JPS62224558A - Automatic machining device in machine tool - Google Patents
Automatic machining device in machine toolInfo
- Publication number
- JPS62224558A JPS62224558A JP61065049A JP6504986A JPS62224558A JP S62224558 A JPS62224558 A JP S62224558A JP 61065049 A JP61065049 A JP 61065049A JP 6504986 A JP6504986 A JP 6504986A JP S62224558 A JPS62224558 A JP S62224558A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- loader
- setup
- pallet
- machine
- 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
- 238000003754 machining Methods 0.000 title abstract description 10
- 238000004140 cleaning Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 10
- 238000010276 construction Methods 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 9
- 210000000078 claw Anatomy 0.000 description 7
- 238000003825 pressing Methods 0.000 description 6
- 239000003595 mist Substances 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Multi-Process Working Machines And Systems (AREA)
- General Factory Administration (AREA)
- Feeding Of Workpieces (AREA)
Abstract
Description
【発明の詳細な説明】 産業上の利用分野 本発明は工作機械において工作物の搬送、加工。[Detailed description of the invention] Industrial applications The present invention relates to conveying and processing workpieces in machine tools.
加工済工作物の清掃、段取り組付は等の一連の工程をシ
ステムにまとめた自動加工装置に関する。The present invention relates to an automatic processing device that integrates a series of processes such as cleaning and mounting of processed workpieces into a system.
従来技術
ＦＭＳなどで自動加工が行われる場合、工作物或いはパ
レットの加工機、コンベアへの搬出入はロボット、ロー
ダ等に寄って自動搬出入されている。When automatic processing is performed using a conventional FMS or the like, workpieces or pallets are automatically carried in and out of processing machines and conveyors using robots, loaders, and the like.
発明が解決しようとする問題点
しかしこのような場合においても、加工済み工作物の清
掃は取り外して機外で人手によりエア吹き付け、真空吸
引等の手段を用いて行っていた。Problems to be Solved by the Invention However, even in such cases, the processed workpiece has to be removed and cleaned manually outside the machine using means such as air blowing or vacuum suction.
また次工程で加工のための段取りと加工済工作物との組
付は操作並びにそれを次工程に送り出す操作は人手に鎖
っているのが実情であり、完全自動化にまで達していな
かった。In addition, the actual situation is that the setup for processing in the next process, the assembly of the processed workpiece, and the operation of sending it to the next process are manually controlled, and complete automation has not been reached.
問題点を解決するための手段
ＮＣによって直角３方向に位置制御される門形ローダ３
と、該門形ローダ３の搬送範囲に工作物受渡し位置を有
するパレット移送機２と、ＮＣによって制御される複合
加工ａｌｌと、該複合加工機ｌと前記パレット移送機２
との間に介在され複合加工機１で加工された工作物を機
外で清掃する自動清掃装置４と、該自動清掃袋Ｗ！、４
で清掃された工作物を次工程のための段取りに組立てる
自動段取り組付は装置５とを含んだものである。Means for solving the problem Portal type loader 3 whose position is controlled in three orthogonal directions by NC
, a pallet transfer machine 2 having a workpiece delivery position within the conveyance range of the portal loader 3, a complex machining machine all controlled by an NC, a multi-tasking machine 1 and the pallet transport machine 2.
and an automatic cleaning device 4 that cleans the workpiece processed by the multitasking machine 1 outside the machine, and the automatic cleaning bag W! , 4
The automatic stage assembly for assembling the cleaned workpiece in preparation for the next process includes a device 5.
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.
先ず本装置の概略を第１．２．３図にもとづいて説明す
る。複合加工機としては本例では自動工具交換装置付の
４軸ＮＣ制御旋盤１を用いる。この旋盤ｌの前側で離れ
た位置に平行にパレット移送機２を配置し、そのパレッ
ト受渡し位置は旋盤に近い位置に設けられている。旋盤
１とパレット移送機２との間には並列して加工済工作物
の機外自動清掃装置４と、機外自動段取り組付は装置５
が設けられている。そしてこれ等の間を自由に搬送する
門形直交座標のＮＣ制御ローダ３が設置されており、パ
レット移送機２の受渡し位置のパレット上の工作物をロ
ーダ３が受取り、旋盤ｌのチャフキング位置に搬送する
。加工中にローダ３０４ はパレット上の段取り５４１
を自動段取り組付は装置５に仮受けさせる０次いでロー
ダ３０４ は加工済みとなった工作物Ｗを機外自動′ｔ
＃掃装置４に搬送し把持状態で清掃したあと次いで機外
自動段取り組付は装置５に搬送して渡し、段取り５４１
に清掃済みの工作物を組付ける０組付けたあと段取り５
４１ をローダ３０４はパレット移送１ａ２上のパレッ
トに渡すものである。First, the outline of this apparatus will be explained based on FIG. 1.2.3. In this example, a 4-axis NC-controlled lathe 1 with an automatic tool changer is used as the multi-tasking machine. A pallet transfer machine 2 is arranged in parallel at a remote position in front of the lathe l, and its pallet delivery position is provided at a position close to the lathe. Parallel between the lathe 1 and the pallet transfer machine 2 is an external automatic cleaning device 4 for machined workpieces, and an automatic external stage mounting device 5.
is provided. A portal-shaped orthogonal coordinate NC-controlled loader 3 is installed to freely transport the workpieces between them, and the loader 3 receives the workpiece on the pallet at the delivery position of the pallet transfer machine 2, and transfers the workpiece to the chuffing position of the lathe l. Transport to. During processing, the loader 304 performs setup 541 on the pallet.
The automatic stage is mounted on the device 5 temporarily, and then the loader 304 automatically transfers the machined workpiece W to the outside of the machine.
# After being conveyed to the sweeping device 4 and cleaned while being gripped, the external automatic stage assembly is then conveyed to the device 5 and handed over to the setup 541.
Assemble the cleaned workpiece to 0 Setup after assembly 5
The loader 304 transfers 41 to the pallet on the pallet transport 1a2.
旋盤１は公知のものであって、ベッド１０１上の２＆ｆ
ｌのＸ軸方向案内面上にはサドル１０２がそれぞれ載置
されサーボモータで回転されるボールねしによりそれぞ
れ独立にＺ軸位置制御される。２つのサドル１０２上に
はそれぞれＸ軸方向の案内面が設けられて、各々タレッ
ト１０４を有する刃物台１０３が載置されサーボモータ
で回転されるボールねじによりそれぞれ独立にＸ軸位置
制御される。ベッド１０１ の左端には主軸台１０５が
設けられていて、ヂャソクを嵌着した主軸が回転可能に
軸承され、またヘッド１０１ の右横には多数の工具を
貯蔵したマガジン１０６が設置されていて、上部をＸ軸
方向に走行する自動工具交（負装置及びサブアーム等に
よって上側の四角形のタレット１０４の工具とマガジン
１０６の工具とが必要により交換される。The lathe 1 is a known one, and the lathe 2 &f on the bed 101 is
Saddles 102 are respectively placed on the X-axis direction guide surfaces of 1, and their Z-axis positions are independently controlled by ball screws rotated by servo motors. A guide surface in the X-axis direction is provided on each of the two saddles 102, and a tool rest 103 having a turret 104 is placed on each saddle, and the X-axis position is independently controlled by a ball screw rotated by a servo motor. A headstock 105 is provided at the left end of the bed 101, on which a main shaft fitted with a jack is rotatably supported, and a magazine 106 storing a large number of tools is installed on the right side of the head 101. The tools in the upper rectangular turret 104 and the tools in the magazine 106 are exchanged as necessary by an automatic tool exchange (negative device, sub-arm, etc.) running in the X-axis direction on the upper part.
パレット移送機２は前工程１次工程機と接続されるパレ
ットラインに対して直角方向に設置された２本のレール
２０１端の減速機付モータ２０２で回転される上端のス
プロケット軸２０３のスプロケットと他端のそれぞれの
スプロケットとの間に掛けられたチェーンによってレー
ル２０１ 上にｉｊ！！されるパレット台２０４が移送
され、工作物受渡し位置とパレットライン位置にパレッ
トを移送し位置決めさせるものである。The pallet transfer machine 2 has a sprocket on a sprocket shaft 203 at the upper end which is rotated by a motor 202 with a reducer at the end of two rails 201 installed perpendicularly to the pallet line connected to the primary process machine in the previous process. ij! on the rail 201 by a chain hung between each sprocket at the other end! ! The pallet stand 204 is moved, and the pallets are transferred and positioned to the workpiece delivery position and the pallet line position.
