JP2021024047A - 工作機械 - Google Patents
工作機械 Download PDFInfo
- Publication number
- JP2021024047A JP2021024047A JP2019144867A JP2019144867A JP2021024047A JP 2021024047 A JP2021024047 A JP 2021024047A JP 2019144867 A JP2019144867 A JP 2019144867A JP 2019144867 A JP2019144867 A JP 2019144867A JP 2021024047 A JP2021024047 A JP 2021024047A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- end effector
- axis
- flight robot
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000012636 effector Substances 0.000 claims abstract description 89
- 230000008859 change Effects 0.000 claims abstract description 5
- 239000012530 fluid Substances 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 13
- 230000006870 function Effects 0.000 claims description 9
- 230000036544 posture Effects 0.000 description 41
- 238000005520 cutting process Methods 0.000 description 14
- 238000003754 machining Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 244000145845 chattering Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000012809 cooling fluid Substances 0.000 description 1
- 239000010730 cutting oil Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- 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
- B23Q7/04—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 grippers
- B23Q7/046—Handling workpieces or tools
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/5468—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair
- B23Q1/5481—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair followed parallelly by a single rotating pair
-
- 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
- B23Q7/04—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 grippers
- B23Q7/048—Multiple gripper units
-
- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/10—Arrangements for cooling or lubricating tools or work
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155453—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers including different gripper configurations for holding differently-configured tools
-
- 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
- B23Q7/04—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 grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Machine Tool Units (AREA)
- Auxiliary Devices For Machine Tools (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Feeding Of Workpieces (AREA)
- Turning (AREA)
Abstract
Description
Claims (7)
- 1以上の工具を保持する刃物台であり、第一軸に平行な方向、及び前記第一軸に直交する第二軸に平行な方向に直進移動する刃物台と、
前記第二軸に平行な軸回りに回転可能にワークを保持するワーク主軸装置と、
加工室内に設けられ、複数の関節と、前記関節を連結する複数のリンクとを有する機内ロボットと、
を備え、前記機内ロボットの前記複数の関節は、
前記第二軸に平行な軸回りに回転する基礎関節と、
前記基礎関節の回転軸に直交する軸回りに回転し、前記基礎関節よりも先端側に配置された複数の平行関節と、
を備え、前記基礎関節の回転軸は、前記ワーク主軸装置の回転軸とずれており、
前記機内ロボットは、前記基礎関節を回転させることで、前記複数の平行関節の回転軸が前記第一軸及び前記第二軸に直交する第三軸と平行になる第一工具追従姿勢と、前記第一工具追従姿勢に対して前記基礎関節を180度回転した第二工具追従姿勢とに変化可能で、前記複数のリンクのうちの先端のリンク以外のリンクは、前記機内ロボットが前記第一工具追従姿勢と前記第二工具追従姿勢のいずれの場合にも、前記刃物台及び前記刃物台に保持される前記工具と干渉しない位置に取り付けられる
ことを特徴とする工作機械。 - 前記機内ロボットの先端は2つ以上に分岐されてそれぞれにエンドエフェクタが着脱自在に取り付けられる
ことを特徴とする請求項1に記載の工作機械。 - 前記機内ロボットの先端は2つに分岐されて第1エンドエフェクタ及び第2エンドエフェクタが取り付けられ、
前記第一工具追従姿勢及び前記第二工具追従姿勢で前記第1エンドエフェクタと前記第2エンドエフェクタを使い分ける
ことを特徴とする請求項2に記載の工作機械。 - 前記第1エンドエフェクタと前記第2エンドエフェクタの少なくとも1つは、隣接する2つのリンクの間に収まるサイズに設定される
ことを特徴とする請求項3に記載の工作機械。 - 前記第1エンドエフェクタと前記第2エンドエフェクタの少なくとも1つは、ハンド、ローラ、流体ノズルのいずれかである
ことを特徴とする請求項3に記載の工作機械。 - 前記機内ロボットの先端は2つ以上に分岐されて1つのエンドエフェクタが着脱自在に取り付けられる
ことを特徴とする請求項1に記載の工作機械。 - 前記エンドエフェクタは、複数の機能を有し、
前記第一工具追従姿勢及び前記第二工具追従姿勢で前記複数の機能を使い分ける
ことを特徴とする請求項1に記載の工作機械。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019144867A JP7315407B2 (ja) | 2019-08-06 | 2019-08-06 | 工作機械 |
DE102020120338.1A DE102020120338A1 (de) | 2019-08-06 | 2020-07-31 | Werkzeugmaschine |
CN202010768740.5A CN112338616A (zh) | 2019-08-06 | 2020-08-03 | 机床 |
US16/986,773 US20210039212A1 (en) | 2019-08-06 | 2020-08-06 | Machine tool |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019144867A JP7315407B2 (ja) | 2019-08-06 | 2019-08-06 | 工作機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021024047A true JP2021024047A (ja) | 2021-02-22 |
JP7315407B2 JP7315407B2 (ja) | 2023-07-26 |
Family
ID=74188687
