried in.

When the unprocessed member is received in this manner, steps S131 to S138 are executed, the unprocessed member is held by the first spindle chuck 18, subjected to primary processing, and the primary-processed workpiece (primary processing) is performed. The processed member is inverted by the workpiece reversing device 34, the inverted primary processed member is held by the second spindle chuck 20 and subjected to secondary processing, and the secondary processed member is carried in / out. It is carried out to the apparatus 112, and these operations are the same as the above-described steps S123 to S130, and thereafter, steps S123 to S138 are repeatedly performed.

In the case where the loader head is provided with only two loader chucks, the workpiece (unprocessed member) is subjected to the secondary processing after the primary processing one by one, and the carry-in / out transfer device is provided after the secondary processing. In this case, there is a problem that the processing cycle of the processing system is lengthened and the processing efficiency is deteriorated. On the other hand, in the processing system employing the third workpiece transfer cycle, two loader chucks, for example, the second and third loader chucks 44 and 46 carry in the workpiece while holding the two secondary processed members. -It carries out and carries in to the carrying-out conveyance apparatus 112, and in connection with this, the processing efficiency of a processing system can be improved.

Next, the fourth workpiece transfer cycle of the above-described processing system will be described with reference to FIGS. 1 to 4 and FIGS. Referring mainly to FIGS. 17 and 18, in the fourth work transfer cycle, a carry-in transfer device 122 for transferring a work (not shown) to one side of NC lathe 6 (machine tool 2) is provided. A workpiece (unprocessed member) to be processed is carried in from the carry-in / transport device 122, and a carry-out / transport device 124 for carrying out the work (not shown) is arranged on the other side of the NC lathe 6. The workpiece (secondarily processed member) that has been provided and subjected to the secondary processing is carried out to the carry-out carrying device 124 and carried to the downstream side.

The basic flow of the fourth workpiece transfer cycle of this processing system is the same as that of the above-described third workpiece transport cycle. The flowchart of the fourth workpiece transport cycle in FIG. 18 and the third workpiece transport cycle in FIG. As can be easily understood by comparing the flowcharts of the workpiece transfer cycle, the fourth workpiece transfer cycle involves receiving a workpiece (unprocessed member) from the loading / unloading device 122 at the loading / unloading point B. 18, except that the workpiece (secondarily processed member) is unloaded to the unloading / transporting device 124 at the unloading / delivery point H. The operations in steps S141 to S154 in the workpiece transfer cycle are performed in steps S101 to S101 in the third workpiece transport cycle in FIG. 114 is the same as that.

In the fourth workpiece transfer cycle, for example, the second loader chuck 44 receives the workpiece (secondarily processed member) from the second spindle chuck 20 in step S154 and the first loader chuck 42 holds the workpiece. When the workpiece (reversed primary processing member) is transferred to the second spindle chuck 20, the loader head 41 (for example, the second and third loader chucks 44 and 46) holds two secondary processed members. The unloading of the two secondary processed members and the loading of the two unprocessed members are performed. That is, the loader head 41 moves from the second spindle point F to the second spindle point E and the unloading transfer point G to the unloading transfer point H (step S155). The workpiece (secondarily processed member) held by the third loader chucks 44 and 46 is unloaded to the unloading and transporting device 124 (step S156), and the first to third loader chucks 42 to 46 remove the workpiece. It is an empty state that does not hold.

Then, the loader head 41 is moved from the unloading / delivery point H to the reference point A via the unloading / delivery point G (step S157), and returns to step S141 to repeat the above-described steps S141 to S157.

FIG. 19 shows a conventional work transfer cycle corresponding to the fourth work transfer cycle (having only two loader chucks). The basic flow of this conventional work transfer cycle is shown in FIG. Is the same as the conventional work transfer cycle of FIG. 16 corresponding to the above-described third work transfer cycle, and is a flowchart of the conventional work transfer cycle of FIG. 19 and the conventional work transfer cycle of FIG. As can be easily understood by comparing the flow charts of the transport cycle, the workpiece transport cycle of FIG. 19 performs the process of receiving a workpiece (unprocessed member) from the loading / unloading device 122 at the loading / unloading point B and unloading it. 16 is the same as the workpiece transfer cycle in FIG. Accordingly, the operations of steps S161 to S168 and steps S173 to S178 in the conventional workpiece transfer cycle of FIG. 19 are performed in steps S121 to S128 and steps S131 to S131 of the conventional workpiece transport cycle of FIG. This is the same as step S136.

In this conventional workpiece transfer cycle, in step S168, for example, the second loader chuck receives the workpiece (secondarily processed member) from the second spindle chuck 20, and the workpiece (secondary workpiece) held by the first loader chuck. When the inverted primary processed member) is transferred to the second spindle chuck 20, the received secondary processed member is carried out. That is, the loader head is moved from the second spindle point F to the unloading delivery point H via the second spindle point E and the unloading delivery point G (step S169), and the workpiece (2) held on the second loader chuck is moved. The next processed member) is carried out to the carry-out / conveyance device 124 (Step S170).

