JPH0429488B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Objective of the Invention) Industrial Application Field This invention relates to a chuck pawl changing device for automatically exchanging the chuck pawl of a machine tool with a replacement pawl.

BACKGROUND TECHNOLOGY In a conventional chuck pawl changing device of this type, a pawl storage magazine is rotatably disposed on the body of a machine tool, and the pawls are held in a large number of pawl holders of this pawl storage magazine. The claws on these claw holders and those on the chuck are designed to be interchangeable.

Problems to be Solved by the Invention In the conventional chuck claw changing device described above, when attempting to increase the number of claws that can be stored in the claw storage magazine in order to increase the number of types of claws to be replaced, the number of claws that can be stored in the claw storage magazine is increased. The problem is that the outer diameter becomes too large to be installed on the body of a machine tool, and as a result, the number of types of jaws that can be replaced is limited to a small number, making it difficult to use for processing a wide variety of small quantity products or for small machine tools. The dot was hot.

In addition, in order to increase the number of types of nails to be replaced, an attempt was made to replace the nails stored in the nail storage magazine with other nails using a conveying means as disclosed in Japanese Patent Application Laid-Open No. 163856/1983. This poses a problem in that an extremely large space is required to store the replacement pawls, and the control for changing the pawls in the pawl storage magazine becomes extremely troublesome. In particular, these replacement pawls are relatively large compared to tools, etc., and there are multiple sets of them corresponding to the number of pawl grooves on the chuck, so there is a problem in that managing the replacement pawls becomes a hassle. Ta.

(Structure of the Invention) Means for Solving the Problems The present invention aims to solve the problems when replacing the claw of the claw storage magazine with another claw, and to provide a practical chuck claw changing device. Something,
A claw storage magazine having a plurality of claw holders that can freely insert and remove claws vertically and hold them is disposed in the body of the machine tool so as to be movable between a claw exchange operation position and a standby position, and the jaws can be exchanged. In a chuck claw changing device in which the claw is exchanged between the claw holder of the claw storage magazine indexed in the operating position and the claw mounting groove of the chuck indexed in the claw exchange position, the installation position of the above-mentioned machine A stair-shaped stocker body having a plurality of step portions is installed around the stocker body, and a large number of claw holders are formed in a row on each step portion of the stocker body to allow replacement claws to be freely inserted and removed in the vertical direction. A support stand is disposed at a front position of the stocker main body so as to be movable in a direction parallel to the row direction of the claw holders, and on the support stand, the claw holders held at predetermined positions in the claw storage magazine at the standby position are provided. A gripping device that can selectively grip and release the claw held by the claw held in the claw holder at a predetermined position on the stocker body at the corresponding traveling stop position is arranged to be movable vertically, longitudinally, and horizontally. It is characterized by being set up.

Operation With the claw storage magazine located at the standby position, move the support base to a predetermined position and move the gripping tool to grip the claws held in the claw holder of the nail storage magazine with the gripping tool. The claw is taken out from the claw holder, and then the support base is moved to a predetermined position corresponding to a predetermined claw holder on the stocker body, and the gripper is moved to insert the claw into the claw holder and release the grip on the claw. .

After taking out the claw of the claw holder of the claw storage magazine to the claw holder of the stocker body as described above, the next required type of claw is transferred from the claw holder of the stocker body to the claw holder of the claw storage magazine. It is taken out and held by the reverse operation. When replacing the claw between the claw holder of the claw storage magazine and the claw holder of the stocker body, the support base moves along the claw holder row of the stocker main body, so that the claw holders in the claw holder row are exchanged. The movement of the gripping tool during claw replacement can be made uniform, and the replacement operation can be easily controlled. Furthermore, since the stocker main body is configured in a step-like manner and the claw holders are formed in a row at each step, the installation space for the stocker main body can be reduced even when the number of claw holders is increased.

