JPH06608U - Robot hand for chuck jaw cassette replacement - Google Patents

Abstract

(57) [Summary] [Structure] The robot hand 60 provided at the tip of the robot arm 513 capable of three-dimensional movement of the robot is attached to the tip of a pair of support arms 61 extending forward and to the engaging portion 58 of the cassette 39. Upper and lower engaging pieces 62 that engage with each other and a lower surface supporting piece 63 that supports the lower surface of the cassette in the engaged state of these engaging pieces 62 are formed, and the upper engaging piece 62 is inserted into the insertion groove 57 of the cassette 39. I set it to the maximum size possible. [Effect] It is possible to reliably replace the cassette between the claw exchanging device and the cassette stocker with a simple configuration.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention replaces the used claw-locked cassette and the replacement claw-locked cassette between the claw changer and the cassette stocker, and positions the claw changer at the cassette mounting position. The present invention relates to a chuck claw automatic changing device for exchanging claws between a cassette and a chuck.

[0002]

[Prior art]

 Conventionally, an automatic chuck claw changer of this type is disclosed in Japanese Patent Application Laid-Open No. 2-26 2906 by the present applicant, and this is disclosed in a cassette stocker arranged separately from the claw changer. An indexing device that can move the stocker up and down, left and right to position it at a predetermined position is provided, and between the claw changer and the cassette stocker, the cassette can be hooked and held by the reversing table and the tip of the piston rod. A cylinder is provided, and the cassette is transported between the cassette stocker and the pawl exchanging device, which are positioned at a predetermined position by the action of the transfer cylinder, via the reversing table.

[0003]

[Problems to be solved by the device]

 In the conventional automatic chuck jaw changing device, the cassette stocker needs to be moved vertically and horizontally by the action of the indexing device so that the cassette stocker can be positioned at a predetermined position when the cassette is changed. Was becoming. In addition, the installation space for the cassette stocker that moves up, down, left, and right is large, and there is a problem in that the size of the entire device increases.

[0004]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, in the present invention, a cassette holding a used claw and a cassette holding a replacement claw are exchanged between a claw exchanging device and a cassette stocker. In a chuck jaw automatic exchange device that exchanges jaws between a cassette and a chuck located at a cassette mounting position, it is a robot hand provided at the tip of a robot arm that is at least two-dimensionally movable in the vertical direction. And at least a pair of support arms corresponding to a pair of vertically extending locking portions formed at both longitudinal end portions of the front surface of the cassette, and the tip of each support arm engages with the locking portion of the cassette. Then, an engaging piece for performing front, rear, left and right positioning and a lower surface supporting piece for supporting the lower surface of the cassette in the engaged state of the engaging piece are provided.

[0005]

[Action]

 When the cassette is exchanged between the pawl exchanging device and the cassette stocker, the robot hand moves with the two-dimensional movement including at least the vertical direction. The cassette is lifted and conveyed while the left and right are positioned and the lower surface support piece supports the lower surface of the cassette.

[0006]

【Example】

 Next, embodiments of the present application will be described with reference to the drawings. In the drawings, 1 is a well-known machine tool such as an NC lathe, and 2 is a headstock on the upper surface of which a later-described pawl exchanging device is mounted. At the tip of the main shaft 3, a quick change chuck 6 (hereinafter referred to as a chuck 6) in which a jaw is removed in a circumferential direction by an operation from an outer peripheral portion as disclosed in JP-A-59-30605 filed by the present applicant. Is installed, and its configuration is as follows. As shown in FIG. 10, a wedge piece 7 is fitted in the center of the chuck 6 so as to be slidable in the rotation axis direction of the chuck 6, and the wedge piece 7 is attached to the rear end of the main shaft 3 by a rotary cylinder ( It is connected to a piston rod (not shown) by a draw bar 8. Further, the radial sliding groove 9 and the claw mounting groove 10 formed on the chuck 6 (in the drawing, the case of three claws are shown, the application of the present application is not limited to the three claw chuck). The sliding member 11 and the sliding portion 13 of the claw 12 are fitted to each other so as to be slidable in the radial direction, and the wedge portion 14 having a T-shaped cross section formed at the end portion on the center side of the sliding member 11 is the wedge. It is fitted into a wedge groove 7a formed in the piece 7 and having a T-shaped cross section.

A mounting block 27 is fixed to the upper surface of the claw 12 as shown in FIG. 4, and a hooking groove 28 with which a finger 136 described later is engaged is formed in the center of the mounting block 27. . Further, between the lower surface of the left end of the mounting block 27 in the drawing and the upper surface of the left sliding portion 13 is formed a hooking space 29 into which a claw locking pin 51 described later is engaged. Further, rack teeth 16 are formed on the rear surface of the pawl 12, and the following engagement member 18 is engaged with and disengaged from the rack teeth 16 by a pawl engaging / disengaging device 17 described below. Is configured as follows as shown in FIG. The sliding member 11 is provided with a meshing member 18 fitted so as to be slidable only in the front-rear direction, and an operating pin 19 fitted in the sliding member 11 so as to be slidable only in the radial direction. Rack teeth 20 are formed on the front surface of the meshing member 18, and are engaged with the rack teeth 16 of the pawl 12 by the spring force of the urging spring 21. Further, the meshing member 18 and the operating pin 19 are engaged with each other by an inclined engaging surface, and when the operating pin 19 is pushed toward the center of the chuck body 6 by this engagement, the meshing member 18 is urged. The rack teeth 16 and 20 disengage from each other by pressing 21 and the engagement pin 18 moves forward by the biasing spring 21 when the operating pin 19 returns to its original position, and the rack teeth 16 and 20 disengaged. The fact that 20 is engaged again is the same as in the above-mentioned JP-A-59-30605. Next, the end of the operation pin 19 faces the recess 22 provided on the outer peripheral surface of the wedge piece 7. When the operation pin 19 is pushed, the end enters the recess 22, and when the wedge piece moves rearward, the operation pin 19 is recessed. It is pushed out from 22 to ensure the meshing of both rack teeth 16 and 20. A notch pin type set pin 23 is slidably fitted in the meshing member 18 in the front-rear direction, is urged forward by a spring 24, and is prevented from being pulled out by a pin 25. The hook teeth 16 are engaged and the pawl 12 is always locked. In the chuck 6 configured as described above, the claw mounting groove 10 is moved to a predetermined claw replacement position B (above the center of rotation in the drawing) by an indexing device (not shown) controlled by a proximity switch, an NC device or the like. However, the present invention is not limited to this, but can be set to another place as needed), and the chuck 6 is stopped at the indexing position.

