| 摘要 |
<p>Loader for transferring work between a conveyor and machine tool chuck comprises an arm (18) and a wrist (21) rotatable about axes (17,20) parallel to the chuck (3) axis (22), and a hand (23) attached to the wrist, rotatable about an axis (22) normal to the wrist axis, and supporting fingers (25) openable and closable by a linkage actuated by a piston rod extending through the hand. The arm pivot end is connected to a support block (19) fixed to one end of sliders (7,8), which are supported in a frame (6) fixed to the machine tool spindle housing (5) and are movable parallel to the chuck axis by a motor (16) and nut and screw (14) system supported by the same frame (6). The arm is driven by a motor (26) fixed to the arm support block (19), and the wrist and hand by motors (11,12) mounted at the other ends of the sliders (7,8) and acting via gears and chain transmission inside one slider and the arm. The various motors are suitably pulse motors individually actuated by a common microcomputer and associated with servo feedbacks to check amount of movement. Movement relative to the chuck is more or less fixed, so re-adjustment, e.g., for short production runs, can be done rapidly.</p> |
