JPS6171905A - Device for exchanging chuck pawl - Google Patents

Abstract

PURPOSE:To increase kinds of and the number of exchange pawls and thereby improve operating efficiency by providing a pawl stocker having many pawl holders in addition to a machine body of a machine tool, and exchanging any pawl in the pawl holder for a pawl holder of a magazine for storing pawls with the aid of a robot. CONSTITUTION:A magazine 43 for storing pawls is placed at a waiting position, and pawl exchange is effected between a pawl holder 41 of the magazine 43 and pawl holder 84 of a stocker 81 with the aid of a robot 85. Thereafter, when exchanging a pawl 11 of a chuck 4, the magazine 43 is moved to position of pawl exchange operation for effecting exchange between between a pawl of the holder 41 and the pawl 11 of the chuck 4. Since the pawls 11 of exchange are stored by desired kinds and the number in the stocker 81, operating efficiency of a machine tool can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION Nα2 (Object of the Invention) Industrial Field of Use This invention relates to a chuck jaw changing device for automatically exchanging the jaws of a chuck of a machine tool with replacement jaws.

BACKGROUND ART In a conventional chuck jaw changing device of this type, a jaw storage magazine is rotatably disposed on the body of a machine tool, and the jaws are held in a large number of jaw holders of this jaw storage magazine. The jaws of these jaw holders and the jaws of the chuck are designed to be replaced.

Problems to be Solved by the Invention In the conventional chuck jaw changing device described above, when trying to increase the number of jaws that can be stored in the jaw storage magazine in order to increase the number of types of jaws to be replaced, the number of jaws that can be stored in the jaw storage magazine is increased. Due to the large outer diameter, it is no longer possible to install it on the machine tool body.
As a result, the number of types of jaws that can be replaced is limited to a small number, which poses a problem in that it is difficult to use the machine for processing a wide variety of small quantity products or for small machine tools.

Nα3 (Structure of the Invention) Means for Solving the Problems In order to solve the problems mentioned above, the present invention provides a nail storage magazine having a plurality of nail holders that can detachably hold the nails. The device is movably arranged in the body of a machine tool between a jaw exchange operation position and a standby position, and is between the indexed jaw holder of the jaw storage magazine and the indexed die mounting groove of the chuck at the jaw exchange operation position. In the chuck jaw replacement bag Fat, which allows the jaws to be replaced at any time, a jaw stocker is installed separately from the above-mentioned machine body, and the jaw stocker has a large number of jaws that can detachably hold replacement jaws. The robot 1 is provided with a holder, and arranged in the robot 1 so that the claw can be exchanged between one of the claw holders and one of the claw holders of the claw storage magazine indexed at the -1- standby position. It is characterized by consisting of

Operation When the claw storage magazine is located at the standby position, the robot exchanges the claws between the claw holder of the claw storage magazine and the claw holder of the claw picker for the first claw storage magazine. The holder holds the next required type of jaw, and then when replacing the chuck jaw, the aforementioned jaw storage magazine is moved to the jaw exchange operation position, and the jaws held in the jaw holder of the jaw storage magazine and the chuck jaw are moved to the jaw exchange operation position. exchange with. After all the jaws of the chuck have been replaced, the lifting storage magazine is again moved to the standby position, and at the standby position the jaws of the jaw storage magazine are exchanged with the jaws of the jaw picker by the robot.

In the drawings of the embodiment, 1 is an NC lathe illustrated as a machine tool;
2 is its body, 3 is a main shaft, and a chuck 4 is attached to this main shaft 3. In this chuck 4, reference numeral 5 denotes a chuck body fixed to the main shaft 3, which is formed hollow as shown in FIG.

A wedge piece 6 is fitted into the center of the chuck body 5 so as to be slidable in the direction of the rotational axis.
Nα5 is connected to the draw member 8 which is moved back and forth by a rotating cylinder (not shown) mounted on the Nα5. Furthermore, three radial mold mounting grooves 9 are formed on the front surface of the chuck body 5, and claw actuating bodies 10 are respectively fitted in the rear portions of these mold mounting grooves 9 so as to be slidable in the radial direction. Further, a claw 11 can be fitted into the front part of the mold mounting groove 9.

