JPS5953138A - Method of rapid replacement of tool - Google Patents
Method of rapid replacement of toolInfo
- Publication number
- JPS5953138A JPS5953138A JP16422982A JP16422982A JPS5953138A JP S5953138 A JPS5953138 A JP S5953138A JP 16422982 A JP16422982 A JP 16422982A JP 16422982 A JP16422982 A JP 16422982A JP S5953138 A JPS5953138 A JP S5953138A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- arm
- main shaft
- magazine
- spindle
- 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.)
- Pending
Links
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
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
Description
【発明の詳細な説明】
主軸のＺ軸移動で工具を抜き差しするほか、工跣交換ア
ームが工具を保持したままでワーク加工を行うようにし
てｒ具の高速交換を可能にしたものである。DETAILED DESCRIPTION OF THE INVENTION In addition to inserting and removing tools by moving the main spindle along the Z axis, the tool can be changed at high speed by machining a workpiece while holding the tool with the tool changing arm.
従来の工具交換装置イ」の工作機械（マシニングセンタ
）は、工具交換時間が比較的に長いため、加工時間の長
いワークな加工対象にしていた。従（１）
つて、１０ンドが５０〜５００個程度以上程度種中量生
産を高能率に単軸マシニングセンタで行うことができず
、交換式多軸ヘッドを備えた専用１幾によって行われて
いた。また、近年工具マｊｙシンと主軸頭との相対運動
を利用したアームレス型のクイレフトチェンジ式マンニ
ングセンタが出現して、工具交換時間の短縮化を図って
いるもの（工具交換時間が２〜３秒台であり、多種多量
生産を高能率に行う専用機に対抗できない。Machine tools (machining centers) with conventional tool change equipment (machining centers) require relatively long tool change times, so they are used to process workpieces that require long machining times. (1) As a result, it was not possible to efficiently perform medium-volume production of 50 to 500 pieces of 10-inch machining using a single-axis machining center, and the production was carried out using a dedicated machine equipped with an exchangeable multi-axis head. . In addition, in recent years, armless type quick left change manning centers that utilize the relative movement between the tool machine and the spindle head have appeared, which aim to shorten the tool change time (tool change time is 2 to 3 minutes). It is in the second range and cannot compete with specialized machines that can produce a wide variety of products in large quantities with high efficiency.
本発明は」−記従来の単軸マシニングセンタがもつ欠点
を解消する新規なモ具の高速交換方法を提供することを
目的とする。即ち、１つの主軸に２組のＡＴＣ装置を備
え、主軸のＺ軸移動で工具を抜き差しするほか、工具交
換アームがＦ具を保持したままでワーク加工を行うよう
にして工具のＷ６速交換を可能とし、多種多量生産を行
５単軸マノ□ングセンタの出現を可能にした。SUMMARY OF THE INVENTION An object of the present invention is to provide a novel method for high-speed tool replacement that eliminates the drawbacks of conventional single-axis machining centers. In other words, one spindle is equipped with two sets of ATC devices, and in addition to inserting and removing tools by moving the spindle along the Z-axis, the tool exchange arm performs workpiece processing while holding the F tool, allowing tool exchange at W6 speed. This made it possible to produce a wide variety of products in large quantities, making it possible to create a 5-single-axis manipulating center.
次に、本発明の王其の高速交換方法の一実施態様を図面
で説明する。先ず、第１図において、主軸頭１は１つの
主軸２をもち、最大限に後退した工具交換位置ＡとＪＰ
Ｌ前進した工具装着位置Ｂとテーブル３上のワークＷま
で前進する加工位置Ｃの３態様をとる。上記主軸頭１の
左右には、工具交換アーム１０．２０と工具貯蔵マガジ
ン３０．４０からなる２組の工具交換装置’ｒｃ１ 、
Ｔｅ３を備えている。Next, an embodiment of the Wang Qi high-speed exchange method of the present invention will be described with reference to the drawings. First, in Fig. 1, the spindle head 1 has one spindle 2, and the tool change positions A and JP are at maximum retraction.
