Machine tool, control method for machine tool, and program product

Abstract

The objective of this invention is to provide a machine tool that allows for the replacement of the sub-clamp without moving the main spindle. The machine tool (100) includes a loading / unloading mechanism (AD) capable of loading and unloading a workpiece relative to a main collet (MC) mounted on the main spindle and capable of loading and unloading a sub-clamp (SC) relative to the main collet (MC). The loading / unloading mechanism (AD) has a base (BP) movable along a first moving axis (DX) and an arm (AP) extending radially outward from the base (BP) in a circle centered on the first moving axis (DX1). The arm (AP) is configured to rotate about the first moving axis (DX1). A first gripping mechanism (GM1) capable of gripping the workpiece and the sub-clamp (SC) separately and independently is mounted at the front end of the arm (AP).

Description

Technical Field

[0001] This invention relates to a machine tool, a machine tool control method, and a program product. Background Technology

[0002] Previously, an inverted lathe (machine tool) was known, which included an automatic chuck changing mechanism held by a chuck of the spindle (see Patent Document 1). This automatic changing mechanism was configured to change the chuck by moving the spindle in a direction perpendicular to the axis of the spindle.

[0003] <Prior art documents>

[0004] <Patent Documents>

[0005] Patent Document 1: Japanese Patent No. 4315741 Specification Summary of the Invention

[0006] <Problem to be solved by this invention>

[0007] However, in the aforementioned automatic changing mechanism, the spindle needs to be moved when changing the collet, thus making the structure complex.

[0008] Therefore, it is desirable to provide a machine tool that can change collets without moving the spindle.

[0009] <Methods for solving problems>

[0010] An embodiment of the present invention relates to a machine tool comprising: a spindle; and a loading and unloading mechanism capable of loading and unloading a workpiece relative to an outer collet mounted on the spindle, and capable of loading and unloading an inner collet relative to the outer collet mounted on the spindle. The loading and unloading mechanism has a base and an arm. The base is movable along a first moving axis extending parallel to the axial direction of the spindle. The arm extends radially outward from the base in a circle centered on the first moving axis. The arm is configured to be rotatable about the first moving axis. A first gripping mechanism capable of gripping the workpiece and the inner collet is mounted at the front end of the arm.

[0011] <The Effects of the Invention>

[0012] The aforementioned machine tool can change collets without moving the spindle. Attached Figure Description

[0013] Figure 1 This is a perspective view of the machine tool involved in the embodiments of the present invention.

[0014] Figure 2 It is an exploded perspective view of the main collet, auxiliary collet, anti-detachment mechanism, collet support components, and ejection mechanism.

[0015] Figure 3 It is a sectional view of the main collet, the auxiliary collet, the anti-detachment mechanism, and the collet support components.

[0016] Figure 4 It is a sectional view of the main collet, the auxiliary collet, the anti-detachment mechanism, the collet support component, and the ejection mechanism.

[0017] Figure 5 This is a three-dimensional view of the spindle unit (one of them).

[0018] Figure 6 This is a three-dimensional view of the spindle unit (part two).

[0019] Figure 7 This is a three-dimensional view of the main spindle unit (Part Three).

[0020] Figure 8 This is a three-dimensional view of the spindle unit (Part Four).

[0021] Figure 9 This is a three-dimensional view of the spindle unit (Part 5).

[0022] Figure 10 This is a three-dimensional view of the main spindle unit (Part Six).

[0023] Figure 11 This is a three-dimensional view of the main spindle unit (Part Seven).

[0024] Figure 12 This is a three-dimensional view of the main spindle unit (Part 8).

[0025] Figure 13 This is a three-dimensional view of the main spindle unit (Nine).

[0026] Figure 14 It is a three-dimensional view of the spindle unit (part ten).

[0027] Figure 15 This is a perspective view (one of the three-dimensional views) of the second movable component and the thickness measuring mechanism.

[0028] Figure 16 These are the right view and front view of the fixed wall and gasket.

[0029] Figure 17 This is a perspective view (second one) of the second movable component and thickness measuring mechanism.

[0030] Figure 18 This is a three-dimensional view (third one) of the second movable component and thickness measuring mechanism.

[0031] Figure 19 This is a three-dimensional view (fourth one) of the second movable component and thickness measuring mechanism.

[0032] Figure 20 This is a three-dimensional view (part five) of the second movable component and thickness measuring mechanism.

[0033] Figure 21 This is a flowchart illustrating an example of the process for replacing the secondary collet.

[0034] Figure 22 This is a flowchart illustrating an example of the thickness measurement process.

[0035] Label Explanation

[0036] 10: Pin; 11: Main component; 11F: Flange; 11G: Groove; 11H: Through hole; 11S: Stage; 12: Movable component; 12E: Front end; 12F: Flange; 12G: Groove; 20: Metal ball; 21: O-ring; 22: Collet connecting component; 22H: Through hole; 22G1: First groove; 22G2: Second groove; 30: Cylindrical component; 30N: Inner ring; 30P: Pin; 30T: Conical protrusion; 31: Bolt; 32: Flange component; 50: Fixed wall; 50H: Through hole; 51: Movable wall; 51P: Movable pin; 100: Machine tool; AC1: First actuator; AC2: Second actuator; AC3: Third actuator; AC4: Fourth actuator; AC5: Fifth actuator; AC6: Sixth actuator; AC7: Seventh actuator; AC8: Eighth actuator; AD: Loading and unloading mechanism; AP: Arm; BP: Base; BR: Bar; CD: Conveying mechanism; CG: Groove; CH: Collet support; CM: Collet support moving mechanism; CP: Anti-detachment mechanism; CR: Collet support component; CTR: Controller; GM1: First gripping mechanism; GM2: Second gripping mechanism; LD: Cover; MA1: First movable component; MA2: Second movable component; MA3: Third movable component; MC: Main collet; MS: Spindle; MU: Spindle unit; PD: Base; PH: Pin hole; PS: Push-out mechanism; SB: Storage box; SC: Secondary collet; SR1: First displacement sensor; SR2: Second displacement sensor; TM: Thickness measuring mechanism; WS: Gasket. Detailed Implementation

[0037] Hereinafter, the machine tool 100 according to the embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 This is a 3D view of machine tool 100. Specifically, Figure 1 The image above is a perspective view of machine tool 100 with the CV cover installed. Figure 1 The image below is a 3D view of the spindle unit MU located inside the cover CV.

[0038] exist Figure 1In this system, X1 represents one direction of the X-axis constituting the three-dimensional Cartesian coordinate system, and X2 represents the other direction of the X-axis. Similarly, Y1 represents one direction of the Y-axis constituting the three-dimensional Cartesian coordinate system, and Y2 represents the other direction of the Y-axis. Likewise, Z1 represents one direction of the Z-axis constituting the three-dimensional Cartesian coordinate system, and Z2 represents the other direction of the Z-axis. Figure 1 In the diagram, the X1 side of machine tool 100 corresponds to the front side (front view) of machine tool 100, and the X2 side of machine tool 100 corresponds to the rear side (back view) of machine tool 100. Additionally, the Y1 side of machine tool 100 corresponds to the left side of machine tool 100, and the Y2 side of machine tool 100 corresponds to the right side of machine tool 100. Furthermore, the Z1 side of machine tool 100 corresponds to the upper side of machine tool 100, and the Z2 side of machine tool 100 corresponds to the lower side of machine tool 100. The same applies to the other accompanying drawings.

[0039] Machine tool 100 is a device that uses cutting tools to machine workpieces such as bar stock BR ​​held by a collet (main collet MC) mounted on a rotating spindle MS or by a collet (secondary collet SC) mounted on the main collet MC. Additionally, such as Figure 1 As shown in the figure above, the machine tool 100 has a controller CTR that controls the movement of the machine tool 100. In the example shown, the controller CTR is configured as a computer (microcomputer) equipped with a CPU, volatile memory, non-volatile memory, and input / output interfaces. Specifically, the controller CTR executes a program stored in a storage medium such as a non-volatile memory via the CPU, thereby enabling various mechanisms to operate by outputting control commands to the various mechanisms constituting the spindle unit MU. Figure 1 In the example shown in the figure below, the collet support component CR is installed at the front end of the spindle MS, the main collet MC is installed on the collet support component CR, the auxiliary collet SC is installed on the main collet MC, and the bar BR is held by the auxiliary collet SC.

[0040] The spindle unit MU consists of a spindle MS, a loading and unloading mechanism AD, a conveying mechanism CD, a collet support moving mechanism CM, and a thickness measuring mechanism TM.

[0041] The loading / unloading mechanism AD is used for loading and unloading components relative to the spindle MS. The components to be loaded / unloaded include the auxiliary collet SC and the bar stock BR.

[0042] The conveying mechanism CD is a mechanism used to transfer the components being loaded and unloaded between the conveying mechanism CD and the loading and unloading mechanism AD.

[0043] The collet support moving mechanism CM is a mechanism for moving the collet support CH, which carries one or more auxiliary collets SC, in parallel. In the example shown, the collet support CH is configured to accommodate 15 auxiliary collets SC arranged in three rows of five each along the axial direction (Y-axis direction) of the main shaft MS.

[0044] The thickness measuring mechanism TM is a mechanism used to measure the thickness of finished workpieces such as shims cut by a machine tool 100.

[0045] Next, refer to Figures 2 to 4 The components configured at the front end of the spindle MS are described. Figure 2 This is an exploded perspective view of the components located at the front end of the spindle MS. In the example shown, the components located at the front end of the spindle MS include an anti-detachment mechanism CP, a secondary collet SC, a main collet MC, a collet support component CR, and an ejection mechanism PS.

[0046] The auxiliary collet SC has a pin 10, a main body member 11, and a movable member 12. The main body member 11 is a member that forms the outer peripheral surface of the auxiliary collet SC and has a through hole 11H through which the pin 10 is inserted. The main body member 11 has a flange portion 11F for preventing complete insertion into the main collet MC and a groove portion 11G for engaging with the collet support member CR. The movable member 12 is a member that can be slidably housed inside the main body member 11 along the axial direction of the main shaft MS and has a groove portion 12G for slidably housing the pin 10. Furthermore, the movable member 12 is configured to have a flange portion 12F at its rear end, and its front end portion 12E protrudes from the front end end of the main body member 11 when it moves (slides) forward within the main body member 11.

[0047] The main collet MC is configured to directly hold the bar stock BR ​​or indirectly hold the bar stock BR ​​via the auxiliary collet SC. In the example shown, the main collet MC is a collet used in a quick-change collet chuck system, having a pin hole PH and a groove CG for engaging with the collet support member CR.

[0048] The collet support member CR is a component used to support the main collet MC and is installed at the front end of the spindle MS. In the example shown, the collet support member CR comprises a cylindrical member 30, a bolt 31, and a flange member 32. The cylindrical member 30 is the component for mounting the main collet MC. The bolt 31 is an example of a fastening component used to connect the cylindrical member 30 and the flange member 32. The flange member 32 is the component fixed to the front end of the spindle MS.

[0049] The anti-detachment mechanism CP is used to prevent the auxiliary collet SC, which is mounted on the main collet MC, from falling off the main collet MC. In the example shown, the anti-detachment mechanism CP comprises a metal ball 20, an O-ring 21, and a collet connecting member 22. The collet connecting member 22 is configured such that its outer peripheral surface contacts the inner peripheral surface of the cylindrical member 30 of the collet support member CR, and its inner peripheral surface contacts the outer peripheral surface of the component being loaded or unloaded.

[0050] The ejection mechanism PS is used to eject the bar stock BR ​​held by the auxiliary collet SC out of the auxiliary collet SC. In the example shown, the ejection mechanism PS is configured as a pneumatic cylinder arranged along the rotation axis MX of the main shaft MS. Alternatively, the ejection mechanism PS may also be configured with any other actuator.

[0051] Next, refer to Figure 3 The positional relationship of the components located at the front end of the spindle MS is explained. Figure 3 This is a sectional view of the component positioned at the front end of the spindle MS. Additionally, in Figure 3 For clarity, the cross-sectional diagram of the anti-hair loss mechanism CP has been omitted. Specifically, Figure 3 The left image shows the state when the auxiliary collet SC is installed. Figure 3 The right figure shows the state when the auxiliary collet SC is not installed.

[0052] Specifically, such as Figure 3 As shown, the auxiliary collet SC is mounted on the cylindrical member 30 of the collet support member CR via the anti-detachment mechanism CP. More specifically, the collet connecting member 22 of the anti-detachment mechanism CP has a first groove 22G1 for inserting 12 metal balls 20 and O-rings 21. The 12 metal balls 20 are inserted into 12 through holes 22H formed at the bottom of the first groove 22G1, and the O-rings 21 are arranged on the outside of the 12 metal balls 20 to push the 12 metal balls 20 inward (towards the rotation axis MX). The diameter of the through holes 22H is smaller than the diameter of the metal balls 20. Therefore, the metal balls 20 will not fall out through the through holes 22H.

[0053] Furthermore, the collet connecting member 22 has a second groove 22G2 for receiving three conical protrusions 30T formed on the inner circumferential surface of the cylindrical member 30 of the collet support member CR. This structure prevents the collet connecting member 22 from falling off the cylindrical member 30.

[0054] A portion of the metal ball 20, which protrudes partially inward from the through hole 22H of the collet connecting member 22, enters and engages with the groove 11G formed on the main body member 11 of the secondary collet SC. Through the engagement between the metal ball 20 and the groove 11G, the secondary collet SC is held in place and does not detach from the main collet MC.

[0055] The main collet MC is configured to expand and contract radially. Furthermore, three pin holes PH are formed on the outer peripheral surface of the main collet MC for receiving three pins 30P disposed on the inner peripheral surface of the cylindrical member 30 of the collet support member CR. Additionally, a groove CG is formed on the outer peripheral surface of the main collet MC to engage with an inner annular portion 30N disposed on the inner peripheral surface of the cylindrical member 30. The main collet MC is positioned circumferentially about the rotation axis MX by the engagement between the pins 30P and the pin holes PH. Furthermore, the main collet MC is held in place by the engagement between the inner annular portion 30N and the groove CG, preventing it from detaching from the collet support member CR.

[0056] Next, refer to Figure 4 The movement of the auxiliary collet SC is explained when the bar BR held by the auxiliary collet SC is pushed outward by the ejection mechanism PS. Figure 4 This is a cross-sectional view of a component positioned at the front end of the spindle MS. More specifically, Figure 4 The diagram illustrates four states (first state STa to fourth state STd) of a component positioned at the front end of the spindle MS. In the example shown, when the bar BR held by the secondary collet SC is pushed out, the state of the component positioned at the front end of the spindle MS changes in the order of first state STa, second state STb, third state STc, and fourth state STd.

[0057] In the first state STa, the front end (the end on the Y1 side, the left end) of the ejection mechanism PS is located away from the auxiliary collet SC.

[0058] Then, when the ejection mechanism PS is moved to the Y1 side (left), as shown in the second state STb, the front end of the ejection mechanism PS contacts the flange 12F of the movable member 12 of the auxiliary collet SC.

[0059] Then, when the ejection mechanism PS moves further to the Y1 side (left), the front end of the ejection mechanism PS moves further to the Y1 side (left), pushing the movable member 12 (flange 12F) into the Y1 side (left). At this time, the pin 10 of the auxiliary collet SC slides in the groove 12G of the movable member 12 until the front end 12E of the movable member 12 contacts the rear end (end on the Y2 side, right end) of the bar BR.

[0060] Then, as the ejection mechanism PS moves further towards the Y1 side (left), the flange portion 12F of the movable member 12 contacts the stage portion 11S of the main body member 11 of the auxiliary collet SC. Through this contact, the movement of the ejection mechanism PS towards the Y1 side (left) stops. At this time, the front end portion 12E of the movable member 12 protrudes towards the Y1 side (left) beyond the flange portion 11F of the main body member 11, and the bar BR, which is pushed towards the Y1 side (left) by the front end portion 12E of the movable member 12, also moves towards the Y1 side (left) beyond the flange portion 11F of the main body member 11.

[0061] Thus, the bar BR pushed out from the front end of the secondary collet SC is... Figure 4 The first controlling mechanism GM1 (not shown in the diagram) Figure 5 It is held in place, separated from the secondary collet SC, and moved to another position.

[0062] Next, refer to Figure 5 The spindle unit MU is described. Figure 5 This is a perspective view of the spindle unit MU. In the example shown, the spindle unit MU comprises a first actuator AC1 to a seventh actuator AC7, a loading / unloading mechanism AD, a conveying mechanism CD, a collet support moving mechanism CM, a first gripping mechanism GM1, a second gripping mechanism GM2, a spindle MS, and a thickness measuring mechanism TM.

[0063] The first actuator AC1 is an actuator that moves the first movable component MA1 relative to the frame of the machine tool 100 along a first moving axis DX1 parallel to the axis (Y-axis direction) of the spindle MS. The first movable component MA1 includes an arm AP, a base BP, and a cover LD. In the example shown, the first actuator AC1 is a ball screw driven electric actuator. However, the first actuator AC1 can also be any other actuator.

[0064] The arm AP is a component that is oscillatingly connected to the base BP, and a third actuator AC3 and a first gripping mechanism GM1 are fixed at the front end.

[0065] The base BP is a component configured to move relative to the frame of the machine tool 100 along the axial direction of the spindle MS. In the example shown, a second actuator AC2 is fixed to the base BP.

[0066] The cover LD is a component installed at the front end (end on the Y1 side, left end) of the base BP. It is used to protect the loading / unloading mechanism AD and the conveying mechanism CD from the effects of chips generated when the machine tool 100 cuts the workpiece, and cleaning fluid used for cleaning the workpiece or cutting tools. In the example shown, the cover LD is configured to block the through hole HL provided on the partition wall PW that separates the machining space SP of the machine tool 100 from the inside and outside. The first actuator AC1 can cover the through hole HL with the cover LD by moving the base BP, on which the cover LD is fixed at the front end (protruding into the machining space SP), towards the Y2 side (right).

[0067] The second actuator AC2 is an actuator that causes the arm AP to oscillate relative to the base BP about the first moving axis DX1. In the example shown, the second actuator AC2 is an electrically powered servo motor. However, the second actuator AC2 can also be any other arbitrary actuator.

[0068] The third actuator AC3 is an actuator used to actuate the first gripping mechanism GM1. In the example shown, the third actuator AC3 is an electric actuator mounted on the front end of the arm AP. However, the third actuator AC3 can also be any other actuator.

[0069] The first gripping mechanism GM1 is a mechanism for gripping the component being loaded or unloaded. In the example shown in the figure, the first gripping mechanism GM1 is mounted together with the third actuator AC3 at the front end of the arm AP, configured to allow the pair of claws to open and close via the third actuator AC3.