ローダ３は４隅に設立された支柱３０１ をトップビー
ム３０２によって枠組されており、このトップビーム３
０２上をＸ軸方向にＮＣで位置制御される走行ビーム３
０３が載架され、この走行ビーム３０３にオートローダ
３０４がｉｌｌ！置されＸ軸方向にＮＣで位置制御され
る。オートローダ３０４は公知の構造を有するもので、
モータ３０６によって水平に開閉されるグリッパ３０５
が反転可能で且つ上下Ｙ軸方向に位置制御される。The loader 3 is framed by a top beam 302 with support columns 301 installed at the four corners, and this top beam 3
Traveling beam 3 whose position is controlled by NC in the X-axis direction on 02
03 is mounted, and an autoloader 304 is mounted on this traveling beam 303. The position is controlled by NC in the X-axis direction. The autoloader 304 has a known structure,
Gripper 305 opened and closed horizontally by motor 306
is reversible and its position is controlled in the vertical Y-axis direction.
機外自動洗浄装置４は４本の脚４０１上に四角枠４０２
が設けられている。この四角枠４０２の天井は両側の平
行な案内４０３上に水平に載置され駆動シリンダ４０４
で互いに反対方向に中央で開閉されるシャッタ式天井ド
ア４０５が設けられていて、天井ドア４０５が閉じられ
たとき中央にオートローダ３０４のグリッパ３０５を挿
入状態で密閉する窓及びゴムバンキングが設けられてい
る。グリッパ３０５の把持工作物の把持軸上の四角枠４
０２の両横層には工作物側に向は工作物Ｗと平行な一直
線上に複数個のエア及びオイルミスト用のノズルをそれ
ぞれ片側に穿設したノズル板４０６をＴ字状に固着した
中空軸４０７がそれぞれのブラケット４０８によって軸
受を介して回転可能に軸承されている。この中空軸４０
７内のノズルへの配管は回転継手４０９によってオイル
ミスト発生器４２１ と接続した供給管４２０と、また
回転継手４１０によって圧力空気供給管４１１ に接続
されている。そして中空軸４０８にはスプロケソｌ−４
１２が固着されていて、ｍ４０１に回転可能に軸承され
た中間軸４１３のスプロケ−ｚ）４１４とチェーン４１
５で連結され、キャードモータ４１６で回転される。な
おノズル板４０６は片側はエアのみを供給することもあ
る。四角枠４０２の底は移動可能なドレーン受４１７に
ＩＪＰ油を集める漏斗４１８が切粉を受はスクリーン仮
４１９の下に設けられている。The external automatic cleaning device 4 has a square frame 402 on four legs 401.
is provided. The ceiling of this square frame 402 is placed horizontally on parallel guides 403 on both sides, and the drive cylinder 404
A shutter-type ceiling door 405 that opens and closes at the center in opposite directions is provided, and a window and rubber banking are provided in the center to seal the gripper 305 of the autoloader 304 in the inserted state when the ceiling door 405 is closed. There is. Square frame 4 on the gripping axis of the workpiece held by the gripper 305
In both horizontal layers of 02, a hollow nozzle plate 406 having a plurality of air and oil mist nozzles perforated on one side in a straight line parallel to the workpiece W on the workpiece side is fixed in a T-shape. A shaft 407 is rotatably supported by each bracket 408 via a bearing. This hollow shaft 40
The piping to the nozzle in 7 is connected to a supply pipe 420 connected to an oil mist generator 421 by a rotary joint 409, and to a pressurized air supply pipe 411 by a rotary joint 410. And the hollow shaft 408 has a sprocket l-4
12 is fixed, and the intermediate shaft 413 is rotatably supported on the m401, and the sprocket 414 and the chain 41
5 and rotated by a card motor 416. Note that one side of the nozzle plate 406 may supply only air. At the bottom of the rectangular frame 402, a movable drain receiver 417 is provided with a funnel 418 for collecting IJP oil and a temporary screen 419 for collecting chips.