Next, the pawl exchanging device 31 will be described. 1, 2, and 3, a guide base 32 is provided on the headstock 2 of the machine tool 1 so as to extend in the front-rear direction (left-right direction in FIG. 2), and the guide base 32 slides on a slider or a bearing. A table 34 is slidably fitted through the member 33. Reference numeral 35 is a front-rear moving cylinder, whose cylinder body 35b is attached to the front-rear guide base 32 through a bracket 36, and the tip of a piston rod 35a of this cylinder 35 is supported through a bracket 37 on a support plate 38 integral with the table 34. It is fixed. Therefore, the table 34 is moved back and forth by a predetermined stroke by the operation of the forward / backward movement cylinder 35. In FIG. 3, the solid line shows the case where the table 34 is at the forward end, and the phantom line shows the case where the table 34 is at the backward end.

Next, referring to FIGS. 5, 6 and 7, the cassette 39 for storing the used claws 12 extracted from the claw mounting groove 10 of the chuck 6 and the claws 12 for the next process in a detachable manner is stored. explain. A sliding groove 40 is formed on the lower surface of the cassette 39 over the entire length in the longitudinal direction. The sliding groove 40 extends over substantially the entire width of the table 34 as shown in FIG. The cassette 39 is fitted to the cassette guide rail 41 fixed to the main body 92, and the cassette 39 is slidable in the left-right direction on the cassette guide rail 41. Further, the cassette 39 is provided with three holding grooves 43 that are open on the front surface and both upper and lower surfaces thereof at equal intervals, and the left and right facing surfaces forming the holding grooves 43 are attached to the front surface of the cassette 39. A guide groove 45 is formed to guide the sliding portion 13 of the claw 12 using the one mounting piece 44 and to position the claw 12 in the front-rear direction and the left-right direction. Further, near both ends of the cassette 39, there are provided positioning holes 46 penetrating through the front and rear surfaces, into which positioning pins 76, which will be described later, are fitted and which positionally lock the cassette 39 on the cassette guide rail 41. Further, on the upper surface of the cassette 39, when the transfer body 126 descends from the upper hooking position D to a position corresponding to each holding groove 43, as will be described later, it engages with the finger 136 and advances the finger 136 in the hooking direction. A guide slanted surface 47 is formed.

Next, the locking mechanism 49 for locking the claw 12 inserted into the holding groove 43 so as not to fall off from the holding groove 43 is as follows, and is provided corresponding to each holding groove 43. ing. In FIG. 5, a sliding groove 50 is formed on the upper surface of the cassette 39 at a position corresponding to the sliding portion 13 on the right side of the claw 12 shown in phantom, and the sliding groove 50 is slidable in the front-rear direction. A claw locking pin 51 is fitted in the claw locking pin 51, and the claw locking pin 51 has a lower step portion on its upper surface contacting a holding plate 52 mounted on the upper surface of the cassette 39 to prevent the claw locking pin 51 from coming off in the vertical direction of the cassette 39. Has been done. At the tip of the claw locking pin 51, a lower surface on the left side is notched, and a locking piece 53 that can enter the hooking space 29 of the claw 12 is formed. Further, an engaging groove 54 that engages with an operation piece 104 described later is provided on the lower surface of the rear end portion of the claw engaging pin 51. As shown in FIG. 9, the engaging groove 54 of the claw locking pin 51 corresponding to the claw 12 at a position other than the claw exchange position A is cut out at a portion corresponding to an actuating piece 104, which will be described later, and has a width of the table 34. By engaging with a pin guide rail 55 extending over substantially the entire length, the pawl locking pin 51 is positioned at the forward position to maintain the pawl holding state. The pin guide rail 55 is fixed to the upper surface of the cylinder body 92 of the claw removing cylinder 91 described later. In addition, the left and right ends of the four attachment pieces 44 are notched with insertion grooves 57 into which the robot hand 60 described later can be inserted, and the rear surface of the attachment pieces 44 at the left and right ends and the front surface of the cassette 39. A locking portion 58 is provided between them.

Next, the cassette stocker 500 and the robot 501 which are arranged separately from the pawl exchanging device 31 in FIG. 19 will be described. First, a cassette stocker 500 in which a plurality of cassettes 39 holding replacement claws are placed and stored will be described. On the upper surface of the cassette stocker main body 502, a plurality of cassette mounting blocks 503 having different heights for supporting the lower surface of the cassette 39 are attached in a stepwise manner (FIG. 7). On the upper surface of each cassette mounting block 503, a fitting rail 505 having a length substantially equal to the length of the cassette 39 in the longitudinal direction and into which the sliding groove 40 of the cassette 39 is fitted is attached. Further, left and right U-shaped guides 650 (shown in FIGS. 5, 7, and 19) facing each other across the fitting rail 505 are attached to the upper surface of the cassette mounting block 503, and these U-shaped guides 650 are attached to these U-shaped guides 650. Both ends of the cassette 39 in the longitudinal direction are fitted and guided in the vertical direction, and the cassette 39 is held on the cassette mounting block 503. Although the cassette stocker 500 has a step-like shape, it may have a shelf shape or a movable mounting table such as a pallet. Further, the U-shaped guide 650 is stopped, vertical holes are formed at both ends of the cassette 39, and a pair of fitting guide rods fitted in the vertical holes are provided on the cassette mounting block 503. Good.

Next, the robot 501 will be described. A guide rail 507 is arranged in parallel with the cassette stocker 500, and a support base 508 is fitted on the guide rail 507 so as to be slidable in the longitudinal direction. It has been placed. This support base 508 is moved by a moving motor M1 via a ball screw mechanism 509. A pair of guide bars 510 are vertically provided on the support base 508, and an elevating body 511 is supported on the guide bars 510 so as to be vertically movable. The elevating body 511 is moved up and down by a lifting motor M2 via a ball screw mechanism 512. A horizontal robot arm 513 is slidably attached to the elevating body 511 without rotating, and is slid in the longitudinal direction by a telescopic motor M3. A robot hand 60 described later is attached to the tip of the robot arm 513. Therefore, the robot hand 60 can be moved three-dimensionally by controlling the robot 501 by driving the motors M1 to M3. The robot 501 does not have to be limited to the above, and the robot hand 60 may be attached to the wrist of an industrial robot disclosed in, for example, Japanese Patent Publication No. 4-799.

