JPS61103746A - Each part exchange system by single robot - Google Patents

Abstract

PURPOSE:To permit a single robot to exchange a tool an a pawl while carry ion and out a work, by arranging a pawl stocker, tool magazine and a work stocker in the sphere of action of the single robot. CONSTITUTION:A lathe 1 arranges in its front a multi-joint type robot 2 having an exchanging function of a pawl in a chuck 121 and a tool in a tool rest 102, 103 and able to turn in a parallel surface to a main spindle and perform positioning in a main spindle direction and turn positioning in a surface at a right angle with the main spindle with respect to the lathe 1. While the robot 2 arranges in the sphere of its action a pawl stocker 3, storing plural sets of the pawls to be exchanged for the chuck 121 with the three pawls as one set, and a tool magazine 4 storing the plural tools. Further the robot provides a work stocker 5 transferring a work to a delivery position to the robot from a work stock pickup position.

Description

DETAILED DESCRIPTION OF THE INVENTION FIELD OF INDUSTRIAL APPLICATION This invention relates to an exchange system for changing workpieces, tools, and chuck jaws by a single robot in machine tools, particularly automatic machining of turns and cavities.

Conventional technology Currently, labor saving and automated operation are extremely common in machine tools, not to mention the practical use of automatic control of tools and commanded entry and exit of workpieces, and even automatic transfer of chuck jaws. The technology to do this has been unveiled and is being put into practical use. However, automatic tool exchange.

Automatic workpiece exchange and automatic claw exchange are each performed by dedicated robots, loaders, etc.

Problems that the invention is trying to resolve For this reason, the machine is surrounded by exchange devices, which take up a lot of space, and there are many constraints due to mutual interference. It may happen. Also, the approachability of 2 repairs of 8 machines and q etc. is R.
'As the number of boats increases, there are problems with the operation of the boats, and
It was not possible to suppress the rise in Maga.

Means for resolving inter-value points The claw 127 of the chuck 121 has a function to replace the blade holder 1.
02, 103 with tool exchange function @Mold 1 rotates in a plane parallel to the main axis and positions in the main axis direction.

An articulated robot 2 capable of turning in 11 positions in a plane perpendicular to the spindle is placed in front of the lathe 1, and the jaw 1 of the chuck to be lengthened is placed in front of the lathe 1.
The claw stocker 3 that stores the 51-1 group of 27 as a set is rearranged within the action range of the robot 2, and the tool magazine 4 that stores a plurality of tools is arranged within the action range of the robot 2. Furthermore, the workpiece transfer position i with the robot is located within the row wA4 of robot 2, and the robot pick-up position moves to the transfer position 1st shift from the cutting position to the upper slope line, and from this position, the workpiece m1 is passed through the lower slope line and machined. This is a combination of workpiece 1 (workpiece stocker that transports workpieces while storing them at the scraping position).

Example A practical example of the present invention will be explained below based on one question.

In FIG. 1, a lathe 1 is illustrated with four axes, for example, NO 2.
Each has a tool stand with a tool handle rudder on the saddle, and is equipped with a chuck with an exchangeable jaw.

At the front of the headstock of lathe 1, there is an articulated rotary machine, 21II.
The robot 2 that can position the I-sugi movement with NO is he fi.
It has been N. Within the range of action of this robot 2, a unit with three replaceable claws as a set is arranged along with the robot 2, and a claw stocker 6 in which several claws are arranged three-dimensionally is arranged, and further on the side closer to the robot 2. A tool magazine 4 is arranged in which tools are horizontally stored in endlessly connected pots and are arranged three-dimensionally. Furthermore, this claw stocker 6, tool magazine 4
In the m (mfl), the front side is the workpiece Vt storage position, and the machine side is the transfer position, and a workpiece stocker 5 with two upper and lower conveyor lines is installed. The operation is carried out by management or computer.

The rotation θ1 is provided with saddles whose positions are independently controlled by NO in two axes on two sets of horizontal sliding guide surfaces on the slant bed 101, and independently NC in the X-axis direction on the saddles. The turret tool rest 102, 10 whose position is controlled by
The turrets of the tool rests 102 and 103 have a rotation center in the z-axis direction, and tool mounting devices are provided at positions equally spaced by the number of balls on the circumference with respect to the center of the end surface on the spindle side. . The tool mounting device (see Fig. 2) has a taper hole 104 into which a taper shank 115 of a tool holder 115 holding tools for polling, outside diameter, and drilling is fitted. A 7-lunged cylinder 106 is provided in the hole at the tip of the jaw 1151) (,: 7-lunged cylinder 106 holds the three locking spheres 105 with 5J of movement in the direction perpendicular to the axis so as not to pop out. A drawbar 107 having a tapered neck that causes the sphere 105 to protrude outward passes through the center of the cylindrical body 106, and a fixed spring receiver 108 and a face piece 1 are attached to the protruding rear end.
The drawbar 107 is pulled rearward by a disc spring 109 interposed between the 7 langes of 06 and the spherical body 105 when the drawbar 107 is activated. , and drawbar 107
A cylinder 110 for strong pressure Jw is provided on the extension of the cylinder 110, and the piston rod 111 of the fitted piston faces the rear end of the drawbar 107.A zero-turret tool is indexed to the tool exchange position. An unclamp cylinder 112 for releasing the clamp of the tool is provided on each tool rest 102, 103 on the axis of the drawbar 107, and the piston rod 113 of the piston fitted in the cylinder 112 protrudes in response to a tool change command. cylinder 1
The Uu pressure rod 114 of No. 10 is pushed and the increased force of the piston rod 111 is used to press the drawbar 107 against the force of the disc spring 109 to advance [111] and release the engagement of the sphere 105.

A headstock 120 is provided on the left side of the bed 101, and a chuck 12 is fitted onto the tip of a rotatably supported spindle.
1 has a claw exchange function. The chuck (see Figs. 3-4 and 6) is, for example, an Ibozume Chiei chuck manufactured by SMV, Inc., which is attached to the tip of a drawbar connected to the piston of a Yu-oh cylinder (not shown) at the rear end of the main shaft. A piston body 123 having a total of six lead teeth 124 protruded at three equal angular positions on the outer periphery is housed inside the staggered body 122 so as to be slidable in the axial direction. Chuck body 122
The rack rod 125 is slidable in the tangential direction of the outer circumference of the piston body 126 at three equally divided positions corresponding to the lead teeth 124 of the piston body 126.
The rack rod 125 is engaged with the lead south 124 of the piston body 126 in the lead groove on the side surface, and a rack 125a having a lead in the sliding direction of the rack rod 125 is formed on the end surface of the chuck. has been done. Further, the chuck body 122 has a built-in jaw 126 which intersects with the rack rods 1 to 5 and is movable only in the half-retracting direction, and is mated with the rack 126 & of the rack rod 125 protruding from the JA@. The jaw 126 is the main body 1
22 has a circular connecting piece 128 with a jaw, which is inserted into a recess 127b having an engaging flange wh127a on the front side of the claw 127 and engages with the flange 127a. At the center of the circular connecting piece 128, a pin 160 is provided in the axial direction of the chuck, which is biased by a spring 129 and fitted into the hole 127c of the pawl 127 so as to project the forward end of the reciprocating nJ.

Next, the robot 2 will be explained. (See Figures 7-9)
Robot 2 placed at =iJ 011 of headstock 120
A swivel base 202 is pivotally supported on the machine base 201 by a hydraulic motor with a swivel axis perpendicular to the main axis so that it can rotate 901 times. Positioned at 2 positions. A movable table 203 is placed on the sliding surface in the Z-axis direction, and can be positioned in the ±2 axis directions with NO, and a pivot shaft 204 in the two axis directions is supported so as to be rotatable and positionable with ±50°NO. A first arm 205 is fixed to the end of the pivot shaft 204, and a second arm 206 is pivotally supported at the tip thereof so that it can be pivoted and positioned within ±1 dNO. Furthermore, the second arm 206 has two pairs of grippers 207 which are opened and closed by a hydraulic motor at the tip and have widths that protrude laterally, each having two pairs of gripping centers, each having a unique gripping center of 11! Provided so that it can be closed
The wrist portion 208 of the gripper is provided so as to be able to rotate by 180 degrees by means of a hydraulic motor in the middle of the arm 206. The gripper 207 has workpiece gripping claws.

Place the tool within the movement range between each stocker and the lathe.
' is conveyed by instructions from a computer.

Next, the claw stocker 3 (see FIGS. 1 and 5) will be explained.

