JPS61159343A - Automatic aligning and gripping device - Google Patents
Automatic aligning and gripping deviceInfo
- Publication number
- JPS61159343A JPS61159343A JP59277999A JP27799984A JPS61159343A JP S61159343 A JPS61159343 A JP S61159343A JP 59277999 A JP59277999 A JP 59277999A JP 27799984 A JP27799984 A JP 27799984A JP S61159343 A JPS61159343 A JP S61159343A
- Authority
- JP
- Japan
- Prior art keywords
- gripping
- grasping
- workpiece
- gripping device
- piston rod
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Machine Tool Units (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は工作機械特に旋盤、研削盤において工作物を搬
送するロボット、ローダのグリッパ部に使用できる装置
或いはベッド上に設ける振れ止めとして使用できる装置
に関する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a device that can be used in the gripper section of a robot or loader that conveys a workpiece in a machine tool, particularly a lathe or a grinder, or a device that can be used as a steady rest provided on a bed. .
従来技術
従来のロボット、ローダ等の把握装置はグリッパが固定
の支点で開閉するようになっており、また振れ止めとし
て公知の特公昭４７−２９８３６号の工作物保持装置と
して示されているものには三本の工作物保持部材が同じ
側から突出しておりその先端が三方向より工作物を把握
し着脱するときは二本の腕部材の先端部を開閉させるた
め一本の棒部材を進退させている。この旋回する二本の
腕部材は旋回するのみで常に突出状態にある。Prior Art In conventional grasping devices for robots, loaders, etc., the gripper opens and closes on a fixed fulcrum, and the workpiece holding device shown in Japanese Patent Publication No. 47-29836, known as a steady rest, has been used. In this case, three workpiece holding members protrude from the same side, and their tips grasp the workpiece from three directions. When attaching or removing the workpiece, one rod member is moved forward and backward to open and close the tips of the two arm members. ing. These two pivoting arm members only pivot and are always in a protruding state.
発明が解決しようとするｒＪｉ題点
前者は工作物を加工位置に搬入、搬出するときロボット
或いはローダの突出しているグリッパが付属装置と干渉
する恐れがあるため、ロボット或いは四−ダの動きは干
渉をさけるために大きくなり、アイドル時間が多くなる
と−もに動きを規制する余分のプログラムが必要となっ
て複雑化する欠点があったまた後者のものが振れ止め装
置として使用せられた場合はやはり保持腕が突出してい
るためロボット、ローダ等の干渉の恐れがあるためその
動きが制限され、プログラム上での特別の注意が必要と
なる不便があった。The rJi problem that the invention aims to solve: The former problem is that the protruding gripper of the robot or loader may interfere with attached equipment when carrying the workpiece into and out of the processing position, so the movement of the robot or four-wheeler may interfere. In order to avoid this, it becomes larger and the idle time increases - both have the disadvantage of requiring extra programs to regulate movement and becoming more complex.Also, when the latter is used as a steady rest, Since the holding arm protrudes, there is a risk of interference with the robot, loader, etc., so its movement is restricted, which is an inconvenience that requires special care when programming.
問題を解決するための手段
駆動装置によって直線的に進退可能に把握装置内に設け
られた把握ロッド６と、該把握ロッド６の両側に対称に
把握装置内に設けられ前進ストロークの前半で把握装置
より突出され後半で工作物中心に向って前記把握ロッド
６と同期して同量移動すれ後退ストロークの前半で同時
に開けられ後半で把握装置内に収納される二本の把握手
段１３ａ。Means for Solving the Problem A gripping rod 6 is provided in the gripping device so as to be linearly advanced and retractable by a drive device, and a gripping device is provided in the gripping device symmetrically on both sides of the gripping rod 6 in the first half of the forward stroke. The two gripping means 13a are more protruded, move toward the center of the workpiece by the same amount in synchronization with the gripping rod 6 in the latter half, are simultaneously opened in the first half of the backward stroke, and are housed in the gripping device in the latter half.
１３ｂとを備えたものである。13b.