Next, referring to FIG. 8, a robot hand 60 for carrying and exchanging the cassette 39 between the cassette stocker 500 and the pawl exchanging device 31 will be described. The robot hand 60 has a pair of support arms 61 provided at the ends thereof, and has upper and lower engaging pieces 62 projecting inward and a lower surface supporting piece 63 projecting forward from a lower part thereof, respectively. The robot hand 60 moves toward the front surface of the cassette 39 with its supporting arm 61 facing the front surface of the cassette 39 and the height positions of the upper engaging piece 62 and the insertion groove 57 of the cassette 39 aligned. After the upper engaging piece 62 passes through the insertion groove 57 and reaches the locking portion 58, the robot hand 60 moves upward, and the upper and lower engaging pieces 62 enter the locking portion 58 to perform front-rear, left-right positioning. At 63, the lower surface 39a (shown in FIG. 12) of the cassette 39 on both sides is lifted to carry the cassette 39.

Next, the traverse device 65 provided behind the cassette 39 on the table 34 will be described. This traverse device 65 includes a traverse cylinder 66, a lock cylinder 67 and a stopper cylinder 68 as shown in FIGS. 1, 2 and 3, and is substantially the same as the traverse device disclosed in Japanese Patent Application No. 63-124368 filed by the present applicant. It has the same structure.

First, the traverse cylinder 66 will be described. A cylinder barrel 72 having a piston chamber 71 in the center is provided on a piston rod 66a fixed between left and right side plates 70 attached to a support plate 38 integral with the table 34. Is slidably fitted. The piston chamber 71 of the cylinder barrel 72 is divided into two by the piston 73 provided at the center of the piston rod 66a. Pressure fluid is supplied to the partitioned piston chambers 71 through pressure fluid supply passages (not shown) formed in opposite directions to the center of the piston rod 66a. The cylinder barrel 72 traverses along the piston rod 66a. The length of the piston rod 66a is set so that the traverse amount of the cylinder barrel 72 (the maximum stroke amount of the cylinder barrel) is at least twice the pitch between the holding grooves 43 of the cassette 39.

Next, the lock cylinder 67 will be described. The lock cylinder 67 is composed of a pair of two cylinders. The cylinder bodies 74 of both lock cylinders 67 are arranged side by side in the left-right direction on the lower surface of the cylinder barrel 72 of the traverse cylinder 66. The distance between 46 and the distance between the piston rods 67a are set to be the same. Further, a positioning pin 76 that can be fitted into the positioning hole 46 is attached to the tip of each piston rod 67a. A slide body 77 is fixed to the lower surfaces of the cylinder bodies 74 of both lock cylinders 67, and the slide body 77 is slidably fitted to a pair of detent rods 78 mounted between the left and right side plates 70. There is. A supply passage (not shown) is formed in the cylinder body 74 of the lock cylinder 67 and communicates with the piston chamber divided into two by the piston. When the pressurized fluid is supplied to this supply path, the piston rod 67a is retracted in the front-rear direction, and the positioning pin 76 attached to the tip of the piston rod 67a is placed on the cassette guide rail 41 by the robot hand 60. It is adapted to be inserted into and removed from the positioning hole 46 of the cassette 39.

Next, the stopper cylinder 68 will be described. First, an abutting member 80 is fixed on a mounting portion of the traverse cylinder 66 extending rearward from a lower portion of the rear surface of the cylinder barrel 72. Further, left and right stopper bolts 81 and 82 (shown in FIG. 3) are fixed to the left and right side plates 70 at positions facing the abutting member 80, respectively. The stopper cylinder 68 is fixed downward to a top plate 83 integrated with the table 34 via a bracket 84. A stopper block 85 is attached to the tip of the piston rod 68a of the stopper cylinder 68. When the stopper cylinder 68 is actuated to project the piston rod 68a at a desired time, the stopper block 85 enters between the contact member 80 and the right stopper bolt 82. (The state shown by phantom lines in FIGS. 1, 2, and 9) The traverse of the traverse cylinder 66 to the right is controlled.

Next, the guide block 87 and the claw removing device 88 will be described. As shown in FIGS. 1 and 2, the guide block 87 is composed of left and right blocks 89 attached to the table 34, and guide grooves 90 are provided on the opposing surfaces of both blocks 89. The guide groove 90 holds the claw mounting groove 10 of the chuck 6 indexed to the claw replacement position B and the cassette 39 positioned at the claw replacement position A when the table 34 reaches the most advanced end as described above. It is located between the groove 43 and the guide groove 45, and guides the sliding portion 13 of the pawl 12 which is exchanged by continuing the both in a straight line.

Further, the pawl removing device 88 for pushing and operating the operation pin 19 of the pawl engaging / disengaging device 17 built in the chuck 6 is as follows. The claw removing cylinder 91 has a cylinder body 92 fixed integrally with the guide block 87, and a mounting plate 93 is fixed to the lower end of the lower piston rod 91b protruding from the lower surface of the cylinder body 92. A push-in pin 94 is provided on the lower surface so as to face the operation pin 19 of the chuck 6 indexed to the claw replacement position B, and the claw removal cylinder 91 is removed to operate as shown in FIG. When the piston rod 91b is lowered, the push pin 94 pushes the operation pin 19 to disengage the rack tooth 20 of the meshing member 18 from the rack tooth 16 of the claw 12. Further, a positioning pin (not shown) is juxtaposed on the lower surface of the mounting plate 93 together with the push pin 94, and when the lower piston rod 91b descends as described above, a positioning hole (which is formed in the chuck 6) ( The chuck 6 which is inserted into the chuck 6 (not shown) is positioned more accurately.

Next, a pin actuating device 96 for moving the claw locking pin 51 of the locking mechanism 49 provided in the cassette 39 back and forth will be described. A large diameter portion 97 is formed at the upper end of the upper piston rod 91a protruding from the upper surface of the cylinder body 92 of the claw removing cylinder 91. As shown in FIGS. 10 and 13, a cylindrical member 98 is fitted in the large-diameter portion 97 so as to be movable in the vertical direction by an interval S with respect to the upper piston rod 91a. At the rear portion of the lower surface of the tubular member 98, a regulating bolt 100 is provided which faces the contact member 99 fixed to the cylinder body 92 of the nail removing cylinder 91 with a gap H.

