JPH04115809A - Method of preparation for chuck in numerically controlled lathe - Google Patents

Abstract

PURPOSE:To transfer stored chuck pawls and to attach the same suitably onto a chuck by attaching and removing the chuck pawls to and from pawl attaching grooves in such a condition that a holding mean support member is moved in an auxiliary direction. CONSTITUTION:Upon attachment and removal of chuck pawls 115 to and from chucks 9, 19, the transfer of the chuck pawls 116 between a pawl storage means 41 and the chucks 9, 19 is carried out in such a condition that a transferring and delivery robot 61 is moved toward he pawl storage means 41 or the chucks 9, 19 in a main moving direction. In the case of the delivery of the chuck pawls 116 between a pawl holding means and pawl attaching grooves 9a, 19a on the chucks 9, 19, the chucks 9, 19 are rotated so that the direction in which the pawl attaching grooves 9a, 19a are formed is aligned with an auxiliary moving direction for a hold means supporting means 62. Further, in a condition in which the chuck pawls 116 are held by one pawl hold means 75, the hold means supporting member 62 is moved in the auxiliary moving direction so as to attach and remove the chuck pawls 116 to and from the pawl attaching groove 9a.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a method for setting up chuck jaws when machining various types of workpieces in a numerically controlled lathe.

(b), Prior Art Conventionally, when machining various workpieces in a numerically controlled lathe, chuck jaw setups have been changed automatically or manually depending on the type of workpiece.

For example, as disclosed in Japanese Patent Application Laid-open No. 59-214504, a chuck jaw is selected from chuck jaws stored in a drum-shaped chuck jaw storage/exchange device installed on the headstock. Nails are being replaced.

Also, as disclosed in Japanese Patent Application Laid-Open No. 58-10404, 1
A set of chuck jaws is stored on a disc-shaped support in a position to be attached to the chuck, and the chuck jaws are transported and delivered to the chuck via the support. We are doing an exchange.

It is an object of the present invention to provide a method for setting up chuck jaws in a numerically controlled lathe, which allows the stored chuck jaws to be transported and suitably mounted on a chuck.

(C) 0 Problems to be Solved by the Invention However, since the drum-type chuck jaw storage and exchange device is installed on the headstock, it is difficult to increase the size and the number of chuck jaws that can be stored. . Furthermore, in lathes such as opposed spindle lathes in which a headstock is movably provided, the headstock itself is downsized, so it is difficult to install the chuck jaw storage/exchange device due to space considerations.

In addition, since the disk-shaped support to which the chuck jaws are attached is necessarily large, there are many supports (multiple chuck jaws).
Storing the chuck jaws requires a larger space than storing them as they are (without a support or the like).

In view of the above circumstances, the present invention is designed to store a large number of chuck jaws as they are independently of the lathe. A chuck (9) with claw mounting grooves (9a, 19a) that can be freely mounted.
.
) between the chuck (9, 19) side and the claw storage means (
A holding means support member (6
2) is provided so as to be freely movable and driveable in the sub-movement direction, and at least one claw holding means (7) is provided on the holding means supporting member (62).
5), and a chuck claw (
When loading and unloading the chuck jaws (116), the chuck jaws (116) are transported between the jaw storage means (41) and the chucks (9, 1).
9), with at least one chuck claw (116) held by one of the claw holding means (75), move the transfer robot (61) to the claw storage means (41) side. Alternatively, the chuck claw (116) may be moved in the main movement direction toward the chuck (9, 19).
) is transferred between the claw holding means (75) and the chuck (9).
, 19), rotate the chuck (9, 19) to align the direction in which the claw mounting grooves (9a, 19a) are drilled and the holding groove. After aligning the sub-movement direction of the means support member (62), one chuck claw (116) is moved to one of said claw holding means (75).
), the holding means supporting member (6
2) is configured to be moved and driven in the sub-movement direction so that the chuck jaws can be inserted into and removed from the jaw mounting grooves.

Further, the present invention provides a numerically controlled lathe (2) having a chuck (9a, 19a) in which a chuck mounting groove (9a, 19a) into which a chuck claw (116) is removably mounted is provided. 15 into the claw mounting grooves (9a, 19a
), and multiple types of chuck jaws (11
6) Claw storage means (41) for storing items one by one in a freely accessible manner
is provided, and the transfer/delivery robot (61) is connected to the chuck (
9, 19) side and the claw storage means (41) side so as to be freely movable and driveable in the main movement direction, and the transfer and delivery robot (
61) is provided with an arm (62) that can be freely extended and retracted in the sub-movement direction, the arm (62) is provided with at least one claw holding means (75), and the chuck (9, 19) is provided with a chuck claw ( When loading and unloading the chuck claw (116),
16) is carried between the jaw storage means (41) and the chuck (9, 19), at least one chuck jaw (116) is held by one jaw holding means (75). And, the transfer and delivery robot (61)
on the side of the claw storage means (41) or on the chuck (9, 1).
9) side in the main movement direction, and the chuck jaws (116) are transferred between the jaw holding means (75) and the jaw mounting grooves (9a, 19a) of the chucks (9, 19). When performing, rotate the chuck (9, 19),
After aligning the direction in which the claw mounting grooves (9a, 19a) are drilled and the sub-movement direction of the arm (62), one chuck claw (116) is attached to one of the claw holding means (75).
said guide groove (15) in a state where said chuck claw (116) is aligned with said claw mounting groove while being held by said guide groove (15).
The chuck claw is inserted into and removed from the claw mounting groove by extending and contracting the arm (62) in the sub-movement direction while guiding the chuck claw.

Further, the present invention provides a chuck claw (11) to be attached to the chuck (9, 19) in the transfer/delivery robot (61).
6), when the number of the jaw holding means (75) or more is provided and the chuck jaws (116) are transported between the jaw storage means (41) and the chucks (9, 19), .
The number of chuck jaws (116) to be attached is transferred between the jaw storage means (41) and the chuck (9, 19) by moving them in the main movement direction to the side or the chuck (9, 19).
) is configured so that it is performed all at once.

The present invention also provides a numerically controlled lathe (2) having a chuck (9, 19) in which a chuck mounting groove (9a, 19a) is drilled into which a chuck claw (116) is removably mounted.
A claw storage means (41) is provided that stores a plurality of types of chuck claws (116) one by one in a manner that allows them to be taken in and out, and the transfer/delivery robot (61) is placed between the chuck (9, 19) side and the claw storage means (41). A holding means support member (62) is provided on the conveyance/delivery robot (61) so as to be freely movable and driveable in the sub-movement direction, and the holding means support member (62) , the chuck (9, 19)
The number of claw holding means (75) that is greater than the number that should be attached to the rotating shaft (
c Tx ) and axially symmetrical to the rotation axis (c
When the chuck claw (116) is attached to and removed from the chuck (9, 19),

The chuck jaw (116) is transported by the jaw storage means (41).
and said chuck (9, 19), one chuck jaw (116) is connected to one said jaw holding means (41).
) and the chuck (9, 19)
With the number of chuck jaws (116) to be attached to the jaw holding means (75) being held by the respective jaw holding means (75), the transfer/delivery robot (61) is moved to the jaw storage means (41) side or the chucks (9, 19). in the form of moving to the side in the main movement direction,
The number of chuck jaws (116) to be attached is carried out at once between the jaw storage means (41) and the chucks (9, 19), and the chuck jaws (116) are transferred to the jaw holding means ( 75) and the claw mounting groove (
9a, 19a), the claw holding means (
75) to sequentially make each of the claw holding means (75) face the chuck (9, 19), and also rotate the chuck (9, 19) so that the claw attachment groove (9a
, 19a) and the holding means support member (
62), one chuck claw (116) is moved to the one facing the chuck (9, 19).
While being held by the two jaw holding means (75), the holding means support member (62) is moved and driven in the sub-movement direction to move the chuck jaw (116) into the jaw mounting groove (
9a, 19a).

Further, the present invention provides a structure in which the workpiece-facing portion (116A) of the chuck claw (116) is directed toward the holding means support member or the arm (62), and the chuck claw (116)
With the chuck claw (116) held by the claw holding means (75) with the attached portion (116B) facing the opposite direction of the holding means support member or the arm (62), 116) is transferred between the claw holding means (75) and the claw mounting grooves (9a, 19a) of the chucks (9, 19).

Further, the present invention provides a structure in which the workpiece facing member (116A) and the mounted member (116B) are combined to form the chuck claw (116).
is formed, a held means (116b) is provided on the upper part of the mounted member (116B), and the claw holding means (75) is engaged with the held means (116b). 75) to hold the chuck claw (116).

Note that the numbers in parentheses are for convenience and indicate corresponding elements in the drawings, and therefore, this description is not limited to the descriptions on the drawings. r (e) below
The same applies to the column ``Action''.

(e) 1 Effect The above configuration works so that a large number of chuck jaws (116) are stored one by one in the jaw storage means (41) independent of the numerically controlled lathe (2).

(f), Example Hereinafter, the present invention will be described in detail based on the drawings.

FIG. 1 is a front view showing a lathe cell to which the present invention is applied, FIG. 2 is a plan view of the lathe cell shown in FIG. 1, and FIG.
4 is a cross-sectional view of the chuck and chuck jaw replacement auxiliary device shown in FIG. 3; FIG. 5 is a cross-sectional view of the chuck and chuck jaw replacement auxiliary device shown in FIG. 6 is a view showing the talent tool rest and the hand positioning bin; FIG. 7 is a view showing the setup station; FIG. 8 is a view showing the 7th
FIG. 9 is a diagram showing the pallet fork hook drive mechanism; FIG. 10 is a cross section taken along line X-X of the pallet fork hook drive mechanism shown in FIG. 9. 11 is a sectional view showing the stocker; FIG. 12 is a sectional view showing the arm of the gantry robot; FIG. 13 is a sectional view taken along the xm-xm line of the arm of the gantry robot shown in FIG. 14 is a sectional view taken along line XIV-XIV of the arm of the gantry robot shown in FIG. 12, FIG. 15 is a sectional view showing the tool hand, and FIG. 16 is a sectional view of the tool hand shown in FIG. XVI arrow view of the chuck jaw hand or work hand shown in the figure.
18 is a cross-sectional view showing an example of a tool; FIG. 19 is a cross-sectional view showing the gripper of the tool hand shown in FIG. 15; and FIG. 20 is a cross-sectional view showing the chuck claw hand or work hand. Figure 21 is a sectional view taken along line XXr-XXI of the chuck jaw hand or work hand shown in Figure 20, Figure 22 is a diagram showing the chuck jaw hand, and Figure 23 is a sectional view of the chuck jaw hand or work hand shown in Figure 20.
An Xx■ arrow view of the chuck claw hand shown in FIG. 22, FIGS. 24 to 26 are views showing an example of the chuck claw, FIG. 27 is a view showing the work hand with the hand claw removed, FIG. 28 is a diagram showing the work hand with the hand claw attached, and FIG. 29 is a diagram showing the work hand shown in FIG.
30 is a diagram showing the hand claw, FIG. 31 is a control block diagram of the lathe cell shown in FIG. 1, FIG. 32 is a flowchart showing the pre-setup program, and FIG. 33 is a diagram showing the hand claw. , a flowchart showing the automatic operation program, FIG. 34 is a flowchart showing the schedule creation program, FIG. 35 is a flowchart showing the hand exchange program, FIG. 36 is a flowchart showing the tool exchange program, FIGS. 37 to 47 48 is a flowchart showing the chuck jaw replacement program; FIGS. 49 to 55 are diagrams showing how the chuck jaws are replaced; FIG. 56 is a hand FIG. 57 is a flowchart showing a pallet loading program; FIG. 58 is a flowchart showing a pallet unloading program; FIG. 59 is a schematic diagram showing system operation data; FIG. 60 is a system data diagram. FIG. 61 is a schematic diagram showing the machining schedule, FIG. 62 is a schematic diagram showing tool ID data, FIG. 63 is a schematic diagram showing chuck jaw ID data, and FIG. 64 is a schematic diagram showing the hand FIG. 65 is a schematic diagram showing ID data; FIG. 66 is a schematic diagram showing pallet ID data; FIG. 67 is a diagram showing an example of a natural nail shaping program; , FIG. 67 is a diagram showing a chuck jaw formed by a raw jaw forming program shown in FIG. FIG. 72 is a flowchart showing another example of a schedule creation program; FIG. 73 is a flowchart showing another example of an automatic operation program; 'M74 is a tool; FIG. 2 is a diagram showing a lathe cell in which the loading of chuck jaws into a stocker is automated.

As shown in FIG. 1 or 2, a lathe cell 1 to which the present invention is applied is an opposed spindle lathe (hereinafter referred to as this machine).

) 2, and a setup station 30 is provided at the left side of the machine 2 in the figure. Then, this machine 2,
A gantry robot 61 is provided above the setup station 30 in FIG. 1 to communicate between the machine 2 and the setup station 30.

The machine 2 has a body 3, on which a first headstock 6 and a second headstock 16 face each other in the direction of the spindle axis (Z
arrow 21. ．． 2° direction, arrow Z2+, Z
2. It is provided so that it can be freely moved and driven in one direction. Further, on the machine body 3, a first talent tool rest 21 and a second talent tool rest 22 are arranged in a manner that corresponds to the first headstock 6 and second headstock 16, respectively, and are arranged along the arrow Z or perpendicular to one direction of Z. Arrow X1,
It is provided so as to be freely movable and driven in one direction of arrows Xl and one direction of arrows X2 and X2. Regarding this machine 2, please refer to Japanese Unexamined Patent Publication No. 1983-
272402, JP-A-63-272404, JP-A-63
-272405 etc., so detailed explanation thereof will be omitted here.

The workpiece spindle 7.17 is mounted on the headstock 6.16.
The axes CTI and CT2 are arranged in a straight line so that they can be freely rotated in one direction of arrows C, + and CI, and in one direction of arrows C2+ and C2. The chuck 9.19 is attached. Regarding chuck 9.19, please refer to JP-A-59-201705,
Since it is publicly known in Japanese Patent Application Laid-Open No. 59-214504, detailed explanation thereof will be omitted here. The chuck 9 has slide grooves 9a and 9b in a continuous form as shown in FIG. 4, in the directions of arrows J+ and J- in FIG. Perforations are formed in three locations at a 120° pitch. The chuck 9 has three chuck claws 116 fitted into the respective slide grooves 9a so as to be able to open and close in one direction of arrows J+ and J in FIG.
, and the three opening/closing operation members 10 are attached to each of the slide grooves 9b in a detachable manner at a pitch of 120'.
in a form that is fitted into and engaged with each of the chuck claws 116,
It is mounted so that it can be moved and driven in one direction, indicated by the arrows J+ and J in FIG. As shown in FIG. 25, the chuck jaw 116 has a soft jaw (a member that comes into contact with the work 120) 116A and a base jaw (a member that is fitted into the slide groove 9a etc. and engages with the opening/closing operation member 10) 116B. They are connected in a replaceable manner using bolts, etc. On the left side of the figure of Base G i-116B, there is a chuck jaw ID data storage element (hereinafter referred to as chuck jaw ID) 116a.
is installed, and baseji! A held part 116b is provided above l-116B in the figure, and the held part 1
16b has grooves 116c and 11 as shown in FIG.
6c is formed by drilling. Therefore, base ji a-11
Chuck jaws 116 having various shapes can be constructed by making the 6B portion common and changing only the soft jaw 116A portion. And, as shown in Figure 3,
A lock pin 11 is provided on the opening/closing operation member 10 so as to be movable in the direction of arrow JR-1JR to operate the engagement/disengagement between the opening/closing operation member 10 and the chuck claw 116. The upper end in FIG. 3 is exposed from the outer peripheral surface 10b of the opening/closing operation member 10. In addition, the opening/closing operation member 10
A positioning pin 10a is provided protruding from the outer circumferential surface 10b. A chuck jaw replacement auxiliary device 12 is provided at a position above the chuck 9 of the first headstock 6 in FIG. A guide groove 15 is formed at the right end of the chuck jaw replacement auxiliary device 12 in the figure in the vertical direction in the figure to be slightly larger than the slide groove 9a. The upper end 15a and the lower end 15b of the guide groove 15 are each formed into a tapered shape with a wide end. Also,
A positioning hole 12b corresponding to the positioning bin 10a of the opening/closing operation member 10 is located at the bottom of the chuck jaw replacement auxiliary device 12 in the figure.
An operating rod 13 corresponding to the lock bin 11 is provided so as to be freely protrusive and retractable in one direction of arrows R+ and R by a drive cylinder 13a. Similarly to the chuck 9 and the first headstock 6, the chuck 19 is equipped with a chuck jaw 116, an opening/closing operation member 10, etc., and the second headstock 16 is equipped with a chuck jaw replacement auxiliary device 12. ing.

Further, as shown in FIG. 6, a plurality of tool mounting holes 21a are formed radially on the outer peripheral surface of the first turret tool rest 21, and the first turret tool rest 21 is aligned with arrows D+ and D. Turn each tool mounting hole 21a in the direction shown in FIGS.
By indexing and positioning to the exchange position EXP shown in FIG. 3, the drilling direction of the tool mounting hole 21a can be made parallel to the direction of arrows X+ and X, which is the moving direction of the first talent tool rest 21. I can do it. And tool mounting hole 2
A tool 117 is removably inserted into the tool mounting hole 21a in the drilling direction of the tool mounting hole 21a. The tool 117 is the first
As shown in FIG. 8, the tool body 117A is attached to the holder 117.
A shank 117c, which is fitted into the tool mounting hole 21a, projects from the contact surface 117d of the holder 117B at the lower side in the figure. Tool ID) 117a is attached. Moreover, on the outer peripheral surface of the holder 117B,
As shown in FIG. 18 or 19, three held protrusions 117b are provided in a protruding manner. Similarly to the first talent tool rest 21, the second turret tool rest 22 has a plurality of tool mounting holes 22a whose drilling direction is set in the moving direction of the second turret tool rest 22 (arrow X+, ), and is rotatably indexable, and a tool 17 is mounted in each tool mounting hole 22a so as to be detachable in the drilling direction.

In addition, as shown in Fig. 1 or Fig. 6, the first
A hand positioning bin 2 is provided between the headstock 6 and the second headstock 16.
5.26 corresponds to the first turret tool rest 21 and the second talent tool rest 22, and drive cylinders 25a, 26a
It is provided so that it can be freely driven to protrude and retreat in one direction via arrows P+ and P.

As shown in FIG. 8, the setup station 30 has a bed 31, and a material station 32 is provided at the lower right position of the bed 31 in the figure. A processed station 33 is provided at the position.

As shown in FIG. 7, there is a rail 3 on the bed 31.
1a, 31a are provided, and the rails 31a, 31
On a, the drive unit 35 is connected to the material station 32.
In the form of connecting the processed station 33 with the arrow
It is provided so that it can be freely moved and driven in one direction. That is, a drive motor 35e is provided in the drive unit 35, and a timing pulley 35f is rotatably connected to the drive motor 35e. A timing belt 31e stretched in the vertical direction in the figure is engaged.