実施例 以下本発明の実施例を図面にもとづき説明する。Example Embodiments of the present invention will be described below based on the drawings.
把握装置の箱枠１は四角形の側板ｊｈ、 ｊ’ｂが四隅
のブロック２を挾んでボルトにより固着され箱形をなし
ており、底位置に箱枠１の中心と同軸にシリンダ４を嵌
装したシリンダブロック３が取付けられている。シリン
ダ４にはピストン５が嵌装さへそのピストンロッド６が
箱枠１の中心に位置し、ピストン５の後退時にはピスト
ンロンド乙の先端の工作物把ｍｍ６＆が没した状態とな
る。把握面６ａは本装置をグリッパとして使用するとき
工作物の回転を止めるため平面で形成されているが、振
れ止めとして使用するときは把持ローラが取付けられる
。ピストンロッド６には把握面６ａ寄りにロッド６を挾
んで２枚のカム体７ａ、７′ｂが平行に一体に固定され
、箱枠１の内側で案内されており、把握面６ａが没した
状態ではカム体７ａ、 ７ｂもともに箱枠１内に没した
状態となる。カム体７ ＆ Ｔ ７ｂはは’ｆＨ形をし
ており、ピストンロッド６を中心として左右対称の同じ
位置にピストン５側にそれぞれ逆り字形をした腕持上げ
カム＠ ８ａ１．９ｂ１−８ａ２．６ｂｚが、また外側
把握側に把握作用カム溝９ａ１．９ｂ１・９＆２゜９ｂ
２が逆ハ字形に穿設されている。箱枠１の側板Ｉａｙｉ
ｂの左右両横のブロック２の中間に支持された支軸１０
１ｉＬ１１０ｂに持上げ腕１１１Ｌ、１１ｂ端がそれぞ
れ枢支されており、該持上げ腕１１ａ、１１ｂに支軸１
Ｏａ。The box frame 1 of the grasping device is box-shaped with rectangular side plates jh and j'b sandwiching blocks 2 at the four corners and fixed by bolts, and a cylinder 4 is fitted at the bottom position coaxially with the center of the box frame 1. A cylinder block 3 is installed. A piston 5 is fitted into the cylinder 4, and its piston rod 6 is located at the center of the box frame 1, and when the piston 5 is retracted, the workpiece grip mm6& at the tip of the piston rod is sunk. The gripping surface 6a is formed of a flat surface to stop the rotation of a workpiece when the device is used as a gripper, but gripping rollers are attached when the device is used as a steady rest. Two cam bodies 7a and 7'b are integrally fixed in parallel to the piston rod 6, sandwiching the rod 6 close to the gripping surface 6a, and are guided inside the box frame 1, so that the gripping surface 6a is depressed. In this state, both cam bodies 7a and 7b are sunk into the box frame 1. The cam bodies 7 & T 7b are 'fH-shaped, and arm-lifting cams @ 8a1.9b1-8a2.6bz each having an inverted letter shape are located on the piston 5 side at the same position symmetrically with respect to the piston rod 6. , and a grasping cam groove 9a1.9b1.9&2°9b on the outer grasping side.
2 is bored in an inverted V shape. Side plate Iayi of box frame 1
A support shaft 10 supported between the blocks 2 on both the left and right sides of b
The ends of the lifting arms 111L and 11b are respectively pivotally supported on the 1iL110b, and the support shaft 1 is attached to the lifting arms 11a and 11b.
Oa.
１０ｂと平行に挿通されたビン１２＆の両側突出端がカ
ム体７ａ、７ｂの腕持上げカム溝８ａｉ、 ８ｂ１に隙
間なく嵌装され、また同様に持上げ腕１１１）に支軸１
０’ｂと平行に挿通されたビン１２ｂの両側突出端がカ
ム体７ｔ’ｔ７ｂ の持上げカム溝８ＪＬ２．９ｔ１
２に隙間なく嵌装されて、カム体７ａ、７ｂのピストン
ロッド６の移動により揺動される。更に持上げ腕１１ａ
、１１ｂの先端には工作物把握腕１３ａ、１３’ｂがそ
れぞれ支軸１４ａ。The protruding ends on both sides of the bottle 12& inserted in parallel with the pin 10b are fitted into the arm lifting cam grooves 8ai and 8b1 of the cam bodies 7a and 7b without any gaps, and similarly the supporting shaft 1 is inserted into the lifting arm 111).
The protruding ends on both sides of the bottle 12b inserted in parallel with 0'b are in the lifting cam groove 8JL2.9t1 of the cam body 7t't7b.
2 without any gaps, and is swung by the movement of the piston rods 6 of the cam bodies 7a, 7b. Furthermore, the lifting arm 11a
, 11b have workpiece gripping arms 13a, 13'b each having a support shaft 14a.
１４ｍ）で枢結されている。把握腕１３＆に支軸１４ａ
に平行に挿通されたビン１５＆の両側突出端がカム体７
ａ、 ７ｂの把握作用カム溝９ａ１．９ｂ１に嵌装され
、また把握腕１３ｂに支軸１４ｂに平行に挿通されたビ
ン１５ｂの両側突出端がカム体７ａ、 ７ｂの把握作用
カム溝９ａ２＋ ９ｂ ２に隙間なく嵌装されていて、
把握腕１３ａ。14m). The gripping arm 13 & supporting shaft 14a
The protruding ends on both sides of the bottle 15 & inserted parallel to the cam body 7
The protruding ends on both sides of the bottle 15b, which is fitted into the grasping cam grooves 9a1 and 9b1 of the cam bodies 7a and 7b and inserted into the grasping arm 13b in parallel to the support shaft 14b, are connected to the grasping cam grooves 9a2+9b2 of the cam bodies 7a and 7b. It is fitted without any gaps,
Grasping arm 13a.
１３１）の把珈端にはそれぞれ支軸１６ａ、１６ｂによ
り工作物Ｗを把握するローラ１７ａ、１７ｂが隙間なく
軸承されている。而して逆り字形の持上げ用カム溝８ａ
１゜８ａ２ ：８ｂ１．８ｂ２はカム体７ａ、７ｂが収
納されているとキヒＸ ） ＞ ａ ７ ）’ ６と直
角方向の藺にビン１２１Ｌｆ１２１）が位置しており、
この溝部において持上げＭｌｌａｔｌｌｂが旋回され、
ピストンロッド６と平行な溝部にビンｉ２ａ、 １２ｂ
が位置するとき持上げ腕１１ａ＊１１ｂは固定状態とな
る。また把握作用カム溝９ａ１．９ｂ１ ：９ａ２．９
ｂ２の形状はピストンロンド乙の移動量に対し把握ロー
ラ１７ＪＬ、 ｊ ７ ｂの移動量が同量同期して把握
中心に向って移動するような関係となるようにつくられ
ていて内側に凹となる２次曲線となっている。このため
工作物の把握範囲の大きさのものに対し常に把握中心が
一定位置となるものである。131), rollers 17a and 17b for grasping the workpiece W are rotatably supported by support shafts 16a and 16b, respectively, without a gap. The lifting cam groove 8a has an inverted shape.
1゜8a2:8b1.8b2 is located when the cam bodies 7a and 7b are stored.
In this groove the lift Mllatllb is pivoted,
Bins i2a and 12b are installed in the groove parallel to the piston rod 6.
When the lifting arms 11a*11b are positioned, the lifting arms 11a*11b are in a fixed state. Also, grasping cam groove 9a1.9b1:9a2.9
The shape of b2 is made so that the amount of movement of the gripping roller 17JL, j7b is in a relationship with the amount of movement of the piston rond B to be synchronously moved by the same amount toward the gripping center, and is concave on the inside. It is a quadratic curve. For this reason, the gripping center is always at a constant position for a workpiece of the size of the gripping range.
本把握装置をロボットまたはローダのグリッパとして使
用するため、ロボットまたはローダアームにシリンダブ
ロック３がねじ穴３ａにおいてボルトにより固定されて
おり、シリンダ４の前室の流路３ｂ、後室の流路６ｃが
配管により図示しない切換弁を介して圧力源と接続され
ている。また本把握装置を振れ止めとして使用できるこ
とは勿論である。In order to use this grasping device as a gripper for a robot or a loader, a cylinder block 3 is fixed to the robot or loader arm with bolts in screw holes 3a, and a flow path 3b in the front chamber of the cylinder 4 and a flow path 6c in the rear chamber. is connected to a pressure source by piping via a switching valve (not shown). Moreover, it goes without saying that the present grasping device can be used as a steady rest.
作用
ロボットが待機状態にあるときシリンダ４の前室に流路
３ｂより圧力空気が供給せられピストン５を後退させて
ピストンセット６、力４体７ａ、７ｂヲ後退させる。こ
の後退のときそのスト四−りの前半で持上げカム溝８ａ
１ ｖ ８ｂ １ ’ ８ａ２．８ｂ２のピストンロ
ラド６と平行溝内に持上げ腕１１ａ、１１に＋のピン１
２ａ。When the working robot is in a standby state, pressurized air is supplied from the flow path 3b to the front chamber of the cylinder 4, causing the piston 5 to retreat, and the piston set 6 and force 4 bodies 7a and 7b to retreat. During this backward movement, the lifting cam groove 8a is
1 v 8b 1' 8a2.8b2 piston Lorado 6 and lifting arm 11a in parallel groove, + pin 1 in 11
2a.
１２１）が位置する間、該腕１１ａｙ１１には固定状態
にあり、把彼腕１３ａ、 １３ｂのピン１５ａ、１５ｂ
が把握作用カムｔＩｔ９ａ１．９ｂｔ ：９ａｚ、 ９
ｂ２により把握ローラ１７ａ＋ １７ｂを開く方向に移
動される。ストロークの後半でピン１２＆、１２ｂが持
上げカム溝の８ａ１．８’ｂ１ ：８ａ２．８ｂ２のピ
ストンロッド６と平行な溝の端に当り、直角な溝内に入
ると、持上げ腕１１＆、１１ｂは互に内方に旋回される
。この旋回にともない支軸１４＆、 １４ｂで枢結され
た把握腕１３ａ、１３ｂは開いたま一箱枠１内に引き込
まれ収容される。このように把握腕１３＆、１３ｂが納
められたロボットが指令によって移動され把握すべき工
作物Ｗの中心とロボットの把握装置の把握中心とが一致
した位置に位置決めされるとシリンダ４の後室の流路６
ｃ に圧力流体が供給さヘビストン５．ピストンロッ
ド６、カム体７ａ＋７ｂが前進される。この前進で持上
げ腕１１ａ、１１ｂはピン１２＆、１２ｂで持上げカム
ｄ４１３ａ１． Ｂｂｌ：８ａ２．８ｂ２のロッド６と
の直角溝により外方に旋回され、把握腕１３ａ。121) is in a fixed state on the arm 11ay11, and the pins 15a, 15b of the grasping arms 13a, 13b
Grasping action cam tIt9a1.9bt: 9az, 9
b2 moves the grasping rollers 17a+17b in the direction of opening. In the latter half of the stroke, when the pins 12&, 12b hit the ends of the lifting cam grooves 8a1.8'b1:8a2.8b2 parallel to the piston rod 6 and enter the grooves at right angles, the lifting arms 11&, 11b are reciprocated. is rotated inward. With this rotation, the grasping arms 13a and 13b, which are pivotally connected by the support shafts 14 & 14b, are drawn into the open box frame 1 and housed therein. When the robot in which the grasping arms 13 & 13b are housed is moved in response to a command and positioned at a position where the center of the workpiece W to be grasped and the grasping center of the robot's grasping device coincide, the rear chamber of the cylinder 4 is moved. Channel 6
Pressure fluid is supplied to c Heaviston 5. The piston rod 6 and cam bodies 7a+7b are moved forward. With this advancement, the lifting arms 11a, 11b are moved by the pins 12&, 12b to the lifting cams d413a1. Bbl: 8a2.8b2 pivoted outward by a right angle groove with rod 6, grasping arm 13a.
