Workpiece recovery device and bucket

Abstract

A workpiece recovery device and a bucket having a simple configuration are provided. [Solution] The work recovery device includes an apparatus main body (420) having a work transport mechanism (410), a bucket main body (470) having a first opening (491) and accommodating workpieces transported by the work transport mechanism (410), a first lid body (480) attached to the bucket main body (470) and operable between a closed state (480A) that closes the first opening (491) and an open state (480B) that opens the first opening (491), and a bucket (460) detachably attached to the apparatus main body (420), and a sensor (441) attached to at least one of the apparatus main body (420) and the first lid body (480) and capable of sensing the open / closed state of the first lid body (480) and the attachment state of the bucket (460) to the apparatus main body (420).

Description

[Technical Field]

[0001] The present invention relates to a workpiece recovery device and a bucket. [Background technology]

[0002] For example, Japanese Patent Application Laid-Open No. 2022-65319 (Patent Document 1) discloses a machine tool equipped with a work bucket for automatically recovering a machined workpiece from the workpiece spindle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2022-65319 Summary of the Invention [Problem to be solved by the invention]

[0004] As disclosed in the above-mentioned Patent Document 1, a workpiece recovery device is known for automatically recovering workpieces machined by a machine tool. In such a workpiece recovery device, when recovering workpieces from the machine tool into a bucket, it is necessary to sense various abnormal conditions of the bucket. However, if the sensing structure is complicated, it is not possible to realize a workpiece recovery device with a simple configuration.

[0005] An object of the present invention is to provide a workpiece recovery device and a bucket having a simple configuration. [Means for solving the problem]

[0006] The workpiece recovery device according to the present invention comprises: an apparatus main body having a workpiece transport mechanism; a bucket main body having a first opening and accommodating a workpiece transported by the workpiece transport mechanism; a first lid body attached to the bucket main body and operable between a closed state in which the first opening is blocked and an open state in which the first opening is opened; a bucket that is detachably attached to the apparatus main body; and a sensor attached to at least one of the apparatus main body and the first lid body, capable of sensing the open / closed state of the first lid body and of sensing the attachment state of the bucket to the apparatus main body.

[0007] A bucket according to the present invention is a bucket that is detachably attached to an apparatus main body having a workpiece transport mechanism and is used to collect workpieces transported by the workpiece transport mechanism. The bucket has a first opening that opens upward, a second opening that opens horizontally and forms a workpiece transport path from the workpiece transport mechanism, and a third opening that opens horizontally and is connected to the upper edge of an opening surface formed by the second opening, and is equipped with: a bucket main body that stores the workpieces; a first cover that is rotatably attached to the bucket main body and is movable between a closed state that closes the first opening and an open state that opens the first opening; a second cover that is detachably attached to the bucket main body and closes the second opening when attached to the bucket main body; and a sensor that is attached to the first cover and faces the opening surface formed by the third opening when the first cover is in the closed state and is spaced apart from the opening surface formed by the third opening when the first cover is in the open state. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a workpiece recovery device and a bucket having a simple configuration. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing a machine tool equipped with a workpiece transport device and a workpiece recovery device. [Figure 2] FIG. 10 is another perspective view showing a machine tool equipped with a workpiece transport device and a workpiece recovery device. [Figure 3] 2 is a perspective view showing a tool rest and a tool rest movement mechanism provided in the machine tool in FIG. 1. FIG. [Figure 4] FIG. 2 is a diagram showing the internal structure of the machine tool (with the cover of the workpiece transport device in a closed state) as viewed in the direction of the rotation axis of the tool post. [Figure 5] FIG. 2 is a diagram showing the internal structure of the machine tool (with the cover of the workpiece transport device in an open state) as viewed in the direction of the rotation axis of the tool post. [Figure 6] 6 is a partially enlarged view showing the internal structure of the machine tool in FIG. 5 (with the cover of the workpiece transport device in an open state). FIG. [Figure 7] 7A to 7C are diagrams illustrating the operation of the workpiece transport mechanism in FIG. 6. [Figure 8] 7 is another view showing the operation of the workpiece transport mechanism in FIG. 6. FIG. [Figure 9] 7 is yet another view showing the operation of the workpiece transport mechanism in FIG. 6. FIG. [Figure 10] 9 is a diagram showing the workpiece transport mechanism (with the arm at the raised position) within the area surrounded by the two-dot chain line X in FIG. 8. FIG. [Figure 11] 10 is a diagram showing the workpiece transport mechanism (with the arm in the lowered position) within the area surrounded by the two-dot chain line XI in FIG. 9. FIG. [Figure 12] FIG. 2 is a top view showing the transmission mechanism (when the timing belt is normal). [Figure 13] FIG. 10 is a top view showing the transmission mechanism (when the timing belt is abnormal). [Figure 14] FIG. 2 is a perspective view showing a cover body and a door of the workpiece transport device. [Figure 15] 15 is a perspective view showing the door as viewed in the direction indicated by the arrow XV in FIG. 14. FIG. [Figure 16] 16 is a perspective view showing the door as viewed in the direction indicated by the arrow XVI in FIG. 14. FIG. [Figure 17] FIG. 3 is a front view showing the machine tool in FIG. 2. [Figure 18] 18 is a cross-sectional view showing the machine tool taken along line XVIII-XVIII in FIG. 17. [Figure 19] 5 is a partially enlarged view showing the internal structure of the machine tool in FIG. 4 (with the cover of the workpiece transport device in a closed state). FIG. [Figure 20] FIG. 2 is a perspective view showing a door opening / closing drive mechanism and a door open state detection mechanism. [Figure 21] 21 is a cross-sectional view showing the door opening / closing drive mechanism (door closed state) in FIG. 20. FIG. [Figure 22] 21 is a cross-sectional view showing the opening and closing drive mechanism of the door in FIG. 20 (in the open state of the door). FIG. [Figure 23] 21 is a cross-sectional view showing a mechanism for detecting the open state of the door in FIG. 20 (closed state of the door). FIG. [Figure 24] 21 is a cross-sectional view showing a mechanism for detecting the open state of the door in FIG. 20 (open state of the door). FIG. [Figure 25] FIG. 2 is a perspective view showing the appearance of the machine tool in FIG. 1 (with a bucket of a workpiece recovery device attached). [Figure 26] FIG. 2 is a perspective view showing the appearance of the machine tool in FIG. 1 (with the bucket of the workpiece recovery device removed). [Figure 27] 26 is a cross-sectional view showing the workpiece recovery device in FIG. 25 (when the first cover body of the bucket is in a closed state). FIG. [Figure 28] 26 is a cross-sectional view showing the workpiece recovery device in FIG. 25 (when the first cover body of the bucket is in an open state). FIG. [Figure 29] FIG. 2 is a perspective view showing the bucket (with the first lid body closed) as viewed from the front side. [Figure 30] FIG. 2 is a perspective view showing the bucket (with the first lid body closed and the second lid body removed) as seen from the rear side. [Figure 31] FIG. 2 is a perspective view showing the bucket (with the first lid body open and the second lid body removed) as seen from the rear side. [Figure 32] FIG. 2 is a perspective view showing the bucket (with the first lid body closed and the second lid body attached) as seen from the rear side. [Figure 33] 28 is a cross-sectional view showing the workpiece recovery device in the area surrounded by the two-dot chain line XXXIII in FIG. 27. [Figure 34] 29 is a cross-sectional view showing the workpiece recovery device in the range surrounded by the two-dot chain line XXXIV in FIG. 28. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to the accompanying drawings, in which the same or corresponding elements are designated by the same reference numerals.

[0011] [Overall structure of machine tool] Figures 1 and 2 are perspective views showing a machine tool equipped with a workpiece transport device and a workpiece recovery device. In Figure 2, a front cover 15, an operation panel 16, and a front door 13, which will be described later, are not shown, thereby showing the internal structure of the machine tool 100. Figure 3 is a perspective view showing a tool post and a tool post movement mechanism provided on the machine tool in Figure 1.

[0012] 1 to 3, machine tool 100 is a lathe that machines a workpiece by bringing a tool into contact with the rotating workpiece. Machine tool 100 is an NC (Numerically Controlled) machine tool in which various operations for machining the workpiece are automated by numerical control using a computer.

[0013] First, the structure of machine tool 100 will be described. Machine tool 100 has a bed (not shown), a first work spindle (not shown), a second work spindle 20, and a tool rest 30. The bed is a base member for supporting the first work spindle, the second work spindle 20, the tool rest 30, etc., and is installed on the floor of a factory or the like. The bed is made of metal such as cast iron. The bed is a slant bed type, and the support surface that supports the first work spindle, the second work spindle 20, the tool rest 30, etc. is inclined.

[0014] To explain the structure of the illustrated second work spindle 20 as a representative example, the second work spindle 20 is capable of holding a workpiece. The second work spindle 20 rotates the workpiece around a central rotation axis 120 that is parallel to the Z-axis extending horizontally.

[0015] The second workpiece spindle 20 has a plurality of gripping jaws 21 (see FIG. 4 described later). The plurality of gripping jaws 21 are provided at intervals from one another in the circumferential direction of the rotation center shaft 120. Each of the gripping jaws 21 is slidable in the radial direction of the rotation center shaft 120. The plurality of gripping jaws 21 grip the outer peripheral surface of the workpiece by sliding each of the gripping jaws 21 radially inward of the rotation center shaft 120, and grip the inner peripheral surface of a cylindrical workpiece by sliding each of the gripping jaws 21 radially outward of the rotation center shaft 120.

[0016] The second workpiece spindle 20 can be moved in the Z-axis direction by various feed mechanisms, guide mechanisms, servo motors, and the like.

[0017] The first work spindle (not shown) has a structure similar to that of the second work spindle 20. The first work spindle is disposed opposite the second work spindle 20 in the Z-axis direction. The first work spindle is fixed to the bed.

[0018] The tool rest 30 is a turret-type tool rest that can accommodate multiple tools. The tool rest 30 moves the multiple tools in the circumferential direction of a rotation center axis 110 that extends in the Z-axis direction, thereby indexing the tool to be used for machining to a predetermined angular position centered on the rotation center axis 110. The tool rest 30 may also be equipped with a milling function that performs workpiece machining by bringing a rotating tool into contact with a stationary workpiece.

[0019] 3, machine tool 100 further includes a saddle 31. Saddle 31 is attached to the bed. Saddle 31 is movable in the Z-axis direction by various feed mechanisms, guide mechanisms, servo motors, etc.

[0020] Machine tool 100 further includes a cross slide 32 and a base 33. Cross slide 32 is attached to saddle 31. Cross slide 32 is movable in the X-axis direction, which is perpendicular to the Z-axis and inclined relative to the vertical and horizontal directions, by various feed mechanisms, guide mechanisms, servo motors, etc. Base 33 is attached to cross slide 32. Base 33 is movable in the Y'-axis direction, which is perpendicular to the Z-axis and inclined relative to the X-axis, by various feed mechanisms, guide mechanisms, servo motors, etc. Base 33 is movable in the Y-axis direction, which is perpendicular to the X-axis and Z-axis, by interlocking the movement of cross slide 32 in the X-axis direction with the movement of base 33 in the Y'-axis direction.

[0021] The tool rest 30 is attached to a base 33. In this configuration, the tool rest 30 is movable in the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0022] The tool rest 30 has a tool rest base 39. The tool rest base 39 is attached to the base 33. The tool rest base 39 is covered by a tool rest cover 40.

[0023] The tool post 30 further has a rotating body (turret) 36. The rotating body 36 protrudes from a tool post base 39 in the axial direction of a central rotation axis 110. The rotating body 36 is supported by the tool post base 39 so as to be rotatable about the central rotation axis 110. The rotating body 36 rotates about the central rotation axis 110 by transmitting rotation from a motor (not shown) mounted on the tool post base 39.

[0024] The rotating body 36 has a plurality of mounting portions 37. For example, the rotating body 36 has twelve mounting portions 37. The mounting portions 37 are arranged in the circumferential direction of the central axis of rotation 110. A tool holder 38 can be attached to each mounting portion 37. The tool holder 38 can hold a tool T.

[0025] 1 and 2, machine tool 100 further has a cover body 12 and a front door 13. Cover body 12 defines a machining area 150 and forms the outer appearance of machine tool 100. Machining area 150 is a space where workpiece machining is performed, and is sealed by cover body 12 and front door 13 to prevent foreign matter such as chips or coolant generated during workpiece machining from leaking out of machining area 150.

