JPH04111753A - Planning method in numerically controlled lathe - Google Patents

Abstract

PURPOSE:To convey and deliver a workpiece and a replacement article by a single conveying means by mounting a holding device, for the workpiece and the replacement article, to the conveying means, and performing conveyance- deliveries of the workpiece to a workpiece spindle and the replacement article to a planned device. CONSTITUTION:A workpiece storage means of pallet 119 or the like, in which a plurality of workpieces 120 are stored, is provided, and a holding device storage means of stocker 41 or the like, which stores a holding device for a replacement article, including a chuck pawl 116 and a tool 117, and for the workpiece of workpiece hand 76, hand pawl, etc., and a holding device for the replacement article of a seal hand 69, chuck pawl hand 72, etc., is provided. The workpiece holding device and the replacement article holding device are mounted in accordance with the workpiece 120 and the replacement article to be held to a conveying means 61 to perform conveyance-delivery of the workpiece 120 to a workpiece spindle by holding the workpiece 120, and the replacement article is held by the replacement article holding device and conveyance-delivered to a planned device by moving a turret in the X-axis direction or indexing a chuck.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Application Field The present invention is a numerically controlled lathe, in which a "workpiece" and "replacement articles" such as tools and chuck jaws are transported by a single transport means. Regarding setup methods.

In this specification, the term "replacement article" refers to an exchangeable article used during processing on a numerically controlled lathe that is configured to correspond to a predetermined type of work or a predetermined type of processing. Refers to items that can be changed as needed depending on the type of workpiece or type of processing.

(b), Conventional technology Conventionally, in order to machine multiple workpieces on a numerically controlled lathe such as an opposed spindle lathe, unprocessed workpieces are carried into the lathe by a gantry robot, and the carried workpieces are machined. The machined workpieces are carried out from the lathe by the gantry robot, and a plurality of workpieces are continuously machined.

At this time, when processing many types of workpieces, when transporting the workpieces, prepare various workpiece hands with similar structures, as disclosed in JP-A-1-252345, etc., and use the gantry robot. The work hand is replaced as appropriate.

(C) 0 Problems to be Solved by the Invention When machining a workpiece, a predetermined tool necessary for machining is selected from several types of tools equipped on the turret, but the workpiece to be machined is As the number of types increases, the types of tools equipped on the turret may not be sufficient, and the operator must change the turret tools accordingly. In addition, the operator may also have to change the chuck jaws of the workpiece spindle depending on the type of workpiece. Such setup changes are an impediment to unmanned machining, so in order to achieve unmanned processing, it is necessary to automate setup changes. A means for transporting tools, chuck jaws, etc. to and from the storage means is required. However, if a dedicated transport means is provided for each replacement item such as a workpiece, a tool, a chuck jaw, etc., the space occupied by the transport means becomes large and it is not economical.

In addition, the gantry robot that transports the work mentioned above is
Since the travel rail is installed to extend in the axial direction of the workpiece spindle so that the hand of the gantry robot can move forward and backward while facing the workpiece spindle, only the workpiece can be transported.

In addition, when transporting workpieces, even if the type of workpiece is slightly different, such as a difference in workpiece diameter, the entire hand of the gantry robot may need to be replaced, so it is necessary to prepare a large number of hands with similar drive mechanisms. is not economical.

In view of the above circumstances, the present invention provides a setup method for a numerically controlled lathe in which various "workpieces" and "replacement items" such as tools and chuck jaws can be transferred and delivered by a single transfer means. With the goal.

(d) Means for solving the zero problem The present invention provides a turret (21, 22) that is movable in the X-axis direction perpendicular to the workpiece spindle (7, 17), and a workpiece spindle (7, 17). Conveying means that can move freely on parallel axes (
61), and a replacement article (116, 117) is removably attached to the conveying means (61) by a holding device (69, 72) that is configured to be detachably attached and moved in the vertical direction. (9, 19, 21, 22), a workpiece storage means (119) in which a plurality of works (120) are stored as various storage means attached so as to be positionable below the B axis. ), and a replacement article storage means (41) for storing replacement articles (116, 117) including chuck claws and tools individually or together,
Workpiece holding device (120) suitable for holding the workpiece (120)
76° 79) and a holding device storage means (41) for storing a holding device (69, 72) for a replacement article suitable for holding a replacement article (116, 117), and
61), the workpiece to be held (120) or the replacement article (
116, 117), the holding device storage means (4
1) for holding the workpiece (76, 79
) or the holding bag W (69, 72) for the replacement article is attached, and the attached workpiece holding device l (76, 79) of the conveyance means (61) is used to remove the workpiece from the work storage means (119). In the form of holding a workpiece (120).

The workpiece spindle (7, 17) or the transport means (61) is relatively moved to transport and deliver the workpiece (120) to the workpiece spindle (7, 17), and the workpiece (120) is transferred to the workpiece spindle (7, 17).
The holding device (69, 7) for the attached replacement article of 1)
2) moves the workpiece spindle (7, 17) or the transport means (61) in a manner that holds the exchange article (116, 117) from the exchange article storage means (41), and the turret (21, 22) or index the chuck (9, 19) to move the device to be set up (
9, 19, 21, 22) exchange goods (116, 117)
It is configured to carry out the transportation and delivery of items.

Further, the present invention provides the workpiece holding device (76, 79
) and the exchange article holding device (69, 72) are provided with individual data storage means (69a, 72a, 76a, 79a), and the individual data storage means (69a, 72a, 76
a, 79a), the individual data storage means (69a, 7
2a.

76a, 79a) or the replacement article holding device (69, 79).
72) individual data (HI DD, HJ IDD
) is stored in advance, and a holding device (
69, 72, 76, 79), the workpiece holding device (
76, 79) or a holding device for said replacement article (69, 7)
2), the individual data storage means (69a, 72a, 7
6a, 79a)
JIDD).

The present invention also provides double-edged storehouses (21, 22) that are movable in the X-axis direction perpendicular to the opposing workpiece spindles (7, 17), and double-edged storehouses (21, 22) that are movable in the X-axis direction that is parallel to the workpiece spindles (7, 17). A holding device (69) having a conveyance means (61), configured to be detachably attached to the conveyance means (61) and moved in the vertical direction.
In a numerically controlled lathe (2) in which a tool (117) is mounted on a tool post (21, 22) by a plurality of workpieces (120), a plurality of workpieces (120) are stored as various storage means that can be positioned below the B axis. A workpiece storage means (119) is provided, a tool storage means (41) is provided in which a plurality of types of tools (117) are stored, and a workpiece holding device (76, 79) suitable for both workpiece spindles (7, 17) is provided. , and double-edged turret (
A tool holding device (69) suitable for the tools (21, 22) is stored in the holding device storage means (41), and the tool holding device (69) is
1) Workpiece (120) or tool (117) to be held in
Accordingly, the holding device (76, 79) for the workpiece or the holding device (69) for the tool stored in the holding device storage means (41) is attached, and the carrying device (61) is attached. The workpiece holding device (76, 79) holds the workpiece (12) corresponding to both workpiece spindles (7, 17).
0) from the workpiece storage means (119), the transport means (61) or the workpiece spindle (7, 17) is moved relatively, and the workpiece (120) is held relative to the workpiece spindle (7, 17). The conveyance means (61)
The conveying means (6
1) to the tool rest (21, 22), move the tool rest (21, 22) in the X-axis direction, and set the tool (l l 7) for each tool rest (21, 22). It is configured to perform delivery.

Further, in the present invention, the chuck claw (116) is
It has a workpiece spindle (7, 17) equipped with a chuck (9, 19) that is detachably mounted in the radial loading/unloading direction to the T-work, Cr2), and is mounted at a predetermined angle with respect to the spindle axis direction. A main movement direction parallel to the main shaft axis direction, which is provided with a holding device mounting member (62) which can be freely moved and driven in a sub-movement direction and has a holding device (72, 76, 79) detachably attached thereto. In a numerically controlled lathe (2) having a conveying means (61) that can be freely moved and driven, a plurality of workpieces (120
) is provided on a movement path in the main movement direction of the transport means (61) in a form that allows the workpiece (120) to be delivered to and from the transport means (61), A claw storage means (41) that stores a plurality of types of chuck claws (116) is arranged in a manner that allows the chuck claws (116) to be delivered to and from the transport means (61).
The workpiece (120) is provided on the movement path in the main movement direction of 1).
A holding device storage means (41) that stores a workpiece holding device (76, 79) suitable for holding a workpiece, and a chuck claw holding device (72) suitable for holding a chuck claw (116).
and the holding device I (72,
The conveyance means (61
) is provided on the movement path in the main movement direction of the conveyance means (61
) or chuck jaws (11)
6), the conveyance means (61) is provided with a holding device (76, 79) for the workpiece stored in the holding device storage means (41) or a holding device (72) for the chuck claw.
), and the workpiece (120) is held by the workpiece holding device (76, 79) attached to the conveying means (61).
The conveyance means (61) and/or the workpiece spindle (7, 17) are moved relatively parallel to the spindle axis direction while holding the conveyance means (61) and the workpiece spindle (7, 17).
7, 17), and the chuck jaw (116) is held by the chuck jaw holding device (72) attached to the transport means (61). The main shafts (7, 17) are rotated to align the loading/unloading direction with the sub-movement direction, the holding device mounting member (62) is moved in the sub-movement direction, and the transfer means (61) and the chuck (9, 19) and the chuck claw (116) is configured to be delivered thereto.

Further, the present invention provides a numerically controlled lathe (2) having a workpiece spindle (7, 17), which is provided with a workpiece storage means (119) in which a plurality of workpieces (120) are stored, and a holding member (79b) that can be opened and closed. Multiple types of cages (79)
is stored in the retainer storage means (41), and one or more types of retainers (76) to which the retainer (79) is removably attached are stored in the retainer storage means (41). The holding bag W (76) is provided with a holding member driving means (77c) for opening and closing the holding member (79b) of the attached cage (79), and the holding device (76) is detachably attached. The conveying means (61) to be mounted is connected to the numerically controlled lathe (2) side, the workpiece storage means (119) side, the holder storage means (41) side, and the holding device storage means (4).
1) II! 1, the conveyance means (61) is moved to the holding device storage means (41) side, and the retainer (61) to be mounted is placed on the conveyance means (61).
Depending on the type of the holding device storage means (41)
attaching a predetermined type of holding device (76) stored in the
Furthermore, the conveyance means (61) is connected to the cage storage means (
41) side and remove the attached holding device (76).
) is fitted with a predetermined type of holder (79) stored in the holder storage means (41) according to the type of workpiece (120) to be held, and the carrying means (61) is mounted on the holder (79). The cage (79)
The holding member (79b) is driven by the holding member driving means (77c).
) to hold the workpiece (12O),
The conveyance means (61) is connected to the workpiece spindle (7, 17).
side or the work storage means (119) side,
The workpiece spindle (7, 17) or the workpiece storage means (
The workpiece (120) is transported and delivered to (119).

Note that the numbers in parentheses are for convenience and indicate corresponding elements in the drawings, and therefore, this description is not limited to the descriptions in the drawings. r (e) below
The same applies to the column ``, action''.

(e) Zero effect With the above-described configuration, the holding device (6
9, 72, 76, 79), the conveyance and delivery of various works (120) and replacement articles (116, 117) are carried out by a single conveyance means (61).

(f), Example Hereinafter, one embodiment of the present invention will be explained in detail based on the drawings.

FIG. 1 is a front view showing a lathe cell to which the present invention is applied, FIG. 2 is a plan view of the lathe cell shown in FIG. 1, and FIG.
4 is a cross-sectional view of the chuck and chuck jaw replacement auxiliary device shown in FIG. 3; FIG. 5 is a cross-sectional view of the chuck and chuck jaw replacement auxiliary device shown in FIG. Figure 6 is a diagram showing the talent tool rest and hand positioning pin; Figure 7 is a diagram showing the setup station; Figure 8 is a diagram showing the setup station.
FIG. 9 is a diagram showing the hook drive mechanism of the pallet fork; FIG. 10 is a sectional view taken along x-xIiA of the hook drive mechanism of the pallet fork shown in FIG. .

11 is a sectional view showing the stocker, FIG. 12 is a sectional view showing the arm of the gantry robot, FIG. 13 is a sectional view taken along the xm-xm line of the arm of the gantry robot shown in FIG. The figures are a sectional view taken along line XX-XIV of the arm of the gantry robot shown in Fig. 12, and Fig. 15 is a sectional view showing the tool hand.
6 is a view of the tool hand shown in FIG. 15, the chuck claw hand or work hand shown in FIG.
18 is a cross-sectional view taken along line II; FIG. 18 is a diagram showing an example of the tool.

19 is a sectional view showing the gripper of the tool hand shown in FIG. 15, FIG. 20 is a sectional view showing the chuck claw hand or workpiece hand, and FIG. 21 is a sectional view showing the chuck claw hand or workpiece hand shown in FIG. 20. A sectional view of the hand along line XX I-XX I, FIG. 22 is a diagram showing the chuck claw hand, and FIG. 23 is
XXM arrow view of the chuck claw hand shown in FIG. 22; FIGS. 24 to 26 are views showing an example of the chuck claw; FIG. 27 is a view showing the work hand with the hand claw removed; Figure 28 is a diagram showing the work hand with hand claws attached, Figure 29 is a diagram showing the work hand shown in Figure 28 xx■-x
30 is a diagram showing a hand claw, FIG. 31 is a control block diagram of the lathe cell shown in FIG. 1, and FIG. 32 is a flowchart showing a pre-setup program.

FIG. 33 is a flowchart showing an automatic driving program, and FIG. 34 is a flowchart showing a schedule creation program.

FIG. 35 is a flowchart showing a hand exchange program.

FIG. 36 is a flowchart showing a tool exchange program, and FIGS. 37 to 47 are diagrams showing how tools are exchanged.

FIG. 48 is a flowchart showing a chuck jaw replacement program.

49 to 55 are diagrams showing how chuck claws are replaced, and FIG. 56 is a flowchart showing a hand claw replacement program.

FIG. 57 is a flowchart showing a pallet loading program.

FIG. 58 is a flowchart showing a pallet unloading program.

FIG. 59 is a schematic diagram showing system operation data. FIG. 60 is a schematic diagram showing system data.

Fig. 61 is a schematic diagram showing the machining schedule, Fig. 62 is a schematic diagram showing tool ID data, Fig. 63 is a schematic diagram showing chuck jaw ID data, and Fig. 64 is a schematic diagram showing hand ID data. 65 is a schematic diagram showing hand nail ID data. FIG. 66 is a schematic diagram showing pallet ID data. FIG. 67 is a diagram showing an example of a raw nail forming program. The figure which shows the chuck jaw which performed raw jaw shaping|molding by the raw jaw shaping|molding program shown.

69 and 70 are diagrams showing an example of setting a barrier corresponding to the shape of the chuck jaw, FIG. 71 is a flowchart showing another example of the pre-setup program, and FIG. 72 is a diagram showing another example of the schedule creation program. FIG. 73 is a flowchart showing another example of an automatic operation program. FIG. 74 is a diagram showing a lathe cell in which the loading of tools and chuck jaws to a stocker is automated.

A lathe cell 1 to which the present invention is applied is an opposed spindle lathe (hereinafter referred to as this machine), as shown in FIG. 1 or 2.

) 2, and a setup station 30 is provided at the left side of the machine 2 in the figure. And this machine 21
A gantry robot 61 is provided above the setup station o in FIG. 1 to communicate between the machine 2 and the setup station 30.

The machine 2 has a body 3, on which a first headstock 6 and a second headstock 16 face each other in the direction of the spindle axis (Z
2. The arrow Z is in the axial direction). - direction, arrow Z2+,
z2 is provided so as to be freely movable and driven in one direction. Further, on the machine body 3, a first turret tool rest 21 and a second turret tool rest 22 are arranged in the direction of arrow Z in a form corresponding to the first headstock 6 and second headstock 16, respectively. , 2 are provided so as to be freely movable and driven in the X-axis direction perpendicular to the one direction; Regarding this machine 2, Japanese Patent Application Laid-Open No. 63-272402 and Japanese Patent Application Laid-Open No. 63-2724
04, Japanese Unexamined Patent Publication No. 63-272405, etc., detailed explanation thereof will be omitted here.

The workpiece spindle 7° 17 is mounted on the headstocks 6 and 16.
The axes CT A chuck 9.19 is attached to the. Incidentally, the chuck 9.19 is known in Japanese Patent Application Laid-open No. 59-201705, Japanese Patent Application Laid-open No. 59-214504, etc., so a detailed explanation thereof will be omitted here. The chuck 9 has continuous slide grooves 9a and 9b as shown in FIG.
Three holes are formed at 120° pitch with respect to the axis CT machining in the radial directions of arrows J and J- in Fig. 5 with respect to the axis CT□. The chuck 9 has three chuck claws 116 fitted into the respective slide grooves 9a so as to be able to open and close in one direction of arrows 9 and J in FIG. It is attached tightly and removably,
The three opening/closing operation members 10 are fitted into the respective slide grooves 9b and engaged with the respective chuck claws 116.
It is attached so that it can move freely in one direction shown by the arrows J, , and J in the figure. As shown in FIG. 25, the chuck jaw 116 has a soft jaw (a member that comes into contact with the workpiece 120) 116A.
It is connected to the base show (a member that is fitted into the slide groove 98 etc. and engages with the opening/closing operation member 10) 116B in a replaceable manner with bolts or the like. A chuck jaw ID data storage element (hereinafter referred to as chuck jaw ID) 116a is attached to the left side of the base jaw 116B in the figure, and a
A held part 116b is provided, and the held part 116b
As shown in FIG. 24, grooves 116c, 116c are formed therein. Therefore.

Soft jaw 1 with common base jaw 1168 part
Chuck jaws 116 having various shapes can be constructed by changing only the portion 16A. And the third
As shown in the figure, the opening/closing operation member 1o includes a lock pin 1.
1 is provided so as to be movable in the direction of arrow JR-1JR+ for engaging and disengaging the opening/closing operation member 10 and the chuck claw 116, and the upper end of the lock pin 11 in FIG. It is exposed from the outer peripheral surface 10b. Also,
A positioning pin 10 is provided on the outer peripheral surface 10b of the opening/closing operation member 10.
A is provided protrudingly. At a position above the chuck 9 of the first headstock 6 in FIG.
A guide groove 15 is provided at the right end of the chuck jaw replacement auxiliary device 12 in the figure to allow the guide groove 15 to slide in the vertical direction in the figure. The groove is formed to be slightly larger than the groove 9a. The upper end portion 15a of the guide groove 15,
Each of the lower end portions 15b is formed into a tapered shape with a wide end. In addition, a positioning hole 12b corresponding to the positioning pin 10a of the opening/closing operation member 10 is bored in the lower part of the chuck jaw replacement auxiliary device 12 in the figure, and the operation rod 13 corresponding to the lock pin 11 is driven. The cylinder 13a is provided so as to be freely protrusive and retractable in one direction of arrows R3 and R. Similarly to the chuck 9 and the first headstock 6, the chuck 19 includes chuck claws 116. An opening/closing operation member 10 and the like are mounted, and a chuck claw replacement auxiliary device 12 is provided on the second headstock 16.