The drive unit 35 includes rails 35a, 35a.
A pallet fork 36 is mounted on the rails 35a, 35a, and a drive motor 35c, a ball screw 3
5d so that it can be freely driven up and down in the direction of arrow Y-1Y+ in FIG.

The pallet fork 36 is provided with arms 37.37 opening to the left in FIG.
A hook 37a is provided so as to be freely protrusive and retractable. That is, as shown in FIG. 9 or 10, the arm 37 is provided with a drive motor 37c.
7c, the crank shank 37d is indicated by the arrow FM,,FM
It is connected so that it can be rotated in one direction. A link 3 is connected to the crank shank 37d via a pin 37d'.
7e is pivotally connected to the link 37e, and a bin 37f is attached to the link 37e.
A crank shank 37f is pivotally attached to the crank shank 37f so as to be rotatably driven in one direction of arrows F+ and F, and a hook 37a is fixed to the crank shank 37f. Therefore,
Since the crank shank 37d, link 37e, crank shank 37f, etc. constitute a toggle mechanism, even if the torque of the drive motor 37C is small, the hook 37a can be projected in the direction of the arrow F to carry a pallet 119, which will be described later. . And the arm 37 of the pallet fork 36
．． Between 37 and 37, there is an ID data read/write head (hereinafter referred to as R/
It's called W head. ) 39 is mounted toward the right in FIGS. 7 and 8.

Furthermore, a proximity switch 36a and a limit switch 36b are attached to the tip of the arm 37.

Furthermore, rails 31b, 31b are provided on the bed 31 at positions to the right of the drive unit 35 in FIG. The arrows X4+ and X4 in FIG. 8 are provided so as to be movable in one direction. As shown in FIG. 11, the stocker 41 is formed into a box shape with a side plate 41a, a bottom plate 41b, and a side plate 41c opening upward in the figure.

A hand claw storage section 42 formed in a plate shape is provided below the stocker 41 in FIG. 8. The hand claw storage section 42 is provided with four placement positions 42a.

A hand storage section 43 is provided inside the stocker 41 (between the side plates 41a and 41c) at a position above the hand claw storage section 42 in the figure. Hand storage section 4
3, three mounting positions 43a are provided at predetermined intervals in the vertical direction in FIG. 8, and each mounting position 43a has a holding plate 43b, 43b protrudes toward the inside of the stocker 41 from the side plates 41a and 41c. In addition, a first chuck claw storage section 45 is provided at the upper part of the side plate 41a and the side plate 41c of the stocker 41 in FIG.
, the second chuck jaw storage section 46 is connected to the first headstock 6, respectively.
The chuck 9 of the second headstock 16 corresponds to the chuck 19 of the second headstock 16, and is provided in a protruding form inside the stocker 41. Nine mounting positions 45a are provided in the first chuck claw housing portion 45 at predetermined intervals in the vertical direction in FIG.
A mounting groove 45b having substantially the same shape as that shown in FIG. 11 is formed vertically in the figure, with the upper side in FIG. 11 being open and the lower side in the figure being closed. Similar to the first chuck jaw storage section 45, the second
The chuck claw housing portion 46 is provided with nine placement positions 46a, and each placement position 46a is provided with a placement groove 46b. Further, in the upper part of the side plate 41a and the side plate 41c of the stocker 41 in FIG. It is provided in a shape that corresponds to the tool rest 22 and projects outside the stocker 41 . The first tool storage section 47 has ten mounting positions 47.
a are provided at predetermined intervals in the vertical direction in FIG. 8, and are arranged in a staggered manner alternately in the vertical direction in FIG. A shank hole 47b is formed in each mounting position 47a in the vertical direction in FIG. Similar to the first tool storage section 47,
The second tool storage section 48 is provided with 10 placement positions 48m, and each placement position 48m has a shank hole 48m.
b is drilled.

Further, as shown in FIG.
arrow U+ via the drive cylinder 50a in a manner that engages and disengages with the
, U are provided so as to be freely protrusive and retractable in one direction, and the origin holding pin 51 engages and disengages from the origin holding hole 31d bored in the bed 31 so that the arrows V+, ■It is provided so that it can be freely driven to protrude and retreat in one direction.

As shown in FIG. 11, on the bed 31 there is a
The /W head 53 is driven in such a manner that it can be inserted into the inside of the stocker 41 through large holes 41b' that are bored through the bottom plate 41b of the stocker 41 at positions corresponding to the mounting positions 43a of the hand storage section 43. Arrows L+, L via cylinder 53a
It is provided so that it can be freely driven to protrude and retreat in one direction. Further, on the bed 31, supporting members 31c, 31c are provided on the left side of the first chuck jaw storage section 45 in the drawing, below the first tool storage section 47 in the drawing, or on the right side of the second chuck claw storage section 46 in the drawing. The second one
It is fixedly provided at the lower part of the tool storage section 48 in the figure in a manner that it can be positioned from the outside of the stocker 41 (in order to avoid complicating the drawing, one support member 31 is shown in FIG. 8).
c only).

R/W heads 55.5 are mounted on the support members 31c, 31c.
5 is each mounting position 45a of the chuck claw storage part 45,46
, 46a have holes 41 drilled through the side plates 41a and 41c.
a, 41c, and is provided so as to be swingable in one direction of the arrows E+ and E, and the R/W head 56.56 is placed at each mounting position 47 of the tool storage section 47.48.
The holes 47c and 48c are fixedly provided so as to face the holes 47c and 48c bored through the holes 47c and 48a.

A rail 60 is provided at a position above the setup station 30 of the machine 2 in FIG.
Above, a gantry robot 61 is mounted on a workpiece spindle 7.17.
Arrow B parallel to the spindle axis direction (arrow Z or one direction of Z)
The gantry robot 61 has an arm 62 that moves along the arrows B+ and B.
It is provided so that it can be driven up and down in the arrow A-1A+ direction perpendicular to one direction. Regarding the gantry robot 61,
JP-A-1-252345. Since the basic structure is known in Japanese Unexamined Patent Application Publication No. 2-71948, detailed explanation thereof will be omitted here.

A hand connecting portion 65 is provided at the tip of the arm 62, as shown in FIG. 12 or 13. The hand connecting portion 65 is provided with two drive cylinders 65d, 65d, and each drive cylinder 65d has an operating rod 6.
5c is connected so as to be freely movable and driven in one direction of the arrows GM, , GM. The operating rod 65c is pressed by a spring 65e in the direction of the arrow GM-M to the direction in which the hook 65a is operated in the direction of the arrow G-force, and a tapered portion 65c' is provided at the lower end of the operating rod 65C in the figure. It is being Two hooks 65a are slidably abutted on the tapered portion 65c', and each hook 65a protrudes downward in the figure from the bottom surface 65g of the casing 62a.
It is provided so as to be swingable in one direction of the arrows G+ and G through the arrows G+ and G. Further, the hook 65a is biased in the direction of the arrow G+ force by a spring 65b so as to always come into contact with the tapered portion 65c'. Further, a positioning pin 65f is fixed to the casing 62a in the hand connecting portion 65 and protrudes downward in FIG. 12 from the bottom surface 65g.

Further, as shown in FIG. 14, the arm 62 is provided with a drive motor 63 fixed inside the casing 62a, and the drive motor 63 is provided with a spline sleeve 63.
a is connected to be rotatably driven in the directions of arrows M+ and M~ around the axis CTA. Note that the axis CTA is fixed to the casing 62a. A spline shaft 63b is connected to the spline sleeve 63a so as to be movable in the direction of the CTA, rotating integrally with the spline sleeve 63a in one direction of arrow M.
The spline shaft 63b is connected to the bottom surface 65g via the spring 63c.
It is pressed in such a way that it protrudes downward in the figure.

The tool hand 69 attached to the arm 62 has a casing 69b, as shown in FIG. and the adjustment screw 67a engaged with the casing 69b in the left-right direction in FIG. 17 (the tool hand 69 is
When the arm 62 is attached to the arrow X, the arm 62 cannot be moved.
Corresponds to -1X direction. ) is fixed by bolts or the like in such a way that it can be moved by a predetermined amount. Further, above the adjustment member 67 in the figure, the adjustment member 66 is arranged with the axis CTA as the center relative to the adjustment member 67, with the bottom portion 66h fitted into a hole 67b drilled through the adjustment member 67. The adjustment member 66 is fixed to the adjustment member 67 with respect to movement in the left and right directions in the figure. As shown in FIG. 15 or 16, the upper surface 66f of the adjustment member 66 is provided with four engaging pins 66a corresponding to the hooks 65a of the arm 62, and the position of the arm 62 is A positioning hole 66b corresponding to the positioning pin 65f is bored. Therefore, the casing 69 of the adjusting member 66,67
By appropriately adjusting the position relative to b and adjusting the position of the engagement pin 66a and the positioning hole 66b relative to the casing 69b by a predetermined amount, the tool hand 69 can be moved to the arm 6.
The axis CT of the rotating member 701, which will be described later, when attached to the
Since the position of the gripper 71 with respect to the arm 62 can be adjusted, the gripper 71 fixed to the rotating member 70i, which will be described later,
Adjust the position of the turret tool rest 21, 22 of the turret tool rest 21, 22 such as the rail 60 of the gantry robot 61.
This can be done only by adjusting the tool hand 69 side without adjusting the position relative to 1.22.

As shown in FIG. 17, inside the adjustment member 66, a joint 66c connected to the spline shaft 63b of the arm 62 is exposed from the upper surface 66f.
Arrow M, centering on the axis CTA fixed to
M is provided rotatably in one direction. A joint 66e is connected to the joint 66c via a joint 66d, and the joint 66e is movable by a predetermined amount in the horizontal direction in FIG. The joints 66c, 66d, and 66e constitute an Oldham joint. The joint 66e is connected to the adjustment member 66.
The shaft center CT protrudes toward the casing 69b from the bottom 66h, and is connected to a connecting shaft 70a fixed to the casing 69b and constituting a rotation mechanism 70 of a gripper 71, which will be described later. Therefore, when the adjustment members 67 and 66 are moved and adjusted by a predetermined amount with respect to the casing 69b, when the tool hand 69 is attached to the arm 62, the arm 62
Although a deviation occurs between the axial center CTA of the spline shaft 63b fixed to the casing 62a of the tool hand 69 and the axial center CT of the connecting shaft 70a fixed to the casing 69b of the tool hand 69,
Since the spline shaft 63b and the connection shaft 70a are connected through the joints 66c, 66d, and 66e that constitute the Oldham joint, the drive motor 63 on the arm 62 side moves the connection shaft 70a in the arrow HM direction and in the HM direction. The rotation mechanism 70, which will be described later, can be driven by rotating the rotation mechanism 70. That is,
The axis CT of the spline shaft 63b on the arm 62 side is adjusted by adjusting members 66, 67, joints 66c, 66d, 66e, etc.
A and the axis CT of the connecting shaft 70a on the tool hand 69 side are intentionally shifted, and the tool hand 6 is attached to the arm 62.
91, it is possible to accurately position the gripper 71 holding the tool 117 with respect to the turret tool rest 21, 22 as described later.

Inside the casing 69b, a connecting shaft 70a,
A rotating mechanism 70 is provided which includes umbrella gears 70b, 70c, flat neck soldiers 70d, 70e, Geneva gears 70f, 70g, etc., and when the connecting shaft 70a is rotated in one direction of arrows HM, Geneva gears 70g. rotates in one direction of arrows T+ and T around the axis CTz. Engagement grooves 70g' are bored on the outer periphery of the Geneva gear 70g at a pitch of 90 with respect to the axis CT, and a rotation locking pin 70h is connected to the engagement groove 70g' in the casing 69b. It is provided in an engaging and disengaging manner so that it can be freely driven to protrude and retreat in one direction as shown by the arrows KT and KT. Rotating members 70i and 701 are provided on the left and right sides of the casing 69b in FIG. It is connected to the gear 70g and is rotatably provided in one direction of the arrow T+ and T around the axis CT.

Each rotating member 70i has two grippers 71.
71 are provided symmetrically (with a pitch of 180') with respect to the fine CTt. As shown in FIG. 19, each gripper 71 has a fixed member 71g fixed to a rotating member 70i.
The fixed member 71g has an operating rod 71e.
are provided so as to be movable in one direction of arrows NM, , NM, and the operating rod 71e is pressed by a spring 71f in one direction of arrow NM (the direction of operating in one direction of arrow N to close arms 71a, 71a, which will be described later). and fixed member 71g
It protrudes toward the casing 69b from the rear surface 71g'. The operating door 1e is provided with a tapered portion 71e', and the tapered portion 71e' has arrows NN, .
NN Two engagement rods 7 provided movably in one direction
1d and 71d are in contact with each other, and the engagement rods 71d and 71
Arms 71a, 71a are in contact with d. Arm 7
1a and 71a are provided so as to be openable and closable in one direction of arrows N+ and N via bins 71a' and 71a', and via a spring 71c installed between arms 71a and 71a,
The arms 71a, 71a are arranged such that the engagement rods 71d, 71d always engage with the tapered portion 71e' of the operating rod 71a.
is biased in the direction of arrow N+. And arm 71
Three engagement holes 71b corresponding to the held protrusions 117b of the tool 117 are drilled on the inside of the tip of the tool 71a (the side where the arms 71a and 71a face each other) and on the front surface 71g' of the fixing member 71g. ing. As shown in FIG. 15 or 19, the casing 69b has an operating pin 69f in a form that can push the operating rod 71e in the direction of the arrow NM, from the casing 69b in one direction of the arrows MM, MM. It is provided so that it can be freely driven to protrude and retract. Furthermore, casing 6
9b, regarding the grippers 71 on both the left and right sides in FIG. 15,
As shown in FIG. 17, the turret facing position TFP and the stonker facing position SFP are located at a pitch of 90″ with respect to the axis CT.
There are two operation bins 69f provided in each case, for a total of four operation bins 69f.

Further, positioning holes 69e corresponding to the hand positioning pins 25, 26 are bored in the lower part of the casing 69b in FIG. 17. Furthermore, a hand ID data storage element (hereinafter referred to as hand ID) 69a is attached to the casing 69b at the lower part in FIG. 11, and a mounting projection 69d is provided at the upper part in the figure.

The chuck claw hand 72 attached to the arm 62 has a second
As shown in FIG. 1, it has a casing 72b, and on the upper surface 72c of the casing 72b, like the tool hand 69, an adjustment member 67 is arranged with respect to the casing 72b in the left-right direction (arrow The adjustment member 66 is fixed by a bolt or the like in such a manner that it can be adjusted to move by a predetermined amount in the horizontal direction), and furthermore, above the adjustment member 67 in the figure, there is an adjustment member 66 that can be rotated and adjusted by a predetermined amount with respect to the adjustment member 67. It is fixed with bolts etc. in any way possible. And the joint 66C166d
A joint 66e, which together constitutes an Oldham joint, protrudes from the adjustment member 67 toward the casing 72b, and has an axis CT fixed to the casing 72b.
It is connected to a connecting shaft 73a constituting the rotation mechanism 73 of No. 4. Therefore, the adjustment members 6 and 7.66 are attached to the casing 72.
By adjusting to b, the chuck claw hand 69
The chuck claw 11 (described later) when attached to the arm 62
The position of the gripper 75 holding the arm 62 relative to the chuck 9.19 can be easily adjusted.
By the example drive motor 63, the couplings 66c, 66d, 6
6a, the rotation mechanism 70 of the aforementioned tool hand 69
Not only that, but also the rotation mechanism 73 of the chuck claw hand 72, which will be described later.
can also be driven. The same applies to the work hand 76, which will be described later. Therefore, the degree of freedom in designing the various replaceable hands of the gantry robot 61 can be increased, and the hands can be made smaller.

Inside the casing 72b, a connecting shaft 73a,
Umbrella 11IE73b, 73c, Geneva TR army 73d, 73
A rotating mechanism 73 consisting of e, etc. is provided, and the connecting shaft 7
When 3a is rotated in one direction of arrows HM, , HM, Geneva fr*73e is rotated in one direction of arrows H, y, H around axis CT. Then, in the Geneva sound bundle 73e, the second
As shown in Figure 0, engagement holes 73e' are bored at a pitch of 90' with respect to the axis CT, and
As shown in FIG. 21, a rotation locking pin 73f is provided in such a manner as to be engaged with and disengaged from the retaining hole 730' so as to be freely protrusive and retractable in the directions of arrows KH and KH-. A rotating portion 74 is provided on the left side of the casing 72b in FIG. 21, connected to the Geneva wheel 73e, and rotatable in one direction of arrows H+ and H about the axis CT.

Then, as shown in FIG. 22 or 23, the rotating part 7
Four grippers 75, 75, 75 are provided on the side 74a of 4.
．． 75 are provided radially with a 90" pinch with respect to the axis CT machine. That is, the rotating part 74 has a gripper 7
5 are provided axially symmetrically. And each gripper 75
As shown in FIG. 26, arms 75a, 75a are vertically symmetrically formed in a shape corresponding to the groove 116C of the held portion 116b of the chuck jaw 116, and are aligned with the arrows Q and Q in FIG. It is provided so that it can be driven open and closed in one direction. The opening/closing mechanism for the arms 75a, 75a is the same as the opening/closing mechanism for the arms 71a, 71a of the gripper 71 of the tool hand 69, so a detailed explanation will be omitted.

In addition, the lower part of the casing 72b in FIG.
D72a is installed. Furthermore, a placement protrusion 72d is provided at the upper part of the casing 72b in FIG.

The work hand 76 attached to the arm 62 has a casing 76b, as shown in FIG. 20 or 21, and the upper surface 76c of the casing 76b has a , adjustment member 67
, an adjustment member 66 is attached. A rotation mechanism 73 similar to the chuck claw hand 72 is provided inside the casing 76b. And casing 76b
On the left side of FIG. 21, the rotating part 77 is connected to the Geneva gear 73e.
It is connected to and is provided so as to be rotatable in one direction of arrow H or H around the axis CT machine.

The rotating portion 77 has two hand claw mounting surfaces 77b, as shown in FIGS. 27 to 29.

77b are provided symmetrically (at a pitch of 180') with respect to the axis CT, and on each hand claw mounting surface 77b, as shown in FIG.
The claw opening/closing operation plate 77c is provided with three operation grooves 77C'. In addition, the claw opening/closing operation plate 7
Regarding the drive mechanism etc. of 7c, see Japanese Patent Application Laid-Open No. 1-252314.
5, Japanese Patent Application Laid-Open No. 1-71948, etc., so a detailed explanation thereof will be omitted here. In addition, grippers 77d are provided at four locations on the casing 77a portion of the hand claw mounting surface 77b, and each gripper 77d has a second gripper 77d.
As shown in Figure 9, the hooks 77e and 77e are marked with arrows
■It is provided so that it can be opened and closed in one direction.

Further, a hand ID 76a is attached to the lower part of the casing 76b in FIG. 27 or 28. Furthermore, a placement protrusion 76d is provided at the upper part of the casing 76b in FIG.

The hand contact surface 79f of the block 79g is fixed thereto in a protruding manner. In addition, the hand claw 79 itself has
No driving means for the winter melon 79b is provided. Also,
As shown in FIG. 29 or 30, four held bottles 79d corresponding to the grippers 77d of the work hand 76 are protruded from the hand contact surface 79f. Further, as shown in FIG. 28, a hand claw ID data storage element (hereinafter referred to as hand claw ID) 7 is provided on the workpiece facing surface 79e.
9a is installed.

As shown in FIG. 29, the hand claw unit (hereinafter referred to as hand claw) 79 attached to the work hand 76 is
The block 79g has three claws 7 on the workpiece facing surface 79e, as shown in FIG.
9b is attached so that it can be opened and closed in one direction of arrow HJ or HJ. In the winter melon 79b, as shown in FIG.
The engaging pin 79c corresponding to c' is connected to the through hole 790', and the lathe cell 1 has a cell control section 82, as shown in FIG.
Through the system program memory 83, system data memory 84, system operation data memory 85, machining schedule memory 86, system operation data collation unit 8
7, display control section 88, input control section 89, ID data input/output control section 90, work measurement section 91. A pallet fork control section 92, a stocker control section 93, a gantry release robot control section 94, a hand positioning pin control section 95, etc. are connected. A display device 88a such as a CRT display is connected to the display control section 88, and an input device 89a such as a keyboard is connected to the input control section 89. The ID data input/output control unit 90 also includes controllers (buffer memories) 39a, 52a, 53a.
, 55a, 56a, the R/W head 39.52.
53, 55, and 56 are connected. Further, the drive motors 35c, 35e, 37c, etc. of the pallet fork 36 are connected to the pallet fork control unit 92, and the drive cylinder 50a of the connecting pin 50 of the stocker 41, the ff point image holding pin 51, etc. are connected to the stocker control unit 93. Drive cylinder 51
a is connected. In addition, the gantry robot control unit 9
4, move the gantry robot 61 to arrow A+, A one direction,
A drive motor (not shown) that moves in the directions of arrows B+ and B-, a drive motor 63 for the arm 62, and a drive cylinder 65d.
etc., and is further connected to various driving means such as a tool hand 69, a chuck claw hand 72, and a work hand 76. Hand positioning pin control section 9
5 is a drive cylinder 25 for hand positioning pins 25 and 26.
a, 26a are connected.

A machine control unit 97 is connected to the cell control unit 82 via a digital line 112.
System program memory 98 via bus line 97a.
, system data memory 99, Canadian program memory 1
00, natural nail forming program memory 101, setup change determination section 102, barrier setting section 103, display control section 104. Input control section 105, spindle control section 106, headstock control section 10
7, a tool post control section 108, a chuck jaw exchange auxiliary device control section 109, a tool measuring section 110, etc. are connected. The workpiece spindle 7.17 and the drive means for the opening/closing operation member 10 of the chuck 9.19 are connected to the spindle control section 106, and the drive means for the headstock 6.16 is connected to the headstock control section 107. The driving means for the turret tool rest 21 and 22 is connected to the tool rest control section 108. Also,
The drive cylinders 12a and 13a of the chuck jaw replacement auxiliary device 12 are connected to the chuck jaw replacement auxiliary device control section 109.

Further, an FMS control device 115 is connected to the cell control section 82 and the machine control section 97 via digital lines 113 and 114.

Since the lathe cell 1 has the above-described configuration, when automatically machining a plurality of types of workpieces 120 in succession in the lathe cell 1, each headstock 6. 16 chuck 9.19 chuck jaw 116
, tools 117 and the like of each turret tool rest 21, 22 are changed as appropriate depending on the type of workpiece 120 to be machined.

First, prior to processing, the operator in charge of the system
A system operation data cumulative table ASOD shown in FIG. 59 is created via the display device 88m and the input device 89m. The system operation data cumulative table ASOD is created by adding system operation data SOD for the scheduled machining to data regarding past machining. That is, the operator inputs the system operation data S of the planned processing amount via the input device 89a.
As OD, the work number W of each work 120 to be processed
The tool number of the tool 117 is the transport program number TPNO1 of the transport program that is used (or is expected to be used) when machining the workpiece 120 of the workpiece number WHO by sequentially inputting and setting the HO and classifying it by the workpiece number WNO. TNo, the chuck jaw number TJNO of the chuck jaw 116, the hand number HNO of the work hand 76 of the gantry robot 61 (only one work hand 76 is stored in the stocker 41 shown in FIG. may be stored in the stocker 41. In that case, depending on the type of hand claw 79 used, the type of work hand 76, that is, the hand number HN.
O may be different. ), and the hand claw number HJNO of the hand claw 79. Then, the cell control unit 82 stores the input system operation data SOD in the system operation data memory 85.

In this way, the system operation data SOD regarding each workpiece 120 is input, and the system operation data cumulative table ASOD
is created, the operator in charge of setup uses the chuck jaws 116, tools 117, and hands 69, 72, and 76 necessary for machining based on the system operation data SOD for the scheduled machining in the system operation data accumulation table ASOD. , hand claw 79, etc. are stored in the stocker 41 of the setup station 30. That is, among the plurality of chuck jaws 116 necessary for machining, the chuck jaws 116 that should be attached to the chuck 9 on the first headstock 6 side are stored in the first chuck jaw storage section 45, and the chuck jaws 116 on the second headstock 16 side are stored in the first chuck jaw housing section 45. The chuck claws 116 to be attached to the chuck 19 are stored in the second chuck claw storage portion 46, and each chuck claw 116 is stored in the stocker 41. When storing the chuck jaw 116 in the first chuck jaw housing portion 45, the held portion 116b shown in FIG. 25 is directed upward in FIG.
The chuck claw 116 is inserted and placed into the placement groove 45b at the predetermined placement position 45a from above in the figure, with the chuck claw 116 facing toward the side plate 41a. Then, the chuck pawl ID 116a of the chuck pawl 116 placed in the placement groove 45b is attached to the side plate 41.
The stocker 41 is inserted through the hole 41a' drilled through the
It is exposed on the outside (left side of the side plate 41a in the figure).

Incidentally, the chuck jaw ID data TJIDD as shown in FIG. 63 has already been written and updated in the chuck jaw ID 116a of the chuck jaw 116 that has been set in the stocker 41 and used once. Chuck jaw ID116a of the previous unused chuck jaw 116
Since the chuck jaw ID data TJIDD is not written in the chuck jaw ID data TJIDD, the operator uses a portable R/W head etc. to check the chuck jaw 11 with the chuck jaw number TJNO, etc.
The chuck jaw I'D data TJIDD regarding 6 is written in advance in the chuck jaw ID 116a of the chuck jaw 116 concerned. Note that reading and writing ID data to the ID by the R/W head, such as writing the chuck jaw ID data TJIDD to the chuck jaw ID 116a, is performed by the R/W head.
This is performed in a non-contact manner using electromagnetic induction or the like with the head facing the ID. Furthermore, when storing the chuck jaw 116 in the second chuck jaw storage part 46, the held part 116b faces upward in FIG.
The chuck 116 is placed at a predetermined mounting position 46 so that it is exposed to the outside of the stocker 41 through the hole 41c'.
Insert and place it in the placement groove 46b of a. Therefore, since the chuck jaws 116 are stored one by one in the stocker 41, the storage space is reduced compared to storing one set (three in this case) of the chuck jaws 116 all at once via a support or the like. The same stocker 41 can store not only the chuck jaws 116 but also the tools 117, hands 69, 72, .
76, hand claws 79, etc. can also be stored. Also,
It is also possible to easily increase the number of chuck claws 116 stored. Furthermore, among the plurality of tools 117 necessary for processing, the tools 117 that should be mounted on the first talent tool rest 21 are stored in the first tool storage section 47, and the tools 117 that should be mounted on the second talent tool rest 22 are stored in the first tool storage section 47. The tools 117 are stored in the stocker 41 in a manner that they are stored in the second tool storage section 48 . When storing the tool 117 in the first tool storage portion 47, the tool body 117A of the tool 117 shown in FIG. 18 is directed toward the left in FIG. 11, and the shank 117c is Predetermined placement position 4
The tool 117 is placed on the first tool storage portion 47 by inserting it into the shank hole 47b of 7a from above in the figure. Then, the tool r of the tool 117 placed on the first tool storage section 47
D117a is exposed at the lower part of the first tool storage section 47 in the drawing through a hole 47c formed through the first tool storage section 47. Note that the tool IDI 17a of each tool 117 set in the stocker 41 and used once is the 62nd one.
The tool ID data TIDD as shown in the figure has already been written and updated, but the tool ID data TIDD has not been written to the tool 117a of the unused tool 117 before being set in the stocker 41. The operator inputs the tool ID data T regarding the tool 117, such as tool number TN○, through a portable R/W head or the like.
The IDD is written in the tool ID 117a of the tool 117 in advance. In addition, the tool 117 is stored in the second tool storage section 48.
When storing the tool, the tool main body 117A faces to the right in FIG. 11 and the tool ID 117a is exposed to the lower part of the second tool storage section 48 in the figure through the hole 48c, similar to the first tool storage section 47 side. The tool 117 is placed at a predetermined placement position 48a so that the tool 117 is in the same state as the above.

Further, the tool hand 69, the chuck claw hand 72, and the work hand 76, which are attached to the gantry robot 61, are set to the seventh hand ID 69a, 72a, and 76a, respectively.
Adjustment member 66 connected to arm 62 toward the bottom of the figure.
67 facing upward in the figure, the mounting protrusions 69d and 72d
, 76d on the holding plates 43b, 43 at the predetermined mounting position 43a.
b, and each hand 69, 72, 76 is stored in the hand storage section 43. Note that hand ID data HIDD such as the hand number HNO regarding the hand 69.72.76 as shown in FIG. 64 is written in advance in the hand IDs 69a, 72a, and 76a of each hand 69.72.76. Further, as shown in FIG. 8, the plurality of hand claws 79 are placed on the predetermined placement position 42a of the hand claw storage section 42 with the hand contact surface 79f facing toward the front side of the page. . Then, the hand claw ID 79a of the hand claw 79 placed on the hand claw storage section 42 is inserted into the hand claw storage section 4.
The hand claw storage portion 42 is exposed to the head 31 side on the other side of the page through holes 42b formed through each mounting position 42a of the hand claw storage portion 42. Furthermore, the hand claw ID of each hand claw 79
79a contains hand claw ID data H such as the hand claw number HJNO regarding the hand claw 79 as shown in FIG.
J IDD is written in advance.

In this way, the system operation data S
The OD is input, and the chuck jaw 11 is placed in the stocker 41.
6, Tool 117, Hand 69.72.76, Hand claw 7
9 is stored, the controller 82 executes steps S31 and S52 of the pre-setup program PPR shown in FIG. 32 in response to a command from the operator via the input device 89a.
Step SS3 is then entered, and the stocker 4 is moved through the stocker control unit 93 by causing the connecting pin 50 shown in FIG.
1 is connected to the drive unit 35, and the origin holding bin 51 is moved backward in the direction of arrow V-force to be disengaged from the engagement hole 31d, thereby releasing the fixed state of the stocker 41 to the bed 31. Then, by driving the drive motor 35e on the pallet fork 36 side, the stocker 41, which does not have its own drive means, is moved integrally with the pallet fork 36 and the drive unit 35 in one direction of arrows X+ and X in FIG. It can be moved. In addition, pallet fork 3
6 in one direction of arrows X+ and X in FIG. 8, the pallet fork 36 is fixed at the origin position YO in the one direction of arrows Y+ and Y in FIG.

When the stocker 41 is connected to the pallet fork 36 side, step 334 in FIG. 32 is entered, and the cell control unit 82
While appropriately moving and driving the stocker 41 in one direction of arrows X4+ and X4 in FIG. 8 via the pallet fork control unit 92,
ID data input/output control section 90, R/W head 52.53
．． 55, 56, each chuck jaw 116, each tool 117, each hand 69, 72.
ID116a, 117a, 6 of 76 and each hand claw 79
From 9a, 72a, 76a, 79a, chuck jaw ID data TJIDD, tool data TIDD, hand I
The D data HIDD and the hand claw ID data HJIDD are read out and stored in the system data memory 84.

That is, by appropriately moving the stocker 41 in the direction of arrows X4 and X4 in FIG. 8, as shown in FIG.
．． Tool ID 117 of each tool 117 placed on 48
a to the R/W head 56.5 on the support members 31c, 31c fixed to the bed 31 through the holes 47c, 48c.
6, and the tool ID data TIDD is read from the tool D117a facing the R/W head 56. Further, the R/W heads 55.55 on the support members 31c, 31c are rotated in the 11th @ arrow E+ direction, and each tool 11 protrudes downward in the figure from the tool storage portion 47.48.
While avoiding interference between the shank 117c of No. 7 and the R/W head 55.55, move the stocker 41 in the direction indicated by the arrow X in FIG.
4+, X4 as appropriate in one direction, and successively position the chuck claw IDI 16a of each chuck claw 116 stored in the chuck claw housing portion 45.46 to the side of the R/W head 55.55 in FIG. Going, R/W head 55.55
Turn it in the 11th @ arrow E+ direction to face the side plates 41a and 41c of the stocker 41, and open the holes 4 in the side plates 41a and 41c.
1a', 41c', a chuck jaw fD116a facing the R/W head 55, facing the chuck jaw ID116a of the positioned chuck jaw 116.
Read chuck jaw ID data TJIDD from . Further, the R/W head 53 on the bed 31 is moved backward in one direction shown by the arrow in FIG.
While avoiding interference with the hand storage section 4, move the stocker 41 appropriately in one direction of arrows X4 and X4 in FIG.
Hand ID of each hand 69.72.76 stored in 3
69a, 72a, and 76a are sequentially positioned above the R/W head 53 in FIG. Insert it into the hand ID69a
, 72a, 76a, and from the hand IDs 69a, 72a, 76a facing the R/W head 53,
Read D data HIDD. Similarly, stocker 4
1 as appropriate in one direction of arrows X4+ and X4 in Figure 8,
The hand claw ID 79a of each hand claw 79 placed on the hand claw storage section 42 is sequentially made to face the R/W head 52 on the bed 31 on the opposite side of the page through the hole 42b, and the R/W Hand claw ID data HJIDD is read from the hand claw ID 79a facing the head 52.

In this way, each tool 117 and each chuck claw 11 stored in the stocker 41 are read out at a predetermined mounting position.
6. Tool ID data TIDD, chuck claw ID data TJIDD, hand ID data HIDD and hand claw I regarding each hand 69, 72, 76 and each hand claw 79
D data HJIDD is -dan each controller 56a, 5
5a.

After being stored in the buffer memories of 53a and 52a, as shown in FIG.
．． 47m, 48a, 45a, 46a, 43a, 42
Position number N corresponding to a.

System data 5DST1 in an ordered form based on
．． 5Dsvz, S D sc2. S D IC2, S
D.H., S.D.

, are stored in the system data memory 84 as . Therefore, the tool 117, the chuck jaw 116, the hand 69.7
2.76. If the hand claw 79 is shared by multiple machine tools, using it with a machine tool other than lathe cell 1,
Tool ID data TIDD, chuck jaw ID data TJ
Even if the IDD, hand ID data HIDD, and hand claw ID data HJIDD change, the operator can use the input device 89
There is no need to input data one by one from step a, thereby avoiding input errors and freeing the operator from complicated work. In addition, the mounting positions 47a, 48a, 45a, 46a, 43a, 42a where each tool 117, each chuck jaw 116, each hand 69, 72, 76, and each hand jaw 79 are actually stored, and the system data S DsH, S Dst2. S.D.
Scs, S DSC2, SD, 5DII+ are definitely matched. The system data memory 84 also contains tool ID data TIDD regarding each tool 116 already mounted on the turret tool rest 21.22 of the machine 2, and tool ID data TIDD for each tool 116 already mounted on the chuck 9.19 of the machine 2. The chuck jaw ID data TJIDD regarding the jaw 116 is
The system data SDT□, 5Dtz is classified by turret tool rest 21.22 and chuck 9.19, and arranged based on the position number No. of each mounting position.
, 5DC1, 5DC2.

Incidentally, in the system data memory 99 on the side of the machine control section 97, among the system data SD shown in FIG.
System data 5Dc regarding T□, Chuck 9.19
z, 5DC2 is stored.

Each chuck claw 116, each tool 117, each hand 69, 72, 76, and each hand claw 79 stored in the stocker 41
From, chuck jaw ID data TJIDD, tool ID
When the reading of data TIDD, hand ID data HIDD, and hand claw ID data HJIDD is completed, the third
At step SS5 in FIG. 2, the cell control unit 82 moves the stocker 41 to the eighth
The control axis is moved to the origin in one direction of arrows X4+ and
1d, the stocker 41 is moved to the bed 3.
1 and move the connecting bin 50 backward in one direction of the arrow U to remove it from the retaining hole 35b, thereby releasing the connection between the stocker 41 and the drive unit 35 on the pallet fork 36 side.

Next, in step 336 of FIG. 32, the cell control unit 82 checks each tool set in the system operation data SOD shown in FIG. NumberTNO
1 Each chuck jaw number TJNO 1 Each hand number HN○ and each hand jaw number HJNO, system data memory 84
Each I of the system data SD shown in FIG.
D data TIDD, TJ IDD, HIDD, HJID
Compare the tool number TNO, chuck jaw number TJNO, hand number HNO and hand jaw number HJNo in D,
All kinds of tools 117 and chuck jaws 11 necessary for processing
6. It is determined whether the hands 69, 72, 76 and hand claws 79 are stored in the stocker 41 or the machine 2, that is, whether the lathe cell 1 is fully filled. If any type of tool 117, chuck jaw 116, hand 69, 72, 76, or hand jaw 79 is insufficient, the process proceeds from step SS6 in FIG. 32 to step S57, and the cell control unit 82 The missing tools 117 and chuck jaws 11 are displayed on the display device 88a via the display control unit 88.
6. Tool number TNO of hand 69.72.76 or hand claw 79, chuck claw number TJNO, hand number HNO
Alternatively, the hand claw number HJNO is displayed to instruct the operator to replenish.

The operator in charge of setup also stores the tool 117, chuck jaw 116, hand 69, 72, 76, and hand jaw 79 in the stocker 41 (step SS in Fig. 32).
It is best to do this by the time you reach 8. ), a predetermined number of workpieces 120 with workpiece numbers WNO to be machined set in the system operation data SOD for the scheduled machining are arranged in a predetermined form on a predetermined pallet 119 for each workpiece number WN○. Place it. Then, as shown in FIG. 7, each pallet 119 on which the workpiece 120 is mounted is
119a are stacked in a predetermined order (this becomes a processing schedule MSC as described later) with the directions of the sheets 119a aligned.

At this time, the pallet bin 1 attached to each pallet 119
The pallet bin 119 has an appropriate height PPHT so that the pallet 119 stacked directly above does not come into contact with the workpiece 120 placed on a predetermined pallet 119.
(Extensible pallet pin 119p)
is fixed to the pallet 119, and the pallet bin 119 is
(The height PPHT of p may be adjusted as appropriate).

In this way, when the workpieces 120 to be processed are placed on the pallets 119, the operator enters the sixth
Pallet number P of the pallet 119 as shown in Figure 6
LNO1 Work 12 placed on the relevant pallet 119
Work number WHO of 0, height P of pallet bin 119p
Palette ID data PIDD regarding the pallet 119, such as PHT, is written via a portable R/W head or the like. Then, each stacked pallet 119 is transported by a forklift or the like to the setup station 3° of the lathe cell 1, and placed on the material station 32 with the pallet ID 119a side facing right in FIG.

In this way, all the tools 117, chuck jaws 116, hands 69, 72, 76, and hand jaws 79 necessary for machining are filled in the lathe cell 1, and each pallet with workpieces 120 mounted on the material station 32]19 are placed in a stacked state, and the operator inputs the input device 89.
When the automatic operation start button a is pressed, the cell control unit 82 enters the automatic operation program AOP shown in FIG. 33 from steps SS6 and SS8 in FIG. 32.

When the automatic operation program AOP is started, first, the cell control unit 82 moves the pallet fork 36 via the pallet fork control unit 92 to arrows X3+ and X3 in FIG. 8 based on the schedule creation program SCP shown in FIG.
One direction, arrow Y in Fig. 7, or Y direction as appropriate.
Each pallet 1 stacked on the material station 32 via the ID data input/output control unit 90 and the R/W head 39
19 pallet ID 119a to pallet ID data P
The IDD is read and a machining schedule MSC as shown in FIG. 61 is created. That is, the pallet fork 36
is moved in the direction of arrow X3+ in FIG. 8 to position the pallet 119 placed on the material station 32 at the Y Kashiwa origin position YO above FIG. 7 (step 5PI). Next, with the hook 37a of the arm 37 retracted in the direction of the arrow F in FIG. 10, the pallet fork 36 is once lowered in the direction of the arrow Y in FIG. 7 to the lower limit position YL set by the parameter. Then, each stacked pallet 119
If the pallets 119 are not aligned, the limit switch 36b mounted on the arm 37 comes into contact with the pallet 119 that is not aligned in the vertical direction in FIG. In addition, when the pallets 119 are aligned, the pallet fork 36 that has been lowered to the lower limit position YL is raised again to the Y Kashiwa origin position YO above the arrow Y in FIG. 7 of the uppermost pallet 9 in the force direction. (Step 5P2). Then, the pallet fork 36 is lowered in the direction of arrow X+ in FIG. 8 at a predetermined rapid feed speed set by the parameters (step 5P3). When the pallet fork 36 descends and approaches the pallet 119 stacked at the top position, the proximity switch 36a attached to the arm 37 activates the pallet 119.
detects the metal frame and turns on (step 5T4). Then, the descending speed of the pallet fork 36 is reduced to a predetermined speed set by a parameter (step 5P5). Then, when the R/W head 39 attached to the pallet fork 36 faces the pallet 119a of a predetermined pallet 119, the pallet 119 to which the pallet ID 119a is attached starts from the pallet ID 119a.
The associated pallet ID data PIDD is read out.

Then, the read pallet ID data PIDD is registered in the machining schedule memory 86 as a machining schedule MSC (step 5P6). When the pallet fork 36 further descends and separates from the metal frame of the pallet 119 from which the pallet ID data PIDD has been read, and the proximity switch turns OFF (step 5P7), the pallet fork 36 moves to the lower limit position YL.
If the pallet fork 36 has not descended to the previous ID data PI (step 5P8), the descending speed of the pallet fork 36 is again accelerated to the rapid traverse speed, and the pallet fork 36 is moved to the previous ID data PI.
The next pallet 119 located directly below the pallet 119 from which the DD was read is approached. In this way, the pallet fork 36 is lowered by increasing the descending speed between the pallets 119 and 119 and slowing down as it approaches each pallet 119. Palette ID 119a of each palette 119 from the lowest palette 119 to the lowest palette 119
Palette ID data P regarding the pallet 119 from
The IDDs are read out in order, and each palette ID data P
Machining schedule memory 8 in the order in which IDDs are read out.
Create a Canadian MSC by registering it in 6.

At this time, the display device 88a displays the following information as shown in FIG.
The machining schedule MSC is displayed. Then, when the pallet fork 36 is lowered to the lower limit position YL shown in FIG.
P8), the pallet fork 36 is raised in one direction of the arrow Y to the Y Kashiwa origin position YO (Step 5P9), and the schedule creation program SCP is ended. That is, as will be described later, each pallet 119 stacked on the material station 32 is connected to each workpiece 120 mounted on the pallet 119.
When processing the workpieces 120, the workpieces 120 are sequentially taken out by the pallet fork 36 starting from the upper part in FIG. Palette I, which was the basis for automatic creation of MSC
D data PIDD is 1 from each pallet 119.
The order definitely matches the order read out from 19a. Therefore, it is possible to avoid creation errors that occur when an operator creates a machining schedule, and the pallet ID
Processing schedule M based on the reading order of data PIDD
Automatic creation of SC can greatly contribute to unmanned processing.

Next, in step SAI in FIG. 33, the cell control unit 8
2, the work number WN○ in each part 1-ID data PIDD that has been read out is converted to the system operation data SOD for the current processing through the system operation data collation unit 87.
Compare with the work number WNO inside. Then, if the work numbers WNO of both do not match, step SA
2 gives a warning to the operator and both workpiece numbers WNO
If they match, step SA3 is entered.

Therefore, each tool 117 in the lathe cell 1, each chuck jaw 1
Tool ID data related to 16 TIDD, chuck jaw I
The D data TJIDD was indirectly compared with the pallet ID data PIDD through the system operation data SOD created by the operator.
As shown in the figure, the pallet ID data PIDD includes the tool 117 necessary for machining the workpiece 120 mounted on the pallet 119, the tool number TNO of the chuck jaw 116,
Since the chuck jaw number TJNO is stored, as described later, the tool ID data TIDD and the chuck jaw ID data TJIDD can be directly converted to the pallet ID data PIDD.
It may be confirmed that the items necessary for machining are available in the lathe cell 1 by comparing with the above. The same applies to the hands 62, 72, and 76 and the hand claws 79.

That is, when the tool 117 and the like necessary for machining are set in the stocker 41 by the operator, it is confirmed that they are set correctly. Therefore, with multiple machine tools, tool 1
17, etc., each machine tool selects the workpiece 120 to be machined from among the many commonly used tools 117, etc.
Since the necessary tools 117 etc. can be reliably selected according to the type of the can be managed.

Note that whether the necessary tools 117, etc. are stored in the stocker 41 is checked based on the system operation data SOD, or based on the type of workpiece 120 set as part of the pallet ID data PIDD. This is done based on the tool number TNO of the tool 117 to be used, so the system operation data SOD or pallet ID data PID
It is sufficient to prepare (set) either the tool number TNO of the tool 117 corresponding to the 1200 types of workpieces in D.

Then, in step SA3, the cell control unit 82
The machine program numbers PRN in the pallet ID data PIDD related to the workpieces 120 to be machined are transferred to the machine control unit 97 in the order set as the machining schedule MSC. The machine control unit 97 controls the Canadian program number PR.
The N program program PRO is stored in the program memory 10.
0 and set in the machine program PRO through the setup change determination unit 102 (that is, the tools 117 and chuck jaws 116 necessary for machining the workpiece 120).
etc.) tool number TNO, chuck jaw number TJNO, etc.
By comparing with the system data SD in the system data memory 99, it is possible to determine whether or not the necessary type of tool 117 is mounted on the turret tool post 21, 22 when machining a predetermined type of workpiece 120, and the necessary type of chuck. It is determined whether the claw 116 is attached to the chuck 9.19.

If any of the necessary items is not installed, the machine control section 97 outputs a replacement command to the cell control section 82, and also informs the cell control section 82 of the tool number TNO, chuck type number TJNO, etc. to be replaced. , and step S in Figure 33
A4 is entered, and the tool 11-7 and chuck claw 116 are replaced as follows. In the above case, the necessity of a setup change is determined based on the Canadian program PRO, but the necessity of a setup change may also be determined based on the system operation data SOD and the data PIDD from the pallet. . Similarly, the required type of work hand 7
6 is attached to the gantry robot 61, and whether the necessary hand claws 79 are attached to the work hand 76. If any of the necessary hand claws is not attached, the process shown in FIG. Step SA4 is entered, and the predetermined hand number HNO and hand claw number HJ are set as follows.
The work hand 76 and hand claw 79 are replaced with NO. In addition, the tool 1 attached to the turret tool rest 21.22
Out of 17 tools, 117 have reached (or are about to reach) their service life.
We also exchange. Note that the system operation data collation unit 87 has confirmed in advance that the necessary tools 117, chuck jaws 116, work hand 76, and hand jaws 79 are stored in the stocker 41, so the items to be replaced are not stored in the stocker 41. This prevents the tool 117, chuck jaw 116, and work hand 7 described below from being missing.
6. The hand claw 79 can be replaced smoothly.

In step SA4, the cell control unit 82 connects the stocker 41 and the drive unit 35 by protruding the connection pin 50 of the stocker 41 in the direction of arrow U in FIG. is moved backward in the direction of the arrow V-force to release the fixed state of the stocker 41 to the bed 31, and the stocker 41 is brought into a state where it can be moved and driven together with the drive unit 35 and the pallet fork 36 in one direction of the arrows X+ and X in FIG. .

Next, a case will be described in which the tool 117 of the turret tool rest 21, 22 is replaced. First, before exchanging the tool 117, the hand exchange program HCP shown in FIG. 35 is entered from step SA5 in FIG. The stocker 41 is driven and controlled by the gantry robot 6 via the gantry robot control section 94.
1 to exchange the hands of the gantry robot 61. That is, since the gantry robot 61 is normally equipped with a work hand 76 suitable for holding the work 120, this is replaced with a tool hand 69 suitable for holding the tool 117. First, the work hand 76 attached to the arm 62 of the gantry robot 61 is attached to the stocker 4.
1 position above the moving route in Figure 1 (Step 5)
H1). Then, move the stocker 41 to arrow X4 or X in FIG.
4. The work hand 76 is appropriately moved and driven in one direction to position a predetermined placement position 43a where the work hand 76 is to be stored at the delivery position GTP (step 5H2). Next, gantry robot 6
1 arm 62 and work hand 76 in the direction of arrow A+ in FIG.
The mounting protrusion 76d of the work hand 76 is placed on the holding plates 43b, 43b of the mounting position 43a positioned at the delivery position GTP (step 5H3). Then, by driving the drive cylinder 65d shown in FIG. 13, the operating rod 65c is moved by the arrow GM+
When the hooks 65a, 65a are protruded in the direction of the spring 65, the hooks 65a, 65a
b, it swings in the direction of arrow G+ following the taper portion 65c', and the engagement between the hook 65a on the arm 62 side and the engagement pin 66a on the work hand 76 side is released (step 5H4). Then, the work hand 76
The holding plates 43b and 4
3b is stored in the stocker 41. Next, only the arm 62 of the gantry robot 61 is moved to the seventh
After moving the stocker 41 up in one direction of the arrow A in the figure and retracting it out of the movement range of the stocker 41 (step 5H5), the stocker 41
by appropriately moving and driving it in the directions of arrows X4 and X4- in FIG.
The tool hand 69 placed at the predetermined placement position 43a is positioned at the delivery position GTP (step 5H6). Then, the arm 62 is lowered again in the direction of arrow X+ in FIG.
The positioning pin 65f shown in FIG. 12 of the arm 62 is inserted into the joint 66c shown in FIG. 17 of the tool hand 69, and the spline shaft 63 shown in FIG.
The arm 62 and the tool hand 69 positioned at the delivery position GTP are brought into contact with each other by engaging the arm 62 and the tool hand 69 (step 5H7).

When the operating rod 65c shown in FIG. 13 is released from the drive cylinder 65d in the direction of the arrow GM and is moved back in the direction of the arrow GM by the spring 65e, the hook 6
5a and 65a are springs 6 that follow the tapered portion 65C'.
The arm 62 swings in the direction of the force indicated by the arrow G against the elasticity of the arm 62.
Hook 65a on the side and engagement pin 66 on the tool hand 69 side
a are engaged, and the tool hand 69 is attached to the arm 62 (step 5H8). Then, the arm 62 and tool hand 69 are raised in one direction indicated by the arrow A in FIG. 7, and the hand exchange program HCP is completed.

Note that when the tool hand 69, chuck claw hand 72, and work hand 76 are stored in the predetermined placement position 43a of the stocker 41, hand ID data is obtained from the hand IDs 69a, 72a, and 76a of the respective hands 69, 72, and 76. HI
By reading the DD, the cell control unit 82 sets the placement position 43a where each of the hands 69, 72, and 76 is stored.
Since the hand can be recognized without any confusion, when replacing the hand of the gantry robot 61, the desired hand (the tool hand 69 in the above case) can be reliably selected and attached to the gantry robot 61. Similarly, the hand claw 79, chuck claw 116, and tool 117 housed in the stone force 41 are handled by the cell control unit 8.
2 reads out data from each of the mounting positions 42a, 45a, 46a, 47a, 48a.
Since it is possible to reliably recognize the
9. The chuck jaws 116 and tools 117 are replaced accurately.

When the tool hand 69 is attached to the gantry robot 61, the tool exchange program TCP shown in FIG. 36 is entered from steps SA6 and SA5 in FIG. Driving and controlling the stocker 41 via the control unit 92,
The gantry robot 61 is driven and controlled via the gantry robot control section 94, and the hand positioning pins 25 and 26 are driven and controlled via the hand positioning pin control section 95. The turret tool rests 21 and 22 are driven and controlled via the tool rest control unit 108 by exchanging a waiting signal with the tool holder 82, and the tools of the first talent tool rest 21 and the second talent tool rest 22 are controlled. 117
exchange.

Note that the tool hand 69 includes a first turret tool rest 21,
15 in a form corresponding to each of the second turret tool rests 22.
Two grippers 71 are provided on both the left and right sides of the figure.
Although it is possible to replace the tool 117 on the first talent tool rest 21 side and the tool 117 on the second turret tool rest 22 side at the same time, it is possible to replace the tool 117 on the second turret tool rest 22 side. Since it is the same as the first talent tool rest 21 side, the tool 117 on the first talent tool rest 21 side will be described below.
This section explains the exchange of . First, gantry robot 61
The tool hand 69 is moved to the third position on the moving path of the stocker 41.
Position PTO at the upper position in Figure 7 (Step ST
1). Then, the stone force 41 is expressed by the arrows X4+ and X4 in FIG.
A tool with a predetermined tool number TNO (hereinafter referred to as a new tool) 117. The tool should be appropriately moved in one direction and mounted on the first turret tool rest 21 placed at a predetermined mounting position 47a.
is positioned at the delivery position GTP (step 5T2).

Next, the rotation locking pin 70h shown in FIG. 17 of the gantry robot 61 is moved backward in one direction of arrow KT, and the drive motor 63 shown in FIG.
The gripper 71 of the tool hand 69 is rotated in the force direction.
Rotate 90° in the direction of the arrow X+ in FIG. 8 integrally with the Geneva tooth IE 70 g. Then, the rotation locking pin 70h is projected in the direction of arrow KT+ and engaged with the engagement hole 70g' of the spring gear 70g, and the two grippers 71 corresponding to the first turret tool rest 21 shown in FIG. Position and fix the inner side to the stocker facing position SFP (Step 5T)
3). Then, as shown in FIG. 15, the operating door 1e of the gripper 71N positioned at the stocker facing position SFP faces the operating pin 69f on the casing 69b side. Next, the tool hand 69 is lowered in the right direction A in FIG. 37 to the position PTI at the height of the new tool 117N in the stocker 41 (step 5T4). Then, the operating pin 69f shown in FIG.
When pushed in the direction, the arms 71a, 71 shown in FIG.
a follows the tapered portion 71e' of the operating rod 71e via the spring 71C1 engagement rods 71d, 71d,
Open in the direction of arrow N+ (step 5T5). Next, with the arms 71a and 71a open, the tool hand 69 is
Move the gripper 71 to the new tool 117s on the stocker 41 by moving it in one direction of the arrow B in M37 to position PT2 and sandwiching the new tool 117N between the arms 71a and 71a from the top and bottom directions in FIG. 19 (step 5T6). Then, when the operating pin 69f shown in FIG. 19 is moved backward in the direction of the arrow MM, the operating rod 71e is pushed in the direction of the arrow NM- by the spring 71f, and the arms 71a, 71a are moved through the engaging rods 71d, 71d. The gripper 71N follows the tapered portion 71e' of the operating rod 71e and closes in the direction of the arrow N against the elasticity of the spring 71c, and the gripper 71N engages the three retaining holes 71b with the three held protrusions 117b. The new tool 117N is held in a matching manner (step 5T7). Next, while holding the new tool 117N in the gripper 71, move the tool/1st hand 69 to the position PT in the direction of the arrow in FIG.
When raised to 3, the shank 117C is in the shank hole 4.
The new tool 117N is taken out from the stocker 41 by being pulled out from the tool 7b (step 5T8).

Then, move the tool hand 69 to arrow B, force direction position PT4.
(Step 5T9), rotate the gripper 71 90''' in one direction indicated by the arrow T in FIG.
The gripper 71 that does not hold 7N. Position and fix J at the turret facing position TFP (Step 5 TIO
). Then, the operating rod and door 1e of the gripper 71L+ positioned at the turret facing position TFP face the operating bin 69f on the cage jig 69b side, as shown in FIG.

At this time, the new tool 11 held by the other gripper 71s
7, the shank 117c is in a horizontal state as shown in FIG. Next, move the tool hand 69 to arrow B in FIG.
The new tool 117 taken out from the stocker 41 is transported to the machine 2 side (step 5TII).

If the tools 117 of the second talent tool rest 22 are also replaced at the same time, the gripper 71 on the left side of FIG.
At the same time, take out the new tool 117o from the second tool storage part 48 using the gripper 71 on the right side of FIG. 37 of the tool hand 69.
Two new tools 117N are simultaneously held by the tool hand 69 and transported from the stocker 41 to the machine 2 side. This machine 2
When the new tool 117N is transferred to the side, the tool hand 69
is lowered in the vertical direction in Fig. 19 to position PT6 (step 5T12), and as shown in Fig. 40, the new tool 117N is
The arm 71a of the gripper 71U that does not hold the
71a is opened (step 5T13). Also, while the new tool 117N is being transported to the main machine 2 by the gantry robot 61, the first talent tool rest 21 is moved to the arrow D.
Among the plurality of tools 117 mounted on the first turret tool post 21 by appropriately turning in one direction +, D, a tool with a predetermined tool number TNO that is unnecessary for the current machining (hereinafter referred to as the old tool) 117LI is indexed and positioned at the exchange position EXP (step 5T14). Then, the new tool 117,l is transferred to the main machine 2 by the gantry robot 61, and when the gripper 71U of the tool hand 69, which does not hold anything, is opened, the first talent tool rest 21 is moved in the direction of arrow X1+ in FIG. The tool hand 69 is advanced to the moving path (step 5T15). Then, as shown in FIG. 41, the stone tool 117U indexed to the exchange position EXP of the first talent tool rest 21 is moved to the open gripper 71. of the tool hand 69. It is positioned on the side of j (on the front side of the paper in FIG. 41).

Next, move the tool hand 69 in one direction of arrow B in FIG.
When the turret is moved toward the front side of the drawing paper to position PT7 and approached the first turret tool rest 21 (step 5T16)
The stone tool 117u at the exchange position EXP of the first talent tool rest 21 is inserted between the arms 71a, 71a of the gripper 71U of the tool hand 69 in the open state. and,
After the hand positioning pin 25 is projected in the direction of arrow P in FIG. 41 and engaged with the positioning hole 69e of the tool hand 69, and the tool hand 69 is fixed on the machine body 3 (step
T17), close the arms 71a, 71a of the gripper 71u, and remove the stone tool 11 inserted between the arms 71a, 71a.
7u (step 5T18), then the old tool 117.7u is held (step 5T18). Tool mounting hole 2 of the first talent tool rest 21 of J
After releasing the holding state for 1a (step 5T1
9) Supply the first talent tool rest 21 to a drive motor (not shown) that drives the movement in the X-axis direction (arrows X1+ and Xl in one direction in FIG. 2) (the drive motor has a large torque because it is used for cutting). Electric current! With the torque limited by +1 (step 5T20), the first talent tool rest 21
Move the tool hand 6 in one direction of the arrow X1 in Fig. 42.
9 (step 5T21), the stone tool 117U held by the tool hand 69 is pulled out from the tool mounting hole 21a of the first talent tool rest 21. That is,
When the predetermined tool mounting hole 21a is rotated and positioned to the exchange position EXP, the drilling direction of the tool mounting hole 21a becomes parallel to the direction of arrows X+ and Tool 1 for mounting hole 21a
17 can be mounted and removed in parallel to the moving direction of the first turret tool rest 21.

Therefore, the gantry robot 61 has a workpiece spindle 7, which will be described later.
Since the gantry robot 61 moves along a rail 60 installed parallel to the spindle axis direction in order to transfer the workpiece 120 to and from the tool mounting hole 21a, the gantry robot 61 itself cannot move toward or away from the tool mounting hole 21a. Although it is possible, by moving the first talent tool rest 21 closer to and away from the gantry robot 61, the exchange position EXP can be changed as described above.
A stone tool 117 is inserted from the tool mounting hole 21a positioned at
J can be taken out, and a new tool 117 can be installed in the tool installation hole 21a in the following manner.

When the stone tool 117u is taken out from the tool mounting hole 21a, the gripper 71 of the tool hand 69 is
17U and the new tool 117N together with the new tool 117. i, with the shank 117c facing the tool mounting hole 21a side of the first turret tool rest 21, as shown in FIG. 42 or 43,
The turret is positioned and fixed at the position facing the turret TFP (step 5T22). Then, the first turret tool rest 21 is placed in a state where the torque of the drive motor in the X-axis direction is limited (step 5).
T23), the tool is moved in the + direction of the arrow X in FIG. 44 to approach the tool hand 69 (step 5T24). Then, the shank 117C of the new tool 117N held by the tool hand 69 is moved to the stone tool 1 of the first talent tool rest 21.
Since the new tool 117 is fitted into the tool mounting hole 21a in which the shank 117c was inserted, it is fixedly held in the tool mounting hole 21a and the new tool 117 is mounted on the first turret tool rest 21 (step 5T25). At this time, the tool hand 69 of the gantry robot 61 can accurately adjust the position of the gripper 71 (casing 69b) with respect to the arm 62 via the adjustment members 66, 67, and The tool hand 69 is positioned and fixed to the machine body 3 by the positioning pin 25 (if the hand positioning pin 25 is not provided, the tool hand 69 is attached to the tip of the extended arm 62, so accurate positioning is difficult. ), the shank 117c of the new tool 117 held by the gripper 71 positioned at the turret facing position TFP is accurately positioned with respect to the tool mounting hole 21a of the first turret tool post 21, and New tools to 1171. The fitting of the shank 117c of I is carried out suitably even if the fit is tight. In addition, if the position adjustment of the gripper 71 with respect to the arm 62 using the adjustment members 66, 67, etc. is incorrect, and the shank 117c of the new tool 117H does not fit properly into the tool mounting hole 21a. Since the torque of the drive motor of the first turret tool rest 21 in the X-axis direction is limited, it is possible to prevent the gantry robot 61 from being damaged by forced movement of the first turret tool rest 21. Further, as shown by the two-dot chain line in FIG. 15, by forming a constricted portion 71h in the arm 71a of the gripper 71, in the above-mentioned case, only the arm 71a portion is damaged, and the gantry Damage to the entire robot 61 may be avoided. next,
Open the gripper 71.4 of the tool hand 69 and use the new tool 1.
17t+ is released (step 5T26), and the first turret tool rest 21 is moved to the new tool 1 with the torque limit of the drive motor in the X-axis direction released (step 5T27).
17N, the tool hand 69 is moved in the direction of arrow B+ in FIG. is released (step 5T29). In addition, the second talent tool rest 22
If the tools 117 are to be replaced all at once, at this stage, move the tool hand 69 horizontally in the direction of arrow B+ in FIG.
1 facing the second turret tool rest 22, and with the hand positioning bin 26 shown in FIG. 1 protruding upward in the figure and the tool hand 69 fixed to the machine body 3, The stone tool 117u of the second talent tool rest 22 is replaced with a new tool 117N by appropriately moving and driving the tool 22 in one direction of arrows X2+ and X2 in FIG. Next, the tool hand 69 is moved in the direction of arrow B+ in FIG. 1 to position PT8 (step 5T30), and the gripper 71. is closed (step 5T31), and the tool hand 69 is further raised to arrow A-force direction position PT9 (step 5T32). And tool hand 69
is moved in the direction of arrow B- in Fig. 46 to position PTIO,
Stone tool 117 taken out from the first talent tool rest 21
The V is transported to the stocker 41 side (step ST33).

In addition, when the tools 117 are exchanged for both turret tool rests 21 and 22 at once, the two stone tools 117LI are simultaneously held by the tool hand 69 and transported from the machine 2 to the stocker 41 side. Stone tool 11 to stocker 41 side
When 7LI is transported, the stocker 41 is moved in the direction shown by arrow X4 in FIG.
The stone tool 117. J
A predetermined placement position 47a for storing the items is positioned at the delivery position GTP (step 5T34). Next, the gripper 71 of the tool hand 69 is turned 90'' in the direction of arrow B+ in FIG.
7u is positioned and fixed at the stocker facing position SEP with the shank 117c facing downward in the figure in step 5T.
35) Move the tool hand 69 in one direction of arrow B in FIG. 46 to position PTII, and position the shank 117c of the stone tool 117U above the shank hole 47b positioned at the delivery position GTP (step 5T36).
).

Then, move the tool hand 69 to arrow A+force direction position PT1.
2 and lower the stone tool 117u to the shank 117c.
is inserted into the shank hole 47b at the predetermined mounting position 4.
7a (step 5T37). Next, the gripper 71u is opened to remove the stone tool 117 using the tool hand 69.
．． Release the hold on J (step 5T38) and move the tool hand 69 in the direction of arrow B to position PT13 (
Step 5T39), close the gripper 71u (Step 5T40), raise the tool hand 69 to arrow A-force direction position PT14 (step ST41), and rotate the gripper 71 in the arrow T-force direction 2706 (step 5
T42), the tool exchange program TCP is ended. still,
If the tools 117 of the second turret tool post 22 are also replaced at the same time, the fourth tool hand 69 is replaced as described above.
Stone tool 11 held by gripper 71 on the left side of Figure 6
7u is stored in the first tool storage section 47, and similarly, the stone tool 117u held by the gripper 71 on the right side in FIG. 46 of the tool hand 69 is stored in the second tool storage section 48, and the tool exchange program is started. Terminate TCP.

In addition, when replacing the tool 117, the replaced tool 1
The tool ID data TIDD regarding 17 is sent to the cell control unit 8.
The turret tool post 21.2 stored in the system data memory 84.99 is transferred between the machine control unit 97 and the turret tool rest 21.2.
2 system data SD, and tool storage section 47.4
The system data 5DsT related to 8 is replaced.

Then, when the replacement of the stone tool 1]7u with the new tool 117 for the first talent tool rest 21 and the second turret tool rest 22 is completed, the cell control section 82 controls the pallet fork control section 92, the ID data Through the input/output control unit 90 and the R/W head 56, the two # r D of the aforementioned tool 117
In the same manner as reading the tool ID data TIDD from 117a, each stone tool 1 stored in the stocker 41 is
The latest tool ID data TIDD regarding each stone tool 117U stored in the system data memory 84.99 is written into the tool ID 117a of the tool 17u. That is, among the tool ID data TIDD regarding each tool 117, the tool ID data TIDD stored as system data SD in the system data memory 84.99 in the lathe cell 1 is sequentially updated when the tool 117 is used in the machine 2. However, the tool data TIDD stored in the tool ID 117a of each tool 117 is not updated while each tool 117 is attached to the machine 2, so each tool 1
17 is returned to the stocker 41, the tool IDI 1
D is updated all at once from the tool ID data T in 7a. Therefore, when the old tool 117u is used in a machine tool other than the lathe top 1, the old tool 117U
By reading the updated tool ID data TIDD from the tool ID 117a of the old tool 117U,
The wear correction amount, life time, etc. corresponding to the actual condition of the lathe can be grasped, and there is no need for the operator to newly input the tool ID data TJIDD into the control device of the machine tool other than the lathe top 1.

Next, a case will be described in which the chuck claws 116 of the chuck 9.19 are replaced. First, before exchanging the chuck jaw 116, the hand exchange program HCP is entered from steps SA6 and SA5 in FIG. The chuck claw hand 72 is replaced with a chuck claw hand 72 suitable for holding 116. That is, the chuck claw hand 7
Single gantry robot by replacing with 2 6
1, in addition to replacing the tool 117 described above, the chuck claw 116 can also be replaced in the following manner. When the chuck jaw hand 72 is attached to the gantry robot 61, the chuck jaw exchange program TJCP shown in FIG.
is connected to the stocker 41 via the pallet fork control section 92.
The machine controller 9 drives and controls the gantry robot 61 via the gantry robot controller 94.
7 controls the drive of the chuck jaw changing auxiliary device 12 via the chuck jaw changing auxiliary device control unit 109 in the form of exchanging a waiting signal with the cell control unit 82, and controls the workpiece via the spindle control unit 106. Main shaft 7.17, chuck 9.19
The chuck jaws 116 of the chuck 9 on the first headstock 6 side and the chuck 19 on the second headstock 16 side are driven and controlled.
exchange. In addition, the gripper 7 of the chuck claw hand 72
5, since the arm 75a is formed vertically symmetrically in FIG. Since they are arranged symmetrically in the rotating part 74 in FIG. 23, the gripper 75 is used to grip the chuck claws 116 on the chuck 9 on the first headstock 6 side, as shown by solid lines in FIG. 5 or FIG. 52. As shown by the two-dot chain line in the same figure, the same gripper 7 can be replaced.
5 can also be used to replace the chuck claws 116 of the chuck 19 on the second headstock 16 side. The replacement of the chuck jaws 116 of the chuck 19 on the second headstock 16 side is the same as that of the chuck 9 on the first headstock 6 side, so the replacement of the chuck jaws 116 of the chuck 9 on the first headstock 6 side will be described below. I will explain about it. First, the chuck claw hand 72 of the gantry robot 61 is positioned at the position PJO above the moving path of the stocker 41 in FIG.
I). Then, move the stocker 41 to arrow X4 in FIG.
A chuck jaw (hereinafter referred to as a new chuck jaw) having a predetermined chuck jaw number TJNO to be attached to the chuck 9 is appropriately moved and driven in one direction and placed at a predetermined mounting position 45a.

) 116, is positioned at the delivery position GTP (step 5J2). Next, move the chuck claw hand 72 upward in the direction of the new chuck claw 116 of the stocker 41 in FIG. (step 5J3). Of the four grippers 75 of the chuck claw hand 72, the gripper 75 A is positioned at the groove facing position GFP.
Open the arms 75a, 75a in the direction of arrow C+ in Fig. 5.
(Step 5J4). Next, arm 7 of gripper 75A
5a, 75a open, the chuck claw hand 72 is moved in one direction of arrow B in FIG. 49 to position PJ2, and the new chuck claw 116.
The gripper 758 is brought close to the new chuck jaw 116S stored in the stocker 41 by inserting the held portion 116b between the arms 75a, 75a (step 5J5).

Then, the arms 75a, 75a of the gripper 75A are
2, the arms 75a, 75a are closed in one direction of the arrow Q in FIG.
16C, the new chuck jaw 116. is held (step 5J6). Next, while holding the new chuck jaw 1163 with the gripper 75A, the chuck jaw hand 7
2 in the direction of arrow A- in FIG. 50 to position PJ3, the new chuck jaw 116. is taken out from the stocker 41 by being pulled out from the placement groove 45b (step 5J7). Then, the chuck claw hand 72 is moved in the direction of arrow B to position PJ4 (PJO) (step 5J8). Next, the drive motor 63 shown in FIG.
4 integrally with the Geneva train 73e in the direction of arrow H in FIG. Then, the gripper 75. which does not yet hold the chuck claw 116 is positioned and fixed at the groove facing position GFP shown in FIG. 50 (step 5J9).

Then, the new chuck jaw 11 by the above-mentioned gripper 75A
6. In the same way as for taking out the second new chuck jaw 1
16. The stocker 4 is held in the gripper 75□.
1, and then remove the third new chuck jaw 116.
from the stocker 41 while holding it in the gripper 75c, and remove the three new chuck jaws 116. from the stocker 41.
(Step 5JIO), then the chuck claw hand 72 attaches three new chuck claws 116. to three grippers 75A and 7511.75c of the four grippers 75, as shown in FIG. , and the remaining gripper 75o holds nothing, and the gripper 75o is positioned at the groove facing position GFP. Then, the chuck claw hand 72 is moved in the direction of arrow B in FIG.
new chuck jaws 116. is transported to the machine 2 side (step 5J11). When the new chuck jaw 116s is transferred to the machine 2 side, the chuck jaw hand 72 is lowered in the direction of the arrow A to position PJ6 at the height of the chuck 9 (step 5J12), and positioned at the groove facing position GFP. , the arms 75a, 75a of the gripper 75D that does not hold the chuck claw 116 are opened (step 5J13). Also,
While the new chuck jaw 116S is being transported from the stocker 41 to the machine 2, the first headstock 6 is positioned at a predetermined jaw replacement position in one direction of arrows C1+ and Zl in FIG. The chuck jaws (hereinafter, old (It's called a chuck jaw.)
One old chuck jaw 116. out of 116U. J is positioned at the exchange position EXPJ (step 5J14). Then, the direction in which the slide groove 9a of the chuck 9 into which the old chuck claw 1161, I is inserted and mounted, that is, the direction in which the chuck claw 116 can be inserted into and removed from the slide groove 9a (
Arrow J. , J (one direction) are parallel to arrows A+, A (one direction), which are the extending and contracting movement directions of the arm 62 of the gantry robot 61 to which the chuck claw hand 72 is attached. Therefore, as will be described later, the chuck claw hand 72 attached to the arm 62
By moving in one direction of arrows A+ and A, the old chuck claw 116U is removed from the slide groove 9a,
New chuck jaw 116 to the slide groove 9a. can be installed. Next, the chuck jaw exchange auxiliary device 12 on the first headstock 6 is projected in the direction of arrow S in FIG. 51, and the guide groove 15 shown in FIG. Old chuck jaw 1 positioned at
16u is aligned with the slide groove 9a of the chuck 9 into which it is fitted (step 5J15). Also, the operating rod 13 of the chuck jaw replacement auxiliary device 12 is projected in the direction of arrow B+ in FIG. 51, and the lock bin 11 of the chuck 9 is pushed in the direction of arrow B+ in FIG.
160, and remove the old chuck jaw 116u.
makes the chuck 9 movable in the slide groove 9a in the directions of arrows J+ and J (step 5J16). Note that even if the old chuck claw 116U is disengaged from the opening/closing operation member 10, it is temporarily held elastically within the slide groove 9a by a spring or the like, and does not fall off from the chuck 9. and,
Replacing the chuck 9 - When the old chuck jaw 116v positioned at position EXP J and the gripper 75° positioned at the groove facing position GFP of the chuck jaw hand 72 are opposed to each other, the gripper 75I is opened and the chuck jaw Move the hand 72 in the direction of arrow B+ in FIG. (Step S J 17). Next, the arms 75a, 75a of the gripper 75o of the chuck claw hand 72 are closed, and the held part 1 is closed.
16b, the old chuck jaw 116u is held (Step 5J18), and the chuck jaw hand 72 is raised in the direction of arrow B+ in FIG. 51 to position PJ8 while holding the old chuck jaw 116U (Step 5J19). Then,
The old chuck claw 116U is pulled out from the slide groove 9a in the direction of arrow J+ in FIG. 3, passes through the guide groove 15, and is taken out from the chuck 9. At this time, gripper 7
The old chuck jaw 116U held on the base plate M-116 has its soft jaw 116A facing the arm 62 side.
B is in a state facing the first headstock 6 side, and therefore the arm 62 and chuck claw hand 72 are in a state in front of the chuck 9. Interference with the first headstock 6 is avoided. Then, move the chuck claw hand 72 to arrow B in FIG.
Move in the + direction to position PJ9 (step 5J20)
, the rotating part 74 is rotated 906 times in the direction of arrow B+ in FIG. 51, and the new chuck jaw 116.
is positioned and fixed at the groove facing position GFP (Step 5J)
21). Next, move the chuck claw hand 72 to arrow B in FIG.
Move it in the + direction to position PJIO, and move it to the groove facing position GFP.
The new chuck jaw 116s positioned in the guide groove 1
5 and the slide groove 9a of the chuck 9 are positioned above in the figure (step 5J22). Then, the arm 62 is extended and the chuck claw hand 72 is moved to the arrow A+force direction position P.
When lowered to JI1, the new chuck jaw 116° is fitted into the slide groove 9a of the chuck 9 while passing through the guide groove 15 (step 5J23). At this time, since the chuck claw hand 72 is attached to the tip of the extended arm 62, the new chuck claw 116 held by the chuck claw hand 72 as it is. Chuck 9
Although it is difficult to align the chuck claw hand 72 of the gantry robot 61 with the slide groove 9a of the arm 62, the gripper 75 is positioned at the groove facing position GFP with respect to the arm 62 via the adjustment members 66, 67. The new chuck jaw 116 can be aligned with the slide groove 9a of the chuck 9 because the end portions 15a and 15b are guided by the guide groove 15 formed in a tapered shape. It is suitably fitted into the slide groove 9a in this shape. Also, at this time, the new chuck jaw 116 held by the gripper 75c. In this case, soft jaw 116A is connected to arm 62.
The base jaw 116B faces the first headstock 6 side, and therefore the arm 62 and the chuck jaw hand 72 are located in front of the chuck 9. 72 and the chuck 9 and the first headstock 6 are avoided. Then, when the new chuck jaw 116s is inserted into the slide groove 9a,
The gripper 75c is opened and the new chuck jaw 116 is moved by the chuck jaw hand 72. Step 5J
24), move the chuck claw hand 7 in the direction of arrow B+ in FIG. 52 to position PJ12 (PJ6) (step 5J25). In addition, the new chuck jaw 116. is temporarily held elastically within the slide groove 9a by a spring or the like. next,
The operating rod 13 of the chuck claw replacement auxiliary device 12 is moved back in the direction indicated by the arrow R in FIG.
6, and the new chuck jaw 116. is securely attached to the chuck 9 (step 5J26), and the chuck jaw replacement auxiliary device 12 is retreated in the direction of arrow S (step 5J27). When the new chuck jaw 116 is attached to the chuck 9, the new chuck jaw 116. Since the gripper 75c that was holding the gripper 75c is now in a state where it is not holding anything at the groove facing position GFP, the workpiece spindle 7 and the chuck 9 are moved to the arrow C in FIG.
1 Y, rotate the remaining old chuck jaws 1 in the C direction as appropriate.
16u to the exchange position EXPJ, and gripper 75
At step c, remove the old chuck claw 116u from the chuck 9 and attach it to the gripper 75. The new chuck jaw 116.
Attach it to the chuck 9. Furthermore, the workpiece spindle 7 and chuck 9 are appropriately rotated in one direction of arrows C1 and C1 in FIG. The old chuck jaw 116u is taken out from the chuck 9, and the new chuck jaw 116u is held in the gripper 75A. to the chuck 9, and remove the three old chuck jaws 1 that were attached to the chuck 9.
The three new chuck jaws 116.16u that were holding the chuck jaw hand 72 in sequence. (Step 5J)
28.5J29). Then, the chuck claw hand 72
As shown in FIG. 53, among the four grippers 75, three grippers 753.75c and 75I hold the three old chuck claws 116u, and the remaining one gripper 75. holds nothing. Then, the gripper 75A in the open state is closed (step 5J30), the chuck claw hand 72 is raised in one direction of arrow A to position PJ13 (step 5J31), and moved in the + direction of arrow B in FIG. 52 to position PJ14, The three old chuck jaws 116u taken out from the chuck 9 are transported to the stocker 41 side (step 5J32). When the old chuck jaw 1160 is transported to the stocker 41 side, the stone force 41 is appropriately moved in the direction of arrow X4 in FIG. It is positioned at the delivery position GTP (step SJ33).

Next, the rotating part 74 is rotated 906 times in the direction of arrow B+ in FIG.
16. J is positioned and fixed at the groove facing position GFP (step 5J34), the chuck claw hand 72 is moved to the arrow B-force direction position PJ15, and the gripper 75. The new chuck jaw 116 held by the new chuck jaw 116 is positioned above the mounting groove 45b positioned at the delivery position GTP in the figure (7. Step 5J35). Then, the chuck jaw hand 72 is lowered in the direction of arrow A to position PJ 16, and the old chuck jaw 116. j is inserted and placed in the placement groove 45b of the predetermined placement position 45a (step 5J36). Next, gripper 7
56 and the old chuck jaw 116 is opened by the chuck jaw hand 72. Release the hold on (step 5J37),
The chuck jaw 11 hand 72 is moved to position PJ17 in the direction of arrow B+ in FIG. 55 (step 5J38), and the chuck jaw hand 72 is moved to position PJ18 (PJ1
4) (step 5J39), and raise the gripper 75 to
, closes (step 5J40). Then, the above-mentioned gripper 75. In the same way as when storing the old chuck jaw 116U held in the gripper 75 in the stocker 41,
．． The old chuck claw 116u held by the gripper 75n is inserted and placed in the mounting groove 45b of the predetermined mounting position 45a of the stocker 41, and the old chuck claw 116U held by the gripper 75n is then placed.
the mounting groove 45b of the predetermined mounting position 45a of the stocker 41.
The three old chuck jaws 116. which were inserted and placed on the chuck jaw hand 72 and held by the chuck jaw hand 72. is stored in the stocker 41 (step 5J41), chuck jaw replacement program TJ
End CP. In the above case, the three chuck jaws 116 attached to either the chuck 9 or the chuck 19 are held at the same time and transported all at once, so that the chuck jaws 116 can be replaced quickly. As described above, the chuck claw hand 72 has 7
For example, eight grippers 75 are equipped on the chuck jaw hand 72 so that six or more chuck jaws 116 can be held simultaneously, and six chuck jaws 116 are conveyed between the stocker 41 and the machine 2 at the same time. Therefore, it is also possible to quickly replace the chuck jaws 116 of the chuck 9 on the first headstock 6 side and the chuck jaws 116 of the chuck 19 on the second headstock 16 side at the same time (chuck 9. If 19 has three claws).

In addition, when replacing the chuck jaw 116, the chuck jaw ID data TJI regarding the replaced chuck jaw 116 is
DD is transferred between the cell control unit 82 and the machine control unit 97, and the system data SDC regarding the chuck 9.19 and the system data SDC regarding the chuck jaw storage section 45.46 stored in the system data memory 84.99 are transferred. s
Replace c. Then, for the chuck 9 on the first headstock 6 side and the chuck 19 on the second headstock 16 side, from the old chuck jaw 116U to the new chuck jaw 116. When all the replacements are completed, the cell controller 82 transfers the chuck jaws from the chuck jaw ID 116a of the chuck jaw 116 through the bullet fork controller 92, the ID data input/output controller 90, and the R/W head 55. ID data TJIDD
Similarly to the reading of , the latest chuck jaw ID data TJ regarding each old chuck jaw 116U stored in the system data memory 84.99 is stored in the chuck jaw ID 116a of each old chuck jaw 116u stored in the stocker 41.
Write IDD and chuck jaw ID data TJID in chuck jaw IDI 16a of each old chuck jaw 1160
Update D. Therefore, after that, the mouth chuck claw 11
When using 6u with a machine tool other than lathe cell 1,
By reading the updated chuck pawl ID data TJIDD from the chuck pawl ID 116a of the chuck pawl 116u, it is possible to grasp the life time, etc. corresponding to the actual state of the chuck pawl 116u, and the operator can check the lathe cell. There is no need to newly input chuck jaw ID data TJIDD to the control devices of machine tools other than No. 1.

In this way, when the replacement of the tool 117 is completed and the replacement of the chuck jaw 116 is also completed, step SA6 in FIG.
, SA5 enters the hand exchange program HCP, and the chuck claw hand 72 attached to the gantry robot 61 is exchanged with the work hand 76 suitable for holding the work 120 in the same way as the exchange with the tool hand 69 described above. That is, by appropriately replacing the tool hand 69, the chuck claw hand 72, and the work hand 76, the gantry robot 61 is used as a conveying means for the tool 117.
, the chuck jaw 116, and the workpiece 120 can be transferred, so compared to the case where a conveyance means is provided for each of the tool 117, the chuck jaw 116, and the workpiece 120, the installation space for the conveyance means can be reduced, and it is economical. It is.

In addition, when replacing the gantry robot 61 with the work hand 76, if a plurality of work hands 76 are prepared in the stocker 41, the work hand with the predetermined hand number HNO corresponding to the type of hand claw 79, which will be described later. Exchange it for 76.

When the work hand 76 is attached to the gantry robot 61, the hand claw exchange program HJCP shown in FIG. The stocker 41 is drive-controlled via the fork control section 92, and the gantry robot 61 is drive-controlled via the gantry robot control section 94, thereby replacing the hand claw 79 of the work hand 76. That is, since the tool 117 can easily share the held protrusion 117b, various tools 117 can be held by a single tool hand 69 to which the gripper 71 is attached. Since the held portion 116b can be easily shared, various chuck jaws 116 can be held by a single chuck jaw hand 72 to which the gripper 75 is attached. However, since the held part of the workpiece 120 cannot be shared, it is necessary to replace the holding means of the gantry robot 61 for various workpieces 120. If there is a slight difference, the same work hand 76 is used, and only the hand claw 79 is replaced with the work hand 76.

That is, even when the type of workpiece 120 is slightly different,
Since it is not economical to prepare various work hands equipped with similar drive means so as to replace the entire work hand, various hand claws 79 not equipped with drive means are prepared, and the claw A hand claw 79 is attached to a work hand 76 equipped with a driving means such as an opening/closing operation plate 77c.
Replace only as appropriate. Therefore, by appropriately replacing the tool hand 69, chuck claw hand 72, and work hand 76, a single gantry robot 61 can be used.
It is possible to transfer and deliver various objects such as the tool 117, the chuck jaw 116, the workpiece 120, and the workpiece 120.
Furthermore, by replacing the hand claw 79, it is possible to transfer and deliver various workpieces 120 using a single work hand 76. When replacing the hand claw 79, first replace the gantry robot 61.
The work hand 76 is placed in the hand claw storage section 4 of the stocker 41.
28 above the moving path in FIG.
The hand claws with predetermined hand claw number HJNO (hereinafter referred to as old hand claws) are unsuitable for holding the two workpieces 120 to be machined this time, which are rotated in one direction and attached to the rotating part 77 of the work hand 76. )79. Position and fix one of J toward the bottom in Figure 1 (Step SHJ 1)
.

Then, the stocker 41 is appropriately moved in one direction of arrows X4+ and X4 in FIG. 8, and the old hand claw 79. A predetermined placement position 42a for storing j is positioned at the delivery position GTP (step 5HJ2). Next, the work hand 76 and the old hand claw 79 of the gantry robot 61. Lower J in the direction of arrow A in Figure 1, and place the old hand claw 79U into the stocker 41.
(Step 5HJ3)
). Then, the hooks 77e and 77e of the gripper 76d of the work hand 76 are attached to the arrows in FIG. open in the direction,
The hand jaw 79 is disengaged from the held bottle 79d, and the work hand 76 and the old chuck jaw 79. In step 5HJ4), only the work hand 76 of the gantry robot 61 is raised in one direction indicated by the arrow A in FIG.
5). At this time, the old chuck jaw 79. The work hand 76 from which J has been removed is attached to the hand claw attachment surface 77 shown in FIG.
b is exposed toward the stocker 41 side (downward in FIG. 1). Next, move the stocker 41 to arrow X4 in FIG.
4. A hand claw with a predetermined hand claw number HJNO to be attached to the work hand 76 (hereinafter referred to as new hand claw) 79. is positioned at the delivery position GTP (step 5HJ6). Then, the work hand 76 is lowered again in the direction of the arrow A in FIG. 1, and the hand jaw mounting surface 77b shown in FIG. (Step 5HJ7). At this time, the new chuck jaw 79 shown in FIG. The engagement pins 79C of the three claws 79b protruding from the hand contact surface 79f are connected to the operation grooves 77C of the claw opening/closing operation plate 77c of the work hand 76 shown in FIG.
', and the new chuck jaw 79. The held bottle 79d protruding from the hand contact surface 79f is inserted between the open hooks 77e of the work hand 76. Next, hooks 77e, 77 on the work hand 76 side
Arrow e in Figure 29! Close in one direction, new hand claw 79.
The new hand claw 79. is engaged with the held bin 79d on the side, and the new hand claw 79. (Step 5HJ8). Then, the work hand 76 and the new hand claw 79. is raised in the direction of the arrow A in FIG. 1 (step 5HJ9), and the rotating part 77 of the work hand 76 is
80' rotation and the remaining old hand claw 79 attached to the rotating part 77. J is positioned and fixed facing downward in FIG. 1 (step SHJ 10). And the mouth hand claw 7
9. J is replaced with a new hand claw 79 in the same manner as described above, and two new hand claws 79.J are attached to the work hand 76. is attached (step SHJ 11), and the hand claw replacement program HJCP is ended.

When the hand claw 79 of the work hand 76 has been replaced in this way, steps SA6 to SAT in FIG. 33 are completed.
The cell controller 82 then controls the pallet fork controller 9.
2, the stocker 41 is moved to the origin of the control axis in one direction of arrows X4+ and X4 in FIG.
The stocker 41 is fixed to the bed 31 by protruding in the + direction, and the connection bin 51 is moved back in one direction of arrow U to release the connection between the stocker 41 and the drive unit 35.

Then, in step SA8 in FIG. 33, the machine control unit 97 controls the chuck 9.1 transferred from the cell control unit
New chuck jaw 116 replaced with 9. Based on the chuck jaw ID data TJIDD related to the new chuck jaw 116. Perform natural nail molding. That is, chuck jaw ID
Since the data TJIDD stores the raw nail forming program number 5JFPN as shown in FIG.
A raw nail shaping program 5JFP as shown in FIG. 67 is read out from the raw nail shaping program memory 101. Then, as shown in FIG. 63, the chuck jaw ID data TJID
Using each part dimension 5FDD stored in D as a parameter,
Furthermore, the workpiece 12 with the predetermined workpiece number WNO to be machined
0, the raw nail forming program 5JFP
Based on this, the new chuck jaw 116s attached to the chuck 9.19 is formed into a raw jaw as shown in FIG.

Also, in step SA9 of FIG. 33, the machine control unit 9
7 is a new chuck jaw 116.19 transferred from the cell control unit 82 via the barrier setting unit 103 and attached to the chuck 9.19. Chuck jaw ID data regarding TJID
Based on D, as shown in FIG. 69 or 70, a barrier ( Set a BR (area where the tool 117 etc. are prohibited from entering during machining).

Next, the cell control unit 82 controls the pallet fork control unit 92
Based on the pallet loading program PLP shown in FIG. 57, the highest pallet 119 in FIG. 7 on which the work 120 with the work number WNO is placed is
The material is taken out from the material station 32. First, the pallet fork 36 is moved in the direction of arrow X3+ in FIG. 8 to the material station 32 (step 5LI). Then, the pallet fork 36 is lowered in the direction of the arrow Y in FIG. 7 to the position of the pallet 119 to be taken out (step 5L2).
), in this case, the height PPHT of the pallet bin 119p in the pallet ID data PIDD regarding each pallet 119
Based on the position of the pallet 119 to be taken out (
By calculating the height) in advance, the descending speed of the pallet fork 36 can be adjusted as appropriate depending on the distance from the pallet 119. Therefore, the operation of the pallet fork 36 is
As mentioned above, the pallet 11 is moved by the proximity switch 36a.
This can be done faster than when detecting 9. Also, when changing the height PPHT of the pallet pin 119p of the pallet 119, the pallet ID data PI
Since the DD is read from the pallet 119a by the R/W head 39, even when the pallet 119 in between is shared by multiple machine tools, the operator only needs to change the pallet ID data PIDD in the pallet ID 119a of the pallet 119. There is no need to input the changed height P PHT into the control device of each machine tool one by one. Next, the hook 37m of the arm 37 of the pallet fork 36 is projected in the direction of arrow B+ in FIG. 7, and the pallet 119 is supported from below in FIG. 7 by the hook 37a (step 5L3). Then, the pallet fork 36 and the pallet 119 carrying the pallet fork 36 are raised in one direction of the arrow Y to the Y-origin position YO (step 5L4), and the pallet loading program PLP is ended.

In addition, in step SAI O in FIG. 33, the machine control unit 97 determines the tool 117 mounted on the turret tool rest 21, 22 used for machining the workpiece 120 by the tool measuring unit 110 and a known known device (not shown). Measure whether the cutting edge is worn or not using the tool measuring device, and if necessary, proceed from step SAI 1 to step SAI 2.
Then, as in the case of exchanging the heavy tool 117u with the new tool 117N described above, use the gantry robot 61 replaced with the tool hand 69 to replace the turret tool rest 21.22.
The tool 117 installed in the stocker 41 is replaced with a spare tool 117 with the same tool number TNO stored in the stocker 41.

In this way, when the workpiece 120 with the predetermined workpiece number WNO is ready for machining, step 5T13 in FIG.
, the workpiece 1 mounted on the pallet 119
20 is taken out and conveyed to the machine 2, and the chuck 9.19 grips the work 120. When taking out a predetermined workpiece 120 from the pallet 119, the cell control unit 8
2 moves the pallet fork 36 to the pallet 1 via the pallet fork control unit 92 based on the workpiece placement state information WPI such as work interval data in the pallet ID data PIDD shown in FIG. 66 regarding the pallet 119.
19 in one direction of the arrows X 3 + and X3 in FIG. , gantry robot control section 9
4, move the gantry robot 61 to arrow B+ in FIG.
When the work hand 76 is positioned above the predetermined workpiece 120 in the figure by appropriately moving and driving in one direction B, the rotating part 77 is rotated in one direction shown by arrows B+ and H2 in FIG. The work hand 76 is moved downward in the direction of arrow A+ to hold the work 120, and the pallet fork 36 and the gantry robot 61 work together to take out the work 120. That is,
Palette ID data PIDD regarding each pallet 119
Since the workpieces 120 are taken out from the pallet 119 based on this, by changing the pallet ID data PIDD, the loading interval of the workpieces 120 can be changed or stacked in two stages, etc., if necessary. However, the method of mounting the workpiece 120 can be changed as appropriate. Further, the 1200 types of workpieces loaded on the same pallet 119 can be changed, and the same pallet 119 can be shared by a plurality of machine tools. Then, the pallet ID data PIDD is the R/W head 3
9 is read from the pallet ID 119a, so when changing the type or loading method of the work 120 to be loaded on the pallet 119, the operator
Palette ID data P in palette ID 119a of 19
It is only necessary to change the IDD, and there is no need to input the changed workpiece number WNO and workpiece placement state information wpt into the control device of each machine tool in which the pallet 119 is used. Then, the work hand 76 holding the work 120 is raised in one direction of arrow A, and the gantry robot 61
is moved in the direction of arrow B to transport the workpiece 120 to between the headstocks 6 and 16 on the machine 2 side. Next, work hand 7
6 is lowered in the direction of arrow A + force, and the workpiece 120 held by the workpiece hand 76 is moved to the axis CT of the workpiece main shaft 7.17.
, CT2, and rotate the rotating part 77 in one direction of arrows H2+ and H2 in FIG. Arrow B parallel to the heart direction
- or B+ direction, and the workpiece 120 is transferred from the workhand 76 to the chuck 9 or the chuck 19 while being moved on the spindle axis. At this time, the headstock 6.16
may be moved in the Z+ and Z directions.