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019144867A Active JP7315407B2 (ja) | 2019-08-06 | 2019-08-06 | 工作機械 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20210039212A1 (ja) |
JP (1) | JP7315407B2 (ja) |
CN (1) | CN112338616A (ja) |
DE (1) | DE102020120338A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7300358B2 (ja) * | 2019-09-24 | 2023-06-29 | オークマ株式会社 | 工具刃先計測装置及び工作機械 |
CN114851233B (zh) * | 2022-06-06 | 2023-11-24 | 北京理工大学 | 一种用于工业机器人加工的末端执行装置及其执行方法 |
DE102022119894A1 (de) | 2022-08-08 | 2024-02-08 | Mag Ias Gmbh | Mess-Lünette, damit ausgestattete Dreh-Fräs-Maschine sowie Verfahren zu ihrem Betrieb |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5966589U (ja) * | 1982-10-27 | 1984-05-04 | 株式会社大隈鐵工所 | ロボツト用ハンド |
JPS6141478U (ja) * | 1984-08-10 | 1986-03-17 | 日産自動車株式会社 | クランプ装置 |
JPS61214943A (ja) * | 1985-03-15 | 1986-09-24 | Mitsubishi Electric Corp | 産業用ロボツトのハンド装置 |
JP2012016791A (ja) * | 2010-07-08 | 2012-01-26 | Nippon Shoryoku Kikai Kk | ワーク加工装置 |
JP2016055370A (ja) * | 2014-09-08 | 2016-04-21 | Dmg森精機株式会社 | 自動工具交換装置および工作機械 |
JP2017202547A (ja) * | 2016-05-11 | 2017-11-16 | オークマ株式会社 | 工作機械 |
JP2017213658A (ja) * | 2016-06-01 | 2017-12-07 | オークマ株式会社 | 工作機械 |
JP2018020402A (ja) * | 2016-08-04 | 2018-02-08 | オークマ株式会社 | 工作機械 |
JP2019098479A (ja) * | 2017-12-05 | 2019-06-24 | オークマ株式会社 | 工作機械 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3259958A (en) * | 1965-10-22 | 1966-07-12 | Jerome H Lemelson | Automatic production machine |
JP5946227B2 (ja) | 2011-01-04 | 2016-07-05 | アドバンスト・エナジー・インダストリーズ・インコーポレイテッドAdvanced Energy Industries, Inc. | 電力送達システム、電力制御システム、および、電力を送達するまたは電力制御する方法 |
JP5966589B2 (ja) | 2012-05-14 | 2016-08-10 | 株式会社Ihi | 低圧ループegr装置 |
CN103639471B (zh) * | 2013-12-05 | 2016-01-20 | 郑州大学 | 机器人制孔末端执行器 |
CN105328697B (zh) * | 2015-11-12 | 2018-04-06 | 深圳职业技术学院 | 一种模块化六自由度机械手及其控制方法 |
JP6735149B2 (ja) * | 2016-05-11 | 2020-08-05 | オークマ株式会社 | 工作機械 |
JP6787688B2 (ja) * | 2016-05-16 | 2020-11-18 | オークマ株式会社 | 工作機械 |
CN109396863A (zh) * | 2018-09-18 | 2019-03-01 | 武汉华中数控股份有限公司 | 切削加工智能制造生产线及其工作方法 |
-
2019
- 2019-08-06 JP JP2019144867A patent/JP7315407B2/ja active Active
-
2020
- 2020-07-31 DE DE102020120338.1A patent/DE102020120338A1/de active Pending
- 2020-08-03 CN CN202010768740.5A patent/CN112338616A/zh active Pending
- 2020-08-06 US US16/986,773 patent/US20210039212A1/en active Granted
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5966589U (ja) * | 1982-10-27 | 1984-05-04 | 株式会社大隈鐵工所 | ロボツト用ハンド |
JPS6141478U (ja) * | 1984-08-10 | 1986-03-17 | 日産自動車株式会社 | クランプ装置 |
JPS61214943A (ja) * | 1985-03-15 | 1986-09-24 | Mitsubishi Electric Corp | 産業用ロボツトのハンド装置 |
JP2012016791A (ja) * | 2010-07-08 | 2012-01-26 | Nippon Shoryoku Kikai Kk | ワーク加工装置 |
JP2016055370A (ja) * | 2014-09-08 | 2016-04-21 | Dmg森精機株式会社 | 自動工具交換装置および工作機械 |
JP2017202547A (ja) * | 2016-05-11 | 2017-11-16 | オークマ株式会社 | 工作機械 |
JP2017213658A (ja) * | 2016-06-01 | 2017-12-07 | オークマ株式会社 | 工作機械 |
JP2018020402A (ja) * | 2016-08-04 | 2018-02-08 | オークマ株式会社 | 工作機械 |
JP2019098479A (ja) * | 2017-12-05 | 2019-06-24 | オークマ株式会社 | 工作機械 |
Also Published As
Publication number | Publication date |
---|---|
DE102020120338A1 (de) | 2021-02-11 |
JP7315407B2 (ja) | 2023-07-26 |
CN112338616A (zh) | 2021-02-09 |
US20210039212A1 (en) | 2021-02-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10603752B2 (en) | Machine tool | |
US10307877B2 (en) | Machine tool | |
JP6787688B2 (ja) | 工作機械 | |
JP7188880B2 (ja) | 工作機械 | |
JP6709111B2 (ja) | 工作機械 | |
CN113146326B (zh) | 机床 | |
JP7315407B2 (ja) | 工作機械 | |
JP7288367B2 (ja) | 工作機械システム | |
JP2018144131A (ja) | 工作機械 | |
JP6694779B2 (ja) | 工作機械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220331 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20221221 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230131 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230314 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20230711 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20230713 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7315407 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |