JPH0366087B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present application relates to an automatic chuck pawl changing device for automatically replacing chuck pawls of a machine tool.

As the automation of machine tools progresses, many automatic chuck jaw changing devices have been proposed, and many of them are in practical use. However, all of the previously proposed automatic chuck changing devices are By simply replacing the claw with a dedicated claw that matches the workpiece, you can shift the insertion position of the claw once inserted into the chuck, and grip different workpieces with a gripping diameter within a certain range with one type of claw. Needless to say, we are not used to machining with different types of chucks, and even when replacing the jaws, we have to change the insertion position of one type of jaw into the chuck up and down, depending on the workpiece to be machined.
It is not designed to process several types of workpieces with the same jaw. However, when machining workpieces using machine tools, there are special cases where a high degree of gripping precision is required using a soft jaw, but there are cases where hard jaws are used or when machining workpieces that do not require high machining precision. The diameter of the workpiece and the gripping surface of the jaw do not necessarily have to be the same, and as long as they are within a certain range, there will be no problem in gripping several types of workpieces with one type of jaw. I don't. In view of the foregoing, the present invention proposes that when replacing a new pawl and pressing a new pawl onto the chuck, in addition to the conventional regular pawl replacement, the pawl is inserted into the chuck in accordance with the grasping diameter of the workpiece to be machined. By changing the mounting position up and down (far from and near the center of the chuck), it is possible to grip several types of workpieces within a certain range with one type of jaw, and the insertion position of the jaw once inserted into the chuck can also be changed. Adjustments are made to suit the workpiece as described above, and this not only reduces setup time, but also enables greater machining ability than before with a smaller number of jaws, making it suitable for increasingly diverse machining operations. The present application will be described in detail below with reference to drawings showing embodiments.

The drawing shows an example of the implementation of the present application, in which 1 is a well-known machine tool such as an NC lathe, 2 is a machine 3 is its main shaft,
A quick change chuck 4 (hereinafter referred to as a chuck), which will be described in detail below, is attached to the main spindle 3, and the present invention, which has the gist of a storage means 6, a transfer means 7, and an exchange means 8, is attached to such a machine tool 1. An automatic chuck pawl changing device is installed.

First, regarding the chuck 4, reference numeral 9 denotes a chuck main body, which is integrally attached to the front end of the main shaft 3 as described above.
As shown in the figure, a wedge piece 10 is fitted into the chuck body 9 so as to be slidable in the direction of the rotation axis. This wedge piece 9 is connected by a bolt 12 to a drawbar (not shown) which is connected to a piston rod of a rotating cylinder 11 attached to the rear end of the main shaft 3. Furthermore, radial sliding grooves 13 and 14 are formed in the chuck body 9 (three grooves are shown in the drawings, but the number is not limited).
A slider member 15 and a sliding portion 16a of a pawl 16 are fitted inside the slider member 15 so as to be slidable in the radial direction, and a wedge portion 1 having a T-shaped cross section is formed at the center of the slider member 15.
5a is fitted into a wedge groove 10a formed in the wedge piece 10 and having a T-shaped cross section. Further, as shown in FIG. 8, a positioning hole 15b for positioning is formed on the outer periphery of the slide member 15, and a locking portion 17 for changing the pawl is formed on the pawl 16. This locking portion 17 is constructed by integrally providing an overhang piece 19 extending toward the rear side of the pawl 16 at the tip of a rising portion 18 that rises in the sliding direction on the outer end surface of the rear side of the pawl 16 . Also, a rack tooth 20 is formed on the rear surface of the pawl 16, and the rack tooth 20 is used as a pawl engaging device 20 as shown below.
The slider member 15 can be engaged with and disengaged from the sliding member 15 by means of the above-mentioned slider member 15. This pawl engagement device 21 includes a mating member 22 that is fitted into the slider member 15 so as to be slidable only in the front-rear direction, and a meshing member 22 that is fitted into the slider member 15 so as to be able to move only in the radial direction. An operation pin 23 is provided. Rack teeth 24 are formed on the front surface of this meshing member 22, and the rack teeth 24 are moved by the spring force of the biasing spring 25 to engage the rack teeth 24 of the pawl 16.
It is becoming more and more engaged. Furthermore, the meshing member 22 and the operating pin 23 are engaged with each other by engagement surfaces that are inclined with respect to the sliding direction, and when the operating pin 23 is pushed in from the outer circumferential side and moved toward the center of the chuck body 9. The engaging member 22 is biased by the biasing spring 2
5 to move the rack tooth 24 to a position where it does not engage with the rack tooth 20, and return the operating pin 23 to its original position, the meshing member 22
is slid forward by a biasing spring 25 to move the rack tooth 24 to a position where it engages with the rack tooth 20. A set pin 26 is fitted into the engaging member 22 so as to be slidable in the front and rear direction.
This set pin 26 is urged forward by a spring 27 and is prevented from coming out by a pin 26a.
Normally, the tip of the set pin 26 is engaged with the lock teeth 20 of the pawl 16, and the chuck 4 configured as described above is not shown.
The NC device moves the sliding groove 14 of the chuck body 9 to a predetermined pawl exchange position A (in the drawing, the upper part of the rotation center is shown, but in the diagonal vertical direction, lateral direction, and downward direction of the rotation center). etc.) and can be stopped at any position.

Next, a back-and-forth movement device Y that moves the automatic chuck pawl changing device 5 of the present invention in the longitudinal direction of the lathe 1 (left and right in the drawing) and a vertical movement device X that moves the chuck 4 in the radial direction (up and down in the drawing). The explanation is as follows. First, in the longitudinal movement device Y, 28 is a guide part formed in the upper part of the machine base 2 in the longitudinal direction (horizontal direction in FIG. 1), and 29 is fitted into this guide part 28 so as to be slidable in the longitudinal direction. A longitudinal piston rod 30b of a longitudinally movable cylinder 30 fixed to the machine base 2 is connected to the table. Further, a stopper bolt 31 is screwed onto the table 29 so as to be adjustable back and forth and is fixed by a lock nut 32, and the tip of the stopper bolt 31 abuts a contact portion 33 formed on the machine base 2. The forward end of the table 29 is positioned using the table 29. Next, the vertical movement device X is as follows. The head side end of the cylinder body of the lifting cylinder 34 is fixed onto the table 29 with a mounting bolt 35, and its piston rod 34b is fixed.
is directed upward. This lifting cylinder 34
The cylinder body 34a is composed of a tube member 36a and a lid member 36b, and a supply/discharge pipe 3 protruding into the tube member 36a is located in the center of the lid member 36b.
7 is fixed, and this supply/discharge pipe 37 connects to the piston 34c.
and is fitted into the fitting hole 38 of the piston rod 34b. This supply and discharge pipe 37 has a supply and discharge hole 4 for supplying and discharging pressure oil through a communication hole 39 to the upper piston chamber.
0 is formed in the lid member 36b, and a supply/discharge hole 41 for supplying and discharging pressure oil to the lower piston chamber is formed in the lid member 36b. A display shaft 42 having a dog 42a is implanted on the upper end surface of the tube member 36a, and this display shaft 42 projects through an elevator frame to be described later. Further, a sliding hole 44 formed in the shaft portion 43a of a shaft member 43 is fitted onto the outer periphery of the tube member 36a so as to be vertically slidable while being prevented from rotating by a key 45. The tip of the piston rod 34b is connected to the upper end of the portion 43a.
A support frame 46 is integrally attached to the shaft portion 43a of the shaft member 43, and the support frame 46 and the shaft member 4
3 together to form an elevating frame 47, and the vertical moving device X is constructed as described above. Support frame 46
There is a limit switch 4 located above the shaft member 43.
8 and 49 are respectively attached, and one limit switch 48 detects the dog 42a of the display shaft 42 when the lifting frame 47 is raised to the highest level by the lifting cylinder 34, and the other limit switch 49 detects the dog 42a when the lifting frame 47 is raised to the highest level by the lifting cylinder 34. When the frame 47 is lowered to its lowest position, the upper end surface of the tube member 36a is detected by the rod 4.
9a. The mounting shaft portion 49b of this limit switch 49 is attached to the lifting frame 4.
7 in a vertically adjustable manner and is fixed by a lock nut 49c, and the lower end of the mounting shaft portion 49b abuts the upper end of the tube member 36a to position the lowering end of the lifting frame 47. . Note that, while the chuck 4 is gripping a workpiece and performing machining work, each of the above-mentioned longitudinal movement device Y and vertical movement device Standby position P1 on 2
In addition to maintaining good working conditions without restricting the work space, the chuck pawl automatic exchange device 5 is prevented from being directly exposed to chips and cutting oil, and malfunctions and malfunctions that may occur due to this are prevented. Although defects are excluded, both of the above devices do not constitute the gist of the present application.

Next, the storage means 6, the transfer means 7, and the exchange means 8, which form the gist of the present application, will be sequentially explained. First, referring to the storage means 6, 50 is a replacement claw 16.
This magazine is for storing a large number of items, and has a circular planar shape, and a hole 51 formed in the center thereof is rotatably fitted and supported by the shaft portion 43a of the shaft member 43. The axis of rotation of this magazine 50 is set to be parallel to the sliding direction of the sliding groove 14 at the pawl exchange position A in the chuck 4. On the outer periphery of this magazine 50, a sliding portion 16a of a claw 16 (a claw for performing exchange insertion) that can fit into the sliding groove 14 is provided.
A large number of holders 52 are provided at equal pitches to hold the holders 52 so as to be removable in the sliding direction. This holder 52 locks and holds the claw 16 fitted in the vertical holding groove 53 formed on the outer periphery of the magazine 50 so that the sliding portion 16a of the claw 16 can fit therein. It is composed of a holder 54. This retainer 54 is composed of two locking pins 54a that are embedded in the bottom of the retaining groove 53 so as to be freely protrusive and retractable, are urged in the projecting direction by a spring 55, and are prevented from coming off by a pin 56. However, it may also be composed of a gripping piece or the like that is moved by a cylinder or the like. Similar to the set pin 26 of the chuck 4, the tips of these locking pins 54a are formed in a chevron shape when viewed from the side, and are pushed in by the rack teeth 20 of the pawl 16 when the pawl 16 is inserted into or removed from the holding groove 53. It's getting old. A sliding portion 16a of a replacement pawl 16 is fitted into the holding groove 53 and retained by a locking pin 54a, and a large number of replacement pawls 16 are stored.

Next, reference numeral 7 denotes a transfer means for sequentially transferring a large number of replacement claws 16 stored in the storage means 6 to a delivery device B located directly above the claw replacement position A of the chuck 4, and is as follows. In the figure, 57 is a gear formed in the magazine 50, and this gear 57 is connected to the support frame 4.
A driving gear 59 attached to a rotating shaft 58a of a motor 58 fixedly attached to the motor 6 is meshed with the rotating shaft 58a. Dogs 60 and 61 are fixed to the lower side of the magazine 50 in correspondence with the respective holders 52, and a deceleration limit switch 62 detects one dog 60 and a stop limit switch 62 detects the other dog 61. 63 are sequentially attached to the lower end of the shaft member 43. When this limit switch 62 detects the dog 60, it switches the motor 58 to decelerated rotation, and the limit switch 63 switches the motor 58 to decelerated rotation when the dog 60 is detected.
1 is detected, the rotation of the motor 58 is stopped, and thereby the holding groove 53 (replacement pawl) of each holder 52 is moved so that the table 29 is positioned at the forward end and the elevating frame 47 is lowered, as shown in FIG. At the working position P2 located at the end, a predetermined delivery position B is located on the extension line of the sliding groove 14 of the claw exchange position A.
The claw is moved by indexing and stopping.

Finally, 8 is a replacement means, and the above-mentioned claw replacement position A
from the sliding groove 14 of the chuck 4 indexed and stopped at the delivery position B to the holder 52 of the magazine 50 indexed and stopped at the delivery position B, or from this holder 52 to the sliding groove 14 of the chuck 4 1 nail each
In addition to performing the normal nail exchange of replacing 6,
Adjust the gripping diameter of the chuck by shifting the insertion position of the replacement pawl newly inserted into the chuck or the pawl 16 that has been inserted into the sliding groove 14 of the chuck 4 up and down in accordance with the gripping diameter of the workpiece to be machined. It is for changing and adjusting,
It consists of a guide block 64, a pawl moving device 65, and a stroke regulating device 66. First, the guide block 64 is fixed to the lower end of the shaft member 43, and the guide block 64 has a working position P2.
In the part located between the sliding groove 14 at the pawl exchange position A and the holder 52 at the delivery position B,
A guide groove 67 is formed that is substantially continuous with these sliding grooves 14 and holding grooves 53 in a straight line. The guide groove 67 is formed in a cross-sectional shape that can guide the sliding portion 16a of the pawl 16 in the same way as the sliding groove 14 and the holding groove 53, and the upper and lower ends can easily guide the pawl 16 into the guide groove 67. It is formed with a slightly wider tip. The guide groove 67 is preferably set to have at least the same length as the sliding portion 16a of the claw 16 so that the sliding portion 16a of the claw 16 can be stably guided over approximately the entire length. Next, the claw moving device 65 will be described. 68 is the support frame 46
A normal direct acting cylinder is used as the moving cylinder fixed to the transfer cylinder, and its piston rod 69 is positioned so as to protrude downward from above the holder 52 at the delivery position B. A movable body 70 is fixed to the tip of this piston rod 69, and a locking piece 73 and an operating piece 74 are respectively formed in two guide grooves 71 and 72 in the front and rear directions formed in this movable body 70 as shown in FIG. It is fitted so that it can move in the front and back direction. Both ends of a link 75 whose intermediate portion is pivotally connected to the movable body 70 are connected to the locking piece 73 and the operating piece 74 by pins, respectively. Further, the operating piece 74 is connected to a spring 76 which is pressurized between the operating piece 74 and the movable body 70.
The locking portion 73 of the locking piece 73
b is prevented from coming off by contacting the movable body 70, and normally the operating portion 74a of the operating piece 74 projects rearward, and the engaging portion 73a of the locking piece 73 projects forward. When the piston rod 69 of the moving cylinder 68 is moved to the lowest end as shown in FIG. 17 and the end face of the claw, and when the piston rod 69 is moved to the uppermost end, it is located between the overhang piece 17 of the claw 16 where the delivery position B is located and the end face of the claw. ing. Further, the operating portion 74a of the operating piece 74 is moved through passage grooves 77 and 78 formed at the bottom of the holding groove 53 and the guide groove 67. An operation guide piece 79 is disposed within the passage groove 78 of the guide block 64 and is held by the guide block 64 so as to be movable in the front and rear directions. This operation guide piece 7
9 is adapted to be moved back and forth by a claw removing cylinder which will be described later. When the piston rod 69 of the moving cylinder 68 is lowered, the operation guide piece 79 is moved to the forward end as shown in FIG. 74 is moved forward against the spring 76, thereby the engaging portion 73 of the locking piece 73
a to the rear of the locking part 17 of the pawl 16 at the pawl exchange position A, and when the piston rod 69 is at the descending end, it is moved to the backward end as shown in FIG. The above operation piece 74
The engagement portion 7 of the locking piece 73 is released by releasing the forward guidance of the locking piece 73.
3a can be inserted between the locking portion 17 of the pawl 16 at the pawl exchange position A and the pawl end surface from the rear side. Note that the operating portion 74a may be formed of a pin, and a guide groove for guiding the pin may be formed in the operating guide piece 79, so that the operating guide piece 79 forcibly moves the operating piece 74 back and forth.

Finally, the stroke regulating device 66 will be explained as follows. Numeral 80 is a regulating rod that extends directly above along the moving cylinder 68 through a hole 81 bored in the seat plate 68a of the moving cylinder 68 screwed onto the moving body 70. A contact point 82 for detecting the ascending end and descending end of the piston rod 69 is separated from the stopper bolt 83. 84 is a regulating body, and the upper surface has a multi-stage regulating surface 8.
5, 85a, 85b, 85c, and 85d, and has a long groove 86 in the longitudinal direction, and a rack 87 is carved on either the left or right side, and the seat plate 68a
The regulating rod 80 is fitted into the guide tube 88 provided in the long groove 86 so as to be slidable left and right in FIG.
A pinion 90 of a motor 89 that is fixed to the guide tube 88 and rotates in forward and reverse directions is engaged with the rack 87, so that the regulating body 84 is slid from side to side by the forward and reverse rotation of the motor 89. ing.

Next, 91, 91a, 91b, 91c are the regulating bodies 8
4 position confirmation switch 92, 92a is the regulation rod 80
That is, the switches 91, 91a, 91b are stroke confirmation switches for the moving cylinder 68, and the switches 91, 91a, 91b are the stroke confirmation switches for the moving cylinder 68.
The regulating body 8 is fixed to a mounting plate 93 provided on the
The forward position of the regulating body 84 is confirmed by facing the contact 94 at the front end of the regulator 84 (the left end in FIG. Check location. Further, the switch 92 is attached to the upper end of the moving cylinder 68 and faces the contact point 82 of the regulating rod 80.
The switch 92a confirms the highest position of the regulating rod 80 relative to the contact 82 attached to the mounting plate 93, and the switch 92a confirms the lowered position of the regulating rod 80. In relation to this, the confirmation position can be switched up or down. That is, in FIG. 4, an outer cylinder 96 is fixed to the mounting plate 93, and a lifting pin 98 biased downward by a spring 97 is fitted into the outer cylinder 96.
The lower end of the lifting pin 98 normally contacts the regulating surface 85, and a slope 99 is provided at the lower end of the lifting pin 98. The confirmation switch 92a is attached to the head of the lifting pin 98 thus formed. Therefore, when the motor 89 rotates and the regulating body 84 starts moving forward, the lifting pin 98 that has been in contact with the regulating surface 85 until now
is pushed up by the slope 99 while pressing the spring 97, overcomes the step 100 and comes into contact with the regulating surface 85a, thereby raising the position of the switch 92a by the amount of the step 100. In this way, the switch 92a is finally are steps 100, 100a, 100b, 100c
The switch 92a can be raised by the sum of
1, 91a, 91b, and 91c, and in response to this confirmation signal, the motor 89 is stopped and the regulating body 84 is stopped at a desired position.

Therefore, the regulating rod 80 is connected to the moving body 70 as described above.
Since the piston rod 69 of the moving cylinder 68 moves forward, it lowers together with the piston rod 69, and the stopper bolt 83 moves toward the regulating surface 85.
The forward movement of the piston rod 69 is stopped by contacting the piston rod a, but at this time the contact point 82 and the confirmation switch 92a face each other to confirm the stop position.
In this way, the stopper bolt 83 is aligned with the regulating surface 85a.
The maximum stroke of the moving cylinder 68 is when it comes into contact with and stops, and the regulating body 84 moves forward as described above, the lifting pin 98 comes into contact with the regulating surface 85c, and the stopper bolt 83 touches the regulating surface 85d. When it comes into contact and stops, the stroke is the minimum. That is, the stroke of the moving cylinder 68 is controlled by the regulating surface 85a.
and the regulating surface 85d can be adjusted in stages,
Moreover, the stop position is checked for each stop position.

Next, 101 is the claw engaging device 2 of the chuck 4.
This is a claw removing device for disengaging the slider member 15 and the claw 16 by operating the slider member 15. In this claw removing device 101, 102 is a claw removing cylinder, which has a piston chamber 10 formed in a guide block 64.
A piston 102b is fitted into 2a so as to be movable up and down,
A piston rod 103 is connected to this piston 102b. This claw removal cylinder 1
02 also serves as a positioning cylinder, and its piston rod 103 is directed approximately toward the center of the chuck. This piston rod 103 has a mounting piece 1.
04 is fixed, and a hollow cylindrical pressing pin 105 is provided protruding from this mounting piece 104 as shown in FIG. This pressing pin 105 is the operating pin 2 of the pawl 16 at the pawl exchange position A at the working position P2.
When the piston rod 103 of the pawl removal cylinder 102 is moved to the lower end, the operating pin 23 is moved toward the center of the chuck so that the latch teeth 24 of the engaging member 22 engage the racks of the pawl 16. It is adapted to be moved to a rearward position where it does not engage with the teeth 20. In addition, the above mounting piece 10
4 shows the pawl 16 at the pawl exchange position A as shown in FIG.
A positioning pin 106 for positioning is provided protrudingly. This positioning pin 106 is at the working position P.
2, the positioning pin 106 is positioned to face the positioning hole 15b of the slider member 15 at the pawl exchange position A, and when the piston rod 103 is moved to the lower end, the positioning pin 106 is moved to the positioning hole 15b.
The slider member 15 is positioned at a predetermined indexed position by being fitted into the slider member 15. The positioning pin 106 and the positioning hole 15b together with the claw release cylinder 102 constitute a positioning device. Further, an indicator rod 107 is fixed to the mounting piece 104 as shown in FIG.
By operating a limit switch (not shown) fixed to piston rod 10,
The upper and lower ends of 3 can be detected. A guide tube 110 fixed to the guide block 64 is inserted into the hollow hole 105a of the pressing pin 105, and is prevented from rotating around the piston rod 103 by the pressing pin 105 and the positioning pin 106. has been done. Furthermore, an inclined groove 111 having a T-shaped cross section is formed in the mounting piece 104, and the operation guide piece 7 is formed in this inclined groove 111.
Slanted portion 1 with a T-shaped cross section formed at the rear end of 9
12 are fitted.

Next, 113 indicates the operation pin 2 when the operation pin 23 is released from being pushed by the claw removing device 101.
This is an engagement confirmation device for detecting whether the return movement of No. 3 has been reliably performed, and is constituted by a proximity switch 114 provided in the tube hole 110a of the guide tube 110. This proximity switch 114 can detect the operating pin 23 when the operating pin 23 is located at the return position at the working position P2, but when the operating pin 23 is pushed in by the pressing pin 105, the operating pin 23 is detected. The position is set so that it cannot be detected. Note that 115 is a cover attached to the front end of the support frame 46, and a proximity switch 116 for detecting the presence of the claw 16 at the claw replacement position A is attached to the lower end. Further, a claw 1 at the delivery position B is provided at the front end of the shaft member 43.
A proximity switch 117 is installed to detect the presence of 6.

Next, in the chuck pawl automatic exchange device 5 of the present invention configured as described above, a normal exchanging operation is performed in which the chuck 4's pawl 16 is replaced with the pawl 16 stored in the storage means 6, and then the chuck 4 is temporarily inserted into the chuck 4. The operation when changing the gripping diameter by shifting the insertion position of the claw 16 will be explained in order. First, when a command device (not shown) sends a claw replacement command due to a change in the workpiece, etc., the rotation of the spindle 3 is stopped in response to the command, and the claw 16 inserted into the chuck 4 is replaced. One of them determines the predetermined pawl exchange position A. Further, the rotating cylinder 11 moves the wedge piece 10 forward to move the three pawls 16 of the chuck 4 to the open position, and at this time, the automatic chuck pawl changing device 5 of the present invention is located at the standby position P1. next,
The longitudinal movement cylinder 30 of the longitudinal movement device Y is operated to move the table 29 to the forward end as shown in FIG. 2, and then the elevating cylinder 34 of the vertical movement device The chuck pawl automatic changing device 5 is thereby moved to the operating position P2.
Move to. The forward end of the table 29 and the descending end of the lifting frame 47 are accurately positioned by the action of the stopper bolt 31 and the mounting shaft portion 49b.
Prior to this movement, in the storage means 6, the transfer means 7 is actuated in advance to rotate the magazine 50 and remove the claws 16 from the chucks 4 at the claw exchange position A.
Since the empty holder 52 for storing the nails is indexed to be at the delivery position B, the above movement causes the guide groove 67 of the guide block 64 to be aligned with the sliding groove 14 of the pawl 16 at the pawl exchange position A. It is accurately positioned between and substantially continuous with the holding groove 53 of the holder 52 at position B in a straight line, and becomes the above-mentioned working position P2. Incidentally, the above-mentioned indexing of the empty holder 52 may be performed after the above-mentioned longitudinal movement cylinder 30 and lifting cylinder 34 are operated. Next, the moving cylinder 68 of the exchanging means 8 is actuated to advance the piston rod 69 and lower the movable body 70, but when it reaches the lowest end, the stopper bolt 83 of the regulating rod 80 engages the regulating surface 85a of the regulating body 84. The contact point 82 is opposed to the confirmation switch 92a to confirm that it has reached the descending end (Fig. 6).If this confirmation is not made, the subsequent operation will be aborted. . When the moving body 70 is lowered in this way, the claw removing device 10
As shown in FIGS. 2 and 8, the claw removing cylinder 102 of No. 1 maintains its piston 102b at the rising end and projects forward the operation guide piece 79 disposed in the passage groove 78 of the guide block 64. I'm letting you do it. Therefore, when the movable body 70 is lowered as described above, the operating portion 74a of the operating piece 74 engages with the operating guide piece 79 and is moved forward, as shown in FIG. 73 is moved rearward, and the engaging portion 73a and the overhanging piece 19 of the claw 16 at the claw replacement position A
In the normal state when the movable body 70 is located at the lower end, the engaging portion 73a is located at the rear between the claw end face of the claw replacement position A and the overhang piece 19. next,
The claw removing cylinder 102 of the claw removing device 101 operates to lower the mounting piece 104, whereby the pressing pin 105 pushes the operating pin 23 of the claw engaging device 21 toward the center of the chuck, and the engaging member 22 is moved as shown in FIG. The lock teeth 24 of the meshing member 22 and the lock teeth 20 of the pawl 16 are disengaged from each other. Note that even if the engagement between the rack teeth 24 and the rack teeth 20 is disengaged as described above, the set pin 26 remains engaged with the rack teeth 20 of the pawl 16 by the force of the spring 27, so that the pawl replacement position A is maintained. The claw 16 is in the sliding groove 14.
This will prevent it from falling out. Further, as the mounting piece 104 is lowered, the positioning pin 106 is moved into the positioning hole 1 of the sliding member 15 as shown in FIG.
5b, the relative positions of the guide block 64 and the chuck body 9 are determined with high precision, and the guide groove 67 and the sliding groove 14 at the pawl exchange position A are accurately opposed. Further, when the mounting piece 104 is lowered as described above, the operation guide piece 79 is moved rearward, whereby the operation piece 74 of the moving device 65 is moved rearward by the spring 76, and the locking piece 73
is moved forward, and its engaging portion 73a is fitted between the claw end surface of the claw 16 at the claw replacement position A and the overhang piece 19. Next, the moving cylinder 68 is actuated to raise the moving body 70, whereby the engaging portion 73a of the locking piece 73 hooks the overhanging piece 19 of the pawl 16 at the pawl exchange position A, and this pawl 16 is raise. Therefore, the pawl 16 at the pawl exchange position A is inserted into the sliding groove 14 as shown in FIG.
After being pulled out from the magazine 50, it is guided by the guide groove 67 and fitted into the holding groove 53 of the magazine 50 at the delivery position B, and is held in place by the locking pin 54a while being fitted into the holding groove 53. and stored in storage means 6. As mentioned above, when the movable body 70 rises and reaches the highest point, a confirmation is made against the confirmation switch 92 of the contact point 82, and if this is not done, the subsequent operation will not be started. Similarly, this confirmation operation is always performed every time the moving body 70 moves up and down. When the confirmation is made in this way, the motor 58 of the transfer means 7 is operated to index and rotate the magazine 50 by one pitch, and to move the next empty holder 52 to store the claw 16 extracted from the chuck 4. Index to delivery position B. That is, through this operation, the replacement claws 16 stored in the storage means 6 in advance are moved toward the delivery position B by an interval corresponding to one pitch of the holder 52 by the operation of the transfer means 7. will be transferred. When the empty holder 52 is indexed as described above, the declawing cylinder 101 is then operated to raise the mounting piece 104, which causes the press pin 1
05 releases the operation pin 23 and the positioning pin 106 is removed from the positioning hole 15b. When the pressing pin 105 or the operating pin 23 is released as described above, the engaging member 22 of the claw engaging device 21
is moved back forward by the biasing spring 25, and at the same time the operating pin 23 is moved back toward the outer circumference of the chuck. In this case, the nearby switch 114 of the engagement confirmation device 113 detects the presence of the operating pin 23, confirms whether the operating pin 23 has been completely returned to its original position, and then activates the chuck 4 again based on this confirmation signal. Index and rotate the slide groove 1 of the next pawl 16.
4 to the claw replacement position A. After that, repeat the above operation to move the three claws 16 of the chuck 4 into the magazine 50.
It is held and stored in a holder 52. After the third pawl 16 is held in the magazine 50 as described above, the pawl removal cylinder 101 is operated and the mounting piece 1
04, thereby causing the neighboring switch 114 to rise.
When detects the operating pin 23, the chuck 4 is indexed and rotated again to index the sliding groove 14 of the first removed pawl 16 to the pawl replacement position A, and then the transfer means 7 is activated to rotate the magazine 50. , the pawl 16 is inserted into the sliding groove 14 of the chuck 4 at the inner pawl exchange position A of the stored pawl 16, and is moved to the delivery position B.
Transfer until. When the holder 50 holding the claw 16 is indexed to the delivery position B as described above, as the claw 16 is transferred, there is a gap between the protruding piece 17 of the claw 16 held by the holder 50 and the end surface of the claw. As described above, the engaging portion 73a of the exchanging means 8, which is stopped at the delivery position B, is automatically inserted into the engaging portion 73a.
Next, the claw removing cylinder 102 is operated to remove the mounting piece 1.
04 is lowered, thereby the pressing pin 105 pushes the operating pin 23 again to move the engaging member 22 backward, and the positioning pin 106 is fitted into the positioning hole 15b to determine the relative position between the guide block 64 and the chuck body 9. do. Next, the moving cylinder 68 is operated to lower the moving body 70, whereby the claw 16 held in the holder 52 at the delivery position B is moved into the holding groove by the locking piece 73 as shown in FIG. After being pushed out from the slide groove 53, the nail is guided to the guide groove 67 and fitted into the sliding groove 14 at the nail exchange position A to perform the nail exchange. Locked and held. When the pawl 16 fitted in the holding groove 53 is fitted into the sliding groove 14 as described above, the pawl 16 is guided by the guide groove 67 to correct the position of the pawl 16. 16 can be reliably fitted into the sliding groove 14. In addition, as described above, the moving body 70
When the lever is lowered, the claw release cylinder 102 lowers the mounting piece 104 and moves the operation guide piece 79 backward, so that the operation part 74a of the operation piece 74
is not pushed forward by the operation guide piece 79, and the locking portion 73a of the locking piece 73 does not come off from the locking portion 17 of the claw 16. Next, the claw release cylinder 102 is actuated to lift the mounting piece 104, whereby the pressing pin 105 releases the pressing of the operation pin 23, and the positioning pin 106 is removed from the positioning hole 15b. Therefore, the claw engaging device 21
The meshing member 22 is moved back forward by the biasing spring 25 so that its rack teeth 24 are engaged with the rack teeth 20 of the claw 16 at the claw exchange position A, and the operating pin 23 is moved back toward the outer circumference of the chuck. Ru. In this case, if the lock teeth 24 of the meshing member 22 are reliably engaged with the rack teeth 20 of the pawl 16, the operating pin 23 will be moved back completely, and this operating pin 23 can be detected by the nearby switch 114. If the engagement between the rack teeth 24 and the rack teeth 20 is uncertain for some reason, the return movement of the operating pin 23 may be incomplete, and the operating pin 23 may be detected by the nearby switch 114. Easy to lose teeth 2
4 and 20 are uncertain. As mentioned above, the mounting piece 1 is removed by the claw removing cylinder 102.
04 is raised, the operation guide piece 79 is moved forward to disengage the engaging portion 73a of the locking piece 73 from the locking portion 17 of the claw 16. Next, the moving cylinder 68 is actuated to move the moving body 70 to the rising end. After that, the chuck 4 is indexed and rotated to index the sliding groove 14 of the second removed pawl 16 to the pawl replacement position A.
Further, the motor 58 of the transfer means 7 rotates the magazine 50 and moves the holder 52 holding the claws 16 to be fitted into the sliding grooves 14 at the claw exchange position A to the delivery position B.
Then, the index claw 16 is transferred. Nail 1 like this
When the holder 52 holding the holder 6 is indexed to the delivery position B, the engaging portion 73a of the locking piece 73 engages the claw 16.
It automatically fits between the overhanging piece 19 and the end face of the claw. Thereafter, the three sliding grooves 1 of the chuck 4 are removed in the same manner as above.
4, the claw 16 of the magazine 50 is fitted. Fit the third pawl 16 into the sliding groove 14 as described above,
After that, after the movable body 70 and the attachment piece 104 are raised, the motor 58 of the transfer means 7 rotates the magazine 50 and indexes the empty holder 52 at the position where the claw 16 was first extracted to the delivery position B. In preparation for the next claw change, the lifting cylinder 34 of the vertical movement device and table 2
By moving the chuck pawl 9 backward, the automatic chuck pawl changing device 5 returns to the standby position P1 as shown in FIG. The stroke of the moving cylinder 68 during the above-mentioned normal claw replacement operation is the maximum stroke, and at the highest end, the contact 82 attached to the regulating rod 80 faces the confirmation switch 92 to confirm the highest position. , If this confirmation is not performed, the next operation will be stopped. Next, the piston rod 69 of the moving cylinder 68 moves forward, and when it reaches the most forward end, the regulating rod 80
The stopper bolt 83 attached to the stopper bolt 83 comes into contact with the regulating surface 85a of the regulating body 84, and the piston rod 69 is stopped at its forward end. The forward end is confirmed, and in this case as well, the subsequent work cannot be continued unless the confirmation is made in the same manner as above.

The above is one cycle of the normal claw replacement operation associated with changing the workpiece.Next, the forward stroke of the moving cylinder 68 is changed in stages by the operation of the stroke regulating device 8 without replacing the claws. By changing the gripping diameter by shifting the insertion position of the claw 16 once inserted into the chuck 4, one claw 16 (a set of claws inserted into the chuck, in this example, three claws) ) will explain the versatile action that holds and processes several types of workpieces.

As described above, when the pawl 16 is replaced and a predetermined number of machining operations are completed using this pawl and the workpiece, that is, the workpiece is changed, a pawl replacement command is issued from the command device (not shown) in the same manner as described above. And furthermore,
The replacement command adds that the gripping diameter of the workpiece to be processed next is within the permissible gripping capacity of the claws 16 inserted into the chuck, and the stroke regulating device 66
An activation command is issued. Spindle 3 due to replacement command
The rotation of the chuck 4 stops, one of the claws 16 attached to the chuck 4 is indexed to a predetermined claw replacement position A, and the rotating cylinder 11 is operated to move the three claws inserted in the chuck 4 to the open position. In addition, after the pawl exchange is completed as described above, the automatic chuck pawl changing device 5 in the standby position P1 is operated by the vertical movement cylinder 34 of the vertical movement device X of the longitudinal movement cylinder 30 of the longitudinal movement device Y, and the table 29 The operation of moving the lifting frame 47 to the front and rear ends and lowering the lifting frame 47 to the lowering end to position the chuck claw automatic exchange device 5 and the work position P2 is the same as in the case of the above-mentioned claw replacement work (hereinafter referred to as the above-mentioned work). It is done in the same way.

The automatic chuck claw changing device 5 as described above.
is located at the working position P2, but at this time, the empty holder 52 of the magazine 50 in the storage means 6, from which the third claw (the last claw inserted into the chuck) was removed during the above operation, is at the delivery position. B
Since it remains indexed, there is no need to perform the indexing operation again, and the holding groove 53 of the holder 52 at the delivery position B, the guide groove 67 of the guide block 64, and the pawl exchange position are aligned by the forward and downward movement described above. The sliding grooves 14 of A are accurately positioned so as to be continuous with each other in a substantially straight line, and are in the above-mentioned working position. Next, the moving cylinder 68 of the exchanging means 8 operates to lower the movable body 70, and when the movable body 70 reaches the lowering end, that is, the stopper bolt 83 attached to the regulating rod 80 of the stroke regulating device 60 When the forward and downward movement is stopped by hitting the regulating surface 85a of the regulating body 84, and when the contact point 82 faces the confirmation switch 92a and the descending is confirmed, the engaging portion 73a of the locking piece 73 engages with the claw as in the above operation. It is located at the rear between the end surface of the claw at the replacement position A and the overhanging piece 19. Next, the claw release cylinder 102 operates to disengage the lock teeth 24 of the engaging member 22 and the rack teeth 20 of the claw 16, and also disengages the engagement portion 73a of the locking piece 73.
is the tooth end of the pawl 16 at the pawl replacement position A and the overhanging piece 1
The fitting between the two holes is the same as in the above operation. When the engaging portion 73a is fitted in this way, the moving cylinder 68 is operated to raise the movable body 70 and hook the claw 16 at the claw replacement position A, as in the above operation. Then, pull it out from the sliding groove 14 and lift it up to the holder 52 at the delivery position B in the same manner as in the previous operation, and confirm that the contact point 82 and the confirmation switch 92 are facing each other and have reached the highest position as described above.

During the above operation, when the claw 16 is extracted from the chuck 4 and it is confirmed that the movable body 70 has reached the highest position as described above, the extracted claw 16 is locked in the holder 52 of the magazine 50. Then, the transfer means 7 is operated to rotate the magazine 50 to index the next empty holder 52 to the delivery position, and the chuck 4 is rotated by a predetermined angle to move the claw 16 to be extracted next to the claw replacement position. A
Then, similarly to the above, the moving body 70 is moved up and down to remove the claw 16. However, in the case of not replacing the pawl but changing the insertion position of the pawl 16 once inserted into the chuck 4, as described above, the actuation command for the stroke regulating device 66 is issued at the same time as the pawl replacement command. As described above, when the moving cylinder 68 is operated to extract the claw 16 and it is confirmed that the moving body 70 is located at the highest position, an operating command for the transfer means 7 and a chuck 4 are issued.
A forward rotation command is issued to the motor 89 of the stroke regulating means 66 without issuing an indexing command to. As is clear from FIG. 4, this forward rotation command is given by five regulating surfaces 85, 85a, 85b, 85c, 85 on the regulating body 84 of the stroke regulating device 66.
5d is provided and the moving cylinder 68 moves up and down at the maximum stroke, the stopper bolt 83 attached to the regulating rod 80 hits the regulating surface 85a and is restrained from moving forward. The tip of the lifting pin 98 of the confirmation switch 92a is in contact with the regulating surface 85, and the regulating surface that comes into contact with the stopper bolt 83 can be switched in four stages, including the regulating surface 85a, in accordance with the grasping diameter of the workpiece. Therefore, it is possible to grip and process four types of workpieces having different gripping systems, but in the following explanation, a case will be explained in which the restriction surface 85a that the stopper bolt 83 contacts is switched to the restriction surface 85b. .

As described above, when a normal rotation command is issued to the motor 89 of the stroke regulating device 66, the motor 89 starts rotating in the normal direction, and this rotation causes the regulating body 84 to slide on the guide tube 88 toward the left in FIG. However, a contact 94 provided at the tip of the regulating body 84 (left end in FIG. 4) reaches below the confirmation switch 91 and faces it, and when the confirmation switch 91 confirms the contact 94, the motor 89 rotates. stops.
When the regulating body 84 slides in this manner, the regulating surface 85a, which had been in contact with the stopper bolt 83 and regulating the most forward end of the moving cylinder 68, advances to the left, and instead The regulating surface 85b advances to the position of the regulating rod 80 and comes to directly face the stopper bolt 83 vertically, so that the height of the regulating surface 85b that comes into contact with the stopper bolt 83 is:
The regulation surface 85a and the regulation surface 8
The height is increased by the difference in level 100a between the height and the height 5b. Furthermore, when the regulating body 84 slides as described above, a step 100 between the regulating surfaces 85a and 85b is formed on the slope 99 at the tip of the confirmation switch 92a, which has been in contact with the regulating surface 85 until now.
As the regulating body 84 moves, the step 100 presses the spring 97 and pushes up the elevating pin 98. Finally, it overcomes the step 100 and comes into contact with the regulating surface 85a, and the confirmation switch 92a is activated by the amount of the step 100. However, as mentioned above, the height of the restriction surface 85 that the stopper bolt 83 contacts is also higher than the first restriction surface 85a by the step 100a, so the relative position of the confirmation switch 92a and the contact point 82 The relationship does not change.

When the sliding of the regulating body 84 is finished as described above,
In the above, the claw 16 is pulled out from the chuck 4, and an activation command is issued to the moving cylinder 68 located at the highest end, and the cylinder is sent to the movable body 70 while retaining the claw 16 that was previously pulled out from the chuck 4. Move forward and lower again, and the claw 1 that is being held
6 passes through the guide groove 67 and the pawl 16 is pulled out first, and it fits into the sliding groove 14 of the chuck 4 at the pawl replacement position A, and the fine movement cylinder 68 has the stopper bolt 83 of the regulating rod 80 on the regulating surface 85b. The forward movement is stopped by contact, and the contact point 82 is activated by the confirmation switch 92.
Confirmation is performed relative to a. Furthermore, the pawl 16 fitted into the sliding groove 14 is inserted into the sliding groove 14, that is, the chuck 4, by the same operation as in the above operation.
As is clear from the above explanation, the insertion position of the regulating surfaces 85a and 8 is lower than the insertion position during the operation.
The gripping diameter becomes larger by the distance from the center of the chuck 4 by the step 100a of the chuck 5b (FIG. 7). When the claw 16 is attached in this way, the engaging portion 73 of the locking piece 73
a is released from the locking part 17 of the pawl 16, the moving cylinder 68 is operated and the movable body 70 is raised to the highest position, and the movable body 70 is at the highest position by the contact 82 and confirmation switch 92. This will be confirmed. When the confirmation is performed in this way, a reverse rotation command is then issued to the motor 89 of the stroke regulating device 66, which causes the motor 89 of the stroke regulating device 66 to perform a reverse rotation, and as shown in FIG. is returned to its previous state, the lifting pin 98 of the confirmation switch 92a comes into contact with the regulating surface 85 again, and the confirmation switch 91a faces the contact 95 to confirm that the regulating body 84 has returned.

The above is all the operations required to change the insertion position of one claw 16 inserted into the chuck 4, and when the change of the insertion position of one claw 16 is completed as described above, Thereafter, the same operation as described above is repeated to change the insertion positions of all the inserted claws 16. It goes without saying that the sliding groove 14 is used to replace the pawl 16 whose insertion position has been changed in the manner described above to correspond to the next workpiece, or to change it to another insertion position. In order to pull it out, the stroke regulating device 66 is operated before the moving cylinder 68 is operated, and the regulating surface corresponding to the insertion position of the claw, that is, the regulating surface 85b in the above case, is activated.
However, it is necessary to slide the regulating body 84 so as to correspond to the stopper bolt 83 before performing the subsequent operations.

In the description of the above embodiment, in order to change the insertion position, the claw removed from the chuck 4 is placed at the delivery position B.
Although only the case where the magazine 50 is pulled up to the holder 52 in the above is described, it is necessary to detect that the claw 16 has come out of the sliding groove 14 of the chuck 4, stop the moving cylinder 68, and perform the following operations. By attaching the claw 16 to the chuck 4 again, the time required for one cycle can be shortened. Further, in the above embodiment, only the regulating surface of the regulating body 84 is shown as being provided with steps, but this can be used as a slope and a predetermined position on the slope is determined, the regulating body is stopped, and the regulating surface is indexed. The object of the present invention can also be achieved by regulating the forward stroke of the moving cylinder by bringing a stopper bolt into contact with the processed position. Furthermore, in the above explanation of the operation, only the one-step change in which the insertion position of the pawl 16 inserted into the chuck 4 is sequentially moved from the restriction surface 85a to the restriction surface 85b has been described. The position can be freely changed between the four stages from the regulating surface 85a to the regulating surface 85c, regardless of the order, and this allows one type of claw to handle four types of workpieces with different gripping diameters. It will be possible to respond. Furthermore, as described above, the present application does not only change the position of the claw 16 once inserted into the chuck 4, but also when newly inserting the claw 16 stored in the magazine 50 into the chuck 4, as in normal claw replacement. In this case, the insertion position can be changed to the above four stages, but in this case, the restriction surface is adjusted as appropriate by moving the restriction body 84 in accordance with the gripping diameter of the workpiece to be machined prior to insertion of the claw. Select and move cylinder 6
It is clear from the above description that eight new forward strokes are made.

Finally, other embodiments of the stroke regulating device 66 will be described with reference to the drawings shown in FIGS. 16 to 22. Regulator 8 shown in the first embodiment
Reference numeral 4 denotes a linear block, which regulates the forward stroke of the moving cylinder 68 by moving left and right, but the regulating body 84A of the embodiment shown in FIGS. Tonashi,
It is rotatably fitted onto the outer periphery of the moving cylinder 68. The regulating body 84A has stepped regulating surfaces 85, 85 as in the first embodiment.
a, 85b, 85c, 85d, a long groove 86, and a rack 87. A pinion 90 of a motor 89 that rotates in forward and reverse directions is engaged with the rack 87, and the regulating body 84A is rotated in a predetermined forward and reverse direction by the forward and reverse rotation of the motor 89. It is designed to rotate.

The regulating rod 80 passes through the long groove 86 and extends upward along the moving cylinder 68, and the stopper bolt 8
3 and the contact point 82 are attached, and the lift pin 98 of the confirmation switch 92a is attached to the mounting plate 93 and has the same configuration as the first embodiment.
The tip of the stopper bolt 83 is in contact with the restriction surface 85a as described above, and in this embodiment as well, when the moving cylinder 68 is at its maximum stroke, the stopper bolt 83 is in contact with the restriction surface 85a, and the contact point 82 is in contact with the restriction surface 85a. The forward end is confirmed by facing the confirmation switch 92a which is in contact with the regulating surface 85.
Next, 91, 91a, 91b, and 91c are confirmation switches for confirming the rotational position of the regulating body 84A, respectively, and are attached to the mounting plate 93a.
is provided on the regulating body 84A, and the rotational position of the regulating body 84A is confirmed by matching the contact 94 with one of the confirmation switches 91, 91a, 91b, and 91c, as in the first embodiment. This acts to restrict the stroke of the moving cylinder 68.

Next, the drawings shown in FIGS. 18 and 22 show still another embodiment of the stroke regulating device 66 as follows. 84B and 84C are regulating bodies that are slidably fitted into the guide tube 88, and the respective regulating bodies 84B and 84C are
Piston rods 200a, 2 of cylinders 200, 201 attached to seat plate 68a are mounted on the rear end surface of 84C.
01a are connected. Therefore, both regulatory bodies 84
One of the regulating bodies B and 84C is provided with the first half of the regulating surface in the first embodiment, and the other regulating body is provided with the second half thereof so as to face each other.
That is, in FIG. 19, the regulating body 84B is provided with regulating surfaces 85, 85a in a stepped manner, and the other regulating body 84C is provided with the regulating surfaces 85, 85a of the regulating body 84C.
A large protrusion 202 protruding from the CD and a large protrusion piece 202
A small protruding piece 203 is provided to protrude more, and restricting surfaces 85b and 85c in the rear half are provided in steps on the increased surface of these small protruding pieces 203 and on the upper surface of the large protrusion 202. The lower part thereof is a fitting part 204. Each of the regulating bodies 84B, 84C is provided with a U-shaped long groove 86a, 86b which is open at the opposite side of the regulating body 84B, 84C. When viewed from the top, each one is located like a long groove. The regulating rod 80 passes through one or both of the long grooves 86a, 86b and extends upward along the moving cylinder 68, and the regulating rod 80 has a stopper bolt 8 as in the above two embodiments.
3 and a contact 82 are attached. Reference numeral 92a denotes a confirmation switch attached to the guide tube 88, which has the same configuration as the two embodiments described above except that slopes 99, 99a are provided on both sides of the tip of the lifting pin 98. The difference from the above two embodiments is that the lifting pin 98 in this example is brought into contact with the same restriction surface as the stopper bolt 83, as is clear from the drawing. . 91, 91a, 91b, 91c
are mounting plates 93, 93 fixed to the seat plate 68a, respectively.
With the confirmation switch attached to a, move cylinder 6
8 to the maximum stroke, contact points 94, 94 provided at the rear ends of the regulating bodies 84B, 84C
The confirmation switches 91 and 91b are opposed to each other to ensure that the regulating bodies 84B and 84C are at the rearmost end.

As mentioned above, FIG. 19 shows the moving cylinder 6
8 is restricted to the maximum stroke; at this time, the lifting pin 98 of the confirmation switch 92a comes into contact with the restriction surface 85, and as is clear from the above, the stopper bolt 83 also comes into contact with the restriction surface 85. The contact point 82 of the control rod 80 is restricted from moving forward.
and confirmation switch 92a face each other to confirm the position. Next, when regulating the stroke using the regulating surface 85a, the cylinder 200 is actuated to advance the regulating body 84B so that the contact point 94 faces the confirmation switch 91a and the regulating body 84B is moved forward as shown in FIG.
When it is confirmed that the cylinder 4B has advanced to a predetermined position, the operation of the cylinder 200 is stopped, and as the regulating body 84B moves forward, the lifting pin 98 moves along the slope 99 and climbs over the step 100 to reach the regulating surface. 85a, so the confirmation switch 92a
rises by a step difference of 100 minutes (same amount as the stroke regulation amount), and when the stopper bolt 83 comes into contact with the restriction surface 85a and is restricted from moving forward, that is, the forward stroke is shortened by a step difference of 100 minutes from the state shown in Fig. 19. When it is regulated in this way, it moves back and forth with the contact point 82 to confirm the position. When the regulating body 84B moves forward as described above, the front ends of the regulating surfaces 85, 85a come into contact with the lower edges of the large protruding piece 202 and the small protruding piece 203, as shown in FIG.

