JPH0464818B2 - - Google Patents
Info
- Publication number
- JPH0464818B2 JPH0464818B2 JP58035909A JP3590983A JPH0464818B2 JP H0464818 B2 JPH0464818 B2 JP H0464818B2 JP 58035909 A JP58035909 A JP 58035909A JP 3590983 A JP3590983 A JP 3590983A JP H0464818 B2 JPH0464818 B2 JP H0464818B2
- Authority
- JP
- Japan
- Prior art keywords
- tool
- tools
- defective
- stand
- pallet
- 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.)
- Expired - Lifetime
Links
- 230000002950 deficient Effects 0.000 claims description 49
- 230000032258 transport Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 239000012141 concentrate Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 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
- 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
- B23Q3/15526—Storage devices; Drive mechanisms therefor
- B23Q3/15539—Plural magazines, e.g. involving tool transfer from one magazine to another
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Description
【発明の詳細な説明】
〈技術分野〉
本発明は工作機械に用いられる工具の取替装置
に関するものである。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a tool changing device used in a machine tool.
〈従来技術〉
複合加工システムにおいては、加工する工作物
の変更に伴う専用的工具（特定の工作物の加工の
みに使用される工具）の取替えだけではなく、折
損工具や使用限界工具の取替が必要となり、これ
らの工具は刃具部分の交換あるいは刃部を研磨し
て再び工作機械側に供給する必要がある。<Prior art> In multi-tasking systems, it is not only necessary to replace specialized tools (tools used only for machining a specific workpiece) when changing the workpiece to be machined, but also to replace broken tools or tools with limited use. It is necessary to replace the blade part or polish the blade part of these tools and then supply them to the machine tool again.
従来の工具取替装置においては、折損工具や使
用限界工具の不良工具だけを工作機械側から取外
して工具貯蔵部へ戻し新しい良工具と取替える機
能がないだけでなく、工具貯蔵部において、不良
工具を他の正常な良工具と区別して戻す機能がな
く、作業者は、どの工具を取替え、また研磨すれ
ば良いかを知得することができず作業性が悪い問
題があつた。 Conventional tool changing devices not only do not have a function to remove only broken tools or defective tools with limited usability from the machine tool and return them to the tool storage section and replace them with new, good tools. There was no function to distinguish the tool from other normal good tools and put it back, and the operator was unable to know which tool should be replaced or polished, resulting in poor workability.
〈発明の目的〉
本発明は、上記従来の問題に鑑み、工作機械側
で自動検出された不良工具を特定箇所に集中して
戻すとともに、この戻された不良工具に代わる新
工具を新工具台に収納するのみで、工具取替えが
完了するようにし、作業性の向上を図つたもので
ある。<Object of the Invention> In view of the above-mentioned conventional problems, the present invention concentrates and returns defective tools that are automatically detected on the machine tool side to a specific location, and also installs new tools to replace the returned defective tools on a new tool stand. This is designed to improve work efficiency by allowing tools to be replaced simply by storing them in the holder.
〈発明の構成〉
本発明は、各種多数の工具が整列して保管さ
れ、これを取り出し、取り入れする工具出し入れ
用マニピユレータを備えた工具貯蔵庫と、この工
具貯蔵庫に近接して不良工具のみを収容する不良
工具台と、この不良工具台と並列して刃部の再研
磨もしくは刃部の取替を完了した工具を収納する
新工具台とを配置し、工作機械から良工具は工具
貯蔵庫に搬入し、不良工具は前記不良工具台に搬
送するとともに刃部の再研磨もしくは刃部の取替
を完了した工具を新工具台から工具貯蔵庫に搬入
するようにしたものである。<Structure of the Invention> The present invention provides a tool storage in which a large number of various tools are stored in a row and is equipped with a tool loading/unloading manipulator for taking out and taking in the tools, and a tool storage in which only defective tools are stored in the vicinity of the tool storage. A defective tool stand and a new tool stand are placed in parallel with the defective tool stand to store tools whose blades have been reground or replaced, and good tools are transported from the machine tool to the tool storage. Defective tools are transported to the defective tool stand, and tools whose blades have been reground or replaced are transported from the new tool stand to the tool storage.
〈実施例〉
以下本発明の実施例を図面に基いて説明する。
第１図において、１ａ，１ｂは床面上に並列設置
された工作機械であり、工具マガジン２ａ，２ｂ
と図示省略しているが工具マガジン２ａ，２ｂと
スピンドルとの間で工具を交換する自動工具交換
装置を備えている。<Examples> Examples of the present invention will be described below based on the drawings.
In Fig. 1, 1a and 1b are machine tools installed in parallel on the floor, and tool magazines 2a and 2b are machine tools installed in parallel on the floor.
Although not shown, an automatic tool changer for changing tools between the tool magazines 2a, 2b and the spindle is provided.
３ａ，３ｂは工作機械１ａ，１ｂに近接して配
置されている工具パレツト受台、４ａ，４ｂは工
具パレツト受台３ａ，３ｂ上に搬入された工具パ
レツト８と前記工具マガジン２ａ，２ｂ間で工具
を取替えるための工具取替ロボツトである。 3a and 3b are tool pallet holders arranged close to the machine tools 1a and 1b, and 4a and 4b are tool pallet holders 3a and 3b, and between the tool pallet 8 carried onto the tool pallet holders 3a and 3b and the tool magazines 2a and 2b. This is a tool changing robot for changing tools.
５は床面に設けられている搬送経路であり、自
動走行する搬送台車６が、この搬送経路５に従つ
て走行移動する。前記搬送台車６は工作物パレツ
トを各工作機械１ａ，１ｂに対し搬送し、また工
具パレツト８を前記工具パレツト受台３ａ，３ｂ
に搬入する。 Reference numeral 5 denotes a conveyance path provided on the floor surface, and an automatically traveling conveyance cart 6 travels along this conveyance path 5. The transport vehicle 6 transports the workpiece pallets to the respective machine tools 1a, 1b, and also transports the tool pallets 8 to the tool pallet holders 3a, 3b.
to be transported to.
工具パレツト受台３ａ，３ｂに搬入する工具パ
レツト８は、前記搬送経路５に沿つた別の位置に
設置されている工具パレツト受台７から搬送さ
れ、かつ工具パレツト受台７に戻される。尚工具
パレツト８上には工具を保持する円板マガジン１
４を有している。 The tool pallet 8 carried into the tool pallet pedestals 3a, 3b is conveyed from a tool pallet pedestal 7 installed at another position along the conveyance path 5, and returned to the tool pallet pedestal 7. Furthermore, on the tool pallet 8 is a disk magazine 1 that holds tools.
It has 4.
本発明は、前記工具パレツト受台７に近接して
工具貯蔵庫９を設けると共に、この工具貯蔵庫９
に隣接して不良工具のみを収容する不良工具台１
５を配設する。 The present invention provides a tool storage 9 adjacent to the tool pallet holder 7, and also provides a tool storage 9.
A defective tool stand 1 adjacent to which accommodates only defective tools
5 will be placed.
工具貯蔵庫９は第２図に示すように、工具を整
列して保管する上下数段の棚１１と、この棚１１
より工具を出し入れする工具出し入れ用マニピユ
レータ１０を備えている。工具マニピユレータ１
０は、各段の棚１１と対応するよう垂直支持レー
ル１３によつて上下方向に案内され、また水平支
持レール１２によつて各段の棚１１と平行して案
内されている。 As shown in FIG. 2, the tool storage 9 has several shelves 11 above and below for storing tools in a row, and
A tool loading/unloading manipulator 10 for loading/unloading tools is provided. Tool manipulator 1
0 is guided in the vertical direction by vertical support rails 13 so as to correspond to the shelves 11 in each stage, and is guided in parallel with the shelves 11 in each stage by horizontal support rails 12.
一方、不良工具台１５に近接し、かつ前記工具
パレツト受台７が配置している搬送経路５に沿つ
た位置に不良工具受取台１７を設置し、これに不
良工具用の小形工具パレツト１８が支持されるよ
うになつている。 On the other hand, a defective tool receiving stand 17 is installed near the defective tool stand 15 and along the transport path 5 where the tool pallet receiving stand 7 is arranged, and a small tool pallet 18 for defective tools is placed on this. It is gaining support.
さらに、不良工具台１５と並列して新工具台１
６が設置され、刃部の再研磨もしくは刃部の取替
えを完了した工具が作業者により収納される。 Furthermore, a new tool stand 1 is placed in parallel with the defective tool stand 15.
6 is installed, and the tool whose blade part has been reground or whose blade part has been replaced is stored by the operator.
前記工具パレツト受台７上の工具パレツト８と
工具貯蔵庫９との間の工具の受け渡し並びに不良
工具受取台１７上の小形パレツト１８から不良工
具台１５への不良工具の搬送手段としては、工具
貯蔵庫９並びに不良工具台１５と工具パレツト受
台７並びに不良工具受取台１７との間の床面上を
走行する工具移送用ロボツト２０が配置される。
そして不良工具受取台１７上の小形パレツト１８
と不良工具台１５との間は工具移送用ロボツト２
０で直接不良工具を不良工具台１５に搬送する
が、工具貯蔵庫９と工具パレツト受台７上の工具
パレツト８との間の工具の受け渡しには、工具貯
蔵庫９の外部の床面上に設置した反転動する工具
仮受台１９を介して前記工具移送用ロボツト２０
にて行われるようになつている。 The tool storage is used as a means for transferring tools between the tool pallet 8 on the tool pallet holder 7 and the tool storage 9 and for transporting defective tools from the small pallet 18 on the defective tool receiving stand 17 to the defective tool stand 15. A tool transfer robot 20 that runs on the floor between the defective tool stand 15, the tool pallet receiver 7, and the defective tool receiver 17 is disposed.
and a small pallet 18 on the defective tool receiving stand 17.
A tool transfer robot 2 is located between the defective tool stand 15 and the
0 directly conveys defective tools to the defective tool stand 15. However, in order to transfer tools between the tool storage 9 and the tool pallet 8 on the tool pallet holder 7, a tool installed on the floor outside the tool storage 9 is used. The tool transfer robot 20
It is now being held in
さらに、工作機械１ａ，１ｂ側と工具貯蔵庫９
並びに不良工具台１５とを直接結んだ搬送手段が
設けられている。すなわち、工作機械１ａ，１ｂ
側と工具貯蔵庫９側とに設置した支柱２２，２３
によつて床面上方の空間に直接取替用の走行レー
ル２１を支持し、この走行レール２１に案内され
て自動走行する直接取替用のマニピユレータ装置
２４を設ける。そして、工具貯蔵庫９の外側壁に
直接取替用仮受台２５を設けると共に、不良工具
台１５の側部には直接取替用不良工具受台２６と
マニピユレータ２７とを設けた構成である。 Furthermore, the machine tools 1a, 1b side and the tool storage 9
Further, a conveying means directly connected to the defective tool stand 15 is provided. That is, machine tools 1a, 1b
Supports 22 and 23 installed on the side and the tool storage 9 side
A running rail 21 for direct replacement is supported in the space above the floor surface, and a manipulator device 24 for direct replacement that automatically travels while being guided by this running rail 21 is provided. A temporary holder 25 for direct replacement is provided on the outer wall of the tool storage 9, and a defective tool holder 26 for direct replacement and a manipulator 27 are provided on the side of the defective tool stand 15.
２８は上記の各種の装置等をコントロールする
コンピユータを示す。 Reference numeral 28 indicates a computer that controls the various devices mentioned above.
上記の構成よりなる本発明において工具の取替
には搬送台車６による場合と直接取替用のマニピ
ユレータ装置２４による場合との２つの方法があ
るが、この２つの方法をどのように用いるかは自
由である。 In the present invention having the above configuration, there are two methods for tool replacement, one using the conveyance cart 6 and the other using the manipulator device 24 for direct replacement, but it is unclear how these two methods are used. Be free.
そこで、それぞれの方法についての動作を説明
する。搬送台車６による場合においては、工具貯
蔵庫９の工具は工具出し入れ用マニピユレータ１
０によつて所要の工具の工具仮受台１９に取り出
される。これを工具移送用ロボツト２０によつて
受け取り、工具パレツト受台７上の円板マガジン
１４に格納する。工具を格納した円板マガジン１
４は、その工具パレツト８と共に搬送台車６上に
移され、搬送台車６によつて工作機械１ａ，１ｂ
側の工具パレツト受台３ａ，３ｂに搬送されるの
である。 Therefore, the operation of each method will be explained. In the case of using the transport vehicle 6, the tools in the tool storage 9 are handled by the tool manipulator 1.
0, the required tool is taken out to the temporary tool holder 19. This is received by the tool transfer robot 20 and stored in the disk magazine 14 on the tool pallet holder 7. Disc magazine 1 that stores tools
4 is transferred onto the carrier 6 together with its tool pallet 8, and the machine tools 1a, 1b are transferred by the carrier 6 to the machine tools 1a, 1b.
The tools are transported to the tool pallet holders 3a and 3b on the side.