The sum of the distance H and the distance S in the tubular member 98 is the stroke of the claw removing cylinder 91, and the claw removing cylinder 91 in the raised state shown in FIG. 10 is operated to move the upper piston rod 91a. When the cylinder member 98 is lowered, the cylinder member 98 descends together with the large-diameter portion 97 of the upper piston rod 91a due to its own weight, and when the upper piston rod 91a descends by the distance H, the regulating bolt 100 of the cylinder member 98 comes into contact with the member. By contacting with 99, the descending is restricted and the positioning is performed. After that, only the upper piston rod 91a descends by the space S in the tubular member 98 to reach the descending end as shown in FIG. That is, the tubular member 98 is vertically moved by the stroke H shorter than the one stroke length (H + S) of the piston rods 91a and 91b by the interval S within the tubular member 98 by the operation of the claw removing cylinder 91.

As shown in FIGS. 13 and 16, a supporting piece 102 is attached to the cylinder body 92 of the claw removing cylinder 91, and a sliding groove 103 is cut out in the upper part of the supporting piece 102. An operating piece 104 is fitted in the sliding groove 103 so as to be slidable in the front-rear direction, and the operating piece 104 is prevented from coming off upward by a pressing plate 105. As shown in FIG. 10, the operating piece 104 has a hook-shaped engaging portion 106 that engages with the engaging groove 54 of the engaging pin 51 of the cassette 39 as shown in FIG. A guide pin 107 is planted on the left side surface.

A cutout portion 108 is formed in a part of the lower surface of the tubular member 98, and a guide bar 109 is attached to this portion. An inclined guide groove 110 is formed on a side surface of the guide bar 109 facing the operating piece 104, and a guide pin 107 of the operating piece 104 is engaged with the inclined guide groove 110. Therefore, as described above, when the claw removing cylinder 91 is operated and the tubular member 98 is moved up and down by the distance H, the guide pin 107 of the operating piece 106 is moved back and forth by being guided by the inclined guide groove 110 of the guide bar 109, and this operation is performed. As shown in FIGS. 10 and 16, the claw locking pin 51 that engages with the piece 104 has a forward movement position in which the locking piece 53 at the tip thereof enters the hooking space 29 of the claw 12 and hooks and holds the claw 12. , 17, the locking piece 53 is moved back and forth to the retracted position where it is retracted from the hooking space 29.

Further, as shown in FIG. 14, a notched guide surface 111 is provided in the front part of the peripheral surface of the tubular member 98, and this guide surface 111 is provided with a later-described left-right movable block 127. An inclined guide groove 112 with which the guide pin 150 is engaged is formed. The left and right ends of the guide surface 111 are notched so as to slidably engage with a support bracket 143 described later.

Next, the claw transfer device 114 for transferring the claw 12 between the holding groove 43 of the cassette 39 and the claw mounting groove 10 of the chuck 6 which are indexed at the claw exchange position A will be described.

First, as shown in FIGS. 1, 2, and 3, a transfer cylinder 115 is attached to the top surface of the top plate 83, and the lower end of the piston rod 117 protruding downward from the lower surface of the cylinder body 116 of the transfer cylinder 115 is attached. The later-described transfer body 126 is screwed. The transfer cylinder 115 is configured as a double cylinder for moving the transfer body 126 to three positions of an upper hooking position D, a lower hooking position E, and a retracted position F (FIG. 12). That is, in the cylinder body 116, the first piston chamber 119 in which the first piston 118 attached to the upper end of the piston rod 117 slides, and the first piston chamber 119 is continuous and larger than the first piston chamber 119. A second piston chamber 120 having a diameter is formed, and a second piston 121 is slidably fitted in the second piston chamber 120.

Further, in FIG. 2, the supply / discharge port 122 communicates with a room below the first piston chamber 119 defined by the first piston 118, and the supply / discharge port 123 is defined by the second piston 121. The chamber above the piston chamber 120 is communicated with, and the supply / discharge port 124 is communicated with the chamber above the first piston chamber 119 and the chamber below the second piston chamber 120. Therefore, when the pressurized fluid having the same pressure is supplied from the supply / discharge port 122 and the supply / discharge port 123, the second piston 121 contacts the lower end and the first piston 118 contacts the lower end surface of the second piston 121 as shown in FIG. The transfer body 126 is located at the upper hooking position D shown in FIGS. When the pressurized fluid is supplied only from the supply / discharge port 124, the first piston 118 reaches the lower end, and the transfer body 126 is located at the lower catching position E. Furthermore, when the pressurized fluid is supplied only from the supply / discharge port 122, the first and second pistons 118 and 121 integrally reach the rising ends (shown by phantom lines in FIG. 2), and the transfer body 126 moves to the retracted position shown in FIG. Located in F. At this time, a space 113 is provided between the transfer body 126 and the cassette 39 so that the robot hand 60 can lift the cassette 39 from the cassette guide rail 41.

Next, the transfer body 126, the left-right movable block 127, and the up-and-down movable block 128 that form the pawl transfer device 114 will be described with reference to FIGS. First, the transfer body 126 will be described. The transfer body 126 is provided with a support hole 130 penetrating the left and right side surfaces at a substantially central portion thereof. A movable pin 132 having an inclined surface 131 is slidably fitted therein. Further, the lower part of the peripheral surface of the movable pin 132 is notched and formed into a flat surface, and an inclined inner groove 133 is formed in this flat surface.

A cross-shaped support groove 134 penetrating the front and rear surfaces is formed in the transfer body 126, and a finger 136 is slidably fitted in the support groove 134. A guide pin 137 is planted on the upper surface of the finger 136, and the guide pin 137 engages with the inclined guide groove 133 of the movable pin 132. The lower portion of the finger 136 is formed with a hook piece 138 that engages with the hooking groove 28 of the pawl 12, and a rear portion of the hook piece 138 engages with a guide inclined surface 47 provided on the cassette 39. A junction 139 is formed. As described above, when the movable pin 132 is guided by the left / right movable block 127 or the up / down movable block 128 to be described later and moves in the left / right direction with respect to the transfer body 126 (in the direction of the bottom surface and the front direction in FIG. 10), the finger 136 The guide pin 137 is guided by the inclined guide groove 133 of the movable pin 132 and moves in the front-back direction with respect to the transfer body 126, so that the key piece 138 of the finger 136 disengages from the hook groove 28 of the claw 12. ing.

