Collaborative robot for milling machine machining

Abstract

The collaborative robot for milling machine machining comprises a workbench, a feeding area and a working area are arranged on the workbench, a first feeding table and a second feeding table are arranged on the workbench in a sliding mode, and the first feeding table is arranged above the second feeding table; a driving mechanism used for driving the first feeding table and the second feeding table to alternately move back and forth between the feeding area and the working area is arranged in the machine body, a multi-axis mechanical arm is arranged in the working area, a driving shaft is arranged on the elbow of the multi-axis mechanical arm, a connecting block is arranged on the driving shaft, and three-jaw chucks are arranged on the two bevel edges of the connecting block. A workpiece calibration block and a workpiece cleaning box are arranged on the side, close to the machine tool, of the working area. According to the collaborative robot for milling machine machining, the first feeding table and the second feeding table are adopted for carrying the trays for alternate feeding, the feeding efficiency is improved, the two three-jaw chucks of the elbow of the multi-axis mechanical arm alternately work for feeding and discharging, the time for recognizing the positions of limiting grooves of the trays through a computer is saved for feeding and discharging, and the working efficiency is improved. And the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a collaborative robot for milling machine processing. Background Art

[0002] Collaborative robots, as the name implies, are robots that can work together with humans on the production line, giving full play to the efficiency of robots and the intelligence of humans. This type of robot is not only cost-effective, but also safe and convenient, and can greatly promote the development of manufacturing companies. During the production and processing of motor end covers, it is necessary to use a milling machine to process some connection holes on the motor end covers for connecting high-precision encoders and other components. In the prior art, the motor end covers are manually placed in the milling machine for processing, and the processed motor end covers are manually taken out after the processing is completed. The production efficiency is low and there are certain safety risks. Summary of the invention

[0003] The technical problem to be solved by the present invention is: in order to overcome the shortcomings of the prior art in which the motor end cover is manually placed into a milling machine for processing, and the processed motor end cover is manually taken out after the processing is completed, which has low production efficiency and certain safety risks, the present invention provides a collaborative robot for milling machine processing.

[0004] The technical solution to be adopted by the present invention to solve its technical problems is: a collaborative robot for milling machine processing, comprising a workbench arranged on a machine body, a loading area and a working area are arranged on the workbench, a protective net for separating the loading area and the working area is arranged on the workbench, a first loading platform and a second loading platform are slidably arranged on the workbench, a material tray is arranged at the upper ends of the first loading platform and the second loading platform, a plurality of workpieces are arranged in the material tray, the first loading platform is arranged above the second loading platform, a driving mechanism for driving the first loading platform and the second loading platform to alternately travel back and forth between the loading area and the working area from below the protective net is arranged in the machine body, a multi-axis manipulator is arranged on the side of the working area away from the loading area, a driving shaft is arranged at the elbow of the multi-axis manipulator, a connecting block is arranged on the driving shaft, the cross-section of the connecting block is an isosceles triangle, the driving shaft is fixedly connected to the bottom edge of the connecting block, a three-jaw chuck matching the mounting hole on the motor end cover is arranged on the two oblique sides of the connecting block, a recognition camera is arranged on one side of the three-jaw chuck, and a workpiece calibration block and a workpiece cleaning box are arranged on the side of the working area close to the machine tool.

