阅读说明：本技术 一种电机筒立式数控车床的自动上下料装置 (Automatic feeding and discharging device of vertical numerical control lathe for motor cylinder ) 是由 赵华勇 于 2020-12-05 设计创作，主要内容包括：本发明的目的在于提供一种电机筒立式数控车床的自动上下料装置。包括料仓装置、机械手装置、旋转装置、活动板和机架；所述的活动板固连在立式数控车床的卡盘的活动卡爪上,活动板上有圆弧端,工作时卡盘动作使圆弧端夹持住电机筒的内孔；所述的料仓装置包括电机、光轴、料仓板和滚珠丝杆副；所述的机械手装置包括气缸一、气缸二、移动板一、移动板三、移动板二、气缸三和气爪；所述的旋转装置包括滑台气缸一、滑台气缸二、旋转气缸和旋转板；使用本发明能代替人工在立式数控车床上循环放要加工的电机筒和取电机筒成品,而且在安放电机筒时不需要对准方位,即使有时候电机筒的凹槽处有毛刺,电机筒也能移动,自动上下料装置能够正常工作。(The invention aims to provide an automatic loading and unloading device of a vertical numerical control lathe for a motor cylinder. Comprises a stock bin device, a mechanical arm device, a rotating device, a movable plate and a frame; the movable plate is fixedly connected to a movable clamping jaw of a chuck of the vertical numerically controlled lathe, an arc end is arranged on the movable plate, and the arc end clamps an inner hole of the motor cylinder by the action of the chuck during work; the bin device comprises a motor, an optical axis, a bin plate and a ball screw pair; the manipulator device comprises a first cylinder, a second cylinder, a first moving plate, a third moving plate, a second moving plate, a third cylinder and a pneumatic claw; the rotating device comprises a sliding table cylinder I, a sliding table cylinder II, a rotating cylinder and a rotating plate; the motor cylinder and the motor cylinder finished product to be processed can be circularly placed on the vertical numerically controlled lathe instead of manual work, the motor cylinder does not need to be aligned when being placed, the motor cylinder can move even if burrs exist at the groove of the motor cylinder sometimes, and the automatic loading and unloading device can normally work.)

1. The utility model provides a unloader in vertical numerical control lathe's of motor cylinder automation which characterized in that: comprises a stock bin device, a mechanical arm device, a rotating device, a movable plate and a frame; the movable plate is fixedly connected to a movable clamping jaw of a chuck of the vertical numerically controlled lathe, an arc end is arranged on the movable plate, and the arc end clamps an inner hole of the motor cylinder by the action of the chuck during work; the bin device comprises a motor, an optical axis, a bin plate and a ball screw pair; the motor is fixedly connected to the frame, and a shaft of the motor is fixedly connected with a ball screw in the ball screw pair; a ball screw in the ball screw pair and the frame form a rotating pair, and a screw nut in the ball screw pair I is fixedly connected with the bin plate; the bin plate is arranged on the rack and forms a sliding pair with the rack; the optical axis is fixedly connected to the rack and is used for positioning an inner hole of the motor cylinder; the manipulator device comprises a first cylinder, a second cylinder, a first moving plate, a third moving plate, a second moving plate, a third cylinder and a pneumatic claw; the first air cylinder is fixedly connected to the rack, the moving direction of the first air cylinder is the left-right direction, and a moving rod of the first air cylinder is fixedly connected with the first moving plate; the first moving plate is arranged on the rack and forms a moving pair with the rack; the second air cylinder is fixedly connected to the first moving plate, the moving direction of the second air cylinder is the left-right direction, and a moving rod of the second air cylinder is fixedly connected with the second moving plate; the second moving plate is arranged on the rack and forms a moving pair with the rack; the third air cylinder is fixedly connected to the second moving plate, the moving direction of the third air cylinder is the up-down direction, and a moving rod of the third air cylinder is fixedly connected with the third moving plate; the third moving plate is arranged on the second moving plate and forms a moving pair with the second moving plate; the pneumatic claw is fixedly connected to the third moving plate; the rotating device comprises a sliding table cylinder I, a sliding table cylinder II, a rotating cylinder and a rotating plate; the first sliding table cylinder is fixedly connected to the rack; the sliding table cylinder II is fixedly connected to a movable sliding table of the sliding table cylinder I; the rotary cylinder is fixedly connected to a movable sliding table of the sliding table cylinder II; the rotating plate is fixedly connected to a rotating rod of the rotating cylinder and is provided with a rotating end; when the first sliding table cylinder and the second sliding table cylinder do not extend out of the movable sliding table, the rotating plate faces the motor cylinder which is positioned and arranged at the movable plate, at the moment, the first sliding table cylinder extends out of the movable sliding table, the rotating end enters the whole body of the motor cylinder, the rotating end is located at the upper end and the lower end of a whole body plate of the motor cylinder, the second sliding table cylinder extends out of the movable sliding table, the rotating end moves to drive the motor cylinder to move out of the movable plate, then the rotating cylinder rotates the rotating rod, and the rotating end rotates to drive the motor cylinder to rotate, so that the motor cylinder can rotate reversely to perform next; the manipulator device has three working positions, namely a starting position, an end position and a finished product placing position; when the pneumatic device is at the initial position, the first air cylinder and the second air cylinder do not extend out of the moving rod, the pneumatic claw is positioned right above an inner hole of the motor cylinder arranged on the stock bin device, the third air cylinder extends out of the moving rod and can move the pneumatic claw to the inner hole of the uppermost motor cylinder on the stock bin device, and the pneumatic claw acts to clamp the uppermost motor cylinder; when the motor barrel is positioned at the end point position, the first air cylinder and the second air cylinder extend out of the movable rod, the air claw is positioned right above the movable plate on the chuck, and the third air cylinder extends out of the movable rod and can place the motor barrel clamped by the air claw at the movable plate; when the finished product is placed, the first air cylinder does not extend out of the moving rod, and the second air cylinder extends out of the moving rod.

Technical Field

The invention relates to an automatic loading and unloading device, in particular to an automatic loading and unloading device of a vertical numerical control lathe for a motor cylinder.

Background

The motor is a very commonly used product, there is a motor section of thick bamboo on the motor, the motor section of thick bamboo that adopts on the general single-phase asynchronous motor is mostly as shown in fig. 1, this motor section of thick bamboo 1 includes hole 2 and whole body plate (the whole body plate kind of motor section of thick bamboo has the multiple, for example roof, the footing, whole body plate length all the same, length direction's initial position and final position are the same, distribute the whole body at the motor section of thick bamboo, processing on the numerical control lathe need be placed to hole 2 of motor section of thick bamboo 1, place the coil in the middle of hole 2 processing back, the motor end cover has been placed at both ends. The motor barrel 1 has various specifications according to different motor powers, the large motor barrel is mostly machined on a chuck of the vertical type numerical control lathe 5, the motor barrel 1 is well positioned on the chuck and fixed, then the vertical type numerical control lathe 5 works to machine the motor barrel 1, the motor barrel 1 is well machined and manually taken out and placed, and the operation is circulated. These machining methods require the operator to cyclically put the motor barrel and the motor barrel to be machined. Patent ZL201811077740X is an automatic loading and unloading device of a vertical numerical control lathe of a motor cylinder, which is an automatic loading and unloading device replacing manual fetching of a discharge cylinder, but some motor cylinders to be processed need to be put into a stock bin, wherein the stock bin limits an inner hole 2 of the motor cylinder, the stock bin is also provided with a first locating rod, the first locating rod locates a groove of the motor cylinder 1 (a groove is formed between every two plates of the whole body, and the limiting groove limits the plates of the whole body), so that the rotation of the motor cylinders is limited; the motor cylinder can only move along the inner hole direction of the motor cylinder, and the feeding and discharging device has several problems: 1) because the inner hole 2 of the motor barrel 1 is limited by the bin, and the positioning rod positions the groove of the motor barrel 1, the personnel must align the position when the motor barrel 1 is put into the bin, namely the groove of the motor barrel 1 aligns with the positioning rod and cannot be put into the bin at will, so that the labor force of the personnel is increased; 2) because the locating lever is fixed a position motor barrel 1's recess, both need clearance fit, there is the burr sometimes motor barrel 1's recess department, can cause motor barrel 1 can't remove along 2 directions of hole, and unloader can't normally work. In order to solve these problems, a new loading and unloading device needs to be designed.

Disclosure of Invention

The invention aims to provide an automatic loading and unloading device which can replace manual work to circularly place finished products of a motor cylinder and a motor cylinder to be processed on a vertical numerically controlled lathe, does not need to align the position when the motor cylinder is placed, can move even if burrs are formed at a groove of the motor cylinder at times, and can normally work.

The invention relates to an automatic loading and unloading device of a vertical numerical control lathe of a motor cylinder, which is realized as follows: comprises a stock bin device, a mechanical arm device, a rotating device, a movable plate and a frame; the movable plate is fixedly connected to movable clamping jaws of a chuck of the vertical numerically controlled lathe, the movable plate is provided with an arc end, and the arc end clamps an inner hole of the motor cylinder (the movable clamping jaws are separated from the arc end by the chuck) in operation by the action of the chuck; the bin device comprises a motor, an optical axis, a bin plate and a ball screw pair; the motor is fixedly connected to the frame, and a shaft of the motor is fixedly connected with a ball screw in the ball screw pair; a ball screw in the ball screw pair and the frame form a rotating pair, and a screw nut in the ball screw pair I is fixedly connected with the bin plate; the bin plate is arranged on the rack and forms a sliding pair with the rack; the optical axis is fixedly connected to the rack and is used for positioning an inner hole of the motor cylinder; the manipulator device comprises a first cylinder, a second cylinder, a first moving plate, a third moving plate, a second moving plate, a third cylinder and a pneumatic claw; the first air cylinder is fixedly connected to the rack, the moving direction of the first air cylinder is the left-right direction, and a moving rod of the first air cylinder is fixedly connected with the first moving plate; the first moving plate is arranged on the rack and forms a moving pair with the rack; the second air cylinder is fixedly connected to the first moving plate, the moving direction of the second air cylinder is the left-right direction, and a moving rod of the second air cylinder is fixedly connected with the second moving plate; the second moving plate is arranged on the rack and forms a moving pair with the rack; the third air cylinder is fixedly connected to the second moving plate, the moving direction of the third air cylinder is the up-down direction, and a moving rod of the third air cylinder is fixedly connected with the third moving plate; the third moving plate is arranged on the second moving plate and forms a moving pair with the second moving plate; the pneumatic claw is fixedly connected to the third moving plate; the rotating device comprises a sliding table cylinder I, a sliding table cylinder II, a rotating cylinder and a rotating plate; the first sliding table cylinder is fixedly connected to the rack; the sliding table cylinder II is fixedly connected to a movable sliding table of the sliding table cylinder I; the rotary cylinder is fixedly connected to a movable sliding table of the sliding table cylinder II; the rotating plate is fixedly connected to a rotating rod of the rotating cylinder and is provided with a rotating end; when the first sliding table cylinder and the second sliding table cylinder do not extend out of the movable sliding table, the rotating plate faces the motor cylinder which is positioned and arranged at the movable plate, at the moment, the first sliding table cylinder extends out of the movable sliding table, the rotating end enters the whole body of the motor cylinder, the rotating end is located at the upper end and the lower end of a whole body plate of the motor cylinder, the second sliding table cylinder extends out of the movable sliding table, the rotating end moves to drive the motor cylinder to move out of the movable plate, then the rotating cylinder rotates the rotating rod, and the rotating end rotates to drive the motor cylinder to rotate, so that the motor cylinder can rotate reversely to perform next; the manipulator device has three working positions, namely a starting position, an end position and a finished product placing position; when the pneumatic device is at the initial position, the first air cylinder and the second air cylinder do not extend out of the moving rod, the pneumatic claw is positioned right above an inner hole of the motor cylinder arranged on the stock bin device, the third air cylinder extends out of the moving rod and can move the pneumatic claw to the inner hole of the uppermost motor cylinder on the stock bin device, and the pneumatic claw acts to clamp the uppermost motor cylinder; when the motor barrel is positioned at the end point position, the first air cylinder and the second air cylinder extend out of the movable rod, the air claw is positioned right above the movable plate on the chuck, and the third air cylinder extends out of the movable rod and can place the motor barrel clamped by the air claw at the movable plate; when the finished product is placed, the first air cylinder does not extend out of the moving rod and the second air cylinder extends out of the moving rod, a finished product bin is placed below the air claw, and the air claw loosens the processed motor cylinder and falls into the finished product bin.

The invention has the beneficial effects that: the utility model provides an automatic unloader goes up can replace artifical motor section of thick bamboo and the motor section of thick bamboo finished product of getting of putting the processing in circulation on vertical numerical control lathe, need not aim at the position when laying the motor section of thick bamboo moreover, even there is the burr in the groove department of motor section of thick bamboo sometimes, the motor section of thick bamboo also can move, automatic unloader can normally work.

Drawings

The invention is further described below with reference to the accompanying drawings.

FIG. 1 is a schematic view of a motor barrel to be processed in the present invention.

Fig. 2 is a schematic view of the overall structure of the present invention.

FIG. 3 is a schematic structural view of a vertical numerically controlled lathe according to the present invention.

FIG. 4 is a schematic view of the movable plate of the vertical numerically controlled lathe of the present invention.

FIG. 5 is a schematic view of the electric cylinder of the vertical numerically controlled lathe of the present invention mounted on a movable plate.

Fig. 6 to 8 are schematic structural views of the bin device of the present invention.

Fig. 9 to 10 are schematic structural views of the robot device according to the present invention.

Fig. 11 is a schematic view of the structure of the rotating device of the present invention.

Fig. 12 is a schematic diagram of the relative position of the robot device and the magazine device in the starting position of the present invention.

FIG. 13 is a schematic view showing the relative position of the robot device to the vertical numerically controlled lathe at the end position in the present invention.

FIG. 14 is a schematic view showing a simple structure of the relative position between the rotating device and the vertical numerically controlled lathe according to the present invention.

In the figure:

1: a motor barrel 2: an inner hole 3: the stock bin device 4: the manipulator device 5: vertical numerically controlled lathe 6: the rotating device 7: and (4) a finished product bin 8: the movable plate 9: the chuck 10: arc end 11: the motor 12: optical axis 13: the silo plate 14: ball screw 15: the feed screw nut 16: the first air cylinder 17: a second air cylinder 18: moving the first plate 19: moving plate III 20: moving a second plate 21: and a third air cylinder 22: the gas claw 23: the sliding table cylinder I24: a second sliding table cylinder 25: the rotary cylinder 26: rotation plate 27: and a rotating end.

Detailed Description

Fig. 2 to 14 are schematic structural views of an automatic loading and unloading device of a vertical numerically controlled lathe for a motor cylinder according to the present invention. As shown in the figure, the automatic loading and unloading device of the motor cylinder vertical type numerical control lathe comprises a stock bin device 3, a manipulator device 4, a rotating device 6, a movable plate 8 and a rack; as shown in fig. 3 to 5, the movable plate 8 is fixedly connected to a movable jaw of a chuck 9 of the vertical numerically controlled lathe 5, the movable plate 8 is provided with an arc end 10, and when the lathe works, the chuck 9 acts to enable the arc end 10 to clamp the inner hole 2 of the motor cylinder 1 (the chuck 9 enables the movable jaw to relatively separate the arc end 10 to clamp the inner hole 2 of the motor cylinder 1); as shown in fig. 6 to 8, the bin device 3 includes a motor 11, an optical axis 12, a bin plate 13, and a ball screw pair; the motor 11 is fixedly connected to the frame, and a shaft of the motor 11 is fixedly connected with a ball screw 14 in the ball screw pair; a ball screw 14 in the ball screw pair and the frame form a rotating pair, and a screw nut 15 in the ball screw pair I is fixedly connected with the bin plate 13; the bin plate 13 is arranged on the frame and forms a moving pair with the frame; the optical axis 12 is fixedly connected to the frame, and the optical axis 12 locates the inner hole 2 of the motor barrel 1 (as shown in fig. 8); as shown in fig. 9 to 10, the manipulator device 4 includes a first cylinder 16, a second cylinder 17, a first moving plate 18, a third moving plate 19, a second moving plate 20, a third cylinder 21, and a pneumatic claw 22; the first air cylinder 16 is fixedly connected to the rack, the moving direction of the first air cylinder 16 is the left-right direction, and a moving rod of the first air cylinder 16 is fixedly connected with the first moving plate 18; the first moving plate 18 is arranged on the rack and forms a moving pair with the rack; the second cylinder 17 is fixedly connected to the first moving plate 18, the moving direction of the second cylinder 17 is the left-right direction, and a moving rod of the second cylinder 17 is fixedly connected with the second moving plate 20; the second moving plate 20 is arranged on the rack and forms a moving pair with the rack; the third cylinder 21 is fixedly connected to the second moving plate 20, the moving direction of the third cylinder 21 is the up-down direction, and a moving rod of the third cylinder 21 is fixedly connected with the third moving plate 19; the third moving plate 19 is arranged on the second moving plate 20 and forms a moving pair with the second moving plate 20; the pneumatic claw 22 is fixedly connected to the third moving plate 19; as shown in fig. 11, the rotating device 6 includes a first slide cylinder 23, a second slide cylinder 24, a rotating cylinder 25 and a rotating plate 26; the sliding table cylinder I23 is fixedly connected to the rack; the second sliding table cylinder 24 is fixedly connected to a movable sliding table of the first sliding table cylinder 23; the rotary cylinder 25 is fixedly connected to the movable sliding table of the sliding table cylinder II 24; the rotating plate 26 is fixedly connected to a rotating rod of the rotating cylinder 25, and a rotating end 27 is arranged on the rotating plate 26; when the first sliding table cylinder 23 and the second sliding table cylinder 24 do not extend out of the movable sliding table, the rotating plate 26 faces the motor barrel 1 positioned and placed at the movable plate 8, at this time, the first sliding table cylinder 23 extends out of the movable sliding table, the rotating end 27 enters the whole body of the motor barrel 1, the rotating end 27 is located at the upper end and the lower end of the whole body plate of the motor barrel 1 (as shown in fig. 14), the second sliding table cylinder 24 extends out of the movable sliding table again, the rotating end 27 moves to drive the motor barrel 1 to move out of the movable plate 8, then the rotating cylinder 25 rotates the rotating rod, and the rotating end 27 rotates to drive the motor barrel 1 to rotate, so that the reverse rotation of the motor barrel; the manipulator device 4 has three working positions, namely a starting position, an end position and a finished product placing position; in the initial position, the first air cylinder 16 and the second air cylinder 17 do not extend out of the moving rod, the air claw 22 is positioned right above the inner hole 2 of the motor cylinder 1 arranged on the stock bin device 3 (as shown in fig. 12), at the moment, the third air cylinder 21 extends out of the moving rod to move the air claw 22 into the inner hole 2 of the uppermost motor cylinder 1 on the stock bin device 3, and the air claw 22 acts to clamp the uppermost motor cylinder 1; in the final position, the first air cylinder 16 and the second air cylinder 17 extend out of the movable rod, the air claw 22 is positioned right above the movable plate 8 on the chuck 9 (as shown in fig. 13), and the third air cylinder 21 extends out of the movable rod to place the motor cylinder 1 clamped by the air claw 22 at the movable plate 8; when the finished product is placed, the first air cylinder 16 does not extend out of the moving rod, the second air cylinder 17 extends out of the moving rod, the finished product bin 7 is placed below the air claw 22, and the air claw 22 loosens the processed motor barrel 1 and falls into the finished product bin 7.