[0070] The fourth actuator AC4 is an actuator used to actuate the second gripping mechanism GM2. In the example shown, the fourth actuator AC4 is a pneumatic actuator mounted on the second movable component MA2. However, the fourth actuator AC4 can also be any other actuator.

[0071] The second gripping mechanism GM2 is a mechanism for gripping the component being loaded or unloaded. In the example shown in the figure, the second gripping mechanism GM2 is mounted together with the fourth actuator AC4 on the second movable component MA2, configured to allow a pair of claws to open and close via the fourth actuator AC4.

[0072] The fifth actuator AC5 is used to move the collet holder CH relative to the machine tool 100 frame along the second moving axis DX2, which is perpendicular to the axis direction (Y-axis direction) of the spindle MS. In the example shown, the fifth actuator AC5 is a ball screw driven electric actuator. However, the fifth actuator AC5 can also be any other arbitrary actuator.

[0073] The sixth actuator AC6 is an actuator used to move the second movable component MA2 relative to the frame of the machine tool 100 along the third translation axis DX3, which is parallel to the axis direction (Y-axis direction) of the spindle MS. In the example shown, the sixth actuator AC6 is a ball screw driven electric actuator. However, the sixth actuator AC6 can also be any other arbitrary actuator.

[0074] The seventh actuator AC7 is an actuator used to move the second gripping mechanism GM2 relative to the second movable component MA2 along the fourth moving axis DX4, which is perpendicular to the axis direction (Y-axis direction) of the main spindle MS. In the example shown, the seventh actuator AC7 is a ball screw driven electric actuator. However, the seventh actuator AC7 can also be any other arbitrary actuator.

[0075] In the example shown, the loading / unloading mechanism AD comprises a first actuator AC1 and a first movable component MA1. The first movable component MA1 comprises a second actuator AC2, a third actuator AC3, an arm AP, a base BP, a first gripping mechanism GM1, and a cover LD. The conveying mechanism CD comprises a sixth actuator AC6 and a second movable component MA2. The second movable component MA2 comprises a fourth actuator AC4, a seventh actuator AC7, and a second gripping mechanism GM2. The collet support moving mechanism CM comprises a fifth actuator AC5 and a collet support CH.

[0076] Next, refer to Figures 6 to 11 The operation of the spindle unit MU is explained. Figures 6 to 11 These are 3D diagrams of the spindle unit MU. Specifically, Figure 6 , Figure 7 , Figure 10 and Figure 11 These are the overall 3D views of the spindle unit MU. Figure 8 and Figure 9 These are parts of the spindle unit MU ( Figure 7 An enlarged 3D view of the region R1 enclosed by the dashed line shown. Furthermore, Figure 6 The four states of the spindle unit MU are shown (state 1 to state 4 ST4). Figure 7 The four states of the spindle unit MU are shown (states ST5 to ST8). Figure 8 The three states of the spindle unit MU are shown (states ST9 to ST11). Furthermore, Figure 9 The three states of the spindle unit MU are shown (states twelfth ST12 to fourteenth ST14). Figure 10 The four states of the spindle unit MU are shown (states 15 to 18, ST18). Figure 11The three states of the spindle unit MU are shown (state 19 ST19 to state 21 ST21).

[0077] In the example shown in the figure, when the first collet SC1 mounted on the spindle MS is replaced with the second collet SC2 held in the collet bracket CH, the state of the spindle unit MU changes in the order of first state ST1, second state ST2, ..., twentieth state ST20, and twenty-first state ST21.

[0078] In the first state ST1, which is the initial state, in the spindle unit MU (loading and unloading mechanism AD), the base BP retracts to the Y2 side (right side) of the partition wall PW so that the through hole HL formed in the partition wall PW can be blocked by the cover LD. In addition, the secondary collet SC (first secondary collet SC1) is mounted on the spindle MS, and another secondary collet SC (second secondary collet SC2) is held (stored) in the collet bracket CH.

[0079] Then, the main spindle unit MU (loading and unloading mechanism AD) drives the first actuator AC1 as shown by arrow AR1 in the second state ST2, causing the first movable component MA1 to move to the Y1 side (left).

[0080] Then, as indicated by arrow AR2 in the third state ST3, the main spindle unit MU (loading and unloading mechanism AD) drives the second actuator AC2 to swing the arm AP downward about the first moving axis DX1. Specifically, the main spindle unit MU (loading and unloading mechanism AD) swings the arm AP downward about the first moving axis DX1 until the central axis GX1 of the first gripping mechanism GM1 fixed to the front end of the arm AP is aligned with the rotation axis MX of the main spindle MS (the central axis SX1 of the first auxiliary collet SC1) (becoming on the same straight line).

[0081] Then, the main spindle unit MU (loading / unloading mechanism AD), as indicated by arrow AR3 in the fourth state ST4, drives the first actuator AC1 to move the first movable component MA1 to the Y2 side (right). As a result, the first gripping mechanism GM1 is able to position a pair of claws around the flange 11F of the first auxiliary collet SC1 mounted on the main collet MC. Then, the first gripping mechanism GM1 uses the force generated by the third actuator AC3 to grip the flange 11F of the main body component 11 of the first auxiliary collet SC1.

[0082] Then, the main spindle unit MU (loading and unloading mechanism AD) as follows Figure 7 As indicated by arrow AR4 in the fifth state ST5, the first actuator AC1 is driven to move the first movable component MA1 to the Y1 side (left). As a result, the first gripping mechanism GM1 is able to pull the first auxiliary collet SC1 mounted on the main collet MC from the main collet MC.

[0083] Then, as indicated by arrow AR5 in state ST6, the main spindle unit MU (loading and unloading mechanism AD) drives the second actuator AC2 to swing the arm AP upward about the first moving axis DX1. Specifically, the main spindle unit MU (loading and unloading mechanism AD) swings the arm AP upward about the first moving axis DX1 until it becomes... Figure 6 Up to the position in the second state ST2.

[0084] Then, as indicated by arrow AR6 in the seventh state ST7, the spindle unit MU (loading and unloading mechanism AD) drives the first actuator AC1 to move the first movable component MA1 to the Y2 side (right). Specifically, the spindle unit MU (loading and unloading mechanism AD) moves the first movable component MA1 to the Y2 side (right) until it becomes... Figure 6 The first state ST1 is then positioned. As a result, the spindle unit MU (loading and unloading mechanism AD) can position the first gripping mechanism GM1, which has a pair of claws that open and close in the vertical direction, relative to the second gripping mechanism GM2, which has a pair of claws that open and close in the longitudinal direction. That is, the spindle unit MU (loading and unloading mechanism AD) can align the central axis GX1 of the first gripping mechanism GM1 with the central axis GX2 of the second gripping mechanism GM2. Therefore, the second gripping mechanism GM2 can position the pair of claws around the first collet SC1 held by the first gripping mechanism GM1. Then, the second gripping mechanism GM2 uses the force generated by the fourth actuator AC4 to grip the first collet SC1. After the first collet SC1 is gripped by the second gripping mechanism GM2, the first gripping mechanism GM1 releases the first collet SC1 by opening the pair of claws in the vertical direction via the third actuator AC3. In this way, the spindle unit MU realizes the transfer of the first collet SC1 from the first gripping mechanism GM1 to the second gripping mechanism GM2.

[0085] Then, as indicated by arrow AR7 in the eighth state ST8, the main spindle unit MU (clamp support moving mechanism CM) drives the fifth actuator AC5 to move the clamp support CH along the second moving axis DX2 toward the X1 side (forward). Specifically, the main spindle unit MU (clamp support moving mechanism CM) moves the clamp support CH toward the X1 side (forward) until the X coordinate (position in the X-axis direction) of the second gripping mechanism GM2 (first auxiliary clamp SC1) matches the X coordinate of the storage space SG1 (the position for storing the first auxiliary clamp SC1) in the clamp support CH.

[0086] Then, the main spindle unit MU (conveyor CD) as follows Figure 8As indicated by arrow AR8 in the ninth state ST9, the sixth actuator AC6 is driven to move the second movable component MA2 along the third moving axis DX3 to the Y2 side (right). Specifically, the main spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 to the Y2 side (right) until the Y coordinate (position in the Y-axis direction) of the second gripping mechanism GM2 (first auxiliary collet SC1) coincides with the Y coordinate of the storage space SG1 in the collet bracket CH.

[0087] Then, as indicated by arrow AR9 in the tenth state ST10, the spindle unit MU (conveyor mechanism CD) drives the seventh actuator AC7 to move the second movable component MA2 along the fourth movement axis DX4 towards the Z2 side (downward). Specifically, the spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 towards the Z2 side (downward) until the Z coordinate (position in the Z-axis direction) of the second gripping mechanism GM2 (first collet SC1) coincides with the Z coordinate of the storage space SG1 in the collet holder CH. Then, the second gripping mechanism GM2 releases the first collet SC1 by opening a pair of claws in the front-back direction via the fourth actuator AC4. In this way, the spindle unit MU can place (store) the first collet SC1 into the storage space of the collet holder CH.

[0088] Then, as indicated by arrow AR10 in state eleven ST11, the main spindle unit MU (conveyor CD) drives the seventh actuator AC7 to move the second movable component MA2 along the fourth moving axis DX4 toward the Z1 side (upward). More specifically, the main spindle unit MU (conveyor CD) moves the second movable component MA2 toward the Z1 side (upward) until it reaches the position in state nine ST9.

[0089] Then, the main spindle unit MU (conveyor CD) as follows Figure 9 As indicated by arrow AR11 in the twelfth state ST12, the sixth actuator AC6 is driven to move the second movable component MA2 along the third moving axis DX3 to the Y2 side (right). Specifically, the main spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 to the Y2 side (right) until the Y coordinate (position in the Y-axis direction) of the second gripping mechanism GM2 coincides with the Y coordinate of the storage space SG2 in the collet holder CH (the place where the second collet SC2 is stored, see the fourteenth state ST14).

[0090] As indicated by arrow AR12, the spindle unit MU (clamp support moving mechanism CM) drives the fifth actuator AC5 to move the clamp support CH along the second moving axis DX2 towards the X1 side (front). Specifically, the spindle unit MU (clamp support moving mechanism CM) moves the clamp support CH towards the X1 side (front) until the X coordinate (position in the X-axis direction) of the second gripping mechanism GM2 coincides with the X coordinate of the storage space SG2 in the clamp support CH.

[0091] Then, as indicated by arrow AR13 in state thirteen ST13, the main spindle unit MU (conveyor mechanism CD) drives the seventh actuator AC7 to move the second movable component MA2 along the fourth moving axis DX4 towards the Z2 side (downward). Specifically, the main spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 towards the Z2 side (downward) until the Z coordinate (position in the Z-axis direction) of the second gripping mechanism GM2 coincides with the Z coordinate of the storage space SG2 in the collet holder CH. Afterward, the second gripping mechanism GM2 grips the second collet SC2 by closing a pair of claws in the front-back direction via the fourth actuator AC4.

[0092] Then, as indicated by arrow AR14 in state fourteen ST14, the spindle unit MU (conveyor mechanism CD) drives the seventh actuator AC7 to move the second movable component MA2 along the fourth moving axis DX4 toward the Z1 side (above). In this way, the spindle unit MU can lift the second collet SC2, which is placed (stored) in the storage space of the collet holder CH.

[0093] Then, the main spindle unit MU (conveyor CD) as follows Figure 10 As indicated by arrow AR15 in the fifteenth state ST15, the sixth actuator AC6 is driven to move the second movable component MA2 along the third moving axis DX3 towards the Y1 side (left). Specifically, the spindle unit MU (transfer mechanism CD) moves the second movable component MA2 towards the Y1 side (left) to a position where the transfer of the second auxiliary collet SC2 from the second gripping mechanism GM2 to the first gripping mechanism GM1 can take place. Then, the first gripping mechanism GM1 grips the second auxiliary collet SC2 using the force generated by the third actuator AC3. After the first gripping mechanism GM1 grips the second auxiliary collet SC2, the second gripping mechanism GM2 releases the second auxiliary collet SC2 by opening a pair of claws in the front-back direction via the fourth actuator AC4. Thus, the spindle unit MU realizes the transfer of the second auxiliary collet SC2 from the second gripping mechanism GM2 to the first gripping mechanism GM1.

[0094] Then, the main spindle unit MU (loading and unloading mechanism AD) drives the first actuator AC1 as shown by arrow AR16 in the sixteenth state ST16, causing the first movable component MA1 to move along the first moving axis DX1 to the Y1 side (left).

[0095] Then, as indicated by arrow AR17 in state 17 ST17, the main spindle unit MU (loading and unloading mechanism AD) drives the second actuator AC2 to swing the arm AP downward about the first moving axis DX1. Specifically, the main spindle unit MU (loading and unloading mechanism AD) swings the arm AP downward about the first moving axis DX1 until the central axis GX1 of the first gripping mechanism GM1 fixed to the front end of the arm AP is aligned with the rotation axis MX of the main spindle MS (the central axis SX2 of the second auxiliary collet SC2) (located on the same straight line).

[0096] Then, the main spindle unit MU (loading / unloading mechanism AD), as indicated by arrow AR18 in state 18 ST18, drives the first actuator AC1 to move the first movable component MA1 to the Y2 side (right). As a result, the first gripping mechanism GM1 is able to push the second collet SC2 into the main collet MC. Afterwards, the first gripping mechanism GM1 releases the second collet SC2 by opening a pair of claws in the front-back direction via the third actuator AC3.

[0097] Then, the main spindle unit MU (loading and unloading mechanism AD) as follows Figure 11 As indicated by arrow AR19 in the nineteenth state ST19, the first actuator AC1 is driven to move the first movable component MA1 to the Y1 side (left). As a result, the spindle unit MU (loading and unloading mechanism AD) is able to separate the first gripping mechanism GM1 from the second auxiliary collet SC2, which is fitted into the main collet MC.

[0098] Then, as indicated by arrow AR20 in the twentieth state ST20, the main spindle unit MU (loading and unloading mechanism AD) drives the second actuator AC2 to swing the arm AP upward about the first moving axis DX1. Specifically, the main spindle unit MU (loading and unloading mechanism AD) swings the arm AP upward about the first moving axis DX1 until it becomes... Figure 6 Up to the position in the second state ST2.

[0099] Then, as indicated by arrow AR21 in state ST21, the spindle unit MU (loading / unloading mechanism AD) drives the first actuator AC1 to move the first movable component MA1 towards the Y2 side (right). Specifically, the spindle unit MU (loading / unloading mechanism AD) moves the first movable component MA1 towards the Y2 side (right) until it becomes... Figure 6The position is as shown in the first state ST1. In this way, the spindle unit MU can replace the first collet SC1 mounted on the spindle MS with the second collet SC2.

[0100] Next, refer to Figures 12 to 14 Another operation of the spindle unit MU will be explained. Figures 12 to 14 These are 3D diagrams of the spindle unit MU. Specifically, Figure 12 The four states of the spindle unit MU are shown (first state ST51 to fourth state ST54). Figure 13 The three states of the spindle unit MU are shown (state 5 ST55 to state 7 ST57). Figure 14 The four states of the spindle unit MU are shown (eighth state ST58 to eleventh state ST61).

[0101] In the example shown, when a shim WS, which is an example of a finished workpiece held by a secondary collet SC mounted on the spindle MS, is housed in the housing SB, the state of the spindle unit MU changes in the order of first state ST51, second state ST52, ..., ninth state ST59, tenth state ST60, and eleventh state ST61.

[0102] In the first state ST51, which is the initial state, the base BP in the spindle unit MU (loading and unloading mechanism AD) retracts to the Y2 side (right side) of the partition PW, so that the through hole HL formed on the partition PW can be blocked by the cover LD. In addition, a secondary collet SC (first secondary collet SC1) is installed on the spindle MS, and the holding gasket WS is held in the secondary collet SC (first secondary collet SC1).

[0103] Then, the main spindle unit MU (loading and unloading mechanism AD) drives the first actuator AC1 as shown by arrow AR51 in the second state ST52, causing the first movable component MA1 to move to the Y1 side (left).

[0104] Then, as indicated by arrow AR52 in the third state ST53, the main spindle unit MU (loading and unloading mechanism AD) drives the second actuator AC2 to swing the arm AP downward about the first moving axis DX1. Specifically, the main spindle unit MU (loading and unloading mechanism AD) swings the arm AP downward about the first moving axis DX1 until the central axis GX1 of the first gripping mechanism GM1 fixed to the front end of the arm AP is aligned with the rotation axis MX of the main spindle MS (the central axis SX1 of the first auxiliary collet SC1) (located on the same straight line).

[0105] Then, the main spindle unit MU (loading / unloading mechanism AD), as indicated by arrow AR53 in fourth state ST54, drives the first actuator AC1 to move the first movable component MA1 to the Y2 side (right). As a result, the first gripping mechanism GM1 is able to position a pair of claws around the gasket WS held by the first auxiliary collet SC1 mounted on the main collet MC. Then, the first gripping mechanism GM1 uses the force generated by the third actuator AC3 to grip the gasket WS.

[0106] Then, the main spindle unit MU (loading and unloading mechanism AD) as follows Figure 13 As indicated by arrow AR54 in the fifth state ST55, the first actuator AC1 is driven, causing the first movable component MA1 to move towards the Y1 side (left). As a result, the first gripping mechanism GM1 is able to pull the pad WS held by the first auxiliary collet SC1 mounted on the main collet MC out of the first auxiliary collet SC1.

[0107] Then, as indicated by arrow AR55 in the sixth state ST56, the main spindle unit MU (loading and unloading mechanism AD) drives the second actuator AC2 to swing the arm AP upward about the first moving axis DX1. Specifically, the main spindle unit MU (loading and unloading mechanism AD) swings the arm AP upward about the first moving axis DX1 until it becomes... Figure 12 Up to the position in the second state ST52.

[0108] Then, as indicated by arrow AR56 in the seventh state ST57, the spindle unit MU (loading and unloading mechanism AD) drives the first actuator AC1 to move the first movable component MA1 to the Y2 side (right). Specifically, the spindle unit MU (loading and unloading mechanism AD) moves the first movable component MA1 to the Y2 side (right) until it becomes... Figure 12 The position is reached in the first state ST51. As a result, the first movable component MA1 enables the first gripping mechanism GM1, which has a pair of claws that open and close in the vertical direction, to be opposed to the second gripping mechanism GM2, which has a pair of claws that open and close in the front-back direction. That is, the second gripping mechanism GM2 can position the pair of claws around the pad WS held by the first gripping mechanism GM1. Then, the second gripping mechanism GM2 holds the pad WS using the force generated by the fourth actuator AC4. After the pad WS is held by the second gripping mechanism GM2, the first gripping mechanism GM1 releases the pad WS by opening the pair of claws in the vertical direction via the third actuator AC3. In this way, the spindle unit MU realizes the transfer of the pad WS from the first gripping mechanism GM1 to the second gripping mechanism GM2.

[0109] Then, the main spindle unit MU (conveyor CD) as follows Figure 14As indicated by arrow AR57 in the eighth state ST58, the sixth actuator AC6 is driven to move the second movable component MA2 along the third moving axis DX3 towards the Y2 side (right). Specifically, the spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 towards the Y2 side (right) until the Y coordinate (position in the Y-axis direction) of the second gripping mechanism GM2 (shim WS) coincides with the Y coordinate of the thickness measuring mechanism TM. Afterwards, the spindle unit MU (conveyor mechanism CD) and the thickness measuring mechanism TM cooperate to perform the process of measuring the thickness of the shim WS (thickness measurement process). The thickness measurement process will be described later.

[0110] Then, as indicated by arrow AR58 in the ninth state ST59, the spindle unit MU (conveyor mechanism CD) drives the sixth actuator AC6 to move the second movable component MA2 further to the Y2 side (right) along the third movement axis DX3. Specifically, the spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 to the Y2 side (right) until the Y coordinate (position in the Y-axis direction) of the second gripping mechanism GM2 (shim WS) coincides with the Y coordinate of the finished workpiece release position located directly above the receiving box SB.

[0111] Then, as indicated by arrow AR59 in the tenth state ST60, the spindle unit MU (conveyor CD) drives the seventh actuator AC7 to move the second movable component MA2 along the fourth moving axis DX4 toward the Z2 side (downward). Specifically, the spindle unit MU (conveyor CD) moves the second movable component MA2 toward the Z2 side (downward) until the Z coordinate (position in the Z-axis direction) of the second gripping mechanism GM2 (shim WS) coincides with the Z coordinate of the finished workpiece release position.

[0112] Then, as shown in state eleven (ST61), the second gripping mechanism GM2 releases the pad WS by opening a pair of claws in the front-back direction via the fourth actuator AC4. In this way, the spindle unit MU can place the pad WS into the receiving box SB.

[0113] Next, refer to Figure 15 This explains how the thickness measuring mechanism TM measures the thickness of the gasket WS, which is a finished workpiece. Figure 15 This is a perspective view of the second movable component MA2 and the thickness measuring mechanism TM. In the example shown, the thickness measuring mechanism TM comprises a base PD, an eighth actuator AC8, a third movable component MA3, a first displacement sensor SR1, and a second displacement sensor SR2. Furthermore, in... Figure 15 For ease of explanation, a dot pattern has been added to the third movable component MA3.

[0114] The base PD is a component fixed to the frame of the machine tool 100. The base PD has an eighth actuator AC8 and a fixed wall 50 fixed on it, and a third movable component MA3 is slidably mounted thereon.

[0115] The fixed wall portion 50 is configured such that the end face (left end face) of the finished workpiece on the Y1 side, which is the object of thickness measurement, abuts against the end face (right end face) on the Y2 side. In addition, a through hole 50H is formed in the fixed wall portion 50 for the front end (end on the Y2 side, right end face) of the first displacement sensor SR1 to be inserted.

[0116] The eighth actuator AC8 is used to move the third movable component MA3 relative to the base PD along the fifth moving axis DX5, which is parallel to the axis (Y-axis direction) of the main spindle MS. In the example shown, the eighth actuator AC8 is a ball screw driven electric actuator. However, the eighth actuator AC8 can also be any other arbitrary actuator.

[0117] The third movable component MA3 is a member that is movable relative to the base PD along the fifth moving axis DX5. In the example shown, a movable wall portion 51 is fixed to the third movable component MA3.

[0118] The movable wall portion 51 is configured to face the fixed wall portion 50, and a movable pin 51P extending along the Y-axis is fixed thereon in such a way that it corresponds to the through hole 50H of the fixed wall portion 50.

[0119] The thickness measuring mechanism TM can activate the first displacement sensor SR1 and the second displacement sensor SR2 respectively while the finished workpiece (gasket WS) is clamped between the end face of the fixed wall 50 on the Y2 side and the end face of the movable pin 51P on the Y1 side.

[0120] The first displacement sensor SR1 and the second displacement sensor SR2 are sensors used to measure the positions of the end faces on the Y1 and Y2 sides of the finished workpiece (gasket WS). In the example shown, the first displacement sensor SR1 and the second displacement sensor SR2 are contact-type digital displacement sensors. However, the first displacement sensor SR1 and the second displacement sensor SR2 can also be any type of displacement sensor, such as non-contact displacement sensors.

[0121] In the example shown, the first displacement sensor SR1 is configured such that its front end (right end) passes through the through hole 50H of the fixed wall portion 50 and contacts the end face of the finished workpiece (shim WS) on the Y1 side. Furthermore, the first displacement sensor SR1 is configured such that its front end (right end) contacts the third movable component MA3. The controller CTR can directly measure the position of the end face of the finished workpiece (shim WS) on the Y1 side based on the output of the first displacement sensor SR1, and can indirectly measure the position of the end face of the finished workpiece (shim WS) on the Y2 side based on the output of the second displacement sensor SR2. The controller CTR can calculate the thickness of the finished workpiece (shim WS) based on the positions of the end faces of the finished workpiece (shim WS) on the Y1 side and the Y2 side.

[0122] In addition, the machine tool 100 is configured to measure the thickness of multiple portions of the gasket WS, which is a finished workpiece. This is to determine whether the deviation in the thickness of the gasket WS falls within the specified range.

[0123] Specifically, such as Figure 16 As shown, the controller CTR is configured to measure the thickness of the pad WS at the first measurement point MP1 and the second measurement point MP2. Figure 16 This is a diagram showing the positional relationship between the fixed wall portion 50 and the gasket WS when measuring the thickness of the gasket WS. Specifically, Figure 16 The left image (top left and bottom left) is a right view of the fixed wall 50 and the gasket WS. Figure 16 The right-hand image (top right and bottom right) is a front view of the fixed wall 50 and the gasket WS. Additionally, Figure 16 The images above (top left and top right) show the measurement of the thickness of the gasket WS at the first measurement point MP1. Figure 16 The following images (lower left and lower right) show the measurement of the thickness of the gasket WS at the second measurement point MP2. Additionally, in Figure 16 For clarity, illustrations of the components of the thickness measuring mechanism TM other than the fixed wall 50 have been omitted.

[0124] Next, refer to Figures 17-20 This explains the operation of the second movable component MA2 and the thickness measuring mechanism TM when measuring the thickness of the finished workpiece (gasket WS). Figures 17-20 These are perspective views of the second movable component MA2 and the thickness measuring mechanism TM. Specifically, Figures 17-20 They are Figure 14 An enlarged 3D view of the area R2 enclosed by the dashed line shown. Furthermore, Figure 17 The diagram shows four states (first state ST81 to fourth state ST84) of the second movable component MA2 and the thickness measuring mechanism TM. Figure 18The diagram shows four states of the second movable component MA2 and the thickness measuring mechanism TM (state 5 ST85 to state 8 ST88). Figure 19 The diagram shows four states of the second movable component MA2 and the thickness measuring mechanism TM (state 9 ST89 to state 12 ST92). Figure 20 The second movable component MA2 and the thickness measuring mechanism TM are shown in two states (the thirteenth state ST93 and the fourteenth state ST94).

[0125] In the example shown, when measuring the thickness of the gasket WS, the states of the second movable component MA2 and the thickness measuring mechanism TM change in the order of first state ST81, second state ST82, ..., thirteenth state ST93, and fourteenth state ST94.

[0126] In the role of Figure 17 In the first state ST81 of the initial state shown, the second movable component MA2 is configured, when viewed from above, as the second gripping mechanism GM2 is located between the fixed wall portion 50 and the movable pin 51P.

[0127] Then, the main spindle unit MU (conveyor mechanism CD), as indicated by arrow AR81 in the second state ST82, drives the seventh actuator AC7 to move the second movable component MA2 along the fourth moving axis DX4 towards the Z2 side (downward). Specifically, as... Figure 16 As shown in the figure above, the main spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 toward the Z2 side (downward) until the first measuring point MP1 of the pad WS held by the second holding mechanism GM2 is aligned with the center of the through hole 50H formed in the fixed wall portion 50.

[0128] Then, as indicated by arrow AR82 in the third state ST83, the main spindle unit MU (conveyor mechanism CD) drives the sixth actuator AC6 to move the second movable component MA2 toward the Y1 side (left). Specifically, the main spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 toward the Y1 side (left) until the end face (left end face) of the pad WS held by the second holding mechanism GM2 contacts the end face (right end face) of the fixed wall portion 50 on the Y2 side.

[0129] Then, the spindle unit MU (thickness measuring mechanism TM), as indicated by arrow AR83 in the fourth state ST84, drives the eighth actuator AC8 to move the third movable component MA3 to the Y1 side (left). Specifically, the spindle unit MU (thickness measuring mechanism TM) moves the third movable component MA3 to the Y1 side (left) until the end face (right end face) of the pad WS held by the second holding mechanism GM2 contacts the end face (left end face) of the movable pin 51P on the Y1 side.

[0130] Then, the spindle unit MU (thickness measurement mechanism TM) as follows Figure 18 As indicated by arrow AR84 in the fifth state ST85, the right end of the first displacement sensor SR1 on the Y2 side is moved towards the Y2 side (right side) so that it contacts the end face (left end face) of the gasket WS on the Y1 side through the through hole 50H of the fixed wall 50. Furthermore, as indicated by arrow AR85 in the fifth state ST85, the spindle unit MU (thickness measuring mechanism TM) moves the right end of the second displacement sensor SR2 on the Y2 side towards the Y2 side (right side) so that it contacts a portion of the third movable component MA3. Through this action, the controller CTR is able to measure the thickness of the first measuring point MP1 of the gasket WS.

[0131] Then, the spindle unit MU (thickness measuring mechanism TM), as indicated by arrow AR86 in the sixth state ST86, drives the eighth actuator AC8 to move the third movable component MA3 towards the Y2 side (right). Specifically, the spindle unit MU (thickness measuring mechanism TM) moves the third movable component MA3 towards the Y2 side (right) to... Figure 17 The position in the third state ST83.

[0132] Then, as indicated by arrow AR87 in the seventh state ST87, the main spindle unit MU (conveyor mechanism CD) drives the sixth actuator AC6 to move the second movable component MA2 towards the Y2 side (right). Specifically, the main spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 towards the Y2 side (right) to... Figure 17 The position in the second state ST82. As a result, the gasket WS moves away from the fixed wall portion 50.

[0133] Then, the main spindle unit MU (conveyor mechanism CD), as indicated by arrow AR88 in the eighth state ST88, drives the seventh actuator AC7 to move the second movable component MA2 along the fourth moving axis DX4 towards the Z2 side (downward). Specifically, as... Figure 16 As shown in the figure below, the main spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 toward the Z2 side (downward) until the second measuring point MP2 of the pad WS held by the second holding mechanism GM2 is aligned with the center of the through hole 50H formed in the fixed wall portion 50.

[0134] Then, the main spindle unit MU (conveyor CD) as follows Figure 19As indicated by arrow AR89 in the ninth state ST89, the sixth actuator AC6 is driven to move the second movable component MA2 toward the Y1 side (left side). Specifically, the spindle unit MU (transport mechanism CD) moves the second movable component MA2 toward the Y1 side (left side) until the end face (left end face) of the pad WS held by the second holding mechanism GM2 contacts the end face (right end face) of the fixed wall portion 50 on the Y2 side.

[0135] Then, as indicated by arrow AR90 in the tenth state ST90, the spindle unit MU (thickness measuring mechanism TM) drives the eighth actuator AC8 to move the third movable component MA3 to the Y1 side (left). Specifically, the spindle unit MU (thickness measuring mechanism TM) moves the third movable component MA3 to the Y1 side (left) until the end face (right end face) of the pad WS held by the second holding mechanism GM2 contacts the end face (left end face) of the movable pin 51P on the Y1 side.

[0136] Then, as indicated by arrow AR91 in eleventh state ST91, the spindle unit MU (thickness measuring mechanism TM) moves the right end of the first displacement sensor SR1 on the Y2 side towards the Y2 side, so that it contacts the end face (left end face) of the gasket WS on the Y1 side through the through hole 50H of the fixed wall 50. Furthermore, as indicated by arrow AR92 in eleventh state ST91, the spindle unit MU (thickness measuring mechanism TM) moves the right end of the second displacement sensor SR2 on the Y2 side towards the Y2 side, so that it contacts a portion of the third movable component MA3. Through this action, the controller CTR is able to measure the thickness of the second measuring point MP2 of the gasket WS.

[0137] Then, the spindle unit MU (thickness measuring mechanism TM), as indicated by arrow AR93 in the twelfth state ST92, drives the eighth actuator AC8 to move the third movable component MA3 to the Y2 side (right). Specifically, the spindle unit MU (thickness measuring mechanism TM) moves the third movable component MA3 to the Y2 side (right) to the position in the ninth state ST89.

[0138] Then, the main spindle unit MU (conveyor CD) as follows Figure 20 As indicated by arrow AR94 in the thirteenth state ST93, the sixth actuator AC6 is driven to move the second movable component MA2 towards the Y2 side (right). Specifically, the main spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 towards the Y2 side (right) to... Figure 18 The position in the eighth state ST88. As a result, the gasket WS moves away from the fixed wall portion by 50.

[0139] Then, as indicated by arrow AR95 in state fourteen ST94, the main spindle unit MU (conveyor mechanism CD) drives the seventh actuator AC7 to move the second movable component MA2 along the fourth moving axis DX4 toward the Z1 side (upward). Specifically, the main spindle unit MU (conveyor mechanism CD) moves the second movable component MA2 toward the Z1 side (upward) to... Figure 17 The position in the first state ST81, i.e. Figure 14 The position in the eighth state ST58.

[0140] Thus, the thickness measuring mechanism TM enables the controller CTR to measure the thickness of the first measuring point MP1 and the second measuring point MP2 of the gasket WS.

[0141] Next, refer to Figure 21 This describes the process by which the controller CTR replaces the first auxiliary collet SC1, which is mounted on the main collet MC of the spindle MS, with the second auxiliary collet SC2 (hereinafter referred to as "auxiliary collet replacement process"). Figure 21 This is a flowchart illustrating an example of the process for changing the auxiliary collet. The controller CTR repeatedly executes this auxiliary collet changing process at a predetermined control cycle.

[0142] First, the controller CTR determines whether a secondary collet replacement command has been received (step PR1). In the example shown, the controller CTR determines whether a secondary collet replacement command has been received from an external source via communication. Alternatively, the secondary collet replacement command can also be input by an operator around the machine tool 100 via an input device such as a touch panel attached to the controller CTR.

[0143] If it is determined that no secondary collet replacement command has been received ("No" in step PR1), the controller CTR ends the current secondary collet replacement process. On the other hand, if it is determined that a secondary collet replacement command has been received ("Yes" in step PR1), the controller CTR removes the old secondary collet from the main collet MC (step PR2). The "old secondary collet" is the secondary collet SC installed on the main collet MC mounted on the spindle MS before replacement; in the example shown, it is the first secondary collet SC1. Specifically, as... Figure 6 The second state ST2 to Figure 7As shown in the fifth state ST5, the controller CTR activates the spindle unit MU (loading / unloading mechanism AD and first gripping mechanism GM1) to extract the first auxiliary collet SC1 from the main collet MC. Furthermore, the controller CTR can monitor the states of each mechanism, including the loading / unloading mechanism AD, the conveying mechanism CD, the collet support moving mechanism CM, the first gripping mechanism GM1, and the second gripping mechanism GM2, based on information stored in volatile or non-volatile storage devices. That is, the information stored in volatile or non-volatile storage devices includes the position of the collet support CH, the position of the first movable component MA1, and the position of the second movable component MA2, among other information.

[0144] Then, the controller CTR performs the handover of the old auxiliary collet from the first gripping mechanism GM1 to the second gripping mechanism GM2 (step PR3). In the example diagram, as shown... Figure 7 As shown in states ST5 to ST7, the controller CTR activates the spindle unit MU (loading / unloading mechanism AD, first gripping mechanism GM1, and second gripping mechanism GM2). The controller CTR then transfers the first collet SC1 from the first gripping mechanism GM1 to the second gripping mechanism GM2.

[0145] Then, the controller CTR retracts the old auxiliary collet into the collet holder CH (step PR4). In the example diagram, as shown... Figure 7 The eighth state ST8 to Figure 8 As shown in the tenth state ST10, the controller CTR activates the spindle unit MU (conveyor CD, second gripping mechanism GM2, and collet support moving mechanism CM). Then, the controller CTR stores the first collet SC1, which is the old collet, into the storage space SG1 on the collet support CH.

[0146] Then, the controller CTR picks up the new auxiliary collet from the collet holder CH (step PR5). The "new auxiliary collet" is the replaced auxiliary collet SC newly installed into the main collet MC; in the example diagram, it is the second auxiliary collet SC2. In the example diagram, as... Figure 8 The eleventh state ST11 to Figure 9 As shown in the fourteenth state ST14, the controller CTR actuates the spindle unit MU (conveyor CD, second gripping mechanism GM2, and collet support moving mechanism CM). The controller CTR then picks up the second collet SC2, which will serve as the new collet, from the storage space SG2 on the collet support CH. Furthermore, based on information stored in volatile or non-volatile storage devices, the controller CTR determines storage space SG1 and storage space SG2 from among the multiple (15 in the example) storage spaces on the collet support CH.

[0147] Then, the controller CTR performs the handover of the new auxiliary collet from the second gripping mechanism GM2 to the first gripping mechanism GM1 (step PR6). In the example diagram, the controller CTR is as follows: Figure 9 The fourteenth state ST14 and Figure 10 The fifteenth state ST15 activates the main spindle unit MU (conveyor CD, first gripping mechanism GM1, and second gripping mechanism GM2). The controller CTR then transfers the second auxiliary collet SC2 from the second gripping mechanism GM2 to the first gripping mechanism GM1.

[0148] Then, the controller CTR installs the new auxiliary collet into the main collet MC (step PR7). In the example diagram, as shown... Figure 10 As shown in states ST16 to ST18, the controller CTR causes the spindle unit MU (loading and unloading mechanism AD and first gripping mechanism GM1) to operate, inserting the second collet SC2 into the main collet MC.

[0149] In this way, the controller CTR can replace the old auxiliary collet (first auxiliary collet SC1) installed on the main collet MC with a new auxiliary collet (second auxiliary collet SC2).