Next, the left and right movable block 127 provided corresponding to the upper hooking position D will be described. The left and right side walls 141 and the rear wall 142 are combined on the lower surface of the top plate 83 (even if integrally formed. The mounting bracket 143 is attached so as to surround the piston rod 117 of the transfer cylinder 115. The facing surfaces of the left and right side walls 141 of the support bracket 143 serve as sliding surfaces 144 that guide the side surfaces of the transfer body 126 in a sliding manner. The rear surface of the rear wall 142 of the support bracket 143 is a sliding surface 145 on which the guide surface 111 provided on the tubular member 98 slides. Further, in the support bracket 143, a block support groove is formed by a support groove 146 formed on the left and right side walls 141 of the support bracket 143 and a support groove 147 formed on the rear wall 142 continuously with the support groove 146. . A left and right movable block 127 having a pair of protrusions 149 provided on the front surface of the block supporting groove at substantially the same intervals as the length of the movable pin 132 is slidably fitted in the left and right directions. .

The mounting height position of the left and right movable block 127 is such that the movable pin 132 is located between the protrusions 149 of the left and right movable block 127 when the transfer body 126 is located at the upper catching position D as shown in FIG. It is set to the height position where it is sandwiched. A guide pin 150 protruding rearward is planted on the rear surface of the left-right movable block 127, and the guide pin 150 is engaged with the inclined guide groove 112 of the tubular member 98. Further, an inclined surface 151 that guides the inclined surface 131 on the upper right side of the movable pin 132 is formed at the corner of the right protruding portion 149 of the left and right movable block 127, as will be described later. As described above, when the transfer body 126 is located at the upper hooking position D, when the pawl removing cylinder 91 is operated, the tubular member 98 provided on the upper piston rod 91a moves up and down, and this vertical movement causes the left and right movable blocks to move. The guide pin 150 of the 127 moves in the left-right direction with respect to the support bracket 143 by being guided by the inclined guide groove 112 of the tubular member 98. With the movement of the left and right movable block 127, the movable pin 132 sandwiched between the protruding portions 149 moves in the left and right direction, and the finger 136 moves back and forth as described above.

Next, the vertically movable block 128 provided corresponding to the lower hooking position E in FIGS. 1, 10, and 18 will be described. A vertically movable block 128 including left and right side walls 153 and a rear wall 154 is attached to a front surface of a mounting plate 93 provided on the lower piston rod 91b of the pawl removing cylinder 91, and is shown by a solid line in FIG. 18 by the operation of the pawl removing cylinder 91. It moves to an ascending position and a descending position indicated by an imaginary line. The facing surfaces of the left and right side walls 153 of the vertically movable block 128 are formed with upper and lower vertical surfaces 155 and an inclined surface 156 that connects both vertical surfaces 155 at substantially the same interval as the length of the movable pin 132. . Therefore, due to the relative movement of the vertically movable block 128 and the transfer body 126, the movable pin 132 is guided between the slopes 156 of the vertically movable block 128 and moved in the left-right direction, and the finger 136 is moved to the lower hooking position E. It is designed to move back and forth.

Next, the pawl exchanging action of the chuck pawl automatic exchanging device configured as described above will be described. First, the preparation state before the nail replacement will be described. While the machine tool 1 is processing a workpiece, the table 34 is located at the retracted end position as shown by the phantom line in FIG. 3, and the pawl exchanging device 31 is located on the headstock 2 of the machine tool 1. However, it is not affected by chips generated during processing. As shown in FIG. 2, the transfer cylinder 115 is supplied with the pressurized fluid having the same pressure from the supply / discharge ports 122 and 123, the transfer body 126 is located at the upper hooking position D, and the claw removing cylinder 91 is raised. It is in an end condition.

In the traverse device 65, the lock cylinder 67 has its piston rod 67a in a protruding state, and the positioning pin 76 attached to the tip of the piston rod 67a is placed on the cassette guide rail 41 and all the holding grooves are held. It is fitted in a positioning hole 46 provided on the rear surface of the empty cassette 39 in which the claw 12 is not attached to 43. Further, the piston rod 68a of the stopper cylinder 68 is in a protruding state, and the stopper block 85 attached to the tip of the piston rod 68a is connected to the abutting member 80 and the right stopper bolt 82 as shown by phantom lines in FIGS. And the traverse cylinder 66 acts so as to move the cylinder barrel 72 to the right, and the cassette 39 is positioned so that the holding groove 43 in the middle thereof is located right above the guide block 87. It is located in. Further, the pawl locking pin 51 provided corresponding to the middle holding groove 43 of the cassette 39 is engaged with the operating piece 104 of the pin operating device 96, and the other pawl locking pins 51 are connected to the pin guide rail 55. 16 is maintained (as shown in FIG. 9), all the pawl locking pins 51 are in a forward state in which they can be engaged with the hooking spaces 29 of the pawls 12 as shown in FIG.

Next, when a claw replacement command is issued from a command device (not shown) due to a change in the workpiece to be machined or the like, the command causes the spindle 3 to stop while decelerating, and the claws attached to the chuck 6 are stopped. After indexing one of the claws 12 to the claw change position B, a rotary cylinder (not shown) is activated to move the wedge piece 7 forward, and the three claws 12 can be changed to a position where the claw 12 can be changed (for grasping the work piece). (Open position).

When the chuck 6 is indexed to a predetermined position as described above, the forward / backward movement cylinder 35 operates and the table 34 waiting at the backward end position shown by the phantom line in FIG. 3 moves forward as shown by the solid line in the figure. Move to the end position. As a result, the holding groove 43 in the middle of the empty cassette 39 is positioned at the claw exchange position A together with the guide groove 90 of the guide block 87, and both grooves 43, 90 are claws of the chuck 6 indexed at the claw exchange position B. It is in a state of being aligned with the mounting groove 10.

Now, as shown by the solid line in FIG. 10, the transfer body 126 is located at the upper hooking position D, and the engagement portion 139 of the finger 136 provided in the transfer body 126 is guided on the upper surface of the cassette 39. It faces the inclined surface 47. At this time, the movable pin 132 is sandwiched between the projecting portions 149 of the left and right movable blocks 127 (shown in FIG. 20A). From this state, pressure fluid is supplied from the supply / discharge port 124 (shown in FIG. 2) of the transfer cylinder 115. When the carrier 126 is supplied and the transfer body 126 is lowered, the engaging portion 139 of the finger 136 engages with the guide inclined surface 47 of the cassette 39 during the lowering, and the finger 136 is advanced. As the finger 136 moves forward, the movable pin 132 moves rightward with respect to the center of the finger 136 due to the engagement of the inclined guide groove 133 and the guide pin 137 of the finger 136 (shown in FIG. 20B).

When the transfer body 126 is further lowered, the movable pin 132 that has moved to the right moves to the left, guided by the slope 156 of the vertically movable block 128 in the ascending position, and the movable pin 132 moves to the left. As a result, the finger 136 is retracted, and then the transfer body 126 reaches the lower hooking position E. At this time, the key piece 138 of the finger 136 faces the hooking groove 28 of the used claw 12 held by the chuck 6 with a slight gap, as shown by the phantom line in FIG. 10, and the movable pin 132 moves up and down. It is sandwiched between the lower vertical surfaces 155 of the movable block 128 (shown in FIG. 20C).

Thereafter, as shown in FIG. 10, when the ascending claw removing cylinder 91 is operated by removing the claw, the lower piston rod 91b descends and the mounting plate 93 and the vertically movable block 128 mounted on the mounting plate 93 move downward. 11, the movable pin 132 is guided by the inclined surface 156 of the vertically movable block 128 by the lowering of the vertically movable block 128, and moves to the right with respect to the center of the finger 136 (shown in FIG. 20D). The finger 136 moves forward, and the hook piece 138 enters into the hooking groove 28 of the hook 12 held by the chuck 6 to hook and hold the hook 12, as shown in FIG. Immediately after the finger 136 holds and holds the claw 12, the push pin 94 provided on the lower surface of the mounting plate 93 descending together with the lower piston rod 91b of the claw removing cylinder 91 is the operating pin 19 of the claw engaging / disengaging device 17. Is pushed toward the center of the chuck 6, and the engaging member 18 is retracted in the non-engaging direction to release the engagement of the rack teeth 16 and 20 between the engaging member 18 and the claw 12.

Further, the tubular member 98 is lowered by the distance H together with the upper piston rod 91a by the above-mentioned operation of the claw removing cylinder 91, and in the middle of this downward movement, the guide pin 150 of the left and right movable block 127 is guided to incline the tubular member 98. It is moved to the right with respect to the center of the finger 136 by being guided by the groove 112 (shown in FIG. 20D). Further, together with the tubular member 98, the guide bar 109 integrated with the tubular member 98 also descends, and the guide pin 107 of the operating piece 104 is guided in the inclined guide groove 110 of the guide bar 109, so that the operating piece 104 moves backward, The claw locking pin 51 that engages with the operation piece 104 retracts in the non-locking direction. The retracted end state of the claw locking pin 51, the rightwardly moved state of the left and right movable block 127, and the lowered end state of the up and down movable block 128 are maintained until the claw removing cylinder 91 is operated in the opposite manner.

After that, the hydraulic fluid having the same pressure is supplied from the supply / discharge ports 122 and 123 of the transfer cylinder 115, and the transfer body 126 is moved to the upper hooking position D again. By this movement, the claws 12 hooked and held by the fingers 136 are extracted from the claw mounting grooves 10 of the chuck 6, and the sliding portions 13 thereof are guided by the guide grooves 90 of the guide block 87. The claw locking pin 51 is located in the holding groove 43 in the middle of the cassette 39 in the retracted state. At this time, the finger 136 is in the state shown by the solid line in FIG. 11, and the movable pin 132 moved to the right is sandwiched between the protrusions 149 of the left and right movable blocks 127 moved to the right (shown in FIG. 20E). .

Then, when the pawl removing cylinder 91 is operated to move upward, contrary to the above-described action, the tubular member 98 is moved up together with the upper piston rod 91a, and by this rise, the operating piece 104 and the pawl engaging pin 51 are engaged first. It moves forward in the stopping direction, is positioned in the holding groove 43 in the middle of the cassette 39, and the engaging piece 53 at the tip of the pawl engaging pin 51 is fitted into the hooking space 29 of the pawl 12 hooked and held by the finger 136. The claw 12 is held in the holding groove 43. Next, immediately after the holding of the claw 12, the left and right movable block 127 is moved to the left due to the rise of the tubular member 98, and this movement causes the movable pin 132 sandwiched between the protrusions 149 of the left and right movable block 127. Moves to the left (shown in FIG. 20A), and the finger 136 of the finger 136 is pulled out from the hook groove 28 of the claw 12 as shown by the solid line in FIG. The state is held only by the claw locking pin 51. By the reverse operation of the pawl removing cylinder 91, the vertically movable block 128 returns to the original rising end position, and the meshing member 18 is advanced in the meshing direction.

As described above, when the first claw 12 is pulled out from the chuck 6 and held in the holding groove 43 in the middle of the cassette 39, the second claw 12 is prepared as follows. Be done. That is, the chuck 6 is rotated by a predetermined angle and the claw 12 to be extracted next is indexed to the claw exchange position B. Next, the cassette 39 is traversed on the cassette guide rail 41, and then the holding groove 43 at the left end for mounting the pawl 12 is positioned at the pawl exchange position A. In this indexing, first, in FIG. 9, after the pressurization to the traverse cylinder 66 is stopped, the stopper cylinder 68 is actuated to withdraw the stopper block 85 entering between the right stopper bolt 82 and the contact member 80. Then, the traverse cylinder 66 is operated to move the cylinder barrel 72 to the right until the contact member 80 contacts the right stopper bolt 82, and with this movement, the cassette locked by the positioning pin 76 is moved. 39 also moves to the right, and the holding groove 43 at the left end of the cassette 39 is positioned at the pawl exchange position A. Further, due to this traverse, the pawl locking pin 51 corresponding to the left end holding groove 43 engages with the operating piece 104 of the pin operating device 96, and the other pawl engaging pins 51 engage with the pin guide rail 55, and As shown in FIG. 16, the claw locking pin 51 is in a forward state in which the locking piece 53 at the tip thereof can be engaged with the hooking space 29 of the claw 12.

When the holding groove 43 at the left end is positioned as described above, the used claw 12 is extracted from the claw mounting groove 10 of the chuck 6 in the same manner as the first claw 12, and the claw 12 is left at the left end of the cassette 39. In the holding groove 43 of the traverse cylinder 66 of the traverse cylinder 66 in order to finally install the third claw in the holding groove 43 at the right end until the contact member 80 contacts the left stopper bolt 81. And the holding groove 43 at the right end is indexed to the claw replacement position A. After that, after mounting the third claw 12 in the holding groove 43 on the right side, the stopper cylinder 68 is moved to return the cassette 39 to the intermediate position (the position where the middle holding groove 43 is indexed to the claw exchange position A) again. After being actuated to position the stopper block 85 between the right stopper bolt 82 and the abutment member 80, the traverse cylinder 66 is actuated until the abutment member 80 abuts the stopper block 85. Move to the right to position the cassette 39 in the intermediate position. The traverse order is not limited to this and can be changed as appropriate.