As is well known, a wedge portion having a T-shaped cross section is formed at the center end of the pawl actuating body 10, and this wedge portion is fitted into a wedge groove having a T-shaped cross section formed on the outer periphery of the wedge piece 6. By moving the wedge piece 6 back and forth, the pawl actuating body 10 is moved in the radial direction.

Further, as shown in FIG. 7, positioning holes 12 for positioning the chuck in the rotating direction of the chuck are formed in the outer peripheral end surface of the pawl actuating body 10. Furthermore, the pawl actuating body 10 is provided with a disengaging means 13 for engaging and disengaging the pawl actuating body 10 and the pawl 11. This engaging/disengaging means 13 includes an engaging element 15 which is fitted into a hole 14 in the longitudinal direction of the pawl actuating body 10 so as to be slidable in the longitudinal direction.
and an operation pin 17 slidably fitted into a radial hole 16 crossing the hole 14, and the engaging element 15
The operation pin 17 is engaged with the Nα6 diagonal groove formed on one side and the diagonal protrusion (both not shown) formed on the other side, and when the operation pin 17 is moved toward the center, the engaging element 15 is engaged with the operation pin 17. When the engaging element 5 is moved backward and the operating pin 17 is moved toward the outer circumference, the engaging element 5 is moved forward. The engaging element 15 is urged forward by a spring 18 so that the engaging teeth formed on the front surface of the engaging element 15 are engaged with the engaging teeth formed on the back surface of the claw 11. A set pin 19 is provided on the engagement element 15 so as to be slidable in the front and rear directions, and the cellars 1 to 9 are urged forward by a spring 20 and prevented from coming out by a retaining pin 21. The tip of the set pin 19 is engaged with the engagement tooth of the pawl 11. An engagement groove 22 serving as an engagement portion is formed on the rear surface of the end of the mold 11. The chuck 4 uses an NG device (not shown) or a separately attached indexing device to move the mold mounting groove 9 to a predetermined jaw replacement position A (the drawing shows the case above the center of rotation, but diagonally above the center of rotation). , lateral direction, etc.) and can be stopped at any position. 23 is a cover Nα7 surrounding the NC lathe, and 24.24a is an opening provided in the cover 23, which can be opened and closed by opening/closing doors 25.25a, respectively. The opening/closing door 25 is automatically opened when a workpiece to be gripped by the chuck 4 is taken in or taken out, and the opening/closing door 25a is automatically opened when a claw is replaced by a robot 1 to be described later.

Next, -1; A guide part 2a in the executive direction is formed on the machine body 2, and a board 27 of the apparatus main body 26 is fitted and placed on this guide part 2a so as to be slidable back and forth.

A stopper bolt 28 is fixed to the rear end of the board 27, and the stopper bolt 28 is connected to the abutting part 2 of the fuselage 2.
The forward end is positioned by contacting b. Further, the piston rods of longitudinally movable cylinders 29, which are provided in several parts on the fuselage 2, are connected to the side surface of the front end of this base plate 27, as shown in FIG. It is designed to be moved back and forth between the rear standby position shown in the figure and the front pawl exchange operation position shown in FIG. A lift guide 30 that stands upwardly is integrally protruded from the upper surface of the front end of the base plate 27, and a key 30a is provided on the outer periphery of the lift guide 30. An elevating body 31 is fitted to the outer periphery of the elevating guide body 30 so as to be movable up and down, and is prevented from rotating by a key 30a. The elevating guide body 30 constitutes a cylinder body 32a of an elevating cylinder 32, and a piston rod 32b of the elevating cylinder 32 protrudes in two directions. The piston rod 32b of the elevating cylinder 32 is connected to the upper end of the elevating body 31, and by the operation of the elevating cylinder 32, it is raised and lowered between the raised position shown in FIG. 4 and the lowered position shown in FIG. It looks like this. Note that the elevating body 31 is the guide part 2 of the fuselage 2.
It may also be integrally attached to the substrate 27 by reducing the height of a. The elevating body 31, the elevating guide body 30, and the substrate 27 constitute a device main body 26.