Example In the drawings, 1 is illustrated as a machine tool.
An NC lathe, 2 is its machine body, 3 is a main shaft, and a chuck 4 is attached to this main shaft 3. In this chuck 4, reference numeral 5 denotes a chuck main body fixed to the main shaft 3, which is formed hollow as shown in FIG. This chuck body 5 has a wedge piece 6 in the center.
are fitted to be slidable in the direction of the rotational axis, and this wedge piece 6 is connected to a draw member 8 that is moved back and forth by a rotating cylinder (not shown) fixed to the main shaft 3. Further, three radial pawl mounting grooves 9 are formed on the front surface of the chuck body 5, and pawl actuating bodies 10 are respectively fitted in the rear portions of these pawl mounting grooves 9 so as to be slidable in the radial direction. Further, a claw 11 can be fitted into the front part of the claw mounting groove 9. As is well known, a wedge portion having a T-shaped cross section is formed at the center end of the pawl actuating body 10, and this wedge portion is fitted into a wedge groove having a T-shaped cross section formed on the outer periphery of the wedge piece 6. By moving the wedge piece 6 back and forth, the pawl actuating body 10 is moved in the radial direction. Further, the pawl actuating body 10 has a positioning hole 12 on the outer peripheral end surface for positioning the chuck in the rotating direction.
is formed as shown in FIG. Furthermore, the pawl actuating body 10 has this pawl actuating body 10 and a pawl 11.
An engaging/disengaging means 13 is provided for engaging/disengaging. This engaging/disengaging means 13 includes an engaging element 15 which is fitted into a hole 14 in the longitudinal direction of the pawl actuating body 10 so as to be slidable in the longitudinal direction.
and an operating pin 17 that is slidably fitted into a radial hole 16 that traverses the hole 14, and the engaging element 15 and the operating pin 17 are provided with a diagonal groove formed on either side. The engagement element 15 is engaged with a diagonal protrusion formed on the other side (both not shown), and when the operation pin 17 is moved toward the center, the engagement element 15 moves backward, and when the operation pin 17 is moved toward the outer circumference, the engagement element 15 is moving forward. The engaging element 15 is urged forward by a spring 18 so that the engaging teeth formed on the front surface of the engaging element 15 are engaged with the engaging teeth formed on the back surface of the claw 11. . A set pin 19 is provided on the engaging element 15 so as to be slidable in the front and back direction, and this set pin 19 is attached to the spring 20.
The set pin 19 is urged forward by the set pin 19, and is prevented from coming out by the stop pin 21. Normally, the tip of the set pin 19 is engaged with the engaging teeth of the pawl 11. Said claw 11
An engagement groove 22 as an engagement portion is formed on the rear surface of the end portion. The above chuck 4 is an NC not shown.
The nail mounting groove 9 is moved to a predetermined nail replacement position A (the drawing shows the case above the center of rotation, but it can be moved diagonally above the center of rotation, horizontally, etc.) using the device or an indexing device attached separately. It is designed so that it can be indexed and stopped. 23 is NC lathe 1
The cover surrounding 24, 24a is the cover 23
The opening provided in the opening and closing door 25, 25a
They are designed to be opened and closed respectively. This opening/closing door 25 is automatically opened when a workpiece to be gripped by the chuck 4 is put in or taken out, and the opening/closing door 25a
is designed to be automatically opened when the claws are replaced by a robot, which will be described later.

Next, on the body 2, there is a guide part 2a in the longitudinal direction.
is formed, and a substrate 27 of the device main body 26 is fitted and placed on this guide portion 2a so as to be slidable back and forth.
A stopper bolt 28 is attached to the rear end of this board 27.
is fixed, and this stopper bolt 28 is attached to the fuselage 2.
The forward end is positioned by coming into contact with the contact portion 2b. Further, as shown in FIG. 1, the piston rod of a longitudinally movable cylinder 29 attached to the fuselage 2 is connected to the side surface of the front end of this base plate 27.
It is designed to be moved back and forth between a rear standby position shown in FIGS. 4 and 4 and a front pawl exchange operation position shown in FIG. A lifting guide 30 rising upward is integrally provided on the upper surface of the front end of the board 27, and
A key 30a is provided on the outer periphery of this elevation guide 30. An elevating body 31 is fitted to the outer periphery of the elevating guide body 30 so as to be movable up and down, and is prevented from rotating by a key 30a. The elevating guide body 30 constitutes a cylinder body 32a of an elevating cylinder 32, and a piston rod 32b of the elevating cylinder 32 projects upward. A piston rod 32b of the elevating cylinder 32 is attached to the upper end of the elevating body 31.
are connected to each other, and by the operation of this lifting cylinder 32, it is raised and lowered between the raised position shown in FIG. 4 and the lowered position shown in FIG. 5. Note that the elevating body 31 may be integrally attached to the base plate 27 by lowering the height of the guide portion 2a of the body 2. The above-mentioned elevating body 31, elevating guide body 30 and substrate 2
7 constitutes a device main body 26.