[0026] An opening 12h is provided in the cover body 12. The opening 12h opens the processing area 150 to the outside space. A front door 13 is provided in the opening 12h. The front door 13 is attached to the cover body 12 so as to be slidable in the Z-axis direction. The opening 12h is opened or closed by the sliding movement of the front door 13.

[0027] 4 is a diagram showing the internal structure of the machine tool (with the cover of the workpiece transport device in a closed state) as viewed in the direction of the rotation axis of the tool post. Referring to FIGS. 1, 2 and 4, cover body 12 has a front cover 15, a side cover 18, and a ceiling cover 17.

[0028] The front cover 15 is disposed on the front surface of the machine tool 100. The front cover 15 is adjacent to the opening surface formed by the opening 12h in the Z-axis direction. The side cover 18 is disposed on the right side surface of the machine tool 100. The front end of the side cover 18 is connected to the right end of the front cover 15 to form a corner. An operation panel 16 is provided in front of the side cover 18. A control device for the machine tool 100 is built into the operation panel 16. The ceiling cover 17 is disposed on the top surface of the machine tool 100. The ceiling cover 17 forms the ceiling of the machining area 150. The ceiling cover 17 is provided above the second workpiece spindle 20.

[0029] 4, the front cover 15 is disposed at a distance from the tool post 30 in the horizontal direction (the front-to-rear direction of the machine tool 100) perpendicular to the pivot axis 110 of the tool post 30. The second work spindle 20 is disposed between the tool post 30 and the front cover 15. The rotation axis 120 of the second work spindle 20 is positioned below the pivot axis 110 of the tool post 30. The distance between the rotation axis 120 and the front cover 15 in the front-to-rear direction of the machine tool 100 is shorter than the distance between the pivot axis 110 and the front cover 15 in the front-to-rear direction of the machine tool 100.

[0030] FIG. 5 is a diagram showing the internal structure of the machine tool (with the cover of the workpiece transport device in an open state) as viewed in the direction of the rotation axis of the tool post.

[0031] 2, 4 and 5, machine tool 100 further includes a workpiece transport device 200. Workpiece transport device 200 carries out the machined workpiece held by second workpiece spindle 20 from machining area 150 to the outside of machine tool 100.

[0032] 4 and 5, the workpiece transport device 200 is provided in the machining area 150. The workpiece transport device 200 is provided between the tool rest 30 and the front cover 15 and above the second workpiece spindle 20. The workpiece transport device 200 is disposed between the tool rest 30 and the front cover 15 in the front-to-rear direction of the machine tool 100. The workpiece transport device 200 is disposed between the second workpiece spindle 20 and the ceiling cover 17 in the up-down direction.

[0033] The workpiece transport device 200 has a cover body 310 and a door 320. The cover body 310 and the door 320 form the outer appearance of the workpiece transport device 200.

[0034] The cover body 310 has a cylindrical shape extending in the Z-axis direction. The cover body 310 has an opening 316. The opening 316 is open facing the axial direction (Z-axis direction) of the pivot center shaft 110. The door 320 is provided in the opening 316. The door 320 is attached to the cover body 310 so as to be rotatable. The door 320 is movable between a closed state 320A shown in FIG. 4 in which the opening 316 is closed, and an open state 320B shown in FIG. 5 in which the opening 316 is open.

[0035] The workpiece transport device 200 further has a workpiece transport mechanism 210. The workpiece transport mechanism 210 is housed in a cover body 310. The workpiece transport mechanism 210 is capable of transporting a workpiece. The workpiece transport mechanism 210 has a hand 261 (see Figures 7 to 9 described below). The hand 261 is a robot hand that can grip a workpiece.

[0036] While the workpiece is being machined in the machining area 150, the door 320 is in a closed state 320A. When machining of the workpiece held by the second workpiece spindle 20 is completed, the door 320 moves from the closed state 320A to an open state 320B. The workpiece transport mechanism 210 enters the machining area 150 through the opening 316 and uses the hand 261 to grasp the machined workpiece held by the second workpiece spindle 20. The workpiece transport mechanism 210 moves the grasped workpiece from the machining area 150 to the inside of the cover body 310. When the workpiece leaves the machining area 150, the door 320 moves from the open state 320B to the closed state 320A. Furthermore, the workpiece transport mechanism 210 moves the workpiece to the outside of the machine tool 100 through the inside of the cover body 310.

[0037] 1 and 2, the machine tool 100 further includes a workpiece recovery device 400. The workpiece recovery device 400 is installed outside the machine tool 100.

[0038] The workpiece recovery device 400 has a bucket 460. The bucket 460 is a box that can accommodate a workpiece. The workpiece recovery device 400 is a device for recovering a machined workpiece into the bucket 460. The workpiece recovery device 400 is a device for recovering a workpiece that has been transported outside the machine tool 100 by the workpiece transport device 200 (workpiece transport mechanism 210) into the bucket 460.

[0039] The workpiece recovery device 400 has a device body 420. The device body 420 is attached to the cover body 12. The device body 420 is provided adjacent to the side cover 18.

[0040] The device main body 420 has a workpiece transport mechanism 410 and a bucket mounting table 427. The workpiece transport mechanism 410 is capable of transporting a workpiece. The workpiece transport mechanism 410 is made up of a belt conveyor, and transports the workpiece that has been transported outside the machine tool 100 by the workpiece transport mechanism 210 toward the bucket 460.

[0041] The bucket 460 is detachably attached to the device body 420. When the workpiece is transported by the workpiece transport mechanism 410, the bucket 460 is attached to the device body 420. When the worker carries the workpiece collected in the bucket 460, the bucket 460 is detached from the device body 420.

[0042] Bucket placing table 427 is erected on the floor of a factory or the like where machine tool 100 is installed. Bucket placing table 427 has placing surface 427a. Placing surface 427a is provided at a predetermined height above the floor of the factory or the like. Placing surface 427a extends horizontally. Bucket 460 is placed on placing surface 427a. Placing surface 427a is provided with a positioning mechanism for positioning bucket 460 at a predetermined position on placing surface 427a.

[0043] [Structure of workpiece transport device] Fig. 6 is a partially enlarged view showing the internal structure of the machine tool in Fig. 5 (with the cover of the workpiece transport device in an open state). Figs. 7 to 9 are views showing the operation of the workpiece transport mechanism in Fig. 6. Figs. 7 to 9 show the workpiece transport mechanism 210 as viewed from the front-to-rear direction of the machine tool 100.

[0044] Fig. 10 is a diagram showing the workpiece transport mechanism (with the arm in the raised position) in the area surrounded by the two-dot chain line X in Fig. 8. Fig. 11 is a diagram showing the workpiece transport mechanism (with the arm in the lowered position) in the area surrounded by the two-dot chain line XI in Fig. 9. Fig. 12 is a top view showing the transmission mechanism (when the timing belt is normal). Fig. 13 is a top view showing the transmission mechanism (when the timing belt is abnormal).

[0045] Fig. 14 is a perspective view showing a cover body and a door of the workpiece transportation device. Fig. 15 is a perspective view showing the door when viewed in the direction indicated by arrow XV in Fig. 14. Fig. 16 is a perspective view showing the door when viewed in the direction indicated by arrow XVI in Fig. 14.

[0046] Fig. 17 is a front view showing the machine tool in Fig. 2. Fig. 18 is a cross-sectional view showing the machine tool taken along line XVIII-XVIII in Fig. 17.

[0047] Fig. 19 is a partially enlarged view showing the internal structure of the machine tool (with the cover of the workpiece transportation device in a closed state) in Fig. 4. Fig. 19 shows the tool post 30 positioned closest to the workpiece transportation device 200 in the X-axis and Y-axis directions.

[0048] Fig. 20 is a perspective view showing the door opening / closing drive mechanism and the door open state detection mechanism. Fig. 21 is a cross-sectional view showing the door opening / closing drive mechanism in Fig. 20 (door closed state). Fig. 22 is a cross-sectional view showing the door opening / closing drive mechanism in Fig. 20 (door open state). Fig. 23 is a cross-sectional view showing the door open state detection mechanism in Fig. 20 (door closed state). Fig. 24 is a cross-sectional view showing the door open state detection mechanism in Fig. 20 (door open state).

[0049] (Embodiment 1) 6 to 9, first, the flow of retrieving the machined workpiece held by the second workpiece spindle 20 will be described.

[0050] The workpiece transport mechanism 210 further includes an arm 251 and a traveling body 281. The hand 261 is attached to the arm 251. The arm 251 is capable of sliding between an elevated position shown in FIG. 8 and a lowered position shown in FIG. 9 in the processing area 150. The arm 251 is mounted on the traveling body 281. The traveling body 281 is capable of sliding between an external position shown in FIG. 7 and an internal position shown in FIG. 8.

[0051] As shown in Figures 6 and 8, when the machining of the workpiece held by the second workpiece spindle 20 is completed, the door 320 moves from a closed state 320A to an open state 320B. The traveling body 281 slides toward the in-machine position. As shown in Figure 9, the arm 251 slides from the raised position toward the lowered position. The hand 261 grips the machined workpiece held by the second workpiece spindle 20. As shown in Figures 6 and 8, the arm 251 slides from the lowered position toward the raised position.

[0052] As shown in FIG. 7, the running body 281 slides from an in-machine position through the inside of the cover body 310 to an out-machine position. At the same time that the running body 281 enters the inside of the cover body 310, the door 320 moves from the open position 320B to the closed position 320A. The arm 251 slides from the raised position to a position directly above the work transport mechanism 410. The hand 261 releases its grip on the work. The work transport mechanism 410 transports the work toward the bucket 460. Through the above steps, the machined work is collected into the bucket 460.

[0053] Next, we will explain the specific structure of the workpiece transport mechanism 210. With reference to Figures 6 to 11, the workpiece transport mechanism 210 moves the workpiece held by the hand 261 along the first direction 101 shown in Figure 6 as the arm 251 slides between the raised position and the lowered position.

[0054] In FIG. 6, a first direction 101 and a vertical direction 106 are indicated by arrows. The first direction 101 is oblique to the vertical direction 106. As an example, the angle α formed between the first direction 101 and the vertical direction 106 is 8°. The angle α may be in the range of 3° to 15°, or in the range of 5° to 10°. FIG. 6 also shows the workpiece W when the arm 251 has slid to the lowered position, and the workpiece W′ when the arm 251 has slid to the raised position. The direction in which the dashed dotted line 140 connecting the center of the workpiece W and the center of the workpiece W′ extends corresponds to the first direction 101.

[0055] 6, 10, and 11, the workpiece transport mechanism 210 further includes a first servo motor 221, a ball screw 231, and a speed-doubling mechanism 240. The first servo motor 221, the ball screw 231, the speed-doubling mechanism 240, the arm 251, and the hand 261 are mounted on a traveling body 281.

[0056] The first servo motor 221 outputs rotation about a rotation central axis 201 that is parallel to the first direction 101. The output shaft of the first servo motor 221 extends around the rotation central axis 201. The first servo motor 221 is provided as a power source for the sliding movement of the arm 251 along the first direction 101.

[0057] The ball screw 231 is provided as a motion conversion mechanism that converts the rotational motion output from the first servo motor 221 into linear motion and transmits the linear motion toward the arm 251. The ball screw 231 is provided spaced apart from the first servo motor 221 in a second direction 102 that is perpendicular to the first direction 101. In this embodiment, the second direction 102 corresponds to a third direction 103 (Z-axis direction) that will be described later.

[0058] The ball screw 231 has a screw 232 and a nut 233. The screw 232 extends around a rotation center axis 202 that is parallel to the first direction 101. The screw 232 is supported so as to be rotatable around the rotation center axis 202. The nut 233 engages with the screw 232. The nut 233 is fitted onto the outer periphery of the screw 232 via a plurality of rolling elements (not shown). The nut 233 slides along the first direction 101 as the screw 232 rotates.

[0059] The first servo motor 221 is disposed opposite the screw 232 in the second direction 102. The first servo motor 221 is disposed in parallel to the screw 232. The first servo motor 221 and the screw 232 extend in the first direction 101 at an interval from each other in the second direction 102. As shown in FIG. 10 , when the arm 251 is disposed in the raised position, the first servo motor 221, the screw 232, the intermediate member 241, and the arm 251 are arranged in the listed order in the second direction 102 (the third direction 103 described later).