Further, as shown in FIG. 6, a plurality of tool mounting holes 21a are formed radially on the outer circumferential surface of the first turret tool rest 21, and the first turret tool rest 21 is marked with an arrow, . Turn each tool mounting hole 21a in the direction shown in FIGS.
By indexing and positioning to the exchange position EXP shown in Fig. 3, the drilling direction of the tool mounting hole 21a is made parallel to the arrow X, which is the moving direction of the first turret tool rest 21, X = force direction. I can do it. And tool mounting hole 2
A tool 117 is removably inserted into the tool mounting hole 21a in the drilling direction of the tool mounting hole 21a. The tool 117 is the first
As shown in FIG. 8, the tool body 117A is attached to the holder 117.
A shank 117c, which is fitted into the tool mounting hole 21a, projects from the contact surface 117d of the holder 117B at the lower side in the figure. (referred to as tool ID) 117a is attached. Moreover, on the outer peripheral surface of the holder 117B,
As shown in FIG. 18 or 19, three held protrusions 117b are provided in a protruding manner. Similarly to the first turret tool rest 21, the second turret tool rest 22 has a plurality of tool mounting holes 22a with the drilling direction set in the moving direction of the second turret tool rest 22 (arrow X9, ), and is rotatably indexable, and a tool 117 is mounted in each tool mounting hole 22a so as to be detachable in the drilling direction.

In addition, as shown in Figure 1 or Figure 6, the first
A hand positioning pin 2 is provided between the headstock 6 and the second headstock 16.
5.26 corresponds to the first turret tool rest 21 and the second turret tool rest 22, and drive cylinders 25a, 26a
It is provided so that it can be freely driven to protrude and retreat in one direction via arrows P+ and P.

As shown in FIG. 8, the setup station 30 has a bed 31, and a material station 32 is provided at the upper left position of the head 31 in the figure. A processed station 33 is provided at the position.

As shown in FIG. 7, the bed 31 has a rail 3
1a, 31a are provided, and the rails 31a, 31
On a is the drive unit 35.

The material station 32 and the processed station 33 are connected to each other and are provided so as to be freely movable in one direction as indicated by arrows X 3 + and X in FIG. That is, a drive motor 35e is provided in the drive unit 35, and a timing pulley 35f is rotatably connected to the drive motor 35e. A timing belt 31e stretched in the vertical direction in the figure is engaged.

The drive unit 35 includes rails 35a, 35a.
A pallet fork 36 is mounted on the rails 35a, 35a, and a drive motor 35c, a ball screw 3
5d so that it can be freely driven up and down in the direction of arrow Y-1Y+ in FIG.

The pallet fork 36 is provided with arms 37.37 that open to the left in FIG.
A hook 37a is provided so as to be freely protrusive and retractable. That is, as shown in FIG. 9 or 10, the arm 37 has ! ! A drive motor 37c is provided, and a crank shank 37d of the drive motor 37c is connected to arrows FM, , F.
M is connected to be rotatably driven in one direction. A link 37e is pivotally connected to the crank shank 37d via a pin 37d'.
A crank shank 37f is pivotally mounted via f' so as to be rotatably driven in one direction of arrows F+ and F, and a hook 37a is fixed to the crank shank 37f. Therefore, since the crank shank 37d, link 37e, crank shank 37f, etc. constitute a toggle mechanism, even if the torque of the drive motor 37C is small, the hook 37a is
A pallet 119, which will be described later, can be supported by protruding in the direction. And the arm 3 of the pallet fork 36
7. Between 37 and 37, an ID data read/write head (hereinafter referred to as R
/W Het. ) 39 is attached toward the right in FIGS. 7 and 8.

Furthermore, a proximity switch 36a and a limit switch 36b are attached to the tip of the arm 37.

Furthermore, rails 31b, 31b are provided on the bed 31 at positions to the right of the drive unit 35 in FIG. Parallel arrows X4+ and X4 in FIG. 8 are provided so as to be movable in one direction. As shown in FIG. 11, the stocker 41 is formed into a box shape with an upward opening in the figure, by a side plate 41a, a bottom plate 41b, and a side plate 41c.

A hand claw storage section 42 formed in a plate shape is provided below the stocker 41 in FIG. 8, and the hand claw storage section 42 is provided with four placement positions 42a.

A hunt storage section 43 is located above the hunt claw storage section 42 in the figure.

Inside of stocker 41 (between side plate 41a and side plate 41c)
It is set in. In the hunt storage section 43.

Three mounting positions 43a are provided at predetermined intervals in the vertical direction in FIG.
They protrude toward the inside of the stocker 41 from a and 41c. Further, in the upper part of the side plate 41a and the side plate 41c of the stocker 41 in FIG. In a form corresponding to the chuck 19 of
It is provided in a protruding form inside the stocker 41. The first chuck jaw storage section 45 has nine placement positions 45a.
are provided at predetermined intervals in the vertical direction in FIG. It is formed with holes in the vertical direction in the figure, with the middle and lower portions closed. Similar to the first chuck jaw storage section 45, the second chuck jaw storage section 46 is provided with nine a placement positions 46a, and each placement position 46a is provided with a placement groove 46b. There is. In addition, side plates 41a and 41c of the stocker 41
In the upper part of FIG. 11, a first tool storage section 47 and a second tool storage section 48 formed in a plate shape correspond to the first turret tool rest 21 and the second turret tool rest 22, respectively. 41 in a protruding form. 1st
In the tool storage section 47, there are ten placement positions 47a.
They are provided at predetermined intervals in the vertical direction in the figure, and are alternately arranged in a staggered manner in the mounting position 45a of the first chuck claw storage section 45 described above and in the vertical direction in FIG. 47
A shank hole 47b is formed through the hole 47b in the vertical direction in FIG. Similar to the first tool storage section 47, the second tool storage section 48 is provided with ten placement positions 48a, and each placement position 48a is provided with a shank hole 48b.

Further, as shown in FIG.
arrow U+ via the drive cylinder 50a in a form that engages and disengages with the
, U are provided so as to be freely protrusive and retractable in one direction, and the origin holding pin 51 engages and disengages from the origin holding hole 31d bored in the bed 31 so that the arrow , ■-Provided so as to be freely protrusive and retractable in the force direction.

As shown in FIG. 11, on the bed 31 there is a
/W The head 53 is inserted into the inside of the stocker 41 through holes 41b' drilled through holes 41b' at positions corresponding to the mounting positions 43a of the hand storage section 43 of the bottom opening 41b of the stocker 41, Arrows L+, L through the drive cylinder 53a
It is provided so that it can be freely driven to protrude and retreat in one direction. Further, on the bed 31, supporting members 31c, 31c are provided on the left side of the first chuck jaw storage section 45 in the drawing, below the first tool storage section 47 in the drawing, or on the right side of the second chuck claw storage section 46 in the drawing. The second one
It is fixedly provided at the lower part of the tool storage section 48 in the drawing in a form that can be positioned from the outside of the stocker 41 (in order to avoid complicating the drawing, one support member 31 is shown in FIG. 8).
c only).

A R/W head 55 is mounted on the support members 31c, 31c.
．． 55 indicates each mounting position 4 of the chuck claw storage portion 45.46.
The arrows E+,
E is provided so as to be swingable in one direction, and the R/W head 56.56 is installed at each mounting position 4 of the tool storage section 47.48.
The holes 47c and 4'8c formed through the holes 7a and 48a are fixedly provided so as to face the holes 47c and 4'8c.

A rail 60 is provided at a position above the setup station 30 of the machine 21 in FIG.
Above, a gantry robot 61 is mounted on a workpiece spindle 7.17.
The gantry robot 61 is provided with an arm 62 that is movable and driven in one direction of the arrow B+, which is the axial direction parallel to the main axis axis direction (arrows 2 degrees and 2 one direction). , arrow A- which is a vertical direction perpendicular to one direction B
1A, so that it can be moved up and down in the direction. Regarding the gantry robot 61, please refer to Japanese Patent Application Laid-Open No. 1-252345.
, JP-A-2-71948, etc., the basic structure is well known, so detailed explanation thereof will be omitted here.

A hand connecting portion 65 is provided at the tip of the arm 62, as shown in FIG. 12 or 13. The hand connecting portion 65 is provided with two drive cylinders 65d, 65d, and each drive cylinder 65d has an operating rod 6.
5c is arrow GM.

The GM is connected to be movable in one direction. Further, the operating rod 65c is pressed by a spring 65e in one direction indicated by the arrow GM (the direction in which the hook 65a, which will be described later, is operated in the arrow G-force direction), and a tapered portion 650' is provided at the lower end of the operating rod 5C in the figure. ing. Two hooks 65a are slidably abutted on the tapered portion 650', and each hook 65a protrudes downward in the figure from the bottom surface 65g of the casing 62a, and is connected to the arrow G+ via a pin 65a.
, G are provided so as to be swingable in one direction. Further, the hook 65a is always connected to the tapered portion 65c by the spring 65b.
It is biased in the direction of the force indicated by arrow G. Further, the hand connecting portion 65 has a positioning pin 65f on the bottom surface 65.
The casing 62 protrudes downward from 5g in FIG.
It is fixedly provided with respect to a.

Further, as shown in FIG. 14, the arm 62 is provided with a drive motor 63 fixed inside the casing 62a, and the drive motor 63 is provided with a spline sleeve 63.
a is connected to be rotatably driven in one direction of arrows M, , M about the axis CTA. Note that the axis CTA is fixed to the casing 62a. The spline shaft 63b is attached to the spline sleeve 63a by the arrow M+.
.

The spline sleeve 63a rotates integrally with the spline sleeve 63a in one direction so as to be movable in the direction of the axis CTA, and the spline shaft 63b is pressed by a spring 63c so as to protrude downward in the figure from the bottom surface 65g. has been done.

The tool hand 69 attached to the arm 62 has a casing 69b, as shown in FIG. The adjustment screw 67a engaged with the member 67 and the casing 69b allows the tool hand 69 to
2, the arm 62 corresponds to the arrow X-1X+ direction in which it cannot move. ) is fixed by bolts or the like in such a way that it can be moved by a predetermined amount. Further, above the adjusting member 67 in the figure, the adjusting member 66 is arranged above the adjusting member 67.
The bottom portion 66h is fitted into a hole 67b drilled through the hole 67b, and is fixed to the -vR adjustment member 67 with a bolt or the like in a manner that can be rotated by a predetermined amount around the axis CTA. , the adjustment member 66 is fixed relative to the adjustment member 67 with respect to movement in the left-right direction in the figure). and,
As shown in FIG. 15 or 16, the upper surface 66f of the adjustment member 66 has four holes corresponding to the hooks 65a of the arm 62.
engagement pins 66a are provided, and the arm 6
A positioning hole 66b corresponding to the second positioning pin 65f is bored. Therefore, the tool hand 69 is attached to the arm 62 by appropriately adjusting the positions of the adjustment members 66 and 67 relative to the casing 69b and adjusting the positions of the engaging pin 66a and the positioning hole 66b relative to the casing 69b by a predetermined amount. The axis C of the rotating member 70i, which will be described later,
Since the position of the TZ relative to the arm 62 can be adjusted, the position of the gripper 71 fixed to the rotating member 70i, which will be described later, relative to the turret tool rest 21° 22 can be adjusted using the turret tool rest such as the rail 60 of the gantry robot 61. This can be done by only adjusting the tool hand 69 side without adjusting the position relative to 21 and 22.

As shown in FIG. 17, inside the adjustment member 66, a joint 66c connected to the spline shaft 63b of the arm 62 is exposed from the upper surface 66f.
Arrow M+, centering on the axis CTA fixed to
M is provided rotatably in one direction. A joint 66e is connected to the joint 66c via a joint 66d, and the joint 66e is movable by a predetermined amount in the left-right direction in FIG. The joints 66c, 66d, and 66e constitute an Oldham joint. The joint 66e is connected to the adjustment member 6
A connecting shaft 70 protrudes from the bottom 66h of the casing 69b toward the casing 69b, and has an axis CT H fixed to the casing 69b, and constitutes a rotation mechanism 70 of a gripper 71, which will be described later.
connected to a. Therefore, when the adjustment members 67 and 66 are moved and adjusted by a predetermined amount with respect to the casing 69b, when the tool hand 69 is attached to the arm 62, the spline shaft 67, which is fixed to the casing 62a of the arm 62,
Axial center CTA of b and casing 69b of tool hand 69
Although a deviation occurs in the axis CT of the connecting shaft 70a fixed to the arm 62, since the spline shaft 63b and the connecting shaft 70a are connected via the joints 66c, 66d, and 66e that constitute the Oldham joint. The shaft drive motor 63 can rotate the connecting shaft 70a in one direction of arrows HM, . . . HM to drive a rotation mechanism 70, which will be described later. That is, adjustment members 66, 67, joints 66c, 66d, 66e
etc., the axial center CT A of the spline shaft 63b on the arm 62 side and the axial center C of the connecting shaft 70a on the tool hunt 69 side.
By attaching the tool hand 69 to the arm 62 with the tool hand 69 intentionally shifted from the T H, the gripper 71 that holds the tool 117 can be moved to the talent tool rest 21 .
22 can be accurately positioned.

Inside the casing 69b, a connecting shaft 70a,
Bevel gears 70b, 70c, spur gear 70d.

70e, Geneva gears 70f, 70g, etc., is provided, and the connecting shaft 70a is indicated by arrows HM and H.
When M is rotated in one direction, the Geneva gear 70g will move to the axis CT.
Center on Z and arrow T. , T rotate in one direction. Engagement grooves 70g' are bored on the outer periphery of the Geneva gear 70g at a pitch of 90 with respect to the axis CTz, and a rotation locking pin 70h is inserted into the engagement groove 70 in the casing 69b.
It is provided in such a way that it can be freely driven to protrude and retract in one direction of the arrow KT and KT in a manner that engages and disengages from the arrow KT. And casing 69
Rotating members 70i, 70i are located on both the left and right sides of FIG. Each rotating member 70i is provided in a manner corresponding to the second turret tool rest 22, and each rotating member 70i is connected to the Geneva gear 70g and is provided rotatably in one direction of the arrow T+ and T around the axis CT2. .

Each rotating member 70i has two grippers 71.
71 are provided symmetrically (at a pitch of 180') with respect to the axis CTz. As shown in FIG. 19, each gripper 71 includes a fixed member 71 fixed to a rotating member 70i.
g, and the fixed member 71g has an operating rod 71
e is provided to be movable in one direction of arrows NM, , NM, and the operating door 1e is moved in the direction of arrow NM by a spring 71f.
The fixing member 71 is pressed in one direction (the direction in which arrow N, which will be described later, is closed) is operated in one direction.
g protrudes from the rear surface 71g' toward the casing 69b. The operation lot 71e is provided with a tapered portion 71e', and the tapered portion 71e' has arrows NN,
, NN Two engaging rods 71d, 74d provided movably in one direction are in contact with each other, and the engaging rods 71d, 7
Arms 71a, 71a are in contact with 1d. The arms 71a, 71a are provided to be openable and closable in one direction of arrows N1 and N via pins 71a and 71a', and engage rods 71d and 71d are provided via springs 71c installed between the arms 71a and 71d. The arms 71a, 71 are always engaged with the tapered portion 71e' of the operating rod 71e.
a is biased in the direction of arrow N+ force. And arm 7
On the inside of the tips of 1a and 71a (the side where arms 71a and 71a face each other) and on the front surface 71g' of fixing member 71g,
Three engagement holes 71b corresponding to the held protrusions 117b of the tool 117 are bored. And casing 69b
As shown in FIG. 15 or 19, the operating pin 69f moves the operating rod 71e in the direction of arrow NM. It is provided in a shape that can be pressed in the direction indicated by the arrows MM, MM, so that it can be freely driven to protrude and retreat from the casing 69b. The casing 69b has a gripper 71 on both the left and right sides of FIG. 15, as shown in FIG.
Pitch turret facing position ITFP and stocker facing position s
Two operation pins 69f are provided on the FP, total length is 4m.
6. An operating pin 69f is provided. At the bottom of the casing 69b in FIG. 17, there is a hand positioning pin 25.2.
A positioning hole 69e corresponding to No. 6 is bored. Also,
A hand ID data storage element (hereinafter referred to as hand ID) 69a is attached to the casing 69b at the 11th lower part, and a mounting projection 69d is provided at the upper part in the figure.

The chuck claw hand 72 attached to the arm 62 has a second
As shown in FIG. 1, it has a casing 72b, and on the upper surface 72c of the casing 72b, similarly to the tool hand 69, an adjustment member 67 is provided with respect to the casing 72b in the left-right direction (arrow X-, It is fixed with bolts or the like in such a manner that it can be moved by a predetermined amount in the direction (
R1! ! It is fixed to the member 67 by bolts or the like in a manner that can be rotated by a predetermined amount. And fitting 66C
The joint 66e, which together with 166d constitutes the Oldham joint, is
! The shaft center CT was fixed to the casing 72b by protruding from the 1151 member 67 toward the casing 72b. A connecting shaft 7 that constitutes a rotating mechanism 73 of a rotating section 74, which will be described later.
3a. Therefore, by adjusting the adjustment members 67 and 66 relative to the casing 72b, the chuck 9 of the gripper 75 that holds the chuck jaws 116, which will be described later, when the chuck jaw hand 69 is attached to the arm 62.
The position with respect to 19 degrees can be easily adjusted to IIIgl, and the drive motor 63 on the arm 62 side rotates not only the rotation mechanism 70 of the tool hand 69 described above but also the chuck claw hand described below through the joints 66c, 66d, and 66e. 72 rotation mechanism 73 can also be driven. The same applies to the work hand 76, which will be described later. Therefore, the degree of freedom in designing the various replaceable hands of the gantry robot 61 can be increased, and the hands can be made smaller.

Inside the casing 72b, a connecting shaft 73a,
A rotation mechanism 73 consisting of bevel gears 73b, 73c, Geneva gears 73d, 73e, etc. is provided, and when the connecting shaft 73a is rotated in one direction of arrows HM+ and HM, the Geneva gear 7
3e rotates in one direction of arrows H, , H around the axis CT machine. and.

In the Geneva gear 73e, as shown in FIG. 20, engagement holes 73e' are bored at a pitch of 90° relative to the axis CT, and in the casing 72b, as shown in FIG. A rotation locking pin 73f is provided in a form that engages with and disengages from the engagement groove 73e' so that it can freely protrude and move backward in the arrow KH and KH- directions. A rotating portion 74 is provided on the left side of the casing 72b in FIG. 21, connected to a Geneva gear 73e, and rotatable in one direction of arrows H, , H about the axis CT.

Then, as shown in FIG. 22 or 23, the rotating part 7
Four grippers 75, 75, 75 are provided on the side 74a of 4.
．． 75 are provided radially at a pitch of 90" with respect to the axis CT machine. That is, the 0 rotation section 74 has a gripper 75.
are provided symmetrically in FIG. 23. Each gripper 75 has chuck claws 11 as shown in FIG.
In the shape corresponding to the groove 116c of the held part 116b of No. 6,
In the figure, arms 75a, 75a are vertically symmetrically formed.