Next, a guide block 33 is fixed to the lower end of the elevating body 31, so that when the elevating body 31 is moved to the claw exchanging operation position shown in FIG. It's summery. As shown in FIGS. 5 and 7, this guide block 33 has a guide groove 34 formed on an extension line that is aligned with the pawl mounting groove 9 indexed at the pawl replacement position A of the chuck 4. . The guide groove 34 is formed to have a cross-sectional shape corresponding to the sliding part of the claw 11 so as to be able to guide the sliding part of the claw 11, and has a lower end so that the claw 11 can easily fit into the guide groove 34. Slightly chamfered. Above guide block 33
There is a claw release device 35 for disengaging the engagement teeth of the engagement element 15 and the engagement teeth of the pawl 11 in the chuck 4.
is provided. In this claw removing device 35, numeral 36 is a claw removing cylinder, which is attached to the guide block 3.
A piston 38 is fitted into a piston chamber 37 formed in the piston 3, and a downwardly directed piston rod 39 is connected to the piston 38. The piston rod 39 is directed toward the center of rotation of the chuck 4, and has a movable piece 40 fixed to its lower end. On the lower surface of this movable piece 40, there is provided a pawl exchange position A in the chuck 4 in the pawl exchange operation position.
A press pin 4 is placed at a position opposite to the end surface of the operating pin 17.
1 is fixed, and when the piston rod 39 protrudes, the pressing pin 41 pushes the operating pin 17 to disengage the engagement member 15 and the pawl 11. The claw removing cylinder 36 also serves as a positioning cylinder for positioning the index position of the chuck 4 and the relative position of the guide block 33, and the movable piece 40
A positioning pin 42 is fixed to the lower surface of the chuck 4 at a position facing the positioning hole 12 of the chuck 4. The positioning pin 42 is fitted into the positioning hole 12 by the protrusion of the piston rod 39.

Next, a claw storage magazine 43 is rotatably attached to the outer periphery of the cylindrical portion of the elevating body 31. In this claw storage magazine 43, 44 is the elevating body 3
It is an annular rotary body that is rotatably fitted to 1, and its relative movement in the vertical direction is prevented by a seat plate 45 and a retaining ring 46. The axis of rotation of this rotating body 44 is set to be parallel to the pawl mounting groove 9 at the pawl exchange position A in the chuck 4. On the outer periphery of this rotating body 44, a large number of pawl holders 47 are provided that can hold the sliding portion of the pawl 11 so as to be removable in the sliding direction.
are provided at equal intervals. This claw holder 47 has a vertical holding groove 48 formed on the outer periphery of the rotating body 44 so that the sliding portion of the claw 11 can be fitted therein.
and a holder 49 that locks and holds the claw 11 fitted in the holding groove 48. This retainer 49 is composed of two locking pins 52 that are embedded in the bottom of the retaining groove 48 so as to be freely protrusive and retractable, are urged in the projecting direction by a spring 50, and are prevented from coming off by a pin 51. However, it may also be composed of a gripping piece or the like that is moved by a cylinder or the like. A sliding portion of a replacement pawl 11 is fitted into the holding groove 48 and retained by a locking pin 52. A gear 53 is formed on the rotating body 44, and a support frame 53 is provided on the upper part of the elevating body 31.
Rotating shaft 55a of motor 55 fixedly installed via 4
The drive gear 56 is attached to the drive gear 56 and is meshed with the drive gear 56.
Furthermore, dogs 57 and 58 are fixed to the lower surface of the rotating body 44 in correspondence with the respective claw holders 47,
A deceleration limit switch 59 for detecting one of the dogs 57 and a stop limit switch 60 for detecting the other dog 58 are sequentially attached to the lower end of the elevating body 31. When the limit switch 59 detects the dog 57, the motor 55
When the limit switch 60 detects the dog 58, it stops the rotation of the motor 55. As a result, when the pawl storage magazine 43 is placed in the standby position, as shown in FIG. When the pawl storage magazine 43 is positioned at the pawl exchange operation position, the pawl holder 47 is indexed to the first pawl exchange position B for exchanging the pawl. The pawl holder 47 can be indexed to the second pawl exchange position C for changing the pawl.

