GB2615268A - A loading assembly for a machine tool - Google Patents

A loading assembly for a machine tool Download PDF

Info

Publication number
GB2615268A
GB2615268A GB2306654.1A GB202306654A GB2615268A GB 2615268 A GB2615268 A GB 2615268A GB 202306654 A GB202306654 A GB 202306654A GB 2615268 A GB2615268 A GB 2615268A
Authority
GB
United Kingdom
Prior art keywords
loader
loader drive
drive
rotary axis
tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB2306654.1A
Other versions
GB2615268B (en
GB202306654D0 (en
Inventor
J Tucker Matthew
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fives Landis Ltd
Original Assignee
Fives Landis Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fives Landis Ltd filed Critical Fives Landis Ltd
Priority to GB2306654.1A priority Critical patent/GB2615268B/en
Priority claimed from GB1910316.7A external-priority patent/GB2585874B/en
Publication of GB202306654D0 publication Critical patent/GB202306654D0/en
Publication of GB2615268A publication Critical patent/GB2615268A/en
Application granted granted Critical
Publication of GB2615268B publication Critical patent/GB2615268B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/046—Handling workpieces or tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q2003/15586—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of tools in turrets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2210/00—Machine tools incorporating a specific component
    • B23Q2210/006—Curved guiding rails
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q3/15536—Non-rotary fixed racks

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Turning (AREA)

Abstract

The loading assembly 50 is for loading and unloading a tool or workpiece from a machine tool. The assembly includes a loader 52, 84 for picking up and releasing a tool or a workpiece, and a loader drive. The loader drive comprises a loader drive base portion 56, 80 for mounting on a machine tool and a loader drive driven portion 54, 82 which carries the loader. The loader drive is configured to drive the loader drive driven portion along a circular path relative to the loader drive base portion. The circular path lies in a loader drive reference plane and is equidistant from a loader drive reference axis 14 which is perpendicular to the loader drive reference plane. A machine tool including a machine base uses the loading assembly, and the loader drive reference axis is coincident with a reference rotational axis of a driven rotary axis carried by the machine base. A method of loading or unloading a tool or workpiece in the machine tool includes picking up the tool/workpiece with the loader, moving the loader by driving the loader drive driven portion relative to the loader drive base portion, and releasing the tool/workpiece from the loader.