Then, the loader head is moved from the carry-out transfer point H to the carry-in transfer point B via the carry-out transfer point G and the reference point A (step S171), and the first loader chuck is moved from the carry-in transfer device 122 at the carry-in transfer point B. After receiving the workpiece (unprocessed material), the process proceeds to step S173, where the unprocessed member is delivered to the first spindle chuck 18.

In step S178, for example, the second loader chuck receives the workpiece (secondarily processed member) from the second spindle chuck 20, and transfers the workpiece (reversed primary processed member) held by the first loader chuck to the second spindle. When the loader head is transferred to the chuck 20, the loader head is moved from the second spindle point F to the unloading transfer point H via the second spindle point E and the unloading transfer point G in the same manner as described above (step S179). The workpiece (secondarily processed member) held by the loader chuck is unloaded to the unloading and transporting device 124 (Step S180).

Then, the loader head is returned from the unloading / delivery point H to the reference point A via the unloading / delivery point G (step S181), and thereafter returns to step S161. After receiving the workpiece, the unprocessed member is delivered to the first spindle chuck.

In the case where the loader head is provided with only two loader chucks as described above, the workpiece (unprocessed member) is subjected to the primary processing and then the secondary processing is performed. Then, the unprocessed members are carried in one by one from the carry-in / carrying-out device 122, and in this connection, there is a problem that the working cycle of the working system is lengthened and the working efficiency is deteriorated. On the other hand, in a processing system employing the fourth workpiece transfer cycle, two loader chucks, for example, the second and third loader chucks 44 and 46 hold two secondary processed members. These are unloaded to the unloading / transporting device 124, and then the two unprocessed members are loaded from the loading / unloading device 122. In this connection, the processing efficiency of the processing system can be improved.

加工 In this processing system, the loader head of the loader device shown in FIGS. 20 to 23 can be used. 20 and 21, a loader head 41A of a loader device 4A according to another embodiment includes an attachment member 202 attached to a lower end portion of a lifting member 40A, and a head body 52A is attached to an attachment portion 204 of the attachment member 202. Installed. The head main body 52A has a head main body 206, and a rotation support member 208 rotatably mounted on the head main body 206. Three loader chucks are provided on the rotation support member 208 at circumferential intervals. That is, the first to third loader chucks 42A, 44A, 46A are provided.

More specifically, the mounting portion 204 of the mounting member 202 is provided with an inclined mounting surface, the head main body 206 of the head main body 52A is mounted on the inclined mounting surface, and the cover member 210 is mounted on the head main body 206. ing.

In this embodiment, the inclined mounting surface of the mounting member 204 is tilted 45 degrees to the lower right in FIG. 21 (angle α = 45 °) with respect to the vertical axis P, so that the head body 52A is It is attached in a state where it is inclined 45 ° downward. In this mounting state, as shown in FIG. 21, the rotation axis Q of the head main body 52A (the rotation axis of the rotation support member 208) has an angle of 45 degrees (angle β = 45 °) to the lower left with respect to the vertical axis P. Thus, the rotation axis Q extends obliquely downward (in other words, extends obliquely downward at an angle of 45 degrees with respect to the horizontal direction). The rotation support member 208 of the head main body 52A is rotated about the rotation axis Q.

In this embodiment, the rotation support member 208 is formed in a substantially triangular pyramid shape, and its outer surface is provided with first to third

chuck mounting surfaces

212, 214, and 216 at equal intervals in the circumferential direction at 120 degrees (see FIG. 20). ) Are provided, and the first to third loader chucks 42A, 44A, 46A are mounted on the first to third

chuck mounting surfaces

212, 214, 216. The first to third loader chucks 42A, 44A, 46A may have the same configuration as the above-described chuck means, and include three chuck claws 82 arranged at intervals in the circumferential direction. The workpiece is held and released as described above. Note that these chuck claws 82 are shown by dashed lines in FIGS. 20 and 21, and are omitted in FIGS. 22 and 23.

The first to third

chuck mounting surfaces

212, 214, and 216 of the rotation support member 208 extend and extend 45 degrees with respect to the first to third reference surfaces including the rotation axis Q of the head main body 52A. As shown in FIG. 21, the chuck mounting surface 212 has a first reference surface including the rotation axis Q of the head main body 52A (that is, a surface including the rotation axis Q, and a surface perpendicular to the paper surface in FIG. 21). (Becomes the first reference plane) at an angle of 45 degrees. By inclining the first to third chuck mounting surfaces at an angle of 45 degrees with respect to the first to third reference surfaces in this manner, the rotation support member 208 can rotate the first specific rotation angle shown in FIGS. Position, the first delivery angle in which the first chuck mounting surface 212 (the first loader chuck 42A mounted thereon) faces the first and second spindle chucks 18 and 20 (see FIG. 1). Position (in other words, the first chuck mounting surface 212 is parallel to the surfaces of the first and second spindle chucks 18 and 20).