機外自動段取り組付は装置５はベース５０１上第７図左
側に軸心を左右方向水平とする旋回台５０２が設立され
ており、軸受によって割り出し筒５０３が回転可能に軸
承されている０割り出し筒５０３の前端面の凹所直径方
向に同ピンチの右ねじ、左ねじを中央より両側に刻設し
たバイス開閉ねじ５０４が軸端において軸受によって回
転のみ可能に軸承されている。そしてそのそれぞれのね
じに把持■面を互いの対向側に有するバイス爪５０５が
半径方向に移動のみ可能に対称に螺合されている。また
バイス開閉ねじ５０４には歯車５０６が固着されており
、歯車５０６がバイス駆動モータ５０７ の出力軸から
歯車を介して回転が伝達され、バイス爪５０５は同時に
同量互いに反対方向に移動される。割り出し筒５０３に
は同心にウオームホイール５０８が固着され、旋回台５
０２に設けたサーボモータ５０９の出力軸と一体に連結
したウオーム５１０によって精密なＣ軸側出しが行われ
る。この割り出し角度は図示しない位置検出器によって
検出される。さらに割り出し筒５０３の中心貫通穴には
引き込み軸５１１が挿通されており、旋回台５０２に設
けられた引き込み用シリンダ５１２のピストンロード端
と引き込み軸５１１後端とがレバー５１３端におりて枢
結され、レバー５１３がその中央でブラケット５１４に
枢支されている。また引き込み輔５１１ のｍ■端には
スラスト軸受によって回転のみ可能に引き込み軸＠５１
５が連結されている。この引き込み軸頭５１５は基部に
歯車５１６が同心に固着され、基部は軸心と直角方向に
挿通するバイス開閉ねじ５０４に対して引き込み軸頭５
１５が後述の段取り引き込み時の軸方向の移動と段取り
係合のための９０″旋回に対して干渉しないように２個
所の連結部５１５ａを残して大きく削り取られている。The device 5 is equipped with a swivel table 502 on the left side of the base 501 in FIG. A vice opening/closing screw 504, which has a right-handed thread and a left-handed thread of the same pinch on both sides from the center in the diametrical direction of the recess on the front end surface of the cylinder 503, is rotatably supported by a bearing at the shaft end. Vise claws 505 having gripping surfaces on opposite sides are symmetrically screwed onto each of the screws so as to be movable only in the radial direction. A gear 506 is fixed to the vise opening/closing screw 504, and rotation of the gear 506 is transmitted from the output shaft of a vise drive motor 507 via the gear, so that the vise pawls 505 are simultaneously moved by the same amount in opposite directions. A worm wheel 508 is fixed concentrically to the index tube 503, and the swivel base 5
Precise C-axis side extraction is performed by a worm 510 that is integrally connected to the output shaft of a servo motor 509 provided at 02. This indexing angle is detected by a position detector (not shown). Further, a retraction shaft 511 is inserted through the center through hole of the indexing cylinder 503, and the piston load end of the retraction cylinder 512 provided on the swivel base 502 and the rear end of the retraction shaft 511 are pivoted to the end of the lever 513. A lever 513 is pivotally supported by a bracket 514 at its center. In addition, the m end of the retractor 511 is equipped with a retractor shaft @51 that can only be rotated by a thrust bearing.
5 are connected. A gear 516 is concentrically fixed to the base of the retraction shaft head 515, and the retraction shaft head
15 is largely shaved off leaving two connecting portions 515a so as not to interfere with the axial movement during setup pull-in and the 90'' turn for setup engagement, which will be described later.
引き込み軸頭５１５の前方突出部は小径軸５１５ｂであ
って、先端に側面が二方取りされた保合片５１９が垂直
方向に丁字形に形成されている。歯車５１６は割り出し
筒５０３の凹所に半径と平行に設けられた旋回用シリン
ダ５１７のピストンロッドに一体のラック５１８ と噛
み合っており、保合片５１’ｌｌを保合位置の水平方向
に９０°旋回させる。The front protruding portion of the retraction shaft head 515 is a small diameter shaft 515b, and a retaining piece 519 with two sides cut at the tip is vertically formed in a T-shape. The gear 516 is engaged with a rack 518 that is integrated with the piston rod of a rotating cylinder 517 that is provided parallel to the radius in the recess of the index cylinder 503, and the locking piece 51'll is moved 90 degrees horizontally to the locking position. Swirl.
