Chuck device, machine tool, and machine tool system

Abstract

To enable reception from / delivery to a loader device and inhibit displacement of a workpiece.SOLUTION: A chuck device 100 holds a workpiece W having a processed portion Wb extending from a base part Wa in a predetermined direction DA and including a hole part Wc which is open in a first direction D1 orthogonal to the predetermined direction DA at the base part Wa. The chuck device 100 includes: a pair of first claw parts 11, 12 which sandwiches the base part Wa in the first direction D1; and a pair of second claw parts 21, 22 which sandwiches the base part Wa in a second direction D2 orthogonal to the predetermined direction DA and the first direction D1. One of the pair of first claw parts 11, 12 includes a taper part 13 which is placed in contact with an edge part Wd of the hole part Wc by a tip 13a fitting in the hole part Wc. The pair of second claw parts 21, 22 sandwiches predetermined areas R1, excluding connecting areas R2 for sandwiching the base part Wa with the other claw parts, of the base part Wa.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a chuck device, a machine tool, and a machine tool system. [Background technology]

[0002] For example, when machining an irregularly shaped workpiece having a workpiece portion extending in a predetermined direction from a base, such as a stop valve, on a lathe, the workpiece is machined by gripping the base with a chuck device provided at the tip of the spindle.When the base of the workpiece is a rectangular parallelepiped, it is known to use a chuck device that uses two sets of corresponding claws to clamp the base with four claws (four claws) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 63-174807 Summary of the Invention [Problem to be solved by the invention]

[0004] To position a workpiece relative to the spindle, the chuck device must grip the workpiece firmly. Therefore, the claws must contact the workpiece over a wide area. In this case, if the base of the workpiece is small, as described above, most of the periphery of the base is used as the gripping area for the claws. This leaves no area for the loader chuck of the loader device to grip, making it difficult to transfer the workpiece between the loader device and the spindle. As a result, workers must manually place and grip the workpiece in the chuck device of the spindle, a tedious process. On the other hand, if the claws of the chuck device of the spindle grip the workpiece over a narrow area of ​​the base to transfer the workpiece to the loader device, the gripping force on the base is weak, which may result in misalignment of the workpiece in the direction of the spindle's rotation axis. Misalignment of the workpiece is undesirable because it reduces the machining accuracy of the processed part. While it is possible to eliminate misalignment by machining a portion of the base in advance to engage with the claws, this machining process requires additional time and effort, which reduces machining efficiency.

[0005] An object of the present invention is to provide a chuck device, a machine tool, and a machine tool system that can suppress misalignment of a workpiece while enabling transfer to and from a loader device. [Means for solving the problem]

[0006] The present invention No. 1 status Dear A chuck device for holding a workpiece having a workpiece portion extending in a predetermined direction from a base portion during machining. The chuck device of the first embodiment is a pair of first claws that sandwich the base in a first direction perpendicular to the predetermined direction; The chuck device of the first embodiment is , The workpiece is provided with a pair of second claws that sandwich the base in a second direction perpendicular to the predetermined direction and the first direction. The base supporting the pair of first claws and the pair of second claws is provided with a balance adjustment part for adjusting an unbalanced load around the axis when the workpiece is rotated around an axis parallel to the predetermined direction with the pair of first claws and the pair of second claws holding the workpiece. The pair of first jaws clamps the base while restricting the workpiece from moving in a predetermined direction. Book of the invention No. 2 status Dear The workpiece has a portion to be processed extending in a predetermined direction from a base. vinegar Work, When processing It is a chuck device that holds The chuck device of the second embodiment is , Orthogonal to the specified direction A pair of first claws sandwiching the base in the first direction The chuck device of the second aspect is provided with:a pair of second claws that sandwich the base in a second direction perpendicular to the predetermined direction and the first direction; Department Preparation The chuck device of the second embodiment is , a pair of first claws Drive do First drive Equipped with a department The chuck device of the second embodiment is , a pair of second claws The chuck device of the second aspect includes a control unit that controls the first drive unit and the second drive unit so that the base portion is clamped by the pair of first jaws and then the base portion is clamped by the pair of second jaws. teeth, The workpiece is prevented from moving in a specific direction. Sandwiched between.

[0007] The present invention Third Aspects is a machine tool. Machine tools are No. 1 Aspects Or the second aspect A spindle equipped with a chuck device The machine tool is equipped with , machining a workpiece held in a chuck device Department Preparation do. The spindle rotates the workpiece around an axis parallel to the specified direction. do. The processing unit processes the rotating workpiece.

