JPS61103710A - Method and tool for automatic replacement of chuck nails of lathe - Google Patents

Abstract

PURPOSE:To shorten the time for replacement by moving an empty replacement jig to the nail replacing position, clamping sub-nails simultaneously, thereafter separating mother nails, receiving the sub-nails, by moving another jig holding the replacing sub-nails, and by handing over to respective mother nails simultaneously. CONSTITUTION:A robot arm 34 grasps an empty replacement jig B with clamp arm 20 released, to move to the center of a chuck A, and a gripping cylinder is inserted between sub-nails 3 and the front face of the body 12 is pressed to mother nails 2 and stopped. In this condition the chuck nails are advanced and sub-nails 3 chuck a gripping cylinder and the jig B is held temporarily on the chuck side. When the arm 34 releases a grip part 13 and grasps a movable disc 31 to move backward for a certain specified distance, the arm 20 holds the sub-nails by their side faces. When the mother nails 2 are retracted to separate the nail 2 from 3 and the arm 34 retracts the jig B from the chuck A, simultaneous removal of the sub-nails 3 is completed. Then the arm 34 advances the jig B with replacement nails 3 toward the chuck A and both nails 2, 3 are supplied to hold the jig B.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Application) The present invention relates to a method for simultaneously replacing chuck jaws for a lathe and a replacement jig.

(Prior art) When machining irregularly shaped workpieces using a lathe, each time the type of workpiece to be machined changes, it is necessary to change the chuck jaw for workpiece jacking so that its gripping surface corresponds to the workpiece in question. be. Therefore, the chuck jaw is generally divided into a master jaw and a minor jaw, and the jaw holder is configured such that the master jaw is fixed to the base, and the slave jaw is replaced in accordance with the workpiece. (Problems to be Solved) In recent years, automation of subjaw replacement work using robots has been progressing as a way to automate setup work on lathes.However, conventionally, the subjaws on the chuck were replaced individually. Since this method is common, there is a problem in that the replacement work takes a long time. Therefore, in order to solve the above-mentioned problems, the present invention aims to automatically replace a plurality of child jaws in chuck jaws for a lathe at the same time, as a technical problem to be solved.

(Means for Solving the Problem) The technical means for solving the above problem is that each of the child claws of at least 34 claws is soft connected to each parent claw so that they can be attached and detached in the advancing and retracting directions, and the mold is fixed to a predetermined shape. A chuck jaw exchange method controlled to stop at a phase, wherein an empty exchange jig equipped with a lower clamp stage aligned with each jaw is replaced by a robot in the same phase as the chuck jaws. position and grip each child claw at the same time with the clamping means, and then retract and separate each master claw to receive the child claw, and the robot uses another replacement jig that has previously grasped the child claw for replacement. Similarly, the child claws are moved to the claw replacement position, and each child claw is transferred to each parent claw simultaneously in the reverse order.

In addition, another technical means for solving the above problem is to connect the child pawls to at least three master pawls through engagement pins that protrude parallel to the advancing and retracting directions and elastically biased steel balls. This is a jig for replacing the child pawl of a Chirek pawl for a lathe that is removable, and includes a jig body with a robot grip on the rear side, and a jig body that is attached to the front side of the jig body so that it can be opened and closed. and at least three arranged at equal intervals in the circumferential direction.
A pair of clamp arms, a clamp spring housed in the jig body so as to always bias the clamp arms in the closing direction, and a l! ! ! In addition to being movably mounted, the inward mounting formed on the base side of the clamp arm is slidably attached to the movable pin for opening and closing the arm that contacts through the taber part and the shaft part of the jig body. and a movable plate that supports the bases of the movable pins.

(Example) Hereinafter, an example of the present invention will be specifically described based on the drawings.

First, to explain the replacement jig used in the method for replacing the jaws of the present invention, the chime/tsuku jaws for lathes to be replaced will be explained with reference to FIGS. 1, 5, and 6. . 1st
The figure shows a three-jaw chuck and a replacement jig B, in which the master jaw 2 is moved into the chuck body 1, and the jaw holder, which is movably incorporated into the chuck body 1, is fixed to the base 4, and its tip side is As shown in FIGS. 5 and 6, it is formed into a stepped shape in order to attach the subclaw 3. Two engaging pins 5 are protruded from the curved side in parallel to the advancing and retracting directions, and a spherical recess 6 for the steel ball holder is formed on the flat side, and a shallow step is formed on the back side of the flat tip. A portion 7 is formed.

On the other hand, the child claw 3 has two engagement holes 8 on the curved side into which the engagement pins 5 of the main claw 2 can be inserted, and can engage with the spherical recess 6 of the main claw 2 on the flat side. It is equipped with a steel ball 10 which is elastically biased by a spring 9, and the tip of the ball 10 engages with the step 7 of the master claw 2, thereby facilitating workpiece chucking.
A lock plate 11 is fixed to the buoy to prevent it from going up. In this way, the child pawl 3 is configured to be attached and detached by moving relative to the master pawl 2 in a direction parallel to the advancing and retracting direction of the pawl, that is, it is a soft connection.

Next, the replacement jig B will be explained based on FIGS. 1 and 2 to 4. As shown in the figure, in the center of the jig main body 12 formed in a trilobal shape, there is a stepped support having a grip part 13 for the robot arm 34 at the rear end (on the right side in FIG. 3). The shaft 14 is passed through 0, and the support! dl14 is prevented from rotating by a locking pin 15. Furthermore, the jig body 12 and the support f*14 are allowed to move relative to each other in the axial direction within the range of the long groove 16 that engages with the stop pin 15, and the rear surface of the jig body 12 and the support shaft are always It is urged in the direction of separation by a push spring 17 so that a constant gap is maintained between it and the step surface 14. In addition, 18 is the support shaft 1
This is a stop ring attached to the front end of the jig body 12. Also, a grip cylinder 19 is fitted into the front cylinder part of the jig main body 12 to be held by the child claw 3 when replacing the child claw 3. .

Three pairs of clamp arms 20 for clamping the child claws are arranged at equal intervals in the central direction of the jig main body 12 forming a trefoil shape. Explain line drawing. A guide hole 21 parallel to the support flll 14 and a mounting hole 22 orthogonal to the guide hole 21 are formed through the jig main body 12 for each of the trilobal protrusions. A sleeve 23 is fitted. A flat arm guide 24 is fixed to both side surfaces of each protrusion of the jig main body 12, and a cylindrical portion 25 formed on the inner surface of the arm guide 24 is fitted into the mounting hole 22.

At the rear end of the clamp arm 20, a cylinder 26 with a flange 26a which is slidably inserted into the cylindrical part 25 of the arm guide 24 is connected to a threaded operating pin 26.
7, and the cylinder 26 is installed through hole 2.
2 and is pressed inward by a clamp spring 28 interposed between the 7 flange 26a and the arm guide 24. , size.

The clamp arm 20 is movably supported with respect to the arm guide 24 and is always urged in the closing direction by a spring 28, and the clamp portion at the tip (tfi end) has a spherical shape. rubber cushion ball 2
It has 0a. The arm guide 24 always engages with the clamp arm 20 on its outer surface to restrict movement of the clamp arm 20 in directions other than the opening and closing directions. 1
.

By protruding further than the front surface of the second claw 2, it is provided with a guide function when setting the child claw 3 to be replaced.

Further, the actuation pin 27 integrated with the clamp arm 20 is
In this embodiment, as shown in FIG. 4, there are a threaded portion 27a that connects the clamp arm 20 and the cylinder 26, and two threaded portions 27b that are double screwed into the cylinder 26 to prevent loosening.
, 27c. The threaded portion 27C at the inner end that is connected to the actuating pin 27 has a spherical tip (a steel ball is also acceptable) and extends through the guide sleeve 23 from the radial direction. , CIyI guide sleeve 23 is fitted into the guide sleeve 23, and is brought into contact with the outer circumferential surface of two movable pins for opening and closing the arm each having a tapered tip. That is, the clamp arm 20 is configured to be opened and closed by the forward and backward movement of a movable pin 29 with a tapered surface.