Next, a guide block 33 is provided at the lower end of the elevating body 31.
is fixed, and when the elevating body 31 is moved to the jaw exchanging operation position shown in FIG. 5, it is arranged slightly close to one side of the chuck body 5. As shown in FIGS. 5 and 7, this guide block 33 has a guide on an extension line that is in line with the jaw 1 and the mounting groove 9 indexed at the jaw replacement position A of the chuck 4. ) b ¥34 is formed. The guide groove 34 is formed to have a cross-sectional shape corresponding to the sliding part of the claw 11 so as to be able to guide the sliding part of the claw 11, and has a lower end so that the claw 11 can easily fit into the guide groove 34. It is slightly beveled. The guide block 33 has a claw release device 35 for disengaging the engagement teeth of the engager 15 of the chuck 4 and the engagement teeth of the claw 11.
is provided. In this claw removing device 35, 36
is a claw release cylinder, which is constructed by fitting a piston 38 into a screw chamber 37 formed in the guide block 33, and connecting a downward piston rod 31 to the piston 38.

''-The pis 1 to the rod 39 are directed toward the center of rotation of the chuck 4, and a movable piece 40 is fixed to the lower end thereof.

On the lower surface of this movable piece 40, there is a suppression pin 41 at a position facing the end surface of the operation pin 17 at the jaw exchange position A in the chuck 4 in the jaw exchange operation position. 0, and when the piston rod 39 protrudes, the suppression pin 41 pushes the operation pin 17 to disengage the engagement element 15 and the pawl 11. ”Double lifting cylinder 36
also serves as a positioning cylinder for positioning the index position of the chuck 4 and the relative position of the guide block 33, and a positioning pin 42 is fixed to the lower surface of the movable piece 4o at a position facing the positioning hole 12 of the chuck 4. ing. The positioning pin 42 is fitted into the positioning hole 12 by the protrusion of the screw rod 39.

Next, a claw storage magazine 43 is rotatably attached to the outer periphery of the cylindrical portion of the elevating body 31. In this claw storage magazine 43, reference numeral 44 denotes an annular rotating body rotatably fitted to the elevating body 31, and its relative movement in the vertical direction is prevented by a seat plate 45 and a retaining ring 46. The axis of rotation of this rotating body 44 is set to be parallel to the jaw mounting groove 9 at the jaw exchange position A in the chuck 4. On the outer periphery of this rotating body 44, the sliding part of the claw 1] is attached in the sliding direction.
11 A large number of claw holders 47 that can be removed and held are provided at equal pitch intervals. This claw holder 47 has claw 1
2 downward holding grooves 48 formed on the outer periphery of the rotating body 44 so that the sliding portion of 1 can be fitted into them, and a holding tool 49 that locks and holds the claws 11 fitted in the holding grooves 48. It is made up of. This retainer J149 is composed of two locking pins 52 that are embedded in the bottom of the retaining groove 48 so as to be freely retractable and are urged in the projecting direction by a lock spring 50 and are prevented from being removed by a pin 51. , a gripping piece or the like that is moved by a cylinder or the like. The above holding groove 48
A sliding portion of a replacement pawl 11 is fitted into and held in place by a locking pin 52.

” - A gear 53 is formed on the rotation body 44, and this gear 5
3, a driving gear 56 is attached to a rotating shaft 55a of a motor 55 which is fixed to the second part of the two-part elevating body 31 via a support frame 54, and is meshed therewith. In addition, the rotation body 44 arranged in -
Dogs 57 are provided on the bottom surface of the holder corresponding to each claw holder 47.
．． A deceleration limit switch 59 for detecting one dog 57 and a stop limit switch 60 for detecting the other dog 58 are sequentially attached to the lower end of the elevating body 31. '' When the two-part limit switch 59 detects the dog 57, it switches the motor 55 to decelerated rotation, and when the limit switch 60 detects the dog 58, it stops the rotation of the motor 55, thereby placing the claw storage magazine 43 in the standby position. At times, as shown in FIG. 1, the claw holder 47 is indexed to the first claw exchange position B for exchanging the claws with the claw switch I-picker, which will be described later, and the claw storage magazine 43 is moved to the claw exchange operation position. 5, the jaw holder 47 can be indexed to a second jaw exchange position C for exchanging the jaws with the chuck 4, as shown in FIG.

Next, the support frame 54 fixed to the elevating body 31 is provided with a protruding portion 54a projecting forward, and the protruding portion 54a is provided with a second pawl exchange position C of the pawl storage magazine 43 at the pawl exchange operation position. A claw moving device 61 for linearly moving the claw 1 between the claw holder 47 and the claw mounting groove 9 at the claw replacement position A of the chuck 4 is provided. 3 Attached. In this pawl moving device 61, reference numeral 62 denotes a pawl moving cylinder fixed on the overhanging portion 54a, and its screw rod 63 projects downward through the hole 64 of the overhanging portion 54a. A movable body 65 is fixed to the tip of the screw rod 63. As shown in FIGS. 6 and 8, this movable body 65 has a guide groove 66 in the front and back direction.
67 are formed, and the locking pieces 6 are formed in these guide grooves 66 and 67.
8 and an operating piece 69 are fitted together so that they can move back and forth.

These locking pieces 68 and operation pieces 69 have intermediate parts connected to the movable body 6.
A pin connection is made by a link 70 which is pivotally connected to 5. '' The two-part operation piece 69 is biased rearward by the spring 71 so that the operation part 69a is projected rearward, and at the same time, the locking piece 68 is held in this position so that the locking part 68a is projected forward as shown in FIG. The position is fixed. The locking portion 68a of the locking piece 68 is connected to the locking groove 2 of the claw 11 as shown by the imaginary line in FIG.
2, and when the piston rod 63 is lowered to the lowest position, the pawl 1 is attached to the pawl mounting groove 9 of the chuck 4.
Na 14 is moved to a position where it engages with the engagement groove 22 of No. 1. Also, the operation part 69a of the operation piece 69
is raised and lowered through the two-part holding groove 48 and passage grooves 72 and 73 formed at the bottom of the guide groove 34, and is operated back and forth by an operation guide piece 74 disposed in the passage groove 73. . As shown in FIG. 4, this operation guide piece 74 is provided at the front end of a sliding body 75 that is supported by the guide block 33 so as to be movable back and forth, and has an inclined T-shaped cross section formed at the rear end of this sliding body 75. The portion 76 is fitted into an inclined groove 77 formed in the two-part movable piece 40 and having a T-shaped cross section. The operation guide piece 74 is retracted by the lowering of the piston rod 39 of the claw release cylinder 36, and moved forward as shown in FIG. 4 by the rise of the piston rod 39. The upper end of the front surface is formed into a slope so that the operating portion 69a can be guided forward. Note that above the moving body 65,
The stationary end is positioned by a nut 79.80 screwed into the stopper III78, and the movable body 65 is accurately positioned at the rising end shown in FIG. 4 and the falling end (not shown).
■α15 It is designed to be moved.

Next, a pawl stocker 81 for storing replacement pawls 11 is fixedly installed around the installation position of the 14C lathe 1 described in -1-. In this nail stocker 81, 82
The main body is a step-like structure, with each step-12
A claw holder 83 is fixed to the surface. This claw holder 8
3, mold bottom matching grooves 84, which are illustrated as a large number of pawl holders, are formed at predetermined pitch intervals. These mold bottom matching grooves 84 are formed so that the sliding part of the claw 11 attached to the chuck 4 can be freely inserted and inserted downward. The sliding parts of the claws 11 are faced to each other as shown in FIG. In this case, each claw holder 83
The front-to-back spacing of each claw holder 83 is made large so that the claws 11 held therein do not interfere with each other, and a part of the upper claws 11 is positioned behind the lower claws 11. The claw holder may be composed of a pair of supporting arms or the like.

Next, around the installation position of the NG lathe 1, there are mold bottom matching grooves 84 of the 1-lifter 1 to the lever 81, and a pawl holder 47 at the first pawl exchange position B in the pawl storage magazine 43. A robot 1- that can grasp and move a claw] 1 between
85 has been installed. In this robot 1-85,
A guide rail 86 is arranged parallel to the front surface of the claw stocker 81 and perpendicular to the rotational axis of the chuck 4. This guide rail 86'' second has a support stand 87.
are fitted and placed so as to be slidable in the longitudinal direction, and the movement motor 8
8. - A column 89 rising upward is rotatably attached to the support base 87, and is configured to be rotated at a predetermined angle by a rotation motor 90. An elevating body 91 is attached to the support column 89 so that it can be raised and lowered by itself and cannot be relatively rotated. This elevating body 91 is configured to be raised and lowered by an elevating motor 92. The elevating body 91 has horizontal supporting arms 9.
3 is attached so that it can slide in the longitudinal direction without rotating. This support arm 93 is configured to be slid in the longitudinal direction by a telescoping motor 94. A wrist body 95 is attached to the tip of this support arm 93. 7 It is mounted so that it can rotate around the vertical axis. This wrist body 95 is configured to be rotated by a required angle by a rotation motor 96.

The bases of a pair of left and right gripping fingers 97.97 are rotatably attached to the wrist body 95. These gripping fingers 97
．． 97 are configured to be rotated in opposite directions by a gripping motor 98, so that the claws 11 can be gripped and released between them. Further, a mold pressing member 99 is attached to the wrist body 95, and by pressing this mold pressing member 99 against the claw 11, the relative positions of the gripping fingers 97, 97 and the claw 11 can be determined. The robot 85 may be of any type as long as it can move the claw 11 from the mold bottom matching groove 84 of the claw stocker 81 to the claw holder 47 of the claw storage magazine 43, or vice versa, through the opening 24a. Since the robot 85 is not limited to the above, a detailed structural explanation of the robot 85 will be omitted here. The operation of the robot I-85 is controlled by a computer.

Nn 1. 8 Next, a case will be described in which the jaws 11 stored in the jaw holder 81 are attached to the two-part chuck 4.

First, when the machine tool is machining a workpiece, the piston rod 1 of the longitudinally movable cylinder 29 is retracted to position the claw storage magazine 43 in the standby position shown in FIG. When the nail storage magazine 43 is in the position, the nail exchange is performed between the nail holder 47 of the nail storage magazine 43 and the mold bottom matching groove 84 of the nail storage magazine 43, and the nail holder of the nail storage magazine 43 is 47 is then made to hold the type of pawl 11 required by the chuck 4. That is, when the pawl storage magazine 43 is moved to the standby position, the pawl holder that requires pawl replacement is activated by the movement completion signal.
47 is indexed to the first claw replacement position WB, and then the opening/closing door 25
a is opened and the robot 85 is activated. This robot 85 moves the gripping fingers 97.97 into the cover 23 through the opening 24a, and fits the gripping fingers 97.97 into the claw holder 47 at the first claw exchange position B in the claw storage magazine 43. Nn on both sides of claw 11]
9. While moving, the mold pressing member 99 is brought into contact with the front surface of the claw 11. Next, the gripping fingers 97, 97 are rotated inward by the operation of the gripping motor 98, and the gripping fingers 97, 97 are rotated inwardly.
7. Hold the claw 11 between 97 and 97, and then
2 is actuated to raise the elevating body 91, whereby the gripping fingers 97, 97 pull out the claw 11 from the claw holder -47 in the - direction. Next, the support arm 93 is rotated in the counterclockwise B1 direction by the operation of the rotation motor 90, and the support arm 93 is moved rearward by the operation of the telescoping motor 94.
．． 97 and the claws 11 between them are taken out from the opening 24a, and the wrist body 95 is rotated by the operation of the rotation motor 96, and the claws 11 between the gripping fingers 97 and 97 are brought into the mold bottom matching groove of the claw stocker 81. 84 true] 2 position. Thereafter, the elevating motor 92 is operated to lower the elevating body 91, and the claws 11 between the gripping fingers 97 and 97 are fitted into the mold bottom fitting grooves 84. After that, the gripping motor 98 operates and the gripping fingers 97
．． 97 to the outside to release the grip of the claws 11.

After the pawl [1] is removed from the pawl holder 47, the next pawl 11 is indexed to the first pawl exchange position B. Thereafter, one set of three nails 11 is taken out from the nail storage magazine 43 to the nail picker 81 in the same manner as described above (FIG. 1 shows when the third nail 11 is taken out). ). After that, the required claws 11 held in the mold bottom matching groove 84 of the claw holder 81 are inserted into the claw holder 47 which has been emptied by the removal of the -1-lifter 11.
85 to fit together. That is, by moving the support base 87 by the moving motor 88 and moving the support arm 93 forward and backward, the gripping fingers 97 and 97 are moved to the claw stocker 8.
1 to both sides of the desired claw 11 and bring the mold pressing member 99 into contact with the front surface of the claw 11, and then the gripping fingers 9
7. Grasp the claw 11 with 97 and pull it out upwards,
The claw 11 is positioned on one side of the claw holder 47 at the first claw exchange position B in the claw storage magazine 43, and then the claw 11 is lowered and fitted into the claw holder 47, and then the claw 11 is released. As described above, three new nails 11 for one cella 1 to 1 are created with nail holder No. 2.
] When fitted to the holder 47, the claw storage magazine 43
The claw holders 47 of the first cellars 1 to 1 are indexed to the first claw replacement position B. As described above, the nail storage magazine 4;
Necessary nails among the jaws 11 of the set (one set of jaw holder 47 is left open to attach the jaws 11 of chuck 4) All of 1 are the jaws of jaw 1 - jaw 81. 11, the robot 85 is moved outside the cover 23 and the opening/closing door 25a is closed. In addition, the wind storage magazine 43 and nails are attached to -! -Claw holder for nail replacement with Tsuka-81
This may be done by fitting the next claw 11 into the claw holder 47 each time the claw 11 is removed from the claw holder 47.

Next, the machine tool finishes machining the workpiece, and the chuck 1
When it becomes necessary to replace the jaws 11 of the chuck 1, first, the main shaft 3 is indexed and rotated so that one of the jaw mounting grooves 9 of the chuck 1 is located at the jaw replacement position, and then stopped. The wedge piece 6 is moved forward to move the three claw actuating bodies 10 of the chuck 4 to the outermost open position. on the other hand,
The piston rod of the longitudinally moving cylinder No. 2 2 29 moves to move the device main body 26 forward to the pawl exchange operation position. Next, the piston rod 32a of the lifting cylinder 32 is retracted and the lifting body 3
1 is lowered, and the guide block 33 is brought close to the outer peripheral surface of the pawl actuating body 10 at the pawl exchange position A. In this state, the guide groove 34 of the guide block 33 is located approximately on a straight line with the pawl mounting groove 9 at the pawl exchange position A. Note that the rotating body 44 of the claw storage magazine 43 is indexed and rotated in advance by the motor 55, and the empty claw holder 47 for storing the claw 11 pulled out from the chuck body 6 is placed at the claw replacement position C.
is allocated to. The indexing of the empty claw holder 47 in the claw storage magazine 43 described in - may be performed after the longitudinal movement cylinder 29 and the lifting cylinder 32 are operated.

Next, the claw moving cylinder 62 of the claw moving device 61 is activated to lower the movable body 65. In this case, the piston 39 of the claw removing cylinder 36 of the claw removing device 35 is maintained at the two-up end as shown in FIG. 7.1 is projected forward. Therefore, when the movable body 65 is lowered as shown in 1-, the operation piece 6
The operating portion 69a of No. 9 engages with the operation guide piece 74 and is moved forward, whereby the latch 1]-piece 68 is moved rearward and the engaging groove of the latch 68a and the pawl 11 at the pawl exchange position A is moved. 22 is prevented, and when the movable body 65 is positioned at the lower end, the locking portion 68a faces the engagement groove 22 of the pawl 11 at the pawl exchange position A in a state where it can engage. Next, the piston rod 39 of the claw removing cylinder 36 in the claw removing device 35
is actuated to protrude and lower the movable piece 40, whereby the suppressing pin 41 pushes the operating pin 17 toward the center of the chuck and moves the engaging element 15 backward against the spring 18, and the positioning pin 42 moves the positioning pin 42 into the positioning hole 12. The relative positions of the guide block 33 and the chuck body 5 are determined. Therefore, the guide 1fff34 of the guide block 33 is positioned exactly in line with the claw mounting groove 9 indexed to the claw replacement position A. Also, like the second part, the movable piece 40
When the operation guide piece 74 is lowered, the operation guide piece 74 is moved rearward. By moving the operation guide piece 74 backward, the claw moving device 6
The first operation piece 69 is moved backward by the spring 71, and the locking piece 68 is moved forward, so that the locking portion 68a engages with the engagement groove 22 of the claw 11 at the claw exchange position A. next,
The claw moving cylinder 62 operates to raise the movable body 65, thereby moving the locking portion 68a of the locking piece 68 to the claw replacement position A.
It is caught in the engagement groove 22 of the claw 11, and the claw 13 is raised by 1. Therefore, the pawl 11 at the pawl exchange position A is pulled out from the pawl mounting groove 9 and then guided by the guide groove 34 to the pawl exchange position C.
is fitted into the holding groove 48 , and is locked and held by the locking pin 52 while being fitted into the holding groove 48 . Next, the motor 55 operates to index and rotate the rotary body 44 of the jaw storage magazine 43, and index the empty jaw holder 47 to the jaw exchange position C for storing the next jaw 11 of the chuck 4. When the rotating body 44 of the claw storage magazine 43 rotates as described above, the claw 1 held in the holding groove 48 of the claw holder 47 also rotates by one pitch, and this rotation causes the locking portion 68a to rotate. The engagement between the engagement groove 22 and the engagement groove 22 is automatically released. In addition, the claw removing cylinder 36 operates and the movable piece 40
is raised by -1, thereby causing the suppression pin 41 to rise to the operating pin 1.
7 is released, and the positioning pin 42 is removed from the positioning hole 12. When the pressing pin 41 releases the pressing of the operating pin 17 as described above, the engaging element 15 is moved back forward by the spring ]8, and at the same time, the operating pin ]7 is moved back toward the outer circumferential side of the chuck. After that, the chuck 4 is indexed and rotated to place the next jaw 11 at the jaw replacement position N9.
Find out. After that, repeat the operation described above and tighten the chuck 4-3.
The two claws 11 are held in a claw holder 47 of a claw storage magazine 43. After the third claw 1] is held in the claw storage magazine 43 as shown in -, the claw removal cylinder 36 is operated and the movable piece 40 is raised by 1", and then the chuck 4 is indexed and rotated again. Empty claw mounting groove 9 of the claw 11 that was first removed
At the same time, the motor 55 rotates the rotating body 44 of the claw storage magazine 43 to hold the replacement claw 11 to be fitted into the claw mounting groove 9 at the claw replacement position A. Index the claw holder 47 to the claw replacement position C, and then
, 2 6 pawl holder 47 pawl] The pawl moving device 6 is placed in the engagement groove 22 of 1.
The first locking portion 68a is engaged. Next, the claw removing cylinder 3
6 is activated to lower the movable piece 40, whereby the suppressing pin 41 pushes the operating pin 17 again and moves the engager 15 backward, and the positioning pin 42 is fitted into the positioning hole 12, and the guide block 33 and the chuck body are 5. Determine the relative position with 5.

Next, the claw moving cylinder 62 is operated to lower the moving body 65, and the claw 11 at the claw replacement position C is moved to the locking piece 68.
After being pushed out from the holding groove 48 by the guide groove 34, it is fitted into the pawl mounting groove 9 at the pawl exchange position A. Next, the claw release cylinder 36 is actuated to raise the movable piece 40, whereby the suppression pin 41 releases the operation pin 17 from being pushed in, and the positioning pin 42 is removed from the positioning hole 12.

Therefore, the engaging element 15 is moved back forward by the spring 18, and its engaging teeth are engaged with the engaging teeth of the pawl 11 at the pawl exchange position A. When the movable piece 40 is raised by the claw removing cylinder 36 as shown in Part 2, the operation guide piece 74
is moved forward, and the engagement between the locking portion 68a of the locking piece 68Nn27 and the engagement groove 22 of the pawl 11 is released. Next, the claw moving cylinder 62 is activated to move the moving body 65.
Move to the rising end. After that, the chuck 4 is indexed and rotated to index the claw mounting groove 9 of the second removed claw 11 to the claw replacement position A, and the motor 55 rotates the rotating body 44 to insert the next claw holder 47. Index to claw replacement position C. Thereafter, the claws 11 of the claw storage magazine 43 are fitted into the three claw mounting grooves 9 of the chuck 4 in the same manner as described above. Thereafter, the elevating cylinder 32 is activated to raise the elevating body 31, and then the forward and backward movement cylinder 29 is activated to move the board 27 backward, thereby moving the claw storage magazine 43 and the claw moving device 61 to the standby position. A series of nail replacement work is completed. After that, all sets of pawls 11 in the pawl storage magazine 43 are used for pawl replacement, and the pawls 11 in the pawl storage magazine 43 are used for machining the next workpiece.
When it becomes necessary to replace the claw 11 with a new claw 11, the claw is replaced again between the claw storage magazine 43 and the claw hex holder 81 by the robot 1-85.

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

(Effects of the Invention) As described above, in the present invention, a claw stocker installed separately from the aircraft body is provided with a large number of claw holders, and the claws held by the claw holder and the claw holder of the claw storage magazine are connected to each other. Since the held jaws are replaced by the robot, the number of types of jaws that can be replaced with the chuck jaws can be easily increased, making it possible to handle unmanned machining of a wide variety of products in small quantities. In addition, a jaw stocker is installed separately from the machine, and the jaws can be exchanged between this jaw stocker and the jaw storage magazine, so even when increasing the number of types of chuck exchange jaws, the number of jaw holders in the jaw storage magazine can be reduced. This makes it possible to reduce the size of the claw storage magazine, which makes it easy to implement even in small machine tools. In addition, as mentioned above, the jaws are exchanged between the jaw storage magazine and the jaw stocker, and the Nα29 is also designed to be replaced when the jaw storage magazine is in the standby position, so it is easy to replace the chuck. It is possible to prevent the required time from increasing and to prevent a decrease in the operating rate of the machine tool due to the change of the claws.

Furthermore, since the claw exchange between the claw TI'+' storage magazine and the claw stocker is performed by a robot, there is an advantage that a robot for loading and unloading workpieces can be used as the robot.

[Brief explanation of the drawing]

The drawings show an embodiment of the present application, and FIG. 1 is a partially cutaway plan view, FIG. 2 is a partially cutaway city plan, and FIG.
Figure 3 is a partially cutaway left side view, Figure 4 is a partially cutaway left side view.
-■ line sectional view, Figure 5 is a sectional view showing the part where the jaw is replaced with the chuck, Figure 6 is an enlarged sectional view along Vl-VI line, and Figure 7 is ■
-■ line enlarged sectional view, Figure 8 is a sectional view showing the claw holder and claw exchange mechanism of the claw I11 storage magazine, No. 9 is an enlarged partial view as seen from the arrow ■ direction, and Figure 10 shows the operation of the robot. FIG. 1...NC] Lathe (machine tool), 2... Airframe, N
α30 4... Chuck, 9... Jaw mounting groove, 11...
- Claw, 43... Claw storage magazine, 47... Claw holder, 81... Claw stocker, 84... Type bottom matching groove (claw holder), 85... Robot 1~ Patent applicant At Howa Kogyo Co., Ltd. -v ln of -to 〇-, -to toD

Claims (1)

[Claims] 1. A pawl storage magazine having a plurality of pawl holders capable of removably holding pawls is disposed in the body of the machine tool so as to be movable between a pawl exchange operation position and a standby position, and the pawl exchange operation position In the chuck jaw changing device, the jaws are exchanged between the jaw holder of the indexed jaw storage magazine and the jaw mounting groove of the indexed chuck, and the jaw stocker is installed separately from the machine. , the nail stocker is equipped with a number of nail holders that can detachably hold replacement nails, and one of the nail holders and the nail holder of the nail storage magazine indexed in the standby position are provided. A chuck jaw changing device characterized in that it is equipped with a robot capable of exchanging jaws with one robot.