また、搬送台車６によつて工作機械１ａ，１ｂ
側の工具パレツト受台３ａ，３ｂから工具貯蔵庫
９側の工具パレツト受台７に搬送された工具パレ
ツト８上の良工具は工具移送用ロボツト２０によ
り工具仮受台１９に移送され、これを工具出し入
れ用マニピユレータ１０によつて工具貯蔵庫９内
の所定の棚１１に戻すのである。 In addition, the machine tools 1a and 1b are
The good tools on the tool pallet 8 that have been transferred from the tool pallet holders 3a and 3b on the side to the tool pallet holder 7 on the tool storage 9 side are transferred to the tool temporary holder 19 by the tool transfer robot 20, and are transferred to the tool temporary holder 19. It is returned to a predetermined shelf 11 in the tool storage 9 by the manipulator 10 for loading and unloading.
一方、工作機械１ａ，１ｂ側において折損ある
いは使用限界の不良工具がある場合には、搬送台
車６によつて小形工具パレツト１８を工作機械１
ａ，１ｂ側の工具パレツト受台３ａ，３ｂに搬送
し、不良工具を小形工具パレツト１８に格納して
搬送台車６によつて不良工具受取台１７に搬送す
る。そして、小形工具パレツト１８に格納されて
いる不良工具を工具移送用ロボツト２０によつて
不良工具台１５に移送し、不良工具を不良工具台
１５に集中して収容するものである。 On the other hand, if there is a broken or defective tool on the machine tool 1a or 1b side, the small tool pallet 18 is transferred to the machine tool 1 by the carrier 6.
The defective tools are transported to the tool pallet receivers 3a and 3b on the sides a and 1b, and the defective tools are stored in the small tool pallet 18 and transported to the defective tool receiver 17 by the carrier vehicle 6. Then, the defective tools stored in the small tool pallet 18 are transferred to the defective tool stand 15 by the tool transfer robot 20, and the defective tools are stored in the defective tool stand 15 in a concentrated manner.
さらに、直接取替による場合は、工具出し入れ
用マニピユレータ１０によつて工具貯蔵庫９内の
工具を直接取替用仮受台２５に取り出す。これを
直接取替用のマニピユレータ装置２４によつて把
持し、走行レール２１に沿つて直接工作機械１
ａ，１ｂ側に搬送し、また工作機械１ａ，１ｂ側
から良工具を直接取替用仮受台２５に搬送する。 Furthermore, in the case of direct replacement, the tools in the tool storage 9 are directly taken out to the temporary holder 25 for replacement by the tool loading/unloading manipulator 10. This is held by the manipulator device 24 for direct replacement, and is directly moved along the running rail 21 to the machine tool 1.
a, 1b side, and good tools are directly transported from the machine tools 1a, 1b side to the temporary replacement stand 25.
工作機械１ａ，１ｂ側における不良工具はマニ
ピユレータ装置２４によつて直接取替用不良工具
受台２６に搬送する。そして、これをマニピユレ
ータ２７によつて不良工具台１５に収容するので
ある。 Defective tools on the machine tools 1a and 1b are directly conveyed to a replacement defective tool pedestal 26 by the manipulator device 24. Then, the manipulator 27 stores this in the defective tool rest 15.
尚、不良工具の取替等により、それに代る新工
具が新工具台１６に収納されると、この新工具が
新工具１６より工具移送ロボツト２０を介して工
具貯蔵庫９内へ補充保管される。 When a new tool is stored in the new tool stand 16 due to replacement of a defective tool, etc., this new tool is refilled and stored in the tool storage 9 from the new tool 16 via the tool transfer robot 20. .
〈効果〉
以上のように本発明によると、工具貯蔵庫の他
に隣接して不良工具台と新工具台を配置したの
で、作業者は不良工具の判別を不要するととも
に、これに代わる新工具を新工具台に収納するの
みで工具取替が完了するので、作業者は不良工具
の判別を不要とし、工具の判別労力が著く軽減さ
れると共に、作業性が向上する利点を有している
ものである。<Effects> As described above, according to the present invention, the defective tool stand and the new tool stand are arranged adjacent to the tool storage, so the operator does not need to identify the defective tool and can also replace it with a new tool. Since tools can be replaced simply by storing them in the new tool stand, the operator does not need to distinguish between defective tools, which has the advantage of significantly reducing the effort required to distinguish between tools and improving work efficiency. It is something.
第１図は本発明装置の平面図、第２図は斜視図
である。
６…搬送台車、７…工具パレツト受台、９…工
具貯蔵庫、１０…工具出し入れ用マニピユレー
タ、１５…不良工具台、１７…不良工具受取台、
２０…工具移送ロボツト、２１…走行レール、２
４…直接取替用のマニピユレータ装置、２６…直
接取替用不良工具受取台、２７…マニピユレー
タ。
FIG. 1 is a plan view of the apparatus of the present invention, and FIG. 2 is a perspective view. 6... Transport truck, 7... Tool pallet holder, 9... Tool storage, 10... Manipulator for tool loading/unloading, 15... Defective tool stand, 17... Defective tool receiving base,
20... Tool transfer robot, 21... Traveling rail, 2
4... Manipulator device for direct replacement, 26... Defective tool receiving stand for direct replacement, 27... Manipulator.