Note that 29a is an annular locking groove formed in the movable pin 29 to hold the clamp arm 20 in the open position. In addition, in order to open and close the three pairs of clamp arms 20 at the same time, the three movable pins 29 are connected to the m? It is in contact with a movable disc 31 via a 7 flange 30 formed at r'tA. That is, the movable disk 31, which can be gripped by the robot arm 34, is fitted into the large diameter portion 14a of the support shaft 14 so as to be slidable in the axial direction, and is fitted into the recess 3 i pi formed on the front side of the movable disk 31 . With the flanone 30a of the movable pin 29 stored, move it to the interference prevention 1F river escape FS 32
Note that the movable disk 31 is held by the retaining plate 32 of each movable pin 29 with a steel ball 33 at the position corresponding to the axial center of each movable pin 29. As a result, each movable pin 29 receives a pushing force around the axis and slides smoothly.

Next, the operation of changing the jaws by the robot using the changing jig B configured as described above will be explained (1). It is operated based on.

Seriously, Chi 1! The case where the child claw 3 is removed from the master claw 2 of Tsuk A will be explained. The robot arm 34 is an empty exchange jig B in which the clamp arm 20 is not shown in FIG.
Grasp the grip part 13 of the chuck A, move toward the center of the chuck A as shown in FIG. The gripping tube 19 of the jig body 12 is inserted between the child jaws 3 that are holding the jig body 12, and the jig body 12 is stopped with the front surface pressed against the surface of the master jaws 2. Note that the jig body 12 is The shock caused by contact with the main claw 2 is absorbed by the push spring 17 interposed between the jig main body 12 and the stepped surface of the support @14. The claw is moved forward (moved in the closing direction), and the replacement jig B is moved by the child claw 3.
Check the grip cylinder 19 at. That is, the exchange jig B is temporarily held on the chuck side (see FIG. 3).

Subsequently, the robot arm 34 releases the grip portion 13, grasps the movable disc 31, and moves it backward by a predetermined distance. Therefore, each movable pin 29 together with the movable disk 31
are respectively retracted and their tapered portions face the actuating pins 27 of each clamp arm 20, so that the clamp arms 20 are each moved inward by the clamp spring 28 and grip the side surface of the child claw 3.

Next, the robot arm 34 moves the replacement jig B from the movable disc 31 to the IIM position again! After changing the gripping portion 13, the master jaw 2 of the chuck A is retracted (opened), and the master jaw 2 and the slave jaw 3 are separated as shown in FIG.

That is, since the master pawl 2 and the minor pawl 3 are only fixed by the steel ball 10 which is elastically biased in the direction of opening the button as described above, the minor pawl 3 held by the clamp arm 20 is It remains in play, and only master claw 2 retreats. In this state, when the replacement jig B is moved back from the chuck Δ by the 1-1 bobbin arm 34, the simultaneous removal of the child claws 3 is completed.

Next, the attachment of the child pawl 3 to the master pawl 2 will be explained, and this attachment operation is performed in substantially the reverse order of the above-mentioned removal operation. In addition, the robot arm 34 holds the grip part 1 of the replacement jig B in advance, in which the child claw 3 to be replaced is set, that is, the child claw 3 is gripped by the clamp arm 20.
3, move forward toward the chirets A, and press the front side of the jig main body 12 onto the surface of the master claw 2 of the chirtz A, as in the above-mentioned removal, and stop at position 'C'. do. In this state, the master jaw 2 of the chuck A is advanced, and the engagement pin 5 of the master jaw 2 is inserted into the engagement hole 8 of the slave jaw 3, and the elastically biased steel on the slave jaw 3 side is inserted into the engagement hole 8 of the slave jaw 3. Ball 10 is the main claw 2
It engages with the spherical recess 6 on the side, thus both the claws 2 and 3 are joined as shown in FIG. 6, and the exchange jig B is held on the tilt A side.

Next, the robot arm 34 moves the grasping position to the grip portion 13.
In order to advance the movable disc 31 by a predetermined amount, each movable pin 29 moves forward and its tapered portion holds the operating pin 27 against the clamp spring 28.
(See Fig. 4) to open the clamp arm 20. At this time, each actuating pin 27 is respectively locked by the lock IJ: iM 29 a of the movable pin 29, and the clamp arm 20 is held at the open position. In this state, J3 changes the grasping position from the movable disc 31 to the grip part 13 again using the robot arm 34, and then moves the main claw 2 of the chuck A backward and moves the robot arm 3
4 makes exchange jig B 1-1! If you retreat from Tsuku A,
At this point, attachment of the child claw 3 is completed.

In this way, the work of replacing the child claw 3 in one pot using the replacement jig B is completed.

(Effects of the Invention) As described above, according to the replacement method of the present invention, a plurality of child jaws in a chuck jaw for a lathe can be automatically and simultaneously replaced by a robot, and therefore setup work on a lathe can be simplified. In addition to being effective in automating the process, replacement can be performed more quickly than in the conventional method of replacing one part at a time, and the time required for replacement can be significantly shortened. In addition, since it is a simultaneous exchange method, the number of changes in the exchange operation program of the combi coater that controls the robot can be reduced. It has excellent expandability. moreover,
The replacement jig used for replacing the child claw of the present invention is a simple one that is operated by a robot, and for example, a workpiece J1 removal robot is used instead of installing a special cat on the lathe body for replacement work. It can also be handled as a replacement jig, making it an effective tool.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a perspective view of the book and exchange jig, FIG. 2 is a front view of the exchange jig, FIG. 3 is a side sectional view, and FIG. 4 is a plane sectional view. FIG. 5 is a perspective view showing a separated state of the main claw and child claw of the chuck, and FIG. 6 is a sectional view showing a combined state of the main claw and child claw. A...''71-Rec B...Replacement jig 1
...Chuck body 2...Main claw 3...Sub claw
5... Engaging pin 6... Spherical recess
8...Engagement hole 10...Steel ball 12.
・Jig body 13 ・Grip part 14 ・Support shaft 20 ・Clamp arm 24 ・Arm guide 27 ・Operation pin 31 ・Movable disk 34
...Robot arm applicant: Toyota Auto II Co., Ltd. Yuri Seisakusho representative
Patent Attorney Oka 1) Hidehiko Go

Claims (2)

[Claims] (1) A method for replacing chuck jaws, in which each of the child jaws of at least three jaws is soft coupled to each parent electrical conductor so as to be removable in the advancing and retracting directions, and the jaws are controlled so as to stop at a predetermined phase. ,
An empty replacement jig equipped with clamping means aligned with each of the chuck jaws is moved by the robot to the jaw replacement position of the chuck in the same phase as the chuck jaws, and each child jaw is gripped simultaneously by the clamping means, and then each The step of retracting and separating the parent claw to receive the child claws is followed by moving another replacement jig, which previously held the replacement child claws, to the same claw replacement position using the robot, and transferring each child claw to each parent in the reverse order. A method for simultaneously replacing chuck jaws for a lathe, which consists of the step of simultaneously transferring the jaws to the jaws. (2) Replacement of the child jaws of a lathe chuck jaw in which the child jaws can be attached to and detached from at least three master jaws through engagement pins and elastically biased steel balls that protrude parallel to the advance/retreat direction. The jig includes a jig body having a robot grip on the rear side, and a jig body that is attached to the front surface side of the jig body so as to be openable and closable, and is arranged at equal intervals in the circumferential direction. at least three pairs of clamp arms, a clamp spring housed in the jig body so as to always bias the clamp arms in the closing direction, and a clamp spring that slides in the jig body in the axial direction between the pairs of clamp arms. a movable pin for opening and closing the arm that contacts via an inward mounting part and a tapered part formed on the base side of the clamp arm; and a movable pin that is slidably mounted to the shaft part of the jig body;
A chuck jaw replacement jig for a lathe, comprising a movable plate that supports the bases of the movable pins.