[0060] The arm 251 has an arm shape that extends in the first direction 101. The arm 251 is slidable along the first direction 101 relative to an intermediate member 241, which will be described later. The arm 251 is supported by a guide mechanism 245 so as to be slidable along the first direction 101. A hand 261 is attached to the arm 251. The hand 261 is attached to the lower end of the arm 251.

[0061] The speed doubling mechanism 240 is provided between the ball screw 231 and the arm 251 on a power transmission path from the first servo motor 221. The speed doubling mechanism 240 doubles the stroke length of the linear motion output from the ball screw 231 (nut 233) and transmits it to the arm 251. The speed doubling mechanism 240 is provided between the first servo motor 221 and the arm 251 in the second direction 102.

[0062] The speed-doubling mechanism 240 includes an intermediate member 241 , a pinion 243 , a first rack 246 , and a second rack 247 .

[0063] The intermediate member 241 extends in the first direction 101. The intermediate member 241 is slidable along the first direction 101 relative to the running body 281. The intermediate member 241 is supported by a guide mechanism 244 so as to be slidable along the first direction 101. The nut 233 is attached to the intermediate member 241. The nut 233 is connected to the intermediate member 241 via an angle 236.

[0064] The pinion 243 is attached to the intermediate member 241. The pinion 243 is supported so as to be rotatable about a rotation center axis 203 that is perpendicular to the first direction 101 and perpendicular to the second direction 102 (a third direction 103 described below). The pinion 243 is provided at a position closer to the lower end of the intermediate member 241 than to the upper end in the first direction 101.

[0065] Each of the first rack 246 and the second rack 247 extends in the first direction 101. Each of the first rack 246 and the second rack 247 is engaged with the pinion 243. The pinion 243 is disposed between the first rack 246 and the second rack 247 in the second direction 102. The first rack 246 is attached to the running body 281. The second rack 247 is attached to the arm 251.

[0066] 8 and 10 , when the arm 251 is disposed in the raised position, the screw 232, the intermediate member 241, and the arm 251 are aligned in the listed order in the second direction 102. The first rack 246 extends downward in the first direction 101 from the position where the first rack 246 engages with the pinion 243. The second rack 247 extends upward in the first direction 101 from the position where the second rack 247 engages with the pinion 243.

[0067] 9 and 11 , when the arm 251 is disposed in the lowered position, the intermediate member 241 is shifted downward in the first direction 101 relative to the screw 232, and the arm 251 is shifted downward in the first direction 101 relative to the intermediate member 241. The first rack 246 extends upward in the first direction 101 from the position where the first rack 246 engages with the pinion 243. The second rack 247 extends downward in the first direction 101 from the position where the second rack 247 engages with the pinion 243.

[0068] When the arm 251 is moved from the raised position to the lowered position, the first servo motor 221 outputs rotation in one direction along the circumferential direction of the rotation central shaft 201. The rotation from the first servo motor 221 is transmitted to the screw 232 via a transmission mechanism 270, which will be described later. The screw 232 rotates in one direction along the circumferential direction of the rotation central shaft 202. The nut 233 and the intermediate member 241 descend integrally along the first direction 101. As the intermediate member 241 descends, the pinion 243 rotates in one direction along the circumferential direction of the rotation central shaft 203 while engaging with the first rack 246. The rotation of the pinion 243 is transmitted to the second rack 247, causing the arm 251 to descend along the first direction 101. At this time, the downward stroke length of the hand 261 is calculated by adding the downward stroke length of the intermediate member 241 and the downward stroke length of the arm 251 relative to the intermediate member 241 together.

[0069] When the arm 251 is moved from the lowered position to the raised position, the first servo motor 221 outputs rotation in the other direction along the circumferential direction of the rotation central shaft 201. The rotation from the first servo motor 221 is transmitted to the screw 232 via a transmission mechanism 270, which will be described later. The screw 232 rotates in the other direction along the circumferential direction of the rotation central shaft 202. The nut 233 and the intermediate member 241 rise integrally with each other in the first direction 101. As the intermediate member 241 rises, the pinion 243 rotates in the other direction along the circumferential direction of the rotation central shaft 203 while engaging with the first rack 246. The rotation of the pinion 243 is transmitted to the second rack 247, causing the arm 251 to rise in the first direction 101. At this time, the upward stroke length of the hand 261 is calculated by adding the upward stroke length of the intermediate member 241 and the upward stroke length of the arm 251 relative to the intermediate member 241 together.

[0070] 10 to 12, the workpiece transport mechanism 210 further includes a transmission mechanism 270. The transmission mechanism 270 is mounted on the traveling body 281. The transmission mechanism 270 is attached to the upper end of the first servo motor 221 and the ball screw 231. The transmission mechanism 270 transmits the rotation from the first servo motor 221 to the screw 232.

[0071] The transmission mechanism 270 has a first pulley 226, a second pulley 227, and a timing belt 271. The first pulley 226 is connected to the output shaft of the first servo motor 221. The first pulley 226 receives rotational motion output from the first servo motor 221 and rotates about the rotation center axis 201. The second pulley 227 is connected to the screw 232. The second pulley 227 rotates integrally with the screw 232 about the rotation center axis 202. The timing belt 271 is made of an annular band. The timing belt 271 is stretched over the first pulley 226 and the second pulley 227. The rotation from the first servo motor 221 is transmitted to the screw 232 via the first pulley 226, the timing belt 271, and the second pulley 227.

[0072] The workpiece transport mechanism 210 further includes a first rotating body 273 and a second rotating body 272. The first rotating body 273 is connected to the second pulley 227. The first rotating body 273 has a disk shape centered on the rotation central axis 202. The first rotating body 273 rotates integrally with the screw 232 and the second pulley 227 about the rotation central axis 202. The first rotating body 273 has a first locking portion 274. The first locking portion 274 forms a stepped shape on the outer peripheral surface of the first rotating body 273 in the radial direction of the rotation central axis 202. The first rotating body 273 has a plurality of first locking portions 274. The plurality of first locking portions 274 are provided at intervals from one another in the circumferential direction of the rotation central axis 202.

[0073] The second rotating body 272 is disposed between the first pulley 226 and the second pulley 227. The second rotating body 272 is supported rotatably about a rotation center axis 203 that is parallel to the first direction 101. When viewed in the first direction 101, the rotation center axis 203 is located between the rotation center axes 201 and 202. When viewed in the first direction 101, the rotation center axis 203 intersects with an imaginary line connecting the rotation center axes 201 and 202. The distance between the rotation center axes 202 and 203 may be equal to or greater than the distance between the rotation center axes 201 and 203. The first rotating body 273 and the second rotating body 272 are provided in the same plane that is perpendicular to the rotation center axes 202 and 203.

[0074] The second rotating body 272 has a second locking portion 277. The second locking portion 277 faces the outer peripheral surface of the first rotating body 273 with a gap provided in a plane direction perpendicular to the rotation center axis 203. The second locking portion 277 has a hook shape that can be hooked onto the first locking portion 274 from one direction along the circumferential direction of the rotation center axis 202.

[0075] The second rotating body 272 further has a shaft portion 275. The shaft portion 275 is provided at a position spaced apart from the second locking portion 277 in the circumferential direction of the rotation center shaft 203. The shaft portion 275 has a shaft shape that extends parallel to the rotation center shaft 203. The shaft portion 275 is disposed outside the circular timing belt 271.

[0076] The workpiece transport mechanism 210 further includes an elastic member 278. The elastic member 278 is formed, for example, by a coil spring centered on the central axis of rotation 203. The elastic member 278 applies an elastic force to the second rotating body 272 in the rotation direction of the second rotating body 272. The elastic member 278 applies an elastic force to the second rotating body 272 in the clockwise direction centered on the central axis of rotation 203 in FIG. 12 .

[0077] Fig. 12 shows transmission mechanism 270 when timing belt 271 is normal. Fig. 13 shows transmission mechanism 270 when timing belt 271 is abnormal (when timing belt 271 breaks). With reference to Figs. 12 and 13, second rotating body 272 moves between a first state 272A (the state of second rotating body 272 shown in Fig. 12) in which second locking portion 277 is positioned away from first rotating body 273 by being locked by timing belt 271, and a second state 272B (the state of second rotating body 272 shown in Fig. 13) in which, when the locking by timing belt 271 is released, second rotating body 272 rotates due to the elastic force of elastic member 278, and second locking portion 277 locks with first locking portion 274.

[0078] 12, the second rotating body 272 is biased in a clockwise direction around the central axis of rotation 203 in FIG. 12 by an elastic force from the elastic member 278. The shaft portion 275 abuts against the circular timing belt 271 from the outside of the timing belt 271. By locking the shaft portion 275 to the timing belt 271, the second locking portion 277 is positioned away from the first rotating body 273. At this time, the first rotating body 273 is freely rotatable around the central axis of rotation 202.

[0079] As shown in FIG. 13 , if the timing belt 271 breaks, the arm 251 slides toward the lowered position due to its own weight or the weight of the workpiece. As the arm 251 slides toward the lowered position, the first rotating body 273 rotates counterclockwise around the rotation center axis 202 in FIG. 13 . On the other hand, if the timing belt 271 breaks, the second rotating body 272 (shaft portion 275) is released from the timing belt 271. The second rotating body 272 rotates clockwise around the rotation center axis 203 in FIG. 13 due to the elastic force of the elastic member 278. As the second rotating body 272 rotates, the second locking portion 277 moves toward the outer circumferential surface of the first rotating body 273. At this time, the second locking portion 277 is locked with the first locking portion 274, thereby restricting the rotation of the first rotating body 273. As a result, the arm 251 is prevented from sliding toward the lowered position, and the workpiece held by the hand 261 is prevented from falling.

[0080] The workpiece transport mechanism 210 further includes a sensor 276. The sensor 276 is capable of sensing the movement of the second rotating body 272. The sensor 276 is capable of sensing the movement of the second rotating body 272 between the first state 272A and the second state 272B.

[0081] Sensor 276 is, for example, a proximity sensor. Sensor 276 is attached to traveling body 281. In first state 272A of second rotating body 272, sensor 276 is disposed to face shaft portion 275 with a gap therebetween. At this time, sensor 276 detects shaft portion 275. When second rotating body 272 moves from first state 272A to second state 272B, shaft portion 275 moves away from sensor 276. At this time, detection of shaft portion 275 by sensor 276 is canceled. By sensor 276 sensing the movement of second rotating body 272 from first state 272A to second state 272B, belt breakage of timing belt 271 can be detected.

[0082] The object to be detected by sensor 276 is not limited to shaft 275, but may be another portion of second rotating body 272. In the present invention, the type of sensor for sensing the operation of the second rotating body is not particularly limited. The sensor may be a non-contact sensor such as the above-mentioned proximity sensor, or a contact sensor such as a limit switch.

[0083] 5 to 9, the work transport mechanism 210 moves the work held by the hand 261 along the third direction 103 in accordance with the sliding movement of the running body 281 between the internal position shown in FIG. 8 and the external position shown in FIG. 7.

[0084] 7 to 11, a third direction 103 is indicated by an arrow. The third direction 103 is perpendicular to the first direction 101 and parallel to the horizontal direction. The third direction 103 corresponds to the Z-axis direction. The third direction 103 corresponds to the axial direction of the pivot axis 110 and the rotation axis 120.

[0085] The workpiece transport mechanism 210 has a horizontal pillar 289. The horizontal pillar 289 extends in the third direction 103. The horizontal pillar 289 is made of a column whose longitudinal direction corresponds to the third direction 103. The horizontal pillar 289 extends from the machining area 150, penetrates the side cover 18, and extends to the outside of the machine tool 100 (in Figures 7 to 9, the cover line of the side cover 18 is shown by a two-dot chain line).

[0086] The cross pillar 289 is provided between the tool post 30 and the tracker 281 in the front-to-rear direction of the machine tool 100. The cross pillar 289 is disposed at a position closer to the upper end than the lower end of the workpiece transport mechanism 210 in the up-down direction 106. The cross pillar 289 is supported at a predetermined height from the floor surface on which the machine tool 100 is installed. The cross pillar 289 is disposed above the rotation center axis 120. The cross pillar 289 is disposed above the swivel center axis 110. The cross pillar 289 is disposed above the hand 261 when the arm 251 slides to the raised position. The cross pillar 289 is disposed above a dog 371, a switch 372, and a piston cylinder 381 (see FIG. 20 ), which will be described later.