In this example, the stocker 6 is arranged next to the robot 2 by three-dimensionally arranging a transport cylinder 302 holding a set of six claws and two rows and three stages of receiving containers 301. The front 602 has a circle a Wb 302a at the center of the end surface that is gripped by the gripper 207 of the robot 2, a circular recess 602b at the center of the opposite side, and a six-fold position closed to the jaw of the chuck 121. A radial groove 302C for holding the pawl 127 is cut in correspondence with the pawl 127 on both side surfaces of the groove 302G.
Two pins 304 each are biased to protrude inwardly from each other by springs 303 to engage the side recesses of the claws 1 and 7.
27 is retained.

Further, in the center of the groove 3020, the pin 130 of the jaw 126 is inserted into the hole 127C of the claw 127 and the circular connecting piece 12 is inserted into the hole 127C of the claw 127.
A push rod 305 is installed for retracting it to the same level as 8. This conveyance cylinder 302 has three claws 127 connected to pins 304.
The side held by the claw stocker 3 faces the wall surface of the claw stocker 3, and the claw phase is positioned in the exchange phase, and one of the empty conveyance cylinders 602 that does not hold a claw is stored therein.

Next, the tool magazine 4 (see FIG. 1) will be explained.

The magazine 4 is arranged on the outside of the claw stocker 6 in the same direction, and has a pot between a sprocket wheel 401 that is rotatably held horizontally at an upper position and a sprocket wheel 402 that is rotatably held horizontally just below the sprocket wheel 401. An endlessly connected chain belt is passed over the hook, and the chain belt is rotated and indexed to the tool exchange position by command. The keyway of this pot is provided to match the key phase of the tool on the tool rest 102, and when the tool is transported to the tool rest 102 of the robot 2 while being housed in the pot, the key of the tool is changed and the key of the tool rest is changed. is automatically matched. When conveying to the tool rest 103, the robot 2 once inserts the key into the key station 403 installed at the upper limit of the magazine 4, and rotates and indexes it at the key station so that it is in phase with the key on the tool rest 103. This indexed tool is conveyed to the tool rest 103 by the four bots 2.

Next, the workpiece stocker 5 (see Figure 10.11) will be explained. The frame 01 is constructed in such a way that the workpiece can be moved in the longitudinal direction in two stages, an upper stage and a lower stage, and a plurality of rollers 502 are rotatably arranged in parallel at regular intervals on both sides in the longitudinal direction in both the upper stage and the lower stage. roller conveyor 50 installed
6 are arranged in two rows each.

In both directions 11111 of the upper and lower lines, a side &513 is established to guide the pallet to be transferred to the flat IC, which will be described later. This roller conveyor 503 connects the upper line and lower line 504a
, 504b are provided at both ends of the frame body 501 on the workpiece storage side and at the delivery station of the stomach bot 2, respectively. 7
) 504a and 504b have the same structure, are placed side by side on the frame 501, and are housed in a seven-piece frame 505, adopting a pantograph system. The pantograph is XU5 pivoted in the center.
06h, 506b are arranged in two rows, upper and lower, and the upper and lower 1 character 50
6&.

The opposite ends of 506b are also tied, and one of the lower ends of the lower X is! j7) #505 is pivoted and the other end is supported so that it can move horizontally with a roller guided by a groove, and the upper one
One of the upper ends of the letter 506b is pivotally supported by the top plate 507, and the other end is supported by a roller 611g that moves horizontally while being guided by a mechanism. One end of an air cylinder 508 and one end of a piston rod 509 of the air cylinder 508 are pivotally connected to each intersection of 1 character 50<Sa', 506b, and the top plate 507 of the pantograph is moved up and down as the piston rod moves forward and backward. Ru.

There are three rollers 510 on each side on the top plate 507.
is pivotally supported so that it continues with the roller conveyor 506,
In the contracted position of the piston rod 509, the roller 510 is connected to the roller conveyor 506 of the lower Jt line.4, and in the extended position of the piston rod 509, it is connected to the roller conveyor 503 of the upper line. The pallet 511 has a width n/4 of the length of the roller conveyor 506, and has a width n
Are the pieces (6 pieces in this example) the upper line and the lower line? are arranged along the entire length of the And 7) 504a or 504
One pallet 511 of the same shape is fitted to either one of b. The pallet 511 is on the delivery side between the roller conveyors 503 and 503 in the upper line.

The pallet 511 on the roller 510 of the raised tray 504a is moved by one sheet so as to be placed on the roller conveyor 505 by the pallet feeding device 512 provided at the center of the pallet. Six pallets 511 lined up are pushed together by one pallet and rise.7)5
One pallet at the most T+8: inn is placed on the roller 510 of 04b. In the lower line of wheat gluten, it is located in the middle of the delivery side between the roller conveyors 503.

When the pallet 511 on the roller 510 of 7) 5041) is moved by one sheet so that it is placed on the roller conveyor 503, ! The six pallets 511 that are lined up are pushed together one by one, and the final one is placed on the roller 510 of 504a.
A pallet 511 is placed thereon. While the pallet is moving, it is guided by the side &513 and the end is stopped by the stopper 505 of the lift frame.
It is positioned at a. The feed devices 2512 have the same structure and are installed in opposite directions, and the frame body 501kl-o-ra 502
An air cylinder 515 is installed horizontally parallel to the line direction at the center between the rollers on a bracket 514 installed parallel to the cylinder 514, and a pawl holder is attached at an angle to the rod 517 of the piston 516 fitted to the air cylinder 515. 518 is used, and is guided by a guide rod 519, which was received as a gift, in the hole penetrated by both 1v1j of the air cylinder 515 in the bracket 514, so that it is moved in parallel when the piston 516 moves. The pawl receiver 518 is provided with a wide pawl 521 which is biased to protrude upward by a spring 520 and is movable up and down and whose top outer side is a bevel 521a. When the rod 517 extends, this claw 521
21a is pressed into contact with the edge of the pallet 511,
While moving forward, the pawl 521 passes under the pallet 511 and pops out after passing the pallet 511), engages with the outer edge of the pallet 511 on 504a or 504b, and the rod 5
At the reduced end of the pallet 511, the pallet 511 is correctly placed on the roller conveyor 503 from the top of the beam. Along with this, other pallets 511 are sent one by one. Although I used a cylinder to drive the lift, it is also possible to move the lift up and down by screwing the pivot joints at both ends of the upper and lower ends with screws and turning the screws with a morph. ' tl: is.

Once the working proboscis W to be machined is determined, the jaws are first replaced in accordance with this. The robot 2 first instructs the robot to specify the nail storage position in the nail stocker 3 that should be replaced.
When the first arm 205 of the first arm 205 is tilted toward the claw stocker 6 from the waiting position 44, the moving table 203 moves in the +2 axis direction,
The second arm 206 pivots toward the claw stocker, and the gripper 2
WM 30 when the claw stocker 6 is opened while 07 is open.
The moving table 203 is moved in the two axial directions, and the gripper 207 is closed.
After gripping 02 & and moving it in the +2 axis direction and taking it out from the receiving shelf 301, the wrist part 208 of the robot 2 is reversed 180 degrees and one gripper 207 is moved toward the claw stocker 69Ill with the gripper open. Transport wt.
302? ! The gripper 207 grips the circle m portion 302a which is positioned in the IJ direction and moved in the −zfII11 direction. The moving table 203 of the Ta-bot 2 is moved in the +2 axis direction, and after being taken out from the receiving shelf 301, the first arm 205. The second arms 206 each turn toward the main shaft to position the transport cylinder 602 in front of the chuck 121. The wrist portion 208 of the robot 2 is reversed by 180 degrees so that the empty transport cylinder 302 faces the chuck 121. The chuck 121 is indexed to the jaw replacement position and the piston body 1 is moved by the action of a hydraulic cylinder (not shown).
23 is retracted, the jaws 126 are fully closed. The gripper 207 moves in the 12-axis direction, the conveyance cylinder 302 approaches the chuck 121, and the three 111302
A claw 127 is inserted into each of the bins 304 and 127.
is engaged with the side recess of. At this time, the pusher 305 is inserted into the hole 127C of the claw, and the bottle 130 is inserted into the circular connecting piece 1.
It is pushed to the same level as 28. Next, the piston body 123
When the lead tooth 124 is pushed out by the action of the hydraulic cylinder, the lead tooth 124
Move the rack rod 125 # to fully open the jaw 126. Therefore, the circular connecting piece 128 is disengaged from the engaging jaw portion 127a of the claw. The gripper 207 moves in the +2 axis direction, and the gripper 1
27 is removed from the chuck 121. When the wrist portion 208 is reversed 180 degrees and the new claw 127 faces the chuck 121, and the gripper 207 moves in the direction of the first and second axes, the claw 12
The circular connecting pieces 128 are inserted into the recesses 5127b of No. 7 and pressed against the respective jaws 126. When the piston body 123 is retracted by the action of the hydraulic cylinder, the jaw 126 is closed by the lead pin 124, and one piece 128 is connected to the pawl 1.
27 engaging jaws 127a. gripper 207
When the bar 305 is moved in the +2 axis direction and the push-in barrel 305 is removed, the bottle 130 is fitted into the hole of the claw 127C by the force of the spring 129. The robot 2 is placed on a predetermined shelf 301 of the claw stocker 3.
Place the removed claw transport tube 302 on top and place the wrist part 20 on the 1st.
80, and the empty transport cylinder 302 is placed on a predetermined receiving shelf 301.

Next, the necessary tool exchange is performed, but the first tool rest 102
It is assumed that the tool replacement of the second tool post 103 is not necessary, but the tool replacement of the second tool post 103 is necessary. The turret of the tool rest 103 is indexed to the tool change position, and the first arm 205 of the robot 2 is moved. The second arm 206 pivots and the gripper 207 is positioned at the replacement tool position on the tool post 103.

Pressure air is sent to the unclamp cylinder 112 of the tool post, and the piston rod 115 advances, pushing the pressure rod 114 of the cylinder 110 and increasing the force of the piston rod 111.
The end pushes the rear end of the drawbar 107 against the force of the disc spring 109. Therefore, the sphere 105 is inserted into the neck of the drawbar 107 and the jaw 1 of the shank 115a of the tool holder 115.
151, the drawbar 107 is moved away from the tool holder 11.
Hit the bottom of 5 and loosen the taper fitting. gripper 207
closes and grips the tool holder 115 and moves the gripper 207
The tool holder 115 is removed by moving it in the axial direction. Empty pots containing tools to be returned to the magazine are indexed to the exchange position. The robot 2 has a first arm 205. 27th
- The gripper 207 is positioned in front of the empty pot by rotating the arm 206 toward you, and the wrist portion 208 is rotated 180 degrees so that the shank side 115& of the tool holder 115 faces the pot, and the gripper 207 is moved in the 12-axis direction. After the gripper 207 is opened, the gripper 207 is moved in the +2 axis direction.

Magazine 4 indexes the command tool to the exchange position, and Gritsuba 2
07 in the +2 axis direction, close the gripper 207, grip the indexed tool, move it in the +2 axis direction to remove the tool, insert it into the key station 403, and rotate the tool to insert it into the keyway. Adjust the phase to the phase of the tool rest 103 and remove the tool. 17th arm 205° Turn the second arm 206 toward the tool post, position it in front of the replacement position of the tool post 103, turn the wrist part 208 180°, and turn the gripper 206
is moved in the +2 axis direction and inserted into the tool post 103. The pressure air in the unclamp cylinder 112 is released and the piston rod 113 is damaged by the spring, the piston rod 111 is returned, and the drawbar 107 is retracted by the force of the disc spring 109. The sphere 105 is pushed outward by the slanted neck of the drawbar 107 and is held on the deforming part 115b of the shank 115a of the tool holder 115, and the tab is fitted with a strong force, thus completing the tool exchange. In this way, tools that require replacement are replaced.

In the workpiece stocker 5, the workpiece W is placed on the pallet 511 on the lift 504a at the workpiece storage position, and pressurized air is sent to the air cylinder 508 to raise the top plate 507 and move the pallet 511 to the roller conveyor 5 on the upper line.
Place it on the same surface as the pallet 511 on 06, and feed the feeder 51.
Pressure air is sent to the air cylinder 515 of No. 2 and the pawl receiver 518
The claw 521 moves under the pallet 511 and locks on the side edge of the pallet 511, and then the direction of the pressurized air of the cylinder 515 is changed and the claw 521 is pulled in, and the pallet 511 is moved forward.
is moved onto the roller conveyor 503 to feed one pallet, and the last pallet 511 is placed on the robot delivery side glue 7)
504b on the roller 510. It is assumed that four workpieces W are placed on this pallet. First arm 205 of robot 2. With the second arm 206 vertically parallel, the swivel base 202 is rotated 90 degrees clockwise and the first
Arm 205° and second arm 206 are in the horizontal position. The moving table 206 moves in the +z-axis direction, lifts the gripper 207 upward, rotates the second arm 206, and lifts the pallet 51.
It is positioned directly above the right-most workpiece W on the top. The lower gripper 207 is opened and moved in the 12-axis direction to grip the workpiece W, and after moving in the +2 direction, the second arm 206 is rotated to be parallel to the first arm 205 and the swivel table 202 is rotated at 90 degrees.
Rotate clockwise to rotate the first arm 205° and the second arm 2.
0'6 is vertical, and the gripper 207 is further moved in the +2 axis direction, and the 17th -m 205. The second arm 206 is turned toward the main shaft, and the gripper 207 is positioned in front of the chuck 121. After pushing out the piston body 125 of the chuck 121 and moving the jaws 126 outward to surround the claws 127, the gripper 207 is moved in the 12-axis direction to feed the workpiece W between the claws 127, and the piston body 123 is retracted. Then, the jaw 126 is moved toward the center and the claw 127 grips the workpiece W. The gripper 127 opens and moves in the +2 axis direction to
Arm 205°: Swivel the second arm 206 toward you to characterize it. Main axis.