１５ｂを開いた状態で持上げる。ピン１２ ａｔ １２
ｂが直角溝の外瑞に達するとロッドとの平行溝に入り
、持上げ腕１１ａ１１ｂは固定状態となる。また把握腕
１？ｉａ、１３ｂはピン１５ａ、１５ｂで把握作用カム
溝９ａ１゜９ｂ１：９１Ｌ２．９１）２により規制され
て腕先端が狭まる方向に旋回され、把握ローラ１７＆、
１７１）はピストンロッド６端の把握面６＆と＼もに同
時に同量把握中心に向って移動し工作物Ｗを把握する。Lift up 15b with it open. pin 12 at 12
When b reaches the outer edge of the right-angled groove, it enters the parallel groove with the rod, and the lifting arm 11a11b becomes fixed. Grasping arm 1 again? ia, 13b are regulated by pins 15a, 15b by grasping action cam grooves 9a1゜9b1:91L2.91)2, and are rotated in the direction in which the arm tips become narrower, and grasping rollers 17&,
171) grips the workpiece W by simultaneously moving the gripping surfaces 6& and \ at the end of the piston rod 6 by the same amount toward the gripping center.
そして工作物Ｗは把握面６ａの面でブレーキがかけられ
て旋回することはない。ロボットが工作機械等のチャッ
クに工作物Ｗを搬送しシリンダ４に圧力流体が送られ把
握装置を開閉して受渡しを行うものである。The workpiece W is braked by the grasping surface 6a and does not turn. A robot transfers a workpiece W to a chuck of a machine tool or the like, and pressurized fluid is sent to a cylinder 4 to open and close a grasping device to transfer the workpiece.
効果
以上詳述したように本発明は把握面を有するピストンロ
ッドと一体のカム体の進退によって２本の把握腕を開閉
させると−もに前記把握面と同時に同方向に同量移動さ
せつるようにして把握中心を一定となし且把握腕は持上
げ腕によって非把握時は箱枠内に収納するようになした
ので、ロボット、ローダ等の把持装置として使用すると
き、グリッパ部の干渉の恐れが少くなりロボットの動き
が少くてすみ、搬送時間が短縮できると＼もに制御プロ
グラムも簡禦化できる効果がある。またこの把握装置を
振れ止めとして使用するときもローダ等の干渉の恐れが
少くなると＼もに付属装置の取付の制限が緩和される効
果がある。Effects As detailed above, the present invention is capable of opening and closing two grasping arms by moving back and forth a cam body integrated with a piston rod having a grasping surface. The gripping center is kept constant, and the gripping arm is stored in the box frame by the lifting arm when not gripping, so when used as a gripping device for a robot, loader, etc., there is no risk of interference with the gripper part. This reduces the robot's movement and reduces the transport time, which also has the effect of simplifying the control program. Furthermore, when this grasping device is used as a steady rest, the possibility of interference from a loader or the like is reduced, which also has the effect of easing restrictions on attachment of accessory devices.