[0087] The workpiece transport mechanism 210 further includes a second servo motor 286 , a feed mechanism 287 , and a guide mechanism 288 .

[0088] The running body 281 is slidable along the third direction 103. The guide mechanism 288 supports the running body 281 so that it is slidable along the third direction 103. As an example, the guide mechanism 288 is composed of a linear guide having a guide rail and a slider. The guide rail extends in the third direction 103. The guide rail is attached to a horizontal column 289. The slider is engaged with the guide rail via a plurality of rolling elements. The slider is slidable in the third direction 103 along the guide rail. The running body 281 is attached to the slider.

[0089] The second servo motor 286 is mounted on the traveling body 281. The second servo motor 286 is provided as a power source for the sliding motion of the traveling body 281 along the third direction 103. The feed mechanism 287 converts the rotational motion output from the second servo motor 286 into linear motion in the third direction 103 and transmits the linear motion to the traveling body 281. As an example, the feed mechanism 287 has a rack and a pinion. The rack extends in the third direction 103. The rack is attached to a horizontal column 289. The pinion is connected to the output shaft of the second servo motor 286 via a reducer or the like. The pinion is engaged with the rack.

[0090] 2 and 5, the cover body 310 is attached to the ceiling cover 17. The cover body 310 is disposed between the ceiling cover 17 and the second workpiece spindle 20 in the vertical direction.

[0091] 14, 17, and 18, the cover body 310 (cover main body 341 described below) further has a front portion 310f. The front portion 310f extends in a plane including the vertical direction and the third direction 103. A gap 346 is provided between the cover body 310 and the front cover 15. The front portion 310f faces the front cover 15 via the gap 346. The gap 346 extends between the second workpiece spindle 20 and the ceiling cover 17 in the vertical direction.

[0092] Machine tool 100 further includes a line body 330. Line body 330 may be a pipe for passing a fluid such as a gas or a liquid, or may be a wiring for passing electricity. Machine tool 100 includes a plurality of line bodies 330. Line body 330 is arranged in gap 346. Line body 330 extends from second work spindle 20 and is supported by ceiling cover 17. The plurality of line bodies 330 extend from second work spindle 20 toward ceiling cover 17 in gap 346 while being spaced apart from one another at least in third direction 103.

[0093] One end of the line body 330 is connected to the second work spindle 20. The other end of the line body 330 is fixed to the ceiling cover 17. As the second work spindle 20 moves in the Z-axis direction, one end of the line body 330 swings in the Z-axis direction while the other end of the line body 330 remains fixed to the ceiling cover 17.

[0094] The configurations of a workpiece transport device 200 and a machine tool 100 according to the first embodiment of the present invention will be summarized with reference to FIGS.

[0095] The workpiece transport device 200 in this embodiment includes a first servo motor 221, a screw 232 to which rotation from the first servo motor 221 is input, a ball screw 231 having a nut 233 that engages with the screw 232, an intermediate member 241 to which the nut 233 is attached and which is slidable along the first direction 101, a pinion 243 attached to the intermediate member 241, a speed multiplier mechanism 240 which engages with the pinion 243 and has a first rack 246 and a second rack 247 that extend in the first direction 101, an arm 251 to which the second rack 247 is attached and which is slidable along the first direction 101 relative to the intermediate member 241, and a hand 261 attached to the arm 251.

[0096] According to this configuration, the rotational motion output from the first servo motor 221 is converted into linear motion by the ball screw 231, and this linear motion is transmitted to the arm 251 via the speed doubling mechanism 240, thereby stroking the hand for gripping the workpiece. In this case, by using the first servo motor 221 as the power source of the arm 251, the work transportation device 200 can be configured more compactly in the first direction 101 than when a piston cylinder is used. Furthermore, by using the speed doubling mechanism 240, the overall length of the screw 232 in the first direction 101 can be kept small while ensuring a sufficient stroke length of the hand 261. Therefore, the work transportation device 200 can be configured compactly.

[0097] Furthermore, by using the first servo motor 221, an additional effect is achieved in that the arm 251 can be slid to any position along the first direction 101.

[0098] Moreover, the first direction 101 is oblique to the vertical direction 106. According to this configuration, the workpiece transport device 200 can be configured more compactly in the vertical direction than when the first direction 101 is parallel to the vertical direction 106.

[0099] The first servo motor 221 is disposed opposite the screw 232 in a second direction 102 that is perpendicular to the first direction 101. The workpiece conveyance device 200 further includes a transmission mechanism 270 that transmits the rotation from the first servo motor 221 to the screw 232.

[0100] According to this configuration, by installing the transmission mechanism 270, the first servo motor 221 can be disposed opposite the screw 232 in the second direction 102. As a result, the first servo motor 221 is disposed in parallel with the screw 232, and therefore the workpiece transport device 200 can be configured compactly in the first direction 101.

[0101] The transmission mechanism 270 also includes a first pulley 226 connected to the output shaft of the first servo motor 221, a second pulley 227 connected to the screw 232, and a timing belt 271 wound around the first pulley 226 and the second pulley 227. The workpiece transport device 200 further includes a first rotating body 273 having a first locking portion 274 and connected to the second pulley 227, a second rotating body 272 having a second locking portion 277 and rotatably supported between the first pulley 226 and the second pulley 227, and an elastic member 278 that applies an elastic force to the second rotating body 272 along the rotation direction of the second rotating body 272. The second rotating body 272 moves between a first state 272A in which the second locking portion 277 is positioned away from the first rotating body 273 by being locked by the timing belt 271, and a second state 272B in which, when the locking by the timing belt 271 is released, the second rotating body 272 rotates by receiving an elastic force from the elastic member 278 and the second locking portion 277 locks with the first locking portion 274. The workpiece transport device 200 further includes a sensor 276 capable of sensing the operation of the second rotating body 272.

[0102] With this configuration, rotation output from the first servo motor 221 is transmitted to the screw 232 via the first pulley 226, timing belt 271, and second pulley 227, in that order. If the timing belt 271 breaks, the second rotor 272 is released from its engagement with the timing belt 271. The second rotor 272 receives elastic force from the elastic member and moves from the first position 272A to the second position 272B, and the second locking portion 277 locks with the first locking portion 274. This restricts the rotation of the screw 232 and prevents the arm 251 from descending in the first direction 101 due to the weight of the workpiece. Furthermore, the sensor 276 senses the movement of the second rotor 272 from the first position 272A to the second position 272B, thereby detecting belt breakage of the timing belt 271. In such a configuration, the second rotor 272 serves as both a braking mechanism when the belt breaks and a mechanism for detecting the belt breakage, so that the workpiece transport device 200 can be configured simply.

[0103] The workpiece transport device 200 also includes a running body 281 that is equipped with a first servo motor 221, a ball screw 231, a speed doubling mechanism 240, an arm 251, and a hand 261, and is slidable along a third direction 103 that is perpendicular to the first direction 101 and parallel to the horizontal direction, and a second servo motor 286 that is provided as a power source for the sliding movement of the running body 281 along the third direction 103.

[0104] According to this configuration, by using the second servo motor 286 as the power source of the traveling body 281, the workpiece transport device 200 can be configured more compactly in the third direction 103 compared to when a piston cylinder is used.

[0105] In this embodiment, the machine tool 100 comprises a turret-type tool post 30 that can rotate around a horizontally extending central axis of rotation 110, a front cover 15 that is arranged at a distance from the tool post 30 in a horizontal direction perpendicular to the central axis of rotation 110, a second work spindle 20 that is arranged between the tool post 30 and the front cover 15 and rotates a workpiece around a rotation central axis 120 that extends parallel to the central axis of rotation 110, and a work transport device 200 that is arranged between the tool post 30 and the front cover 15 and above the second work spindle 20.

[0106] According to this configuration, the workpiece transport device 200 can be disposed in the limited space above the second workpiece spindle 20 between the tool rest 30 and the front cover 15 .

[0107] The workpiece transport device 200 also has an opening 316 that opens in a direction parallel to the rotation center axis 110, and further has a cover body 310 that houses the first servo motor 221, the ball screw 231, the speed doubling mechanism 240, the arm 251 and the hand 261, and a door 320 that is rotatably attached to the cover body 310 and that opens and closes the opening 316.

[0108] According to this configuration, the door 320 is rotated between a closed state 320A in which the opening 316 is closed, and an open state 320B in which the opening 316 is open. In this case, when the door 320 is in the closed state 320A, foreign matter such as chips or coolant resulting from workpiece machining can be prevented from entering the inside of the cover body 310. Furthermore, when the door 320 is in the open state 320B, the hand 261 for gripping the workpiece can be advanced and retreated relative to the machining area 150.

[0109] A gap 346 is provided between cover body 310 and front cover 15. Machine tool 100 further includes a line body 330 that includes at least one of piping and wiring and is routed in gap 346.

[0110] According to this configuration, the line body 330 can be routed by utilizing the gap 346 between the cover body 310 and the front cover 15, which is secured by configuring the workpiece transport device 200 compactly.

[0111] The machine tool 100 further includes a ceiling cover 17. The line body 330 extends from the second workpiece spindle 20 and is supported by the ceiling cover 17.

[0112] With this configuration, the line body 330 extends in the vertical direction between the second work spindle 20 and the ceiling cover 17, so that the line body 330 can be easily routed even in the narrow gap 346 secured between the cover body 310 and the front cover 15.

[0113] Moreover, machine tool 100 further includes ceiling cover 17. Cover body 310 is attached to ceiling cover 17.

[0114] According to this configuration, the space up to the ceiling of the machine tool 100 can be used efficiently to install the workpiece transport device 200.

[0115] 10 and 11, the intermediate member 241 is configured to be slidable along the first direction 101 relative to the traveling body (main body member) 281. The workpiece transport mechanism 210 further includes a guide mechanism 244. The guide mechanism 244 guides the intermediate member 241 along the first direction 101. As an example, the guide mechanism 244 is configured as a linear guide having a guide rail attached to the intermediate member 241 and a slider attached to the traveling body 281 and fitted into the guide rail. Furthermore, the arm 251 is configured to be slidable along the first direction 101 relative to the intermediate member 241. The workpiece transport mechanism 210 further includes a guide mechanism 245. The guide mechanism 245 guides the arm 251 along the first direction 101. As an example, the guide mechanism 245 is configured as a linear guide having a guide rail attached to the intermediate member 241 and a slider attached to the arm 251 and fitted into the guide rail.

[0116] (Embodiment 2) In this embodiment, the structure of the workpiece transport device 200 will be described, focusing on the cover body 310. The structure of the cover body 310 will be described with reference to Figs. 14 to 18. The cover body 310 has a cover main body portion 341. The cover main body portion 341 has a cylindrical shape extending in the third direction 103 (Z-axis direction). The cover main body portion 341 forms a first internal space 350. The cover main body portion 341 accommodates the workpiece transport mechanism 210 in the first internal space 350.

[0117] The cover body 310 (cover main body portion 341) has an upper opening 317 and a cover-side opening 318 in addition to the opening 316. The opening 316 opens in a direction parallel to the rotation central axis 110 (third direction 103). The upper opening 317 opens upward. The upper opening 317 is superimposed on the ceiling cover 17. The cover-side opening 318 opens in the third direction 103. The opening plane formed by the opening 316 and the opening plane formed by the cover-side opening 318 face each other in the third direction 103. The cover body 310 communicates with a tube cover 426 (see FIGS. 1 and 2) described later through the cover-side opening 318.

[0118] Door 320 is attached to cover body 310 so as to be rotatable around rotation center shaft 301. Rotation center shaft 301 extends in the vertical direction. Rotation center shaft 301 is disposed at the end of cover body 310 on the front side of machine tool 100. Rotation center shaft 301 is located further forward of machine tool 100 than front part 310f.

[0119] Door 320 operates between a closed state 320A in which opening 316 is closed as shown in Figures 4 and 14, and an open state 320B in which opening 316 is open as shown in Figures 5 and 6. Door 320 rotates around rotation center axis 301 in a direction approaching front door 13 in Figure 1. In open state 320B, door 320 is positioned so as to overlap front door 13 (window 14).

[0120] The cover body 310 further has a protrusion 342. The protrusion 342 has a convex shape that protrudes from the cover main body 341 (front portion 310f) when viewed from outside the first internal space 350. The protrusion 342 forms a second internal space 360. The second internal space 360 ​​is a space that is continuous with the first internal space 350. The volume of the second internal space 360 ​​is smaller than the volume of the first internal space 350.