[0008] The present invention Fourth Aspects is a machine tool system. Machine tool systems include: Third Aspects of machine tools The machine tool system is A loader device that transfers the workpiece between the spindle and the chuck device Place Prepare. [Effects of the Invention]

[0009] According to the chuck device, machine tool, and machine tool system of the above aspects, the tapered portion of one of the pair of first jaws enters the hole so as to abut against the edge of the hole, making it easy to position the workpiece at a reference position and preventing the workpiece from shifting in a predetermined direction. In other words, when the pair of first jaws clamp the base, the workpiece is restricted from moving in a predetermined direction, preventing the workpiece from shifting in the predetermined direction. Therefore, the workpiece can be held in a reference position without the second jaws needing to grip the base over a wide area, ensuring an interface area for clamping with the other jaws of the base. As a result, the loader chuck of the loader device or the like grips the interface area of ​​the base, enabling the workpiece to be transferred to and from the loader device. This eliminates the need for the operator to manually grip the workpiece in the chuck device, reducing the operator's burden.

[0010] In the chuck device according to the above aspect, the other of the pair of first jaws may be fixed in the first direction. With this configuration, since the other of the pair of first jaws is fixed, the configuration for driving the pair of first jaws can be simplified. In the chuck device according to the above aspect, the workpiece may have a chamfered edge of the hole, and the tapered portion may be provided to correspond to the shape of the chamfered edge. With this configuration, the tapered portion abuts against the chamfered edge, thereby preventing the tapered portion from deforming the edge of the hole.

[0011] In the chuck device according to the above aspect, the tapered portion may have notches on both sides in the second direction. This configuration reduces engagement of the tapered portion in the second direction when the tapered portion and the edge of the hole are brought into contact, thereby preventing interference between the gripping of the base by the second jaws and the engagement of the tapered portion in the second direction. The chuck device according to the above aspect may also include a base portion supporting the pair of first jaws and the pair of second jaws, and the base portion may include a balance adjustment portion for adjusting an unbalanced load about the axis when the chuck device rotates about an axis parallel to the predetermined direction while holding a workpiece between the pair of first jaws and the pair of second jaws. This configuration eliminates the unbalanced load about the axis by the balance adjustment portion, allowing the chuck device to rotate stably about the axis.

[0012] Furthermore, the chuck device according to the above aspect may include a first drive unit that drives the pair of first jaws, a second drive unit that drives the pair of second jaws, and a control unit that controls the first drive unit and the second drive unit so that the pair of first jaws clamp the base and then the pair of second jaws clamp the base. With this configuration, the workpiece is positioned at a reference position by the tapered portions of the first jaws and then gripped by the second jaws, so that the workpiece can be appropriately positioned at the reference position. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 2 is a diagram illustrating an example of a chuck device according to an embodiment. [Figure 2] FIG. 2 is a view of the chuck device as seen from a predetermined direction. [Figure 3] FIG. 10 is a view of the chuck device as seen from a second direction. [Figure 4] 10 is a diagram showing a state in which a tapered portion abuts against a chamfer provided on the edge of a hole. FIG. [Figure 5] 10A and 10B show modified examples of the tapered portion, where (A) is a view from a predetermined direction, (B) is a view from a second direction, and (C) is a view from a first direction. [Figure 6] 6A and 6B show the state in which the tapered portion shown in FIG. 5 is used, in which (A) is a view seen from a second direction, and (B) is a view seen from a predetermined direction. [Figure 7] FIG. 1 is a diagram illustrating an example of a machine tool and a machine tool system according to an embodiment. [Figure 8] FIG. 1 is a diagram showing a configuration in which a chuck device is provided on a spindle of a machine tool. [Figure 9] 10 is a diagram showing a state in which a workpiece is placed in the chuck device by the loader device and the base portion is gripped by the first jaw portion. FIG. [Figure 10] FIG. 10 is a diagram showing the base being gripped by the second claw portion. [Figure 11] FIG. 10 is a diagram showing a state in which the gripping claws of the loader chuck are retracted. [Figure 12] 1 is a view showing a state in which the chuck device is gripping a workpiece, viewed from a predetermined direction. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the content described below. In addition, in order to explain the embodiments, the drawings are depicted with appropriate scale changes, such as enlarging or emphasizing some parts, and the shape and dimensions may differ from those of the actual product. In each of the following drawings, directions in the drawings will be explained using an XYZ coordinate system. In this XYZ coordinate system, a plane parallel to the horizontal plane is defined as the XZ plane. In this XZ plane, the direction parallel to the spindles 213 and 214 of the machine tool 200 (see FIG. 7, etc.) is referred to as the Z direction, and the direction perpendicular to the Z direction is referred to as the X direction. Furthermore, the direction perpendicular to the XZ plane is referred to as the Y direction. In the following explanation, the X, Y, and Z directions will be explained assuming that the direction indicated by the arrow in the drawing is the + direction and the direction opposite to the arrow is the - direction.