Description

Title' A Loading Assembly for a Machine Tool
Field of the Disclosure
The present disclosure relates to a loading assembly for loading and unloading tools and/or workpieces from a machine tool automatically.
Background of the Disclosure
io Loading assemblies are used in machine tools to load and unload tools and/or workpieces from the machine tool more quickly than a manual operator.
Summary of the Disclosure
The present disclosure relates to a loading assembly for loading and unloading a tool or workpiece from a machine tool, comprising a loader for picking up and releasing a tool or a workpiece, and a loader drive comprising a loader drive base portion for mounting on a machine tool and a loader drive driven portion which carries the loader, wherein the loader drive is configured to drive the loader drive driven portion along a circular path relative to the loader drive base portion, wherein the circular path lies in a loader drive reference plane and is equidistant from a loader drive reference axis which is perpendicular to the loader drive reference plane.
Some machine tools are configured to carry multiple tools and/or workpieces on a driven rotary axis or turret. GB-A-2456843, GB-A-2476468 and EP-A-2684640 describe machine tools including two driven rotary axes. At least one tool is carried by one of the driven axes and one or more workpieces are carried by the other driven rotary axis. In order to load and unload tools and workpieces from the driven axes, it is necessary to interrupt the machining operation in order to align the driven rotary axis concerned with a loading assembly.
To reduce these delays, the inventor considered developing a loading assembly able to interact with the driven rotary axes whilst they are carrying out machining operations.
However, it became apparent that complex calculations would be involved to enable the loading assembly to follow a location on a driven rotary axis using a loading assembly mounted alongside the driven rotary axes According to the present disclosure, a loading assembly is provided which is configured to carry a loader along a circular path around a loader drive reference axis. Such an assembly may be provided in the machine tool with its reference axis coincident with a reference rotational axis of a driven rotary axis. This allows motion of the loader relative to a rotary machine axis to be controlled more simply and io accurately. It also enables the loading assembly to be located in the machine tool in such a way that it is able to access tools and/or workpieces carried by a driven rotary axis without interrupting machining operations. Accordingly, the computational demands of the loading assembly on a machine tool control system are reduced and the loading assembly may be provided in a more cost effective manner.
The loader may be mounted further from the machine base than the working height of the machine tool above the machine base This may facilitate safe access to a driven rotary axis during a machining operation.
Preferably, the loader drive defines an opening in the loader drive reference plane to enable part of a machine tool to extend through the loader drive reference plane. Thus, the loader assembly may allow access to a driven rotary axis through the loading assembly. In some installations, control and/or supply lines may extend upwardly from a driven rotary axis. These lines may extend through the opening defined by the loading assembly. Thus, the loading assembly may be located above the driven rotary axis notwithstanding the presence of these lines. The loader drive reference axis may extend through the opening defined by the loader drive.
In preferred examples, the loader drive base portion comprises a track and the loader drive driven portion comprises a carriage arranged to travel along the track. The track may be annular.
The loader may comprise an articulated arm, and an end effector carried by the arm for picking and releasing a tool or a workpiece. The loader may be rotatable relative to the loader driven portion about a loader reference axis. The loader reference axis may be parallel with (or perpendicular to) the loader drive reference axis. The loader reference axis may be parallel with a reference rotational axis of a driven rotary axis of the machine. The loader may comprise a robotic loader or arm.
The present disclosure further provides a machine tool including a machine base, a loading assembly as described herein, and a driven rotary axis having a rotary axis io base portion carried by the machine base and a rotary axis driven portion rotatable relative to the rotary axis base portion about a reference rotational axis, wherein the loader drive reference axis is coincident with the reference rotational axis of the driven rotary axis This configuration enables operations of the loading assembly to be accurately located and controlled relative to the rotary axis driven portion.
The loading assembly may be manipulated to reach a work holding chuck, a tooling chuck, a workpiece stack or tooling cassette of the machine tool. It may then pick up a required tool or workpiece, load it onto the driven rotary axis, and then unload it once its machining operation has been completed.
Where the driven rotary axis is able to carry more than one tool and/or workpiece, the loading assembly may be operable to load and/or unload a tool/workpiece from one location on the driven rotary axis whilst another location on the driven rotary axis is involved in a machining operation With the loader drive reference axis coincident with the reference rotational axis of the driven rotary axis, the loading assembly may be provided in a compact manner in the machine, minimising any impact on the size of the footprint of the machine tool In a preferred example, the loader drive base portion is carried by the rotary axis driven portion. This may allow the loader to be located in close proximity to the driven rotary axis.
The machine tool may be configured to implement a demanded movement of the loader drive driven portion from a first position to a second position relative to the machine base, with the rotary axis driven portion rotating relative to the rotary axis base portion during at least part of the movement, by taking into account the rotation of the rotary axis driven portion relative to the rotary axis base portion in determining a displacement of the loader drive driven portion relative to the loader drive base portion required to achieve the demanded movement.
Thus, the loading assembly may utilise and/or counteract motion of the rotary axis to driven portion in controlling its own movement relative to the machine base.
Furthermore, the machine tool may be configured to hold the loader stationary relative to the machine base whilst the driven portion of the driven rotary axis rotates relative to the rotary axis base portion, by moving the loader drive driven portion relative to the loader drive base portion In another example, the loader drive base portion is not moveable relative to the machine base by the driven rotary axis. The loading assembly may be provided in a location in the machine where it is not carried by the driven rotary axis. The loader may be movable independently of the motion of the driven rotary axis. Rather than being carried by a driven rotary axis, the loader drive base portion may be carried by other means by the machine base and/or by a support which holds it in a fixed position relative to the machine base. For example, the loader drive base portion may be carried by an enclosure of the machine tool.
The present disclosure further provides a method of loading or unloading a tool or workpiece in a machine tool as disclosed herein, the method comprising the steps of picking up a tool or workpiece with the loader; moving the loader by driving the loader drive driven portion relative to the loader drive base portion; and releasing the tool or workpiece from the loader.
In a preferred example, the loader drive base portion may be carried by the rotary axis driven portion, and the moving step includes moving the loader by driving the loader drive driven portion relative to the loader drive base portion whilst the rotary axis driven portion is rotating relative to the rotary axis base portion.
Brief Description of the Drawings
Examples according to the present disclosure will now be described by way of example and with reference to the accompanying schematic drawings, wherein Figures 1 and 2 are perspective views of machine tools including loading assemblies according to examples of the present disclosure, Figures 3 and 4 are enlarged perspective views of part of the machine tools shown in Figure 1 with the loader in different orientations; Figure 5 is an enlarged perspective view of the loading assembly of the machine tool shown in Figure 2; and Figures 6 to 8 are plan views of the machine tool shown in Figure 2 with a driven rotary axis and loading assembly in different orientations.
Detailed Description of the Drawings
Figures 1 to 4 have parts of the machine enclosure cut away or removed for the purposes of illustration.
The Figures depict machine tools having two driven rotary axes The example shown in Figure 1 has a first driven rotary axis in the form of a tool spindle turret 4 and a second driven rotary axis in the form of a workpiece turret 6.
The tool spindle turret 4 includes a base portion 8 carried by the machine base 10 and a driven portion 12 which is drivable to rotate relative to the base portion about a reference rotary axis 14 Similarly, the workpiece turret 6 has a base portion 20 which is carried by the machine base 10. The driven portion of the workpiece turret which rests on the base portion 20 is omitted in the Figures. The driven portion of the workpiece turret is driveable to rotate relative to the base portion about a reference rotational axis 22.
io The respective rotational axes of the tool spindle turret and workpiece turret are spaced apart and parallel. The machine base 10 extends in a plane perpendicular to the axes 14 and 22.
Three tool spindles 30, 32 and 34 are mounted on the driven portion 12 of the tool spindle turret 4 and spaced apart in the circumferential direction about the axis 14 Each tool spindle is able to carry a respective tool which can be brought into the working area of the machine by rotation of the tool spindle turret and then moved relative to a workpiece carried by the workpiece turret during a machining operation by rotation of the tool spindle turret.
Similarly, the workpiece turret 6 may carry a plurality of workpiece mounts which are spaced circumferentially about its rotational axis 22 and may be introduced into the working area by rotation of the workpiece turret. A workpiece may be moved relative to a tool during a machine operation by rotation of the workpiece turret relative to the machine base.
A number of service lines are connected to each turret. The service lines may comprise electrical and control connections, and supplies of air, hydraulic fluid and coolant, for example. One or more of these lines may extend to the driven portion of each turret from above the respective turret, that is, from the side axially opposite to the machine base.
In the machine of Figure 1, service lines extend to the tool spindle turret from above through a protective cylindrical tube 40, and to the workpiece turret via tube 42 Each tube 40, 42 extends between the roof 44 of the machine enclosure 46 to the top of the respective turret.
A loading assembly 50 is shown installed in the machine tool of Figure I. A loader is provided in the form of a robot aim 52. The loading assembly has a loader drive comprising a loader drive base portion in the form of a circular track 56 and a loader drive driven portion in the form of carriage 54. The robot arm is rotatably mounted to on the carriage 54. The carriage is driveable along the circular track 56 which is mounted on the underside of the enclosure roof 44. The robot arm carries an end effector 58 at its distal end 60. Using the robot arm, the end effector is able to selectively pick up or replace a tool or workpiece from a workpiece/tooling cassette 62 which is mounted on a sidewall 64 of the machine enclosure 46.
The centre of the circular track 56 lies on the rotational axis 14 of the tool spindle turret.
Another example of a machine tool according to the present disclosure is shown in Figure 2. It illustrates a different mounting location for the loading assembly. The loading assembly comprises a circular track 80 which is carried by the driven portion 12 of the tool spindle turret. An alternative form of robot arm 84 is shown by way of illustration in Figure 2, which carries an end effector 86 at its distal end. The robot arm 84 is mounted for rotation about an axis perpendicular to the axis 14 of the tool spindle turret on a carriage 82. The carriage 82 is driveable relative to the circular track 80 around the axis 14.
A loading assembly may be provided in a corresponding manner to the configurations of Figures 1 and 2 in combination with the workpiece turret, instead of or in addition to a loading assembly associated with the tool spindle turret.
Figure 3 and 4 show enlarged perspective views of the loading assembly shown in the machine tool of Figure 1. The robot arm 52 is holding the end effector 58 in close proximity to the workpiece/tooling cassette 62 in Figure 3. Further manipulation of the arm enables the end effector to pick and replace workpieces and tooling from the cassette Figure 4 illustrates use of the arm to enable its end effector to access a tool spindle 30 on the tool spindle turret 4.
Mounting robot arm on carriage 54 enables it to be moved around the axis 14 to facilitate access to each tool spindle 30, 32, 34. The carriage and track may enable the io robot arm to follow rotation of the driven portion 12 of the tool spindle turret 4 during machine operation to allow continued interaction with a tool spindle whilst another tool spindle is carrying out a machining operation. The rotational position of the carriage on the circular track may be controlled to substantially match changes in the rotational position of the tool spindle turret.
The timing of a tool change operation may be chosen so that any mechanical disturbance inside the enclosure caused by a tool change operation does not materially impact the surface integrity of a workpiece being machined.
The robot arm 52 may be employed to pick up an unmachined part from the cassette 62, carry it towards the workpiece turret 6 and then mount it on a workpiece chuck on a workpiece spindle or mount on the workpiece turret. Similarly, the robot arm may be used to remove a finished part from the workpiece turret and return it to the cassette 62.
Figure 5 is an enlarged view of part of the machine tool shown in Figure 2 illustrating use of the robot arm 84 to access a tool spindle 30 The machine tool is operable to drive the carriage 82 around the circular path defined by the circular track 80 to enable the robot artn 84 to access any circumferential position on the tool spindle turret around axis 14.
Furthermore, according to this example of the disclosure, the machine tool is able to control the position of the robot arm relative to the machine base whilst taking into account any motion of the tool spindle turret which carries the robot arm relative to the base. Some examples of this control will now be described with reference to Figures 6 to 8.
In Figure 6, the robot arm 84 is shown in a location close to the cassette 62. The end effector 86 may then be moved by the robot arm into engagement with a tool or workpiece in the cassette.
In Figure 7, it can be seen that the tool spindle turret 4 has rotated clockwise relative to the machine base 10 (when viewed from above) whilst the robot arm 84 has remained in the same position relative to the machine base. To achieve this, the carriage 82 moved around the circular track 80 in the anti-clockwise direction through an angular displacement of equal magnitude, with an equal and opposite instantaneous angular velocities. Thus, the robot arm is able to carry out a pick up or release operation during a machine operation involving rotation of the tool spindle turret by synchronous contra-rotation of the carriage relative to the axis 14.
Figure 8 shows the result of displacement of the carriage 82 along the circular track whilst the tool spindle turret 4 is held in the same orientation as that shown in Figure 6 As with the loading assembly configuration shown in Figure 1, the loading assembly depicted in Figure 2 is also able to access the workpiece turret by rotation of the robot arm around the tool spindle turret to a location where it is able to reach the workpiece turret.
The carriage 54, 82 may be moveable relative to the respective circular track 56, 80 using an enclosed rolling element or fluidic bearing, for example. The carriage may be driven relative to the circular track using a rotary actuation mechanism such as a brushless DC motor. This may provide a lightweight drive mechanism. High resolution ring encoders may be used to monitor the location of the carriage relative to its track The drive mechanism for the carriage may comprise a direct drive motor such as a torque motor. In another implementation, a motor which interacts with a curved track formed of magnetic plates may be used to drive the carriage relative to the track, as marketed by Tecnotion BV, for example.
It will be appreciated that reference herein to perpendicular or parallel relative io orientations are to be interpreted as defining substantially perpendicular or parallel relationships between components within practical tolerances. Similarly, references herein to horizontal or vertical directions are to be interpreted as concerning substantially horizontal or vertical directions within practical tolerances.

Claims (12)

  1. Claims I. A loading assembly for loading and unloading a tool or workpiece from a machine tool, comprising: a loader for picking up and releasing a tool or a workpiece; and a loader drive comprising a loader drive base portion for mounting on a machine tool and a loader drive driven portion which carries the loader, wherein the loader drive is configured to drive the loader drive driven portion along a circular path relative to the loader drive base portion, wherein the circular path lies in a loader drive io reference plane and is equidistant from a loader drive reference axis which is perpendicular to the loader drive reference plane.
  2. 2 An assembly of claim 1, wherein the loader drive defines an opening in the loader drive reference plane to enable part of a machine tool to extend through the loader drive reference plane
  3. 3. An assembly of claim 1 or claim 2, wherein the loader drive base portion comprises a track and the loader drive driven portion comprises a carriage arranged to travel along the track.
  4. 4 An assembly of any preceding claim, wherein the loader comprises an articulated arm; and an end effector carried by the arm for picking up and releasing a tool or a workpiece
  5. 5. A machine tool including a machine base, a loading assembly of any preceding claim, and a driven rotary axis having a rotary axis base portion carried by the machine base and a rotary axis driven portion rotatable relative to the rotary axis base portion about a reference rotational axis, wherein the loader drive reference axis is coincident with the reference rotational axis of the driven rotary axis
  6. 6 A machine tool of claim 5, wherein the loader drive base portion is carried by the rotary axis driven portion
  7. 7. A machine tool of claim 6, wherein the machine tool is configured to implement a demanded movement of the loader drive driven portion from a first position to a second position relative to the machine base, with the rotary axis driven portion rotating relative to the rotary axis base portion during at least part of the movement, by taking into account the rotation of the rotary axis driven portion relative to the rotary axis base portion in determining a displacement of the loader io drive driven portion relative to the loader drive base portion required to achieve the demanded movement.
  8. 8. A machine tool of claim 6 or claim 7, wherein the machine tool is configured to hold the loader stationary relative to the machine whilst the base rotary axis driven Is portion rotates relative to the rotary axis base portion, by moving the loader drive driven portion relative to the loader drive base portion.
  9. 9 A machine tool of any of claims 1 to 5, wherein the loader drive base portion is carried by the machine base and not carried by the driven rotary axis.
  10. A machine tool of claim 9, wherein the loader drive base portion is carried by an enclosure of the machine tool
  11. 11. A method of loading or unloading a tool or workpiece in a machine tool of any of claims 5 to 10, the method comprising the steps of picking up a tool or workpiece with the loader; moving the loader by driving the loader drive driven portion relative to the loader drive base portion; and releasing the tool or workpiece from the loader.
  12. 12. A method of claim 11, wherein: the loader drive base portion is carried by the rotary axis driven portion, and the moving step includes moving the loader by driving the loader drive driven portion relative to the loader drive base portion whilst the rotary axis driven portion is rotating relative to the rotary axis base portion
GB2306654.1A 2019-07-18 2019-07-18 A loading assembly for a machine tool Active GB2615268B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB2306654.1A GB2615268B (en) 2019-07-18 2019-07-18 A loading assembly for a machine tool

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1910316.7A GB2585874B (en) 2019-07-18 2019-07-18 A Machine Tool including a Loading assembly
GB2306654.1A GB2615268B (en) 2019-07-18 2019-07-18 A loading assembly for a machine tool

Publications (3)

Publication Number Publication Date
GB202306654D0 GB202306654D0 (en) 2023-06-21
GB2615268A true GB2615268A (en) 2023-08-02
GB2615268B GB2615268B (en) 2023-10-18

Family

ID=87068828

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2306654.1A Active GB2615268B (en) 2019-07-18 2019-07-18 A loading assembly for a machine tool

Country Status (1)

Country Link
GB (1) GB2615268B (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170326701A1 (en) * 2016-05-11 2017-11-16 Okuma Corporation Machine tool
US20170329316A1 (en) * 2016-05-16 2017-11-16 Okuma Corporation Machine tool

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170326701A1 (en) * 2016-05-11 2017-11-16 Okuma Corporation Machine tool
US20170329316A1 (en) * 2016-05-16 2017-11-16 Okuma Corporation Machine tool

Also Published As

Publication number Publication date
GB2615268B (en) 2023-10-18
GB202306654D0 (en) 2023-06-21

Similar Documents

Publication Publication Date Title
EP0028735B1 (en) A machining center equipped with a robot device
KR102391258B1 (en) Machine tool
US10668618B2 (en) Machine tool system and moving method
JP2018144131A (en) Machine tool
JP2018001364A (en) Machine tool unit
TW202140172A (en) Machine tool
JPS6317577B2 (en)
US9211623B2 (en) Safety device for a rotational feed axis
GB2615268A (en) A loading assembly for a machine tool
GB2585874A (en) A Loading assembly for a machine tool
JP4898768B2 (en) Disc transport medium
JPH06190602A (en) Delivery method for work through nc robot or loading attachment of loader and loading attachment used for the same
JP2606786B2 (en) Automatic rotation positioning jig
JP3099197B2 (en) Work delivery device for machine tools
JP2001121301A (en) Moving spindle type vertical machine tool
JPH11170101A (en) Workpiece replacing device for spindle moving type vertical machine tool
CN219169940U (en) Automatic feeding and discharging mechanism with mechanical gripper for rotary PDC workpiece
KR830002271B1 (en) Machining Center with Robotic Device
WO2023249050A1 (en) Processing system
US11986918B2 (en) Method of positioning a workpiece on a machine tool
CN210549039U (en) Automatic welding system of manipulator
JPS632270Y2 (en)
WO2023217794A1 (en) Machine tool and method of operating the machine tool
EP1462213A1 (en) A machine tool with an inverted vertical work spindle and an automatic tool changing device
JP2000000707A (en) Spindle moving type vertical machine tool and workpiece transfer method in spindle moving type vertical machine tool