[0005] The multi-joints (X-axis, Y-axis, and Z-axis) of the multi-axis manipulator cooperate with each other to drive the elbow connection block and the three-jaw chuck to reach any spatial point within the travel range; the workpiece is a motor end cover, and the staff places the motor end cover to be processed from the loading area on the material tray, and the motor mounting hole on the inner side of the motor end cover is set upward; the driving mechanism is used to drive the first loading platform and the second loading platform to alternately travel back and forth between the loading area and the working area from under the protective net, and is used to move the motor end cover to be processed from the loading area to the working area to facilitate the processing of the motor end cover, and is also used to move the processed motor end cover from the working area to the loading area, so that the staff can remove the processed motor end cover and replace the motor end cover to be processed; the multi-axis manipulator drives the three-jaw chuck to grab When the motor end cover is in the working area, it is grabbed in cooperation with the mounting hole of the motor end cover; after the multi-axis manipulator grabs the motor end cover with the three-jaw chuck, it moves the motor end cover to the top of the workpiece calibration block, and the three-jaw chuck releases the motor end cover and drops it into the workpiece calibration block, and the position of the motor end cover is calibrated by the workpiece calibration block, and then the motor end cover is grabbed by the three-jaw chuck and put into the milling machine, and the hole position of the motor end cover is processed by the milling machine for installing high-precision encoders and some components; after the milling machine completes the processing of the motor end cover, the multi-axis manipulator cooperates with the three-jaw chuck to take out the motor end cover and extend it into the workpiece cleaning box, and removes the cutting fluid and debris on the motor end cover in the workpiece cleaning box; after cleaning, the processed motor end cover is put back on the material tray in the working area. The driving shaft drives the connecting block to rotate. On the one hand, it drives the three-jaw chuck to swing, thereby driving the motor end cover on the three-jaw chuck to swing, so as to detect whether the motor end cover is firmly grasped and to throw away the chip fluid and debris on the motor end cover. On the other hand, the two three-jaw chucks on the connecting block can work alternately. That is, when one of the three-jaw chucks grabs a motor end cover to be processed, the processed motor end cover on the other three-jaw chuck can be placed on the newly emptied material tray, saving the time of computer identification of the material tray position and improving production efficiency.

[0006] The two guide wheels are connected to the bottom of the workbench and the second guide wheel is connected with the guide wheel assembly to move back and forth between the loading area and the working area alternately from the bottom of the workbench to the loading area.

[0007] The servo motor drives the transmission roller to rotate, the transmission roller drives the first connecting plate and the second connecting plate to slide, and the first connecting plate and the second connecting plate drive the first loading platform and the second loading platform to alternately move back and forth between the loading area and the working area from under the protective net. The first loading platform and the second loading platform do not interfere with each other when sliding, saving the time of waiting for loading.

[0008] Furthermore, buffer blocks cooperating with the first connecting plate and the second connecting plate are provided at both ends of the connecting frame.

[0009] Furthermore, the material tray and the workpiece calibration block are provided with limiting grooves that match the shape of the motor end cover, and the limiting groove openings are provided with chamfers.

[0010] Furthermore, in order to clean the chip liquid and debris on the finished motor end cover, the workpiece cleaning box includes a box body, a circle of material baffles are provided at the upper opening of the box body, and multiple air outlets are provided on the two oppositely arranged side walls of the box body, and the air outlets are inclined from top to bottom toward the bottom of the box body, and the air outlets are connected to the external air pump through the air valve. The finished motor end cover is inserted into the box body of the workpiece cleaning box through a multi-axis manipulator, and through the cooperation of the air pump and the air valve, a high-speed airflow is blown toward the motor end cover through the multiple air outlets after the motor end cover is inserted into the box body, so as to clean the chip liquid and debris on the motor end cover; the material baffles at the upper opening of the box body can prevent the chip liquid and debris from flying out of the workpiece cleaning box along the side wall of the box body.

[0011] Furthermore, a chip collecting box is provided below the workpiece cleaning box, a baffle is hinged at the bottom of the box, and a torsion spring is provided at the hinge point of the baffle. When the air outlet blows out a high-speed airflow, the impact force of the airflow blows the baffle downward along the hinge point to open it, so that the chip liquid and debris fall into the chip collecting box; when the air outlet stops blowing out the high-speed airflow, the torsion spring drives the baffle to rotate to close the chip collecting box.

[0012] Furthermore, in order to facilitate the rapid installation of the material tray on the first loading platform and the second loading platform, the first loading platform is provided with two rows of guide blocks and two rows of positioning blocks arranged along the width direction, and the guide blocks and the positioning blocks are staggered. Two guide rods are provided at the lower end of the material tray, and the positions of the guide rods correspond to the two rows of guide blocks. The guide blocks are provided with guide grooves arranged along the width direction of the first loading platform, and the upper end opening of the guide groove is provided with a chamfer. A plurality of positioning rods are provided at the lower end of the material tray, and a positioning groove cooperating with the positioning rod is provided at the upper end of the positioning block. One side of the positioning block is provided with an oblique angle that facilitates the positioning rod to slide into the positioning groove. The position and number of the positioning rods correspond one-to-one to the positioning blocks, and the second loading platform has the same structure as the first loading platform.