[0015] A chuck device 100 according to an embodiment will be described with reference to the drawings. FIG. 1 is a diagram illustrating an example of the chuck device 100. FIG. 2 is a diagram illustrating the chuck device 100 as viewed from a predetermined direction DA. FIG. 3 is a diagram illustrating the chuck device 100 as viewed from a second direction D2. In this embodiment, the predetermined direction DA is parallel to the Z direction. In this embodiment, the second direction D2 is parallel to the Y direction. The chuck device 100 of this embodiment has four jaws for gripping a workpiece W. As shown in FIGS. 1 to 3, the chuck device 100 includes a pair of first jaws 11 and 12, a pair of second jaws 21 and 22, a base unit 30, a first drive unit 40, a second drive unit 50, and a control unit 60.

[0016] The chuck device 100 grips a workpiece W with a pair of first jaws 11, 12 and a pair of second jaws 21, 22. In this embodiment, the workpiece W is, for example, a stop valve, and includes a base Wa, a workpiece Wb, and a hole Wc. The base Wa is cubic or rectangular. However, the shape of the base Wa is not limited to a cube or rectangular, and may be other shapes. The workpiece Wb is a portion extending from the base Wa in a predetermined direction DA. The workpiece Wb is, for example, cylindrical, and has a thread groove formed on its outer circumferential surface. The hole Wc is an inner portion of the cylindrical portion protruding from the base Wa and opens toward a first direction D1 perpendicular to the predetermined direction DA. In this embodiment, the first direction D1 is a direction parallel to the X direction.

[0017] The pair of first claws 11, 12 are arranged to sandwich the base Wa in the first direction D1. The first claw 11, which is one of the pair of first claws 11, 12, has a tapered portion 13 at its tip on the +X side. The first claw 11 has, for example, a cylindrical portion, and the tip on the +X side thereof is provided with the tapered portion 13 in a truncated cone shape. The tapered portion 13 of the first claw 11 is formed so that the tip 13a enters the hole Wc and abuts against the edge Wd of the hole Wc. By making the tapered portion 13 an inclined surface of a truncated cone shape, it can be made to come into contact with the entire circumference of the edge Wd of the hole Wc, which has a circular opening.

[0018] The illustrated shape of the first claw portion 11 is an example, and other shapes are also possible. The first claw portion 11 is only required to have at least the tapered portion 13, and other shapes are optional. Furthermore, the tapered portion 13 is not limited to being circular when viewed from the first direction D1, and may be elliptical or oblong when viewed from the first direction D1. In this case, the tapered portion 13 is provided so that the major axis direction of the elliptical or oblong shape coincides with the predetermined direction DA when viewed from the first direction D1. In other words, the tapered portion 13 may have any shape that can restrict movement of the base Wa (workpiece W) in the predetermined direction DA by abutting against the edge Wd of the hole Wc.

[0019] The first claw portion 12 is provided in, for example, a cubic or rectangular parallelepiped shape. The first claw portion 12 has a cubic or rectangular parallelepiped shape, and a surface 12a on the -X side thereof abuts against the base portion Wa. Note that the illustrated shape of the first claw portion 12 is an example, and other shapes are also possible. The first claw portion 12 is only required to have a portion (a planar portion, a linear portion, a point-like portion) that can abut against the base portion Wa, and other shapes are optional.

[0020] The first claw 11 is provided so as to be movable in the first direction D1 along a guide (not shown). On the other hand, the first claw 12 is fixed in the first direction D1. This eliminates the need for a guide or the like to allow the first claw 12 to move in the first direction D1, thereby simplifying the configuration. Furthermore, since a drive unit for moving the first claw 12 is not required, the cost of the device can be reduced. In other words, the pair of first claws 11, 12 are configured to switch between gripping and releasing the base Wa of the workpiece W by moving the first claw 11 in the first direction D1. However, this configuration is not limited to this, and a configuration in which both of the pair of first claws 11, 12 are moved in the first direction D1 may also be applied.

[0021] The pair of second claw portions 21, 22 are arranged to sandwich the base Wa in the second direction D2. The +Y side surface 21a of the second claw portion 21 abuts against the base Wa. The surface 21a is provided in a rectangular shape that is long in the first direction D1. The -Y side surface 22a of the second claw portion 22 abuts against the base Wa. The surface 22a is provided in a rectangular shape that is long in the first direction D1. The pair of second claw portions 21, 22 are made of members of the same shape and are arranged so that the surfaces 21a and 22a face each other. The surfaces 21a, 22a are each set to a size that allows them to abut against a predetermined region R1 of the base Wa.

[0022] The predetermined region R1 is the region of the base Wa excluding the engagement region R2 for clamping with another claw (grasping claw) of, for example, a loader device 240 (see FIG. 7) described later. The predetermined region R1 and the engagement region R2 are arranged side by side in the predetermined direction DA (see FIG. 3). The predetermined region R1 is also arranged on the -Z side in the Z direction (predetermined direction DA) relative to the engagement region R2. It is preferable that the predetermined region R1 be wide so that the pair of second claws 21, 22 can firmly grip the base Wa. In the illustration, the predetermined region R1 and the engagement region R2 are shown to have approximately the same area, but, for example, the predetermined region R1 may be wider than the engagement region R2.