There are three modes: a tool mounting position B where the tool moves forward and a machining position C where the tool moves forward to the workpiece W on the table 3. On the left and right sides of the spindle head 1, there are two sets of tool changers 'rc1, each consisting of a tool change arm 10.20 and a tool storage magazine 30.40.
Equipped with Te3.
」−記工具交換アーム１０．２０は自由端に１組の工具
把持器１１．２１を持ち、工具装着位置Ｂにおいて主軸
２と各工具マカジン３０．４０の割出位置（イ）、（ビ
ワ間を回動部材１２．２２によって１８０°旋回する。''-The tool change arm 10.20 has a set of tool grippers 11.21 at its free end, and at the tool mounting position B, the main spindle 2 and each tool machining position 30.40 are at the index position (a), (between loquats) is rotated by 180° by rotating member 12.22.
」−記アーム１０．２０は一方のアーム１０がマガジン
３０側にあるとき、他方のアーム２０は主軸２側にあり
、このアーム２０が主軸２からマガジン４０側へ旋回す
ると、他のアーム１０が同期してマガジン３０側から主
軸２へ旋回する関係に連結制御されろ。また、各アーム
１０．２０は主軸２の軸芯方向に消極的に前進すること
ができ、常には引き戻し部材１３．２３によって工具交
換位置ＢＫ待機されている。主軸２に向いたアーム］０
又は２０は引掛具１４又は２４を前進する主軸頭１に係
止させ、主軸頭１と共に一体となって加工位置Ｃまで前
進される。上記工具把持器１１゜２１は第２，３図に示
すよう一対の回動する１Ｐ持爪１５、１６．（２５，２
６）の構成で、アーム１０．２０内に内蔵する７クチエ
ータ１７．２７で把持爪が開閉作動される。上記把持爪
１５．１６．（２５，２６）は、主軸２に嵌着した工具
Ｔｌ、Ｔ２・・・を把持したま〜高速回転すべく、第３
図（ａ）のように爪１５．１６．（２５，２６）の内周
面１５ａ、 １６ａ、 ２５ａ、 ２６ａには等
間隔に高圧空気の吹出孔α・・・を備え、工具のフラン
ジを空気軸受する。また、第３図（ｂ）のように内周面
に等間隔にコロ軸受（ｂ）・・・を配置し、主軸２に装
着させた工具ＴＩ、Ｔ２・・・を回転自在に把持する構
成としてもよい。前記−Ｌ具マカシン３０．４０は、後
退した工具交換位１ｔＡと前進した工具装着位置Ｂに位
置決めする進退部材３１，４】と１つの工具を割出位置
（イ）、ビワに割出す回動部材３２．４２とを備えてい
る。上記マカジン３０．４０は工具を工具交換アーム１
０．２０への工具受渡時とアームからの工具受取時のみ
前進した位置Ｂにおかれる。” - When one arm 10 is on the magazine 30 side, the other arm 20 is on the main shaft 2 side, and when this arm 20 turns from the main shaft 2 to the magazine 40 side, the other arm 10 The connections are controlled so that they synchronously rotate from the magazine 30 side to the main shaft 2. Further, each arm 10.20 can passively move forward in the axial direction of the main shaft 2, and is always held at the tool exchange position BK by the pull-back member 13.23. Arm facing main shaft 2] 0
Or 20 locks the hook 14 or 24 to the advancing spindle head 1, and moves forward together with the spindle head 1 to the processing position C. As shown in FIGS. 2 and 3, the tool gripper 11.degree. 21 has a pair of rotating 1P gripping claws 15, 16. (25,2
With the configuration 6), the gripping claws are opened and closed by the seven actuators 17.27 built into the arm 10.20. The above gripping claws 15.16. (25, 26) are the third tools in order to rotate at high speed while gripping the tools Tl, T2... fitted on the main spindle 2.