Next, stroke regulation by the regulating surface 85b is performed as follows. When regulating the stroke using the regulating surface 85b, the advancing regulating body 84B is stopped at that position as shown in FIG. The regulating body 84C is advanced until it reaches the position (FIG. 22), and as a result of this advancement, the regulating surfaces 85, 85a fit into the fitting portion 204 composed of the large protruding piece 202 and the small protruding piece 203, and both regulating bodies 84C are moved forward. Since the bodies 84B and 84C are connected in the form of an integral block, the regulating surface 85b
Even if the stopper bolt 83 comes into contact with the two projecting pieces 202 and 20 and the thrust of the moving cylinder 68 is applied,
3 will not bend, so there is no risk of an error occurring in the regulation position. As is clear from the explanation of FIG. 21, when the regulating body 84C moves forward as described above, the lifting pin 98 climbs over the step 100a by the slope 99a and comes into contact with the regulating surface 85b, and the stopper bolt 83 moves against the regulating surface. 85b to restrict the stroke to be shorter by the step 100a, and the contact 82 faces the confirmation switch 92a to confirm the position.

As is clear from FIG. 22, when the stroke is restricted by the restriction surface 85c, the cylinder 2
00 and 201 are activated to move the regulating body 84B backward until the contact 94 faces the confirmation switch 91, and advance the regulating body 84C until the contact 94a faces the confirmation switch 91b. Further, the above-described stroke regulating operation has been described only in the case where it is performed sequentially from the maximum stroke regulating surface 85 to the minimum stroke regulating surface 85c.
5a and directly from the regulating surface 85 to the regulating surface 85b.
When regulating the stroke, move the regulating body 84B as shown in FIG.
This is done by moving the regulating body 84C forward as shown in the figure.

As described above, in the present invention, the claws are not only replaced as in the conventional claw changing device, but also the mounting position of the claws relative to the chuck is appropriately changed in accordance with the grasping of the workpiece to be machined. This makes it possible to perform versatile work in which several types of workpieces with different gripping diameters can be machined using one (one set) of jaws. It is possible to have processing capacity that is several times higher than before, and can meet diversifying processing demands such as small-volume production of other products, thereby reducing running costs, shortening setup time, and increasing productivity. You can improve your performance. In addition, since the position of the pawl relative to the chuck is changed by receiving the movement of the piston rod of the moving cylinder that moves the pawl by the regulating surface of the regulating body, the pawl can be positioned accurately and reliably. , can be implemented at low cost with an extremely simple configuration, and has the effect of being universally applicable to various machine tools.

[Brief explanation of drawings]

The drawings show the embodiment of the present application, and FIG. 1 is a cross-sectional view of the claw in the standby position with some parts omitted, FIG. 2 is a cross-sectional view showing the replacement preparation state of FIG. 1, and FIG. - Figure 2 is a plan view of the cylinder cut along the A line, Figure 4 is a front view of Figure 3 cut along the Ro-Ro line, and Figure 5 is the same view as the Figure 1 with other parts omitted. 6 and 7 are enlarged sectional views showing the operating state of the main parts, FIG. 8 is an enlarged sectional view taken along the line K-N of FIG. 2, and FIG. 9 is an enlarged sectional view of FIG. 2. 10 and 11 are partial sectional views showing the operating state of Fig. 1, Fig. 12 is a sectional view showing the operating state of Fig. 8, and Fig. 13 is a partial sectional view showing the operating state of Fig. 1. Fig. 14 is a partial sectional view showing the operating state of Fig. 15;
The figure is a sectional view taken along the Thoth line in Fig. 14, and then Fig. 16.
22 shows other embodiments of the stroke regulating device. First, FIG. 16 is a plan view of another embodiment of the stroke regulating device, and FIG. 17 is a plan view of FIG. 16 with the mounting plate removed. Figures 18 to 22 show still other embodiments of the stroke regulating device.
19 is a sectional view taken along the Chi-Chi line in FIG. 18, FIG. 20 is a sectional view taken along the Leeli line in FIG. 19, and FIGS. 21 and 22 are explanatory views of the operation. DESCRIPTION OF SYMBOLS 1...Machine tool, 4...Quick change chuck, 5...Chuck claw automatic exchange device, 6...Storage means, 7...Transfer means, 8...Replacement means, 16...
...Claw, 50...Magazine, 52...Holder, 5
7...Gear, 58...Motor, 64...Guide block, 65...Claw moving device, 66...Stroke regulating device, 68...Moving cylinder, 80...
Regulation rod, 83... Stopper bolt, 84, 84
A, 84B, 84C...regulatory body, 85, 85a,
85b, 85c, 85d...Restriction surface, 87...Rack, 89...Motor, 91, 91a, 91b,
91c, 92, 92a... Confirmation switch, 82,
94, 95... Contact, 98... Lifting pin, A...
Claw exchange position, B... Delivery position, Y... Back and forth movement device, X... Vertical movement device, P1... Standby position, P2
...Working position.

Claims (1)

[Scope of Claims] 1. A storage means provided with a large number of holders capable of detachably holding replacement claws, and each holder of the storage means being located on an extension line of the sliding groove at the claw replacement position of the chuck. a transfer means that can be transferred to a predetermined delivery position; and an engaging part of the claw that is provided with a locking piece that can be engaged with an engaging part provided on the claw, and the locking piece is held in a holder at the delivery position; a claw moving device comprising a moving cylinder capable of linear movement between an engaging position and a position capable of engaging an engaging portion of a claw held in a sliding groove at a claw replacement position of the chuck; A regulating body having a plurality of regulating surfaces capable of receiving the movement of the piston rod of the moving cylinder in multiple stages, and a drive source capable of moving the regulating body so as to select one of the regulating surfaces. An automatic chuck pawl changing device characterized by comprising a stroke regulating device and a stroke regulating device. 2. A stopper bolt is attached to a regulating rod that moves forward and backward together with the piston rod of a moving cylinder, and a regulating body is movably provided with a regulating surface that comes into contact with the stopper bolt in multiple stages. 2. The automatic chuck pawl changing device according to claim 1, wherein the chuck pawl is connected to a drive source such as a motor or a cylinder to constitute a stroke regulating device. 3. A stopper bolt is attached to a regulating rod that moves forward and backward together with the piston rod of a moving cylinder, and a regulating body is provided with a first half of a regulating surface that contacts the stopper bolt in multiple stages, and A stroke regulating device is constructed by movably opposing each other to a regulating body whose rear half is provided in multiple stages, and connecting these regulating bodies to a drive source such as a cylinder or a motor so as to be movable as appropriate. An automatic chuck pawl changing device according to claim 1, characterized in that the chuck pawl changing device is configured as follows. 4. Attach a confirmation switch to the upper end of the lifting pin that is fitted in the outer cylinder so that it can move up and down, and bias the lifting pin with a spring so that the lower end comes into contact with the selected restriction surface, and then attach the confirmation switch to the restriction rod. Claim 2 or 3, characterized in that the stroke regulating device is configured such that a contact point that can face the switch is attached, and the confirmation switch and the contact face each other to confirm the forward stroke of the cylinder. Automatic chuck claw replacement device.