[0013] When the material tray is assembled with the first loading platform or the second loading platform, the material tray is biased to one side of the first loading platform or the second loading platform. First, slide the guide rod into the guide groove of the guide block. Because the upper end of the guide groove is provided with a chamfer, it is convenient to embed. When the guide rod is embedded in the guide groove, the positioning rod and the positioning block are staggered. Then move the material tray along the width direction. When the positioning rod slides into the positioning groove along the oblique guide of the positioning block, the position of the material tray is fixed and the assembly is completed.

[0014] Furthermore, in order to prevent the three-jaw chuck from damaging the motor end cover, a rubber block is provided on the clamping jaws of the three-jaw chuck.

[0015] The beneficial effects of the present invention are as follows: a collaborative robot for milling machine processing provided by the present invention adopts a first loading table and a second loading table to carry a material tray for alternate loading, thereby improving loading efficiency; two three-jaw chucks are arranged on the connecting block of the elbow of the multi-axis manipulator; the two three-jaw chucks work alternately for loading and unloading; loading and unloading only require one recognition camera recognition, thereby saving the time of a computer recognition of the position of the material tray limit slot, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0017] Figure 1 It is a schematic diagram of the structure of the best embodiment of the present invention; Figure 2 is a top view of the best embodiment of the present invention; Figure 3 It is a structural schematic diagram of the first loading platform; Figure 4 It is a structural diagram of the feed tray; Figure 5 It is a structural diagram of the feed tray; Figure 6 It is a structural schematic diagram of the driving mechanism; Figure 7 It is a schematic diagram of the structure of a three-jaw chuck; Figure 8 It is a structural schematic diagram of a workpiece cleaning box.

[0018] In the figure: 1. body, 2. protective net, 3. workbench, 301. slide, 4. first loading platform, 401. guide block, 4011. guide groove, 402. positioning block, 4021. positioning groove, 5. second loading platform, 6. material tray, 601. guide rod, 602. positioning rod, 7. multi-axis manipulator, 8. driving shaft, 9. connecting block, 10. three-jaw chuck, 11. workpiece calibration block, 12. workpiece cleaning box, 1201. material baffle plate, 1202. air outlet, 1203. chip collection box, 1204. baffle, 13. first slide plate, 14. second slide plate, 15. first connecting plate, 16. second connecting plate, 17. connecting frame, 18. transmission roller, 19. buffer block, 20. limit groove, 21. motor end cover. DETAILED DESCRIPTION

[0019] The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, which only illustrates the basic structure of the present invention in a schematic manner, and therefore only shows the components related to the present invention.

[0020] like Figure 1-8 As shown, a collaborative robot for milling machine processing of the present invention comprises a workbench 3 arranged on a machine body 1, the workbench 3 is provided with a loading area and a working area, the workbench 3 is provided with a protective net 2 for separating the loading area and the working area, a first loading platform 4 and a second loading platform 5 are slidably arranged on the workbench 3, a material tray 6 is provided at the upper ends of the first loading platform 4 and the second loading platform 5, a plurality of workpieces are arranged in the material tray 6, the first loading platform 4 is arranged above the second loading platform 5, and a device for driving the first loading platform 4 and the second loading platform 5 to alternately reciprocate from under the protective net 2 to load the material is provided in the machine body 1 The driving mechanism of the working area and the working area is provided, a multi-axis manipulator 7 is provided on the side of the working area away from the loading area, a driving shaft 8 is provided at the elbow of the multi-axis manipulator 7, a connecting block 9 is provided on the driving shaft 8, the cross-section of the connecting block 9 is a right triangle, the driving shaft 8 is fixedly connected to the bottom edge of the connecting block 9, and a three-jaw chuck 10 is provided on the two oblique sides of the connecting block 9 to cooperate with the mounting hole on the motor end cover 21, a rubber block is provided on the jaws of the three-jaw chuck 10, an identification camera is provided on one side of the three-jaw chuck 10, and a workpiece calibration block 11 and a workpiece cleaning box 12 are provided on the side of the working area close to the machine tool.