As shown in figure (a), the claws 15, 16. The inner peripheral surfaces 15a, 16a, 25a, 26a of (25, 26) are provided with high-pressure air blow-off holes α at equal intervals, and the flanges of the tool are air-bearing. In addition, as shown in Fig. 3(b), roller bearings (b) are arranged at equal intervals on the inner peripheral surface, and the tools TI, T2, etc. attached to the main spindle 2 are rotatably gripped. You can also use it as The -L tool machining machine 30.40 has an advancing/retracting member 31, 4 which positions the tool at the retracted tool exchange position 1tA and the advanced tool mounting position B, and a rotating movement that indexes one tool to the indexing position (a) and loquat. members 32 and 42. The above Macazine 30.40 has a tool changing arm 1.
It is placed in the advanced position B only when delivering the tool to the 0.20 and receiving the tool from the arm.
本発明の一実施態様は上述の如くであり、以下その作男
を説明する。第１図において、右側の工具マガジン４０
から工具Ｔ１を受取ったアーム２０は、工具Ｔ１を把持
したま〜主軸頭１の前進で主軸２に装着され、更に加工
位置Ｃへの主軸頭１の前進に追従して一体的に前進する
。一方、左側のＡＴＣ装Ｈ’ｒｃ１のアーム１０は工具
装着位置Ｂにおいて、工具マカジン３０の割出位置（イ
）にあり、工具マガジン３０の工具装着位置Ｂへの前進
で工具Ｔ２が開いた把持爪１５．１６に対面し、これに
続く閉口動作で把持爪１５．１６が工具Ｔ２を回転自在
に保持する。アーム１０が工具Ｔ２を保持すると、工具
マカジン３０は工具交換位置Ａまで後退し、アーム１０
は第４図のように割出位置（イ）に静止したま（にある
。そして、工具交換のため主軸頭１が加工位置Ｃから工
具交換位置Ａまで後退すると、工具装着位置Ｂで後退を
止めたアーム２０が保持している工具Ｔ１を主軸頭１内
のツールクランプの解除作用に陣って主軸２から外され
ろ。この後、２つのアーム１０．２０は一斉に右側へ１
８０°の旋回運動をし、第５図のように左側のアーム１
０が保持する工具Ｔ２を主軸２の前面に対向させ、右側
のアーム２０が保持する工具Ｔ１を工具マガジン４００
割出位置げ）に対向させる。これに続いて、第６図の如
く主軸頭１が前進をはじめて工具装着位置Ｂで工具Ｔ２
に主軸２が嵌合すると同時にソールクランプ（図示なし
）で工具Ｔ２が主軸２に装着され、更に主軸頭１の前進
で７−ム１０を一体にして加工位置Ｃまで前進する。一
方、右側の工具マガジン４０も工具装着位置Ｂまで前進
し、アーム２０が保持する工具Ｔ１を割出位置に’ｌの
工具ポットに保持させる。この後、第７図のように把持
爪２５．２６が開き、工具マガジン４０の割出回動で次
の工具Ｔ３を割出位置ビワに割出す。尚、左側の工具マ
ガジン３０シま第４図の状態から工具交換位置Ａで停止
を続けている。新しい工具Ｔ３の割出しで把持爪２５．
２６は工具Ｔ３を回転自在に保持し、次の工具交換を待
つ。即ち、工具交換のために主軸頭１が加工位置Ｃから
後退をはじめると同時にソールクランプの作用で主軸２
に装着されている工具Ｔ２が解除され、工具装着位置Ｂ
で後退を止めたアーム１０は第８図の如く保持している
工具Ｔ２を更に工具交換位置Ａまで後退する主軸頭１の
主軸２から外ず。」−記事軸頭１の後退勤に先立って後
退している工具マガジン４０からアーム２０に新しい工
具Ｔ３が受渡されており、両アーム１０．２０が一斉に
１８０°左側−＼旋回動し、左側のアーム１０が保持す
る工具Ｔ２を工具マガジン；３０の割出位置（イ）に対
向させ、右側のアーム２０が保持する工具Ｔ３を主＋１
１＋ ２に対向させる。この後、主軸頭１が前進してア
ーム２０に保持されたままの工具Ｔ３を主軸２に装着し
てワークＷに対して新しい加工をはじめろ。また他方の
工具マガジン３０は、前進してアーム１０が保持する工
具Ｔ２を受取り新しい工具Ｔ４をアームＩＯＫ保持する
作用を完了する。以下、同様の作用を繰返し、一方のア
ームが工具を保持したまま主軸２に関係しているとき、
他方のアームは次の新しい工具を保持して工具交換に備
えて待機状態にあり、実質的には主軸頭１が加工位置Ｃ
と工具交換位置Ａ間の往復移動中に２つのアーム１０．
２０が入れ替えられて工具交換が完了する。従って、工
具交換時間は従来のいかなる方式のものよりも速く、主
軸頭１０ストロークによって多少異なるが１−２秒台で
ある。また、工具交換時には、主軸頭の進退勤と２つの
アームの旋回動だけの単純運動、であるから、工具交換
時間を大幅に短縮しても各部材に無理がなく、耐久性と
信頼性の高いＡＴＣ装置何ＯＱｉ軸マシニングセンタを
構成できる。One embodiment of the present invention is as described above, and its construction will be explained below. In FIG. 1, the tool magazine 40 on the right side