Therefore, when the loader head 41A is located at, for example, the first spindle point (first machining area), the first loader chuck 42A faces the first spindle chuck 18, and the first loader chuck 42A and the first spindle chuck 18A. When the loader head 41A is located at, for example, the second spindle point 20 (second machining area), the first loader chuck 42A is connected to the second spindle chuck 20A. The workpiece can be transferred between the first loader chuck 42A and the second spindle chuck 20.

When the rotation supporting member 208 rotates 120 degrees in the predetermined direction from the first specific rotation angle position, as easily understood, the second chuck mounting surface 214 (the second loader chuck 44A mounted on the second chuck mounting surface 214A) is in the first position. And a second delivery angle position facing the second spindle chucks 18, 20 (see FIG. 1) (in other words, the second chuck mounting surface 214 is located on the first and second spindle chucks 18, 20). Parallel to the plane). Therefore, when the loader head 41A is located at, for example, the first spindle point (second spindle point), the second loader chuck 44A faces the first spindle chuck 18 (second spindle chuck 20) and the second loader chuck The transfer of the workpiece between 44A and the first spindle chuck 18 (second spindle chuck 20) becomes possible.

When the rotation support member 208 rotates further 120 degrees in the predetermined direction from the above-described state (that is, the rotation support member 208 rotates 240 degrees in the predetermined direction from the first specific rotation angle position), it is easily understood. , The third chuck mounting surface 216 (the third loader chuck 46A mounted on the third chuck mounting surface 46A) is positioned at the third delivery angle position facing the first and second spindle chucks 18 and 20 (see FIG. 1) (see FIG. 1). In other words, the third chuck mounting surface 216 is parallel to the surfaces of the first and second spindle chucks 18 and 20). Therefore, when the loader head 41A is located at, for example, the first spindle point (second spindle point), the third loader chuck 46A faces the first spindle chuck 18 (second spindle chuck 20) and the third loader chuck 46A. The workpiece can be transferred between 46A and the first spindle chuck 18 (second spindle chuck 20).

The rotation axis Q of the rotation support member 208 will be described in relation to the first to third delivery angle positions. As understood from FIG. 21, the first delivery angle position (the second delivery angle position, the third delivery angle position) When the first loader chuck 42A (the second loader chuck 44A, the third loader chuck 46A) faces the first spindle chuck 18 (the second spindle chuck 20) at the position), the rotation axis Q of the rotation support member 208 is The first chuck mounting surface 212 (the second chuck mounting surface 214 and the third chuck mounting surface 216) extends obliquely downward at an angle of 45 degrees with respect to the horizontal direction. It is configured to incline at an angle of degrees.

In the rotation control mode in which the rotation support member 208 is rotated at 120-degree intervals based on the first specific rotation angle position, that is, in the first rotation control mode, the first to third loader chucks 42A to 46A are the first to third loader chucks. The first loader chuck 42A (the second loader chuck 44A and the third loader chuck 46A) is rotated in the first transfer angle position (the second transfer angle position and the third transfer angle position). It faces in the direction facing the first and second spindle chucks 18 and 20 (in the front and rear direction in the NC lathe 6 in FIG. 1).

When the rotation support member 208 rotates 180 degrees from the first specific rotation angle position in a predetermined direction, it is positioned at the second specific rotation angle position shown in FIGS. At this second specific rotation angle position, as shown in FIGS. 22 and 23, the first loading where the first chuck mounting surface 212 of the rotation support member 208 (the first loader chuck 42A mounted thereon) faces downward. Positioned at the carry-out angular position (in other words, the first chuck mounting surface 212 is parallel to the carrying surfaces of the carry-in / carry-out device and carry-out / carry-out device (or carry-in / carry-out carry-out device)).

Therefore, when the loader head 41A is located at, for example, a carry-in / delivery point (carry-out / delivery point), the first loader chuck 42A faces the carrying surface of the carry-in / carrying device (carry-out carrying device), and the carry-in of the first loader chuck 42A. It is possible to receive the workpiece from the transport device (unload the workpiece to the unloading transport device).

When the rotation support member 208 rotates 120 degrees in the predetermined direction from the second specific rotation angle position, the second chuck mounting surface 214 (the second loader chuck 44A mounted on the second chuck chuck surface 44A) moves downward as easily understood. (In other words, the second chuck mounting surface 214 is parallel to the carrying surfaces of the carrying-in / carrying-out device and the carrying-out carrying-out device), and the loader head 41A is moved to, for example, a carrying-in / receiving point (a carrying-out / receiving position). When the second loader chuck 44A is located at (point), the second loader chuck 44A faces the transfer surface of the carry-in transfer device (unloading transfer device), and receives the workpiece from the transfer device of the second loader chuck 44A (the unloading transfer device). Unloading of the work to the workpiece).