Next, the support frame 54 fixed to the elevating body 31 is provided with a protruding portion 54a that protrudes forward.
4a, a pawl 1 is inserted between the pawl holder 47 at the second pawl exchange position C of the pawl storage magazine 43 in the pawl exchange operation position and the pawl mounting groove 9 at the pawl exchange position A of the chuck 4.
A claw moving device 61 is attached to move the roller 1 in a straight line. In this claw moving device 61,
Reference numeral 62 denotes a claw moving cylinder fixed on the overhanging portion 54a, and its piston rod 63 is attached to the overhanging portion 54a.
The hole 64 projects downwardly through the hole 64 . A movable body 65 is fixed to the tip of the piston rod 63. As shown in FIGS. 6 and 8, this movable body 65 is formed with longitudinal guide grooves 66 and 67, and a locking piece 68 and an operating piece 69 are movable back and forth in these guide grooves 66 and 67, respectively. is mated to.
The locking piece 68 and the operating piece 69 are pin-connected by a link 70 whose intermediate portion is pivotally attached to the movable body 65. The operating piece 69 is biased rearward by the spring 71 so that the operating portion 69a is projected rearward, and at the same time, the locking piece 68 is positioned such that the locking portion 68a is projected forward as shown in FIG. The position is fixed. The locking portion 68a of the locking piece 68 is formed to be able to engage with the engagement groove 22 of the pawl 11, as shown by the imaginary line in FIG. 9 is moved to a position where it engages with the engagement groove 22 of the claw 11 attached to the claw 9. The operating portion 69a of the operating piece 69 is raised and lowered through passage grooves 72 and 73 formed at the bottom of the holding groove 48 and the guide groove 34, and is moved back and forth by the operation guide piece 74 disposed in the passage groove 73. It's becoming manipulated. As shown in FIG. 4, this operation guide piece 74 is provided at the front end of a sliding body 75 that is supported by the guide block 33 so as to be movable back and forth, and has an inclined T-shaped cross section formed at the rear end of this sliding body 75. The portion 76 is fitted into an inclined groove 77 formed in the movable piece 40 and having a T-shaped cross section. The operation guide piece 74 is retracted by the lowering of the piston rod 39 of the claw release cylinder 36, and moved forward as shown in FIG. 4 by the rise of the piston rod 39. The upper end of the front surface of 74 is formed into a slope so as to be able to guide the operating portion 69a forward. Note that above the moving body 65,
The lower moving end is positioned by nuts 79 and 80 screwed onto the stopper shaft 78, and the movable body 65 can be accurately moved to the ascending end shown in FIG. 4 and the descending end not shown. ing.

Next, a pawl stocker 81 for storing replacement pawls 11 is fixedly installed around the installation position of the NC lathe 1. This nail stocker 81
In the figure, 82 is a stocker main body formed in the shape of steps, and a claw holder 83 is fixed to the upper surface of each step. This claw holder 83 has a plurality of claw fitting grooves 84, which are illustrated as a plurality of claw holders, formed at predetermined pitch intervals. These pawl fitting grooves 84 are formed so that the sliding portion of the pawl 11 attached to the chuck 4 can be freely inserted and removed in the vertical direction. The sliding parts are fitted as shown in FIG. In this case, the front and back spacing between the claw holders 83 is increased so that the claws 11 held by the claw holders 83 do not interfere with each other, and a portion of the upper claws 11 is positioned behind the lower claws 11. It's becoming like that. Note that the claw holder may be composed of a pair of gripping arms or the like.