The arm 20, which has received the tool T1 from the tool T1, is attached to the spindle 2 by the advance of the spindle head 1 while gripping the tool T1, and further moves forward integrally following the advance of the spindle head 1 to the machining position C. On the other hand, the arm 10 of the ATC device H'rc1 on the left side is in the indexing position (a) of the tool magazine 30 at the tool mounting position B, and when the tool magazine 30 advances to the tool mounting position B, the tool T2 is held in the open grip position. Facing the pawl 15.16, the gripping pawl 15.16 rotatably holds the tool T2 in a subsequent closing movement. When the arm 10 holds the tool T2, the tool machine 30 retreats to the tool exchange position A, and the arm 10
remains stationary at the indexed position (A) as shown in Fig. 4. Then, when the spindle head 1 moves back from the machining position C to the tool change position A to change the tool, it moves back to the tool mounting position B. The tool T1 held by the stopped arm 20 is removed from the spindle 2 by the release action of the tool clamp in the spindle head 1.After this, the two arms 10 and 20 are moved simultaneously to the right.
The left arm 1 rotates by 80 degrees as shown in Figure 5.
0 holds the tool T2 facing the front of the spindle 2, and the right arm 20 holds the tool T1 in the tool magazine 400.
(index position). Subsequently, as shown in Fig. 6, the spindle head 1 begins to move forward and reaches the tool mounting position B with the tool T2.
At the same time as the spindle 2 is fitted into the spindle 2, the tool T2 is attached to the spindle 2 using a sole clamp (not shown), and as the spindle head 1 moves forward, the 7-arm 10 is integrated and moved forward to the machining position C. On the other hand, the tool magazine 40 on the right side also moves forward to the tool mounting position B, and the tool T1 held by the arm 20 is held in the tool pot at the index position. Thereafter, the gripping claws 25 and 26 open as shown in FIG. 7, and the next tool T3 is indexed to the index position by the indexing rotation of the tool magazine 40. Note that the left tool magazine 30 continues to stop at the tool exchange position A from the state shown in FIG. Grasping claw 25 by indexing new tool T3.
26 rotatably holds the tool T3 and waits for the next tool change. That is, when the spindle head 1 starts to retreat from the machining position C for tool exchange, the spindle 2 is moved back by the action of the sole clamp at the same time.