When the rotation support member 208 rotates further 120 degrees in the predetermined direction from the above state (that is, the rotation support member 208 rotates 240 degrees in the predetermined direction from the second specific rotation angle position), it is easily understood. , The third chuck mounting surface 216 (the third loader chuck 46A attached thereto) is positioned at the third loading / unloading angular position facing downward (in other words, the third chuck mounting surface 216 is connected to the loading / unloading device and the loading / unloading device). When the loader head 41A is located at, for example, a carry-in / delivery point (carry-out / delivery point), the third loader chuck 46A faces the carrying surface of the carry-in / carry-out device (carry-out / transport device). Then, the workpiece can be received from the carry-in / transport device of the third loader chuck 46A (the workpiece can be carried out to the carry-out / transport device).

In the rotation control mode in which the rotation support member 208 is rotated at 120-degree intervals based on the second specific rotation angle position, that is, in the second rotation control mode, the first to third loader chucks 42A to 46A are in the first to third positions. The first loader chuck 42A (the second loader chuck 44A, the second loader chuck 44A, the second loader chuck 44A) rotates at the first load / unload angular position (the second load / unload angular position, the third load / unload angular position). The third loader chuck 46A) faces downward.

When such a loader head 41A is used, a first rotation control mode for rotating the first to third loader chucks 42A to 46A through the first to third transfer angular positions, and a first to third loader chucks 42A to 46A. Is switched to a second rotation control mode that rotates through the first to third carry-in / carry-out angular positions, and is controlled to have a first spindle point (first machining area), a second spindle point (second machining area), and a reversal. At a point (reversal area) (or when moving to these points), rotation is controlled as required in the first rotation control mode, and a carry-in / delivery point (carry-in area) and a carry-out / delivery point (carry-out area), or At the unloading delivery point (loading / unloading area) (or when moving to these points), rotation control is performed as required in the second rotation control mode. By such control, even in the case of using a loader device 4A of this embodiment, it is possible to perform the first to fourth transfer cycle for machining the workpiece.

When the loader device 4A (loader head 41A) of the other embodiment is used, as understood from the above description, the configuration of the loader head 41A including the first to third loader chucks 42A to 46A is relatively simple. It is possible to reduce the size of the device itself, control the operation thereof relatively easily, and provide the device as an easy-to-use device.

{Circle around (5)} A fifth transport cycle (corresponding to the above-described first transport cycle, see FIG. 5 for these points) in the processing system using the loader device 4A is as shown in FIG. 24, for example. Referring to FIG. 24 together with FIGS. 20 to 23, in the fifth transfer cycle using the loader device 4A, a loading / unloading process for transferring a workpiece (not shown) to one side of the NC lathe 6 (machine tool). An unloading / transporting device 92 is provided, and a workpiece to be processed is loaded from the loading / unloading transporting device 92, and a workpiece processed on the NC lathe 6 is transported to the loading / unloading transporting device 92. Transported downstream.

In the fifth transport cycle, first, the lifting member 40A of the loader device 4A is moved downward (step S201), and simultaneously with this downward movement, the rotation mode of the rotation support member 208 is switched to the second rotation control mode (step S201). S202). First, the loader head 41A moves downward from the reference point A (so-called origin point) to the carry-in / out transfer point B (the carry-in / out area), and the rotation mode of the rotation support member 208 of the loader head 41A is changed to the second rotation control mode. At this time, the three chuck claws 82 of the first to third loader chucks 42A to 46A are kept open. Note that the switching to the second rotation control mode may be performed before moving down.

At the loading / unloading transfer point B (loading / unloading area), the workpiece (unprocessed member) transported by the loading / unloading transport device 92 is received (step S203), and the fifth transport cycle is performed. However, the workpiece is received by two of the first to third loader chucks 42A to 46A, for example, the first and second loader chucks 42A and 44A. Specifically, when the mode is switched to the second rotation control mode, the rotation support member 208 is positioned at the second specific rotation angle position, and the first loader chuck 42A faces downward, that is, the first loading / unloading angle. Held in position. Then, at this first loading / unloading angular position, the drive actuator (not shown) of the first loader chuck 42A is driven in the gripping direction, and the chuck claw 82 moves inward in the radial direction to hold the workpiece. I do. Thereafter, the rotation support member 208 is rotated 120 degrees in the predetermined direction, and the second loader chuck 44A is held in a downward state, that is, in the second carry-in / carry-out angular position. Then, at this second loading / unloading angular position, the drive actuator (not shown) of the second loader chuck 44A is driven in the gripping direction, and the chuck pawl 82 moves inward in the radial direction to hold the workpiece. In this way, the workpiece is held by the first and second loader chucks 42A and 44A.