[0121] The protrusion 342 extends in the up-down direction while forming a convex shape protruding from the front portion 310f when viewed from outside the first internal space 350. The length of the protrusion 342 in the up-down direction is greater than the length (width) of the protrusion 342 in the third direction 103. The protrusion 342 is provided at a position adjacent to the opening 316 in the third direction 103. The protrusion 342 is provided at a position closer to the opening 316 than the cover-side opening 318 in the third direction 103. The length between the opening 316 and the protrusion 342 in the third direction 103 is shorter than the length between the protrusion 342 and the cover-side opening 318 in the third direction 103.

[0122] 17 and 18, a second gap 346 (gap 346) is provided between cover main body 341 (front portion 310f) and front cover 15 at a position adjacent to protruding portion 342 in the axial direction (third direction 103) of turning center shaft 110. The protruding length of protruding portion 342 from front portion 310f is smaller than the distance between front portion 310f and front cover 15 (the size of second gap 346 in the front-rear direction of machine tool 100).

[0123] The second gap 346 is provided at a position deeper than the protruding portion 342 when viewed from the opening 12h (see FIG. 1) where the front door 13 is disposed. The above-mentioned multiple line bodies 330 are arranged in the second gap 346.

[0124] 14 to 16 and 19, door 320 is provided with recess 322. Recess 322 has a recessed shape that recesses toward first internal space 350 when door 320 is in closed state 320A. Door 320 has main surface 321. When door 320 is in closed state 320A, main surface 321 is formed as a plane that is perpendicular to third direction 103. Recess 322 forms a step on main surface 321 that recesses in third direction 103.

[0125] 19, the tool rest 30 is positioned closest to the workpiece transport device 200 in the X-axis direction and the Y-axis direction shown in Fig. 3. In this case, when viewed in the axial direction of the turning central axis 110 (third direction 103), the maximum range 302 in which a tool attached to the tool rest 30 moves as the tool rest 30 turns overlaps with the recessed portion 322.

[0126] The maximum range 302 is indicated by an arc centered on the pivot axis 110. The arc corresponds to the path that the tip of a tool with the maximum tool length attached to the tool post 30 traces as the tool post 30 pivots. When viewed in the axial direction of the pivot axis 110 (third direction 103), at least a portion of the recess 322 is located radially inward of the arc indicated by the maximum range 302 from the pivot axis 110.

[0127] 20 to 22, the workpiece transportation device 200 further includes a piston cylinder 381. The piston cylinder 381 is provided as an actuator for operating the door 320 between a closed state 320A and an open state 320B.

[0128] The piston cylinder 381 has a cylinder body 383 and a rod 382. The cylinder body 383 is housed in the first internal space 350. The cylinder body 383 is provided in a position facing, with a gap between it and the opening plane formed by the opening 316 in the third direction 103. The cylinder body 383 is attached to the cover body 310 (cover body portion 341). The cylinder body 383 is attached to the front portion 310f. The cylinder body 383 is attached to the cover body 310 so as to be rotatable about a rotation center axis 307 extending in the up-down direction.

[0129] Rod 382 extends from cylinder body 383 toward the opening surface formed by opening 316. The tip of rod 382 is attached to door 320. The tip of rod 382 is attached to door 320 so as to be rotatable about rotation center shaft 306 extending in the vertical direction.

[0130] Supplying a fluid such as air to cylinder body 383 causes rod 382 to contract or extend. As shown in Fig. 21, piston cylinder 381 moves door 320 from open state 320B to closed state 320A in accordance with the contraction of rod 382. As shown in Fig. 22, piston cylinder 381 moves door 320 from closed state 320A to open state 320B in accordance with the extension of rod 382.

[0131] 20, 23 and 24, the workpiece conveyance device 200 further includes a dog 371 and a switch 372. The dog 371 and the switch 372 can detect whether the door 320 is in an open state 320B.

[0132] The dog 371 is attached to the door 320. The dog 371 is attached to the door 320 via an angle 376. The dog 371 is provided at a position spaced apart from the rotation center shaft 301 and outward in the radial direction of the rotation center shaft 301. The dog 371 moves in the circumferential direction of the rotation center shaft 301 as the door 320 moves between the closed state 320A and the open state 320B. The second internal space 360 ​​is provided on the trajectory of the dog 371 moving in the circumferential direction of the rotation center shaft 301.

[0133] The switch 372 is a limit switch that is operated by the dog 371 when the door 320 is in the open state 320B. The switch 372 is accommodated in the first internal space 350. The switch 372 is attached to the cover body 310 (the cover main body portion 341). The switch 372 is attached to the front portion 310f. The switch 372 is disposed in the opening 316.

[0134] As shown in Fig. 23, when the door 320 is in the closed state 320A, the dog 371 is disposed in the second internal space 360. In the top view shown in Fig. 23, the angle 376 protrudes in the third direction 103 from the door 320 in the first internal space 350. The dog 371 protrudes from the angle 376 in a direction perpendicular to the third direction 103 (toward the front of the machine tool 100) and enters the second internal space 360 ​​from the first internal space 350. The dog 371 is accommodated in a position closer to the lower end than the upper end of the second internal space 360 ​​in the up-down direction.

[0135] As shown in FIGS. 20 and 24, when the door 320 is in the open state 320B, the dog 371 retracts from the second internal space 360. In the top view shown in FIG. 24, the angle 376 protrudes from the door 320 outside the first internal space 350 in a direction perpendicular to the third direction 103 (toward the rear of the machine tool 100). The dog 371 protrudes from the angle 376 toward the opening 316 (first internal space 350). The dog 371 overlaps with an operating portion 372p of the switch 372. The dog 371 presses down on the operating portion 372p, and the operating portion 372p strokes, thereby operating the switch 372. The open state 320B of the door 320 is detected when the switch 372 is operated by the dog 371.

[0136] 5, 6, 14, and 20, a first gap 347 is provided between the work transport mechanism 210 and the cover body 310 (cover main body portion 341). The first gap 347 is provided between the work transport mechanism 210 and the front portion 310f. The first gap 347 extends in the third direction 103 (Z-axis direction). The first gap 347 becomes larger from the upper end toward the lower end of the work transport mechanism 210. The size of the first gap 347 in the front-rear direction of the machine tool 100 becomes larger in the up-down direction from the upper end toward the lower end of the work transport mechanism 210. A switch 372 is provided in the first gap 347. The switch 372 is disposed in a position in the first gap 347 closer to the lower end of the work transport mechanism 210 than to the upper end of the work transport mechanism 210.

[0137] As shown in Figs. 5 and 14, the cover body 310 (cover main body portion 341) further has an upper surface 311 and a bottom surface 312. The upper surface 311 is provided at the top of the cover body 310. An upper opening 317 opens to the upper surface 311. The upper surface 311 is overlapped with the ceiling cover 17. The bottom surface 312 is provided at the bottom of the cover body 310. The bottom surface 312 faces the second workpiece spindle 20 in the vertical direction.

[0138] The size of first gap 347 in the front-to-rear direction of machine tool 100 increases in the vertical direction from top surface 311 to bottom surface 312. Switch 372 is disposed in a position closer to bottom surface 312 than to top surface 311 in the vertical direction. The distance between switch 372 and bottom surface 312 in the vertical direction is smaller than the distance between switch 372 and top surface 311 in the vertical direction.

[0139] The piston cylinder 381 is provided in the first gap 347. The piston cylinder 381 is disposed in the first gap 347 at a position closer to the lower end of the workpiece transport mechanism 210 than to the upper end of the workpiece transport mechanism 210. The piston cylinder 381 is disposed at a position closer to the bottom surface 312 than to the upper surface 311 in the vertical direction. The distance between the piston cylinder 381 and the bottom surface 312 in the vertical direction is smaller than the distance between the piston cylinder 381 and the upper surface 311 in the vertical direction. The piston cylinder 381 is provided below the switch 372.

[0140] 5 and 6, the workpiece conveyance device 200 further includes a sensor 391 for detecting the closed state 320A of the door 320. The sensor 391 is, for example, a non-contact safety switch.

[0141] The control device of machine tool 100 determines that door 320 is in open state 320B when switch 372 detects open state 320B of door 320 and sensor 391 does not detect closed state 320A of door 320, even though it has issued a command to piston cylinder 381 to retract rod 382. In this case, the control device may execute control to restrict operation of front door 13 (see FIG. 1) to the open state.

[0142] On the other hand, if switch 372 does not detect open state 320B of door 320 and sensor 391 detects closed state 320A of door 320 despite issuing a command to piston cylinder 381 to extend rod 382, ​​the control device of machine tool 100 determines that door 320 is in closed state 320A. In this case, the control device may execute control to stop driving second servo motor 286 and stop operation of machine tool 100.

[0143] The configurations of a workpiece transport device 200 and a machine tool 100 according to the second embodiment of the present invention will be summarized with reference to FIGS.

[0144] The work transport device 200 in this embodiment includes a work transport mechanism 210 capable of transporting work, a cover body 310 having a cover main body portion 341 including an opening 316 and forming a first internal space 350, and accommodating the work transport mechanism 210 in the first internal space 350, a door 320 rotatably attached to the cover body 310 and operable between a closed state 320A that blocks the opening 316 and an open state 320B that opens the opening 316, a dog 371 attached to the door 320, and a switch 372 attached to the cover body 310 and operated by the dog 371 when the door 320 is in the open state. When viewed from outside the first internal space 350, the cover body 310 has a convex shape protruding from the cover main body 341, and further has a protrusion 342 which forms a second internal space 360 ​​into which the dog 371 is positioned when the door 320 is in the closed state 320A and from which the dog 371 exits when the door 320 is in the open state 320B.

[0145] According to this configuration, as the door 320 rotates between the closed state 320A and the open state 320B, the dog 371 moves forward and backward relative to the second internal space 360 ​​formed by the protrusion 342. In this case, the protrusion 342 has a convex shape that protrudes from the cover main body 341 when viewed from outside the first internal space 350 that houses the work transport mechanism 210, and therefore the work transport device 200 can be configured more compactly than when the cover line of the cover main body 341 is expanded overall.

[0146] The work transport mechanism 210 also has an arm 251 that can slide along a first direction 101 that is oblique to the up-down direction 106, and a hand 261 that is attached to the arm 251. A first gap 347 that widens from the upper end to the lower end of the work transport mechanism 210 is provided between the work transport mechanism 210 and the cover main body 341. The switch 372 is disposed in the first gap 347 at a position closer to the lower end of the work transport mechanism 210 than to the upper end of the work transport mechanism 210.

[0147] According to this configuration, the sliding direction of the arm 251 is set in the first direction 101 oblique to the up-down direction 106, and thus a first gap 347 that widens from the upper end to the lower end of the work transport mechanism 210 is provided between the work transport mechanism 210 and the cover main body 341. In this case, the switch 372 can be disposed by utilizing a relatively large space secured in the first gap 347 at a position closer to the lower end of the work transport mechanism 210 than to the upper end of the work transport mechanism 210.

[0148] In addition, the work transport device 200 further includes a piston cylinder 381 that is positioned in the first gap 347 closer to the lower end of the work transport mechanism 210 than to the upper end of the work transport mechanism 210 and that operates the door 320 between the closed state 320A and the open state 320B.

[0149] With this configuration, the piston cylinder 381 can be arranged by utilizing the relatively large space secured in the first gap 347 at a position closer to the lower end of the work transport mechanism 210 than to the upper end of the work transport mechanism 210.

[0150] Machine tool 100 in this embodiment includes a turret-type tool post 30 that can rotate around a horizontally extending central axis of rotation 110, a front cover 15 that is arranged at a distance from tool post 30 in the horizontal direction perpendicular to central axis of rotation 110, a second workpiece spindle 20 that is arranged between tool post 30 and front cover 15 and rotates a workpiece around a rotation center axis 120 that extends parallel to central axis of rotation 110, and a workpiece transport device 200 that is arranged above second workpiece spindle 20 between tool post 30 and front cover 15. Opening 316 faces in a direction parallel to central axis of rotation 110.

[0151] According to this configuration, the workpiece transport device 200 can be disposed in the limited space above the second workpiece spindle 20 between the tool rest 30 and the front cover 15 .