[0021] Two first slide plates 13 arranged in parallel are provided below the first loading platform 4, and two second slide plates 14 arranged in parallel are provided below the second loading platform 5. A slide groove 301 cooperating with the first slide plate 13 and the second slide plate 14 is provided on the workbench 3. The driving mechanism includes a first connecting plate 15, a second connecting plate 16 and a connecting frame 17. The second connecting plate 16 is slidably connected to the lower end of the workbench 3 along the length direction of the slide groove 301, and the two second slide plates 14 are fixedly connected to the second connecting plate 16. The connecting frame 17 has a U-shaped cross-section and is arranged below the workbench 3 and fixedly connected to the workbench 3. The first connecting plate 15 is arranged on the connecting frame 1 7 is slidably connected with the connecting frame 17 along the length direction of the slide groove 301, the first connecting plate 15 is arranged below the second connecting plate 16, the lower ends of the two first slide plates 13 are fixedly connected with the first connecting plate 15, and a transmission roller 18 is provided between the first connecting plate 15 and the second connecting plate 16, which is rotatably connected with the connecting frame 17 in the horizontal direction, and the position of the transmission roller 18 in the vertical direction corresponds to the position of the protective net 2, and a servo motor is connected to the transmission roller 18, and a plurality of transmission gears are sleeved on the transmission roller 18, and the first connecting plate 15 and the second connecting plate 16 are provided with transmission racks meshing with the transmission gears.

[0022] Buffer blocks 19 are provided at both ends of the connecting frame 17 to cooperate with the first connecting plate 15 and the second connecting plate 16 .

[0023] The material tray 6 and the workpiece calibration block 11 are provided with a limiting groove 20 that matches the shape of the motor end cover 21, and a chamfer is provided at the opening of the limiting groove 20.

[0024] The workpiece cleaning box 12 includes a box body, a circle of material baffles 1201 is provided at the opening of the upper end of the box body, and multiple air outlets 1202 are provided on the two side walls opposite to each other in the box body. The air outlets 1202 are inclined from top to bottom toward the bottom of the box body, and the air outlets 1202 are connected to the external air pump through an air valve.

[0025] A chip collecting box 1203 is provided below the workpiece cleaning box 12, a baffle 1204 is hinged at the bottom of the box, and a torsion spring is provided at the hinge point of the baffle 1204.

[0026] The first loading platform 4 is provided with two rows of guide blocks 401 and two rows of positioning blocks 402 arranged along the width direction, and the guide blocks 401 and the positioning blocks 402 are staggered. Two guide rods 601 are provided at the lower end of the material tray 6, and the positions of the guide rods 601 correspond to the two rows of guide blocks 401. The guide blocks 401 are provided with guide grooves 4011 arranged along the width direction of the first loading platform 4, and the upper end opening of the guide grooves 4011 is provided with chamfers. A plurality of positioning rods 602 are provided at the lower end of the material tray 6, and a positioning groove 4021 cooperating with the positioning rod 602 is provided at the upper end of the positioning block 402. One side of the positioning block 402 is provided with an oblique angle for facilitating the positioning rod 602 to slide into the positioning groove 4021. The position and number of the positioning rods 602 correspond one-to-one to the positioning blocks 402, and the second loading platform 5 has the same structure as the first loading platform 4.

[0027] Working process: The staff places the motor end cover 21 to be processed on the material tray 6, the motor end cover 21 corresponds to the position of the limit groove 20, and the motor mounting hole on the inner side of the motor end cover 21 is set upward; then the material tray 6 is assembled with the first loading platform 4 (or the second loading platform 5) set at the loading position, and the material tray 6 is biased to one side of the width direction of the first loading platform 4, and the offset distance is less than the spacing between two adjacent positioning blocks 402. First, slide the guide rod 601 into the guide groove 4011 of the guide block 401. Because the upper end of the guide groove 4011 is provided with a chamfer, it is convenient to embed. When the guide rod 601 is embedded in the guide groove 4011, the positioning rod 602 and the positioning block 402 are staggered. Then move the material tray 6 along the width direction. When the positioning rod 602 slides into the positioning groove 4021 along the oblique guide of the positioning block 402, the position of the material tray 6 is fixed and the assembly is completed.

[0028] When loading, the servo motor drives the transmission roller 18 to rotate, and drives the first connecting plate 15 and the second connecting plate 16 to slide in the machine body 1 through the cooperation of the transmission gear and the rack. When the first connecting plate 15 slides, it drives the first loading platform 4 to slide through the first slide plate 13. When the second connecting plate 16 slides, it drives the second loading platform 5 to slide through the second slide plate 14, thereby moving the processed motor end cover 21 from the working area to the loading area, and moving the motor end cover 21 to be processed from the loading area to the working area.

[0029] The multi-axis manipulator 7 drives the connecting block 9 and the three-claw chuck 10 to move above the tray 6. After the recognition camera recognizes the position of the motor end cover 21 to be grabbed, the position (X-axis and Y-axis position) of the three-claw chuck 10 is adjusted by the multi-axis manipulator 7. Then the multi-axis manipulator 7 drives the three-claw chuck 10 to descend along the vertical direction (Z-axis) to grab the motor end cover 21 on the tray 6. After grabbing the motor end cover 21, it rises along the vertical direction (Z-axis) to make the motor end cover 21 leave the tray 6. Then the drive shaft 8 rotates 180°, and the motor end cover 21 (to be processed) just grabbed is turned up to detect whether the grasping is reliable. The three-claw chuck 10 with the motor end cover 21 (processed) is suspended above the tray that has just been vacated, so that the motor end cover 21 (processed) can be placed in the limit slot 20 of the tray 6. The loading and unloading can be identified once by the recognition camera, which saves the time of the computer identifying the position of the limit slot 20 of the tray 6, thereby improving production efficiency.

[0030] Then the driving shaft 8 rotates 180° again, and the motor end cover 21 to be processed is turned downward, and the multi-axis manipulator 7 moves the motor end cover 21 to the top of the workpiece calibration block 11, and the three-jaw chuck 10 releases the motor end cover 21 and drops it into the workpiece calibration block 11, and the position of the motor end cover 21 is calibrated through the limit groove 20 on the workpiece calibration block 11, and then the motor end cover 21 is picked up by the three-jaw chuck 10 and put into the milling machine, and the motor end cover 21 is processed by the milling machine for installing a high-precision encoder and some components; After the milling machine completes the processing of the motor end cover 21, the multi-axis manipulator 7 cooperates with the three-jaw chuck 10 to extend the motor end cover 21 into the workpiece cleaning box 12, and through the cooperation of the air pump and the air valve, a high-speed airflow is blown from the air outlet 1202 to the motor end cover 21 to clean the cutting liquid and debris on the motor end cover 21. The impact force of the airflow opens the baffle 1204 at the bottom of the workpiece cleaning box 12, making it convenient for the cutting liquid and debris to fall into the chip collection box 1203. After the cleaning is completed, the motor end cover 21 is placed back on the material tray 6 in the working area, and so on, until all the motor end covers 21 on the material tray 6 are processed.

[0031] Directions and references (e.g., up, down, left, right, etc.) in the present invention may only be used to assist in the description of features in the accompanying drawings. Therefore, the following detailed description is not to be taken in a limiting sense, and the scope of the subject matter claimed is limited only by the attached claims and their equivalents.

[0032] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the scope of the present invention through the above description. The technical scope of this invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A collaborative robot for milling machine processing, characterized in that: The machine comprises a workbench (3) arranged on a machine body (1), the workbench (3) being provided with a loading area and a working area, the workbench (3) being provided with a protective net (2) for separating the loading area and the working area, the workbench (3) being provided with a first loading platform (4) and a second loading platform (5) being slidably arranged on the workbench (3), a material tray (6) being provided at the upper ends of the first loading platform (4) and the second loading platform (5), a plurality of workpieces being arranged in the material tray (6), the first loading platform (4) being arranged above the second loading platform (5), and a device for driving the first loading platform (4) and the second loading platform (5) to move back and forth alternately from below the protective net (2) being provided in the machine body (1). A driving mechanism for a loading area and a working area, wherein a multi-axis manipulator (7) is provided on a side of the working area away from the loading area, a driving shaft (8) is provided at the elbow of the multi-axis manipulator (7), a connecting block (9) is provided on the driving shaft (8), the cross section of the connecting block (9) is an isosceles triangle, the driving shaft (8) is fixedly connected to the bottom edge of the connecting block (9), a three-jaw chuck (10) matched with a mounting hole on a motor end cover (21) is provided on both oblique sides of the connecting block (9), an identification camera is provided on one side of the three-jaw chuck (10), and a workpiece calibration block (11) and a workpiece cleaning box (12) are provided on the side of the working area close to the machine tool.