When two workpieces (unprocessed members) are received at the loading / unloading delivery point B, the lifting member 40A is moved upward (step S204). When the lifting member 40A is raised to the reference point A, the rotation of the loader head 41A is performed. The rotation mode of the support member 208 is switched from the second rotation control mode to the first rotation control mode (Step S205). Note that the switching to the first rotation control mode may be performed after rising to the reference point A.

When the mode is switched to the first rotation control mode, the rotation support member 208 is positioned at the first specific rotation angle position, and the first loader chuck 42A is oriented toward the first and second spindle chucks, that is, the first delivery angle. After that, the operations in steps S206 to S208 are performed. The operations in steps S206 to S208 are the same as those in steps S4 to S6 in the first transport cycle (FIG. 6), but are performed in step S208 (first processing). The reception and delivery in the area are performed, for example, as follows.

At the first spindle point D (first machining area), the rotation support member 208 is rotated 240 degrees in the predetermined direction from the first specific rotation angle position, and the third loader chuck 46A is directed to the first spindle chuck 18. The workpiece (processed member) held by the first spindle chuck 18 is received by the empty third loader chuck 46A from the first spindle chuck. It is. Thereafter, the rotation support member 208 is further rotated in the predetermined direction by, for example, 120 degrees, and the first loader chuck 42A is held in a state facing the first spindle chuck 18, that is, in the first delivery angle position, and the first loader chuck 42A The held workpiece (unprocessed member) is delivered to the first spindle chuck 18, and the workpiece is received and delivered in this manner.

After the receipt and delivery, steps S209 to S212 are performed. The operations of steps S209 to S212 are the same as steps S7 to S10 in the first transport cycle (FIG. 6), but are performed in step S212 (second processing). The reception and delivery in the area are performed, for example, as follows.

At the second spindle point F (second machining area), the rotation support member 208 is located at the first specific rotation angle position, and the empty first loader chuck 42A is held at the first delivery angle position. The workpiece (processed member) held by the second spindle chuck 20 is received from the second spindle chuck 20 to the empty first loader chuck 42A. Thereafter, the rotation support member 208 is rotated 120 degrees in a predetermined direction, and the second loader chuck 44A is held in a state facing the second spindle chuck 20, that is, in the second delivery angle position, and is held by the second loader chuck 44A. The workpiece (unprocessed member) is transferred to the second spindle chuck 20, and the workpiece is received and delivered in this manner.

When the reception of the processed member and the delivery of the unprocessed member from the second spindle chuck 20 are completed, the processed member is held by the first and third loader chucks 42A and 46A of the loader head 41A, and the second loader chuck is held. 44A is held at the second delivery angle position, and thereafter, steps S214 to S217 are executed, two processed members are carried out, and the operation contents of steps S214 to S217 are based on the first transport system ( This is substantially the same as steps S11 to S14 in FIG. 6).

In step S215, the rotation mode of the rotation support member 208 of the loader head 41A is switched from the first rotation control mode to the second rotation control mode simultaneously with the lowering of the loader head 41A to the loading / unloading point B (step S96). The rotation support member 208 is positioned at the second specific rotation angle position, whereby the first loader chuck 42A is held at the first loading / unloading angular position.

搬 The unloading of the workpiece (processed member) at the loading / unloading delivery point B (loading / unloading area) is performed as follows. That is, the drive actuator (not shown) of the first loader chuck 42A is driven in the opening direction, and the chuck claws 82 move outward in the radial direction to open the workpiece. Thereafter, the rotation support member 208 is rotated 240 degrees in the predetermined direction (or 120 degrees in the direction opposite to the predetermined direction), and the third loader chuck 46A is held in the downward state, that is, in the third carry-in / carry-out angular position. You. Then, at this third loading / unloading angular position, the drive actuator (not shown) of the third loader chuck 46A is driven in the opening direction, and the chuck claws 82 move radially outward to release the workpiece. Then, the workpiece held by the first and third loader chucks 42A and 46A is carried out in this way, and the first to third loader chucks 42A to 46A are all empty (step S217). ).

Next, the process proceeds to step S218, where the workpiece (unprocessed member) is carried in as follows. That is, the loader head 41A is rotated 120 degrees in the predetermined direction, and the first loader chuck 42A is held at the first loading / unloading angular position. Then, at this first loading / unloading angular position, the drive actuator (not shown) of the first loader chuck 42A is driven in the gripping direction to hold the workpiece. Thereafter, the rotation support member 208 is further rotated in the predetermined direction by 120 degrees, and the second loader chuck 44A is held at the second loading / unloading angular position. Then, at this second loading / unloading angular position, the drive actuator (not shown) of the second loader chuck 44A is driven in the gripping direction to hold the workpiece, and the first and the second are carried out in the same manner as described above. The workpiece is held by the loader chucks 42A and 44A.