[0150] Next, refer to Figure 22 This section describes the process by which the controller CTR measures the thickness of the finished workpiece (gasket WS) (hereinafter referred to as "thickness measurement process"). Figure 22 This is a flowchart illustrating an example of the thickness measurement process. The controller CTR repeatedly executes this thickness measurement process at a predetermined control cycle.

[0151] First, the controller CTR determines whether the machining of the workpiece is complete (step PR11). In the example shown in the figure, the controller CTR considers the finished workpiece (gasket WS) to be completed when the machining of the bar BR is finished, and thus determines that the machining of the workpiece is complete.

[0152] If the machining of the workpiece is determined to be incomplete (No in step PR11), the controller CTR ends the current thickness measurement process. Conversely, if the machining of the workpiece is determined to be complete (Yes in step PR11), the controller CTR removes the finished workpiece from the secondary collet SC (step PR12). In the example shown in the figure, as... Figure 12 The second state ST52 to Figure 13 As shown in the fifth state ST55, the controller CTR actuates the spindle unit MU (loading / unloading mechanism AD and first gripping mechanism GM1). The controller CTR then pulls the shim WS, which is the finished workpiece, from the secondary collet SC, which is held by the secondary collet SC mounted on the main collet MC.

[0153] Then, the controller CTR performs the transfer of the finished workpiece from the first gripping mechanism GM1 to the second gripping mechanism GM2 (step PR13). In the example diagram, as shown... Figure 13 As shown in states ST55 to ST57, the controller CTR activates the spindle unit MU (loading / unloading mechanism AD, first gripping mechanism GM1, and second gripping mechanism GM2). The controller CTR then transfers the shim WS, which is the finished workpiece, from the first gripping mechanism GM1 to the second gripping mechanism GM2.

[0154] Then, the controller CTR measures the thickness at the first measurement point MP1 in the finished workpiece (step PR14). In the example diagram, as shown... Figure 17 The first state ST81 to Figure 18 As shown in the fifth state ST85, the controller CTR operates the spindle unit MU (conveyor CD, second gripping mechanism GM2, and thickness measuring mechanism TM). Then, the controller CTR measures the first measuring point MP1 (refer to) in the gasket WS, which is the finished workpiece. Figure 16 The thickness of the material (as shown in the image above) is measured. Furthermore, the controller CTR can determine the status of the second gripping mechanism GM2 and the thickness measuring mechanism TM based on information stored in volatile or non-volatile storage devices. Specifically, the information stored in volatile or non-volatile storage devices includes information such as the position of the second movable component MA2 and the position of the third movable component MA3.

[0155] Then, the controller CTR measures the thickness at the second measurement point MP2 of the finished workpiece (step PR15). In the example diagram, as shown... Figure 18 State 6, ST86 to Figure 19 As shown in state ST91, the controller CTR operates the spindle unit MU (conveyor CD, second gripping mechanism GM2, and thickness measuring mechanism TM). Then, the controller CTR measures the second measuring point MP2 (refer to...) in the gasket WS, which is the finished workpiece. Figure 16 The thickness of the material (see the image below) was measured.

[0156] Then, the controller CTR houses the finished workpiece into the housing SB (step PR16). In the example diagram, as shown... Figure 14 As shown in states ST58 to ST61, the controller CTR activates the spindle unit MU (conveyor CD and second gripping mechanism GM2). The controller CTR then places the shim WS, which is the finished workpiece, into the receiving box SB.

[0157] Thus, the controller CTR can measure the thickness of the gasket WS, which is a finished product, and determine whether the gasket WS is a defective product. For example, the controller CTR can determine that the gasket WS is a defective product if the difference between the thickness of the gasket WS at the first measurement point MP1 and the thickness of the gasket WS at the second measurement point MP2 is greater than or equal to a specified value. Alternatively, the controller CTR can also be configured to place the gasket WS in a box other than the receiving box SB if it is determined to be a defective product.

[0158] As described above, the machine tool 100 according to the embodiments of the present invention includes: a spindle MS; and a loading / unloading mechanism AD, which is capable of loading and unloading workpieces relative to an outer collet (main collet MC) mounted on the spindle MS, and capable of loading and unloading an inner collet (secondary collet SC) relative to the main collet MC mounted on the spindle MS. Furthermore, the loading / unloading mechanism AD has: a base BP, which is movable along a first moving axis DX1 extending parallel to the axial direction (Y-axis direction) of the spindle MS; and an arm AP, which extends radially outward from the base BP in a circle centered on the first moving axis DX1. Additionally, the arm AP is configured to be rotatable about the first moving axis DX1. Furthermore, a first gripping mechanism GM1 capable of gripping the workpiece and the secondary collet SC separately and independently is mounted at the front end of the arm AP.

[0159] This structure allows for the replacement of the secondary collet SC without moving the main spindle MS. Therefore, this structure helps to reduce structural complexity in the machine tool 100.

[0160] Alternatively, the machine tool 100 may also include a transport mechanism CD capable of independently transporting the workpiece and the auxiliary collet SC along a second moving axis DX2 parallel to the axis direction (Y-axis direction) of the spindle MS. Furthermore, the transport mechanism CD may also include a second holding mechanism GM2 capable of independently holding the workpiece and the auxiliary collet SC. Additionally, the first holding mechanism GM1 may be configured to hold the auxiliary collet SC held by the second holding mechanism GM2.

[0161] This structure enables the transfer of the secondary collet SC or workpiece, pulled from the main collet MC by the first gripping mechanism GM1, to the second gripping mechanism GM2. Therefore, this structure allows the secondary collet SC or workpiece pulled from the main collet MC to be transported to a position away from the main collet MC.

[0162] Alternatively, the machine tool 100 may also have a collet support moving mechanism CM, which holds multiple sub-collets SC in a manner in which multiple sub-collets SC are arranged, and is capable of moving one of the multiple sub-collets SC to a position that can be held by the second holding mechanism GM2.

[0163] This structure allows for efficient storage of the secondary collet SC pulled from the main collet MC, and also enables the efficient provision of replacement secondary collets SC. Therefore, this structure can reduce the time required to replace the secondary collet SC.

[0164] In addition, the machine tool 100 may also have a thickness measuring mechanism TM for measuring the thickness of the workpiece.

[0165] This structure can measure the thickness of workpieces transported using the same mechanism as the transport collet SC, thus enabling miniaturization and space-saving of the machine tool 100. Furthermore, this structure can determine whether a workpiece is defective, thereby improving the quality of workpieces processed by the machine tool 100.

[0166] In addition, such as Figure 2 and Figure 3 As shown, the secondary collet SC can also be installed on the main collet MC via an anti-detachment mechanism CP consisting of a metal ball 20 and an O-ring 21.

[0167] This structure prevents the secondary collet SC from detaching from the main collet MC. Therefore, this structure enables the secondary collet SC to hold the workpiece more reliably, thereby improving the quality of the workpiece machined by the machine tool 100.

[0168] In addition, such as Figure 2 and Figure 4 As shown, the main spindle MS can also be equipped with an ejection mechanism PS for ejecting the workpiece located inside the secondary collet SC.

[0169] This structure allows for easy removal of the workpiece held by the secondary collet SC without needing to remove it. Therefore, this structure prevents the secondary collet SC from being mistakenly removed from the main collet MC, thus saving time required to reinstall the mistakenly removed secondary collet SC back into the main collet MC.

[0170] Additionally, the machine tool 100 may also include a computer (controller CTR) that controls the actions of the loading / unloading mechanism AD, the first gripping mechanism GM1, the second gripping mechanism GM2, and the conveying mechanism CD. Furthermore, the controller CTR may also be as follows: Figure 6 The first state ST1 to Figure 7 As shown in the fifth state ST5, the loading / unloading mechanism AD is activated to remove the inner collet (first auxiliary collet SC1) from the outer collet (main collet MC) mounted on the spindle MS. Furthermore, the controller CTR can also... Figure 7As shown in the sixth state ST6 to the seventh state ST7, the first gripping mechanism GM1 and the second gripping mechanism are activated to facilitate the handover of the removed first collet SC1. Furthermore, the controller CTR can also be configured as follows: Figure 7 The eighth state ST8 to Figure 9 As shown in the fourteenth state ST14, the second gripping mechanism GM2 and the conveying mechanism CD are activated to store the removed first collet SC1 in a predetermined position (storage space SG1) and pick up another inner collet (second collet SC2) located in another predetermined position (storage space SG2). Furthermore, the controller CTR can also... Figure 10 As shown in the fifteenth state ST15, the first gripping mechanism GM1 and the second gripping mechanism GM2 are activated to perform the handover of the picked-up second collet SC2. Furthermore, the controller CTR can also be as follows: Figure 10 As shown in states 16 to 18, ST18, the loading / unloading mechanism AD is activated to install the second collet SC2 onto the main collet MC mounted on the spindle MS.

[0171] According to this structure, the machine tool 100 can automatically operate the loading / unloading mechanism AD, the first gripping mechanism GM1, the second gripping mechanism GM2, and the conveying mechanism CD to automatically replace the auxiliary collet SC (first auxiliary collet SC1) mounted on the main collet MC with another auxiliary collet SC (second auxiliary collet SC2) housed in the collet support CH. Furthermore, the machine tool 100 can automatically house the auxiliary collet SC (first auxiliary collet SC1) mounted on the main collet MC into the collet support CH.

[0172] Additionally, the machine tool 100 may also include a computer (controller CTR) that controls the actions of the loading / unloading mechanism AD, the first gripping mechanism GM1, the second gripping mechanism GM2, the conveying mechanism CD, and the thickness measuring mechanism TM that measures the thickness of the workpiece (shim WS). Furthermore, the controller CTR may also be as follows: Figure 12 The first state ST51 to Figure 13 As shown in the fifth state ST55, the loading / unloading mechanism AD is activated to remove the shim WS from the outer collet (main collet MC) mounted on the spindle MS. Additionally, the controller CTR can also... Figure 13 As shown in states ST56 to ST57, the first gripping mechanism GM1 and the second gripping mechanism GM2 are activated to facilitate the handover of the removed gasket WS. Furthermore, the controller CTR can also... Figure 17 The first state ST81 to Figure 19 As shown in the eleventh state ST91, the conveying mechanism CD and the thickness measuring mechanism TM are activated to measure the thickness of the gasket WS.

[0173] According to this structure, the machine tool 100 can automatically operate the loading and unloading mechanism AD, the first holding mechanism GM1, the second holding mechanism GM2, the conveying mechanism CD, and the thickness measuring mechanism TM to automatically measure the thickness of the gasket WS. In addition, the machine tool 100 can automatically determine whether the gasket WS is a defective product.

[0174] Furthermore, the control method of the machine tool 100 according to the embodiments of the present invention is as follows: Figure 21 As shown, the process includes the following steps: the controller CTR activates the loading / unloading mechanism AD to remove the inner collet (first auxiliary collet SC1) from the outer collet (main collet MC) mounted on the spindle MS (refer to step PR2); the controller CTR activates the first holding mechanism GM1 and the second holding mechanism GM2 to transfer the removed first auxiliary collet SC1 (refer to step PR3); the controller CTR activates the second holding mechanism GM2 and the conveying mechanism CD to store the removed first auxiliary collet SC1 in a designated position and pick up another inner collet (second auxiliary collet SC2) located in another designated position (refer to steps PR4 and PR5); the controller CTR activates the first holding mechanism GM1 and the second holding mechanism GM2 to transfer the picked-up second auxiliary collet SC2 (refer to step PR6); and the controller CTR activates the loading / unloading mechanism AD to install the second auxiliary collet SC2 onto the main collet MC mounted on the spindle MS (refer to step PR7).

[0175] This control method enables the replacement of the secondary collet SC by moving the spindle MS of the machine tool 100 without moving the machine tool 100 itself. Therefore, this control method reduces the complexity of the machine tool 100's construction and enables the machine tool 100 to automatically change the secondary collet SC.

[0176] Furthermore, the program used in the machine tool 100 according to the embodiments of the present invention is as follows: Figure 21The controller CTR is shown to perform the following processes: activating the loading / unloading mechanism AD to remove the inner collet (first auxiliary collet SC1) from the outer collet (main collet MC) mounted on the spindle MS (refer to step PR2); activating the first gripping mechanism GM1 and the second gripping mechanism GM2 to transfer the removed first auxiliary collet SC1 (refer to step PR3); activating the second gripping mechanism GM2 and the conveying mechanism CD to store the removed first auxiliary collet SC1 in a designated position and pick up the inner collet (second auxiliary collet SC2) located in another designated position (refer to steps PR4 and PR5); activating the first gripping mechanism GM1 and the second gripping mechanism GM2 to transfer the picked-up second auxiliary collet SC2 (refer to step PR6); and activating the loading / unloading mechanism AD to install the second auxiliary collet SC2 onto the main collet MC mounted on the spindle MS (refer to step PR7).

[0177] This program, when used in machine tool 100, enables the replacement of the secondary collet SC without moving the spindle MS of machine tool 100. Therefore, this program reduces the complexity of the machine tool 100's construction and enables the machine tool 100 to automatically replace the secondary collet SC.

[0178] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Various modifications and substitutions can be applied to the above embodiments without departing from the scope of the present invention. Furthermore, the various features described with reference to the above embodiments can be appropriately combined as long as they are not technically contradictory.

Claims

1. A machine tool comprising: spindle; and The loading and unloading mechanism is capable of loading and unloading workpieces relative to the outer collet mounted on the spindle, and is also capable of loading and unloading the inner collet relative to the outer collet mounted on the spindle. The loading and unloading mechanism has a base and an arm. The base is movable along a first moving axis extending parallel to the axis of the main shaft. The arm extends radially outward from the base into a circle centered on the first moving axis. The arm is configured to rotate about the first moving axis. A first gripping mechanism is installed at the front end of the arm, which is capable of gripping the workpiece and the inner collet separately.

2. The machine tool according to claim 1, wherein, The machine tool is equipped with a conveying mechanism capable of separately conveying the workpiece and the inner collet along a second moving axis parallel to the axis of the spindle. The conveying mechanism has a second gripping mechanism capable of gripping the workpiece and the inner collet separately and independently. The first gripping mechanism is configured to grip the inner collet held by the second gripping mechanism.

3. The machine tool according to claim 2, wherein, The machine tool has a collet support moving mechanism, which holds the plurality of inner collets in a plurality of inner collets arranged in a plurality of manner, and is capable of moving one of the plurality of inner collets to a position that can be held by the second holding mechanism.

4. The machine tool according to claim 2, wherein, The machine tool has a thickness measuring mechanism for measuring the thickness of the workpiece.

5. The machine tool according to claim 1, wherein, The inner collet is mounted to the outer collet via an anti-detachment mechanism consisting of a metal ball and an O-ring.

6. The machine tool according to claim 1, wherein, The spindle is provided with an ejection mechanism for ejecting the workpiece located inside the inner collet.

7. The machine tool according to claim 2, wherein, The machine tool includes a computer that controls the actions of the loading / unloading mechanism, the first gripping mechanism, the second gripping mechanism, and the conveying mechanism. The computer The loading and unloading mechanism is activated to remove the inner collet from the outer collet mounted on the spindle. The first and second gripping mechanisms are activated to facilitate the transfer of the disassembled inner collet. The second gripping mechanism and the conveying mechanism are activated to store the removed inner collet in a designated position and to pick up other inner collets located in other designated positions. The first and second gripping mechanisms are activated to facilitate the transfer of the other inner collets picked up. The loading and unloading mechanism is activated to install the other inner collets onto the outer collets mounted on the spindle.

8. The machine tool according to claim 2, wherein, The machine tool includes a computer that controls the actions of the loading and unloading mechanism, the first gripping mechanism, the second gripping mechanism, the conveying mechanism, and the thickness measuring mechanism for measuring the thickness of the workpiece. The computer The loading and unloading mechanism is activated to remove the workpiece from the outer collet mounted on the spindle. The first and second gripping mechanisms are activated to facilitate the handover of the disassembled workpiece. The conveying mechanism and the thickness measuring mechanism are activated to measure the thickness of the workpiece.

9. A method for controlling a machine tool, the machine tool comprising: spindle; A loading and unloading structure capable of loading and unloading workpieces relative to the outer collet mounted on the spindle, and capable of loading and unloading the inner collet relative to the outer collet mounted on the spindle; and A conveying mechanism capable of separately conveying the workpiece and the inner collet along a second moving axis parallel to the axis of the main shaft. The loading and unloading mechanism has a base and an arm. The base is movable along a first moving axis extending parallel to the axis of the main shaft. The arm extends radially outward from the base into a circle centered on the first moving axis. The arm is configured to rotate about the first moving axis. A first gripping mechanism capable of independently gripping the workpiece and the inner collet is installed at the front end of the arm. The conveying mechanism has a second gripping mechanism capable of gripping the workpiece and the inner collet separately and independently. The first gripping mechanism is configured to grip the inner collet held by the second gripping mechanism. The control method has the following processing: The computer causes the loading and unloading mechanism to operate to remove the inner collet from the outer collet mounted on the spindle; The computer causes the first gripping mechanism and the second gripping mechanism to operate in order to transfer the removed inner collet. The computer causes the second holding mechanism and the conveying mechanism to operate to store the removed inner collet in a specified position and pick up other inner collets located in other specified positions. The computer causes the first and second gripping mechanisms to operate to transfer the other picked-up inner collets; and The computer causes the loading and unloading mechanism to operate to install the other inner collets onto the outer collets mounted on the spindle.

10. A program product comprising a program for use in a machine tool, said machine tool having: spindle; A loading and unloading structure capable of loading and unloading workpieces relative to the outer collet mounted on the spindle, and capable of loading and unloading the inner collet relative to the outer collet mounted on the spindle; and A conveying mechanism capable of separately conveying the workpiece and the inner collet along a second moving axis parallel to the axis of the main shaft. The loading and unloading mechanism has a base and an arm. The base is movable along a first moving axis extending parallel to the axis of the main shaft. The arm extends radially outward from the base into a circle centered on the first moving axis. The arm is configured to rotate about the first moving axis. A first gripping mechanism capable of independently gripping the workpiece and the inner collet is installed at the front end of the arm. The conveying mechanism has a second gripping mechanism capable of gripping the workpiece and the inner collet separately and independently. The first gripping mechanism is configured to grip the inner collet held by the second gripping mechanism. This program causes the computer to perform the following actions: The process of actuating the loading and unloading mechanism to remove the inner collet from the outer collet mounted on the spindle; The first and second gripping mechanisms are activated to facilitate the handover of the removed inner collet. The process of causing the second holding mechanism and the conveying mechanism to operate in order to store the removed inner collet in a specified position and pick up other inner collets located in other specified positions; The first and second gripping mechanisms are activated to perform the handover of the other inner collets picked up. as well as The process of actuating the loading and unloading mechanism to install the other inner collets onto the outer collets mounted on the spindle.

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