In FIG. 22, arrows Q+ and Q are provided so that they can be driven to open and close in one direction. Regarding the opening/closing mechanism of the arms 75a, 75a, the arms 71a of the gripper 71 of the tool hand 69,
Since it is substantially the same as the opening/closing mechanism of 71a, detailed explanation will be omitted.

Also, in the lower part of the casing 72b in FIG.

Hand ID72a is attached. Furthermore, a placement protrusion 72d is provided at the upper part of the casing 72b in FIG.

As shown in FIG. 20 or 21, the work hand 76 attached to the arm 62 has a casing 76b, and the upper surface 76c of the casing 76b has a , adjustment member 67
, : A-shaped member 66 is attached. A rotation mechanism 73 similar to the chuck claw hunt 72 is provided inside the casing 76b. And casing 76
On the left side of FIG.
e and is rotatably provided in one direction of arrows H1 and H around the axis CT.

The rotating portion 77 has two hand claw mounting surfaces 77b, as shown in FIGS. 27 to 29.

77b are provided symmetrically (at a pitch of 180') with respect to the axis CT x, and each hand claw mounting surface 77b has a
As shown in FIG. 27, the claw opening/closing operation plate 77c has an axis C
The claw opening/closing operation plate 77c has three operation grooves 770' formed therein.The claw opening/closing operation plate 77c has three operation grooves 770'. The drive mechanism of the claw opening/closing operation plate 77c is described in Japanese Patent Application Laid-Open No. 1-2523.
45, Japanese Unexamined Patent Application Publication No. 1-71948, etc., so detailed explanation thereof will be omitted here. Furthermore, a gripper 77d is provided on the casing 77a portion of the hand claw mounting surface 77b.
are provided at four locations, and each gripper 77d has hooks 77e, 77e with arrows as shown in FIG.

, is provided so that it can be driven to open and close in one direction.

Further, a hunt ID 76a is attached to the lower part of the casing 76b in FIG. 27 or 28. Also, in the upper part of the casing 76b in FIG.

A mounting protrusion 76ci is provided.

A hunt claw unit (hereinafter referred to as a hand claw) 79 attached to the work hand 76 is, as shown in FIG.
The block 79g has three claws 7 on the workpiece facing surface 79e, as shown in FIG.
9b is arrow HJ.

HJ is installed so that it can be opened and closed in one direction. As shown in FIG. 30, a work hand 76 is placed on the winter melon 79b.
An engaging pin 79c corresponding to the operation groove 77c' of the claw opening/closing operation plate 77c is fixed in a protruding manner from the hunt contact surface 79f of the block 79g via the through hole 79c.

Note that the hand claw 79 itself is not provided with a means for driving the winter melon 79b. Moreover, on the hand contact surface 79f,
As shown in FIG. 29 or 30, the work hand 76
Four held pins 79d corresponding to the grippers 77d are provided in a protruding manner. Further, on the work facing surface 79e, a second
As shown in FIG. 8, a data storage element (hereinafter referred to as hand claw ID) 79a is attached to the hand claw.

The lathe cell 1 has a cell control section 82, as shown in FIG.
Through A32a, system program memory 83, system data memory 84, system operation data memory 8
5. Machining schedule memory 86, system operation data collation section 87, display control section 88, input control section 89. ID data input/output control section 90. Workpiece measurement section 91, pallet fork control section 92, stocker control section 93. A gantry robot control section 94, a hand positioning pin control section 95, etc. are connected. A display device 88a such as a CRT display is connected to the display control section 88, and an input device 89a such as a keyboard is connected to the input control section 89. The ID data input/output control unit 9o also includes controllers (buffer memories) 39a, 52a, 53a,
R/W head 39.52.5 via 55a, 56a
3.55.56 are connected. Further, the pallet fork control unit 92 is connected to the drive motors 35c, 35e, 37c, etc. of the pallet fork 36, and the stocker control unit 93 is connected to the drive cylinder 50a of the connection pin 50 of the stocker 41, the drive cylinder 50a of the connecting pin 50 of the stocker 41, A drive cylinder 51a is connected. The gantry robot control unit 94 also includes drive motors (not shown) for moving the gun 1-rerobot 61 in one direction of arrows A, , B, and the direction of arrow B, and a drive motor 63 for the arm 62. A drive cylinder 65d etc. are connected, and a tool hand 69. Chuck claw hand 72. It is in a state where it can be connected to various beating means of the work hand 76. Hand positioning pin control section 95
The drive cylinder 25a of the hand positioning pin 25, 26 is
, 26a are connected.

The cell control unit 82 receives 1
A machine control unit 97 is connected to the machine control unit 97, and a system program memory 98. System data memory 99, cannibal program memory 100, raw nail forming program memory 101, setup change determination section 102, barrier setting section 103, display control section 10
4. Input control unit 1o5. Spindle control section 106. A headstock control section 107, a tool post control section 108, a chuck jaw exchange auxiliary device control section 109, a tool measuring section 110, and the like are connected. The workpiece spindles 7, 17,
A drive means for the opening/closing operation member 10 of the chuck 9.19 is connected, a drive means for the headstock 6.16 is connected to the headstock control section 107, and a turret tool rest 21 is connected to the tool rest control section 108. .22 drive means are connected.

Furthermore, the turbulence cylinders 12a and 13a of the chuck jaw replacement auxiliary device 12 are connected to the chuck jaw replacement auxiliary device control section 109.

Further, an FMS control device 115 is connected to the cell control section 82 and the machine control section 97 via digital lines 113 and 114.

Since the lathe cell 1 has the above configuration.

When machining multiple types of workpieces 120 continuously and automatically in the lathe cell 1, the chuck jaws 116 of the chucks 9 and 19 of each headstock 6 and 16 of the machine 2 and each turret are The tools 117 and the like on the tool rest 21 and 22 are changed as appropriate depending on the type of workpiece 120 to be machined.

First, prior to processing, the operator in charge of the system
A system operating data accumulation table ASOD shown in FIG. 59 is created via the display device [88a] and the input device [89a]. The system operation data cumulative table ASOD is created by adding system operation data SOD for the scheduled machining to data regarding past machining. That is, the operator company inputs the system operation data S of the planned processing amount via the input device 89a.
As OD, the work number W of each work 120 to be processed
NOs are input and set in sequence, and the transport program number TPN○ and tool 117 of the transport program are used (and are expected to be used) when machining the workpiece 120 with the workpiece number WNO○, and are classified by the workpiece number WNO. The tool number TN○ of the chuck jaw 116, the chuck jaw number TJN○ of the chuck jaw 116, the hand number HNO of the work hand 76 of the gantry robot 61 (only one work hand 76 is stored in the stocker 41 shown in FIG. 8, A plurality of work hands 76 may be stored in the stocker 41, and in that case, depending on the type of hand claw 79 used, the type of work hand 76, that is, the hand number HN.
O may be different. ), and the hand claw number HJN○ of the hand claw 79. Then, the cell control unit 82.

The input system operation data SOD is stored in the system operation data memory 85.

In this way, the system operation data SOD regarding each workpiece 120 is input, and the system operation data cumulative table ASOD
is created, the operator in charge of setup uses the chuck jaws 116, tools 117, and hands 69, 72, and 76 necessary for machining based on the system operation data SOD for the scheduled machining in the system operation data accumulation table ASOD. , hand claw 79, etc. are stored in the stocker 41 of the first setup station 30. That is, among the plurality of chuck jaws 116 necessary for machining, the chuck jaws 116 that should be attached to the chuck 9 on the first headstock 6 side are stored in the first chuck jaw storage section 45, and the chuck jaws 116 on the second headstock 16 side are stored in the first chuck jaw housing section 45. The chuck jaws 116 that can be attached to the chuck 19 are stored in the second chuck jaw housing section 46, and each chuck jaw 116 is stored in the stocker 41. When storing the chuck jaw 116 in the first chuck jaw receptacle 45, the chuck jaw 116 is placed in the chuck with the held part 116b shown in FIG. 25 facing upward in FIG. The claw 116 is inserted and placed in the placement groove 45b at the predetermined placement position 1i45a from above in the figure. Then, the chuck pawl ID 116a of the chuck pawl 116 placed in the placement groove 45b is attached to the side plate 41.
The stocker 41 is inserted through the hole 418' drilled through the
It is exposed on the outside (left side of the side plate 41a in the figure).

It should be noted that the chuck jaw ID data TJIDD as shown in FIG. Chuck jaw ID116a of unused chuck jaw 116 before
Because chuck jaw ID data TJIDD is not written in .

The operator inputs the chuck jaw ID data TJIDD regarding the chuck jaw 116, such as the chuck jaw number TJN○, to the chuck jaw 11 through a portable R/W head or the like.
Write in advance to the chuck jaw ID 116a of No. 6. In addition, the chuck jaw ID data T from the chuck jaw to 116a
Reading and writing of ID data on the ID using the R/W head, such as writing to the JIDD, is performed in a non-contact manner by electromagnetic induction or the like with the R/W head facing the ID. In addition, the chuck jaws 116 are placed in the second chuck jaw storage portion 46.
When storing the stocker 41, the held part 116b faces upward in FIG. 11 and the chuck jaw ID 116a is exposed to the outside of the stocker 41 through the hole 41c' of the side plate 41c, similar to the first chuck jaw storage part 45 side. The chuck 116 is placed in the mounting groove 46 at the predetermined mounting position 46a so that the
Insert and cut out b. In addition, multiple tools 11 necessary for processing
7, the tool 11 to be installed on the first turret tool rest 21
7 is stored in the first tool storage section 47.

The tools 117 to be mounted on the second talent tool rest 22 are stored in the second tool storage section 48.
is stored in the stocker 41. When storing the tool 117 in the first tool storage section 47.

The tool body 117A of the tool 117 shown in FIG.
With the tool ID 117a facing leftward in the figure and the tool ID 117a facing downward in the figure, move the shank 117C to the predetermined position 47a.
Insert the tool 11 into the shank hole 47b from above in the figure.
7 is placed on the first tool storage section 47. Then, the tool ID1 of the tool 117 placed on the first tool storage section 47
17a is a hole 47 drilled through the first tool storage portion 47;
The first tool storage section 47 is exposed at the bottom in the figure through the section c. Note that tool ID data TIDD as shown in FIG. 62 has already been written and updated in the tool ID 117a of each tool 117 set in the stocker 41 and used each time. Since the tool ID data TIDD is not written in the tool ID 117a of the unused tool 117, the operator uses a portable R/W head or the like to write the tool ID data TID related to the rock engineering Jlc 117 such as the tool number TNO.
D is written in the tool ID 117a of the tool 117 in advance. In addition, when storing the tool 117 in the second tool storage section 48, the tool body 117A faces to the right in FIG. 11 and the tool ID
The tool 117 is placed at a predetermined placement position 48a such that the tool 117a is exposed at the bottom of the second tool storage section 48 in the figure through the hole 48C. Furthermore, gantry robot 6
1, the tool hand 69, chuck claw hand 72, and work hand 76 are each attached to hand ID6.
9a, 72a, 76a facing downward in FIG.
The mounting protrusion 69d has the adjusting members 66, 67 connected to the mounting protrusion 69d facing upward in the figure.

72d and 76d on the holding plate 43b at the predetermined mounting position 143a.
, 43b, and store each hand 69, 72, and 76 in the hand storage section 43. In addition, each hand is 69.72.
76 hand IDs 69a, 72a, and 76a include the 64th hand ID 69a, 72a, and 76a.
Hand ID data HIDD such as the hand number HNO regarding the hand 69, 72, 76 as shown in the figure is written in advance. Further, as shown in FIG. 8, the plurality of hand claws 79 are placed in the predetermined mounting position 42a of the hand claw storage section 42 with the hand contact surface 79f facing toward the front side of the page.
put it on top. Then, the hand nail tool D79a of the hand nail 79 placed on the hand nail storage section 42 is inserted into the hole 42b drilled through each mounting position 42a of the hand nail storage section 42.
The head 3 on the other side of the page of the hand claw storage section 42 is
It has an open-air shape on the first side. Note that hand claw ID data HJIDD such as the hand claw number HJN○ for the hand claw 79 as shown in FIG. 65 is written in advance in the hand claw 79a of each hand claw 79. System operation data SOD is input, and chuck jaws 116 and tools 11 are placed in the stocker 41.
7. When the hands 69, 72, and 76 and hand claws 79 are retracted, the cell control unit 82 executes step SS1. of the pre-setup program PPR shown in FIG. Step SS2 enters step SS3, and the stocker control unit 93 causes the connecting pin 5o shown in FIG.
5b connects the stochka 41 with the drive unit 35, and also moves the origin holding pin 51 in the direction of the arrow V.
- Move back in one direction to disengage from the engagement hole 31d, and step 1-
The fixed state of the hook 41 to the bed 31 is released. Then, by driving the drive motor 35e on the pallet fork 36 side, the stocker 41, which itself does not have a drive means, is moved integrally with the pallet fork 36 and the drive unit 35 as indicated by the arrow X in FIG. , X can be moved appropriately in one direction. In addition, when moving the pallet fork 36 in the direction of the arrow X in FIG.

(and so on).

When the stocker 41 is connected to the pallet fork 36 side, the process proceeds to step SS4 in FIG. 32, and the cell control unit 82
While moving the stocker 41 appropriately in one direction of arrows X4° and X4 in FIG. 8 through the pallet fork control unit 92,
ID data input/output control section 90. R/W head 52.53
-55.56, each chuck jaw 116, each tool 117, each hand 69.72, stored in the stocker 41,
ID116a, 117a, 6 of 76 and each hand claw 79
From 9a, 72a, 76a, 79a, chuck jaw ID data TJIDD, tool ID data TIDD, hand I
D data HIDD and data HJIDD are read from the hand claw and stored in the system data memory 84.

That is, the stocker 41 is moved in the direction shown by arrow X4 in FIG. ．． X.

As shown in FIG.
D117a is inserted into the bed 31 through the holes 47c and 48c.
The R/W heads 56 and 56 on the support members 31c and 31c fixed to the
Tool ID data T from 117a from the tool facing the
To read the IDD, the R/W head 55.55 on the support members 31c, 31c is rotated in one direction of the arrow E in FIG. Shank 117C and the R/W head 5
5.55, move the stocker 41 appropriately in one direction of arrows X4+ and X4 in FIG.
Chuck jaw IDI 16a of R/W head 55.55
The R/W head 55.55 is rotated in the direction of arrow X+ in FIG. 8 to face the side plates 41a, 41c of the stocker 41,
The chuck claw I faces the R/W head 55 through the hole 41a' 41c of c, facing the chuck claw ID 116a of the positioned chuck claw 116.
The chuck jaw ID data TJIDD is read from D116a. Also, the R/W head 53 on the bed 31 is
While avoiding interference between the R/W head 53 and the stocker 41 by moving it backward in one direction indicated by the arrow in the figure, move the stocker 41 appropriately in the direction indicated by the arrow X4 in FIG. The hand IDs 69a, 72a, 76a of each hand 69, 72, 76 stored in the R/W head 53 are stored in the R/W head 53.
The R/W head 53 is successively positioned upward in FIG.
R/Vl, facing the hand IDs 69a, 72a, 76a, by inserting them into the stocker 41 through the
“Hunt IDs 69a, 72a, 7 facing head 53
6a to hunt ID data H]: Read DD. In the same manner, the stocker 41 is appropriately moved in one direction of arrows X4° and X4 in FIG. Then, the R/W head 52 on the head 31 on the other side of the page
The hand claws facing the R/W head 52 read the hand claw ID data HJIDD from 79a.

In this way, each tool 117 and each chuck claw 11 stored in the stocker 41 are read out at a predetermined mounting position.
6. Data TIDD from tools regarding each hand 69, 72, 76 and each hand claw 79, data TJIDD from chuck claw, hand ID data HIDD and hand claw I
From the D data HJ, D is -dan each controller 56a, 5
After being stored in the buffer memories of 5a, 53a, 52a, each storage section 47, 48, 45 is stored as shown in FIG. 6o.
．． Along with being classified by 46.43.42.

The reading comparison was made for each company's official position 47a, 48a, 45a, 4
Position number N corresponding to 6a, 43a, 42a.

The system data memory is arranged based on 0
．． 5Ds=2.5Dsc-1SD5c2.5DI(,5
DI (J) is stored in the system data memory 84. Therefore, the tool 117, chuck jaw 116, hand 6
9.72.76, When the hand jaw 79 is shared by multiple machine tools, tool ID data TIDD, chuck jaw ID data TJIDD, hand ID data HIDD, hand jaw I
Even if D changes from the D data HJ, the operator does not have to input each input from the input device 89a, thereby avoiding input errors and freeing the operator from complicated work. In addition, the mounting positions 47a, 48a, 45a, 46a, 43a, 4 where each tool 117, each chuck claw 116, each hand 69, 72, 76, and each hand claw 79 are actually stored
2a and system data 5Dst=, S DSTj,
SD5°, SDs. 2. SDH.

5DHJ definitely matches. The system data memory 84 also contains seal ID data TIDD regarding each tool 116 already mounted on the turret turret 21.22 of this machine 2, and seal ID data TIDD for each tool 116 already mounted on the chuck 9.19 of this machine 2. The chuck jaw ID data TJIDD regarding the jaw 116 is the turret tool rest 21.22. The system data SDT is classified by chuck 9.19 and arranged based on the position number NO of each mounting position.
, 5DT2, SDC□, and 5Dc2.

The system data memory 99 of the control unit 97 of this machine contains the system data SD shown in FIG.

System data S regarding turret turret 21.22
System data SDcm, SD, 2 regarding D Ti, S D Tz, and chuck 9.19 are stored.

Each chuck claw 116, each tool 117, each hand 69, 72, 76, and each hand claw 79 are stored in the stocker 41.
From, chuck jaw ID data TJIDD, tool ID
When the reading of data TIDD, hand ID data HIDD, and hand claw ID data HJIDD is completed, the third
At step SS5 in FIG. 2, the cell control unit 82 moves the stocker 41 to the eighth
The control axis is moved to the origin in one direction of arrows X4+ and X4 in the figure, and the origin holding pin 51 of the stocker 41 is protruded in the direction of arrow
1d, the stocker 41 is moved to the bed 3.
1, and the connecting pin 50 is moved backward in the direction of arrow U to remove it from the engagement hole 35b, thereby releasing the connected state between the stocker 41 and the drive unit 35 for tilting the pallet fork 36.

Next, in step SS6 of FIG. 32, the cell control section 82 checks each of the system operation data SOD stored in the system operation data memory 85 and shown in FIG. Tool number TNO
1 Each chuck jaw number TJNO 1 Each hand number HN○ and each hand jaw number HJNO, system data memory 84
Each I of the system data SD shown in FIG.
D data TIDD, TJ IDD, HIDD, HJID
Tool number TNO in D, chuck jaw number TJNo,
By comparing the hand number HN○ and the hand claw number HJN○, all types of tools necessary for processing 117. Chuck jaw 116. It is determined whether the hands 69, 72, 76 and hand claws 79 are stored in the stocker 41 or the machine 2, that is, whether the lathe cell l is fully filled. and any type of tool 117. If the chuck jaws 116, hands 69, 72, 76, or hand jaws 79 are missing, step SS6 to step SS7 in FIG.
8, the cell control unit 82 displays the missing tools 117, chuck jaws 116 . The tool number TNO, chuck jaw number TJNO, hand number HNO or hand jaw number HJN○ of the hand 69, 72, 76 or hand jaw 79 is displayed to instruct the operator to replenish.

In addition to storing the tool 117, the chuck jaw 116, and the hand 69, 72, and 76° hand jaw 79 in the stocker 41, the operator in charge of the first setup (step SS in Fig. 32)
It is best to do this by the time you reach 8. ), a predetermined number of workpieces 120 with workpiece numbers WN○ to be machined set in the system operation data SOD for the scheduled machining are arranged in a predetermined form on a predetermined pallet 119 for each workpiece number WNO. Place it. Then, as shown in FIG. 7, each pallet 119 on which the workpiece 120 is mounted is
119a are stacked in a predetermined order (this becomes a processing schedule MSC as described later) with the directions of the sheets 119a aligned.

At this time, the pallet pin 1 attached to each pallet 119
The pallet pin 119 has an appropriate height PPHT so that the pallet 119 stacked directly above does not come into contact with the work 120 placed on a predetermined pallet 119.
(Fix the telescopic pallet pin 119P to the pallet 119, and replace it with the pallet bin 119P.
(The height PPHT may be adjusted as appropriate). In this way, when the workpiece 120 to be processed is placed on the pallet 119, the operator can check the workpiece 120! ! The 66th pallet ID 119a of each pallet 119
Pallet number PL of the pallet 119 as shown in the figure
N○, workpiece 120 placed on the relevant pallet 119
Work number WN○, height PP of pallet pin 119p
The pallet ID data PTDD regarding the pallet 119 such as HT is written via a portable R/W head or the like, and each stacked pallet 119 is transported to the setup station 30 of the lathe cell 1 by a forklift or the like. The pallet is placed on the material station 32 with the pallet ID 119a side facing right in FIG.

In this way, all the tools 117, chuck jaws 116, hands 69, 72, 76, and hand jaws 79 necessary for machining are filled in the lathe cell 1, and each pallet 119 on which a workpiece 120 is mounted on the material station 32 is are placed in a stacked state, and the input device 89 is input by the operator.
When the automatic operation start button a is pressed, the cell control unit 82 enters the automatic operation program AOP shown in FIG. 33 from steps SS6 and SS8 in FIG. 32.

When the automatic operation program AOP is started, first, the cell control unit 82 moves the pallet fork 36 in the direction indicated by the arrow X! +,X,
One direction, arrow Y in Fig. 7, or Y direction as appropriate.
ID data Six specific force control unit 90. Each pallet 1 is stacked on the material station 32 via the R/W head 39.
19 pallet ID 119a to pallet ID data P
The IDD is read and a machining schedule MSC as shown in FIG. 61 is created. That is, the pallet fork 36
is moved in the direction of arrow X in FIG. 8, and positioned at the Y-axis origin position IYO in the upper part of FIG. 7 of the pallet 119 placed on the material station 32 (step 5PI). Next,
With the hook 37a of the arm 37 retracted in one direction of arrow F in FIG. 10, the pallet fork 36 is moved in the direction of arrow Y in FIG.
-1 time in the downward direction to the lower limit WYL set by the parameter. Then, if the stacked pallets 119 are not aligned, the limit switch 36b attached to the arm 37 will come into contact with the pallets 119 that are not aligned in the vertical direction in FIG. 7, and the pallet fork 36 will stop. Warn the operator with a patrol light, etc. Moreover, when each pallet 119 is aligned, the lower limit τ
The pallet fork 36 that has been lowered to YL is raised again to the Y-axis origin position YO above the uppermost pallet 9 in the arrow Y-force direction in FIG. 7 (Step 5P2). and,
The pallet fork 36 is lowered in the direction of arrow Y+ in FIG. 7 at a predetermined rapid traverse speed set by parameters (step 5P3). When the pallet fork 36 descends and approaches the stacked pallet 119 at the top position, the arm 3
The proximity switch 36a attached to the pallet 119 inspects the metal frame of the pallet 119 and turns on (step 5).
T4). Then, the descending speed of the pallet fork 36 is decelerated to a predetermined speed set by a parameter (step 5P5), and when the R/W head 39 attached to the pallet fork 36 faces the pallet 119a of the predetermined pallet 119. , reads pallet ID data PIDD regarding the pallet 119 to which the pallet ID 119a is mounted, from the pallet ID 119a.

Then, the read pallet ID data PIDD is registered in the machining schedule memory 86 as a machining schedule MSC (step 5P6). When the pallet fork 36 further descends and separates from the metal frame of the pallet 119 from which the pallet ID data PIDD has been read, and the proximity switch is in the FF state (step 5P7), the pallet fork 36 moves to the lower limit iYL.
If the pallet fork 36 is not descending (step 5 ps), the descending speed of the pallet fork 36 is again accelerated to the fast forwarding speed, and the pallet fork 36 is moved to the previous ID data PI.
The next pallet 119 located directly below the pallet 119 from which the DD was read is approached. In this way, the pallet fork 36 is lowered by increasing the descending speed between the pallets 119 and 119 and slowing the descending speed as it approaches each pallet 119. Palette ID 119a of each palette 119 from the lowest palette 119 to the lowest palette 119
Palette ID data P regarding the pallet 119 from
The IDDs are read out in order, and each palette ID data P
Machining schedule memory 8 in the order in which IDDs are read out.
A machining schedule MSC is created by registering in step 6.

At this time, the display device 88a displays the following information as shown in FIG.
The machining schedule M SC is displayed. Then, the pallet fork 36 descends to the lower limit position YL shown in FIG.
When the reading of the pallet ID data PIDD is completed and the creation of the machining schedule MSC is completed (step 5 ps), the pallet fork 36 is raised to the arrow Y-force direction YN origin position YO (step 5P9),
Terminate the schedule creation program SCP. That is,
As will be described later, each pallet 119 stacked on the material station 32 is moved by a pallet fork 36 in order to transport the work 120 to the machine 2 by a gantry robot 61 when processing each work 120 mounted on the pallet 119. Since the pallets are taken out in order starting from the upper part of FIG. Reliably matches the order. Therefore, it is possible to avoid the creation mistakes that would occur when an operator creates a machining schedule, so automatic creation of a machining schedule MSC based on the reading order of pallet ID data PIDD can greatly contribute to unmanned machining. .

Next, in step SAI in FIG. 33, the cell control unit 8
2 compares the work number WN○ in each of the read pallet ID data PIDD with the workpiece number WN○ in the system operation data SOD for the current processing portion via the system operation data comparison unit 87. Then, if the work numbers WN○ of both do not match, step SA2
A warning is issued to the operator, and if both workpiece numbers WN○ match, step SA3 is entered.

Therefore, each tool 117 in the lathe cell 1, each chuck jaw 1
Tool ID data regarding 16 T I DD.

The chuck jaw ID data TJIDD is indirectly compared with the pallet ID data PIDD through the system operation data SOD created by the operator, but as shown in FIG. 66, the pallet ID data PI
The work 12 mounted on the pallet 119 is shown in the DD.
The tool 117 necessary for machining 0, the tool number TN○ of the chuck jaw 116, and the chuck jaw number TJNO are stored.

As described later, by directly comparing the tool ID data TIDD and the chuck jaw ID data TJIDD with the pallet II) data PIDD, it is confirmed that the items necessary for machining are present in the lathe cell 1. You can. The same applies to the hands 62, 72, 76 and the hand claws 79.

That is, when the operator places tools 117 and the like necessary for machining into the stocker 41, it is confirmed that they are set correctly. Therefore, with multiple machine tools, tool 1
17, etc., each machine tool selects the workpiece 120 to be machined from among the many commonly used tools 117, etc.
Since the necessary tools 117 etc. can be reliably selected according to the type of the can be managed.

Note that whether the necessary tools 117, etc. are stored in the stocker 41 is checked based on the system operation data S○D, or based on the type of workpiece 120 set as part of the pallet ID data PIDD. Since this is done based on the tool number TNO of the tool 117 corresponding to the
It is sufficient to prepare (set) either the tool number TNO or the like of the tool 117 corresponding to the type of workpiece 120 in fD.

Then, in step SA3, the cell control unit 82
Palettes related to the workpieces 120 to be processed in the order set as the processing schedule MSC)-ID data PI
Set the Canadian program number PRN in the DD to the machine control unit 97.
Transfer to. The machine control unit 97 reads out the cannibal program PR○ of the cannibal program number PRN from the cannibal program memory 100, and determines, via the setup change determination unit 102, that the cannibal program PR (Tool 117, chuck jaw 116, etc. required for machining 120) Tool number TN○, Chuck jaw number TJN○
etc., in the system data S in the system data memory 99.
In comparison with D, when machining a predetermined type of workpiece 120, the necessary type of tool 117 is in the turret tool rest 21.2.
Whether or not it is attached to 2, the required type of chuck jaw 1
16 is attached to the chuck 9.19. If any of the necessary items is not installed, the machine control section 97 outputs a replacement command to the cell control section 82, and also outputs the tool number TN to be replaced.
O, chuck jaw number TJNO, etc. are transferred, and the process goes to step SA4 in FIG. 33, where the tool 117 and chuck jaw 116 are replaced as follows. In the above case, the necessity of a setup change is determined based on the Canadian program PR○, but it is also possible to determine the necessity of a setup change based on the system operation data SOD and the data PIDD from the pallet. good. In the same way, it is determined whether the necessary type of work hand 76 is attached to the gantry robot 61 and whether the necessary hand claws 79 are attached to the work hand 76. If not, the process goes to step SA4 in FIG. 33, and the work hand 76 and hand claw 79Δ of the predetermined hand number HNO and hand claw number HJNO are replaced as follows. Also, among the tools 117 mounted on the turret tool rest 21 and 22, the tool 1 that has reached (or is about to reach) its lifespan.
17 is also replaced, and the system operation data collation unit 87
Depending on the required tools 117, chuck jaws 116. Since it is confirmed in advance that the work hand 76 and the hand claw 79 are stored in the stocker 41, it is possible to prevent the stocker 41 from being missing something to be replaced.

The tool 117, chuck jaw 116, work hand 76, and hand jaw 79 described below can be replaced smoothly.

In step SA4, the cell control unit 82 connects the stocker 41 and the drive unit 35 by protruding the connecting pin 50 of the stocker 41 in the direction of arrow X+ in FIG. is moved backward in the direction of the arrow ■ - force to release the fixation of the stocker 41 to the bed 31, and the stocker 41, together with the drive unit 35 and the pallet fork 36, can be moved and driven in one direction of the arrows X and X in FIG. do.

Next, a case will be described in which the tool 117 of the turret tool rest 21, 22 is replaced. First, before exchanging the tool 117, the hand exchange program HCP shown in FIG. 35 is entered from step SA5 in FIG. The stocker 41 is driven and controlled, and the gantry robot 6 is controlled via the control unit 94.
1 to exchange the hands of the gantry robot 61. That is, since the gantry robot 61 is normally equipped with a work hand 76 suitable for holding the work 120, this is replaced with a tool hand 69 suitable for holding the tool 117. First, the work hand 76 attached to the arm 62 of the gantry robot 61 is attached to the stocker 4.
1 position above the moving route in Figure 1 (Step 5)
H1). Then, move the stocker 41 to arrows X4+ and X in FIG.
4. By appropriately moving and driving in one direction, a predetermined placement position 43a where the work hand 76 is to be stored is positioned at the delivery position GTP (step 5H2). Next, gantry robot 6
1 arm 62 and work hand 76 in the direction of arrow A+ in FIG.
The work hand 76 is lowered in the direction, and the placement protrusion 76d of the work hand 76 is placed on the holding plates 43b, 43b at the placement position 1i43a positioned at the delivery position GTP (step 5H3).

Then, the driving cylinder 65d shown in FIG. 13 is driven to move the operating rod 65c along the arrow GM against the elasticity of the spring 65e.
When the hooks 65a and 65a are protruded in the direction of the spring 6,
5b swings in the direction of arrow G+ force following the tapered portion 65c', and the engagement between the hook 65a on the arm 62 side and the engagement pin 66a on the work hand 76 side is released (step 5H4). Then, the work hand 76
2 and the holding plate 43b via the mounting protrusion 76d,
It is stored in the stocker 41 in a state where it is carried by the carrier 43b. Next, only the arm 62 of the gantry robot 61 is raised in one direction in the direction of the arrow in FIG.
1 in the directions of arrows X4+ and x4 in FIG.
The tool hand 69 placed at the predetermined placement position 43a is positioned at the delivery position GTP (step 5H6). Then, the arm 62 is lowered again in the direction of arrow A+ in FIG.
At the same time, insert the positioning pin 65f shown in FIG. 12 of the arm 62 into the joint 66c shown in FIG. 17 of the tool hand 69 into the spline $11 shown in FIG.
63b is engaged with the arm 62 and the delivery position GTP.
The tool hand 69 positioned at is brought into contact with the tool hand 69 (step 5H7).

When the operating rod 65c shown in FIG. 13 is released from the drive cylinder 65d in the direction of the arrow GM and is moved back in the direction of the arrow GM by the spring 65e, the hook 6
5a and 65a are springs 6 that follow the tapered portion 65C'.
The arm 62 swings in the direction of the force indicated by the arrow G against the elasticity of the arm 5b.
Hook 6Sa on the side and engagement pin 66 on the tool hand 69 side
a are engaged, and the tool hand 69 is attached to the arm 62 (step 5H8). Then, the arm 62 and tool hand 69 are raised in one direction indicated by the arrow A in FIG. 7, and the hand exchange program HCP is completed.

Note that when the tool hand 69, the chuck claw hand 72, and the work hand 76 are stored in the predetermined placement position W43a of the stocker 41, the hand ID data is obtained from the hand IDs 69a, 72a, and 76a of the respective hands 69, 72, and 76. HI
By reading the DD, the cell control unit 82 sets the placement position 43a where the hands 69, 72, and 76 are stored.
Since the hand can be recognized without any confusion, when replacing the hand of the gantry robot 61, the desired hand (the tool hand 69 in the above case) can be reliably selected and attached to the gantry robot 61. Similarly, the hand claw 79, chuck claw 116, and tool 117 stored in the stocker 41 are handled by the cell control unit 8.
2 reads out data from each of the mounting positions 42a, 45a, 46a, 47a, 48a.
Since it is possible to reliably recognize the
9. The chuck jaws 116 and tools 117 are replaced accurately.

When the tool hand 69 is attached to the gantry robot 61, the tool exchange program TCP shown in FIG. 36 is entered from steps SA6 and SA5 in FIG. Driving and controlling the stocker 41 via the control unit 92,
The gantry robot 61 is driven and controlled via the gantry robot control unit 94, the hand positioning pins 25 and 26 are controlled via the hand positioning pin control unit 95, and the machine control unit 97 is also controlled by the cell control unit. The turret tool rests 21 and 22 are driven and controlled via the tool rest control unit 108 by exchanging a waiting signal with the turret tool rest 82, and the tools of the first turret tool rest 21 and the second turret tool rest 22 are controlled. 117
exchange.

Note that the tool hand 69 includes a first turret tool rest 21,
15 in a form corresponding to each of the second turret tool rests 22.
Two grippers 71 are provided on both the left and right sides of the figure.
Although it is possible to replace the tool 117 on the first turret tool rest 21 side and the tool 117 on the second turret tool rest 22 side at the same time, it is possible to replace the tool 117 on the second talent tool rest 22 side. Since it is the same as the first turret tool rest 21 side, the tool 117 on the first turret tool rest 21 side will be described below.
This section explains the exchange of . First, gantry robot 61
The tool hand 69 is moved to the third position on the moving path of the stocker 41.
Position PTO at the upper position in Figure 7 (Step 5TI)
). Then, move the stocker 41 to the arrows X 4 +, X in FIG.
4. A tool with a predetermined tool number TN○ (hereinafter referred to as a new tool) 117 to be appropriately moved in one direction and mounted on the first turret tool rest 21 placed at a predetermined mounting position 47a.
Position N at delivery position GTP (Step 5T2)
.

Next, the rotation locking pin 70h shown in FIG. 17 of the gantry robot 61 is moved back in the direction of arrow KT.

Drive motor 6 shown in FIG. 14 provided in arm 62
3 is rotated in the direction of the arrow M+ force to rotate the gripper 71 of the tool hand 69 integrally with the Geneva gear 70g by 90'' in the direction of arrow T+ in FIG. 17.Then, the rotation locking pin 70h is projected in the direction of arrow KT+. Geneva gear 70g
Of the two grippers 71 corresponding to the first turret tool rest 21 shown in FIG.
is positioned and fixed at the stocker facing position SFP (step 5T3). Then, as shown in FIG.
Opposed to 9f. Next, the tool hand 69 is lowered in the direction of arrow A+ in FIG. 37 to a position PTI at the height of the new tool 117N in the stocker 41 (step 5T4). and,
When the operating pin 69f shown in FIG. 15 is made to protrude in the direction of the arrow MM+ and the operating rod 71e is pushed in the direction of the arrow NM+ against the elasticity of the spring 71f, the arm 7 shown in FIG.
1a and 71a are springs 71c and engagement rods 71d and 71
d, and opens in the direction of arrow N+force in a manner that follows the tapered portion 71e' of the operating rod 71e (step 5TY). Next, with the arms 71a and 71a open, move the tool hand 69 in one direction of arrow B in FIG. , gripper 71N to stocker 4
Approach the new tool 117N above 1 (Step 5T6)
. Then, when the operating pin 69f shown in FIG. 19 is retreated in the direction of the arrow MM, the operating rod 71e is pushed in the direction of the arrow NM- by the spring 71f, and the arms 71a, 71a
is the operation lot 71 via the engagement lots 71d, 71d.
The gripper 71N closes in one direction of the arrow N against the elasticity of the spring 71c in a manner that follows the tapered portion 71e' of 3.
The new tool 117N is held in such a way that the two engagement holes 71b are engaged with the three held protrusions 117b (step 5T7).
). Next, while holding the new tool 117N with the gripper 71, move the tool hand 69 to the position P in the direction of arrow B+ in FIG.
When raised to T3, the new tool 117N is taken out from the stocker 41 with the shank 1170 pulled out from the shank hole 47b (step 5T8).

Then, move the tool hand 69 in the direction of arrow B+ to position PT4.
(Step 5T9), rotate the gripper 71 90 degrees in the direction of arrow B+ in Fig. 1, and move the new tool 117N.
The gripper 71u that does not hold the gripper 71u is positioned and fixed at the turret facing position TFP (step 5TIO). Then, the operating rod 71e of the gripper 71u positioned at the turret facing position TFP faces the operating pin 69f on the casing 69b side, as shown in FIG.