Then, the process returns to step S204, and steps S204 to S218 are repeatedly performed. In this fifth transport cycle, the workpiece can be transported and processed in the same manner as in the first transport cycle described above.

In the fifth transport cycle, the second rotation control mode is simultaneously switched from the reference point A to the loading / unloading delivery point B, and the first rotation control mode is simultaneously switched from the loading / unloading delivery point B to the reference point A. However, instead of such control, during the movement from the point E on the second spindle to the reference point A, the mode is switched from the first rotation control mode to the second rotation control mode. The switching from the second rotation control mode to the first rotation control mode may be performed during the movement to the point E on the two spindles.

{Circle around (6)} The sixth transport cycle (corresponding to the above-described second transport cycle; see FIG. 8 for these points) in the processing system using the loader device 4A is as shown in FIG. 25, for example. Referring to FIG. 25 together with FIGS. 20 to 13, in the sixth transfer cycle using the loader device 4A, a carry-in transfer for carrying a workpiece (unprocessed member) to one side of the NC lathe 6 (machine tool). An apparatus 102 is provided, and an unloading and transporting member 104 for unloading a workpiece (processed member) is provided on the other side. The workpiece to be processed is loaded from the loading and transporting apparatus 102 and the NC lathe 6 The workpiece processed in the step (c) is carried out from the carry-out / conveyance device 104 and carried downstream.

The basic flow of the sixth transport cycle is almost the same as that of the fifth transport cycle, as easily understood by comparing FIG. 25 and FIG. 24, and steps S221 to S232 in the sixth transport cycle. Are the same as those in steps S201 to S212 in the fifth transport cycle.

When the workpiece is received and delivered in step S112, the first and third loader chucks 42A and 46A are in a state of holding the processed members. The loading of the member is performed. Specifically, the loader head 41A rises from the second spindle point F to the second spindle point E (step S233), moves from the first spindle point E to the unloading / delivery point G (step S234), and further. It moves from the unloading delivery point G to the unloading delivery point H (unloading area) (step S235), and descends to the unloading delivery point H. At the same time, the rotation mode of the rotation support member 208 of the loader head 41A is changed in the same manner as described above. The mode is switched from the first rotation control mode to the second rotation control mode (step S236), and the rotation support member 208 is positioned at the second specific rotation angle position, whereby the first loader chuck 42A is moved to the first loading / unloading angle. Held in position.

搬 The unloading of the workpiece (processed member) at the unloading delivery point H (unloading area) is performed as follows. That is, as described above, the drive actuator (not shown) of the first loader chuck 42A is driven in the opening direction, and the chuck claw 82 moves radially outward to open the workpiece. Thereafter, the rotation support member 208 is rotated 240 degrees in a predetermined direction, and the third loader chuck 46A is held at the third carry-in / carry-out angular position. Then, a driving actuator (not shown) of the third loader chuck 46A is driven in the opening direction, and the chuck pawl 82 moves outward in the radial direction to open the workpiece. The workpiece held by the third loader chucks 42A and 46A is carried out (step S237), whereby the first to third loader chucks 42A to 46A are empty.

Next, the loader head 41A rises from the unloading transfer point H (unloading area) to the unloading transfer point G (step S238), and rises to the unloading transfer point G, and at the same time, the rotation of the rotation support member 208 of the loader head 41A. The mode is switched from the second rotation control mode to the first rotation control mode (step S239), and the rotation support member 208 is positioned at the first specific rotation angle position, whereby the first loader chuck 42A is moved to the first delivery angle position. Is held. Note that the switching to the first rotation control mode may be performed after ascending to the point G at the carry-out / delivery.

Then, the process returns to step S221, and steps S221 to S240 are repeatedly performed. In this sixth transport cycle, the workpiece can be transported and processed in the same manner as in the above-described second transport cycle.

In this embodiment, the rotation mode of the rotation support member 208 is changed from the second rotation control mode to the first rotation control mode at the same time as the lifting movement of the loader head 41A ends, in order to facilitate the description of the switching control of the rotation mode. The mode is switched to the second rotation control mode again at the same time as the start of the downward movement of the carry-in / delivery point B (the carry-in area). Since the rotation control in the first rotation control mode is not performed while receiving the workpiece (unprocessed member), there is no need to temporarily switch from the second rotation control mode to the first rotation control mode. It is also possible to move to the delivery point B in the second rotation control mode. In this case, step S239 in FIG. 25 is omitted. Proceeds from step S240 to step S223 through step S221 (i.e., step S222 is also omitted) so made.

In the sixth transfer cycle, the mode is switched from the reference point A to the carry-in / delivery point B at the same time as the descending point G from the carry-out / transfer point to the carry-out / delivery point H, and is switched to the second rotation control mode. The mode is switched to the first rotation control mode at the same time as rising to the reference point A and at the same time as rising from the unloading / delivery point H to the unloading / delivery point G. The mode is switched to the second rotation control mode during the movement to the point A and during the movement from the point C on the first spindle to the point G on unloading / delivery, and further the movement from the reference point A to the point E on the second spindle. Alternatively, the mode may be switched to the first rotation control mode.