Next, around the installation position of the above NC lathe 1,
A robot 85 is installed that can grasp and move the claw 11 between the claw fitting groove 84 of the claw stocker 81 and the claw holder 47 at the first claw replacement position B in the claw storage magazine 43. . In this robot 85, 86 is a guide rail,
It is arranged parallel to the front surface of the claw stocker 81 and perpendicular to the axis of rotation of the chuck 4. A support stand 87 is fitted onto the guide rail 86 so as to be slidable in the longitudinal direction, and is slid by a moving motor 88. A support column 89 rising upward is rotatably attached to the support base 87, and is configured to be rotated by a predetermined angle by a rotation motor 90. An elevating body 91 is attached to the support column 89 so that it can be raised and lowered by itself and cannot be relatively rotated. This elevating body 91 is configured to be raised and lowered by an elevating motor 92. The elevating body 91 has horizontal supporting arms 93.
is attached so that it can slide in the longitudinal direction without rotating. This support arm 93 is connected to a telescopic motor 94.
It is configured to be slid in the longitudinal direction by. A wrist body 95 is attached to the distal end of the support arm 93 so as to be pivotable about an axis in the vertical direction. This wrist body 95 is configured to be rotated through a required angle by a rotation motor 96.
The bases of a pair of left and right gripping fingers 97, 97 constituting a gripping tool are rotatably attached to the wrist body 95. These gripping fingers 97, 97 are configured to be rotated in opposite directions by a gripping motor 98, and can grip the claw 11 between them and release the claw 11. ing.
Further, a claw pressing member 99 is attached to the wrist body 95, and by pressing this claw pressing member 99 against the claw 11, the relative positions of the gripping fingers 97, 97 and the claw 11 can be determined. There is. The robot 85 moves the claw 11 from the claw fitting groove 84 of the claw stocker 81 to the claw holder 4 of the claw storage magazine 43.
7 or vice versa through the opening 24a, and the robot 85 here is not limited to its specific configuration.
A detailed structural explanation will be omitted. The above robot 85
Its operation is now controlled by a computer.

Next, a claw stocker 81 is attached to the chuck 4 having the above structure.
The case where the nail 11 stored in the nail is attached will be explained. First, when the machine tool is machining a workpiece, the piston rod of the longitudinally movable cylinder 29 is retracted to position the claw storage magazine 43 at the standby position shown in FIG. When this claw storage magazine 43 is located at the standby position, a claw exchange is performed between the claw holder 47 of this claw storage magazine 43 and the claw fitting groove 84 of the claw stocker 81, and the claw storage magazine 43 The pawl holder 47 then holds the type of pawl 11 required by the chuck 4. That is, when the claw storage magazine 43 is moved to the standby position, the claw holder 47 that requires claw replacement is indexed to the first claw replacement position B by the movement completion signal, and then the opening/closing door 25a is opened. At the same time, the robot 85 is activated. This robot 85 moves the gripping fingers 97, 97 into the cover 23 through the opening 24a, and moves the gripping fingers 97, 97 into the cover 23 through the opening 24a.
The first nail exchange position B in the nail storage magazine 43
The claw 11 fitted in the claw holder 47 is moved to both outer sides of the claw 11, and the claw pressing member 99 is
Place it in contact with the front of 1. Next, the gripping motor 98 is operated to rotate the gripping fingers 97, 97 inward to grip the claws 11 between these gripping fingers 97, 97, and then the elevating motor 92 is activated to lift the elevating body 9.
1 is raised, whereby the gripping fingers 97, 97 pull out the claw 11 upward from the claw holder 47. Next, the support arm 93 is rotated counterclockwise by the operation of the rotation motor 90, and the support arm 93 is moved rearward by the operation of the telescoping motor 94, and the gripping fingers 97, 97 and the space between them are rotated. Insert the claw 11 into the opening 24
The wrist body 95 is rotated by the operation of the rotation motor 96, and the gripping fingers 97,
97 into the pawl fitting groove 8 of the pawl stocker 81.
Position it directly above 4. After that, the lifting motor 92
operates to lower the elevating body 91, and the gripping fingers 9
The pawl 11 between 7 and 97 is fitted into the pawl fitting groove 84. After that, the gripping motor 98 is operated to rotate the gripping fingers 97, 97 outward, and release the grip of the claws 11. In the nail storage magazine 43, after the nail 11 is extracted from the nail holder 47, the next nail 11 is indexed to the first nail replacement position B. Thereafter, one set of three nails 11 is taken out from the nail storage magazine 43 to the nail stocker 81 in the same manner as described above (FIG. 1 shows when the third nail 11 is taken out). Thereafter, the required claws 11 held in the claw fitting grooves 84 of the claw stocker 81 are fitted by the robot 85 into the claw holder 47 which has been emptied by the removal of the claws 11. That is, the support stand 87
The grip fingers 9 are moved by the moving motor 88 and the support arm 93 is moved forward and backward.
7, 97 to both outsides of a desired claw 11 of the claw stocker 81, the claw pressing member 99 is brought into contact with the front surface of the claw 11, and then the gripping fingers 97, 97
grip the claw 11 and pull it out upward, position the claw 11 above the claw holder 47 at the first claw replacement position B in the claw storage magazine 43, and then lower the claw 11 to remove the claw. It is fitted into the holder 47, and then the grip of the claw 11 is released.
Create 3 new nails 1 for 1 set as above.
1 is fitted into the pawl holder 47, the pawl storage magazine 43 is indexed to the first pawl exchange position B with another set of pawl holders 47. As described above, the necessary nails 11 of the four sets of nails 11 in the nail storage magazine 43 (the nail holder 47 for one set is left open for mounting the nails 11 of chuck 4) are removed.
When all of the claws 11 of the claw stocker 81 are replaced, the robot 85 is moved outside the cover 23 and the opening/closing door 25a is closed. Note that the nail exchange between the nail storage magazine 43 and the nail stocker 81 may be performed by fitting the next nail 11 into the nail holder 47 each time a nail 11 is taken out from the nail holder 47.

Next, when the machine tool has finished machining the workpiece and it becomes necessary to replace the pawl 11 of the chuck 4, first move the main shaft so that one of the pawl mounting grooves 9 of the chuck 4 is located at the pawl replacement position A. 3 is indexed and rotated and then stopped, and at this position the wedge piece 6 is moved forward to move the three pawl actuating bodies 10 of the chuck 4 to the outermost open position. On the other hand, the piston rod of the longitudinally movable cylinder 29 is activated to move the device main body 26 forward to the pawl exchange operation position.
Next, the piston rod 32a of the lifting cylinder 32
is retracted to lower the elevating body 31 and bring the guide block 33 close to the outer peripheral surface of the pawl actuating body 10 at the pawl exchange position A. In this state, the guide groove 34 of the guide block 33 is connected to the pawl mounting groove 9 at the pawl exchange position A.
It is located almost in a straight line. Note that the rotating body 44 of the claw storage magazine 43 is indexed and rotated in advance by the motor 55, and the empty claw holder 47 for storing the claw 11 at the claw replacement position A that has been extracted from the chuck body 6 is moved to the claw replacement position. It is indexed to C. Empty claw holder 47 in the above claw storage magazine 43
The indexing may be performed after the longitudinal cylinder 29 and the lifting cylinder 32 are operated. Next, the claw moving cylinder 6 of the claw moving device 61
2 operates to lower the moving body 65. In this case, the claw removing cylinder 36 of the claw removing device 35 is the fifth
As shown in the figure, the piston 39 is maintained at the rising end, causing the operation guide piece 74 disposed within the passage groove 73 of the guide block 33 to protrude forward. Therefore, when the movable body 65 is lowered as described above, the operating portion 69a of the operating piece 69 engages with the operating guide piece 74 and is moved forward, thereby moving the locking piece 68 backward. Interference between the locking portion 68a and the engagement groove 22 portion of the pawl 11 at the pawl exchange position A is prevented, and when the movable body 65 is positioned at the lower end, the locking portion 68a engages with the portion of the pawl 11 at the pawl exchange position A. They face each other in a state where they can be engaged with the engagement groove 22. Next, the piston rod 39 of the claw removing cylinder 36 in the claw removing device 35 is operated to protrude and lower the movable piece 40, whereby the pressing pin 41 pushes the operating pin 17 toward the center of the chuck and the engaging element 15 is pressed against the spring 18. The guide block 33 and the chuck body 5 are moved back against each other, and the positioning pin 42 is fitted into the positioning hole 12 to determine the relative positions of the guide block 33 and the chuck body 5. Therefore, the guide groove 34 of the guide block 33 is positioned exactly in line with the pawl mounting groove 9 indexed at the pawl exchange position A. Furthermore, when the movable piece 40 is lowered as described above, the operation guide piece 74 is moved rearward. Due to this backward movement of the operation guide piece 74, the operation piece 69 of the pawl moving device 61 is moved rearward by the spring 71, and the locking piece 68 is moved forward, so that the locking portion 68a is moved to the pawl exchange position A. It engages with the engagement groove 22 of the claw 11. Next, the claw moving cylinder 62 operates to raise the movable body 65, whereby the locking portion 68a of the locking piece 68 is caught in the engagement groove 22 of the claw 11 at the claw replacement position A, and this claw 13
to rise. Therefore, the pawl 11 at the pawl exchange position A is pulled out from the pawl mounting groove 9 and then guided by the guide groove 34 and fitted into the holding groove 48 at the pawl exchange position C. It is locked and held by a locking pin 52. Next, the motor 55 operates to index and rotate the rotary body 44 of the claw storage magazine 43, indexing the empty claw holder 47 for storing the next claw 11 of the chuck 4 to the claw replacement position C.