After the three claws 12 are removed from the chuck 6 and mounted in the cassette 39 as described above, the cassette 39 in which the used claws 12 are mounted and the cassette in which the claws 12 for the next process are mounted 39 and 39 are exchanged by the robot hand 60 as follows. First, when the pressurized fluid is supplied only from the supply / discharge port 122 (shown in FIG. 2) of the transfer cylinder 115, the second piston 121 and the first piston 118 move to the rising end shown by the phantom line, and are provided at the tip of the piston rod 117. The transfer body 126 is located at the retracted position F shown in FIG. At this time, a space 113 capable of lifting the cassette 39 is formed between the finger 136 provided on the transfer body 126 and the upper surface of the cassette 39.

Then, by the action of the robot 501, the robot hand 60 moves toward the front of the cassette 39 by aligning the height position of the upper engaging piece 62 and the insertion groove 57 of the cassette 39, and moving forward. After the engagement piece 62 passes through the insertion groove 57 and reaches the locking portion 58, the robot hand 60 is raised until the lower surface support piece 63 comes close to the lower surface 39 a of the cassette 39. That is, the upper and lower engaging pieces 62 move up in the locking portion 58, and the cassette hand 39 is positioned in the front-rear, left-right direction by the robot hand 60. In this state, the lock cylinder 67 is operated to retract the positioning pin 76 from the positioning hole 46 of the cassette 39 to release the positioning of the cassette 39. Thereafter, the robot hand 60 rises, the lower surface supporting piece 63 lifts the lower surface 39a of the cassette 39, and the cassette guide rail 41 lifts the cassette 39. At this time, the claw locking pin 51 of the middle holding groove 43 stops the engagement with the operating piece 104, and the other claw locking pins 51 stop the engagement with the pin guide rail 55.

After that, the robot hand 60 that holds and holds the cassette 39 by the upper and lower engaging pieces 62 and the lower surface supporting piece 63 moves backward, and the cassette hand of the cassette stocker 500 on which the cassette 39 is not placed is placed. After moving to a position directly above the placing block 503 (shown by a virtual line in FIG. 19), the cassette 39 is inserted between the U-shaped guides 650 to be placed and stored on the cassette placing block 503, and then used for the next step. The cassette 39 with the claws 12 attached thereto is lifted and held from the other cassette mounting block 503 by the same action as described above and is moved to the claw exchanging device 31 again, and the cassette guiding operation is performed in the reverse operation of the cassette unloading operation. A new cassette 39 is placed at an intermediate position on the rail 41. Then, in order to position the new cassette 39, pressurized fluid is supplied from the supply / discharge ports 122 and 123 (shown in FIG. 2) of the transfer cylinder 115, and the transfer body 126 is moved to the upper catching position D as shown in FIG. And the lock cylinder 67 is operated to insert the positioning pin 76 into the positioning hole 46, and then the robot hand 60 is returned to the standby position to complete the replacement work of the cassette 39.

Although the operation of taking out the cassette 39 by the robot hand 60 is performed by the forward-upward-re-upward-backward movement of the robot hand 60, the robot hand 60 is moved left and right after the forward-upward movement. Direction (backward or frontward in FIG. 2), the side surfaces of the cassette 39 are hooked by the upper and lower engaging pieces 62 of the robot hand 60 so that the sliding groove 40 of the cassette 39 is aligned with the cassette guide rail 41. The robot hand 60 may be retracted after it is slid above and is withdrawn from the cassette guide rail 41. In this case, the transfer body 126 is formed to form the lifting space 113 between the transfer body 126 and the cassette 39. Need not be raised to the retracted position F, and the transfer cylinder 115 does not have to be a table cylinder. Further, the robot hand 60 of the above-described embodiment is formed in a gate shape composed of a pair of support arms 61. Instead of this, as shown in FIG. Type robot hand 60, and the robot hand 60 may be provided at the tip of at least a two-dimensionally movable robot arm 513 so as to be rotatable around a vertical axis by a motor M. If the holder 39 holds the replacement cassette 39 in which the claws for the next process are locked, the claw changing device 31 can be used to fix the cassette on the cassette guide rail 41 between the other supporting arms 61 of the robot hand 60. After holding, the robot hand 60 can be rotated 180 ° and the replacement cassette 39 can be placed on the cassette guide rail 41 immediately, so that the pawl replacement operation can be performed in a shorter time.

When the cassette 39 having the pawls 12 for the next process attached thereto is positioned on the cassette guide rail 41 by the robot hand as described above, the pawls 12 are placed in the pawl attachment grooves 10 of the chuck 6 as follows. It is installed. First, after indexing the chuck to a predetermined claw replacement position, when mounting the claw 12, as shown in FIG. 10, the claw removing cylinder 91 in the raised state is clawed to operate, and the claw mounting groove 10 of the chuck 6 is operated. Is positioned and the meshing member 18 is retracted in the non-meshing direction, and the vertically movable block 128 reaches the descending end. Also, the cylinder member 98 is lowered by the operation of the nail removing cylinder 91, and the movable pin 132 sandwiched between the left and right movable block 127 and the protruding portion 149 moves rightward with respect to the center of the finger 136 (shown in FIG. 21B). , The key piece 138 of the finger 136 enters the hooking groove 28 of the claw 12 and hooks and holds the claw 12 (shown by a solid line in FIG. 11). Further, by lowering the tubular member 98, immediately after the finger 136 is hooked and held, the operating piece 104 and the claw locking pin 51 retract in the non-locking direction, and the claw 12 is locked by the claw locking pin 51. Is released.

After that, the transfer cylinder 115 is operated to transfer the claw 12 to the lower hooking position E together with the transfer body 126. After the sliding portion 13 of the claw 12 is guided by the guide block 87 during the transfer, the movable pin 132 of the transfer body 126 is guided by the vertical surface 155 of the vertically movable block 128 located at the lower end position. However, since it does not engage with the slope 156 (shown in FIG. 21C) and the movable pin does not move in the left-right direction, the transfer body 126 holds the pawl 12 while the finger 136 holds the transfer body 126 at the lower catching position E. (Shown in phantom in FIG. 11).

Next, when the pawl removing cylinder 91 is operated to move upward, the mounting plate 93 moves upward to release the positioning of the chuck 6 and the engaging member 18 advances in the engaging direction, so that the engaging member 18 holds the pawl 12. It Immediately after the pawl 12 is held by the meshing member 18, the vertically movable block 128 is lifted, and the slope 156 of the vertically movable block 128 guides the movable pin 132 to the left, so that the finger 136 is retracted. Is stopped and the claw 12 is held only by the meshing member 18. Further, the tubular member 98 is lifted by the lifting operation of the pawl removing cylinder 91, the left and right movable blocks 127 are moved leftward (shown in FIG. 21D) by this lifting, and the pawl locking pin 51 is moved in the locking direction. Although it moves forward, at this time, since the pawl 12 does not exist in the holding groove 43, it does not directly participate in the pawl exchange operation.