The tool T2 installed at
The arm 10, which has stopped its retreat, does not remove the tool T2 it is holding from the spindle 2 of the spindle head 1, which is further retreated to the tool change position A, as shown in FIG. ” - Article Prior to the retreat of the shaft head 1, a new tool T3 is transferred from the retreating tool magazine 40 to the arm 20, and both arms 10 and 20 simultaneously rotate 180° to the left and move to the left. The tool T2 held by the arm 10 on the right side is opposed to the index position (a) of the tool magazine; 30, and the tool T3 held by the right arm 20 is
Face 1+2. Thereafter, the spindle head 1 moves forward, the tool T3 held by the arm 20 is attached to the spindle 2, and a new machining process is started on the workpiece W. The other tool magazine 30 moves forward to receive the tool T2 held by the arm 10 and completes the operation of holding the new tool T4 in the arm IOK. Hereafter, the same action is repeated, and when one arm is related to the spindle 2 while holding the tool,
The other arm holds the next new tool and is in a standby state in preparation for tool exchange, and the spindle head 1 is essentially in the machining position C.
During the reciprocating movement between the two arms 10.
20 is replaced and the tool exchange is completed. Therefore, the tool change time is faster than any conventional method, and is on the order of 1-2 seconds, although it varies somewhat depending on the 10 strokes of the spindle head. In addition, when changing tools, the simple movement is just the movement of the spindle head back and forth and the rotation of two arms, so even if the tool change time is significantly reduced, there is no strain on each member, and durability and reliability are maintained. A high ATC device can configure several OQi-axis machining centers.
尚、本発明方法は上記一実施態様に限定されるものでは
ないこと勿論である。It goes without saying that the method of the present invention is not limited to the one embodiment described above.
本発明の工具高速交換方法によるときは１つの主軸頭の
左右に２絹のＡＴＣ装置を備え、主軸頭の２軸移動で左
右の工具交換アームに交互に回転自在に保持された工具
を主軸に抜き差しすると共に、左右の工具交換アームが
交互に工具を保持したまま主軸頭と一体に移動してワー
ク加工を行うから、工具交換時間は従来のいかなる方式
のものよりも速く、また工具交換のプロセスも主軸頭の
進退勤と２つのアームの旋回動だけの単純運動であり。When using the high-speed tool exchange method of the present invention, two ATC devices are provided on the left and right sides of one spindle head, and by moving the spindle head on two axes, the tools held rotatably on the left and right tool exchange arms are alternately transferred to the spindle. As the tool is inserted and removed, the left and right tool change arms alternately hold the tool and move together with the spindle head to process the workpiece, so the tool change time is faster than any conventional method, and the tool change process is It is also a simple motion consisting of the movement of the spindle head back and forth and the rotation of the two arms.
耐久性と信頼性の高い単軸マシニングセンタの出現を可
能とし、これで多種多量生産を実行させる効果を有す。This makes it possible to create a single-axis machining center that is highly durable and reliable, and has the effect of allowing a wide variety of products to be produced in large quantities.
第１図は本発明方法の実施態様を示す工作機械の正面図
、第２図は工具交換アームの摺持器を示す部分図、第３
図は第２図におけるＩ−Ｉ線断面図、第４〜８図は本発
明方法による作用を示す正面図である。
１・・・主軸頭、２・・・主軸、３・・・テーブル、Ｗ
・・・ワーク、１０．２０・・・工具交換アーム、３０
゜４０・・・工具貯蔵マガジン、ＴＣｌ、Ｔｅ３・・・
ＡＴＣ装置、Ｔ１．７２・・・工具、ＩＬ２１・・・工
具杷持器、１５゜１６、２５．２６・・・把持爪、Ａ・
・・工具交換位置、Ｂ・・・工具装着位置、Ｃ・・・加
工位置、（イ）、（イト・・割出位置。
出願人 達州製作株式会社
Ｃ（２） ｒｂ） ’
薯 ３ 側
７５ 眉
乞 ６ 訓
瀦 ７ ＮFig. 1 is a front view of a machine tool showing an embodiment of the method of the present invention, Fig. 2 is a partial view showing the slider of the tool change arm, and Fig.
The figure is a sectional view taken along the line I--I in FIG. 2, and FIGS. 4 to 8 are front views showing the effect of the method of the present invention. 1...Spindle head, 2...Spindle, 3...Table, W
... Workpiece, 10.20 ... Tool exchange arm, 30
゜40...Tool storage magazine, TCl, Te3...