第１図は本発明の縦断面図で右半分は把握腕を収納した
図、左半分は工作物を把握したときの図、第２図は第１
図のＡ−Ａ線断面図、゛第３図は工作物を把握する位置
にある本装置の斜視図、第４図は把握腕を収納した本装
置の斜視図である。
１・・・箱枠４・・・シリンダ ５１・ピストン６
・・・ピストンロッド ７ ａ、 ７ｂ・・・カム体
８ａ１．８ａ２：８ｂ１．８ｂ２”・持上げカム溝９＆
１．９ａ２．９ｂ１．９ｂ２−−−把握作用カム溝１１
ａｔ１１ｂ−−−持上げ腕 １２ａ、１２ｂ・・−ピ
ン１３＆、 １３ｂ−−−把握腕 １５ａ、１５ｂ
−−−ピン１７＆、１７１）・・・把握ローラ
第１図
第２図
第 ３ 図
第４図Figure 1 is a longitudinal sectional view of the present invention, the right half is a view with the grasping arm retracted, the left half is a view when gripping a workpiece, and Figure 2 is a view of the first
3 is a perspective view of the device in a position for grasping a workpiece, and FIG. 4 is a perspective view of the device with the grasping arm accommodated. 1...Box frame 4...Cylinder 51/Piston 6
...Piston rod 7a, 7b...Cam body 8a1.8a2:8b1.8b2"・Lifting cam groove 9&
1.9a2.9b1.9b2---Grasping action cam groove 11
at11b---Lifting arm 12a, 12b...-Pin 13&, 13b---Grasping arm 15a, 15b
--- Pins 17&, 171)... Grasping rollers Figure 1 Figure 2 Figure 3 Figure 4
Claims (1)
に設けられ３点把握の１点を受持つ把握ロッドと、該把
握ロッドの両側で３点把握の２点を受持つように対称に
把握装置内に設けられ前進ストロークの前半で把握装置
より突出され後半で把握工作物中心に向って前記把握ロ
ッドと同期して同量移動され後退ストロークの前半で同
時に開けられ後半で把握装置内に収納される２本の把握
手段とを備えてなり、工作物を把握しないときは把握手
段を把握装置内に収納したことを特徴とする自動芯出し
把握装置。(1) A grasping rod that is provided in the grasping device so as to be linearly movable and retractable by a drive device and is in charge of one point of three-point grasping, and a grasping rod that is arranged symmetrically so that it is in charge of two points of three-point grasping on both sides of the grasping rod. The gripping rod is provided in the gripping device, and is protruded from the gripping device in the first half of the forward stroke, is moved by the same amount in synchronization with the gripping rod toward the center of the gripping workpiece in the second half, is simultaneously opened in the first half of the backward stroke, and is inserted into the gripping device in the second half. An automatic centering and grasping device comprising two grasping means that are housed, and the grasping means are housed within the grasping device when a workpiece is not being grasped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59277999A JPH06295B2 (en) | 1984-12-28 | 1984-12-28 | Automatic centering and grasping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59277999A JPH06295B2 (en) | 1984-12-28 | 1984-12-28 | Automatic centering and grasping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61159343A true JPS61159343A (en) | 1986-07-19 |
| JPH06295B2 JPH06295B2 (en) | 1994-01-05 |
Family
ID=17591214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59277999A Expired - Lifetime JPH06295B2 (en) | 1984-12-28 | 1984-12-28 | Automatic centering and grasping device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06295B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0602366A1 (en) * | 1992-11-16 | 1994-06-22 | SMW-Autoblok Spannsysteme GmbH | Self-centering steady rest |
| EP0796698A1 (en) * | 1996-03-19 | 1997-09-24 | Morari Giuseppe e Marilena S.n.c. | Self-centering steady with retractile gripping arms |
| EP0899056A1 (en) * | 1997-08-27 | 1999-03-03 | FORKARDT GmbH | Device for clamping and/or holding workpieces on a turning machine |
| CN101898330A (en) * | 2010-07-16 | 2010-12-01 | 湖南宇环同心数控机床有限公司 | Improved centre frame for precision grinding machine |
-
1984
- 1984-12-28 JP JP59277999A patent/JPH06295B2/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0602366A1 (en) * | 1992-11-16 | 1994-06-22 | SMW-Autoblok Spannsysteme GmbH | Self-centering steady rest |
| EP0796698A1 (en) * | 1996-03-19 | 1997-09-24 | Morari Giuseppe e Marilena S.n.c. | Self-centering steady with retractile gripping arms |
| EP0899056A1 (en) * | 1997-08-27 | 1999-03-03 | FORKARDT GmbH | Device for clamping and/or holding workpieces on a turning machine |
| CN101898330A (en) * | 2010-07-16 | 2010-12-01 | 湖南宇环同心数控机床有限公司 | Improved centre frame for precision grinding machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06295B2 (en) | 1994-01-05 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |