JP2005238358A - Pallet exchanger - Google Patents

Pallet exchanger Download PDF

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Publication number
JP2005238358A
JP2005238358A JP2004049037A JP2004049037A JP2005238358A JP 2005238358 A JP2005238358 A JP 2005238358A JP 2004049037 A JP2004049037 A JP 2004049037A JP 2004049037 A JP2004049037 A JP 2004049037A JP 2005238358 A JP2005238358 A JP 2005238358A
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Prior art keywords
pallet
rail
arm
support
stocker
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JP4353365B2 (en
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Akihiro Kitamura
彰浩 北村
Kosaku Kitamura
耕作 北村
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Kitamura Machinery Co Ltd
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Kitamura Machinery Co Ltd
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Priority to JP2004049037A priority Critical patent/JP4353365B2/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
    • B23Q7/1431—Work holder changers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/10—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of magazines

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pallet exchanger continuously supplying a large number of pallets. <P>SOLUTION: The pallet exchanger is provided with a pallet stocker (12), in which supporting parts (16a, 16b, and 16c) having an indexing function are arranged in piles and pallets (18) are laid on each supporting part (16a, 16b, and 16c), and a transfer device (14) for transferring the pallets (18) from the supporting parts (16a, 16b, and 16c). <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、工作機械に用いられるパレット交換装置に関する。   The present invention relates to a pallet changing apparatus used for a machine tool.

特開平５−３１８２６１号公報には、パレットを回転移動させるための回転手段を設け、パレットの移動経路にガイド手段を設け、回転手段を駆動して移動経路に沿ってパレットを駆動して移動経路に沿ってパレットを回転移動させることによって、パレットチェンジャ本体とテーブルとの間でパレットを交換する構成にし、さらに、パレットチェンジャ本体を工作機械に対して旋回可能に構成し、しかも、パレットチェンジャ本体をテーブルに対して固定手段によって解除可能に固定して、必要に応じて固定手段を解除することによってパレットチェンジャ本体を旋回させる構成にしたことを特徴とするパレットチェンジャが示されている。   In Japanese Patent Laid-Open No. 5-318261, a rotating means for rotating the pallet is provided, a guide means is provided in the moving path of the pallet, and the rotating means is driven to drive the pallet along the moving path. The pallet is rotated and moved along the pallet changer so that the pallet changer is exchanged between the pallet changer main body and the table, and the pallet changer main body is configured to be pivotable with respect to the machine tool. The pallet changer is characterized in that the pallet changer main body is configured to be removably fixed to the table by a fixing means and to release the fixing means as necessary.

また、特開平１０−２４９６６７号公報には、固定パレットプールの間でパレットを移動するための移動パレットプールを設け、その移動経路上の所定位置でパレット上のワークを交換できるパレットチェンジャーが示されている。   Japanese Laid-Open Patent Publication No. 10-249667 discloses a pallet changer in which a moving pallet pool for moving pallets between fixed pallet pools is provided, and workpieces on the pallets can be exchanged at predetermined positions on the moving path. ing.

更に、特開２００３−２０５４３３号公報には、パレットとアームの間に係合部を設け、その係合部に転倒防止手段を設けて、パレットがアームに係合部を介して保持された状態で、パレットが旋回された時、パレットがアーム上でずれて転倒することを防止するパレットチェンジャーが示されている。
特開平５−３１８２６１号公報 特開平１０−２４９６６７号公報 特開２００３−２０５４３３号公報 Furthermore, in JP-A-2003-205433, an engagement portion is provided between the pallet and the arm, and a tipping prevention means is provided at the engagement portion, and the pallet is held by the arm via the engagement portion. Thus, there is shown a pallet changer that prevents the pallet from slipping and falling on the arm when the pallet is turned.
JP-A-5-318261 JP-A-10-249667 JP 2003-205433 A

しかしながら、近時の機械加工の高速化、効率化に伴い、多数のパレットをより高速度でかつ効率的に連続的な供給を可能にすることができる装置の開発が望まれている。   However, with the recent increase in speed and efficiency of machining, it is desired to develop an apparatus that can continuously supply a large number of pallets at a higher speed and efficiently.

そこで、本発明は、多数のパレットをより高速度でかつ効率的に連続的な供給が可能なパレットチェンジャーを提供することを目的としている。   Therefore, an object of the present invention is to provide a pallet changer capable of continuously supplying a large number of pallets at a higher speed and efficiently.

本発明の解決手段を例示すると、以下のとおりである。   Examples of the solving means of the present invention are as follows.

（１） 割出し機能を有する支持部（１６ａ、１６ｂ、１６ｃ）を多重に配置し、各支持部（１６ａ、１６ｂ、１６ｃ）にパレット（１８）を載置可能にしたパレットストッカー（１２）と、パレット（１８）を支持部（１６ａ、１６ｂ、１６ｃ）から搬送するための搬送装置（１４）を備えたパレット交換装置。 (1) A pallet stocker (12) in which support parts (16a, 16b, 16c) having an indexing function are arranged in multiple layers, and a pallet (18) can be placed on each support part (16a, 16b, 16c). A pallet exchanging device comprising a transport device (14) for transporting the pallet (18) from the support portions (16a, 16b, 16c).

（２） 各支持部（１６ａ、１６ｂ、１６ｃ）が円盤で構成されていることを特徴とする前述のパレット交換装置。 (2) The pallet exchanging apparatus as described above, wherein each support portion (16a, 16b, 16c) is formed of a disk.

（３） 各支持部（１６ａ、１６ｂ、１６ｃ）が、共通の軸（２０）を中心に回転可能に構成されていることを特徴とする前述のパレット交換装置。 (3) The pallet exchanging device described above, wherein each support portion (16a, 16b, 16c) is configured to be rotatable about a common axis (20).

（４） 搬送装置（１４）が、上下方向に延在する２本の第１レール（２６）と、第１レール（２６）上を移動する接続部（２８）と、接続部（２８）に設けられた水平方向に延在する第２レール（３０）と、第２レール（３０）上を移動するアーム（３２）とを有し、アーム（３２）が第１レール（２６）の間でパレット（１８）を搬入及び搬出可能に構成されていることを特徴とする前述のパレット交換装置。 (4) The conveying device (14) is connected to the two first rails (26) extending in the vertical direction, the connecting portion (28) moving on the first rail (26), and the connecting portion (28). A horizontally extending second rail (30) and an arm (32) moving on the second rail (30), the arm (32) being between the first rail (26); The pallet exchanging apparatus described above, wherein the pallet (18) can be carried in and out.

本発明によれば、割出し機能を有する支持部を多重構造に配置し、各支持部にパレットを載置したパレットストッカーと、パレットを支持部から搬送するための搬送装置を備えたので、多数のパレットを連続的に供給できる。   According to the present invention, since the support portion having the indexing function is arranged in a multiple structure, the pallet stocker having the pallet placed on each support portion and the transport device for transporting the pallet from the support portion are provided. Can be supplied continuously.

各支持部を円盤で構成すれば、大量のパレットを安定して省スペースで配置できる。   If each support part is formed of a disk, a large number of pallets can be stably placed in a space-saving manner.

各支持部を、共通の軸を中心に回転可能に配置すれば、大量のパレットを省スペースで配置できる。   If each support portion is arranged so as to be rotatable about a common axis, a large number of pallets can be arranged in a space-saving manner.

搬送装置が、上下方向に延在する２本の第１レールと、第１レール上を移動する接続部と、接続部に設けられた第２レール上を水平方向に移動するアームとを有し、アームが第１レールの間でパレットを搬入及び搬出可能に構成すれば、パレットの供給を高速かつ確実に行うことができる。   The transport device has two first rails extending in the vertical direction, a connecting portion that moves on the first rail, and an arm that moves on the second rail provided in the connecting portion in the horizontal direction. If the arm is configured to be able to carry in and out the pallet between the first rails, the pallet can be supplied at high speed and reliably.

本発明は、割出し機能を有する支持部を多重に配置し、各支持部にパレットを載置したパレットストッカーと、パレットを支持部から搬送するための搬送装置を備えたパレット交換装置を特徴とする。図示された実施例において、支持部は３つの支持部から構成されているが、２つでも良いし、４つ以上でも良い。また、搬送装置はパレットストッカーと一体的に設けられているが、パレットストッカーと別体に設けても良い。なお、割出しは、インデックスと位置決めの意味を含む。   The present invention is characterized by a pallet exchanging apparatus including a pallet stocker in which support parts having an indexing function are arranged in multiple layers, and a pallet placed on each support part, and a transport device for transporting the pallet from the support part. To do. In the illustrated embodiment, the support portion is composed of three support portions, but may be two, or four or more. Moreover, although the conveying apparatus is provided integrally with the pallet stocker, it may be provided separately from the pallet stocker. The index includes the meaning of index and positioning.

各支持部を円盤で構成するのが好ましいが、多角形の盤や多数の棒状のアーム等で構成しても良い。   Each support portion is preferably composed of a disk, but may be composed of a polygonal disk, a large number of rod-shaped arms, or the like.

各支持部を、共通の軸を中心に回転可能に配置しても良い。各支持部は、同時に回転させてもよいし、別個独立に回転させても良い。   You may arrange | position each support part rotatably about a common axis | shaft. Each support part may be rotated simultaneously, or may be rotated independently.

搬送装置が、上下方向に延在する２本の第１レールと、第１レール上を移動する接続部と、接続部に設けられた水平方向に延在する第２レールと、第２レール上を移動するアームとを有し、アームを第１レールの間でパレットを搬入及び搬出可能に構成してもよい。 The transport device includes two first rails extending in the vertical direction, a connecting portion that moves on the first rail, a second rail that is provided in the connecting portion and extends in the horizontal direction, and a second rail The arm may be configured such that the pallet can be loaded and unloaded between the first rails.

以下、図面を参照して、本発明の実施例を説明する。   Embodiments of the present invention will be described below with reference to the drawings.

図１は、本発明によるパレット交換装置の一例を示す斜視図である。図２は、図１の部分分解図である。   FIG. 1 is a perspective view showing an example of a pallet exchanging apparatus according to the present invention. FIG. 2 is a partially exploded view of FIG.

パレット交換装置１０は、工作機械１に対して用いられる。   The pallet changer 10 is used for the machine tool 1.

パレット交換装置１０は、パレットストッカー１２と搬送装置１４からなる。   The pallet changer 10 includes a pallet stocker 12 and a transport device 14.

パレットストッカー１２は、割出し機能を有する支持部１６を多重構造に配置し、各支持部１６にパレット１８を載置したものである。   The pallet stocker 12 has support portions 16 having an indexing function arranged in a multiple structure, and a pallet 18 is placed on each support portion 16.

支持部１６は、略円盤状で同一形状の上段支持部１６ａ、中段支持部１６ｂ、及び下段支持部１６ｃからなる。上段支持部１６ａ、中段支持部１６ｂ、及び下段支持部１６ｃは、所定の間隔を空けて多段に構成されていて、多重構造になっている。各支持部１６ａ−ｃは、共通の軸２０を中心に矢印ｒ方向に回転可能である。軸２０は、パレットストッカー１２のベース２１の中心に起立している。ベース２１の下側には、図示省略された駆動装置が接続されていて、各支持部１６ａ−ｃの割出しを行うようになっている。   The support portion 16 is substantially disc-shaped and includes an upper support portion 16a, a middle support portion 16b, and a lower support portion 16c having the same shape. The upper stage support part 16a, the middle stage support part 16b, and the lower stage support part 16c are configured in multiple stages at predetermined intervals, and have a multiple structure. Each support portion 16a-c can rotate in the direction of arrow r about a common axis 20. The shaft 20 stands at the center of the base 21 of the pallet stocker 12. A drive device (not shown) is connected to the lower side of the base 21 so that the support portions 16a-c are indexed.

各支持部１６ａ−ｃの外周には、パレット１８を係止するための多数の係止部２２が設けられている。係止部２２は、各支持部１６ａ−ｃに対応して、上段係止部２２ａ、中段係止部２２ｂ、及び下段係止部２２ｃからなる。各係止部２２ａ−ｃは、放射方向外側に開放したくぼみで構成されている。   A number of locking portions 22 for locking the pallet 18 are provided on the outer periphery of each support portion 16a-c. The locking portion 22 includes an upper locking portion 22a, a middle locking portion 22b, and a lower locking portion 22c corresponding to the support portions 16a-c. Each latching part 22a-c is comprised by the hollow open | released to the radial direction outer side.

各支持部１６ａ−ｃの外周には、多数のパレット１８が載置される。各パレット１８は交換可能である。   A large number of pallets 18 are placed on the outer periphery of each support portion 16a-c. Each pallet 18 is replaceable.

各パレット１８の下部には、突起１８ａが設けられている。突起１８ａは、各係止部２２ａ−ｃと対応した形状となっていて、パレット１８を支持部１６に保持するために用いられる。   A protrusion 18 a is provided at the bottom of each pallet 18. The protrusion 18 a has a shape corresponding to each locking portion 22 a-c and is used for holding the pallet 18 on the support portion 16.

パレットストッカー１２は、周囲に円筒形のカバー２４を設けている。カバー２４には多数の窓２４ａが設けられていて、内部状態を視認できるようになっている。   The pallet stocker 12 is provided with a cylindrical cover 24 around it. The cover 24 is provided with a large number of windows 24a so that the internal state can be visually recognized.

カバー２４の側面には、パレット１８を搬送するための搬送装置１４が設けられている。搬送装置１４は、上下方向に延在する２本の第１レール２６と、第１レール２６上を移動する接続部２８と、接続部２８に設けられた水平方向に延在する第２レール３０と、第２レール３０上を移動するアーム３２とを有する。   A transport device 14 for transporting the pallet 18 is provided on the side surface of the cover 24. The transport device 14 includes two first rails 26 that extend in the vertical direction, a connection portion 28 that moves on the first rail 26, and a second rail 30 that extends in the horizontal direction provided in the connection portion 28. And an arm 32 that moves on the second rail 30.

第１レール２６は、パレット１８が通過可能な幅に間隔を空けていて、第１フレーム３４を介してカバー２４に固定されている。接続部２８は、各第１レール２６に移動可能に接続された板状の部材からなり、図示省略された駆動装置を用いて矢印Ｙ方向に上昇及び下降可能である。   The first rail 26 is spaced by a width that allows the pallet 18 to pass through, and is fixed to the cover 24 via a first frame 34. The connecting portion 28 is formed of a plate-like member that is movably connected to each first rail 26, and can be raised and lowered in the direction of arrow Y using a driving device that is not shown.

第２レール３０は、第２フレーム３６を介して接続部２８に固定されている。アーム３２は、反転用モータ３８とともに第２レール３０上を矢印Ｘ方向に前進及び後退可能である。反転用モータ３８は、図示省略された制御装置によりアーム３２を矢印Ｒ方向に反転制御可能である。   The second rail 30 is fixed to the connection portion 28 via the second frame 36. The arm 32 can move forward and backward in the arrow X direction on the second rail 30 together with the reversing motor 38. The reversing motor 38 can reversely control the arm 32 in the arrow R direction by a control device (not shown).

このように、搬送装置１４は、アーム３２を上段支持部１６ａから下端支持部１６ｃへ上昇及び下降させ、さらに、第１レール２６の間でパレット１８を搬入及び搬出可能に構成されている。   As described above, the conveying device 14 is configured to raise and lower the arm 32 from the upper stage support portion 16 a to the lower end support portion 16 c and to carry in and out the pallet 18 between the first rails 26.

アーム３２に関してパレットストッカー１２と反対側には、工作機械１が設けられている。工作機械１のテーブル２には、パレットストッカー１２内のパレット１８と交換される交換パレット３が載置されている。   The machine tool 1 is provided on the opposite side of the pallet stocker 12 with respect to the arm 32. On the table 2 of the machine tool 1, an exchange pallet 3 to be exchanged with the pallet 18 in the pallet stocker 12 is placed.

パレット交換装置１０の使用例を説明する。   An example of use of the pallet changer 10 will be described.

パレット交換装置１０を工作機械１の交換パレット３に向けて配置する。支持部１６の軸２０を回転させて、所定のパレット１８を２本の第１レール２６の間の位置に対応させて配置する。所定のパレット１８の高さ位置に合わせてアーム３２を上昇又は下降させるとともに、前進又は後退させてパレット１８に近づける。アーム３２によりパレット１８を把持した後、アーム３２を工作機械１に向けて移動させる。アーム３２によりさらに交換パレット３を把持する。アーム３２を１８０度旋回させて、パレット１８を工作機械１に設置する。アーム３２をパレットストッカー１２に向けて移動して、交換パレット３をパレットストッカー１２内に設置する。こうして順次多数のパレット１８を工作機械１に連続的に供給できるようになっている。   The pallet exchanging device 10 is arranged toward the exchanging pallet 3 of the machine tool 1. The shaft 20 of the support portion 16 is rotated, and the predetermined pallet 18 is arranged corresponding to the position between the two first rails 26. The arm 32 is raised or lowered in accordance with a predetermined height position of the pallet 18 and moved forward or backward to approach the pallet 18. After gripping the pallet 18 by the arm 32, the arm 32 is moved toward the machine tool 1. The replacement pallet 3 is further gripped by the arm 32. The arm 32 is turned 180 degrees, and the pallet 18 is set on the machine tool 1. The arm 32 is moved toward the pallet stocker 12, and the replacement pallet 3 is installed in the pallet stocker 12. In this way, a large number of pallets 18 can be successively supplied to the machine tool 1 in sequence.

なお、本発明は図示された実施例に限定されない。   Note that the present invention is not limited to the illustrated embodiment.

本発明によるパレット交換装置の一例を示す斜視図である。It is a perspective view which shows an example of the pallet exchange apparatus by this invention. 図１の部分分解図である。FIG. 2 is a partially exploded view of FIG. 1.

符号の説明Explanation of symbols

１ 工作機械
２ テーブル
３ 交換パレット
１０ パレット交換装置
１２ パレットストッカー
１４ 搬送装置
１６ 支持部
１６ａ 上段支持部
１６ｂ 中段支持部
１６ｃ 下段支持部
１８ パレット
１８ａ 突起
２０ 軸
２１ ベース
２２ 支持部
２２ａ 上段係止部
２２ｂ 中段係止部
２２ｃ 下段係止部
２４ 力バー
２４ａ 窓
２６ 第１レール
２８ 接続部
３０ 第２レール
３２ アーム
３４ 第１フレーム
３６ 第２フレーム
３８ 反転用モータ

DESCRIPTION OF SYMBOLS 1 Machine tool 2 Table 3 Replacement pallet 10 Pallet changer 12 Pallet stocker 14 Conveyor 16 Support part 16a Upper stage support part 16b Middle stage support part 16c Lower stage support part 18 Pallet 18a Protrusion 20 Shaft 21 Base 22 Support part 22a Upper stage latching part 22b Middle stage locking part 22c Lower stage locking part 24 Force bar 24a Window 26 First rail 28 Connection part 30 Second rail 32 Arm 34 First frame 36 Second frame 38 Reverse motor

Claims (4)