2. A collaborative robot for milling machine processing as claimed in claim 1, characterized in that: Two first slide plates (13) arranged in parallel are provided below the first loading platform (4), and two second slide plates (14) arranged in parallel are provided below the second loading platform (5). A slide groove (301) cooperating with the first slide plate (13) and the second slide plate (14) is provided on the workbench (3). The driving mechanism comprises a first connecting plate (15), a second connecting plate (16) and a connecting frame (17). The second connecting plate (16) is slidably connected to the lower end of the workbench (3) along the length direction of the slide groove (301). The two second slide plates (14) are fixedly connected to the second connecting plate (16). The connecting frame (17) is arranged below the workbench (3) and is fixedly connected to the workbench (3) or the machine body (1). The first connecting plate (15) is arranged in the connecting frame (17) and is slidably connected to the connecting frame (17) along the length direction of the slide groove (301). The first connecting plate (15) is arranged below the second connecting plate (16). The lower ends of the two first sliding plates (13) are fixedly connected to the first connecting plate (15). A transmission roller (18) is provided between the first connecting plate (15) and the second connecting plate (16) and is rotatably connected to the connecting frame (17) in the horizontal direction. The transmission roller (18) is transmission-connected to a servo motor. A plurality of transmission gears are sleeved on the transmission roller (18). The first connecting plate (15) and the second connecting plate (16) are provided with transmission racks meshing with the transmission gears.

3. A collaborative robot for milling machine processing as claimed in claim 2, characterized in that: Buffer blocks (19) cooperating with the first connecting plate (15) and the second connecting plate (16) are provided at both ends of the connecting frame (17).

4. A collaborative robot for milling machine processing as claimed in claim 1, characterized in that: The material tray (6) and the workpiece calibration block (11) are provided with a limiting groove (20) that matches the shape of the motor end cover (21), and a chamfer is provided at the opening of the limiting groove (20).

5. The collaborative robot for milling machine processing according to claim 1, characterized in that: The workpiece cleaning box (12) comprises a box body, a circle of material blocking plates (1201) are provided at the opening of the upper end of the box body, and a plurality of air outlets (1202) are provided on two oppositely arranged side walls of the box body, the air outlets (1202) are inclined from top to bottom toward the bottom of the box body, and the air outlets (1202) are connected to an external air pump via an air valve.

6. A collaborative robot for milling machine processing as claimed in claim 5, characterized in that: A chip collecting box (1203) is provided below the workpiece cleaning box (12), a baffle (1204) is hingedly connected to the bottom of the box body, and a torsion spring is provided at the hinge point of the baffle (1204).

7. A collaborative robot for milling machine processing as claimed in claim 1, characterized in that: The first loading platform (4) is provided with two rows of guide blocks (401) and two rows of positioning blocks (402) arranged along the width direction, the guide blocks (401) and the positioning blocks (402) are arranged in a staggered manner, the lower end of the material tray (6) is provided with two guide rods (601), the positions of the guide rods (601) correspond to the two rows of guide blocks (401), the guide blocks (401) are provided with guide grooves (4011) arranged along the width direction of the first loading platform (4), the guide grooves (4011) are arranged on the lower end of the material tray (6), and the guide grooves (4011) are arranged on the lower end of the material tray (6). 11) A chamfer is provided at the upper opening, a plurality of positioning rods (602) are provided at the lower end of the material tray (6), a positioning groove (4021) cooperating with the positioning rod (602) is provided at the upper end of the positioning block (402), and an oblique angle is provided on one side of the positioning block (402) to facilitate the positioning rod (602) to slide into the positioning groove (4021), the position and number of the positioning rod (602) correspond one-to-one with the positioning block (402), and the second loading platform (5) has the same structure as the first loading platform (4).

8. The collaborative robot for milling machine processing according to claim 1, characterized in that: The clamping jaws of the three-jaw chuck (10) are provided with rubber blocks.

Images