Then, in step 5A14, the machine control unit 97 controls the spindle control unit 106 in accordance with the predetermined machine program PRO selected based on the pallet ID data PIDD.
The work spindle 7.17 is rotationally driven in one direction of arrows C+ and C in FIG. Then, the headstock 6.16 is moved and driven in one direction of arrows Z+ and Z in FIG. 1 via the headstock control unit 107, and the chuck 9.
The workpiece 120 held by the handle 19 is processed. On this occasion,
Based on the wear correction amount data, each tool 117
The operation related to the tool 117 is controlled based on the tool ID data TIDD read from the tool ID 117a. That is, when the tool 117 is used in a machine tool other than lathe cell 1, the tool IDI of the tool 117 is
The tool ID data TIDD in 17a is updated at that point, and when the tool 117 is used in lathe cell 1, the tool ID data TIDD updated by use in the machine tool is used.
Control regarding the tool 117 is performed by reading data TIDD from the tool IDI 17a and using it. Therefore, the tool 117 can be shared by a plurality of machine tools, and there is no need for the operator to input the changed tool ID data TIDD into the control device of each machine tool each time the tool 117 is used. The processing of the workpiece 120 with this machine 2 is described in Japanese Patent Application Laid-Open No. 63-272.
404.63-272405 etc., detailed explanation thereof will be omitted here.

When the processing of the workpiece 120 is completed, the processed workpiece 120
The workpiece diameter of the machined workpiece 120 is measured by the touch sensor mounted on the turret tool rest 21.22 while the workpiece 120 is held in the chuck 9.19.

Then, in step 5A15, the cell control section 82 controls the gantry robot 6 via the gantry robot control section 94.
1 work hand 76 in the direction of arrow B+ parallel to the spindle axis direction.
, B The machined workpiece 120 is transferred from the chuck 9 or the chuck 19 to the workhand 76 by moving in one direction on the spindle axis, and the workpiece 120 held by the workhand 76 is shown in the figure. Transport the workpiece to a measuring device that does not. Then, the machining dimensions of the machined workpiece 120 are measured via the workpiece measurement unit 91 to determine the wear amount of the tool 117 used for machining, and based on the determined wear amount, the system data memory 84.99 The tool ID data TIDD of the tool 117 is updated. (
The same applies to the measurement of the workpiece diameter using the touch sensor described above) and the updated tool ID data TIDD.
will be used as correction data in subsequent machining by the tool 117. Note that at this stage, the tool ID data TI in the tool ID 117a of the tool 117 is
Since the DD is not updated, the system data memory 84.
Tool ID data TIDD of 99 and tool ID 117
It does not match the tool ID data TIDD in a, and tool 1
As the tool 117 is used, the difference between the two widens, but as mentioned above, when the tool 117 is returned to the stocker 41, the latest tool ID data TIDD in the system data memory 84.99 is It is written to the tool ID 117a of the tool 117. Further, the processed workpiece 120 for which the measurement has been completed is placed at a predetermined position on the original pallet 119 by the cooperative work of the gantry robot 61 and the pallet fork 36, in the same way as when the workpiece 120 is taken out from the pallet 119 described above. be done.

Further, as a result of measuring the processed workpiece 120, if it is determined that the wear amount of the tool 117 has reached a predetermined value and the tool 117 has reached the end of its life, the process proceeds from step 5T17 to step 5T18, and the cell control unit 82 is the aforementioned old tool 1
171. As in the case of replacing l with new tool 117N,
Using the gantry robot 61 replaced with the tool hand 69, the tool 117 that has reached the end of its life and is attached to the talent tool rest 21.22 is transferred to the spare tool 117 with the same tool number TNO stored in the stocker 41. exchange with. Then, the tool 117 that has reached the end of its life is stored in the stocker 4.
1, the cell control unit 82 inputs the tool ID 11 of the tool 117 via the pallet fork control unit 92, ID data input/output control unit 90, and R/W hand 56.
In the same way as reading the tool ID data TIDD from 7a, the tool ID of the tool 117 that has reached the end of its life is
The old tool ID data TIDD in 17a is rewritten to the latest tool ID data TIDD regarding the tool 117 in the system data memory 84.99.

That is, tool ID data TIDD regarding each tool 117
While the tool 117 is attached to the talent tool rest 21.22 of the machine 2, the tool ID data TIDD in the system data memory 84.99 is updated according to the use of the tool 117, and the tool 117 is placed in the stocker. 41, the tool ID data TIDD in tool ID 117a
will also be updated. Therefore, the tool 117 for the lathe top 1
The loading and unloading is performed via the stocker 41, and when the tool 117 used on the lathe top 1 is used next on another machine tool, the tool ID 117a of the tool 117 is
The tool ID data TIDD inside has been updated, so
Tool ID data TID in the relevant tool IDI 17a
It is possible to appropriately control the tool 117 by correcting the machining operation based on D. Therefore, the same tool 117 can be shared by a plurality of machine tools, and there is no need for the operator to re-input the tool ID data TIDD regarding the tool 117 into the control device of the machine tool in which the tool 117 is used.

For each workpiece 120 mounted on one pallet 119, the cutting edge of the tool 117 may break, or
When the service life has been reached, processing is continued with appropriate replacement, and when processing is completed for all the predetermined number of workpieces 120 placed on the pallet 119, the pallet 1
When only the processed workpiece 120 is placed on the pallet fork controller 92, the pallet unloading program PUP shown in FIG. 58 is entered from step 5A20 in FIG. Then, the machined workpiece 120 is placed thereon and the tachlet 119 is moved to the machined station 33. First, the pallet fork 36 is moved together with the pallet 119 to the processed station 33 in one direction of arrow X3 in FIG. 8 (step 5UI), and further lowered in the direction of arrow Y+ in FIG. The pallet 119 carried by the pallet fork 36 is stacked on top of the placed pallet 119 (step 5U2). At this time, the pallet ID data PI regarding each pallet 119
Based on the height PPHT of the pallet bin 119p in the DD, the position (height) of the uppermost pallet 119 already placed on the processed station 33 can be calculated in advance. The descending speed of the pallet 119 carried by the pallet fork 36 can be adjusted as appropriate depending on the distance from the uppermost pallet 119. Next, the hook 37a of the arm 37 of the pallet fork 36 is moved back in the direction of the arrow F in FIG. 10 to release the pallet 119 from being held by the hook 37a (step 5U3). Then, the pallet fork 36 is raised in one direction of the arrow Y in FIG. 7 to the Y Kashiwa origin position YO (step 5U4), and the pallet unropping ink flow diagram PUP is completed. In addition, at this time, the cell control unit 82 transmits the measurement results of the processed workpiece 120 to the pallet of the pallet 119 on which the processed workpiece 120 is mounted, via the ID data input/output control unit 90 and the R/W head 39. Write to ID119a as palette ID data PIDD.

Then, the third
Steps SA3 to SA21 in Figure 3 are repeated, and the machine 2 is operated on different types of workpieces 120 (different workpiece numbers WNO) placed on multiple pallets 119 according to the machining content of the workpieces 120. Tool 1
17. Machining is performed by replacing the chuck claw 116 as appropriate, and further replacing the work hand 76 and hand claw 79 of the gantry robot 61 as appropriate depending on the shape of the workpiece 120. That is, even if the type of workpiece 120 to be machined is different from the type of workpiece 120 that was previously machined, the operator must first move the chuck jaws 116, tools 117, etc. to the machine 2 before machining the workpiece 120. There is no need for setup, and it can contribute to unmanned processing.

Note that the replacement of the tool 117, etc., selection of the machine program PR○, etc. are performed on the premise that the workpiece 120 with the predetermined workpiece number WNO is actually carried into the machine 2 according to the machining schedule MSC. is the order in which each pallet 119 is actually taken out from the material station 32 during processing.
9 is automatically created based on the stacked order, it is possible to avoid a situation where the machining schedule does not match the work actually brought in for machining due to an operator's creation error, etc. It can greatly contribute to unmanned processing.

In the above-described embodiment, the chuck pawl ID data T is set for the chuck pawl ID 116a of the chuck pawl 116 stored in the chuck pawl storage portions 45 and 46 of the stocker 41.
R/W head 55 that reads and writes JIDD and tool ID 1 of tool 117 stored in tool storage section 47.48
Although the case has been described in which the R/W head 56 for reading and writing the tool ID data TIDD is provided separately for the tool ID data TIDD 17a, the first chuck claw storage section 45, the first tool storage section 47, and the second chuck claw storage section section 46 and second tool storage section 48
are located close to each other, so the chuck jaw ID data TJ and IDD can be read and written and the tool ID
It is also possible to read and write data TIDD using a single R/W head. That is, in the above embodiment, as shown in FIG.
R/W head 55 provided opposite to 6a,
When avoiding interference with the shank 117c of the tool 117,
The case where the R/W head 55 is rotated in the direction of the arrow E has been described, but in this case, the R/W head 55 is rotated in the direction of the arrow E to face the tool ID 117a, and the R/W head 55 is
It is also possible to use the head 55 to both read and write the chuck jaw ID data TJIDD to the chuck jaw ID 116a and read and write the tool ID data TIDD to the tool IDI 17a (therefore,
In this case, the R/W head 56 becomes unnecessary).

In addition, in the above embodiment, each tool 117, each chuck claw 116, each hand 69 stored in the stocker 41,
．． 72.76, IDI of each hand claw 79 17a, 11
Tool ID data TIDD and chuck jaw data TJI read from 6a, 69a, 72a, 76a, 79a
By indirectly comparing the DD, hand ID data HIDD, and hand claw ID data HJIDD with the data PIDD from the pallet via the system operation data SOD created by the operator, it is possible to ensure that the stocker 41 has all the items necessary for machining. As shown in FIG. 66, the pallet ID data PIDD includes the tool 117, chuck jaw 116, and
Hand 69.72.76, hand claw 79 tool number TN
Since O, chuck jaw number TJNO, hand number HN○, and hand jaw number HJNO are stored, stocker 41
ID117a of each tool 117, each chuck claw 116, each hand 69, 72, 76, and each hand claw 79 stored in
, 116a, 69a, 72a, 76a, and 79a read out tool ID data TIDD, chuck jaw data TJIDD, hand ID data HIDD, and hand jaw ID.
By directly comparing the data HJIDD with the pallet ID data PIDD read from the pallet ID 119a of each pallet 119 loaded on the material station 32, it is determined whether or not the stocker 41 has everything necessary for processing. You can do it like this.

That is, tool ID data TIDD, chuck jaw data T
JIDD, hand ID data HIDD, hand claw ID data HJIDD, directly pallet) ID data PIDD
When comparing the pre-stage number program PPR' module creation program sep shown in FIGS. 71 to 73,
', is carried out based on the automatic driving program AOP'. In addition, the pre-setup program PPR', schedule creation program sep', and automatic operation program AOP' are as follows:
The pre-setup program PPR1 shown in FIG. 32, the schedule creation program SCP shown in FIG. 34, and the third
Since it is substantially the same as the automatic driving program A○P shown in FIG. 3, detailed explanation will be omitted.

Maf, placing the pallet 119 loaded with the workpiece 120 on the material station 32, and placing the tool 11 on the stocker 41;
7. When the chuck jaw 116, hand 69, 72, 76, and hand jaw 79 are completely stored and the operator presses the start button on the input device 89a, step SS of the pre-setup program PPR' shown in FIG. From 'l', the schedule creation program sep' shown in FIG. 72 is entered.

In the schedule creation program SCP', in the same way as the schedule creation program SCP shown in FIG. Palette ID
The data PIDD is stored in the machining schedule memory 86 as a machining schedule, but at the same time, the read pallet ID data PIDD is stored in the system operation data memory 85 as system operation data (therefore, the operator can use the system operation data SOD ).

Next, in steps SS'2 to ss'7 in FIG. 71, the tool I of each tool 117 stored in the stocker 41 is similar to the pre-setup program PPR in FIG.
Data τIDD is read from the tool from DI 17a, data TJIDD is read from the chuck pawl from the chuck pawl ID 116a of each chuck pawl 116, - tool ID 69a, 72a, 7 of each hand 69, 72, 76.
Hand ID data HIDD is read from 6a, and hand claw ID data HJIDD is read from hand claw ID 79a of each hand claw 79. Then, the read tool ID data TIDD and chuck jaw data TJIDD are read out.
, hand ID data HIDD, hand claw ID data HJ
In step SS'2 of FIG. 71, the IDD stores the system operation data memory 8 as the above-mentioned system operation data.
It is compared with the pallet ID data PIDD stored in 5, and it is determined whether or not the items necessary for processing are available.

For the various workpieces 120 loaded on each pallet 119 loaded on the material station 32, all the workpieces L117, chuck jaws 116, hands 69, 72, 76, and hand jaws 79 necessary for machining are installed in the lathe cell 1. When the time limit is satisfied, the automatic operation program AOP' shown in FIG. 73 is entered from step SS'2 in FIG. 71, and each pallet 1 is
Machining is performed on the 19 workpieces 120 while performing setup changes.

Furthermore, in the above-described embodiment, the first headstock 6 and the second headstock 16 were provided so as to be movable and driven in the direction of the spindle axis, but the ambidextrous spindles 6 and 16 are relatively close to each other. As long as they can be separated, the two headstocks 6
．． One of the 16 may be fixed to the fuselage 3. Furthermore, the present invention is of course applicable not only to the opposed spindle lathe 2 having two workpiece spindles 7.17 but also to a normal lathe having only one workpiece spindle.

In addition, in the above-described embodiment, prior to automatic operation of the lathe cell 1, the tools 117, which are necessary for the operator to manually operate the lathe cell 1,
The case where the chuck jaws 116, etc. are set on the stocker 41 has been described, but when the tools 117, chuck jaws 116, etc. are shared by multiple machine tools, setting the tools 117, chuck jaws 116, etc. on the stocker 41 can also be done using a transport loader or the like. It may also be automated via an automated guided vehicle.

That is, as shown in FIG. 74, the shared jig and tool storage station 130 stores various types of chuck jaws 116 and tools 117 that are shared by the lathe cell IA and the lathe cell 1g.
A pallet 119' for chuck jaws and a pallet 11 for tools, respectively, similar to the aforementioned pallet 119 for workpieces.
It is stored mounted on 9'. Note that the chuck jaw pallet 119' has a mounting groove 45 for the stocker 41.
A mounting groove similar to 46b and 46b is installed, and the chuck claw 116 is fitted into the mounting groove and mounted on the chuck claw pallet 119' in a stored state similar to the stored state in the stocker 41. Further, the tools 117 are mounted on a tool pallet 119' in a stored state similar to the stored state in the stocker 41. Each pallet 119'119' has the aforementioned pallet IDI.
A pallet ID similar to 19a is attached, and each pallet 119'119 is attached to the pallet ID.
The chuck jaw numbers TJNO, tool numbers TNO, etc. of all the chuck jaws 116 and tools 117 mounted on ' are stored. Further, the automatic guided vehicle 131 is provided so as to be freely movable and driveable so as to communicate between the common tool storage station 130 and the lathe cell IA or the lathe cell 1m.

Then, the unmanned transport i [131 has pallet fork 3
A fork 131a similar to 6 is a pallet 119'.
It is provided in a form that can support 119#, and the fork 1
An R/W head similar to the R/W head 39 is attached to the R/W head 31a.

When setting the necessary chuck jaws 116 and tools 117 in the stocker 41 of a predetermined lathe cell 1, the system operation data collation unit 87 of the lathe cell 1 checks the system operation data SOD or pallet ID as described above.
After determining the chuck jaws 116 and tools 117 to be replenished in the stocker 41 based on the data PIDD, the cell control unit 82 of the lathe cell 1
16. Radio transmit the chuck jaw number TJNO and tool number TNO of the tool 117 to the automatic guided vehicle 131.

Then, the automated guided vehicle moves to the common tool storage station 1.
30, and the pallet fork 36 and R mentioned above
In the same way as reading the pallet ID data PIDD from the pallet ID 119a by scanning the /W hand 39, each pallet 119' placed on the shared tool storage station 130 is moved up and down by the fork 131a.
Chuck jaw number TJN in pallet ID of 119'
○, read tool number TN○, many pallets 11
The chuck jaws 11 to be replenished from among 9' and 119'.
6. Pallets 119', 119 loaded with tools 117
' to determine. Then, the automatic guided vehicle 131 moves the determined pallet 119'119' to the fork 131a.
The common tool storage station 13 is carried by
0 is transported to the lathe cell 1 and transferred to the material station 3.
2 or placed on the processed station 33. Furthermore, the chuck jaws 116 mounted on the pallets 119' and 119'
, the tool 117 is at this stage chuck jaw rD116
a. Chuck jaw ID data TJ from tool ID117a
Since IDD and tool ID data TIDD have not been read, they cannot be used in the lathe cell 1, and after being transferred to the stocker 41 as described later, the chuck jaw ID data TJIDD and tool ID data TIDD will be transferred to the R/R/ W
The system data S is read out from the chuck jaw ID 116a and the tool ID 117a through the heads 55 and 56.
After being stored as D in the system data memory 84, it becomes available for use.

Next, the pallets 119', 119' placed on the material station 32 or the processed station 33 are taken out by the pallet fork 36 of the lathe cell 1, and the chuck claws 119 mounted on the taken out pallets 119/119' are , the tool 117 is transferred to the stocker 41 by the gantry robot 61 and placed at a predetermined placement position 45a,
46a, 47a, and 48a.

Note that the chuck jaws 116 and the tools 117 may be loaded together on one pallet 119' or 119', and the setting of the hands 69, 72, 76 and hand jaws 79 to the stocker 41 can be automated in the same way. It is possible to do so.

Therefore, the operator places the chuck jaws 11 on the stocker 41.
6. There is no need to use tools 117, etc., and the machining can be performed unmanned.

(g) 0 Effects of the Invention As explained above, according to the present invention, the chuck jaw 1
In a numerically controlled lathe such as an opposed spindle lathe 2, which has a chuck 9.19 in which a chuck 9 or 19 is provided with pawl mounting grooves such as slide grooves 9a and 19a, in which chuck jaws 116 are removably attached, a plurality of types of chuck jaws 116 are installed one by one. The gantry robot 61 is provided with claw storage means such as a stocker 41 that can be freely accessed and removed.
A conveyance/delivery robot, such as The robot moves the holding means support member such as the arm 62 in the sub-movement direction (arrow A or A in the above embodiment).
The holding means support member is provided with at least one claw holding means such as a gripper 75, and when the chuck claws 116 are attached to and removed from the chuck 9.19, the chuck claws 116 are When conveyance is performed between the jaw storage means and the chuck 9.19, with at least one chuck jaw 116 held by one of the jaw holding means, the transfer and delivery robot is moved to the jaw storage means side or When the chuck 9.19 is moved in the main movement direction toward the chuck 9.19 and the chuck jaw 116 is transferred between the jaw holding means and the jaw mounting groove of the chuck 9.19, the chuck 9.19 is rotated to align the direction in which the pawl mounting groove is bored and the sub-movement direction of the holding means support member, and then, with one chuck pawl 116 held by one chuck holding means, The structure is such that the holding means support member is moved and driven in the sub-movement direction, and the chuck jaws are inserted into and removed from the jaw mounting groove, so that the jaw storage means independent of the numerically controlled lathe can be easily enlarged. Therefore, a large number of chuck jaws 116 can be stored in the jaw storage means to accommodate many types of workpieces 120. In addition, the chuck claw 11
6 are stored one by one, so one set of chuck jaws 1
A large number of chuck claws 116 can be stored in a smaller space than when the chuck claws 116 are stored via a disk-shaped support or the like.

Further, the present invention provides a numerically controlled lathe such as an opposed spindle lathe 2 having a chuck 9 or 19 having pawl mounting grooves such as slide grooves 9a and 19a in which chuck pawls 116 are removably attached. 15 are provided in a form that can be aligned with the pawl mounting groove, and a plurality of types of chuck pawls 116 are provided in one
A claw storage means such as a stocker 41 that can be stored in and out one by one is provided, and a transfer robot such as a gantry robot 61 is moved between the chuck 9.19 side and the claw storage means side in the main movement direction (as described above). In the example, it is provided so as to be freely movable in one direction of arrow B+, B), and the transfer and delivery robot is provided with a
The arm 62 is provided so as to be freely extendable and retractable in the sub-movement direction (in the above-mentioned embodiment, the arrow A+, 81 direction).
At least one jaw holding means such as a gripper 75 is provided, and when the chuck jaws 116 are loaded onto and removed from the chuck 9.19, the chuck jaws 116 are transported between the jaw storage means and the chuck 9.19. In the case of carrying out the transfer, the transfer and delivery robot is moved in the main movement direction toward the claw storage means or the chuck 9.19 with at least one chuck claw 116 being held by one of the claw holding means. When the chuck jaws 116 are transferred between the jaw holding means and the mold mounting groove of the chuck 9.19, the chuck 9.19 is rotated so that the chuck jaws 116 are rotated in the direction in which the mold mounting grooves are bored. After aligning the sub-movement direction of the arm 62, one chuck jaw 116 is held by one jaw holding means, and the chuck jaw 1 is
16 aligned with the mold mounting groove 1
5, the arm 62 is extended and retracted in the sub-movement direction, and the chuck jaw is inserted into and removed from the die mounting groove, so that the jaw can be stored independently of the numerically controlled lathe. It is possible to easily increase the size of the means, and therefore, a large number of chuck jaws 116 can be accommodated in the die storage means to accommodate many types of workpieces 120. Furthermore, since the chuck jaws 116 are stored one by one, a large number of chuck jaws 116 can be stored in a smaller space than when storing one set of chuck jaws 116 via a disc-shaped support. You can. Furthermore, since the chuck jaws 116 are guided by the guide grooves 15 and are inserted into and removed from the mold mounting grooves of the chuck 9 and 19, the chuck jaws 116 can be attached to and removed from the mold mounting grooves of the chuck 9 and 19 without having to precisely position the transfer robot and the arm 62. Chuck jaw 1 between the holding means and chuck 9.19
16 deliveries can be made.

Further, the present invention provides the transfer and delivery robot with a number of chuck retaining means equal to or greater than the number of chuck jaws 116 to be attached to the chuck 9.19 (three or six in the above-mentioned embodiments), and 116 between the claw storage means and the chuck 9.19, the chuck 9.
．． The chuck jaws 116 of the number to be attached to the chuck 9.19 are held by the respective jaw holding means, and the transfer/delivery robot is moved in the main movement direction toward the jaw storage means side or the chuck 9.19 side. Should number of chuck jaws 1
Since the chuck jaws 116 are conveyed all at once between the jaw storage means and the chuck 9.19, the chuck jaws 116 can be quickly attached to or replaced with the chuck 9.19.

Further, the present invention is applicable to a plurality of types of numerically controlled lathes such as the opposed spindle lathe 2 having a chuck 9.19 in which mold mounting grooves such as slide grooves 9a and 19a are drilled into which chuck claws 116 are detachably mounted. The chuck jaw 116 of
A claw storage means such as a stocker 41 that can be stored in and out one by one is provided, and a transfer robot such as a gantry robot 61 is moved between the chuck 9.19 side and the claw storage means side in the main movement direction (as described above). In the example, it is provided so as to be movable and driven in one direction of arrow B+, B), and the transfer and delivery robot is provided with a
A holding means support member such as an arm 62 is provided so as to be movable and driven in the sub-movement direction (in the above embodiment, one direction of arrows A+ and A), and the chuck 9.1 is attached to the holding means support member.
9 (in the above embodiment, 3 or 6)
) or more grippers 75, etc., with the axis center CTx
The chuck jaws 116 are provided axially symmetrically with respect to a rotation axis such as the above, and are rotatably driven around the rotation axis.
When transporting between the jaw storage means and the chuck 9.19, one chuck jaw 116 is held by one jaw holding means and the chuck 9.1
The chuck jaws 116 of the number to be attached to the chuck 9.9 are held by the respective jaw holding means, and the transfer and delivery robot is moved in the main movement direction toward the jaw storage means side or the chuck 9.19 side. number of chuck jaws 116
When the transport of the chuck jaws 116 is carried out collectively between the jaw storage means and the chuck 9.19, and the chuck jaws 116 are transferred between the jaw holding means and the mold mounting groove of the chuck 9.19, The claw holding means is rotated so that each of the claw holding means faces the chuck 9.19 in turn, and the chuck 9.19 is rotated so that the mold mounting grooves 9a, 1
After aligning the direction in which the holes 9a are drilled and the sub-movement direction of the holding means support member, the holding means Since the chuck jaw 116 is configured to be inserted into and removed from the jaw mounting groove by moving and driving the means support member in the sub-movement direction, the jaw storage means independent of the numerically controlled lathe can be easily enlarged. Therefore, a large number of chuck jaws 116 can be stored in the storage means to accommodate many types of workpieces 120. Furthermore, since the chuck jaws 116 are stored one by one, a large number of chuck jaws 116 can be stored in a smaller space than when storing one set of chuck jaws 116 via a disc-shaped support. You can. Furthermore,
Since the number of chuck jaws 116 to be attached to the chuck 9.19 can be conveyed all at once using a plurality of jaw holding means, the number of chuck jaws 116 to be attached to the chuck 9.19 can be transferred at once.
By arranging each jaw holding means to face the chuck 9.19 in sequence, a plurality of chuck jaws 6 can be attached or replaced between the jaw holding means and the chuck jaw 9.19. It is possible to conveniently transfer the items one by one.

In addition, in the case of the opposed spindle lathe 2, the jaw holding means can be rotated so that each jaw holding means can be selectively opposed to the two chucks 9 and 19, so that the chuck can be moved by the bottle conveyance and delivery robot. The claws 116 can be transferred and delivered to the two chucks 9 and 19, and the installation space of the transfer and delivery robot can be reduced and it is economical.

Further, the present invention provides a soft g-f of the chuck jaw 116.
The part facing the work such as f-116A is directed toward the holding means support member or the arm, and the chuck claw 116 is
The chuck jaw 116 is held by the jaw holding means with the mounted portion of the base jaw 116B facing the opposite direction of the holding means supporting member or the arm, and the chuck jaw 116 is transferred to the jaw holding means. and the chuck's claw mounting groove, the holding means support member or arm 6 is held in front of the chuck 9.19.
The chuck claw 116 can be delivered by moving and driving the chuck jaw 2 in the sub-movement direction, and the holding means support member or arm 6
2 and the chuck 9.19, the delivery can be carried out suitably without interference.

Moreover, the present invention combines the soft jaw 116Ag work opposing member with a mounted member such as the base jaw 116B to form the chuck claw 116, and a held member such as the held portion 116b on the upper part of the mounted member. Since the chuck claw 116 is held by the claw holding means in such a manner that the claw holding means is engaged with the held means, the workpiece facing member can be changed by making the mounted member common. By doing so, it is possible to form chuck claws 116 that can be held by claw holding means of various shapes.

[Brief explanation of the drawing]

FIG. 1 is a front view showing a lathe cell to which the present invention is applied, FIG. 2 is a plan view of the lathe cell shown in FIG. 1, and FIG.
4 is a cross-sectional view showing the chuck and the chuck jaw replacement auxiliary device; FIG. 4 is a view in the direction of the arrow ■ of the chuck and the chuck jaw replacement auxiliary device shown in FIG. 3; Fig. 5 is a V-arrow view of the chuck and chuck jaw changing auxiliary device shown in Fig. 3, Fig. 6 is a view showing the turret tool post and hand positioning bin, and Fig. 7 is a diagram showing the setup station. Figure 8 is the 7th
FIG. 9 is a diagram showing the pallet fork hook drive mechanism; FIG. 10 is a cross section taken along line X-X of the pallet fork hook drive mechanism shown in FIG. 11 is a sectional view showing the stocker; FIG. 12 is a sectional view showing the arm of the gantry robot; FIG. 13 is a sectional view taken along the xm-xm line of the arm of the gantry robot shown in FIG. 14 is a sectional view taken along line XIV-XIV of the arm of the gantry robot shown in FIG. 12, FIG. 15 is a sectional view showing the tool hand, and FIG. 16 is a sectional view of the tool hand shown in FIG. XVI arrow view of the chuck jaw hand or work hand shown in the figure.
18 is a cross-sectional view showing an example of a tool; FIG. 19 is a cross-sectional view showing the gripper of the tool hand shown in FIG. 15; and FIG. 20 is a cross-sectional view showing the chuck claw hand or work hand. Figure 21 is a cross-sectional view taken along line XX I-XX I of the chuck jaw hand or work hand shown in Figure 20, Figure 22 is a diagram showing the chuck jaw hand, and Figure 23 is
XXM arrow view of the chuck claw hand shown in FIG. 22; FIGS. 24 to 26 are views showing an example of the chuck claw; FIG. 27 is a view showing the work hand with the hand claw removed; Figure 28 shows the work hand with hand claws attached, Figure 29 shows the work hand shown in Figure 28 XX■-x
30 is a diagram showing the hand claw, FIG. 31 is a control block diagram of the lathe cell shown in FIG. 1, FIG. 32 is a flowchart showing the pre-setup program, and FIG. 33 is a cross-sectional view taken along the X-line. 34 is a flowchart showing the schedule creation program. FIG. 35 is a flowchart showing the hand exchange program. FIG. 36 is a flowchart showing the tool exchange program. FIG. 47 is a diagram showing how tools are replaced; FIG. 48 is a flowchart showing a chuck jaw replacement program; FIGS. 49 to 55 are diagrams showing how chuck jaws are replaced; FIG. FIG. 57 is a flowchart showing a pallet loading program; FIG. 58 is a flowchart showing a pallet unloading program; FIG. 59 is a schematic diagram showing system operation data; FIG. Fig. 61 is Fig. 62 Fig. 63 is a schematic diagram showing the cause and system data, a schematic diagram showing the machining schedule, a schematic diagram showing the tool ID data, a model Fig. 64 showing the chuck jaw ID data, FIG. 65 is a schematic diagram showing hand ID data. FIG. 66 is a schematic diagram showing pallet ID data. FIG. 67 is a diagram showing an example of a natural nail molding program. 67 is a diagram showing a chuck jaw formed by the raw jaw forming program shown in FIG. 67, FIG. 69 and FIG. 7Q are diagrams showing an example of setting a barrier corresponding to the shape of the chuck jaw, and FIG. , a flowchart showing another example of the pre-setup program, FIG. 72 is a flowchart showing another example of the schedule creation program, FIG. 73 is a flowchart showing another example of the automatic operation program, FIG. 74 is a tool , is a diagram showing a lathe cell that automates the loading of chuck jaws into a stocker. 2 Numerical control lathe (opposing spindle lathe) 9 Chuck 9a... Jaw mounting groove (slide groove) 15... Guide groove 19... Chuck 19a... Jaw mounting groove (slide groove) 41... Claw storage means (stone force) 61... Transfer delivery robot (gantry robot) 62... Holding means mounting member, arm 75...
- Claw holding means (gripper) 116...Chuck claw Applicant Yamazaki Mazatuku Co., Ltd. Agent Patent attorney Phase 1) Shinji (and 1 other person) Figure 65 B-XX and Figure 7a 6gf 66b 20th xxI! 72-rp-7 Shin, Hunt Ma χ5 Fook/12 To" Tl 7=suγ/l' NM and rVL 72 Mi Yatsu 2 Appetizers 1 Int' /Je Figure 24 Figure Figure 25 Figure 116 Thousand f72 Hill (116A Figure 30 Figure 38 Figure 39 Figure 40 Figure 41 〆Figure 44 Figure 45 Figure 52 Figure EL B. Textile B- B+ Association? ★ Figure Figure

Claims (6)

[Claims] (1) In a numerically controlled lathe having a chuck with a pawl mounting groove in which chuck pawls are removably attached, a pawl storage means is provided to store multiple types of chuck pawls one by one so that they can be taken in and out at will, and conveyed. a delivery robot is provided so as to be freely movable and drivable in a main movement direction between the chuck side and the claw storage means side; a holding means support member is provided on the transfer and delivery robot so as to be movable and drivable in a auxiliary movement direction; The means supporting member is provided with at least one jaw holding means, and when the chuck jaws are transferred between the jaw storage means and the chuck when the chuck jaws are attached to and removed from the chuck, at least one chuck With the jaw held by one of the jaw holding means, the conveyance and delivery robot is moved in the main movement direction toward the jaw storage means or the chuck, and the chuck jaw is transferred between the jaw holding means and the chuck. When performing the process between the chuck's jaw mounting groove, rotate the chuck and align the direction in which the jaw mounting groove is drilled with the sub-movement direction of the holding means support member, and then attach one chuck jaw. is held by one of the jaw holding means, the holding means support member is moved and driven in the sub-movement direction, and the chuck jaw is inserted into and removed from the jaw mounting groove. How to set up chuck jaws on a control lathe. (2) In a numerically controlled lathe having a chuck having a jaw mounting groove in which a chuck jaw is removably mounted, a guide groove is provided in a form that can be aligned with the jaw mounting groove, and multiple types of chuck jaws are provided. a claw storage means for storing the nails one by one in and out, a transfer and delivery robot is provided to be movable and driven in a main movement direction between the chuck side and the claw storage means side, and the transfer and delivery robot has an arm. is provided so as to be freely extendable and retractable in the sub-movement direction, and the arm is provided with at least one claw holding means, and when the chuck claw is attached to and removed from the chuck, the chuck claw is transferred between the claw storage means and the chuck. If the transfer is carried out between the chuck and the chuck, the conveyance and delivery robot is moved in the main movement direction toward the jaw storage means or the chuck with at least one chuck jaw held by one of the jaw holding means, and the chuck When transferring the jaw between the jaw holding means and the jaw mounting groove of the chuck, rotate the chuck to align the direction in which the jaw mounting groove is bored and the sub-movement direction of the arm. After that, with one chuck jaw held by one of the jaw holding means, the arm is moved in the sub-movement direction while guiding the chuck jaw through the guide groove aligned with the jaw mounting groove. A method for setting up a chuck jaw in a numerically controlled lathe, the chuck jaw being configured to be inserted into and removed from the jaw mounting groove in a manner that the chuck jaw is extended and retracted. (3) In the case where the transfer and delivery robot is provided with a number of the jaw holding means equal to or greater than the number of chuck jaws to be attached to the chuck, and the chuck jaws are transported between the jaw storage means and the chuck, the chuck The number of chuck jaws to be attached is determined by moving the transfer and delivery robot in the main movement direction toward the jaw storage means side or the chuck side while holding the number of chuck jaws to be attached by each of the jaw holding means. 3. A method for setting up chuck jaws in a numerically controlled lathe according to claim 1 or 2, wherein the chuck jaws are transported between the jaw storage means and the chuck at once. (4) In a numerically controlled lathe having a chuck with a pawl mounting groove in which chuck pawls are removably installed, a pawl storage means is provided to store multiple types of chuck pawls one by one in a manner that they can be taken in and out at will, and conveyed. a delivery robot is provided so as to be freely movable and drivable in a main movement direction between the chuck side and the claw storage means side; a holding means support member is provided on the transfer and delivery robot so as to be movable and drivable in a auxiliary movement direction; A number of claw holding means equal to or greater than that to be attached to the chuck are mounted on the means supporting member axially symmetrically with respect to the rotation axis, and
It is provided so as to be freely rotatable around the rotation axis, and when the chuck jaws are transferred between the jaw storage means and the chuck when loading and unloading the chuck jaws on the chuck, one chuck jaw is provided as one chuck jaw. In a state in which the chuck jaws are held by one of the jaw holding means and the number of chuck jaws to be attached to the chuck are held by each of the jaw holding means, the transfer/delivery robot is moved toward the jaw storage means side or the chuck side in the main movement direction. The number of chuck jaws to be attached is transferred at once between the jaw storage means and the chuck, and the chuck jaws are transferred between the jaw holding means and the jaw attachment groove of the chuck. In the case where the claw holding means is rotated so that each of the claw holding means faces the chuck in turn, the chuck is rotated to align the direction in which the claw mounting groove is bored and the holding means. After aligning the sub-movement direction of the support member, driving the holding means support member to move in the sub-movement direction while one chuck claw is held by one claw holding means facing the chuck; A method for setting up a chuck jaw in a numerically controlled lathe, the chuck jaw being configured to be inserted into and removed from the jaw mounting groove. (5) The part of the chuck jaw facing the workpiece is directed toward the holding means support member or the arm, and the mounted part of the chuck jaw is directed toward the opposite direction of the holding means support member or the arm. Claim 1 or 2, wherein the chuck jaw is transferred between the jaw holding means and the jaw mounting groove of the chuck while the chuck jaw is held by the holding means. Or the method for setting up chuck jaws in a numerically controlled lathe according to item 3 or 4. (6), the chuck claw is formed by combining the work facing member and the mounted member, a held means is provided on the upper part of the mounted member, and the claw holding means is engaged with the held means; A method for setting up chuck jaws in a numerically controlled lathe according to claim 1, 2, 3, or 4, wherein the chuck jaws are held by the jaw holding means.