The chuck 121 rotates and the turrets 102 and 103 turn NO.
The cutting process is performed by controlling the X-axis and two axes. When the workpiece W is to be reversed, the gripper 207 of the robot 2 grips the workpiece after machining one side, and after the workpiece is reversed by 180 degrees, the chuck grips the workpiece. When the machining is completed, the gripper 207 of the robot 2 makes a similar movement to grip the workpiece W, and
．． After the second arm is in the vertical position, the swivel table 202 is rotated so that both arms are horizontal, and the second arm 206 is rotated to move the workpieces on the pallet 511 on the workpiece stocker 5 (7) 504b. Return the gripper to the position from which it was taken out, position the gripper over the next horizontal workpiece W, grip it, convey it in the same way, and attach it to the chuck 121. In this way, it is 7) 5
When all the workpieces W on the pallet 511 on 04tJ are processed, 7) Narrow the piston rod 509 of the air cylinder 508 of 504b so that it is in the same position as the pallet 511 on the lower line, and use the feeder 512 to move the last pallet. (7) 504& is fed in and the processing is continued by sequentially repeating the feeding.

Effects As detailed above, the present invention arranges a jaw stocker, a tool magazine, and a workpiece stocker within the action range of one robot, and allows one robot to change tools, jaws, and workpieces according to commands. Since we have made it possible to carry out loading and unloading, compared to a system where each robot has its own dedicated robot, the cost of V-equipment is lower, and the installation space is also less, and mutual interference is reduced, resulting in a more efficient system. Obtainable.

[Brief explanation of the drawing]

Fig. 1 is a layout diagram of the machine, robot, stocker, etc. of the conveyance and exchange device of the present invention, Fig. 2 is a perspective view showing the relationship between the tool post and the jaws, and Fig. 5 is a sectional view of the conveyance cylinder. Figure 6 is the fifth
Figure 7 is a front view of the robot.
The drawings are the same side view, FIG. 9 is a plan view of the same with the arm portion omitted, FIG. 1...[42...Robot 3...Claw stocker 4...
... Magazine 5 ... Workpiece stocker 102.10
3...Turret post 107...Drawbar 105...
Sphere 109... Disc springs 111, 113... Piston rod 115... Tool holder 110... Cylinder 112 Door/7/pu cylinder 21... Chuck 123... Piston body 124
...Lead tooth 125...Rack rod 126...
Jaw 127...Claw 150...Bin 302...
...Transport fm 403...Key station 50
3... Roller Fun Bear 511 - Pallet 8.5
15... Schilling 518... Claw stand 520...
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Claims (1)

[Claims] (1) For NC lathes equipped with a chuck with a jaw exchange function and a turret with a tool exchange function, it is possible to move and position in the direction of the spindle on the front of the headstock of the lathe, which rotates in a plane parallel to the spindle. A robot with a double arm that is rotatably positioned in a plane perpendicular to the main axis and a gripper that can be rotated 180 degrees at the tip of the arm is installed on a stand, and three replaceable jaws of the chuck are installed within the action range of the robot. A claw stocker is provided for storing a plurality of tools as one set, and a tool magazine is provided within the action range of the robot to store a plurality of replacement tools and the replacement position is determined, and further within the action range of the robot. The robot has a delivery position for the robot, and a workpiece stocker is provided for storing and sequentially transferring the workpieces from the workpiece storage position to the robot delivery position, and for sequentially transferring the workpieces from the robot delivery position to the workpiece picking position, A system for replacing parts using a single robot, which is characterized by automatically replacing workpieces, jaws, and tools.