As described above, the processing system including the loader device 4A can be applied to the fifth and sixth transport systems corresponding to the first and second transport systems, but can be applied to the seventh transport system corresponding to the third transport system. The present invention can be similarly applied to a transport system and an eighth transport system corresponding to the fourth transport system.

Although the loader device according to the present invention has been described above with reference to the accompanying drawings, the present invention is not limited to such an embodiment, and various changes and modifications can be made without departing from the scope of the present invention.

For example, in the above-described embodiment, the first to third loader chucks 42 to 46 (42A to 46A) each having three chuck claws 82 arranged at intervals in the circumferential direction are used. However, the present invention is not limited to such a form, and a form having two chuck claws disposed to face each other may be used.

Further, for example, in the embodiment described above, the machine tool 2 to which the loader device is applied is described as being applied to the NC lathe 6 including the reversing device 34 for reversing a workpiece. When the fourth transport cycle (the seventh and eighth transport cycles) is not adopted, the reversing device 34 may be omitted.

Further, for example, in the above-described embodiment, the description has been given by applying to the NC lathe 6 in which the first and

second spindles

14 and 16 are arranged at intervals in the lateral direction. The present invention is not limited thereto, and can be similarly applied to a configuration in which the first and second

main shafts

14 and 16 are arranged so as to face each other.

Claims

In a processing system that includes a machine tool that processes a workpiece and a loader device for transporting the workpiece to the machine tool,
The machine tool includes a machine tool body, first and second spindles rotatably supported on the machine tool body at predetermined intervals, and first and second spindles mounted on the first and second spindles. A second spindle chuck, and first and second tool rests provided corresponding to the first and second spindle chucks,
The loader device includes an erecting rail extending in the predetermined direction, and a loader movably mounted on the erecting rail, wherein the loader includes an elevating member supported movably and a lower end of the elevating member. A loader head provided, wherein the loader head includes first to third loader chucks,
When processing the workpiece with the machine tool main body, the loader device holds the workpiece with the first and second loader chucks at the loading / unloading point and conveys the workpiece to the machine tool main body. Transferring the workpiece held by one loader chuck to the first spindle chuck, and transferring the workpiece held by the second loader chuck to the first spindle chuck or the second spindle chuck. Characteristic processing system.
The loader device receives the workpiece held and processed by the first spindle chuck at a first spindle point and receives the workpiece by the third loader chuck, and then holds the workpiece held by the first loader chuck. Is transferred to the first spindle chuck, and then, at the second spindle point, the workpiece held and processed by the second spindle chuck is received by the first loader chuck and then held by the second loader chuck. The processing system according to claim 1, wherein the workpiece is transferred to the second spindle chuck.
In a processing system that includes a machine tool that processes a workpiece and a loader device for transporting the workpiece to the machine tool,
The machine tool includes a machine tool body, first and second spindles rotatably supported on the machine tool body at predetermined intervals, and first and second spindles mounted on the first and second spindles. A second spindle chuck, and first and second tool rests provided corresponding to the first and second spindle chucks,
The loader device includes an installation rail extending in the predetermined direction, a loader movably mounted on the installation rail, and a workpiece reversing device for reversing the workpiece. A lifting member freely supported, and a loader head provided at a lower end portion of the lifting member; the loader head includes first to third loader chucks;
The workpiece reversing device includes first and second reversing chucks, and is configured to reverse the workpiece by grasping using the first and second reversing chucks,
When processing the workpiece with the machine tool body, the loader device holds the workpiece with the first and second loader chucks at the carry-in / delivery point and transports the workpiece to the machine tool body. The workpiece held by the first and second loader chucks is transferred to the first spindle chuck, and the workpiece held by the first spindle chuck is subjected to primary processing, and the primary processing is performed. After the workpiece is inverted by the workpiece reversing device, the workpiece is transported to and held by the second spindle chuck, and the workpiece held by the second spindle chuck is subjected to secondary processing. Processing system characterized by being performed.
The loader device receives the workpiece, which has been primarily processed by being held by the first spindle chuck at a first spindle point, by the third loader chuck, and thereafter, holds the workpiece held by the second loader chuck. The workpiece is transferred to the first spindle chuck, and then, at the reversal point, the workpiece held by the second reversing chuck is received by the second loader chuck, and then held by the third loader chuck. After passing the workpiece to the first reversing chuck, and then receiving the workpiece, which is held by the second spindle chuck at the second spindle point and is secondarily processed, by the third loader chuck, The workpiece held by the second loader chuck is transferred to the second spindle chuck, and is further moved at the first spindle point. After receiving the workpiece that has been subjected to the primary processing by being held by the first spindle chuck by the second loader chuck, the workpiece that is held by the first loader chuck is delivered to the first spindle chuck, Then, after receiving the workpiece held by the second inversion chuck at the inversion point by the first loader chuck, the workpiece held by the second loader chuck is moved to the first inversion chuck. After receiving the workpiece, which has been subjected to the secondary processing by being held by the second spindle chuck at a second spindle point thereafter, at the second loader chuck, the workpiece held by the first loader chuck is then received. The processing system according to claim 3, wherein a workpiece is transferred to the second spindle chuck.
The loader head further includes a head body attached to the elevating member, and first and second support members attached to the head body, wherein the first loader chuck is attached to the first support member. , The second and third loader chucks are attached to the second support member, and the first support member has a delivery angle position in which the first loader chuck faces a direction facing the first and second spindle chucks. The first loader chuck is rotatable between a downwardly-directed loading / unloading angular position, and the second support member is such that the second and third loader chucks are opposed to the first and second spindle chucks. The processing according to claim 1 or 3, wherein the transfer angle position facing the direction and the second and third loader chucks are pivotable between the carry-in and carry-out angular positions facing downward. Stem.
The loader head further includes a head body attached to the elevating member, and first and second support members attached to the head body, wherein the first and second loader chucks are attached to the first support member. Attached, the third loader chuck is attached to a second support member, and the first support member has a transfer angular position in which the first and second loader chucks face in a direction facing the first and second spindle chucks. And the first and second loader chucks are rotatable between a loading / unloading angular position in which the first and second loader chucks face downward. The second support member is configured such that the third loader chuck is opposed to the first and second spindle chucks. 4. The processing system according to claim 1, wherein the third loader chuck is rotatable between a transfer angle position facing the direction in which the third loader chuck faces downward and a carry-in / carry-out angle position facing downward. 5.
The loader head further includes a head body attached to the elevating member, and a rotation support member rotatably mounted on the head body, and the rotation support member is provided at equal intervals in a circumferential direction. And first to third inclined mounting surfaces are provided, and the first to third loader chucks are mounted on the first to third inclined mounting surfaces of the rotation support member,
The rotation support member includes: a first rotation control mode in which the first to third loader chucks are rotated through a delivery angle position facing a direction facing the first and second spindle chucks; 4. The processing system according to claim 1, wherein rotation of the loader chuck is controlled by switching to a second rotation control mode in which the loader chuck is rotated through a carry-in / out angle position facing downward. 5.
An erecting rail extending in a predetermined direction, and a loader movably mounted on the erecting rail, the loader includes an elevating member supported movably, and a loader head provided at a lower end of the elevating member. A loader device for transporting a workpiece held by the loader head to first and second spindle chucks mounted on first and second spindles of a machine tool,
The loader head includes a head body attached to the elevating member, and a rotation support member rotatably mounted on the head body, wherein the rotation support member has a first space at a circumferential distance. To a third chuck mounting surface, and the first to third loader chucks are mounted on the first to third chuck mounting surfaces,
A first rotation control mode in which the first to third loader chucks are rotated through first to third transfer angular positions facing the first and second spindle chucks of the machine tool; The first to third loader chucks are configured to switch to a second rotation control mode in which the first to third loader chucks are rotated through first to third loading / unloading angular positions facing the transport surface of the loading / unloading device, and the rotation is controlled. Has been
In a state where the first to third loader chucks are located at the first to third delivery angle positions and face the first and second spindle chucks, the rotation shaft of the rotation support member is positioned with respect to a horizontal direction. And the first to third chuck mounting surfaces are configured to be inclined at an angle of 45 degrees with respect to the rotation axis. Loader device.
When receiving the workpiece from the carry-in / transport device, the rotation support member is controlled to rotate by the second rotation control mode, and receives the workpiece by two of the first to third loader chucks. When the rotary support member is conveyed to the machine tool and transferred to the first and second spindle chucks of the machine tool, the rotation of the rotation support member is controlled by the first rotation control mode. The workpiece held by one of the first spindle is delivered to the first spindle chuck of the first spindle, and the workpiece held by the other is the first spindle chuck of the first spindle or the first spindle chuck. 9. The loader device according to claim 8, wherein the loader is transferred to the second spindle chuck of a second spindle.
The first to third loader chucks are disposed at intervals of 120 degrees in the circumferential direction of the rotation support member, and in the first and second rotation control modes, the rotation support members are spaced at 120 degree intervals. The loader device according to claim 8, wherein the rotation is controlled by the rotation.
When the rotation supporting member is rotated by 180 degrees in the first rotation control mode, the first to third loader chucks are switched to the second rotation control mode in which the first to third loader chucks are rotated through the loading / unloading angular position, Further, when the rotation support member is rotated by 180 degrees in the second rotation control mode, the first to third loader chucks are switched to a first rotation control mode in which the chucks are rotated through the delivery angle position. The loader device according to claim 8, wherein