[0152] Additionally, a second gap 346 is provided between cover main body 341 and front cover 15 at a position adjacent to protruding portion 342 in the axial direction of central turning axis 110. Machine tool 100 further includes a line body 330 that includes at least one of piping and wiring and is routed in second gap 346.

[0153] According to this configuration, the line body 330 can be routed by utilizing the second gap 346 secured between the cover main body 341 and the front cover 15 at a position adjacent to the protrusion 342 in the axial direction of the pivot axis 110.

[0154] The door 320 is also provided with a recess 322 that recesses toward the first internal space 350 when the door 320 is in the closed state 320A. When the tool post 30 is positioned closest to the workpiece transport device 200, the maximum range 302 over which the tool T attached to the tool post 30 moves as the tool post 30 turns overlaps with the recess 322, as viewed in the axial direction of the turning central axis 110.

[0155] According to this configuration, the workpiece transport device 200 can be provided closer to the tool rest 30 while avoiding interference between the tool T attached to the tool rest 30 and the door 320.

[0156] [Structure of workpiece recovery device] Fig. 25 is a perspective view showing the appearance of the machine tool in Fig. 1 (with the bucket of the workpiece recovery device attached). Fig. 26 is a perspective view showing the appearance of the machine tool in Fig. 1 (with the bucket of the workpiece recovery device removed). Fig. 27 is a cross-sectional view showing the workpiece recovery device in Fig. 25 (with the first lid of the bucket closed). Fig. 28 is a cross-sectional view showing the workpiece recovery device in Fig. 25 (with the first lid of the bucket open).

[0157] Fig. 29 is a perspective view of the bucket (with the first lid body closed) seen from the front side. Fig. 30 is a perspective view of the bucket (with the first lid body closed and the second lid body removed) seen from the rear side. Fig. 31 is a perspective view of the bucket (with the first lid body open and the second lid body removed) seen from the rear side. Fig. 32 is a perspective view of the bucket (with the first lid body closed and the second lid body attached) seen from the rear side.

[0158] Fig. 33 is a cross-sectional view showing the workpiece recovery device in the range surrounded by the two-dot chain line XXXIII in Fig. 27. Fig. 34 is a cross-sectional view showing the workpiece recovery device in the range surrounded by the two-dot chain line XXXIV in Fig. 28.

[0159] (Embodiment 3) In this embodiment, the structure of the workpiece recovery device 400 will be described. With reference to Figs. 25 to 28, the workpiece recovery device 400 (device main body 420) further has a tube cover 426. The tube cover 426 has a tube shape extending in the Z-axis direction. The tube cover 426 is connected to the side cover 18. The tube cover 426 communicates with the first internal space 350 inside the cover body 310. The tube cover 426 covers the horizontal pillar 289 extending from the side cover 18 (see Figs. 7 to 9).

[0160] The workpiece transport mechanism 410 is provided below the cylinder cover 426. The workpiece transport mechanism 410 transports the workpiece, which has been transported to the outside of the machine tool 100 by the workpiece transport mechanism 210 in Figures 7 to 9, toward the front of the machine tool 100. The direction in which the workpiece is transported by the workpiece transport mechanism 410 and the direction in which the workpiece is transported by the workpiece transport mechanism 210 are perpendicular to each other.

[0161] As shown in Figures 27 and 28, the workpiece transport mechanism 410 has rotating rollers 411 and 412, and a belt 416. The rotating roller 411 is rotatable around a rotation center axis 406 extending in the Z-axis direction. The rotating roller 412 is rotatable around a rotation center axis 407 extending in the Z-axis direction. Either the rotating roller 411 or the rotating roller 412 is a drive-side roller that is driven by a motor (not shown). The other rotating roller 411 or the rotating roller 412 is a driven-side roller that rotates when rotational motion from either the rotating roller 411 or the rotating roller 412 is transmitted via the belt 416.

[0162] Rotating roller 411 and rotating roller 412 are arranged at a distance from each other in the front-to-rear direction of machine tool 100. Belt 416 is made of a circular band and is stretched over rotating roller 411 and rotating roller 412. Arm 251 slides directly above belt 416 in first direction 101 that is oblique to the up-down direction. Top surface 416a of belt 416 faces hand 261 in the up-down direction. A workpiece gripped by hand 261 is placed on top surface 416a of belt 416.

[0163] The workpiece recovery device 400 (device main body 420) further has a first cover 413 and a second cover 421. The first cover 413 covers the workpiece transport mechanism 410 below the tube cover 426. The second cover 421 covers the space between the first cover 413 and the tube cover 426. The second cover 421 protrudes further toward the front of the machine tool 100 than the tube cover 426. The second cover 421, together with the first cover 413 and the tube cover 426, forms an internal space 430.

[0164] The internal space 430 is a space in which workpieces are transported by the workpiece transport mechanism 210 and the workpiece transport mechanism 410. The internal space 430 accommodates the arm 251 and hand 261 of the workpiece transport mechanism 210, and the rotating rollers 411, 412, and belt 416 of the workpiece transport mechanism 410.

[0165] A workpiece discharge port 429 is provided in the second cover 421. The workpiece discharge port 429 opens toward the front of the machine tool 100. The opening surface of the workpiece discharge port 429 faces the workpiece transport mechanism 410 in the front-to-rear direction of the machine tool 100. The workpiece discharge port 429 forms an opening for allowing the workpiece transported by the workpiece transport mechanism 410 to exit from the internal space 430.

[0166] Bucket placing table 427 is provided in front of machine tool 100 relative to first cover 413 and second cover 421. Top surface 416a of belt 416 is provided at a position higher than placing surface 427a of bucket placing table 427. Workpiece discharge opening 429 opens at a position higher than placing surface 427a of bucket placing table 427.

[0167] 25 to 31, bucket 460 is configured to be able to accommodate workpieces. Bucket 460 is detachably attached to apparatus main body 420. Bucket 460 is attached to apparatus main body 420 by being placed on bucket placement table 427.

[0168] 27 to 31 , bucket 460 has bucket body 470. Bucket body 470 forms workpiece accommodating space 500 for accommodating workpieces. Bucket body 470 is made of a box-like body with a bottom that includes a first side portion 471, a second side portion 472, a third side portion 473, a bottom portion 474, and horizontal beam portions 475.

[0169] The bottom portion 474 forms the bottom of the bucket body 470. The bottom portion 474 has a generally rectangular shape when viewed from above. The first side portion 471, the second side portion 472, and the third side portion 473 rise from the periphery of the bottom portion 474. The first side portion 471 and the second side portion 472 face each other in the horizontal direction, with the workpiece accommodating space 500 between them. Handles 481 are attached to the first side portion 471 and the second side portion 472. The third side portion 473 extends between the first side portion 471 and the second side portion 472.

[0170] The workpiece accommodating space 500 is formed on the bottom portion 474 at a position surrounded on three sides by a first side portion 471, a second side portion 472, and a third side portion 473.

[0171] The horizontal beam portion 475 faces the bottom portion 474 in the vertical direction, sandwiching the workpiece storage space 500. The horizontal beam portion 475 extends between the first side portion 471 and the second side portion 472. When viewed from above, the horizontal beam portion 475 has a certain width and extends in a strip shape between the first side portion 471 and the second side portion 472.

[0172] The bucket body 470 has a first opening 491, a second opening 492, and a third opening 493. The workpiece accommodating space 500 communicates with the space outside the bucket body 470 through the first opening 491, the second opening 492, and the third opening 493.

[0173] The first opening 491 opens facing upward. The opening surface formed by the first opening 491 is a horizontal plane. The opening surface formed by the first opening 491 faces the bottom 474 in the up-down direction. The first opening 491 is made up of the upper end of the first side portion 471, the upper end of the second side portion 472, the upper end of the third side portion 473, and the front end of the horizontal crosspiece 475 (the end on the front side of the machine tool 100 when the bucket 460 is placed on the bucket placing table 427). The upper end of the third side portion 473 and the front end of the horizontal crosspiece 475 face each other in the horizontal direction, with the opening surface formed by the first opening 491 sandwiched between them.

[0174] The opening surface formed by first opening 491 is smaller than the area of ​​bottom portion 474 when viewed from above. The opening surface formed by first opening 491 is larger than the area of ​​horizontal rail portion 475 when viewed from above.

[0175] Second opening 492 is open and faces horizontally. The opening surface formed by second opening 492 is a vertical surface. The opening surface formed by second opening 492 faces third side portion 473 in the horizontal direction, with workpiece accommodating space 500 sandwiched between them. Second opening 492 is defined by the rear end of bottom portion 474 (the end on the rear side of machine tool 100 when bucket 460 is placed on bucket placing table 427), the rear end of first side portion 471, and the rear end of second side portion 472.

[0176] The third opening 493 opens in the horizontal direction. The opening surface formed by the third opening 493 is a vertical surface. The third opening 493 is composed of the rear end of the first side portion 471, the rear end of the second side portion 472, and the rear end of the horizontal beam portion 475. The opening surface formed by the third opening 493 and the opening surface formed by the second opening 492 are aligned in the vertical direction. The opening surface formed by the third opening 493 is continuous with the upper edge of the opening surface formed by the second opening 492.

[0177] The bucket 460 further has a first lid body 480. The first lid body 480 is rotatably attached to the bucket body 470. The first lid body 480 is attached to the rear end of the cross bar portion 475 via multiple hinges 482. The first lid body 480 is attached to the bucket body 470 so as not to be detachable. The first lid body 480 is attached to the cross bar portion 475 so as to be rotatable about a rotation center shaft 401. The rotation center shaft 401 extends horizontally.

[0178] First lid body 480 is made of a plate material and has a plan view that corresponds to the opening surface formed by first opening 491. First lid body 480 is movable between a closed state 480A (the state of first lid body 480 shown in FIGS. 27, 29, and 30) in which first opening 491 is closed, and an open state 480B (the state of first lid body 480 shown in FIGS. 28 and 31) in which first opening 491 is open.

[0179] The first cover 480 has a rear end 480r. The rear end 480r is located rearward of the rotation center shaft 401 relative to the machine tool 100. As shown in FIGS. 29 and 30 , when the first cover 480 is in a closed state 480A, the rear end 480r overlaps the horizontal beam portion 475 from the side of the workpiece accommodating space 500. As shown in FIG. 31 , when the first cover 480 is in an open state 480B, the rear end 480r is spaced apart from the horizontal beam portion 475 and is disposed in the workpiece accommodating space 500.

[0180] As shown in Figures 27 and 28, when the bucket 460 is placed on the bucket placing table 427, the bottom 474 faces the placing surface 427a in the vertical direction. The opening surface formed by the second opening 492 faces the opening surface formed by the workpiece discharge port 429 in the horizontal direction. A gap is provided between the second cover 421 and the bucket body 470 (horizontal crosspiece 475) that is small enough to prevent an operator's hand from entering. The second opening 492 forms a transport path for the workpieces from the workpiece transport mechanism 410. The workpieces from the workpiece transport mechanism 410 pass through the workpiece discharge port 429 and the second opening 492 in this order and enter the workpiece accommodating space 500.

[0181] The workpiece recovery device 400 (device body 420) further has a plate member 431. The plate member 431 is provided across the internal space 430 and the workpiece accommodating space 500. The plate member 431 enters the workpiece accommodating space 500 from the internal space 430 through the workpiece discharge opening 429 and the second opening 492.

[0182] The plate member 431 extends diagonally downward from the workpiece transport mechanism 410 toward the bucket body 470. The plate member 431 has a plate bottom 432 and plate side portions 433. The plate bottom 432 is provided on an extension of the top surface 416a of the belt 416. The plate bottom 432 extends so as to shift downward as it moves away from the top surface 416a of the belt 416 and closer to the bucket body 470. Workpieces sent out from the belt 416 roll or slide on the plate bottom 432 and move toward the workpiece storage space 500. The plate side portions 433 are arranged parallel to a vertical plane. The plate side portions 433 rise from the edges of the plate bottom 432.

[0183] The workpiece recovery device 400 (device body 420) further has a support member 422 and an inclination adjustment mechanism 490. The support member 422 supports a plate member 431. The inclination adjustment mechanism 490 is provided on the plate member 431 and the support member 422. The inclination adjustment mechanism 490 can adjust the inclination of the plate member 431.

[0184] The support member 422 is attached to the second cover 421. The support member 422 is made of a plate member arranged parallel to a vertical plane. The support member 422 is provided across the internal space 430 and the work accommodating space 500. The support member 422 enters the work accommodating space 500 from the internal space 430 through the work discharge opening 429 and the second opening 492. The support member 422 is arranged opposite the plate side portion 433.

[0185] The inclination adjustment mechanism 490 includes an elongated hole 423 and a bolt 434. The elongated hole 423 is provided in the support member 422. The elongated hole 423 is a through-hole that penetrates the support member 422 and extends in an arc shape. The bolt 434 is inserted into the elongated hole 423 and a hole provided in the plate member 431 (plate side portion 433), and is fastened with a nut (not shown), whereby the plate member 431 is supported by the support member 422. In this case, the inclination of the plate member 431 is adjusted by rotating the plate side portion 433 while shifting the insertion position of the bolt 434 relative to the elongated hole 423.

[0186] 27 to 34, the workpiece recovery device 400 further includes a sensor 441. The sensor 441 is attached to at least one of the device body 420 and the first cover body 480. The sensor 441 is capable of sensing the open / closed state of the first cover body 480, and is also capable of sensing the attachment state of the bucket 460 to the device body 420.

[0187] The sensor 441 is attached to the device body 420 and the first cover 480. The sensor 441 has a sensor main body 443 and a detection target part 442. The sensor main body 443 is a main body part of the sensor 441 that is capable of sensing the open / closed state of the first cover 480 and senses the attachment state of the bucket 460 to the device body 420. The detection target part 442 is an object to be detected by the sensor main body 443.

[0188] Sensor main body 443 is attached to device main body 420. Detection target portion 442 is attached to first lid 480. Detection target portion 442 is disposed opposite sensor main body 443, and is thereby detected by sensor main body 443.

[0189] Sensor 441 is a non-contact safety switch. In this case, detection target portion 442 is a signal transmitting portion that transmits a signal, and sensor main body 443 is a sensor head that detects detection target portion 442 by receiving a signal from the signal transmitting portion arranged opposite. Detection target portion 442 has a first surface 442a. Detection target portion 442 transmits a signal through first surface 442a. Sensor main body 443 has a second surface 443a. Sensor main body 443 receives a signal from detection target portion 442 through second surface 443a.

[0190] The sensor main body 443 is attached to the second cover 421. The sensor main body 443 is attached in an orientation in which the second surface 443a is a vertical plane. The sensor main body 443 is disposed above the plate member 431. The sensor main body 443 is provided on the opening edge of the workpiece discharge opening 429. A cutout portion 421h is provided in the second cover 421. The cutout portion 421h has a cutout shape on the opening edge of the workpiece discharge opening 429. The second surface 443a is exposed to the space outside the internal space 430 through the cutout formed by the cutout portion 421h.

[0191] The detection target part 442 is attached to a rear end part 480r of the first lid body 480. The detection target part 442 is attached to the inner surface of the first lid body 480 that faces the workpiece accommodating space 500 when the first lid body 480 is in the closed state 480A. The sensor 441 (detection target part 442) faces the opening surface formed by the third opening part 493 when the first lid body 480 is in the closed state 480A. The first surface 442a is disposed parallel to a vertical plane when the first lid body 480 is in the closed state 480A. The first surface 442a is exposed to the space outside the workpiece accommodating space 500 through the opening formed by the third opening part 493 when the first lid body 480 is in the closed state 480A. When first cover 480 is in open state 480B, sensor 441 (detection target portion 442) moves away from the opening plane formed by third opening 493. When first cover 480 is in open state 480B, first surface 442a is disposed non-parallel to the vertical plane. First surface 442a moves away from the opening plane formed by third opening 493 as first cover 480 moves from closed state 480A toward open state 480B.

[0192] As shown in FIGS. 25, 27, and 33, when bucket 460 is attached to apparatus body 420 and first cover 480 is in closed state 480A, detection target portion 442 faces sensor main body 443. First surface 442a and second surface 443a face each other with a gap therebetween. The distance between first surface 442a and second surface 443a is equal to or less than the detection distance at which sensor main body 443 can detect detection target portion 442. The detection distance is, for example, in the range of 10 mm to 20 mm. At this time, sensor main body 443 detects detection target portion 442. Sensor 441 senses the state in which bucket 460 is attached to apparatus body 420 and senses the closed state 480A of first cover 480.

[0193] As shown in FIGS. 28 and 34, when the bucket 460 is attached to the device body 420 and the first cover 480 is set to the open state 480B, the detection target portion 442 moves away from the sensor main body 443. The first surface 442a moves away from the second surface 443a as the first cover 480 moves from the closed state 480A to the open state 480B. The distance between the first surface 442a and the second surface 443a is greater than the detection distance at which the sensor main body 443 can detect the detection target portion 442. At this time, the sensor main body 443 does not detect the detection target portion 442. As shown in FIG. 26, when the bucket 460 is removed from the device body 420, the detection target portion 442 moves away from the sensor main body 443. The sensor main body 443 does not detect the detection target portion 442.

[0194] In these cases, the sensor 441 senses that the first cover 480 is in the open state 480B or that the bucket 460 is in a state where it has been removed from the device main body 420.

[0195] 33 and 34, the sensor 441 (sensor main body 443) outputs the sensed open / closed state of the first cover body 480 and the attachment state of the bucket 460 to the device main body 420 to the control device 160 of the machine tool 100. When the first cover body 480 is in the open state 480B or when the bucket 460 is removed from the device main body 420, the control device 160 may perform control to stop the workpiece transport mechanism 210 and the workpiece transport mechanism 410, or may perform control to notify the operator of this fact.

[0196] With this configuration, when the distance from the work discharge outlet 429 to the work transport mechanism 410 is short, or when the difference in elevation between the work discharge outlet 429 and the bucket 460 is small, it is possible to prevent workers from accessing the work transport mechanism 410 through the work discharge outlet 429. Furthermore, by shortening the distance from the work discharge outlet 429 to the work transport mechanism 410, it is possible to improve the maintainability of the work transport mechanism 410.

[0197] 32, bucket 460 further has a second cover 496. Second cover 496 is made of a plate material. Second cover 496 is detachably attached to bucket body 470. Second cover 496 closes second opening 492 when attached to bucket body 470.

[0198] The bucket body 470 further has a folded portion 497. The folded portion 497 is formed by folding back the rear ends of the first side portion 471, the second side portion 472, and the bottom portion 474 by 90 degrees toward the workpiece accommodating space 500. The folded portion 497 extends in a frame shape along the rear ends of the first side portion 471, the second side portion 472, and the bottom portion 474. The second opening 492 opens inside the inner periphery of the folded portion 497. The second lid body 496 is inserted inside the folded portion 497.

[0199] The second lid body 496 is removed from the bucket body 470 when the bucket 460 is attached to the apparatus body 420. This opens the second opening 492, allowing workpieces to enter the bucket 460 from the workpiece transport mechanism 410. The second lid body 496 is attached to the bucket body 470 when the bucket 460 is removed from the apparatus body 420. This closes the second opening 492, allowing the bucket 460 containing the workpieces to be transported.

[0200] 25 to 32, the configurations of the workpiece recovery device 400 and the bucket 460 according to the third embodiment of the present invention will be summarized.

[0201] The work recovery device 400 in this embodiment comprises an apparatus main body 420 having a work transport mechanism 410, a bucket main body 470 having a first opening 491 and accommodating the work transported by the work transport mechanism 410, a first lid body 480 attached to the bucket main body 470 and operable between a closed state 480A that blocks the first opening and an open state 480B that opens the first opening 491, a bucket 460 that is detachably attached to the apparatus main body 420, and a sensor 441 attached to at least one of the apparatus main body 420 and the first lid body 480, capable of sensing the open / closed state of the first lid body 480 and capable of sensing the attachment state of the bucket 460 to the apparatus main body 420.

[0202] With this configuration, the open / closed state of the first lid body 480 and the mounting state of the bucket 460 are sensed by a common sensor 441, so that the work recovery device 400 for recovering the work transported by the work transport mechanism 410 into the bucket 460 can be realized with a simple configuration.

[0203] Furthermore, first cover 480 is rotatably attached to bucket body 470. Sensor 441 has a sensor main body 443 attached to device body 420 and a detection target portion 442 provided on first cover 480 and detected by sensor main body 443 when disposed opposite sensor main body 443. When bucket 460 is attached to device body 420 and first cover 480 is in closed state 480A, detection target portion 442 faces sensor main body 443, and when bucket 460 is attached to device body 420 and first cover 480 is in open state 480B, detection target portion 442 moves away from sensor main body 443. When bucket 460 is detached from device body 420, detection target portion 442 moves away from sensor main body 443.

[0204] According to this configuration, when bucket 460 is attached to device body 420 and first cover 480 is in closed state 480A, detection target portion 442 faces sensor main body 443. At this time, sensor main body 443 detects detection target portion 442, and it is possible to determine that the state of bucket 460 is normal. Furthermore, when bucket 460 is attached to device body 420 and first cover 480 is in open state 480B, or when bucket 460 is removed from device body 420, detection target portion 442 moves away from sensor main body 443. At this time, sensor main body 443 does not detect detection target portion 442, and it is possible to determine that the state of bucket 460 is abnormal.

[0205] For example, a non-contact safety switch may be used as sensor 441. In this case, detection target portion 442 is a signal transmitter that emits a signal, and sensor main body 443 is a sensor head that detects detection target portion 442 by receiving a signal from the signal transmitter arranged opposite it. As another example, a photoelectric sensor may be used. In this case, detection target portion 442 is a light-emitting portion that emits light, and sensor main body 443 is a light-receiving portion that detects detection target portion 442 by receiving light from the light-emitting portion arranged opposite it. As yet another example, a proximity sensor may be used. For example, when a proximity sensor is attached to device main body 420, the proximity sensor is composed only of a sensor main body that detects first cover 480.

[0206] The bucket body 470 also includes a second opening 492 that forms a passageway for transporting the workpiece from the workpiece transport mechanism 410. The bucket 460 is detachably attached to the bucket body 470 and further includes a second cover 496 that closes the second opening 492 when attached to the bucket body 470.

[0207] According to this configuration, when bucket 460 is attached to apparatus body 420, second lid body 496 is removed from bucket body 470 and second opening 492 is opened, making it possible to collect workpieces into bucket 460 through second opening 492. When bucket 460 is removed from apparatus body 420, second lid body 496 is attached to bucket body 470 and second opening 492 is closed, making it possible to transport bucket 460 containing workpieces.

[0208] The device main body 420 further includes a plate member 431 extending diagonally downward from the work transport mechanism 410 toward the bucket main body 470, a support member 422 that supports the plate member 431, and an inclination adjustment mechanism 490 that is provided on the plate member 431 and the support member 422 and can adjust the inclination of the plate member 431.

[0209] According to this configuration, the inclination of the plate member 431 can be adjusted according to the weight or shape of the workpiece, thereby allowing the workpiece to be moved smoothly from the workpiece transport mechanism 210 toward the bucket body 470.

[0210] The bucket 460 in this embodiment is detachably attached to the device main body 420 having the work transport mechanism 410, and is a bucket for collecting workpieces transported by the work transport mechanism 410. The bucket 460 has a first opening 491 that opens facing upward, a second opening 492 that opens facing horizontally and forms a transport path for the workpieces from the work transport mechanism 410, and a third opening 493 that opens facing horizontally and is continuous with the upper edge of the opening surface formed by the second opening 492, and is also provided with a bucket main body 470 that stores the workpieces, and is rotatably attached to the bucket main body 470 and has a closed state 480A that closes the first opening 491 and an open state 480B that opens the first opening 491. 0B, a second lid body 496 that is detachably attached to the bucket body 470 and closes the second opening 492 when attached to the bucket body 470, and a sensor 441 (detection target portion 442) that is attached to the first lid body 480 and faces the opening surface formed by the third opening 493 when the first lid body 480 is in the closed state 480A, and is spaced apart from the opening surface formed by the third opening 493 when the first lid body 480 is in the open state 480B.

[0211] With this configuration, the open / closed state of the first lid body 480 and the attachment state of the bucket 460 are sensed by a common sensor 441, so that the bucket 460 for collecting the workpieces transported by the workpiece transport mechanism 410 can be realized with a simple configuration.

[0212] Machine tool 100 in this embodiment includes cover body 12 that defines machining area 150, and workpiece recovery device 400 that recovers the machined workpiece that has been carried out from machining area 150.

[0213] [Notes regarding workpiece transport device and workpiece collection device] (1) It is required that the workpiece transportation device can be retrofitted to a machine tool and can be installed on the machine tool without changing the machine size (coverage line) of the machine tool. The workpiece transportation device described in this specification has the following features.

[0214] (a) A workpiece transfer device (workpiece unloader) is installed in the space above the opposing workpiece spindle between the front cover and tool post of the machine tool. The workpiece transfer device lifts the machined workpiece from the opposing workpiece spindle and then moves it in the Z-axis direction to transport it outside the machine tool.

[0215] (b) A combination of a speed doubling mechanism and a ball screw is used as the mechanism for stroking the workpiece up and down. This allows the workpiece transport device to be configured more compactly in the vertical direction. The servo motor that serves as the power source for the ball screw is arranged via a timing belt. A mechanism is also arranged to detect belt breakage and prevent the workpiece from falling when the belt breaks. By using a timing belt, it is possible to realize a configuration in which the ball screw and servo motor are arranged in parallel. This allows the workpiece transport device to be configured even more compactly in the vertical direction.

[0216] (c) Servo motors are used on all axes as the power source for the workpiece transport device. This allows the hand to stop at any position. The hand can catch or release a workpiece at any position. This makes it possible to accommodate different workpiece sizes held by the opposing workpiece spindle. By positioning the hand directly above the belt conveyor outside the machine tool, it is possible to prevent excessive external force from being applied to the workpiece when it falls from the hand.

[0217] (d) The line connecting the center of the workpiece held by the counter work spindle (the rotation center of the counter work spindle) and the center of the workpiece gripped by the hand and transported to the raised position is inclined with respect to the vertical direction. In other words, the direction of hand movement (the sliding direction of the arm) is oblique with respect to the vertical direction. The inclination of the hand movement direction with respect to the vertical direction is, for example, 8°. The inclination of the hand movement direction with respect to the vertical direction may be in the range of 3° to 15°, or in the range of 5° to 10°. This prevents interference between the moving area of ​​the hand as it rises and falls and the tool post. Since there is no need to change the cover line of the cover that covers the tool post base, the specifications of the X-axis stroke and Y-axis stroke of the tool post can be maintained.

[0218] (e) The work unloader cover is composed of a cylindrical cover body extending in the Z-axis direction and an openable door attached to the cover body. By closing the door, the inside of the cover is separated from the machining area. Various piping and wiring from the opposing work spindle are routed between the work unloader cover and the front cover. The wiring and piping are suspended from a ceiling cover located above the opposing work spindle. There are no changes to the front cover and ceiling cover between the standard specification and the special specification with the work unloader added.

[0219] (f) To ensure space for routing piping and wiring between the work unloader cover and the front cover, the cover line of the work unloader cover on the side facing the front cover is positioned close to the tool post. In this configuration, by making the hand movement direction (arm sliding direction) oblique to the vertical direction, space is created inside the work unloader cover near the bottom end on the side facing the front cover. A door opening / closing drive mechanism (piston cylinder) and a door open state detection mechanism (limit switch and dog) are provided in this space.

[0220] (g) A pocket that protrudes toward the front cover is provided on the cover body of the work unloader cover. When the door is closed, the dog of the limit switch is accommodated in the pocket. A space for routing piping and wiring is provided in a recessed position in the pocket. The door of the work unloader cover is provided with a recess to prevent interference between the door and the tool that moves circumferentially as the tool post rotates.

[0221] (h) The door of the work unloader cover is of a pivoting type. The door opens toward the operator. When viewed from the front to back of the machine tool, the door of the work unloader cover in the open state may partially overlap with the window of the front door of the machine tool.

[0222] (i) A sensor (for example, the non-contact safety switch described below) is provided separately to detect the closed state of the workpiece unloader cover door. If the limit switch detects the open state of the door and the non-contact safety switch does not detect the closed state of the door, it is determined that the door is open. At this time, control is executed to prevent the front door of the machine tool from being opened. If the limit switch does not detect the open state of the door and the non-contact safety switch detects the closed state of the door, it is determined that the door is closed. At this time, the servo motor for moving the hand in the Z-axis direction is not driven, and the entire machine tool is brought to a halt.

[0223] (2) A workpiece recovery device is known that recovers workpieces transported by a workpiece transport mechanism such as a belt conveyor into a bucket. The bucket is detachable from the device body having the belt conveyor so that the workpieces can be transported. In such a workpiece recovery device, it is necessary to prevent workers from accessing the workpiece transport path.

[0224] The sizes and dimensions of the workpieces being transported vary, and it is difficult to increase the height difference between the bucket and the belt conveyor to prevent damage to the workpieces during transport. Another approach is to install a hinged door at the work outlet where the workpieces are transported from the belt conveyor. However, this can be easily opened by a worker grabbing the door, and there is also the problem that, for lightweight workpieces, the workpieces being transported from the belt conveyor cannot push the door open.

[0225] The workpiece recovery device described in this specification has the following features. (a) A lid is provided to prevent workers from reaching into the bucket, and a sensor is also provided on the lid. When the lid is opened, the sensor turns OFF, detecting that the lid is open. When the bucket is removed from the device body, the sensor also turns OFF, detecting that the bucket has been removed. This allows a single sensor to detect an abnormal state in which the workpiece discharge port becomes accessible. When the sensor detects an abnormal state, workpiece unloading stops.

[0226] (b) The sensor may be, for example, a non-contact safety switch, in which a signal transmitter attached to the lid and a sensor head attached to the cover are installed without direct contact (the detection distance is, for example, in the range of 10 mm to 20 mm). When the signal transmitter is placed opposite the sensor head, the sensor head detects the signal from the signal transmitter and transmits the signal as information on the closed state of the lid and the installation state of the bucket.

[0227] (c) A single sensor can detect the presence or absence of a bucket and the opening and closing of the bucket lid, thereby improving the safety of the work collection device. Safety switches are less expensive than area sensors, etc. When the distance from the work outlet to the work carrying-out mechanism, such as a belt conveyor, is short and / or the difference in height between the work outlet and the bucket is small, it is possible to prevent workers from accessing the work carrying-out mechanism. By shortening the distance from the work outlet to the work carrying-out mechanism, such as a belt conveyor, it is possible to improve the maintainability of the work carrying-out mechanism. The work collection device can be applied regardless of the size of the work. By opening the lid, it is possible to check the work collected in the bucket without removing the bucket from the device body.

[0228] (d) A plate member whose inclination (for example, an angle range of 5° to 15°) can be arranged between the belt conveyor and the bucket. By making the fastening holes of the plate member elongated in an arc shape, the inclination of the plate member can be adjusted continuously.

[0229] (e) An opening is provided on the rear side of the bucket, which forms a path for transporting the workpieces from the workpiece transport mechanism. When the bucket is removed from the device body and the workpieces collected in the bucket are to be carried, a lid is attached to the bucket to close the opening. When the bucket is attached to the device body, the lid is removed from the bucket.

[0230] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0231] 12,310 Cover body, 12h,316 Opening, 13 Front door, 14 Window, 15 Front cover, 16 Operation panel, 17 Ceiling cover, 18 Side cover, 20 Second work spindle, 21 Grip jaw, 30 Turret, 31 Saddle, 32 Cross slide, 33 Base, 36 Swivel body, 37 Mounting part, 38 Tool holder, 39 Turret base, 40 Turret cover, 100 Machine tool, 101 First direction, 102 Second direction, 103 Third direction, 106 Up and down direction, 110 Swivel central axis, 120 Rotation central axis, 140 Dot-dash line, 150 Machining area, 200 Work transfer device, 201, 202, 203 Rotation central axis, 210, 410 Work transfer mechanism, 221 First servo motor, 226 First pulley, 227 Second pulley, 231 Ball screw, 232 Screw, 233 Nut, 236 Angle, 240 Speed-duplicating mechanism, 241 Intermediate member, 243 Pinion, 244, 245 Guide mechanism, 246 First rack, 247 Second rack, 251 Arm, 261 Hand, 270 Transmission mechanism, 271 Timing belt, 272 Second rotating body, 272A First state, 272B Second state, 273 First rotating body, 274 First locking portion, 275 Shaft, 276, 441 Sensor, 277 Second locking portion, 278 Elastic member, 281 Traveling body, 286 Second servo motor, 287 Feeding mechanism, 288 Guide mechanism, 289 Horizontal column, 301 Rotation center axis, 302 Maximum range, 306, 307 Pivot central axis, 310f front part, 311 top surface, 312 bottom surface, 317 upper opening, 318 cover side opening, 320 door, 320A, 480A closed state, 320B, 480B open state, 321 main surface, 322 recess, 330 line body, 341 cover main body part, 342 protrusion part, 346 gap (second gap), 347 first gap, 350 first internal space, 360 second internal space, 371 dog, 372 switch, 372p operating part, 376 angle, 381 piston cylinder, 382 rod, 383 cylinder main body, 391 sensor, 400 workpiece recovery device, 401 pivot central axis, 406,407 Rotation center axis, 411 Rotating shaft, 412 Rotating shaft, 413 First cover, 416 Belt, 416a Top surface, 420 Device body, 421 Second cover, 421h Notch portion, 422 Support member, 423 Slot, 426 Cylinder cover, 427 Bucket placing table, 427a Placing surface, 429 Workpiece discharge port, 430 Internal space, 431 Plate member, 432 Plate bottom portion, 433 Plate side portion, 434 Bolt, 442 Detection target portion, 442a First surface, 443 Sensor body portion, 443a Second surface, 460 Bucket, 470 Bucket body, 471 First side portion, 472 Second side portion, 473 Third side portion, 474 Bottom portion, 475 Cross beam portion, 480 First lid body, 480r rear end portion, 481 handle, 482 hinge, 490 tilt adjustment mechanism, 491 first opening, 492 second opening, 493 third opening, 496 second lid body, 497 folding portion, 500 workpiece storage space, T tool, W workpiece, α angle.

Claims

1. an apparatus body having a workpiece transport mechanism; a bucket having a bucket body having a first opening and accommodating a workpiece to be transported by the workpiece transport mechanism, and a first cover attached to the bucket body and operable between a closed state in which the first opening is closed and an open state in which the first opening is open, the bucket being detachably attached to the device body; a sensor attached to at least one of the device body and the first lid body, capable of sensing the open / closed state of the first lid body, and capable of sensing the attachment state of the bucket to the device body.

2. the first lid body is rotatably attached to the bucket body, The sensor a sensor main body attached to the device main body; a detection target portion that is provided on the first cover and that is detected by the sensor main body when the detection target portion is disposed opposite the sensor main body; When the bucket is attached to the device body and the first lid body is in the closed state, the detection target portion faces the sensor body portion, and when the bucket is attached to the device body and the first lid body is in the open state, the detection target portion is separated from the sensor body portion, The workpiece recovery device according to claim 1 , wherein the detection target portion moves away from the sensor main body when the bucket is removed from the device main body.

3. The bucket body further includes a second opening forming a passage for transporting the workpiece from the workpiece transport mechanism, The workpiece recovery device according to claim 1 or 2, wherein the bucket further includes a second cover that is detachably attached to the bucket body and closes the second opening when the bucket is attached to the bucket body.

4. The device body includes: a plate member extending obliquely downward from the workpiece transport mechanism toward the bucket body; a support member for supporting the plate member; The workpiece recovery device according to claim 1 or 2, further comprising an inclination adjustment mechanism provided on the plate member and the support member, the inclination adjustment mechanism being capable of adjusting the inclination of the plate member.

5. A bucket that is detachably attached to an apparatus body having a workpiece transport mechanism and is used to collect workpieces transported by the workpiece transport mechanism, a bucket body for accommodating workpieces, the bucket body having a first opening that opens facing upward, a second opening that opens facing horizontally and forms a workpiece transport path from the workpiece transport mechanism, and a third opening that opens facing horizontally and is connected to an upper edge of an opening surface formed by the second opening; a first lid body rotatably attached to the bucket body and operable between a closed state in which the first opening is closed and an open state in which the first opening is opened; a second cover that is detachably attached to the bucket body and that closes the second opening when attached to the bucket body; a sensor attached to the first lid body, facing the opening surface formed by the third opening when the first lid body is in the closed state, and moving away from the opening surface formed by the third opening when the first lid body is in the open state.

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