工作機械に用いられるパレット交換装置において、割出し機能を有する支持部（１６ａ、１６ｂ、１６ｃ）を多重に配置し、各支持部（１６ａ、１６ｂ、１６ｃ）にパレット（１８）を載置可能にしたパレットストッカー（１２）と、パレット（１８）を支持部（１６ａ、１６ｂ、１６ｃ）から搬送するための搬送装置（１４）を備えたパレット交換装置。   In a pallet exchanging apparatus used for a machine tool, support portions (16a, 16b, 16c) having an indexing function are arranged in multiple so that a pallet (18) can be placed on each support portion (16a, 16b, 16c). The pallet changer provided with the pallet stocker (12) and the transport device (14) for transporting the pallet (18) from the support portions (16a, 16b, 16c). 各支持部（１６ａ、１６ｂ、１６ｃ）が円盤で構成されていることを特徴とする請求項１に記載のパレット交換装置。   The pallet exchanging apparatus according to claim 1, wherein each of the support portions (16a, 16b, 16c) is formed of a disk. 各支持部（１６ａ、１６ｂ、１６ｃ）が、共通の軸（２０）を中心に回転可能に構成されていることを特徴とする請求項１又は２に記載のパレット交換装置。   The pallet exchanging apparatus according to claim 1 or 2, wherein each of the support portions (16a, 16b, 16c) is configured to be rotatable about a common axis (20). 搬送装置（１４）が、上下方向に延在する２本の第１レール（２６）と、第１レール（２６）上を移動する接続部（２８）と、接続部（２８）に設けられた水平方向に延在する第２レール（３０）と、第２レール（３０）上を移動するアーム（３２）とを有し、アーム（３２）が第１レール（２６）の間でパレット（１８）を搬入及び搬出可能に構成されていることを特徴とする請求項１〜３のいずれか１項に記載のパレット交換装置。

The conveying device (14) is provided on the two first rails (26) extending in the vertical direction, the connecting portion (28) moving on the first rail (26), and the connecting portion (28). It has the 2nd rail (30) extended in a horizontal direction, and the arm (32) which moves on a 2nd rail (30), and an arm (32) is a pallet (18 between the 1st rails (26). The pallet exchanging apparatus according to any one of claims 1 to 3, wherein the pallet exchanging apparatus is configured to be able to carry in and out.

JP2004049037A 2004-02-25 2004-02-25 Pallet changer Expired - Fee Related JP4353365B2 (en)

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
US7621031B2 (en) * 2006-05-30 2009-11-24 Okuma Corporation Pallet exchanging device
US20120257950A1 (en) * 2011-04-11 2012-10-11 Liebherr-Verzahntechnik Gmbh Production system
US20130223945A1 (en) * 2012-02-24 2013-08-29 Aisin Aw Co., Ltd. Rotation processing machine
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US20210078124A1 (en) * 2019-09-13 2021-03-18 Okuma Corporation Automatic pallet changer in machine tool
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7621031B2 (en) * 2006-05-30 2009-11-24 Okuma Corporation Pallet exchanging device
US20120257950A1 (en) * 2011-04-11 2012-10-11 Liebherr-Verzahntechnik Gmbh Production system
US20130223945A1 (en) * 2012-02-24 2013-08-29 Aisin Aw Co., Ltd. Rotation processing machine
US9469004B2 (en) 2012-02-24 2016-10-18 Aisin Aw Co., Ltd. Rotation processing machine and rotation processing method
US9522433B2 (en) * 2012-02-24 2016-12-20 Aisin Aw Co., Ltd. Rotation processing machine
JP2018062025A (en) * 2016-10-12 2018-04-19 ローランドディー．ジー．株式会社 Loading device and working device
US11331736B2 (en) * 2017-06-19 2022-05-17 Gleason-Pfauter Maschinenfabrik Gmbh Moving system and gear-cutting machine
US20210078124A1 (en) * 2019-09-13 2021-03-18 Okuma Corporation Automatic pallet changer in machine tool
US11607763B2 (en) * 2019-09-13 2023-03-21 Okuma Corporation Automatic pallet changer in machine tool

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