When the rotating body 44 of the claw storage magazine 43 rotates in this manner, the claw 11 held in the holding groove 48 of the claw holder 47 also rotates one pitch, and this rotation engages the locking portion 68a. The groove 22 is automatically disengaged. Further, the claw release cylinder 36 operates to raise the movable piece 40, whereby the pressing pin 41 releases the pressing of the operation pin 17, and the positioning pin 42 is removed from the positioning hole 12. When the pressing pin 41 releases the pressing of the operating pin 17 as described above, the engaging element 15 is moved back forward by the spring 18, and at the same time, the operating pin 17 is moved back toward the outer circumferential side of the chuck. Thereafter, the chuck 4 is indexed and rotated to index the pawl mounting groove 9 of the next pawl 11 to the pawl exchange position A. Thereafter, the above operation is repeated to hold the three claws 11 of the chuck 4 in the claw holder 47 of the claw storage magazine 43. After the third claw 11 is held in the claw storage magazine 43 as described above, the claw removal cylinder 36 is operated to raise the movable piece 40, and then the chuck 4 is indexed and rotated again to remove it first. At the same time, the empty claw mounting groove 9 of the claw 11 is indexed again to the claw replacement position A, and the motor 55 rotates the rotating body 44 of the claw storage magazine 43 to fit the claw into the claw mounting groove 9 at the claw replacement position A. Replacement claw 1
Move the claw holder 47 holding 1 to the claw replacement position C.
The locking portion 68a of the pawl moving device 61 engages with the engagement groove 22 of the pawl 11 of the pawl holder 47. Next, the claw release cylinder 36 is activated to lower the movable piece 40, which causes the press pin 41 to push the operation pin 17 again and retreat the engager 15.
The positioning pin 42 is fitted into the positioning hole 12 to determine the relative position of the guide block 33 and the chuck body 5. Next, the claw moving cylinder 62
is activated to lower the movable body 65, whereby the pawl 11 at the pawl exchange position C is pushed out of the holding groove 48 by the locking piece 68, and then guided by the guide groove 34 to attach the pawl at the pawl exchange position A. It is fitted into the groove 9. next,
The claw release cylinder 36 operates to raise the movable piece 40, whereby the pressing pin 41 releases the operation pin 17, and the positioning pin 42 is removed from the positioning hole 12. Therefore, the engager 15 is the spring 1
8, and its engaging teeth are engaged with the engaging teeth of the pawl 11 at the pawl exchange position A. As mentioned above, the movable piece 4 is moved by the claw removing cylinder 36.
0 is raised, the operation guide piece 74 is moved forward and the engagement between the locking portion 68a of the locking piece 68 and the engagement groove 22 of the claw 11 is released. Next, the claw moving cylinder 62 is operated to move the movable body 65 to the rising end. After that, index chuck 4 and rotate it.
The claw mounting groove 9 of the third removed claw 11 is indexed to the claw replacement position A, and the motor 55 rotates the rotating body 44 to index the next claw holder 47 to the claw replacement position C. Thereafter, the claws 11 of the claw storage magazine 43 are fitted into the three claw mounting grooves 9 of the chuck 4 in the same manner as described above. After that, the elevating cylinder 32 operates and the elevating body 3
1 is raised, the back-and-forth movement cylinder 29 is activated to move the board 27 rearward, thereby moving the claw storage magazine 43 and the claw moving device 61 to the standby position, completing a series of claw replacement operations. Thereafter, the claws 11 of all sets of the claw storage magazine 43 are used for claw replacement, and when it becomes necessary to replace the claws 11 of the claw storage magazine 43 with new claws 11 for the next workpiece machining, the claws 11 of all sets of the claw storage magazine 43 are used again. The claws are exchanged between the claw storage magazine 43 and the claw stocker 81 by the robot 85.

In the present application, the nail storage magazine is provided with five sets of nail holders, but it is sufficient to have at least two sets of nail holders. Moreover, any exchange mechanism may be used to exchange the nails between the nail storage magazine and the chuck.

(Effects of the Invention) As described above, in the present invention, since the stocker main body arranged around the installation position of the machine body is equipped with a large number of claw holders, the number of types of claws to be replaced with the chuck claws can be adjusted to the machine body. It is possible to easily increase the number of products without being restricted by it, and it can be adapted to unmanned processing of a wide variety of products in small quantities. In addition, since the stocker body is formed into a step-like shape and the claw holders are formed in a row at each step, the installation space for the stocker body can be reduced even when the number of claw holders on the stocker body is increased, making effective use of the floor. can. In addition, the support base of the gripper is arranged so that it can run parallel to the row of claw holders on the stocker body, so when changing the claw between the claw holder of the claw storage magazine and the claw holder on the stocker main body, the row of claw holders can be easily moved. The operation of the gripper when exchanging the claws with each holder can be made the same, and as a result, the exchange operation of the gripper can be easily controlled and the exchange operation can be speeded up.

[Brief explanation of drawings]

The drawings show an embodiment of the present application, and FIG. 1 is a partially cutaway plan view, FIG. 2 is a partially cutaway front view, and FIG. 3 is a partially cutaway left side view. , Fig. 4 is a cross-sectional view taken along the - line, Fig. 5 is a cross-sectional view showing the part where the claw is replaced with the chuck, and Fig. 6 is a - line sectional view.
FIG. 7 is an enlarged sectional view along the line, FIG. 8 is a sectional view showing the claw holder and claw exchange mechanism of the claw storage magazine, FIG. 9 is an enlarged partial view seen from the direction of the arrow, and FIG. 10 is an explanatory diagram showing the operation of the robot. 1... NC lathe (machine tool), 2... Airframe, 4
...Chuck, 9...Claw mounting groove, 11...Claw, 4
3...Claw storage magazine, 47...Claw holder, 8
1... Claw stocker, 84... Claw fitting groove (claw holder), 85... Robot.

Claims (1)

[Claims] 1. A claw storage magazine having a plurality of claw holders that can freely insert and remove claws in the vertical direction is disposed in the body of a machine tool so as to be movable between a claw exchange operation position and a standby position, and Installation of the above machine in a chuck claw changing device in which the claw is exchanged between the claw holder of the claw storage magazine indexed at the changing operation position and the claw mounting groove of the chuck indexed at the claw changing position. A stair-shaped stocker body having a plurality of steps is installed around the position, and a large number of claw holders are formed in a row on each step of the stocker body to allow replacement claws to be freely inserted and removed in the vertical direction. A support stand is disposed in front of the stocker body so as to be movable in a direction parallel to the row direction of the claw holders, and the claw holders are held at predetermined positions in the claw storage magazine at the standby position on the support stand. The gripping tool, which can selectively grasp and release the claws held by the claws held by the claws held in the claw holders at predetermined positions on the stocker body at respective travel stop positions, can be moved up and down, back and forth, and rotated horizontally. A chuck pawl changing device characterized in that it is provided with a chuck pawl.