Claims (1)
して保管され、工具出し入れ用マニピユレータを
備えた工具貯蔵庫と、この工具貯蔵庫に隣接して
不良工具のみを収容する不良工具台と、この不良
工具台と並列して刃部の再研磨もしくは刃部の取
替を完了した工具を収納する新工具台とを配置
し、工作機械から良工具は工具貯蔵庫に搬入し、
不良工具は不良工具台に搬送するとともに刃部の
再研磨もしくは刃部の取替を完了した工具を新工
具台から工具貯蔵庫に搬入する工具搬送手段を備
えたことを特徴とする工具取替装置。1. A tool storage where a large number of various tools used in machine tools are arranged and stored and equipped with a manipulator for loading and unloading tools, a defective tool stand adjacent to this tool storage that accommodates only defective tools, and this defective tool stand. In parallel with this, a new tool stand is installed to store tools whose blades have been reground or have their blades replaced, and good tools are transported from the machine tools to the tool storage.
A tool changing device characterized by being equipped with a tool transport means for transporting defective tools to a defective tool stand and transporting tools whose blades have been reground or whose blades have been replaced from the new tool stand to a tool storage. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58035909A JPS59166437A (en) | 1983-03-07 | 1983-03-07 | Tool changing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58035909A JPS59166437A (en) | 1983-03-07 | 1983-03-07 | Tool changing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59166437A JPS59166437A (en) | 1984-09-19 |
| JPH0464818B2 true JPH0464818B2 (en) | 1992-10-16 |
Family
ID=12455152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58035909A Granted JPS59166437A (en) | 1983-03-07 | 1983-03-07 | Tool changing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59166437A (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6358165A (en) * | 1986-08-27 | 1988-03-12 | Shimadzu Corp | Automatic specimen introducing apparatus |
| JPS63107548U (en) * | 1986-12-26 | 1988-07-11 | ||
| US4797989A (en) * | 1987-02-05 | 1989-01-17 | Oerlikon Motch Corporation | Combination machine tool apparatus and pallet changing system |
| DE3877047D1 (en) * | 1987-05-06 | 1993-02-11 | Doerries Scharmann Gmbh | FLEXIBLE MANUFACTURING EQUIPMENT WITH SEVERAL MACHINING MACHINES ARRANGED IN ADJUSTMENT. |
| IT1295458B1 (en) * | 1997-10-02 | 1999-05-12 | Pluritec Italia | TOOL CHANGE DEVICE FOR A MACHINE TOOL HAVING A SERIES OF OPERATING HEADS. |
| ATE384600T1 (en) * | 2001-08-09 | 2008-02-15 | Lerinc Innovative Technologien | TOOL MAGAZINE |
| JP5005046B2 (en) * | 2008-02-22 | 2012-08-22 | 株式会社牧野フライス製作所 | Tool magazine |
| JP2016120542A (en) * | 2014-12-24 | 2016-07-07 | ファナック株式会社 | Processing system including tool conveyance device having function for reading/writing tool information to information medium of tool by communicating with machine tool |
| US10717163B2 (en) * | 2016-01-18 | 2020-07-21 | Makino Milling Machine Co., Ltd. | Control method for machine tool, and machine tool |
| JP6775704B1 (en) * | 2020-07-28 | 2020-10-28 | Dmg森精機株式会社 | Tool setup device, control method of tool setup device, and control program of tool setup device |
| JP6793278B1 (en) * | 2020-07-28 | 2020-12-02 | Dmg森精機株式会社 | Tool transfer system, tool transfer system control method, and tool transfer system control program |
| DE102020211672A1 (en) | 2020-09-17 | 2022-03-17 | Deckel Maho Pfronten Gmbh | Central tool storage facility |
| JPWO2022269673A1 (en) * | 2021-06-21 | 2022-12-29 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS48102377A (en) * | 1972-03-16 | 1973-12-22 | ||
| JPS50112874A (en) * | 1974-02-18 | 1975-09-04 |
-
1983
- 1983-03-07 JP JP58035909A patent/JPS59166437A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS48102377A (en) * | 1972-03-16 | 1973-12-22 | ||
| JPS50112874A (en) * | 1974-02-18 | 1975-09-04 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59166437A (en) | 1984-09-19 |
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