When the automatic loading and unloading device of the motor cylinder vertical type numerical control lathe works, a pneumatic system and a controller are connected, a finished product bin 7 is placed below a gas claw 22 when a manipulator device 4 puts a product, and the automatic loading and unloading device comprises the following steps: 1) initially, a number of motor cartridges 1 to be machined are placed in the starting position on a magazine plate 13 in the magazine unit 3, the optical axis 12 positions the inner bore 2 of the motor cartridge 1, and the device is then opened. 2) At the beginning, the manipulator device 4 is at the initial position, the first air cylinder 16 and the second air cylinder 17 do not extend out of the movable rod, the air claw 22 is positioned right above the inner hole 2 of the motor cylinder 1 arranged on the stock bin device 3 (as shown in fig. 12), the third control air cylinder 21 extends out of the movable rod, the air claw 22 moves into the inner hole 2 of the uppermost motor cylinder 1 on the stock bin device 3, and the air claw 22 is controlled to move to clamp the uppermost motor cylinder 1; 3) the third control cylinder 21 extends back to the moving rod to move the motor cylinder 1 clamped by the air claw 22 out of the stock bin device 3, namely the uppermost motor cylinder 1 is separated from the optical axis 12; 4) the motor 11 rotates to drive the bin plate 13 to move up by the distance of one motor barrel 1, so that the uppermost motor barrel 1 in the bin device 3 moves up by the distance of one motor barrel 1 to reach the position clamped by the air claw 22; 5) the first control cylinder 16 and the second control cylinder 17 extend out of the movable rod, the manipulator device 4 reaches the end position, the gas claw 22 is located at the chuck 9 of the vertical numerically controlled lathe 5, the gas claw 22 is located right above the movable plate 8 on the chuck 9 (as shown in fig. 13), the third control cylinder 21 extends out of the movable rod, and the motor cylinder 1 clamped by the gas claw 22 is placed at the movable plate 8; 6) the gas claw 22 is controlled to be loosened, the motor barrel 1 is positioned and placed on the movable plate 8, the gas claw three 21 is controlled to extend back to move the rod, the gas claw 22 leaves the motor barrel 1, the gas claw one 16 is controlled to extend back to move the rod, and the gas claw 22 leaves the vertical numerically controlled lathe 5; 7) controlling the chuck 9 to act, clamping a part of the inner hole 2 of the motor barrel 1 by the arc end 10 of the movable plate 8, controlling the working chuck 9 of the vertical numerically controlled lathe 5 to rotate, moving the motor barrel 1 by the turning tool, stopping the rotation of the chuck 9 after a part of the inner hole 2 which is not blocked by the arc end 10 is machined, and returning the turning tool to the original position; 8) When the first sliding table cylinder 23 and the second sliding table cylinder 24 do not extend out of the movable sliding table at the beginning, the rotating plate 26 faces the motor barrel 1 positioned at the position of the movable plate 8, the first sliding table cylinder 23 is controlled to extend out of the movable sliding table, the rotating end 27 enters the whole body of the motor barrel 1, the rotating end 27 is positioned at the upper end and the lower end of a whole body plate of the motor barrel 1 (as shown in fig. 14), the chuck 9 is controlled to act, and the movable plate 8 releases the motor barrel 1; 9) the second sliding table cylinder 24 is controlled to extend out of the movable sliding table, the rotating end 27 moves to drive the motor barrel 1 to move out of the movable plate 8, then the rotating cylinder 25 is controlled to rotate the rotating rod, the rotating end 27 rotates to drive the motor barrel 1 to rotate to the reverse direction, and the machined inner hole 2 of the motor barrel 1 faces the movable plate 8; 10) the sliding table cylinder II 24 is controlled to extend back to the movable sliding table, the rotating end 27 moves to drive the motor barrel 1 to return to the movable plate 8, the chuck 9 is controlled to act, and the arc end 10 of the movable plate 8 clamps the processed inner hole 2 of the motor barrel 1; 11) the first sliding table cylinder 23 is controlled to extend back to move the sliding table, the rotating end 27 is away from the whole body of the motor barrel 1, then the rotating cylinder 25 is controlled to return to rotate the rotating rod, and the rotating device 6 returns to the original position; 12) controlling a working chuck 9 of the vertical numerically controlled lathe 5 to rotate, moving the processing motor barrel 1 by a lathe tool, stopping the rotation of the chuck 9 after the inner hole 2 which is not processed is processed, returning the lathe tool to the original position, controlling the action of the chuck 9, and loosening the finished product of the motor barrel 1 by a movable plate 8; 13) the first control cylinder 16 extends out of the moving rod, the manipulator device 4 reaches a terminal position, the gas claw 22 is located at a chuck 9 of the vertical numerically controlled lathe 5, the gas claw 22 is located right above a movable plate 8 on the chuck 9, the third control cylinder 21 extends out of the moving rod, the gas claw 22 is controlled to act to clamp a finished motor barrel 1 placed at the movable plate 8, then the third control cylinder 21 extends back to the moving rod, and the finished motor barrel 1 clamped by the gas claw 22 is taken away from the movable plate 8; 14) the first control cylinder 16 extends back to move the rod, the manipulator device 4 reaches a finished product placing position, and the gas claw 22 is controlled to be loosened to drop the finished product of the motor barrel 1 into the finished product bin 7 below; 15) the second control cylinder 17 extends back to move the rod, and the manipulator device 4 returns to the initial position; 16) returning to the step 2) to restart the work; 17) after the motor barrels 1 in the bin device 3 are all processed, the motor 11 rotates in the reverse direction, the bin plate 13 returns to the starting point, the step 1) is returned, and the operation is started again, so that the operation is circulated.

The chuck 9 in the vertical numerically controlled lathe 5 in the above technical scheme can be a pneumatic chuck or a hydraulic chuck.

In addition to the above embodiments, the present invention has other embodiments. All technical equivalents and equivalents which may be substituted for one another are intended to fall within the scope of the claims.