At this time, the new tool 11 held by the other gripper 71M
7N, the shank 117c is in a horizontal position as shown in FIG. Next, move the tool hand 69 to arrow B in FIG.
The tool is moved in the + direction to position PT5, and the new tool 117N taken out from the stocker 41 is conveyed to the machine 2 side (step 5TII).

If the tools 117 of the second turret tool rest 22 are also replaced at the same time, the gripper 71 on the left side of FIG.
At the same time, the new tool 117N was taken out from the second tool storage section 48 using the gripper 71 on the right side of FIG. 37 of the tool hand 69, and the two new tools 117N were simultaneously held by the tool hand 69. It is transported from the stocker 41 to the machine 2 side in this state. When the new tool 117N is transferred to the machine 2 side, the tool hand 69 is lowered in the direction of arrow B+ in FIG. 71a, 71a in the open state (step 5T13), and move the tool hand 69 in the direction of arrow B-
The gripper 710 is moved to the force direction position PT7 and the gripper 710 in the open state is opposed to the first talent tool rest 21 (step 5T14). Then, move the hand positioning pin 25 to the 40th position.
The tool hand 69 is fixed on the body 3 by protruding in the direction of arrow P+ in the figure and engaging with the positioning hole 69e of the tool hand 69 (step 5T15). Also, while the new tool 117 is being transported to the machine 2 by the gantry robot 61, the first turret tool rest 21 is appropriately rotated in one direction of arrows D+ and D, and the new tool 117 is attached to the first turret tool rest 21. Among the plurality of tools 117, the tool 117U with a predetermined tool number TN○ (hereinafter referred to as a heavy tool), which is unnecessary for the current machining, is indexed and positioned at the exchange position EXP (step 5T1).
6). Then, the tool hunt 69 is the hand positioning pin 2.
5, when the first turret tool rest 21 is fixed at position PT7, a drive motor (not shown) (the drive motor is for cutting) drives the first turret tool rest 21 to move in the X-axis direction (in the direction of arrows xi and x in FIG. 2). Therefore, the torque is large.), and the torque is limited by limiting the current supplied to
17), move the first turret tool rest 21 to the arrow X1+ in Figure 41
direction to approach the tool hand 69 (step 5T18). Then, as shown in FIG. 41, the heavy tool 117 at the exchange position EXP of the first turret tool rest 21
o is the arm 71a, 7 of the gripper 71u in the open state.
Since it is inserted between grippers 71. , arm 7 of
1a and 71a, and attach the heavy tool 11 to the tool hand 69.
7υ is held (step 5T19). Next, the stone tool 117, the tool mounting hole 2 of the first turret tool rest 21 of J
After releasing the holding state for 1a (step 5T20), the first turret tool rest 21 is moved to the 42nd
When the heavy tool 117 held by the tool hand 69 is moved in one direction of the arrow X in the figure and separated from the tool hand 69 (step 5T22). J is the first turret tool rest 2
The tool is pulled out from the tool mounting hole 21a of No. 1. That is, when a predetermined tool mounting hole 21a is pivotally positioned to the exchange position EXP, the drilling direction of the tool mounting hole 21a becomes parallel to the arrow X+, X direction, which is the moving direction of the first talent tool rest 21. The tool 117 can be loaded into and removed from the tool mounting hole 21a in parallel to the moving direction of the first turret tool rest 21. Therefore, since the gantry robot 61 moves along the rail 60 installed parallel to the axis of the main spindle in order to transfer the workpiece 120 to and from the workpiece spindle 7.17, which will be described later, the gantry robot 61 itself is Although it is impossible to approach and move away from the mounting hole 21a, by moving the first turret tool rest 21 towards and away from the gantry robot 61, it is positioned at the exchange position EXP as described above. The stone tool 1170 can be taken out from the tool mounting hole 21a, and the new tool 117N can be mounted in the tool mounting hole 21a in the following manner. When the stone tool 117° is taken out from the tool mounting hole 21a, the gripper 71 of the tool hand 69
together with the stone tool 117o and the new tool 117N, rotate the new tool 117N by 180 degrees in the direction of arrow T+ in FIG.
c is positioned and fixed at the turret facing position TFP in such a way that it faces the tool mounting hole 21a side of the first turret tool rest 21 (step 5T23). And the first turret tool rest 2
1.

With the torque of the drive motor in the X-axis direction being limited (step 5T24), it is moved in the direction of the arrow X1 in FIG. 44 to approach the tool hand 69 (step 5T25).

Then, the new tool 117N held in the tool hand 69
The shank is 117C.

Since the stone tool 117U of the first turret tool post 21 is fitted into the tool mounting hole 21a, the shank 11
Once the tool 7C is fitted, it is fixedly held in the tool mounting hole 21a and the new tool 117N is mounted on the first turret tool rest 21 (step 5T26). At this time, the tool hand 69 of the gantry robot 61 can accurately adjust the position of the gripper 71 (casing 69b) with respect to the arm 62 via the adjustment members 66, 67, and It is positioned and fixed to the body 3 by the positioning pin 25 (hand positioning pin 2
5, accurate positioning is difficult because the tool hand 69 is attached to the tip of the extended arm 62. ), the shank 117c of the new tool 117N held by the gripper 71N positioned at the turret facing position TFP is accurately positioned with respect to the tool mounting hole 21a of the first turret tool post 21, and
The fitting of the shank 117C of the new tool 117U into the new tool 117U is carried out suitably even if the fit is tight.

In addition, if the arm 6 is made of rlR11 member 66, 67, etc.
Gripper 71 for 2. Due to improper position adjustment, the shank 1 of the new tool 117N was not inserted into the tool mounting hole 21a.
If the insertion of the first turret turret 17c is not successful, the gantry robot 61 may be damaged due to forced movement of the first turret turret 21, since the torque of the drive motor in the X-axis direction of the first turret turret 21 is limited. can be prevented. Also, as shown by the two-point dotted line in Figure 15,
By forming the constricted portion 71h in the arm 71a of the gripper 71, the arm 7
It may be possible to avoid damage to the entire gantry robot 61 by damaging only the portion 1a.Next, open the gripper 71N of the tool hand 69 and remove the new tool 117.
0 (step 5T27), the first turret tool rest 21 is set to the new tool 117x with the torque limit of the drive motor in the X-axis direction released (step 5T2B)
At the same time, it is moved in one direction of the arrow X1 in FIG. 45 and away from the tool hand 69 (step 5T29).

Then, the hand positioning pin 25 is moved backward in the direction of the arrow P-force to release the fixed state of the tool hand 69 to the machine body 3 (step 5T30). If the tools 117 of the second turret tool post 22 are also replaced at the same time, at this stage, move the tool hand 69 horizontally in one direction of arrow B in FIG. With the other gripper 71 facing the second turret tool rest 22 and the hand positioning pin 26 shown in FIG. 1 protruding upward in the figure, the tool hand 69 is fixed to the machine body 3,
The stone tool 117u of the second turret tool rest 22 is replaced with a new tool 117% by appropriately moving and driving the second talent tool rest 22 in one direction of arrows X21 and X2 in FIG. Next, move the tool hand 69 to position PT in the direction of arrow B+ in FIG.
8 (step 5T31), and also move the gripper 71.8 in the open state. is closed (step 5T32), and the tool hand 69 is further raised to arrow A-force direction position PT9 (step 5T33). Then, the tool hand 69 is moved in one direction of arrow B in FIG.
4). In addition, tool 1 for 1 turret tool rest 21.22
If you exchange 17 at once, 2 stone tools 117
The tool hand 69 holds the U at the same time and transports it from the machine 2 to the stocker 41 side. Stone tools 117 to the stocker 41 side. When J is transported, the stocker 41 is moved in the direction shown by arrow X4 in FIG. , by appropriately moving and driving in one direction of X4, the stone tool 11
7. The predetermined loading position 47a where J is to be stored is set to the delivery position G.
Position at TP (step 5T35). Next, move the gripper 71 of the tool hand 69 in the direction of arrow B+ in FIG.
The stone tool 117. is rotated 0' and held by the tool hand 69. J is positioned and fixed at the stocker facing position SFP with the shank 117c facing downward in the figure (step 5T36), and the tool hand 69 is moved in one direction of arrow B in FIG. 46 to position PTII, and the stone tool 117U is The shank 117c is positioned above the shank hole 47b positioned at the delivery position GTP (step 5).
T37). Then, the tool hand 69 is lowered to the arrow A+force direction position PT12, and the stone tool 117U is placed on the predetermined placement position 47a with the shank 117C inserted into the shank hole 47b (step 5T38).

Next, the gripper 71u is opened to release the tool hand 69 from holding the stone tool 117IJ (step 5T39).
), moves the tool hand 69 in the direction of arrow B+ to position PT13 (step 5T40), closes the gripper 71o (step 5T41), and moves the tool hand 69 in the direction of arrow A
- Raise the force direction position PT14 (step 5T42)
), the gripper 71 is rotated in the arrow T-force direction 2706 (step 5T43), and the tool exchange program TCP is ended. In addition, if the tools 117 of the second turret tool rest 22 are also replaced at the same time, the stone tool 117υ held by the gripper 71 on the left side of FIG. 46 of the tool hand 69 is stored in the first tool storage as described above. Similarly, the stone tool 117o held by the gripper 71 on the right side in FIG. 46 of the tool hand 69 is stored in the second tool storage section 48, and the tool exchange program TCP is completed.

In addition, when replacing the tool 117, the replaced tool 1
The tool ID data TIDD regarding 17 is sent to the cell control unit 8.
The turret tool post 21.2 stored in the system data memory 84.99 is transferred between the machine control unit 97 and the turret tool rest 21.2.
System data related to 2 SDT and tool storage 47.4
The system data SD and T related to 8 are replaced.

and.

When the replacement of the stone tool 1171J with the new tool 117M for the first turret tool rest 21 and the second turret tool rest 22 is completed, the cell control section 82 controls the pallet fork control section 92 and the ID data input/output control section 90. , R/W head 5
6, the tool ID data TIDD is stored in the system data memory 84.99 in the tool ID 117a of each stone tool 117t+ stored in the stocker 41 in the same way as reading the tool ID data TIDD from the tool ID 117a of the tool 117 described above. Latest tool ID for each stone tool 117U
Write data TIDD. That is, among the tool ID data TIDD regarding each tool 117, the system data SD
System data memory in lathe cell 1 as 84.99
The tool ID data TIDD stored in is the tool 11
7 is used in the machine 2, it is updated sequentially, but the tool data TIDD stored in the tool ID 117a of each tool 117 is not updated while each tool 117 is attached to the machine 2. , when each tool 117 is returned to the stocker 41, the tool ID data TIDD in the tool IDI 17a is updated all at once. Therefore, when the stone tool 117u is subsequently used in a machine tool other than lathe cell 1, the tool ID of the stone tool 117U is
By reading the tool ID data TIDD updated from the lathe cell 117a, it is possible to grasp the wear correction amount, life time, etc. corresponding to the actual condition of the stone tool 117o, and the operator can read the updated tool ID data TIDD from the lathe cell 1. There is no need to newly input the tool ID data TJIDD to the control device.

Next, a case will be described in which the chuck claws 116 of the chuck 9.19 are replaced. First, before exchanging the chuck jaw 116, the hand exchange program HCP is entered from steps SA6 and SA5 in FIG. The chuck claw hand 72 is replaced with a chuck claw hand 72 suitable for holding 116. That is, the chuck claw hand 7
Single gantry robot by replacing with 2 6
1, in addition to replacing the tool 117 described above, the chuck claw 116 can also be replaced in the following manner. When the chuck jaw hand 72 is attached to the gantry robot 61, the chuck jaw exchange program TJCP shown in FIG.
is connected to the stocker 41 via the pallet fork control section 92.
The machine controller 9 drives and controls the gantry robot 61 via the gantry robot controller 94.
7 controls the drive of the chuck jaw changing auxiliary device W12 through the chuck jaw changing auxiliary device control unit 109 in the form of exchanging a waiting signal with the cell control unit 82, and controls the operation of the chuck jaw changing auxiliary device W12 through the spindle control unit 106. Main axis 7.17. Chuck 9.19
The chuck jaws 116 of the chuck 9 on the first headstock 6 side and the chuck 19 on the second headstock 16 side are driven and controlled.
In addition, the gripper 7 of the chuck claw hand 72 is replaced.
5, since the arm 75a is formed vertically symmetrically in FIG. Since they are arranged symmetrically in the rotating part 74 in FIG. 23, the gripper 75 is used to grip the chuck jaws 116 on the chuck 9 on the first headstock 6 side, as shown by solid lines in FIG. 51 or 52. The gripper 7 can be replaced as shown by the two-dot chain line in the same figure.
5 can also be used to replace the chuck claws 116 of the chuck 19 on the second headstock 16 side. The replacement of the chuck jaws 116 of the chuck 19 on the second headstock 16 side is the same as that of the chuck 9 on the first headstock 6 side, so the replacement of the chuck jaws 116 of the chuck 9 on the first headstock 6 side will be described below. I will explain about it. First, the chuck claw hand 72 of the gantry robot 61 is positioned at the position PJO above the moving path of the stocker 41 in FIG.
I), and move the stocker 41 to arrows X4+ and X4 in FIG.
A chuck jaw (hereinafter referred to as a new chuck jaw) having a predetermined chuck jaw number TJNO to be attached to the chuck 9 is appropriately moved and driven in one direction and placed at a predetermined mounting position 45a.

) 116s at the delivery position GTP (step 5J2). Next, move the chuck claw hand 72 in the direction of arrow X+ in FIG. (step 5J3). Of the four grippers 75 of the chuck claw hand 72,
Arms 75a, 75a of gripper 75A positioned at groove facing position GFP are opened in the direction of arrow X+ in FIG. 8 (step 5J4). Next, the arm 75a of the gripper 75A,
With 75a open, move the chuck claw hand 72 in one direction of arrow B in FIG.
A new chuck claw 116 protrudes upward in the figure from b. The gripper 756 is brought close to the new chuck jaw 116B stored in the stocker 41 by inserting the held portion 116b between the arms 75a, 75a (step 5J5). Then, the arms 75a, 75a of the gripper 75A are closed in one direction of the arrow Q in FIG.
The new chuck jaw 116. hold (
Step 5J6). Next, with the new chuck jaw 116s held by the gripper 75A, when the chuck jaw hand 72 is raised in the direction of arrow B+ in FIG. 51 to position PJ3, the new chuck jaw 116s. is taken out from the stocker 41 in a manner that it is pulled through the placement groove 45b (step 5J7).
). Then, move the chuck claw hand 72 in the direction of arrow B to position PJ4 (PJO) (step 5J8).
). Next, the selection movement motor 63 shown in FIG. 14, which is provided in the arm 62 of the gantry robot 61, is driven to rotate in the direction of arrow M+force, so that the rotating part 74 of the chuck claw hand 72 is integrally moved with the Geneva gear 73e. Figure 21 9 in the direction of arrow B+
The gripper 75B, which does not yet hold the chuck claw 116, is shown in FIG. It is positioned and fixed at the groove facing position GFP shown (step 5J9).

Then, the new chuck jaw 11 by the above-mentioned gripper 75A
6. In the same way as above, remove the second new chuck jaw 1.
16. The stocker 4 is held in the gripper 758.
After starting from 1, the third new chuck jaw 116.
The three new chuck jaws 116s are removed from the stocker 41 by holding them in the gripper 75c.
(Step 5 JIO). Then, the chuck claw hand 72, as shown in FIG.
The new chuck jaws 116S are held, and the remaining gripper 75D holds nothing, and the gripper 75. is facing the groove 1! It will be in a state where it is positioned on the GFP. Then, the chuck claw hand 72 is moved in the direction of arrow B+ in FIG.
new chuck jaws 116. is transported to the machine 2 side (step 5J11). When the new chuck jaw 1168 is transferred to the machine 2 side, the chuck jaw hand 72 is lowered to the height of arrow A + force direction chuck 9 @PJ6 (step 5J12), and positioned at the groove facing position 31 GFP. , the arms 75a, 75a of the gripper 75D that does not hold the chuck claw 116 are opened (step 5J13). In addition, while the new chuck jaw 116 is being transported from the stocker 41 to the machine 2, the first headstock 6 is positioned at a predetermined jaw replacement position in the arrow C1 in FIG. The main shaft 7 is appropriately rotated in one direction of arrows C1° and C in FIG. The chuck jaw c hereinafter referred to as the old chuck jaw.

) 116u, one old chuck jaw 116u is positioned at the replacement position EXPJ (step 5J14). Then, the drilling direction of the slide groove 9a of the chuck 9 into which the old chuck jaw 116° is inserted, that is, the direction in which the chuck jaw 116 can be inserted into and removed from the slide groove 9a (arrow J., one direction of J) is determined. , the direction of expansion and contraction of the arm 62 of the gantry robot 61 to which the chuck claw hand 72 is attached (
It becomes parallel to the arrows A, , A (one direction). Therefore, by moving the chuck claw hand 72 attached to the arm 62 in one direction of arrows A, . Next, the chuck jaw replacement auxiliary device 12 on the first headstock 6 is moved by arrow C1 in FIG. 5, and the guide groove 15 shown in FIG.
Old chuck jaw 116 positioned at replacement position EXPJ
The IJ is aligned with the slide groove 9a of the chuck 9 into which it is fitted (step 5J15). Further, the operating rod 13 of the chuck jaw replacement auxiliary device 12 is projected in the direction of arrow B+ in FIG. 51, and the lock pin 11 of the chuck 9 is
Push in the + direction to open/close operation member 10 and old chuck claw 11
The old chuck claw 116υ is made movable in the slide groove 9a of the chuck 9 in the direction of the arrow J and J (step 5J16). In addition, the old chuck claw 116. Even if J is disengaged from the opening/closing operation member 10, it is temporarily held elastically within the slide groove 9a by a spring or the like, and does not fall off from the chuck 9. and,
When the old chuck jaws 116, J positioned at the exchange position EXPJ of the chuck 9 and the gripper 75I) positioned at the groove facing position GFP of the chuck jaw hand 72 are opposed to each other, the gripper 75D is opened and the chuck jaw hand 72 in the direction of arrow B+ in FIG.
5a and 75a, and approach the old chuck claw 116° attached to the chuck 9 (Step 5
J17). Next, the gripper 75 of the chuck claw hand 72
Close the arms 75a, 75a of D, and hold the held part 116.
Step 5J18) to hold the old chuck jaw 116U through b, move the chuck jaw hand 72 to position PJ in the + direction of arrow B in Fig. 51 while holding the old chuck jaw 116o.
8 (step 5J19). Then, the old chuck jaw 116° moves from the slide groove 9a to the arrow C in FIG.
It is pulled out in the + direction and passes through the guide groove 15,
6 taken out from the chuck 9.Then, the chuck claw hand 72 is moved in the direction of arrow B+ in FIG.
Rotate 90 degrees in the + direction to position and fix the new chuck claw 1165 held by the gripper 75 (,) at the groove facing position GFP (step 5J21). Next, move the chuck claw hand 72 in the + direction of arrow B in Fig. 51. The new chuck jaw 116., which was moved to position PJIO and positioned at the groove facing position 50FP, is positioned above the guide groove 15 and the slide groove 9a of the chuck 9 in the figure (step 5J22).
. Then, the arm 62 is extended and the chuck claw hand 7 is
2 is lowered to the arrow A+force direction position PJII, the new chuck jaw 116g is fitted into the slide groove 9a of the chuck 9 while passing through the guide groove 15 (step 5J23). At this time, since the chuck claw hand 72 is attached to the tip of the extended arm 62, it is difficult to align the new chuck claw 116s held by the chuck claw hand 72 with the slide groove 9a of the chuck 9. However, the chuck claw hand 72 of the gantry robot 61 can accurately adjust the position of the gripper 75 when it is positioned at the groove facing position GFP with respect to the arm 62 via the adjustment members 66 and 67. Furthermore, since the ends 15a and 15b are guided by the tapered guide groove 15, the new chuck jaw 116s
is suitably fitted into the slide groove 9a of the chuck 9 in a manner that is aligned with the slide groove 9a. And new chuck jaw 1
165 is inserted into the slide groove 9a, the gripper 75c is opened and the new chuck jaw 116. Step 5J24)
, move the chuck claw hand 72 in the direction of arrow B+ in FIG. 52 to position PJ12 (PJ6) (step 5J).
25). In addition, the new chuck jaw 116s has a slide groove 9.
Next, the operating rod 13 of the chuck jaw replacement auxiliary device 12 is moved back in the direction of arrow R in FIG.
The new chuck jaw 116j fitted into the slide groove 9a
to engage the new chuck claw 1161 with the chuck 9.
(Step 5J2G) and move the chuck jaw replacement auxiliary device 12 backward in the direction of arrow S (Step 5J2G).
J27). When the new chuck jaw 116 is attached to the chuck 9, the gripper 75G that was holding the new chuck jaw 116s is in a state where it does not hold anything at the groove facing position GFP, so in the case of the gripper 75D described above. In the same manner as above, move the workpiece spindle 7 and chuck 9 to the arrow C0+ in FIG.
, C. Rotate the remaining old chuck jaws 11 in one direction as appropriate.
6U to the exchange position EXPJ, and gripper 75.
Then, the mouth chuck claw 1160 is taken out from the chuck 9 and the new chuck claw 1163 held by the gripper 751 is attached to the chuck 9.

Furthermore, the workpiece spindle 7 and chuck 9 are appropriately rotated in the direction of arrow C□ in FIG.
60 to the exchange position gEXPJ, and gripper 753
Take out the old chuck jaw 116o from the chuck 9,
The new chuck jaws 1163 held on the gripper 75A are attached to the chuck 9, and the three old chuck jaws 116o that were attached to the chuck 9 are sequentially replaced with the three new chuck jaws 116o held on the chuck jaw hunt 72. Chuck jaw 1168
(steps 5J28.5J29). Then,
As shown in FIG. 53, the chuck claw hand 72 has three grippers 75B, 75c, and
The three old chuck claws 116U are held on the gripper 75D, and nothing is held on the remaining gripper 75A. Then, the gripper 75A in the open state is closed (step 5J30), and the chuck claw hand 72 is raised to the arrow A-force direction position PJ13 (step 5J31).
Figure 55: Position i in the direction of arrow B+! Three old chuck jaws 11 taken out from chuck 9 after being moved to PJ14
6° to the stocker 41 side (step 5J32)
. When the old chuck jaw 116o is transported to the stocker 41 side, the stocker 41 is appropriately moved in one direction of arrows X, , X4 in FIG. NGTP (step 5J33). Next, the one-rotation part 74 is rotated 90 degrees in the direction of arrow B+ in FIG.
2 is moved to arrow B-force direction position PJ15, and the new chuck jaw 1163 held by gripper 751B is positioned above M, positioning groove 45b, which is positioned at delivery position 1iGTP in the figure (step 5J35). Then, the chuck jaw hunt 72 is lowered to arrow A, the force direction position PJ16, and the old chuck jaw 116U is moved to the predetermined mounting position 45.
Insert and place it in the placement groove 45b of a (step 5J36)
.

Next, the gripper 758 is opened to release the chuck claw 116o from being held by the chuck claw hand 72 (step 5J37), and the chuck claw hand 72 is moved in the direction of arrow B+ in FIG. 55 to position PJ17 (step 5J).
38), move the chuck claw hand 72 in the arrow A-force direction fi
! Raise it to PJ18 (PJ14) (step 5J
39), close gripper 75m (step 5J40)
. Then, the above-mentioned gripper 75. In the same manner as when storing the old chuck jaw 116o held in the gripper 75c in the stocker 41, the old chuck jaw 11 held in the gripper 75c is stored in the stocker 41.
6U in the mounting groove 4 of the predetermined mounting position 45a of the stocker 41.
Furthermore, the old chuck claw 116o held by the gripper 75D is inserted and placed in the mounting groove 45b of the predetermined mounting position 45a of the stocker 41, and is held by the chuck claw hand 72. The three old chuck jaws 1165 are stored in the stocker 41 (step 5J41), and the chuck jaw replacement program TJCP is ended. In addition, in order to be able to hold seven or more chuck jaws 116 on the chuck jaw hand 72 at the same time, for example, eight grippers 75 are installed on the chuck jaw hand 72 so that six grippers can be held between the stocker 41 and the machine 2. By simultaneously conveying the chuck jaws 116, the chuck jaws 116 of the chuck 9 on the first headstock 6 side
It is also possible to replace the chuck jaws 116 of the chuck 19 on the second headstock 16 side at the same time (if the chuck 9.19 has three jaws).

Also, when replacing the chuck jaws 116.

The chuck jaw ID data TJIDD regarding the replaced chuck jaw 116 is transferred between the cell control unit 82 and the machine control unit 97, and the system data SDc regarding the chuck 9.19 stored in the system data memory 84.99 is transferred.
and the system data 5DSG regarding the chuck jaw storage parts 45 and 46 are replaced. When the chuck 9 on the first headstock 6 side and the chuck 19 on the second headstock 16 side are all replaced with the new chuck jaws 116S from the old chuck jaws 116U, the cell control unit 82 controls the pallet fork. Control unit 92, ID data control unit 90, R/
The chuck pawl ID data TJI from the chuck pawl ID 116a of the chuck pawl 116 described above is transmitted via the W head 55.
In the same manner as reading the DD, the latest chuck jaw ID data TJIDD regarding each old chuck jaw 116o stored in the system data memory 84.99 is stored in the chuck jaw ID 116a of each old chuck jaw 116U stored in the stocker 41. Write, chuck jaw ID data TJID in chuck jaw ID116a of each old chuck jaw 116υ
Update D. Therefore, after that, the old chuck claw 11
When using 6o with a machine tool other than lathe cell 1,
The old chuck jaw 116, J chuck jaw ID116a
By reading the chuck jaw ID data TJIDD updated from , it is possible to grasp the lifetime opening, etc. corresponding to the actual state of the old chuck jaw 116U, and the operator can read the updated chuck jaw ID data TJIDD from the lathe cell 1. There is no need to newly input the chuck jaw ID data TJIDD.

In this way, when the replacement of the tool 117 is completed and the replacement of the chuck jaw 116 is also completed, step SA6 in FIG.
, SA5 enters the hand exchange program HcP, and the chuck claw hand 72 attached to the gantry robot 61 is exchanged with the work hand 76 suitable for holding the workpiece 120 in the same way as the exchange with the tool hand 69 described above. That is, the gantry robot 61 is used as a single conveyance means by appropriately replacing the tool hand 69, the chuck claw hand 72, and the work hand 76.

Tools 117. Since the chuck jaw 116 and the workpiece 120 can be transferred and transferred, the tool 117° chuck jaw 1
16. Compared to the case where a conveyance means is provided for each workpiece 120, the installation space for the conveyance means can be reduced and it is economical. In addition, the work hand 7 of the gantry robot 61
6, if a plurality of work hands 76 are prepared in the stocker 41, the hand claw 79 described later
The work hand 76 is replaced with a predetermined hand number HN○ corresponding to the type of work hand 76.

When the work hand 76 is attached to the gantry robot 61, the hand claw exchange program HJCP shown in FIG. The stocker 41 is drive-controlled via the fork control section 92, and the gantry robot 61 is drive-controlled via the gantry robot control section 94, thereby replacing the hand claw 79 of the work hand 76. That is, since the held protrusion 117b of the tool 117 can be easily shared, various tools 117 can be held by a single tool hand 69 to which the gripper 71 is attached. Since the held portion 116b can be easily shared, various chuck jaws 116 can be held by a single chuck jaw hand 72 to which the gripper 75 is attached. However, since the held part of the workpiece 120 cannot be shared, it is necessary to replace the holding means of the gantry robot 61 for various workpieces 120. If there is a slight difference, the same work hand 76 is used, and only the hand claw 79 is replaced with the work hand 76.

That is, even when the type of workpiece 120 is slightly different,
Since it is not economical to prepare various work hands equipped with similar drive means so as to replace the entire work hand, it is not economical to prepare various work hands 79 equipped with similar drive means. A hand claw 79 is attached to a work hand 76 equipped with a driving means such as an opening/closing operation plate 77c.
Replace only as appropriate. Therefore, by appropriately replacing the tool hand 69, chuck claw hand 72, and work hand 76, a single gantry robot 61 can be used.
It is possible to transfer and deliver various objects such as the tool 117, the chuck jaw 116, the work 120, and the work 120.
Furthermore, by replacing the hand claw 79, it is possible to transfer and deliver various workpieces 120 using a single work hand 76. When replacing the hand claw 79, first replace the gantry robot 61.
The work hand 76 is placed in the hand claw storage section 4 of the stocker 41.
28 above the moving path in FIG.
The hand claws with the predetermined hand claw number HJNO (hereinafter referred to as old hand claws) are unsuitable for holding the two workpieces 120 to be machined this time, which are rotated in one direction and attached to the rotating part 77 of the work hand 76. ) 79u is positioned and fixed facing downward in FIG. 1 (Step 5HJI).

Then, move the stocker 41 to the arrows X, +, and X 4- in FIG.
A predetermined placement position 42a where the old hand claw 79U is to be stored is positioned at the delivery position GTP by appropriately moving and driving in the direction (step SHJ 2). Next, gantry robot 6
1 work hand 76 and the old hunt claw 791J are lowered in the direction of arrow X+ in FIG.
J3). Then, the gripper 76d on the work hand 76 side
The hooks 77e, 77e are opened in the direction of arrow 1+ in FIG. Step 5HJ4), gantry robot 61
Only the work hand 76 is raised in one direction of the arrow A in FIG. 1, and is retracted out of the moving range of the stocker 41 (step 5HJ5). At this time, the work hand 76 from which the old chuck claw 79U has been removed is in a state where the hand claw mounting surface 77b shown in FIG. 27 is exposed toward the stocker 41 side (lower side in FIG. 1). Next, move the stocker 41 to arrow X4+ in FIG.
, X4 is suitably moved and driven in one direction to a predetermined placement position M42.
The hand claw with the predetermined hunt claw number HJNO to be attached to the work hunt 76 placed on d (hereinafter referred to as "hand claw").

79. is positioned at the transfer position 1GTP (step SHJ 6). Then, the work hunt 76 is lowered again in the direction of arrow A in FIG.
The hand claw attachment surface 77b shown in the figure is brought into contact with the hand contact surface 79f shown in FIG. 30 of the new chuck claw 795 positioned at the delivery position GTP (step 5HJ7). At this time, the new chuck jaw 79 shown in FIG. The engagement pin 79C of the three claws 79b protrudes from the hand contact surface 79f.
However, the claw opening/closing operation plate 7 of the work hand 76 shown in FIG.
The pin 7 to be held is inserted into the operation groove 77c' of 7c and protrudes from the hand contact surface 79f of the new chuck claw 795.
9cl is the hook 77 of the work hand 76 in the open state.
It is inserted between e and 77e. Next, the hooks 77e, 77e on the work hand 76 side are closed in the direction indicated by the arrow in FIG. (Step 5HJ8). Then, the work hand 76 and the new hand claw 795 are raised in one direction in the direction of the arrow in FIG.
The remaining old hand claw 79U attached to the rotating part 77 is positioned and fixed downward in FIG. 1 by rotating it by 18 degrees in the direction of arrow 1+ in the figure (step 5HJIO), and the mouth hand claw 79U is positioned and fixed downward in FIG. J is replaced with a new hand claw 798 in the same manner as described above, and two new hand claws 79.J are attached to the work hand 76. is attached (step SHJ 11), and the hand claw replacement program HJCP is ended.

In this way, when the replacement of the hand claw 79 of the work hand 76 is completed, steps SA6 to SA7 in FIG. 33 are completed.
The cell controller 82 then controls the pallet fork controller 9.
2, the stocker 41 is moved to the origin of the control axis in one direction, indicated by the arrows X4+ and X in FIG.
The stocker 41 is fixed to the bed 31 by protruding in the arrow direction, and the connection pin 51 is moved back in the direction of arrow U to release the connection between the stocker 41 and the drive unit 35.

Then, in step SA8 of FIG.

The machine control unit 97 transfers the new chuck jaws 116.19 to the chuck 9.19 transferred from the cell controller 82. Based on the chuck jaw ID data TJIDD related to the new chuck jaw 116s, the green jaw forming program number 5JFPN is stored in the chuck jaw ID data TJIDD, as shown in FIG. The machine control unit 97 reads out the raw nail shaping program 5JFP as shown in FIG. 67 of the raw nail shaping program number 5JFPN from the raw nail shaping program memory 101. Then, as shown in FIG. 63, using the dimensions 5FDD of each part stored in the chuck jaw ID data TJIDD as parameters, the green jaw forming program 5JFP is further set to correspond to the workpiece 120 with the predetermined workpiece number WNO to be machined. Based on this, the new chuck jaw 116. is attached to the chuck 9°19 as shown in FIG. Perform natural nail molding.

Also, in step SA9 of FIG. 33, one machine control section 9
7 is chuck jaw ID data TJID regarding the new chuck jaw 1165 that was transferred from the cell control unit 82 via the barrier setting unit 103 and was attached to the chuck 9.19.
Based on D, as shown in FIG. 69 or 70, a barrier (machined BR is set (area where tools 117 etc. are prohibited from entering).

Next, the cell control unit 82 controls the pallet fork control unit 92
Based on the pallet loading program PLP shown in FIG. 57, the uppermost pallet 119 in FIG. 7 on which the work 120 with the work number WHO is placed is
The material is taken out from the material station 32. First, the pallet fork 36 is moved in the + direction of arrow X in FIG. 8 to the material station 32 (step 5LI). Then, move the pallet fork 36 in the direction shown by arrow Y in FIG. The pallet 119 is lowered in the direction to the position of the pallet 119 to be taken out (step 5L2
). At this time, the height PPHT of the pallet pin 119P in the pallet ID data PIDD regarding each pallet 119
Based on the position of the pallet 119 to be taken out (
The machining speed of the pallet fork 36 can be adjusted as appropriate depending on the distance from the pallet 119 by calculating the height) in advance. Therefore, the operation of the pallet fork 36 is
As mentioned above, the pallet 11 is moved by the proximity switch 36a.
This can be done faster than when detecting 9. Also, when changing the height PPHT of the pallet pin 119p of the pallet 119, the pallet ID data PI
Since the DD is read from the pallet 119a by the R/W head 39, even when the same pallet 119 is shared by multiple machine tools, the operator only needs to change the pallet ID data PIDD in the pallet ID 119a of the pallet 119. There is no need to input the changed height PPHT into the control device of each machine tool one by one. Next, the hook 37a of the arm 37 of the pallet fork 36 is projected in the direction of arrow F+ in FIG. 10, and the pallet 119 is supported from below in FIG. 7 by the hook 37a (step 5L3). Then, the pallet fork 36 and the supported pallet 119 are raised to the Y-axis origin position YO in the arrow Y-force direction (step 5L4), and the pallet loading program PLP is ended.

Further, in step 5AIO in FIG. 33, the machine control unit 97 controls the tool 117 mounted on the turret tool rest 21, 22 used for machining the workpiece 120.
Tool measurement unit 11o1 measures whether the cutting edge is damaged or not through a known tool measurement device (not shown), and if necessary, enters step SAI 2 from step 5AIL, and compares the old tool 117u and new tool 117N. Similarly to the case of exchanging with the tool hand 69, the replaced gantry robot 61 is used to replace the tool 117 mounted on the turret tool rest 21° 22 with the same tool number TNO stored in the stocker 41. Replace with the spare tool 117.

In this way, when the workpiece 120 with the predetermined workpiece number WNO is ready for machining, step 5T13 in FIG.
, the workpiece 1 mounted on the pallet 119
20 is taken out and conveyed to the machine 2, and the chuck 9.19 grips the work 120. When taking out a predetermined workpiece 120 from the pallet 119, the cell control unit 8
2 moves the pallet fork 36 to the pallet 1 via the pallet fork control unit 92 based on the workpiece placement state information WPI such as work interval data in the pallet ID data PIDD shown in FIG. 66 regarding the pallet 119.
19 in one direction indicated by the arrows x0 and X in FIG.
and further via the gantry robot controller 94.

The gantry robot 61 is appropriately moved in one direction of arrows B, , B in FIG.
0, rotate the rotating portion 77 in one direction of arrows H2+ and H2 in FIG.
is directed downward in FIG. 7, and the work hand 76 is lowered in the direction of arrow A+force to hold the work 120, and the pallet fork 36 and the gantry robot 61 work together to pick up the work 120. That is, since the workpieces 120 are picked up from the pallet 119 based on the pallet ID data PIDD regarding each pallet 119, by changing the pallet ID data PIDD, the loading interval of the workpieces 120 can be changed as necessary. Even on the same pallet 119, the method of mounting the workpieces 120 can be changed as appropriate, such as stacking the workpieces 120 in two layers or stacking them in two layers. In addition, the work 12 loaded on the same pallet 119
You can also change the type of 0, and the same palette 119
can be shared by multiple machine tools. Since the pallet ID data PIDD is read from the pallet ID 119a via the R/W head 39, when changing the type or mounting method of the workpiece 120 to be mounted on the pallet 119, the operator can read the pallet ID data of the pallet 119. Palette ID data PIDD in L9a
It is only necessary to change the changed work number WNO in the control device of each machine tool in which the pallet 119 is used.
There is no need to input a large number of information such as the information WPI and the workpiece placement state information WPI. Then, the work hunt 76 holding the work 120 is raised in the direction of arrow B+, the gantry robot 61 is moved in the direction of arrow B+, and the work 120 is transported between the headstocks 6 and 16 on the machine 2 side. Next, move the work hand 76 to arrow A. Cr
The workpiece 1 held by positioning the workpiece 1 at a height of 2 and rotating the rotating part 77 in one direction of arrows H, , H2 in FIG.
20 facing the chuck 9 or the chuck 19,
The work hand 76 is moved in the arrow B- or B+ direction parallel to the spindle axis direction, and the workpiece 120 is transferred from the work hand 76 to the chuck 9 or the chuck 19 while moving on the spindle axis. At this time, move the headstock 6, 16 to arrow 2. ．． 2. It may be moved in one direction.

Then, in step 5A14, the machine control unit 97 controls the spindle control unit 106 in accordance with the predetermined cannibal program PRO selected based on the pallet ID data PIDD.
The workpiece spindle 7.17 is rotationally driven in one direction of arrows C, , C in FIG. The chuck 9.
The workpiece 120 held at 19 is processed. On this occasion,
Based on the wear correction amount data, each tool 117
Tool ID D 117 Tool I read from a
The operation regarding the tool 117 is controlled based on the D data TIDD. That is.

When the tool 117 is used in a machine tool other than lathe cell 1, the tool ID data TIDD in the tool ID 117a of the tool 117 is updated at that time, and
When the tool 117 is used, the tool 117 is controlled by reading out and using the tool ID data TIDD updated by use with the machine tool from the tool ID 117a. Therefore, tool 117
can be shared by a plurality of machine tools, and there is no need for the operator to repeatedly input the changed tool ID data TIDD into the control device of each machine tool every time the tool 117 is used. The processing of the workpiece 120 with this machine 2 is described in Japanese Patent Application Laid-Open No. 63-272404.63-272.
405, etc., so detailed explanation thereof will be omitted here.

When the machining is completed, the machined workpiece 120 is placed on the chuck 9.
19, the diameter of the workpiece is measured by a touch sensor attached to the turret tool post 21, 22, and the amount of wear of the tool 117 used for machining is determined. Based on the determined amount of wear, the system Data memory 84.99
The tool ID data TIDD of the tool 117 is updated. The updated tool ID data TIDD is then used as correction data in subsequent machining using the tool 117.

Then, in step 5AI5, the cell control unit 82 controls the gantry robot 6 via the gantry robot control unit 94.
1 work hand 76 in the direction of arrow B+ parallel to the spindle axis direction.
, B The machined workpiece 120 is transferred from the chuck 9 or the chuck 19 to the workhand 76 by moving in one direction on the spindle axis, and the workpiece 120 held by the workhand 76 is shown in the figure. Transport the workpiece to a measuring device that does not. Then, the machining dimensions of the machined workpiece 120 are measured via the workpiece measurement unit 91 to determine the wear amount of the tool 117 used for machining.

Based on the determined amount of wear, data TI is obtained from the tool 117 in the system data memory 84.99.
Update DD. The updated tool ID data TIDD is then used as correction data in subsequent machining using the tool 117. Furthermore, at this stage,
Since the tool ID data TIDD in the tool ID 117a of the tool 117 is not updated, the tool ID data TIDD and tool I in the system data memory 84.99 are
The tool ID data TIDD in D117a does not match, and the difference between the two increases as the tool 117 is used, but as already mentioned, the tool ID data TIDD in the stocker 4
When returned to 1, system data memory 84.99
The latest tool ID data TIDD is the tool 117.
is written to 117a from the tool. Further, the processed workpiece 120 for which the measurement has been completed is placed at a predetermined position on the original pallet 119 by the cooperative work of the gantry robot 61 and the pallet fork 36, in the same manner as when the workpiece 120 is taken out from the pallet 119 described above. be done.

Further, as a result of measurement of the processed workpiece 120, if it is determined that the wear amount of the tool 117 has reached a predetermined value and the tool 117 has reached the end of its life, the process proceeds from step STI 7 to step 5T18, and cell control is performed. The part 82 replaces the old tool 117υ with the new tool 117, using the gantry robot 61 replaced with the tool hand 69, as in any case of replacement, to replace the old tool 117υ with the new tool 117, which is attached to the turret tool rest 21.22. The reached tool 117 is replaced with a spare tool 117 of the same tool number TNO stored in the stocker 41. Then, the tool 117 that has reached the end of its life is placed in the stocker 41.
, the cell control section 82 controls the pallet fork control section 92 , the ID data bathing force control section 90 , and the R/W head 56 .

Tool I from the tool ID 117a of the aforementioned tool 117
Do the same thing as reading the D data TIDD.

The old tool ID data TIDD in the tool IDI 17a of the tool 117 that has reached its lifespan is rewritten to the latest tool ID data TIDD regarding the tool 117 in the system data memory 84.99.

That is, tool ID data TIDD regarding each tool 117
While the tool 117 is attached to the turret tool post 21.22 of the machine 2, the tool ID data TIDD in the system data memory 84.99 is updated according to the use of the tool 117, and the tool 117 is placed in the stocker. 41, the tool ID data T in tool ID 117a
IDD is also updated. Therefore, the tool 117 is carried into the lathe cell 1 through the stocker 41, and when the tool 117 used in the lathe cell 1 is next used in another machine tool, the tool 117 is loaded into the lathe cell 1. ID1
Since the tool ID data TIDD in 17a has been updated, the machining operation can be corrected based on the tool ID data TIDD in the tool ID 17a.
17 can be appropriately controlled. Therefore,
The same tool 117 can be shared by multiple machine tools, and the operator can use the tool I related to the tool 117.
There is no need to re-input the D data TIDD into the control device of the machine tool in which the tool 117 is used.

For each workpiece 120 mounted on one pallet 119, the tool 117 may break its cutting edge, or
When the service life has been reached, processing is performed by replacing the workpieces as appropriate, and when processing is completed for all the predetermined number of workpieces 120 placed on the pallet 119, the pallet 1
When only the processed workpiece 120 is placed on the pallet fork controller 92, the pallet unloading program PUP shown in FIG. 58 is entered from step 5A20 in FIG. Then, the pallet 119 on which the processed workpiece 120 is placed is moved to the processed station 33. First, the pallet fork 36 is moved together with the pallet 119 in the direction indicated by the arrow X in FIG. 8 to the processed station 33 (step 5UI).

Furthermore, the uppermost pallet 11 already placed on the processed station 33 is lowered in the direction of the arrow Y in FIG.
9, pallet 1 carried by pallet fork 36
19 (step 5U2), at this time, the position of the highest pallet 119 already placed on the processed station 33 is determined based on the height PPHT of the pallet pin 119P in the pallet ID data PIDD regarding each pallet 119. (height) can be calculated in advance, so the pallet fork 36 and the pallet fork 3
The descending speed of the pallet 119 supported by the pallet 6 can be adjusted as appropriate depending on the distance from the uppermost pallet 119.Next, the hook 37a of the arm 37 of the pallet fork 36 is moved along the arrow F in FIG. direction, and the pallet 119 is released from being held by the hook 37a (step 5U3). Then, move the pallet fork 36 to the seventh
The pallet unloading program PUP is raised in one direction of the arrow Y in the figure to the Y-axis origin position YO (step 5U4). Also, at this time, the cell control unit 82 -
The measurement results of the processed workpiece 120 are transmitted via the ID data input/output control unit 90 and the R/W head 39 to the pallet ID1 of the pallet 119 on which the processed workpiece 120 is mounted.
19a as pallet ID data PIDD.

Then, until the processing of the workpiece 120 is completed for all the pallets 119 set in the processing schedule MSC, that is, all the pallets 119 are
2 to the processed station 33.
Repeat steps SA3 to SA21 in the figure,
Different types (
Regarding work 120 with different work number WNO),
The tool 11 of this machine 2 according to the machining content of the workpiece 120
7. Machining is performed by replacing the chuck jaw 116 as appropriate, and further replacing the work hand 76 and hand jaw 79 of the gantry robot 61 as appropriate depending on the shape of the work 120. In other words, the type of work 120 to be machined is different from the previous one. Even if the type of workpiece 120 is different from that of the workpiece 120 being machined, there is no need for the operator to set up the chuck jaws 116, tools 117, etc. on the machine 2 before machining the workpiece 120, making the machining unmanned. can contribute to

Note that the replacement of the tool 117, etc., selection of the machine program PRO, etc. are performed on the premise that the workpiece 120 with the predetermined workpiece number WN○ is actually carried into the machine 2 according to the machining schedule MSC. is the order in which each pallet 119 is actually taken out from the material station 32 during processing.
9 is automatically created based on the stacked order, it is possible to avoid a situation where the machining schedule does not match the work actually brought in for machining due to an operator's creation error, etc. It can greatly contribute to unmanned processing.

In the above-described embodiment, the chuck pawl ID data T is set for the chuck pawl ID 116a of the chuck pawl 116 stored in the chuck pawl storage portions 45 and 46 of the stocker 41.
The R/W head 55 that reads and writes JIDD and the tool ID1 of the tool 117 stored in the tool storage section 47.48
17a, the R/W head 56 for reading and writing the tool ID data TIDD is separately provided. Storage section 46 and second tool storage section 48
are provided at positions close to each other, it is also possible to read and write the chuck jaw ID data TJIDD and the tool ID data TIDD using a single R/W head. That is, in the above embodiment, as shown in FIG.
The case has been described in which the R/W head 55, which is provided so as to face the arrow a, is rotated in the direction of force indicated by the arrow E in order to avoid interference with the shank 117c of the tool 117. 55 is turned in the direction of arrow E+force so that it faces the tool ID 117a, and the R/W head 55 reads and writes the chuck jaw ID data TJIDD with respect to the chuck jaw ID 116a, and the tool I
It is also possible to both read and write the tool ID data TIDD to the DI 17a (therefore.

In this case, the R/W head 56 becomes unnecessary).

Further, in the above-described embodiment, each tool 117, each chuck claw 116, each hand 69 stored in the stocker 41,
．． 72.76, ID117a, 116 of each hand claw 79
Tool ID data TIDD and chuck jaw data TJID read from a, 69a, 72a, 76a, 79a
D. Hand ID data, hand claw ID data HJIDD
, indirectly through the system operation data SOD created by the operator, the pallet ID data PIDD
As shown in FIG. 66, we have described the case where it is determined whether the sukkah 41 has all the necessary items for processing or is a cup by comparing with .

The pallet ID data PIDD contains the relevant pallet 119.
Tool 117, chuck claw 116, hand 69.72°76, hand claw 79 corresponding to the workpiece 120 mounted on the
Since the tool number TNO, chuck jaw number TJNO, hand number HNO, and hand jaw number HJN○ are stored, each tool 117 stored in the stocker 41, each chuck jaw 116, each hand 69, 72, 76, each hand claw 79
117a, 116a, 69a, 72a, 76a,
Tool ID data TIDD read from 79a, chuck jaw data TJIDD, data HIDD from the hand
, the hand nail ID data HJrDD is set to the pallet ID11 of each pallet 119 mounted on the material station 32.
It may be determined whether or not the stocker 41 has all the items necessary for processing by directly comparing it with the pallet ID data PIDD read from the pallet ID data PIDD.

That is, tool ID data T I DD, chuck jaw data TJIDD, hand ID data HIDD, hand jaw I
Directly convert D data HJIDD to pallet ID data PI
When comparing with DD, the pre-stage number program PPR' schedule creation program s shown in FIGS. 71 to 73 is used.
ep', based on the automatic driving program AOP'. In addition, the pre-setup program PPR', the schedule creation program sep', and the automatic operation program AOP
'teeth.

The pre-setup program PPR1 shown in FIG. 32, the schedule creation program sep shown in FIG. 34, and the third
Since it is substantially the same as the automatic driving program AOP shown in FIG. 3, detailed explanation will be omitted.

First, the pallet 119 loaded with the work 120 is placed on the material station 32, and the tool 11 is placed on the stocker 41.
7. When the chuck jaw 116, hand 69, 72, 76, and hand jaw 79 are completely stored and the operator presses the start button on the input device 89a, step SS of the pre-setup program PPR' shown in FIG. ' 1st to 72nd
Enter the schedule creation program sep' shown in the figure.

In the schedule creation program sep', each pallet 1 loaded on the material station 32 is processed in the same way as the schedule creation program SCP Miyako shown in FIG.
Palette ID data P from palette IDll9a of 19
The IDDs are read out in order, and the read pallet ID data PIDD is stored in the machining schedule memory 86 as a machining schedule, but at the same time, the read pallet ID data PIDD is stored in the system operation data memory 85 as system operation data. (Therefore, the operator does not need to create system operating data SOD).

Next, in steps S5'2 to SS'7 in FIG. 71, data TIDD is acquired from the tool ID 117a of each tool 117 stored in the stocker 41, similarly to the pre-setup program PPR in FIG. The chuck jaw ID data TJIDD is read from the chuck jaw ID 116a of each chuck jaw 116, and the tool ID 69a, 72a of each hunt 69.72.76 is read out.
, 76a, the hand ID data HIDD is read out,
Hand claw ID from hand claw ID 79a of each hand claw 79
Data HJIDD is read. Then, the tool ID data T I DD and the chuck jaw data T
JIDD, hand ID data HIDD, and hand claw ID data HJIDD are compared with pallet ID data PIDD stored in the system operation data memory 85 as the system operation data described above in step S5'2 of FIG. It is determined whether the items are complete or not.

Then, all the tools 117, chuck jaws 116, . Hand 69.72.76 and.

When the hand claws 79 are filled in the lathe cell 1, the automatic operation program A from step S5'2 in FIG. 71 to FIG.
Enter PO' and execute the automatic operation program A shown in Figure 33 above.
Similarly to OP, the workpieces 120 on each pallet 119 are processed while changing the setup.

In addition, in the above embodiment, the first headstock 6 and the second headstock 16 are provided so as to be movable and driven in the direction of the spindle axis, but the two headstocks 6 and 16 are relatively close to each other. As long as they can be separated, the two headstocks 6
, 16 may be fixed to the fuselage 3. Further, the present invention is of course applicable not only to an opposed spindle lathe having two workpiece spindles, but also to a normal lathe having only one workpiece spindle.

In addition, in the above-described embodiment, prior to automatic operation of the lathe cell 1, the tools 117, which are necessary for the operator to manually operate the lathe cell 1,
The case where the chuck jaws 116, etc. are set in the stocker 41 has been described, but in cases where the tools 117, chuck jaws 116, etc. are shared by multiple machine tools, the tool 117, chuck jaws 116, etc. can also be set in the stocker 41 using the transport loader. It may also be automated via automated guided vehicles.

That is, as shown in FIG. 74, the common jig and tool storage station 130 stores many types of chuck jaws 116 and tools 117 that are shared by the lathe cell 16 and the lathe cell 11.
A pallet 119' for chuck jaws and a pallet 11 for tools, respectively, similar to the aforementioned pallet 119 for workpieces.
It is stored mounted on 9#. Note that the chuck jaw pallet 119' has a mounting groove 45 for the stocker 41.
A mounting groove similar to 46b and 46b is installed, and the chuck claw 116 is fitted into the mounting groove and mounted on the chuck claw pallet 119' in a stored state similar to the stored state in the stocker 41. Further, the tools 117 are mounted on a tool pallet 1191 in a storage state similar to the storage state in the stocker 41. Each pallet 119' and 119' have the aforementioned pallet ID1.
A pallet ID similar to 19a is attached, and each pallet 119'119' is attached to the pallet ID.
The chuck jaw numbers TJ No, tool numbers TNO, etc. of all the chuck jaws 116 and tools 117 mounted on the machine are stored. In addition, the automatic guided vehicle 131 includes a shared jig storage station 130 and a lathe cell IA or a lathe cell 11.
It is provided so that it can be freely moved and driven in such a way that it communicates between the two. Then, the automatic guided vehicle 131 includes a pallet fork 3
A fork 131a similar to 6 is a pallet 119'.
119', and the fork 1
An R/W head similar to the R/W head 39 is attached to the R/W head 31a.

When setting the necessary chuck jaws 116 and tools 117 in the stocker 41 of a predetermined lathe cell 1, the system operation data verification unit 87 of the lathe cell 1 uses the system operation data SOD or the pallet as described above. ID
After determining the chuck jaws 116 and tools 117 to be replenished in the stocker 41 based on the data PIDD, the cell control unit 82 of the lathe cell 1
16. Radio transmit the chuck jaw number TJNO and tool number TNO of the tool 117 to the automatic guided vehicle 131.

Then, the automated guided vehicle moves to the common tool storage station 1.
30, and the aforementioned pallet fork 36 and R
/W In the same manner as reading the pallet ID data PIDD from the pallet ID 119a by scanning the head 39, each pallet 119' placed on the shared tool storage station 130 is moved up and down by the fork 131a.
, chuck jaw number T J in pallet ID of 119'
No.

Read the tool number TNO and select a large number of pallets 119'
The chuck jaw 11 to be replenished from among 119'
6. Pallet 119' 11 loaded with tools 117
9' is determined. Then, the automatic guided vehicle 131 moves the determined pallet 119'119' to the fork 131.
Common jig storage station 1 is carried by a.
30 to the lathe cell 1 and placed on the material station 32 or processed station 33. In addition, the chuck jaws 11 mounted on the pallets 119' and 119'
6. At this stage, the tool 117 has chuck jaw ID11.
6a, chuck jaw ID data T from tool ID117a
Since JIDD and tool ID data TIDD have not been read, they cannot be used in the lathe cell 1, and after being transferred to the stocker 41 as described later, the chuck jaw ID
Data TJIDD and tool ID data TIDD are R/
Chuck jaw ID116a via W head 55.56,
After being read from the tool ID 117a and stored in the system data memory 84 as system data SD,
It becomes available for use.

Next, the pallets 119' and 1191 placed on the material station 32 or the processed station 33 are taken out by the pallet fork 36 of the lathe cell 1, and the chuck claws 116 mounted on the taken out pallets 119' and 119' are The tool 117 is transferred to the stocker 41 by the gantry robot 61 and placed at a predetermined placement position 45a,
46a, 47a, and 48a.

In addition, on one pallet 119' or 119'.

The chuck jaws 116 and the tool 117 may be mounted together.

Furthermore, the setting of the hands 69, 72, 76 and hand claws 79 in the stocker 41 can be automated in the same manner.

Therefore, the operator places the chuck jaws 11 on the stocker 41.
6. There is no need to set the tool 117, etc., and unmanned machining can be achieved.

(g) 0 Effects of the invention As explained above, according to the invention, the workpiece spindle 7
, 17, the turret 21.2 is movable in the X-axis direction perpendicular to
2, and a conveyance means such as a gantry robot 61 which is movable on an axis parallel to the workpiece main axis 7.17, and holding a hand 69.72 etc. which is configured to be detachably attached to the conveyance means and is moved in the vertical direction. Depending on the device, the chuck jaws 116. In a numerically controlled lathe such as an opposed spindle lathe G12 having a chuck 9.19 on which a replacement item such as a tool 117 is removably mounted and a setup device such as a turret tool rest 21.22, positioning is performed below the B axis. As various possible storage means, a workpiece storage means such as a pallet 119 in which a plurality of works 120 are stored is provided, and chuck claws 116,
A replacement article storage means such as a stocker 41 for storing exchange articles including the tool 117 individually or together is provided, and the work 1
A stocker 41 stores a workpiece holding device such as a work hand 76 and a hand claw 79 suitable for holding a replacement product, and a replacement product holding device such as a tool hand 69 and a chuck claw hand 72 suitable for holding a replacement product. A holding device storage means such as the above is provided, and the workpiece 120 to be held is
Alternatively, depending on the replacement article, a holding device for the workpiece stored in the holding device storage means or a holding device for the replacement article is attached, and the workpiece is held by the attached workpiece holding device of the conveying means. Work 12 from storage means
0, the workpiece 120 is conveyed and delivered to the workpiece spindle 7.17 by relatively moving the workpiece spindle 7.17 or the conveyance means, and the workpiece 120 is conveyed and delivered to the workpiece spindle 7.17 while holding the workpiece 120 on the conveyance means. moving the workpiece spindle 7.17 or the conveying means in such a way as to hold the replacement article from the exchange article storage means by a holding device for the same, and moving the turret 21.22 in the X axis or chuck 9.19.
Since the configuration is configured such that the replacement article is transported and delivered to the device to be set up by determining this, by replacing the holding device of the transportation means, it is possible to hold various workpieces 120 and replacement articles with a single transportation means. You can. Therefore, when automating the setup in a numerically controlled lathe, the conveyance and delivery of various workpieces 120 and replacement articles can be carried out by a single conveyance means. The installation space can be saved and it is economical.

Further, the present invention provides hand IDs 69a, 72a, 76a for the workpiece holding device and the replacement article holding device.
, provide individual data storage means such as hand claw ID79a,
The individual data storage means stores individual data such as hand ID data HIDD and hand claw ID data HJIDD regarding the workpiece holding device or the replacement article holding device provided with the individual data storage means. , when exchanging the holding device of the conveying means, selecting the holding device for the workpiece or the holding device for the replacement article to be attached to the conveying means based on the individual data stored in the individual data storage means; With this structure, it is possible to prevent the holding device from being mixed up when replacing the holding device of the conveying means, and it is possible to suitably automate the setup in the numerically controlled lathe.

The present invention also provides a double-sided tool rest such as a turret tool rest 21.22 that is movable in the X-axis direction perpendicular to the opposing workpiece main shaft 7.17, and a double-sided tool rest such as a turret tool rest 21.22 that is movable along an axis parallel to the workpiece main shaft 7.17. It has a transportation means such as a gantry robot 61,
In a numerically controlled lathe, such as an opposed spindle lathe 2, in which a tool 117 is mounted on a tool rest by a holding device that is detachably attached to the conveyance means and is moved in the vertical direction, various types of storage are provided that are positionable below the B axis. As means, a work storage means such as a pallet 119 in which a plurality of works 120 are stored is provided, a tool storage means such as a stocker 41 in which a plurality of types of tools 117 are stored, and a single workpiece main shaft 7.
17, a workpiece holding device such as a work hand 76, a hand claw 79, and a tool hand 6 suitable for a double-tool rest.
A holding device for a tool such as No. 9 is stored in a holding device storage means such as a stocker 41, and the workpiece stored in the holding device storage means is or a holding device for the tool is attached, and a workpiece 120 corresponding to both workpiece spindles 7.17 is held from the workpiece storage means by the attached workpiece holding device of the conveying means, The conveyance means or the workpiece spindles 7, 17 are moved relatively to transfer the workpiece 120 to the workpiece spindles 7, 17, and the workpiece 120 is transferred to the double-tool rest by the holding device for the attached tool of the conveyance means. The conveyance means is moved to the tool rest while holding the appropriate tool 117 from the tool storage means, and the tool rest is moved in the X-axis direction to transfer the tool 117 to each tool rest. Since it is configured as follows, the movement range and direction of movement are
The tool 117 can be transferred from the transport means to the tool rest by moving the tool rest to the transport means which is limited to a range in which the workpiece 120 can be delivered to the tool rest. Therefore, the workpiece 120 is
In addition, the tool 117 can also be transferred and delivered.

The present invention also provides a chuck 9, in which the chuck claws 116 are detachably mounted in a radial mounting/dismounting direction with respect to the spindle axis;
19, the workpiece main shaft 7.17 is provided with a workpiece main shaft 7.17, and the sub-movement direction (arrow A-1
The hand 69.7 can be freely moved and driven in the A+ direction).
2.76, a holding device mounting member such as an arm 62 to which a holding device such as a hand claw 79 is detachably mounted is provided;
A plurality of workpieces 120 are stored in a numerically controlled lathe such as an opposed spindle lathe 2 having a conveyance means such as a gantry robot 61 that can be freely moved and driven in the main movement direction parallel to the main axis direction (arrow B+, one direction of arrow B). A work storage means such as a pallet 119 is placed between the workpiece 120 and the conveyance means.
A claw storage means such as a stocker 41 that stores a plurality of types of chuck claws 116 is provided on the movement path in the main movement direction of the conveyance means in such a manner that the chuck jaws 116 can be transferred between the conveyance means and the chuck jaws 116. A workpiece holding device such as a work hand 76 suitable for holding the workpiece 120, a hand claw 79, etc., and a chuck claw 116 suitable for holding the workpiece 120, in a form that allows delivery, is provided on the movement path in the main movement direction of the conveyance means. A holding device storage means such as a stocker 41 for storing a holding device for chuck claws such as a chuck claw hand 72 is arranged in a form that allows the holding device to be delivered to and from the transport means in the main movement direction of the transport means. The workpiece to be held in the conveyance means is provided on the movement path of the
120 or the chuck claw 116, a holding device for the workpiece stored in the holding device storage means or a holding device for the chuck claw is attached to the transporting means, and the workpiece mounted on the transporting means is The conveyance means and/or the workpiece spindle 7.17 are moved relatively parallel to the spindle axis direction while holding the workpiece 120 by a holding device for the transfer means and the workpiece spindle 7.17. The workpiece 120 is transferred between
The workpiece main shaft 7.17 is rotated to align the loading/unloading direction with the sub-movement direction, and the holding device mounting member is moved in the sub-movement direction so that the conveying means and the chuck are held together. Since the configuration is such that the chuck jaw 116 is transferred between the workpiece main shaft 7.19 and the workpiece main shaft 7.19, the arm 62 can be sub-moved with respect to the conveyance means whose movement direction is limited to the main shaft axis direction to the workpiece main shaft 7.17. By moving in the direction and rotating the chucks 9, 19, the chuck jaws 116 can be transferred from the conveying means to the chuck 9, 19. Therefore, in addition to the work 120, the chuck jaws 116 can also be transported and delivered by the transport means.

Further, the present invention provides a numerically controlled lathe such as the opposed spindle lathe 2 having the workpiece spindles 7 and 17, by providing workpiece storage means such as a pallet 119 in which a plurality of workpieces 120 are stored, and holding claws 79b etc. that can be opened and closed. Holders such as a plurality of types of hand claws 79 having members are stored in a retainer storage means such as a stocker 41, and the retainers are detachably attached to a holding device such as one or more types of work hands 76. is stored in a holding device storage means such as the stocker 41, and the holding device is provided with holding member driving means such as a claw opening/closing operation plate 77c for opening and closing the holding member of the cage to be mounted. A conveyance means such as a gantry robot 61 on which the device is detachably attached can be freely driven to move between the numerically controlled lathe side, the workpiece storage means side, the retainer storage means side, and the holding device storage means side. and moving the conveyance means to the holding device storage means side.

A predetermined type of holding device stored in the holding device storage means is mounted on the transporting means according to the type of the cage to be mounted, and the transporting means is further moved to the cage storage means side. Then, a predetermined type of holder stored in the holder storage means is attached to the attached holding device according to the type of workpiece 120 to be held, and the attached holding device of the conveying means is The holding member of the holder is operated by the holding member driving means to hold the workpiece 12.
0, the conveying means is connected to the workpiece main shaft 7.
．． 17 side or the workpiece storage means side to transport and deliver the workpiece 120 to the workpiece spindle 7.17 or the workpiece storage means. They can be driven by a common holding member driving means. Therefore, if the type of workpiece is slightly different, such as a difference in workpiece diameter,
You can handle a variety of workpieces by simply preparing several types of cages.
It is more economical than preparing various holding devices with similar drive means.

[Brief explanation of the drawing]

FIG. 1 is a front view showing a lathe cell to which the present invention is applied, FIG. 2 is a plan view of the lathe cell shown in FIG. 1, and FIG.
4 is a cross-sectional view showing the chuck and chuck jaw replacement auxiliary device shown in FIG. 3; FIG. V arrow view of the auxiliary device. FIG. 6 is a diagram showing the turret tool rest and hand positioning pin. Figure 7 shows the 1st setup station, Figure 8 shows the 7th setup station.
FIG. 2 is a plan view of the setup station shown in the figure. FIG. 9 is a diagram showing a hook drive mechanism of a pallet fork. FIG. 10 is a sectional view taken along line X-X of the hook drive mechanism of the pallet fork shown in FIG. 9. 11 is a sectional view showing the stocker, FIG. 12 is a sectional view showing the arm of the gantry robot, FIG. 13 is a sectional view taken along xrn-xmH of the arm of the gantry robot shown in FIG. 12, and FIG. 14 is a sectional view showing the arm of the gantry robot. is a sectional view taken along the line XIV-XIV of the arm of the gantry robot shown in FIG. 12, FIG. 15 is a sectional view showing the tool hand,
FIG. 16 shows the tool hand shown in FIG. 15. X of the chuck jaw hand or work hand shown in Figure 20
VI arrow view, Figure 17 is No. 1513! X of the tool hand shown in I■
- Cross-sectional view taken along the X line. Fig. 18 is a diagram showing an example of a tool, Fig. 19 is a sectional view showing the gripper of the tool hand shown in Fig. 15, Fig. 20 is a sectional view showing the chuck claw hand or work hand, Fig. 21 21 is a sectional view taken along line XX I-XX I of the chuck claw hand or work hand shown in FIG. 20. FIG. 22 is a diagram showing the chuck claw hand. Figure 23 shows xxm of the chuck jaw hand shown in Figure 22.
Arrow view. Figures 24 to 26 are diagrams showing an example of the chuck jaw, Figure 27 is a diagram showing the work hand with the hand jaw removed, and Figure 28 is a diagram showing the work hand with the hand jaw attached. Figure shown. FIG. 29 shows xxm-x of the work hand shown in FIG.
XM-line cross-sectional view. FIG. 30 is a diagram showing a hand claw, FIG. 31 is a control block diagram of the lathe cell shown in FIG. 1, and FIG. 32 is a flowchart showing a pre-setup program. FIG. 33 is a flowchart showing the automatic driving program. FIG. 34 is a flowchart showing a schedule creation program. FIG. 35 is a flowchart showing a hand exchange program, FIG. 36 is a flowchart showing a tool exchange program, and FIGS. 37 to 47 are diagrams showing how tools are exchanged. FIG. 48 is a flowchart showing a chuck jaw replacement program. 49 to 55 are diagrams showing how chuck jaws are replaced, FIG. 56 is a flowchart showing a hand jaw replacement program, and 57@ is a flowchart showing a pallet loading program. FIG. 58 is a flowchart showing the pallet unloading program, FIG. 59 is a schematic diagram showing system operation data, FIG. 60 is a schematic diagram showing system data, FIG. 61 is a schematic diagram showing a processing schedule, and FIG. The figure is a schematic diagram showing tool ID data, and FIG. 63 is a schematic diagram showing chuck jaw ID data. Fig. 64 is a schematic diagram showing hand ID data, Fig. 65 is a schematic diagram showing hand nail ID data, Fig. 66 is a schematic diagram showing pallet ID data, and Fig. 67 is an example of a raw nail molding program. FIG. 68 is a diagram showing a chuck jaw formed by the raw jaw forming program shown in FIG. 67. 69 and 70 are diagrams showing an example of setting a barrier corresponding to the shape of the chuck jaw, FIG. 71 is a flowchart showing another example of the pre-setup program, and FIG. 72 is a diagram showing another example of the schedule creation program. FIG. 73 is a flowchart showing another example of an automatic operation program. FIG. 74 is a diagram showing a lathe cell in which the loading of tools and chuck jaws to a stocker is automated. 2... Numerical control lathe (opposed spindle lathe) 7
......Work spindle 9...Device to be set up, chuck 17...Work main spindle 19...Device to be set up, chuck 21...
- Setup equipment, tool rest. (First turret tool post) 22... Setup device, tool post, (Second turret tool post) 41... Replacement article storage means, tool storage means, chuck claw storage means, Holding device storage means, retainer storage means (stocker) 61...Transportation means (gantry robot) 69.
...Holding device (tool hand) 69a...
・Individual data storage means (hand ID) 72...Holding device (chuck claw hand) 72a
...Individual data storage means (hand ID) 76...Holding device (work hand) 76a...
... Individual data storage means (hand ID) 77c ... Holding member driving means (claw opening/closing operation board) 79 ... Holding device, retainer (hand claw) 79a
...Individual data storage means (hand claw ID) 79b...Holding member (claw) 116...Replacement article, chuck claw 117...
... Replacement items, tools 119 ... Work storage means (pallet) 120
...Work HIDD...Individual data (hand ID data) HJIDD...Individual data (hand claw ID data)

Claims (5)

[Claims] (1) It has a turret that is movable in the X-axis direction perpendicular to the workpiece main axis, and a transport means that is movable in the B-axis parallel to the workpiece main axis, and is configured to be detachably attached to the transport means and move in the vertical direction. In a numerically controlled lathe having a setup device on which a replacement article is removably mounted by a holding device,
As various storage means that are positionably attached below the B axis, there is provided a workpiece storage means for storing a plurality of workpieces, and a replacement article storage means for storing replacement articles including chuck jaws and tools individually or together. , holding device storage means for storing a workpiece holding device suitable for holding a workpiece and a replacement article holding device suitable for holding a replacement article is provided, and the workpiece to be held or the replacement article is stored in the conveying means. Accordingly, a holding device for the workpiece or a holding device for the replacement article stored in the holding device storage means is attached, and the holding device for the workpiece attached to the conveying means is used to remove the workpiece from the workpiece storage means. relatively moving the workpiece spindle or the conveyance means while holding the workpiece,
The workpiece is transported and delivered to the workpiece spindle, and the workpiece spindle or the conveyance means is moved in such a manner that the exchange article is held from the exchange article storage means by the attached exchange article holding device of the conveyance means. A setup method for a numerically controlled lathe, wherein the turret is moved along the X-axis or the chuck is indexed to transport and deliver a replacement article to the setup device. (2) The holding device for the workpiece and the holding device for the replacement article are provided with individual data storage means, and the holding device for the workpiece provided with the individual data storage means or the Individual data regarding holding devices for replacement articles is stored, and when the holding device is attached to the conveyance means, the holding device for the workpiece or the holding device for the exchange article to be attached to the conveyance means,
2. A setup method for a numerically controlled lathe according to claim 1, wherein selection is made based on individual data stored in said individual data storage means. (3) It has a double-tool rest movable in the X-axis direction perpendicular to the opposing workpiece main axis, and a conveying means that can freely move the B-axis parallel to the workpiece main axis, and is configured to be detachably attached to the conveying means. In a numerically controlled lathe in which a tool is mounted on a tool rest by a holding device that moves in the vertical direction, a work storage means for storing a plurality of workpieces is provided as various storage means that are positionably attached below the B axis, A tool storage means is provided in which a plurality of types of tools are stored, and a workpiece holding device suitable for both workpiece spindles and a tool holding device suitable for the double turret are stored in the holding device storage means, A holding device for the work or a holding device for the tool stored in the holding device storage means is attached depending on the workpiece or tool to be held in the conveying means, and The conveying means or the workpiece spindle is relatively moved to transfer the workpiece to the workpiece spindle in a manner that a holding device holds a workpiece corresponding to both workpiece spindles from the workpiece storage means, and the workpiece is transferred to the workpiece spindle, and the workpiece is attached to the transfer means. The conveyance means is moved to the tool rest, the tool rest is moved in the X-axis direction, and the tools corresponding to the two tool rests are held from the tool storage means by the tool holding device, and the tool rests are moved in the X-axis direction. A setup method for a numerically controlled lathe configured to transfer tools to each turret. (4) It has a workpiece main shaft equipped with a chuck whose chuck jaws are removably mounted in a radial loading/unloading direction with respect to the main shaft axis, and a sub-movement direction having a predetermined angle with respect to the main shaft axis direction. In a numerically controlled lathe having a conveying means that can be freely moved and driven in the main movement direction parallel to the main shaft axis direction, the numerically controlled lathe is provided with a holding device mounting member that can be freely moved and driven in the main movement direction parallel to the main shaft axis direction, and is provided with a holding device mounting member to which the holding device can be attached and detached. A workpiece storage means for storing a plurality of types of chuck jaws is provided in a movement path in the main movement direction of the conveyance means in such a manner that the workpiece can be delivered to and from the conveyance means, and the jaw storage means stores a plurality of types of chuck jaws. is provided in a movement path in the main movement direction of the conveying means in a form that allows chuck jaws to be delivered to and from the conveying means, and is a workpiece holding device suitable for holding the workpiece, and for holding the chuck jaws. A holding device storage means for storing a suitable chuck jaw holding device is provided in a movement path in the main movement direction of the conveying means in such a manner that the holding device can be delivered to and from the conveying means; Depending on the workpiece or chuck jaws to be held,
A holding device for the workpiece stored in the holding device storage means or a holding device for the chuck claw is attached to the conveyance means, and the workpiece is held by the workpiece holding device attached to the conveyance means. The conveyance means and/or the workpiece spindle are relatively moved parallel to the spindle axis direction to transfer the workpiece between the conveyance means and the workpiece spindle, and the chuck attached to the conveyance means is The chuck jaws are held by the jaw holding device, the workpiece main shaft is rotated to align the mounting/unloading direction with the sub-movement direction, the holding device mounting member is moved in the sub-movement direction, and the A setup method for a numerically controlled lathe configured to transfer chuck jaws between a conveying means and the chuck. (5) In a numerically controlled lathe having a workpiece spindle, a work storage means for storing a plurality of workpieces is provided, and a plurality of types of cages having holding members that can be opened and closed are stored in the cage storage means, One or more types of holding devices on which the cage is detachably mounted are stored in a holding device storage means, and holding member driving means opens and closes the holding member of the cage to be mounted on the holding device. is provided, and the conveyance means to which the holding device is detachably attached can be freely driven to move between the numerically controlled lathe side, the workpiece storage means side, the cage storage means side, and the holding device storage means side. and moving the conveyance means to the holding device storage means side, depending on the type of the retainer to be attached to the conveyance means,
Mounting a predetermined type of holding device stored in the holding device storage means, and further moving the conveying means toward the holding device storage means to select the type of workpiece to be held in the mounted holding device. According to the above, a predetermined type of retainer stored in the retainer storing means is mounted, and the retaining member of the retainer is operated by the retaining member driving means by the mounted retainer of the conveying means. The conveyance means is moved to the workpiece spindle side or the workpiece storage means side while holding the workpiece, and the workpiece is conveyed and delivered to the workpiece spindle or the workpiece storage means. Setup method for numerically controlled lathes.