After that, when the transfer cylinder 115 is operated to raise the transfer body 126 to the upper catching position D, the movable pin 132 is guided by the lifted transfer body 126 to the inclined surface 156 of the vertically movable block 128 in the lowered state and to the right. When the finger 136 is moved forward, the finger 136 moves forward, and the transfer body 126 rises while the finger 136 moves forward, and immediately before reaching the upper hooking position D, the inclined surface 131 provided at the right end of the movable pin 132. Is engaged with the inclined surface 151 of the left and right movable block 127 which is moving leftward (shown in FIG. 20E), the movable pin 132 is moved leftward (shown in FIG. 21A), and the finger 136 is returned to the retracted state. Then, the transfer body 126 reaches the upper hooking position D, and the attachment of the first nail 12 to the chuck 6 is completed.

When the first pawl 12 is exchanged as described above, the traverse device 65 is operated thereafter to traverse the cassette 39 sequentially in the same manner as in the case of extracting the pawl 12, and the left side and the right side are held. The groove 43 is indexed to the claw replacement position A, and the claws 12 are mounted in the claw mounting grooves 10 of the chuck 6 in the same manner as described above, and when all the operations are completed, the traverse device 65 returns to the old position and moves back and forth. The cylinder 35 is also restored to the old state, and the entire automatic pawl changer 31 is retracted to the retracted end position shown by the phantom line in FIG. 3, and waits until the next pawl exchange.

As described above, in this embodiment, when the cassette 39 is conveyed between the claw exchanging device and the cassette stocker, the robot hand 60 has the upper and lower engaging pieces 62 engaged with the locking portion 58 of the cassette 39. Since the front, rear, left, and right are positioned and the lower surface support piece 63 supports the lower surface of the cassette 39, the cassette 39 can be reliably transported without dropping during transportation. Further, when the robot hand 60 receives the cassette 39 placed on the cassette guide rail 41, the robot hand 60 has the upper engaging piece 62 aligned with the insertion groove 57 of the cassette 39 in height position. After advancing toward 39, the upper engaging piece 62 passes through the insertion groove 57 and reaches the locking portion 58, the robot hand 60 is lifted to lift and hold the cassette 39. The upper and lower strokes of the robot hand 60 can be shortened when the cassette 39 is lifted and held, and the cassette can be exchanged even if the cassette exchange space on the pawl exchanging device is extremely small. Although the robot 501 according to the present embodiment is described as being movable in three dimensions, the robot 501 can be moved only in the vertical direction and the horizontal direction (or the front-back direction), and the robot 501 can move in the left-right direction (or the front-back direction). If the cassette stocker 501 is arranged on the extension line of), the robot hand of the present invention can be used even in a two-dimensional moving robot without any trouble.

[0055]

[Effect of device]

 As described above, in the present invention, the robot hand provided at the tip of the robot arm that can move three-dimensionally of the robot corresponds to a pair of locking portions formed at both ends in the longitudinal direction on the front surface of the cassette and extending upward and downward. At least one pair of support arms, and at the tip of each support arm, engage the engaging part of the cassette to position the front, rear, left, and right, and hold the bottom surface of the cassette in the engaged state. Since it is configured with a lower surface support piece to support, the cassette transfer between the claw changer and the cassette stocker can be reliably performed with a simple structure, and the cassette stocker can be moved vertically and horizontally as in the past. It does not need to be self-contained, and the installation space for the cassette stocker can be minimized.

[Brief description of drawings]

FIG. 1 is a front view of a claw changing device.

2 is a vertical sectional side view of FIG. 1. FIG.

FIG. 3 is a plan view showing a part of FIG. 1 as a cross section.

FIG. 4 is a perspective view of a claw.

FIG. 5 is a plan view of the cassette.

6 is a front view showing a cutaway view of a part of FIG. 5. FIG.

FIG. 7 is a left side view of FIG.

FIG. 8 is a perspective view of a robot hand.

FIG. 9 is an explanatory view of the operation of the traverse device.

FIG. 10 is an enlarged view of a main part of FIG.

11 is an operation explanatory view showing a state where the claw removing cylinder of FIG. 10 is lowered.

FIG. 12 is an operation explanatory view in which the transfer body of FIG. 10 is located at the retracted position.

FIG. 13 is an enlarged cross-sectional view taken along line XIII-XIII of FIG.

14 is an enlarged cross-sectional view taken along line XIV-XIV of FIG.

FIG. 15 is a perspective view of a transfer body.

FIG. 16 is an explanatory view of the operation of the pin operating device (a state in which the claw locking pin is advanced in the locking direction).

FIG. 17 is an explanatory view of the operation of the pin operating device (a state in which the claw locking pin is retracted in the non-locking direction).

FIG. 18 is a view for explaining the action of the vertically movable block.

FIG. 19 is a plan view showing an arrangement relationship between a claw changing device, a cassette stocker, and a robot.

FIG. 20 is an operation explanatory view when the finger conveys the claw of the cassette to the chuck.

FIG. 21 is an operation explanatory view when the finger conveys the jaws of the chuck to the cassette.

FIG. 22 is a perspective view of another embodiment of the robot hand.

[Explanation of symbols]

12 claws, 31 claw changer, 39 cassettes,
58 locking part, 60 robot hand, 61 supporting arm, 62 engaging piece, 63 lower surface supporting piece, 513 robot arm

Claims (1)

[Scope of utility model registration request] 1. A cassette with a used claw locked therein and a cassette with a replacement claw locked therein are exchanged between a claw exchanging device and a cassette stocker, and are located at a cassette mounting position of the claw exchanging device. In a chuck jaw automatic exchange device for exchanging jaws between a cassette and a chuck, a robot hand provided at the tip of a robot arm that is movable in two dimensions including at least the vertical direction, At least a pair of support arms corresponding to a pair of vertically extending locking portions formed at both ends in the direction,
At the tip of each support arm, an engaging piece that engages with a locking portion of the cassette to perform front-rear and left-right positioning, and a lower surface supporting piece that supports the lower surface of the cassette in the engaged state of the engaging piece are provided. A robot hand for exchanging chuck claw cassettes.