ATC device, T1.72...tool, IL21...tool holder, 15°16, 25.26...gripping claw, A.
...Tool exchange position, B...Tool installation position, C...Machining position, (A), (It...Index position. Applicant: Tatsushu Seisaku Co., Ltd. C(2) rb) ' 薯 3 Side 75 Eyebrow 6 Kunse 7 N
Claims (1)
のＺ軸移動で左右の工具交換アームに交互に回転自在に
保持された工具を主軸に抜き差しすると共に、左右の工
具交換アームが交互に工具を保持したまま主軸頭と一体
に移動してワーク加工を行うことを特徴とする工具の高
速交換方法。Two sets of ATC devices are installed on the left and right sides of one spindle head, and by moving the spindle head along the Z axis, the tools rotatably held by the left and right tool exchange arms can be alternately inserted into and removed from the spindle, and the left and right tool exchange arms can be A high-speed tool changing method characterized by machining a workpiece by alternately holding the tool and moving it together with the spindle head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16422982A JPS5953138A (en) | 1982-09-21 | 1982-09-21 | Method of rapid replacement of tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16422982A JPS5953138A (en) | 1982-09-21 | 1982-09-21 | Method of rapid replacement of tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5953138A true JPS5953138A (en) | 1984-03-27 |
Family
ID=15789121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16422982A Pending JPS5953138A (en) | 1982-09-21 | 1982-09-21 | Method of rapid replacement of tool |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5953138A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0163277A2 (en) * | 1984-05-25 | 1985-12-04 | Kitamura Machinery Co.,Ltd. | Automatic tool changer |
| EP0190673A2 (en) * | 1985-02-04 | 1986-08-13 | ROYAL Werkzeug-Kontrollanlagen GmbH | Tool machine for machining workpieces with different tools |
| US4852243A (en) * | 1987-05-21 | 1989-08-01 | Ima-Norte Maschinenfabriken Klessmann Gmbh & Co. | Tool changer for drill press |
| EP0354467A2 (en) * | 1988-08-10 | 1990-02-14 | Chiron-Werke GmbH & Co. KG | Machine tool |
| EP0355204A2 (en) * | 1988-08-23 | 1990-02-28 | Kitamura Machinery Co.,Ltd. | A machine tool |
| JP2008105158A (en) * | 2006-10-27 | 2008-05-08 | Mitsubishi Heavy Ind Ltd | Vertical type machine tool |
| US20140323280A1 (en) * | 2013-04-29 | 2014-10-30 | Feng-Tien Chen | Cnc machine tool with a single-spindle and two sets of cutting tool changers |
-
1982
- 1982-09-21 JP JP16422982A patent/JPS5953138A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0163277A2 (en) * | 1984-05-25 | 1985-12-04 | Kitamura Machinery Co.,Ltd. | Automatic tool changer |
| EP0190673A2 (en) * | 1985-02-04 | 1986-08-13 | ROYAL Werkzeug-Kontrollanlagen GmbH | Tool machine for machining workpieces with different tools |
| US4852243A (en) * | 1987-05-21 | 1989-08-01 | Ima-Norte Maschinenfabriken Klessmann Gmbh & Co. | Tool changer for drill press |
| EP0354467A2 (en) * | 1988-08-10 | 1990-02-14 | Chiron-Werke GmbH & Co. KG | Machine tool |
| EP0355204A2 (en) * | 1988-08-23 | 1990-02-28 | Kitamura Machinery Co.,Ltd. | A machine tool |
| JPH0259244A (en) * | 1988-08-23 | 1990-02-28 | Kitamura Mach Co Ltd | Metalcutting machine tool |
| JP2008105158A (en) * | 2006-10-27 | 2008-05-08 | Mitsubishi Heavy Ind Ltd | Vertical type machine tool |
| US20140323280A1 (en) * | 2013-04-29 | 2014-10-30 | Feng-Tien Chen | Cnc machine tool with a single-spindle and two sets of cutting tool changers |
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