[0023] The second claws 21 and 22 are each provided in the second direction D2 along a guide (not shown). The surface 21a of the second claw 21 abuts against a predetermined region R1 on the +Y side surface of the base Wa. The surface 22a of the second claw 22 abuts against a predetermined region R1 on the -Y side surface of the base Wa. The pair of second claws 21 and 22 sandwich the base Wa with their surfaces 21a and 22a abutting against the predetermined region R1 of the base Wa. Note that the second claws 21 and 22 are made of members having the same shape, but this is not limited to this configuration and members of different shapes may be used. Furthermore, the second claws 21 and 22 may have a linear or point-like portion that can abut within the predetermined region R1 instead of the surfaces 21a and 22a.

[0024] The base unit 30 supports the pair of first claws 11, 12 and the pair of second claws 21, 22 via supports 31. As shown in FIG. 2, the base unit 30 is, for example, disk-shaped and centered on a central axis AX parallel to the predetermined direction DA. The base unit 30 is attached, for example, to the tip of a spindle 213, 214 (see FIG. 7) of a machine tool 200 (described later). The supports 31 supporting the first claw 11 support the first claw 11 via a guide (not shown) that allows the first claw 11 to move in the first direction D1. The supports 31 supporting the first claw 12 support the first claw 12 while being fixed to the base unit 30. Although not shown, the supports 31 supporting the pair of second claws 21, 22 support the second claws 21, 22 via a guide (not shown) that allows the second claws 21, 22 to move in the second direction D2.

[0025] The first drive unit 40 advances and retreats the first claw 11 relative to the central axis AX. The first drive unit 40 includes a drive source and a transmission unit that transmits the drive force of the drive source to the first claw 11. The drive source of the first drive unit 40 may be, for example, an electric motor, a hydraulic cylinder device, or a pneumatic cylinder device. The first drive unit 40 may be configured to convert, for example, linear motion by the hydraulic cylinder device into advancement and retreat of the first claw 11 via a link mechanism that serves as a transmission unit.

[0026] The second drive unit 50 advances and retreats each of the second claws 21 and 22 relative to the central axis AX. Similar to the first drive unit 40, the second drive unit 50 includes a drive source and a transmission unit that transmits the drive force of the drive source to the second claws 21 and 22. The drive source of the second drive unit 50 may be, for example, an electric motor, a hydraulic cylinder device, or a pneumatic cylinder device. The second drive unit 50 may be configured to convert the linear motion of the hydraulic cylinder device into the advancement and retreat of the second claws 21 and 22 via a link mechanism, which serves as a transmission unit. The drive source of the first drive unit 40 and the drive source of the second drive unit 50 are provided separately. As a result, the timing at which the base Wa is clamped by the first claws 11 and 12 can be made different from the timing at which the base Wa is clamped by the second claws 21 and 22. However, when the advancement and retraction of the first claw portion 11 and the advancement and retraction of the second claw portions 21, 22 are performed simultaneously, one drive source may be used for the first drive portion 40 and the second drive portion 50.

[0027] The control unit 60 controls the operation of the first claw unit 11 and the second claw units 21, 22 by driving the first drive unit 40 and the second drive unit 50. The control unit 60 can adjust the timing at which the first claw units 11, 12 grip the base part Wa and the timing at which the second claw units 21, 22 grip the base part Wa. For example, the control unit 60 may first drive the first drive unit 40 to grip the base part Wa with the first claw units 11, 12, and then drive the second drive unit 50 to grip the base part Wa with the second claw units 21, 22. In addition, the control unit 60 may control the first drive unit 40 and the second drive unit 50 to first cause the second claw units 21, 22 to grip the base Wa, and then cause the first claw units 11, 12 to grip the base Wa, or may cause the first claw units 11, 12 and the second claw units 21, 22 to grip the base Wa simultaneously.

[0028] The workpiece W is held in the chuck device 100 by gripping the base portion Wa with the first claws 11, 12 and the second claws 21, 22. As shown in FIG. 3, the tapered portion 13 abuts against the edge Wd of the hole Wc, thereby holding the workpiece W at a predetermined position in the predetermined direction DA. Because the workpiece W is held at a predetermined position in the predetermined direction DA, a gap L can be formed between the protruding portion Wf of the workpiece W extending from the base portion Wa in the −Z direction and the opposing surface 30a of the base portion 30, as shown in FIG. 3. In other words, the workpiece W can be held at a predetermined position in the predetermined direction DA without abutting the tip of the protruding portion Wf against the opposing surface 30a. As a result, it is no longer necessary to abut the protruding portion Wf against the opposing surface 30a or to attach a cover to the protruding portion Wf and abut it against the opposing surface 30a. This prevents damage to the tip of the protruding portion Wf and eliminates the need for a worker to perform tedious work such as attaching a cover.

[0029] FIG. 4 is a diagram showing a state in which the tapered portion 13 abuts against the chamfer We provided on the edge Wd of the hole Wc. As shown in FIG. 4, the workpiece W may have a chamfer We provided on the edge Wd of the hole Wc. In this case, the tapered portion 13 can be provided to match the slope (shape) of the chamfer We on the edge Wd. That is, the slope of the tapered portion 13 is set to match the slope of the chamfer We. As a result, the tapered portion 13 can abut against the edge Wd of the chamfer We with its surface. With this configuration, when the base Wa is clamped between the pair of first claws 11, 12, the tapered portion 13 can suppress deformation of the edge Wd.

[0030] 5A, 5B, and 5C show modified examples of tapered portion 113, where (A) is a view from a predetermined direction DA, (B) is a view from a second direction D2, and (C) is a view from a first direction D1. As shown in FIGS. 5A, 5B, and 5C, tapered portion 113 may have cutout portions 13b on both sides in second direction D2 (the +Y side and the −Y side of tapered portion 13). In this embodiment, an example is shown in which cutout portions 13b on the +Y side and the −Y side of tapered portion 113 are the same, but this is not limited to this, and cutout portions 13b on the +Y side and the −Y side may have different shapes (for example, different cutout amounts in second direction D2).

[0031] FIG. 6 shows the tapered portion 113 shown in FIG. 5 in use, where (A) is a view from the second direction D2 and (B) is a view from the predetermined direction DA. When the tapered portion 113 is brought into contact with the edge Wd of the hole Wc, as shown in FIG. 6(A), the tapered portion 113 abuts against the edge Wd of the hole Wc in the predetermined direction DA. On the other hand, as shown in FIG. 6(B), a gap is created between the tapered portion 113 and the edge Wd of the hole Wc in the second direction D2. In this way, the tapered portion 113 abuts against the edge Wd, thereby maintaining the position of the base Wa (workpiece W) in the predetermined direction DA while loosely maintaining the position of the base Wa in the second direction D2, allowing the base Wa to move in the second direction D2.

[0032] As a result, it is possible to prevent the engagement in the second direction D2 by the tapered portion 113 from interfering with the gripping by the second claw portions 21, 22. In other words, since the tapered portion 113 does not come into contact with the edge portion Wd, the tapered portion 113 does not interfere with the positioning in the second direction D2 by the pair of second claw portions 21, 22. Therefore, by gripping the base portion Wa with the pair of second claw portions 21, 22, it is possible to position the base portion Wa (workpiece W) in the second direction D2.

[0033] FIG. 7 is a diagram showing an example of a machine tool 200 and a machine tool system 300 according to an embodiment. As shown in FIG. 7, the machine tool system 300 includes the machine tool 200, a loader device 240, and a control device 250. The machine tool 200 is, for example, a parallel twin-spindle lathe. The machine tool 200 includes a carry-in unit 210, a processing unit 220, and an unloading unit 230. The carry-in unit 210 places thereon a workpiece W to be machined by the processing unit 220. The carry-in unit 210 has a mounting table 211 that holds the unmachined workpiece W. The carry-in unit 210 is configured to be able to transfer the unmachined workpiece W to the loader device 240.

[0034] The processing unit 220 processes a workpiece W using a tool T. The processing unit 220 has spindles 213, 214 and turrets 215, 216. The spindles 213, 214 are arranged side by side in the X direction and are supported by bearings (not shown) or the like so as to be rotatable about an axis parallel to the Z direction. The above-mentioned chuck device 100 is provided at the end of each of the spindles 213, 214 on the +Z side.

[0035] FIG. 8 is a diagram showing a configuration in which the chuck device 100 is provided on the spindles 213 and 214. As shown in FIG. 8, the chuck device 100 is provided at the end of the spindles 213 and 214 on the +Z side so that the central axis AX coincides with the rotation axis of the spindles 213 and 214. The rotation axis of the spindles 213 and 214 coincides with the central axis AX of the chuck device 100 shown in FIG. 2 and is parallel to the predetermined direction DA. The chuck device 100 includes a balance adjustment unit 32 on the spindles 213 and 214 side. The balance adjustment unit 32 includes a back plate 33 and a weight 34. The back plate 33 is, for example, disk-shaped and is disposed between the spindles 213 and 214 and the base unit 30. The back plate 33 rotates integrally with the spindles 213 and 214 around the central axis AX. The back plate 33 includes a plurality of holes 33a into which the weights 34 are inserted and attached.

[0036] In the chuck device 100, of the pair of first jaws 11, 12, the first jaw 11 having the tapered portion 13 is provided movably and connected to the first drive unit 40, and therefore is heavier than the other first jaw 12. If the chuck device 100 is rotated around the central axis AX in this state, the weight balance with respect to the central axis AX will be poor, which may hinder smooth rotation. The balance adjustment unit 32 adjusts the unbalanced load around the central axis AX in the chuck device 100. By fixing weights 34 to one or more holes 33a in the back plate 33, the unbalanced load around the central axis AX in the chuck device 100 can be eliminated.

[0037] In this embodiment, the balance adjustment unit 32 (back plate 33) is disposed between the spindles 213, 214 and the base unit 30, but this is not limiting. For example, the balance adjustment unit 32 may be configured so that the weight 34 can be fixed to a part of the base unit 30. Alternatively, the balance adjustment unit 32 may be configured so that a plate extending from the base unit 30 to the outside of the first claws 11, 12 and the second claws 21, 22 is provided, and the weight 34 is fixed to this plate.

[0038] As shown in FIG. 7 , the turrets 215 and 216 are disposed off the axial direction of the spindles 213 and 214. For example, the turret 215 is disposed on the −X side of the spindle 213. The turret 216 is disposed on the +X side of the spindle 214. Each of the turrets 215 and 216 is provided with a rotary drive device such as a motor and is rotatable around an axis parallel to the Z direction. A plurality of holders for holding the tool T are provided on the periphery of the turrets 215 and 216. The tool T is held in all or some of these holders. Therefore, by rotating the turrets 215 and 216, a desired tool T for lowering the workpiece W is selected. As the tool T, a turning tool or the like for cutting the workpiece W may be used, as well as a rotary tool such as a drill or an end mill. The turrets 215 and 216 are movable in the X and Z directions by a drive device (not shown).

[0039] The unloading unit 230 places the workpiece W processed by the processing unit 220. The unloading unit 230 holds the processed workpiece W. The unloading unit 230 has a mounting table 231 that holds the processed workpiece W. The mounting table 231 is configured to be able to receive the workpiece W from the loader device 240.

[0040] The loader device 240 transports the workpiece W between the carry-in section 210, the processing section 220, and the carry-out section 230. The loader device 240 includes a rail 241, an X-slider 242, a Z-slider 243, a lifting rod 244, and a loader head 245. The rail 241 is provided to extend in the X-direction above the carry-in section 210, the processing section 220, and the carry-out section 230. The X-slider 242 is provided so as to be movable in the X-direction along the rail 241 by an X-drive section (not shown).

[0041] The Z slider 243 is provided so as to be movable in the Z direction along a Z guide (not shown) provided on the X slider 242 by a Y drive unit (not shown). The lift rod 244 is provided so as to be movable up and down (movable in the Y direction) along a lift guide (not shown) provided on the Z slider 243 by a lift drive unit (not shown). The loader head 245 is attached to the lower end of the lift rod 244 and moves up and down integrally with the lift rod 244. The loader head 245 has two loader chucks 246. The loader chuck 246 grips or releases the workpiece W by opening and closing a plurality of gripping jaws 246a. The loader chuck 246 is, for example, configured to grip the base Wa of the workpiece W with the two gripping jaws 246a.

[0042] The two loader chucks 246 are arranged, for example, via a swivel joint, and are movable between a position in which the workpiece W is gripped and faces the -Z direction (a position in which the workpiece W faces the spindles 213 and 214), and a position in which the workpiece W faces the -Y direction (a position in which the workpiece W faces downward). The workpiece W gripped by the loader chuck 246 is transported in the X direction, Y direction, Z direction, or a direction that is a combination of these, by the movement of the X slider 242, the Z slider 243, and the lift rod 244, respectively.

[0043] The control device 250 comprehensively controls the operations of the processing unit 220 and the loader device 240 based on a predetermined processing program. The control device 250 may be configured to include the functions of the control unit 60 of the chuck device 100, or may be configured separately from the control unit 60. Furthermore, the configuration may be such that one control device 250 controls the processing unit 220 and the loader device 240, or such that two control devices 250 are provided to individually control the processing unit 220 and the loader device 240. Furthermore, the control device 250 includes a communication unit (not shown), which communicates various types of information between the processing unit 220 and the loader device 240. The control device 250 may be connected to a higher-level control device via the communication unit.

[0044] Next, an operation when transferring the workpiece W from the loader device 240 to the chuck device 100 of the spindles 213, 214 in the above-described machine tool system 300 will be described. First, the loader device 240 grips the workpiece W placed on the mounting table 211 of the carry-in section 210 with the loader chuck 246 of the loader head 245. At this time, the gripping jaws 246a of the loader chuck 246 abut against the contact area R2 (see FIGS. 1 and 3) of the base Wa of the workpiece W. The loader device 240 holding the workpiece W transports the workpiece W to the spindles 213, 214 of the processing section 220.

[0045] 9 is a diagram showing the loader device 240 placing the workpiece W on the chuck device 100 and gripping the base portion Wa with the first jaws 11, 12. As shown in FIG. 9, the loader device 240 places the workpiece W between the first jaws 11, 12 of the chuck device 100 with the gripping claws 246a gripping the mating region R2 of the base portion Wa. At this time, the loader device 240 positions the base portion Wa of the workpiece W close to the first jaw 12 with the hole Wc facing the first jaw 11. Next, the control unit 60 drives the first drive unit 40 to move the first jaw 11 toward the first jaw 12 along the first direction D1.

[0046] This action causes the tapered portion 13 to be inserted into the hole Wc and to come into contact with the edge Wd of the hole Wc, pressing the base Wa against the first claw portion 12. Because the first claw portion 12 is fixed in the first direction D1, the base Wa is gripped by the pair of first claw portions 11, 12. Furthermore, because the tapered portion 13 comes into contact with the edge Wd of the hole Wc, the workpiece W is held at least at a specified position in the predetermined direction DA.

[0047] FIG. 10 is a diagram illustrating the second claws 21 and 22 gripping the base Wa. After gripping the base Wa with the pair of first claws 11 and 12, the control unit 60 drives the second drive unit 50 to move the second claws 21 and 22 along the second direction D2 so that they approach each other. As shown in FIG. 10, the engagement region R2 of the base Wa is gripped by the gripping claws 246a of the loader device 240, while the predetermined region R1 of the base Wa excluding the engagement region R2 is free. Therefore, the second claws 21 and 22 can grip the predetermined region R1 of the base Wa in the second direction D2 without interfering with the gripping claws 246a of the loader device 240.

[0048] As the base Wa is gripped in the second direction D2 by the pair of second claw portions 21, 22, the base Wa of the workpiece W is gripped by the pair of first claw portions 11, 12, the pair of second claw portions 21, 22, and the gripping claws 246a of the loader device 240.

[0049] 11 is a diagram showing a state in which the gripping claws 246a of the loader device 240 are retracted. As shown in Fig. 11, after the pair of second claws 21, 22 have gripped the base part Wa, the loader device 240 moves the gripping claws 246a away from the engagement region R2 in the second direction D2 (i.e., releases the gripping claws 246a from gripping the base part Wa), and in this state moves the loader head 245 in a direction away from the main shaft 213. As the gripping claws 246a move away from the base part Wa, the base part Wa is gripped by the pair of first claws 11, 12 and the pair of second claws 21, 22.

[0050] FIG. 12 is a view of the chuck device 100 gripping the workpiece W from the predetermined direction DA. After the loader device 240 retreats from the workpiece W, as shown in FIG. 12, the base portion Wa of the workpiece W is gripped in the first direction D1 by the pair of first claws 11, 12 and in the second direction D2 by the pair of second claws 21, 22. At this time, the second claws 21, 22 grip a predetermined region R1 of the base portion Wa that is narrower by the contact region R2. However, the tapered portion 13 of the first claw 11 abuts against the edge Wd of the hole Wc, preventing the base portion Wa from shifting in the predetermined direction DA. Therefore, the workpiece W is held at a specified position in the predetermined direction DA relative to the chuck device 100 of the spindle 213, allowing the workpiece Wb to be machined with high precision.

[0051] In the above description, the gripping claws 246a of the loader device 240 release the gripping of the base Wa after the base Wa is gripped by the pair of second claws 21, 22, but this is not limiting. For example, after the base Wa is gripped by the pair of first claws 11, 12, the gripping claws 246a of the loader device 240 may release the gripping of the base Wa before the base Wa is gripped by the second claws 21, 22.

[0052] Furthermore, when transferring the workpiece W from the chuck device 100 of the spindles 213, 214 to the loader device 240, the workpiece W can be transferred from the chuck device 100 to the loader device 240 by performing the reverse operation of the above-described operation. In this case, after the base part Wa is gripped by the gripping claws 246a of the loader device 240, the first claws 11, 12 may release the base part Wa from their grip and the second claws 21, 22 may release the base part Wa from their grip simultaneously or at different times.

[0053] As described above, with the chuck device 100, machine tool 200, and machine tool system 300 according to this embodiment, the tapered portion 13 of the first jaw 11 abuts against the edge Wd of the hole Wc, preventing the workpiece W from shifting in the predetermined direction DA from the reference position. In other words, the workpiece W can be held in the reference position even if the second jaws 21, 22 do not grip the base portion Wa over a wide area. As a result, an interface area R2 of the base portion Wa for gripping by the gripping jaws 246a of the loader device 240 can be secured, and the gripping jaws 246a of the loader device 240 grip the interface area R2 of the base portion Wa, enabling the workpiece W to be transferred between the chuck device 100 and the loader device 240, reducing the burden on the operator.

[0054] Although the embodiments have been described above, the technical scope of the present invention is not limited to the above-described embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above-described embodiments. Furthermore, forms incorporating such modifications or improvements are also included within the technical scope of the present invention. One or more of the requirements described in the above-described embodiments may be omitted. Furthermore, the requirements described in the above-described embodiments may be combined as appropriate. Furthermore, the order of execution of each operation shown in this embodiment can be realized in any order, as long as the results of a previous operation are not used in a subsequent operation. Furthermore, even if the operations in the above-described embodiments are described using terms such as "first," "next," and "followed" for convenience, it is not necessary to perform them in this order. [Explanation of symbols]

[0055] D1...First direction D2...Second direction DA: Predetermined direction R1...Predetermined area R2: Interchange area W...Work Wa···Base Wb...Processed part Wc...Hole Wd Edge We···Chamfering 11, 12...1st claw part 13 Tapered section 13a Tip 13b Notch 21, 22...Second claw part 30 Base 32. Balance adjustment section 40 First drive unit 50 Second drive unit 60 Control unit 100···Chuck device 200...Machine tools 213, 214...Spindle 240 Loader device 245···Loader head 246···Loader chuck 246a...grasping claw 250 Control device 300 Machine Tool System

Claims

1. A chuck device that holds a workpiece having a processed portion extending in a predetermined direction from a base portion during processing, a pair of first claws that sandwich the base in a first direction perpendicular to the predetermined direction; a pair of second claws that sandwich the base in a second direction perpendicular to the predetermined direction and the first direction, a base portion supporting the pair of first claw portions and the pair of second claw portions includes a balance adjustment portion for adjusting an unbalanced load around the axis when the pair of first claw portions and the pair of second claw portions rotate around the axis parallel to the predetermined direction while holding the workpiece, The pair of first jaw portions clamp the base portion while restricting the workpiece from moving in the predetermined direction.

2. A chuck device that holds a workpiece having a processed portion extending in a predetermined direction from a base portion during processing, a pair of first claws that sandwich the base in a first direction perpendicular to the predetermined direction; a pair of second claws that sandwich the base in a second direction perpendicular to the predetermined direction and the first direction; a first drive unit that drives the pair of first claws; a second drive unit that drives the pair of second claws; a control unit that controls the first drive unit and the second drive unit so that the base portion is sandwiched between the pair of first claws and then the base portion is sandwiched between the pair of second claws, The pair of first jaw portions clamp the base portion while restricting the workpiece from moving in the predetermined direction.

3. the workpiece has a base portion having a hole that opens toward the first direction, 3. The chuck device according to claim 1, wherein when the base is clamped, one of the pair of first claw portions enters the hole portion, thereby restricting movement of the workpiece in the predetermined direction.

4. The chuck device according to claim 3 , wherein one of the pair of first claws that fits into the hole has a tapered portion whose tip fits into the hole and comes into contact with an edge of the hole.

5. The edge of the hole of the workpiece is chamfered, The chuck device according to claim 4 , wherein the tapered portion is provided to correspond to the shape of the chamfer of the edge portion.

6. 6. The chuck device according to claim 4, wherein the tapered portion has notches on both sides in the predetermined direction and a second direction perpendicular to the first direction.

7. 7. The chuck device according to claim 1, wherein the pair of first jaw portions clamp the base portion while forming a gap between the workpiece and a base portion supporting the pair of first jaw portions.

8. The chuck device according to claim 1 , wherein the other of the pair of first jaw portions is fixed in the first direction.

9. The chuck device according to claim 1 , wherein the pair of second claws sandwich a predetermined region of the base portion excluding a mating region for sandwiching the base portion with the other claws.

10. 3. The chuck device according to claim 2, wherein a base portion supporting the pair of first jaw portions and the pair of second jaw portions includes a balance adjustment portion for adjusting an unbalanced load about the axis when the chuck device rotates about an axis parallel to the predetermined direction while holding the workpiece with the pair of first jaw portions and the pair of second jaw portions.

11. a first drive unit that drives the pair of first claws; a second drive unit that drives the pair of second claws; a control unit that controls the first driving unit and the second driving unit so that the base portion is sandwiched between the pair of first claw portions and then the base portion is sandwiched between the pair of second claw portions.

12. a spindle equipped with the chuck device according to any one of claims 1 to 11; and a processing unit that processes the workpiece held by the chuck device, The spindle rotates the workpiece around an axis parallel to the predetermined direction, The machining unit is a machine tool that performs machining on the rotating workpiece.

13. The machine tool according to claim 12; a loader device that transfers the workpiece between the chuck device of the spindle and the loader device.

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