JP7167474B2 - Chuck parts changer - Google Patents

Description

TECHNICAL FIELD The present invention relates to a chuck part changing apparatus for automatically changing parts such as jaws of a chuck used in a machine tool.

In chucks used in machine tools, for example, a plurality of jaws for gripping a workpiece are prepared as parts according to the shape and size of the workpiece. It is automatically exchanged by the exchange device. As a jaw changing device, for example, in Patent Document 1, a positioning plate capable of positioning a jaw holder that detachably fixes jaws (jaws) is provided above a chuck at the base of a machine tool, and the jaws are fixed to the chuck. In this case, after the jaw holder is attached to the positioning plate by the robot arm and positioned, the holding state of the jaw by the jaw holder is released, and the jaw is attached to the jaw holder with the locking mechanism on the chuck side released. An invention of an automatic jaw changer is disclosed in which the jaws are moved along slide rails to attachment grooves of the chuck and fixed to the chuck by a lock mechanism.
Further, in Patent Document 2, instead of using such a positioning plate, a nut runner hand and a jaw hand are selectively installed at the tip of a robot arm, and a tool spindle is equipped with a jaw tool. An invention of an automatic change system is disclosed in which a robot arm and a tool spindle jointly change pawls.

JP 2014-237212 A Japanese Patent No. 4955522

In the replacement device of Patent Document 1, the positioning plate is always positioned above the chuck, so there is a risk that the tool will interfere with the tool, and there is also a risk that chips will adhere and the jaw holder will not be able to be positioned smoothly. . In addition, after the jaw holder is fixed to the positioning plate, the jaw is slid on the slide rail provided on the jaw holder to attach and detach the chuck from the mounting groove of the chuck, so it takes time to replace the jaws.
On the other hand, if no positioning plate is provided as in the replacement system of Patent Document 2, interference and time loss will not occur, but high precision is required to accurately position the jaws in the mounting grooves of the chuck and move them linearly. , There is a risk that twisting may occur when inserting into the mounting groove, or insertion may not be possible due to chips.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a chuck part changing apparatus capable of accurately and reliably attaching and detaching parts such as pawls to and from a chuck in a short time.

In order to achieve the above object, the invention according to claim 1 is a chuck part replacement device for attaching and detaching a part to and from a radial attachment groove provided on the front surface of a chuck of a machine tool, the attachment groove comprising: The guide part is located on the outer extension of the mounting groove and can guide the insertion and removal of the part into and out of the mounting groove, and the guide part is positioned on the extension of the rear inner surface of the mounting groove to position the part in the front-rear direction. and a pair of left and right lateral guide surfaces positioned on the extension of the left and right inner surfaces of the mounting groove and positioning the component in the lateral direction, and each lateral guide surface is located near the mounting groove in the guide portion in the component loading/unloading direction. are partially arranged in the same position and in the same shape .
According to a second aspect of the present invention, in the structure of claim 1, an upper inclined surface and a lower inclined surface are formed on the upper and lower sides of the lateral guide surfaces, respectively, for expanding the gap between the lateral guide surfaces in the vertical direction. characterized by
The invention according to claim 3 is characterized in that, in the construction of claim 2, at least the rear guide surface and the lower inclined surface are provided with ejection ports for pressure fluid.
According to a fourth aspect of the present invention, in any one of the first to third configurations, the guide portion is moved between a replacement position on the outer extension of the mounting groove and a retracted position away from the chuck. It is characterized by comprising means.
According to a fifth aspect of the present invention, in the configuration of the fourth aspect, the moving means is a turning arm having a base end rotatably connected to the body of the machine tool and a tip provided with a guide portion. .
According to a sixth aspect of the invention, in the fourth aspect of the invention, the moving means has a base end rotatably connected via a bearing to the outer circumference of the main shaft to which the chuck is attached, and moves radially outward from the base end. It is characterized by comprising a turning board having a guide part provided at a protruding tip, and a rotation control mechanism for rotating the turning board.
The invention according to claim 7 is characterized in that, in the structure according to any one of claims 1 to 6, the guide part is provided with detection means for detecting a component to be inserted into and removed from the mounting groove.

According to the first aspect of the invention, the lateral guide surface and the rear guide surface ensure the guiding of the component to the mounting groove, and the part is partially arranged in the same position near the mounting groove in the guide portion with the same shape. The pair of left and right lateral guide surfaces can shorten the stroke for taking in and out parts. Therefore, the component can be accurately and reliably attached to and detached from the chuck in a short period of time.
According to the invention of claim 2, in addition to the effect of claim 1, the upper and lower inclined surfaces are formed above and below the lateral guide surfaces, respectively, so that the component can enter between the lateral guide surfaces. Even if there is a slight error at the time, it can be corrected by the upper inclined surface or the lower inclined surface, and can be reliably guided by the lateral guide surface.
According to the invention of claim 3, in addition to the effect of claim 2, by providing the ejection port for the pressure fluid in the rear guide surface and the lower inclined surface, the pressure fluid is blown out from the ejection port when replacing the part. Chips and the like adhering to the parts can be removed by the pressurized fluid.
According to the invention of claim 4, in addition to the effect of any one of claims 1 to 3, the guide part is moved between the replacement position on the outer extension of the mounting groove and the retracted position away from the chuck. By providing the moving means for moving the tool, it is possible to reduce the possibility that the guide portion will interfere with the tool or that chips will adhere to it.
According to the fifth aspect of the invention, in addition to the effect of the fourth aspect, since the moving means is a turning arm, the moving means can be formed in a small space, and the guide portion can be separated greatly.
According to the sixth aspect of the invention, in addition to the effect of the fourth aspect, the moving means is configured to include a swivel plate and a rotation control mechanism which are connected to the outer periphery of the main shaft via bearings. , the moving means can be formed in a space-saving and compact manner in the fuselage.
According to the invention of claim 7, in addition to the effect of any one of claims 1 to 6, by providing the detection means for detecting the part in the guide part, the presence or absence of the part can be detected when the part is attached or detached. It can be confirmed and can be securely attached and detached.

It is an explanatory view of the chuck viewed from the front in the machine body (jaw exchange arm is in the retracted position). FIG. 4 is a plan view of the chuck (jaw exchange arm is at retracted position); (A) is a plan view of the chuck with the jaw changing arm at the changing position, and (B) is a front view thereof. 4 is a cross-sectional view taken along line AA of FIG. 3; FIG. It is a perspective view showing a guide piece. It is explanatory drawing which shows the state of the lock mechanism at the time of taking out a nail|claw. It is explanatory drawing which shows the relationship with the guide part at the time of taking out a nail|claw, (A) is the sliding state of a nail|claw upward, (B) is the removal state of a nail|claw to the front. It is a front view of the chuck when attaching the jaws. FIG. 10 is an explanatory diagram showing the state of the lock mechanism when attaching the pawl. FIG. 10 is an explanatory diagram showing the state of the lock mechanism when attaching the pawl. It is explanatory drawing which shows the example of a change of a guide piece. It is explanatory drawing which shows the example of a change of a guide piece. It is explanatory drawing which shows the example of a change of a rear guide surface. It is explanatory drawing of the jaw|jaw exchange apparatus of a modification, (A) shows the plane of the chuck|zipper which set the rotating plate as the exchange position, and (B) shows the front. FIG. 4 is a front view of the chuck with the swivel at the retracted position; FIG. 14(B) is a view of the guide portion viewed from the arrow A. FIG. FIG. 4 is a front view of a stopper exchange arm and a chuck;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram of a chuck viewed from the front in a body of a machine tool such as an NC lathe, FIG. 2 is a plan view of the chuck, and FIG. 3 is a plan view of the chuck during jaw replacement. In FIG. 1, 1 is a machine body, 2 is a chuck for gripping a work, 3 is a cover for partitioning a machining space, and 4 is a claw changing arm as a parts changing device.
First, as shown in FIG. 4, the chuck 2 is provided at the tip of a main shaft (not shown) provided in the machine body 1, and has a circular base 5 when viewed from the front. Three master jaws 7, 7, . It has three mounting grooves 8, 8, .

The pawl 9 comprises a base jaw 10 having the same cross-sectional shape as the mounting groove 8 and a top jaw 11 fixed to the front surface of the base jaw 10 with a bolt. , and is fixed to the master jaw 7 by being locked by a lock mechanism 12 provided in the master jaw 7 .
Here, when the plunger 6 retreats, each master jaw 7 moves to the axial center side, moving the claws 9 together so that the outer diameter of the workpiece can be gripped. Move to unclamp the workpiece.

The lock mechanism 12 includes an engagement block 13 having a rack 14 on the front surface, a lock pin 15 provided on the upper front side of the engagement block 13, and an unlock pin 16 provided on the rear side of the engagement block 13. Equipped with
The engaging block 13 is provided in the master jaw 7 and has a front end communicating with the mounting groove 8 in a front-rear accommodation chamber 17. The rack 14 projects into the mounting groove 8 in a forward position, and the rack 14 projects into the mounting groove 8. It is housed so as to be able to move back and forth between a retracted position retracted from inside 8 . A mortar-shaped locking recess 18 positioned below the lock pin 15 is formed on the upper surface of the engaging block 13, and an inclined groove 19 inclined downward from the rear surface is formed in the rear portion.

The lower end of the lock pin 15 is tapered to match the shape of the locking recess 18, and the front surface of the lock pin 15 is formed with a vertical recess in which a stopper screw 20 that is screwed into the master jaw 7 from the front is locked. 21 is formed. Therefore, the lock pin 15 can move up and down while being prevented from coming off from the master jaw 7 .
When the engagement block 13 is in the advanced position, the lock pin 15 can be lowered to the lock position where the lower end thereof is locked in the lock recess 18 by positioning the lock recess 18 directly below. At this time, the upper end of the lock pin 15 is substantially flush with the upper surface of the master jaw 7 . Conversely, when the engagement block 13 is in the retracted position, the locking recess 18 is shifted slightly rearward from the bottom, and the front end is locked in the locking recess 18 to reach the unlocked position. At this time, the upper end of the lock pin 15 protrudes from the upper surface of the master jaw 7 .

The lock release pin 16 is vertically movably accommodated in a bottomed hole 22 formed vertically in communication with the accommodating chamber 17 , and its upper end is a large diameter portion 23 formed above the bottomed hole 22 . exposed inside. A guide pin 24 is provided on the side surface of the lock release pin 16 and is laterally inserted into the inclined groove 19 of the engagement block 13 . A positioning recess 25 (FIG. 2) is formed adjacent to the large diameter portion 23 on the upper surface of the master jaw 7 .
Therefore, when the unlocking pin 16 descends, the guide pin 24 relatively descends along the inclined groove 19, thereby retracting the engaging block 13 to the retracted position. At this unlocked position, the upper end of the unlocking pin 16 is below the upper surface of the master jaw 7 and is recessed into the large diameter portion 23 . Conversely, when the engagement block 13 advances to the forward position, the guide pin 24 rises relatively along the inclined groove 19 to raise the lock release pin 16 . At this locked position, the upper end of the unlocking pin 16 is substantially flush with the upper surface of the master jaw 7 .

The claw exchange arm 4 includes an arc-shaped swivel arm 30 as a moving means whose lower end is rotatably connected to the machine body 1 and a guide portion 31 which is linked to the upper end of the swivel arm 30 .
First, the swivel arm 30 is moved to a retracted position where the guide portion 31 is positioned outside the cover 3 as shown in FIG. The guide part 31 entered into the machining space 2 is rotatable between a replacement position positioned above the chuck 2 in a non-contact state. An air supply path (not shown) for supplying compressed air to the guide portion 31 is provided in the swivel arm 30 .

As shown in FIG. 4, the guide portion 31 is formed by projecting a pair of left and right guide pieces 33, 33 from the front surface of a rectangular block-shaped main body 32. Inside the main body 32, locking cylinders 34 are arranged in the front and rear directions. and an unlocking cylinder 35 are provided.
First, the front locking cylinder 34 is an air cylinder positioned above the axis of the lock pin 15 of the lock mechanism 12 at the replacement position. It has an upper rod 38 and a lower rod 39 passing through 32 . By supplying compressed air to the cylinder chamber 36 , the piston 37 moves between a bottom dead center where the lower rod 39 contacts the upper surface of the master jaw 7 and a top dead center where the lower rod 39 separates upward from the upper surface of the master jaw 7 . It is designed to move between points. An object to be detected 40 is attached to the upper end of the upper rod 38, and the object to be detected 40 is detected by upper and lower proximity sensors 41, 41 provided on the upper surface of the main body 32. is detectable.

The rear lock release cylinder 35 is an air cylinder positioned behind the center of the upper surface of the master jaw 7 at the replacement position, and is provided with a piston 43 in a cylinder chamber 42 and below the piston 43 to move the main body 32. and a push rod 44 extending therethrough. A lower end of the pressing rod 44 is connected by a bolt 47 to a pressing block 46 that can move up and down within a guide recess 45 provided on the lower surface of the main body 32 . By supplying compressed air into the cylinder chamber 42 , the piston 43 moves between the bottom dead center at which the pressing block 46 protrudes from the bottom surface of the main body 32 and the top dead center at which the pressing block 46 sinks into the guide recess 45 . It is designed to move.
The front portion of the pressing block 46 overlaps the upper surface of the master jaw 7, and the lower surface of the pressing block 46 includes a pressing projection 48 corresponding to the bottomed hole 22 of the master jaw 7 and a positioning projection corresponding to the positioning recess 25. 49 are arranged side by side.

The pressing projection 48 and the positioning projection 49 enter the large-diameter portion 23 of the bottomed hole 22 and the positioning recess 25 respectively at the bottom dead center of the pressing block 46. Here, the positioning projection 49 presses. It is formed longer downward than the projection 48 . That is, when the pressing block 46 descends from the top dead center, the positioning projection 49 first enters the positioning recess 25 to position the master jaw 7 with respect to the guide portion 31 , and then the pressing projection 48 moves toward the large diameter portion 23 . It is designed to enter. The lower end of the positioning projection 49 is tapered to a point.

The guide pieces 33, 33 are formed so that the inner width is wider than the lateral width of the base jaw 10. However, as shown in FIG. Protruding guide projections 50 , 50 are formed, and rectangular lateral guide surfaces 51 , 51 are formed on the guide projections 50 , 50 , the inner dimension of which is set according to the lateral width of the base jaw 10 . On the upper side of each guide projection 50, an upper inclined surface 52 is formed that gradually protrudes inward as it goes downward and continues to the lateral guide surface 51, and below each guide projection 50, gradually goes upward. A lower inclined surface 53 that protrudes inward and is continuous with the lateral guide surface 51 is formed. The left and right upper inclined surfaces 52, 52 widen the space between the lateral guide surfaces 51, 51 upward, and the left and right lower inclined surfaces 53, 53 widen the space between the lateral guide surfaces 51, 51 downward. It is designed to open.

A pair of front tapered surfaces 54, 54 are formed on the inside of the front ends of the guide pieces 33, 33, and the inner side of the guide pieces 33, 33 widens toward the front. A pair of stepped portions 55 , 55 having rear guide surfaces 56 , 56 extending over the entire length of the guide piece 33 perpendicularly to 51 are formed.
The lateral guide surfaces 51, 51 here are located below the middle position in the vertical direction of the rear guide surfaces 56, 56, and the vertical length of each lateral guide surface 51 is equal to the vertical length of the rear guide surface 56. less than half.

In the machine tool constructed as described above, first, when removing the jaws 9 from the chuck 2, the jaw replacement arm 4 is moved from the retracted position to the replacement position shown in FIGS. , the piston 43 on the unlocking cylinder 35 side is lowered from the top dead center, and the pressing rod 44 and the pressing block 46 are lowered. Then, as described above, the positioning projection 49 is first inserted into the positioning recess 25 to position the master jaw 7 with respect to the guide portion 31, and then the pressing projection 48 enters the large diameter portion 23 at the bottom dead center. Push the unlocking pin 16 to the unlocking position. As a result, the guide pin 24 descends the inclined groove 19 to retract the engaging block 13 to the retracted position, thereby separating the rack 14 from the rack 10a provided on the rear surface of the base jaw 10. As shown in FIG. When the engagement block 13 is retracted and the locking recess 18 is retracted, the lock pin 15 is guided by the locking recess 18 to move to the unlocked position where the upper end protrudes.

In this state, a robot arm (not shown) holds the top jaw 11 and slides the claw 9 upward along the mounting groove 8 . Then, as shown in FIG. 7A, the base jaw 10 protruding from the mounting groove 8 is fitted between the guide projections 50, 50, and the left and right side surfaces are brought into contact with the lateral guide surfaces 51, 51. and both sides of the rear surface are brought into contact with the rear guide surfaces 56 , 56 . Therefore, the claw 9 is pulled out straight from the mounting groove 8 without being twisted by the base jaw 10 being guided by the lateral guide surfaces 51, 51 and the rear guide surfaces 56, 56. - 特許庁When the base jaw 10 enters between the lateral guide surfaces 51, 51, the position is corrected by the lower inclined surfaces 53, 53 even if there is a slight lateral error.

When the base jaw 10 crosses over the lateral guide surfaces 51, 51, it reaches between the guide pieces 33, 33, which are wider than the lateral guide surfaces 51, 51. Therefore, as shown by the arrow in FIG. 6 and FIG. , 33, the base jaw 10 can be extracted forward. Therefore, it is not necessary to move the claw 9 above the gap between the guide pieces 33, 33, and the claw 9 can be removed with a short stroke.

On the other hand, when attaching a new claw 9, as shown in FIG. It is made to enter between 33 and 33 from the front to bring both sides of the rear surface of the base jaw 10 into contact with the rear guide surfaces 56 and 56 . Then, when the claw 9 is slid downward, the base jaw 10 is fitted between the guide projections 50, 50 so that the left and right side surfaces abut between the lateral guide surfaces 51, 51. As shown in FIG. Therefore, as shown in FIG. 9, the base jaw 10 is guided by the lateral guide surfaces 51, 51 and the rear guide surfaces 56, 56 so that the pawl 9 descends in a straight line and is guided into the mounting groove 8 without twisting. be killed. When the base jaw 10 enters between the lateral guide surfaces 51, 51, the position is corrected by the upper inclined surfaces 52, 52 even if there is a slight lateral error.

After the base jaw 10 has entered the mounting groove 8, the piston 37 on the side of the locking cylinder 34 is lowered from the top dead center as shown in FIG. Push it into the master jaw 7 to the locked position. Then, the lower end of the lock pin 15 engages with the locking recess 18 to move the engaging block 13 to the forward position along the shape of the locking recess 18, thereby engaging the rack 14 with the rack 10a of the base jaw 10. Let At this time, the piston 43 is pulled up to the top dead center of the lock release cylinder 35, and the pressing rod 44 and the pressing block 46 are retracted to the top dead center. Therefore, as the engagement block 13 advances, the guide pin 24 rises within the inclined groove 19, thereby returning the lock release pin 16 to the locked position.
By rotating the chuck 2 to sequentially index the mounting grooves 8 downward from the guide portion 31 and repeating the above procedure, all the claws 9 can be replaced.

Thus, according to the pawl replacement arm 4 of the above-described embodiment, the guide portion 31 is provided on the outer extension of the mounting groove 8 and can guide the insertion and withdrawal of the pawl 9 into and out of the mounting groove 8. A rear guide surface 56 positioned on the extension of the rear inner surface of the groove 8 for positioning the claw 9 in the front-rear direction, and a left and right pair positioned on the extension of the left and right inner surfaces of the mounting groove 8 for positioning the claw 9 in the left-right direction. , and the lateral guide surface 51 is partially arranged at a position near the mounting groove 8 in the guide portion 31 in the direction in which the claw 9 is put in and taken out, so that the lateral guide surface 51 and the rear While securing the guide of the claw 9 with respect to the mounting groove 8 with the guide surface 56, the stroke of putting in and out the claw 9 can be shortened. Therefore, the claws 9 can be accurately and reliably attached to and detached from the chuck 2 in a short period of time.

Especially here, since the length of the lateral guide surface 51 is half or less than the length of the rear guide surface 56, the stroke of putting in and out the pawl 9 can be made shorter.
In addition, since an upper inclined surface 52 and a lower inclined surface 53 are formed on the upper and lower sides of the horizontal guide surface 51 to vertically widen the interval between the horizontal guide surfaces 51 , 51 , the claws 9 are arranged on the horizontal guide surface 51 . , 51, it can be corrected by the upper inclined surface 52 or the lower inclined surface 53, and can be reliably guided by the lateral guide surfaces 51, 51. - 特許庁

By providing a moving means (swivel arm 30) for moving the guide portion 31 between a replacement position on the outer extension of the mounting groove 8 and a retracted position away from the chuck 2, the guide portion 31 can be Eliminates the risk of interference with tools and adhesion of chips.
Further, as a means for moving the guide part 31, the base end is rotatably connected to the machine body 1, and the tip part is provided with the guide part 31, so that the turning arm 30 is used. can be separated greatly.

The length of the lateral guide surface in the direction in which the pawl is put in and taken out is not limited to the above embodiment, and may be increased or decreased as long as it is less than half the length of the rear guide surface. Moreover, it is also possible to intermittently arrange a plurality of lateral guide surfaces in the loading/unloading direction without being limited to the form in which the lateral guide surfaces are formed on one plane. The same applies to the rear guide surface. Furthermore, only one of the upper and lower inclined surfaces may be provided, or both of them may be omitted.

Then, as in the guide portion 31 shown in FIG. 11, a plurality of air ejection ports 57, 57, . . . A plurality of air ejection ports 58, 58, . Compressed air is blown out from these ejection ports 57 and 58 through an air supply passage (not shown) provided in the swivel arm 30 and the guide portion 31 from a timing before the base jaw 10 reaches the lateral guide surfaces 51 and 51. You should let it run.
In this way, if the rear guide surface 56 and the upper and lower inclined surfaces 52 and 53 are provided with the ejection ports 57 and 58 for air as pressure fluid, the ejection ports 57 and 58 can be used when the pawl 9 is moved in and out of the mounting groove 8 . , 58 can remove chips and the like adhering to the claws 9 . The position and number of the ejection ports can be changed as appropriate, and the ejection ports 57 on the upper inclined surface 52 side may be omitted. Coolant or the like can also be used as the pressure fluid.

In addition, although the guide pieces are provided over the entire length of the main body of the guide portion in the above embodiment, the guide pieces 33, 33 are provided only at the guide protrusions 50, 50 as shown in FIG. can also be made shorter.
By doing so, the vertical dimension of the guide pieces 33, 33 themselves can be shortened, and the degree of freedom in the direction in which the claw 9 can be moved in and out between the guide pieces 33, 33 is increased.
Further, the rear guide surfaces 56, 56 need not be provided over the entire length of the main body 32 of the guide portion 31. For example, as shown in FIG. It is also possible to partially provide the portions 55 , 55 and use only the front surfaces of the stepped portions 55 , 55 as the rear guide surfaces 56 , 56 . The stepped portion 55 may be formed long up to the lower end of the main body 32 .

On the other hand, the internal structure of the main body of the guide portion can also be appropriately changed in accordance with the lock mechanism on the chuck side, and the swivel arm can also be L-shaped or straight instead of arc-shaped. Of course, the moving means is not limited to such a turning arm, and an actuator such as a ball screw may be used to linearly move the guide portion between the replacement position and the retracted position.
Further, the retracted position of the guide portion is not limited to the outside of the machine body, and may be set inside the machine body if there is no risk of interference with the tool.

FIG. 14 shows an example of the claw changing device 65 in which the retracted position is inside the machine body, where (A) shows the plane and (B) shows the front.
In this pawl changing device 65, a swivel plate 66 and an air cylinder 67 as a rotation control mechanism are used as moving means. First, the swivel base 66 has a ring-shaped base end portion 68 that is rotatably mounted via a bearing 61 on the outer periphery of the tip end of the spindle 60 to which the chuck 2 is attached, and a tip end portion 69 that protrudes radially from the center of rotation. A guide portion 31 is provided on the front surface. A projecting piece 70 projecting radially outward is formed on the outer circumference of the base end portion 68 on the side opposite to the tip portion 69 with respect to the center of rotation.
Furthermore, the base end of the cylinder 71 of the air cylinder 67 is rotatably connected to the body, and the tip of the piston rod 72 projecting from the cylinder 71 is rotatably connected to the front surface of the projecting piece 70 . However, the rotation control mechanism is not limited to an air cylinder, and actuators such as hydraulic cylinders and ball screws as well as gears and cam mechanisms may be used.

Here, when the piston rod 72 of the air cylinder 67 is extended, the swivel board 66 is moved to the exchange position where the guide portion 31 provided at the tip portion 69 is on the upper extension of the upper mounting groove 8, as shown in FIG. When the piston rod 72 is turned and the piston rod 72 is retracted, the guide portion 31 is turned to the retracted position away from the upper extension of the mounting groove 8 as shown in FIG. 15 .
16, an inverted L-shaped bracket 73 is fixed to the lower surface of the main body 32 of the guide portion 31 with a bolt 74, and a sensor 75 as a detection means is attached to the lower end of the bracket 73. , installed with the detection surface facing forward. This sensor 75 has its detection surface positioned on the extension of the rear surface of the mounting groove 8 at the replacement position of the turning board 66, and detects the movement of the base jaw 10 of the pawl 9 in and out of the mounting groove 8. 14B, part of the top jaw 11 is cut away to show the sensor 75.) For example, a contact type switch such as a ball plunger switch is used, but a non-contact type switch is used. good too.

Therefore, when removing the jaws 9 from the chuck 2 in the jaw changing device 65, the piston rod 72 of the air cylinder 67 is extended to move the swivel plate 66 from the retracted position shown in FIG. 15 to the changing position shown in FIG. .
Next, as in the previous embodiment, the piston 43 on the unlocking cylinder 35 side is lowered from the top dead center by the guide portion 31 to move the lock pin 15 to the unlocking position. The claw 9 can be removed by gripping the top jaw 11 and sliding the claw 9 upward along the mounting groove 8 as shown in FIG. At this time, by detecting the movement of the base jaw 10 with the sensor 75, the removal of the claw 9 can be confirmed.

On the other hand, when attaching a new claw 9, the robot arm moves the claw 9 gripping the top jaw 11 from the front between the guide pieces 33, 33 with the base jaw 10 behind. When the claw 9 is slid downward after both sides of the rear surface are brought into contact with the rear guide surfaces 56 , 56 , the claw 9 descends in a straight line and is guided into the mounting groove 8 . Here too, by detecting the movement of the base jaw 10 with the sensor 75, the insertion of the claw 9 can be confirmed.
After that, when the piston 37 on the locking cylinder 34 side is lowered from the top dead center and the lock pin 15 is pushed to the locked position in the master jaw 7, the engagement block 13 advances and the claw 9 is locked.
By rotating the chuck 2 to sequentially index the mounting grooves 8 downward from the guide portion 31 and repeating the above procedure, all the claws 9 can be replaced.

As described above, in the claw changing device 65 of the modified example, the claws 9 can be attached to and detached from the chuck 2 accurately and reliably in a short period of time.
In particular, here, the moving means is guided to a distal end portion 69 whose proximal end portion 68 is rotatably connected via a bearing 61 to the outer circumference of the main shaft 60 to which the chuck 2 is attached and protrudes radially outward from the proximal end portion 68. Since it includes the turning board 66 provided with the part 31 and the air cylinder 67 for rotating the turning board 66, the moving means can be compactly formed in a space-saving manner in the machine body.
In addition, since the guide portion 31 is provided with a sensor 75 for detecting the claw 9 inserted into and retracted from the mounting groove 8, the presence or absence of the claw 9 can be confirmed when attaching and detaching the claw 9, and attachment and detachment can be performed reliably. .
The detection means is not limited to the sensor, and a microswitch or the like can be employed, and detection of the claw by the detection means can also be performed in the above-described embodiment using the claw changing arm. However, the detection means can be omitted.

Furthermore, in the above-described forms and modifications, the jaws are replaced by indexing the mounting groove upward. However, it is possible to replace the claws in the same way.
In addition, in the above embodiment, the jaws are removed and attached to the chuck one by one, but first, all the jaws are removed from the chuck by the robot arm without using the jaw changing arm or the jaw changing device. After that, the procedure for continuously attaching the claws by using the claw changing arm or the claw changing device may be performed.

Then, as shown in FIG. 17, the chuck 2A has radial mounting grooves 8a, 8a, . . . provided on the front surface of the chuck 2A. In some cases, stoppers 80, 80, .
For such a chuck 2A as well, a stopper exchange arm having a guide portion 31 having rear guide surfaces 56, 56 and partial lateral guide surfaces 51, 51 corresponding to the rear surface and left and right side surfaces of the stopper 80 is provided. If 4A is used, the stopper 80 can be replaced as in the case of the pawl. That is, the lateral guide surface 51 and the rear guide surface 56 can ensure the guide of the stopper 80 with respect to the mounting groove 8a, and the stroke for inserting and removing the stopper 80 can be shortened. 2A can be attached and detached.
It should be noted that it is possible to confirm the presence or absence of the parts by adopting the detecting means even when replacing the parts other than the claws.

1 fuselage 2, 2A chuck 3 cover 4 jaw replacement arm 4A stopper replacement arm 5 base 6 plunger 7 master jaw 8, 8a Mounting groove 9 Claw 10 Base jaw 11 Top jaw 12 Lock mechanism 13 Engagement block 14 Rack 15 Lock pin 16 Lock Releasing pin 18 Engagement recess 19 Inclined groove 22 Bottomed hole 23 Large diameter portion 24 Guide pin 25 Positioning recess 30 Rotating arm 31 Guide part 32 Main body 33 Guide piece 34 Locking cylinder 35 Unlocking cylinder 36, 42 Cylinder chamber 37, 43 Piston 38 Upper rod , 39 Lower rod 44 Pushing rod 45 Guide recess 46 Pushing block 48 Pushing projection 49 Positioning projection 50 Guide projection 51 Lateral guide surface , 52... Upper inclined surface, 53... Lower inclined surface, 55... Stepped portion, 56... Rear guide surface, 57, 58... Jet port, 60... Main shaft, 61... Bearing, 65... Claw EXCHANGE DEVICE 66 Swivel board 67 Air cylinder 68 Base end 69 Tip end 72 Piston rod 73 Bracket 75 Sensor 80 Stopper 81 ..Positioning protrusion.

Claims (7)

A chuck part replacement device for attaching and detaching a part to and from a radial attachment groove provided on the front surface of the chuck of a machine tool,
a guide portion positioned on an outer extension of the mounting groove and capable of guiding the component in and out of the mounting groove;
The guide portion includes a rear guide surface positioned on the extension of the rear inner surface of the mounting groove to position the component in the front-rear direction, and a rear guide surface positioned on the extension of the right and left inner surfaces of the mounting groove to position the component in the left-right direction. A pair of left and right lateral guide surfaces positioned by
2. A chuck component replacement device , wherein each of said lateral guide surfaces is partially arranged in the same position near said mounting groove in said guide portion in the direction in which said component is taken in and out, and has the same shape . 2. The chuck parts replacement according to claim 1, wherein upper and lower inclined surfaces are formed on the upper and lower sides of the lateral guide surfaces, respectively, for vertically expanding the interval between the lateral guide surfaces. Device. 3. The apparatus for replacing parts of a chuck according to claim 2, wherein at least said rear guide surface and said lower inclined surface are provided with ejection ports for pressure fluid. 4. The apparatus according to any one of claims 1 to 3, further comprising moving means for moving the guide portion between a replacement position on the outer extension of the mounting groove and a retracted position away from the chuck. Parts changer for the described chuck. 5. The apparatus for replacing parts of a chuck according to claim 4, wherein said moving means is a swing arm having a base end rotatably connected to the body of said machine tool and a tip end provided with said guide portion. The moving means has a base end portion rotatably connected via a bearing to the outer periphery of the main shaft to which the chuck is attached, and a rotating body provided with the guide portion at a tip portion protruding radially outward from the base end portion. 5. The chuck component replacement apparatus according to claim 4, further comprising a board and a rotation control mechanism for rotating said turning board. 7. The chuck component replacement apparatus according to claim 1, wherein said guide portion is provided with detection means for detecting said component being put in and taken out of said mounting groove.

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