ベース５０１ にはさらに旋回台５０２の軸心方向の水
平案内面５０１ａ上にサドル５２１が摺動可能にｉｚさ
れサーボモータ５２２で回転される送りねじ５２３によ
ってナンドを介してＺ軸方向に位置制御される。サドル
５２１上のＸ軸方向の案内面５２１ａにはテーブル５２
４が載置されサーボモータ５２５で回転される送りねじ
５２６でナツトを介してＸ軸方向に位置制御される。こ
のテーブル５２４上には段取り仮受装置の枠体５３１が
締着されており、割り出し筒５０３の軸心と同じ高さで
平行な軸心を有する段取り仮受軸５３２が軸受けによっ
て旋回のみ可能に軸承されている０段取り仮受軸５３２
にはシリンダ５３３が形成され嵌装されたピストン５３
４ のピストンロード５３５がシリンダの割り出し筒便
の壁面を貫通して穴５３２ａ内に突出している。穴５３
２ａには段取り５４１ のプルスタッド５４２を引き込
む周知の割コレフト５３Ｇが基部のリングばねで開き得
手に収納されており、ピストンロッド５３５の首部と係
合していてピストン５３４ の前後進でコレット５３６
が開閉されるとともに後述の段取りのプルスタッド５４
２を引き込む。段取り５４１ は例えばマシニングセン
タの自動位置決め且つ自動撞着されうるように裏側に取
り付は面と位置決めカップリングと中心にプルスタンド
５４２を有し、表面の工作物取り付は面には芯出し案内
面を有し且つ工作物Ｗを一体に締着するボルト５４３が
円周上数個所軸心と平行に設けられている。このボルト
５４３ はばね５４４によってねじ部が引き込み方向に
常時付勢され、後述の締付装置によって押し出され工作
物Ｗのねじ穴に螺合する位置関係に設けられている。ま
た段取り５４１表面の工作物のボルトねし穴とボルト５
４３の位置を合わせるため先端がテーバの位置決めピン
５３３が植設されている。そして段取り５４１の表面中
心に引き込み軸頭の保合片５１９が挿入しうる穴が設け
られ、穴の蓋５４５は二方通りされた保合片５１９が通
過できる相似の窓が垂直方向に穿設され、係合片５１９
の９０＠旋回によって蓋５４５と係合片５１９が係合し
うる状態となる。仮受軸５３２の外径に切欠５３２ｂが
設けられていて枠体５３１ よりの突片５３８が挿入し
、切欠５３２ｂとの間にばねが介装されていて仮受軸５
３２がフローティング可能となっている。The base 501 further has a saddle 521 slidably mounted on a horizontal guide surface 501a in the axial direction of the swivel table 502, and whose position is controlled in the Z-axis direction by a feed screw 523 rotated by a servo motor 522 via a NAND. Ru. A table 52 is provided on the guide surface 521a in the X-axis direction on the saddle 521.
4 is placed thereon and its position is controlled in the X-axis direction by a feed screw 526 rotated by a servo motor 525 via a nut. A frame 531 of a temporary setup device is fastened onto this table 524, and a temporary setup shaft 532, which has an axis parallel to and at the same height as the axis of the index cylinder 503, can only rotate by the bearing. 0-setup temporary bearing shaft 532 that is supported
A cylinder 533 is formed and a piston 53 fitted therein.
A piston load 535 of No. 4 penetrates the wall surface of the index tube of the cylinder and projects into the hole 532a. hole 53
2a, a well-known split collet 53G that pulls in the pull stud 542 of the setup 541 is housed in a way that can be opened by a ring spring at the base, and is engaged with the neck of the piston rod 535, so that when the piston 534 moves back and forth, the collet 536
is opened and closed, and the pull stud 54 of the setup described below is opened and closed.
Pull in 2. The setup 541 has a pull stand 542 in the center with a surface and a positioning coupling mounted on the back side so that it can be automatically positioned and automatically attached to a machining center, for example, and a centering guide surface is provided on the surface for mounting the workpiece on the surface. Bolts 543 which have the same and which fasten the workpiece W together are provided at several locations on the circumference in parallel with the axis. The threaded portion of this bolt 543 is always urged in the retracting direction by a spring 544, and is pushed out by a tightening device to be described later and is provided in a positional relationship such that it is screwed into a screw hole of the workpiece W. Also, the bolt drilling hole of the workpiece on the surface of the setup 541 and the bolt 5
43, a positioning pin 533 with a tapered tip is implanted. A hole is provided in the center of the surface of the setup 541 into which the retaining piece 519 of the retracting shaft head can be inserted, and a similar window is vertically bored in the hole cover 545 through which the retaining piece 519 passed in two directions can pass. and the engaging piece 519
By turning 90@, the lid 545 and the engaging piece 519 are in a state where they can be engaged. A notch 532b is provided on the outer diameter of the temporary support shaft 532, into which a protruding piece 538 from the frame 531 is inserted, and a spring is interposed between the notch 532b and the temporary support shaft 5.
32 can be floated.
テーブル５２４上には段取仮受装置に並んで工作物押し
付は装置の取り付は台５５１ が締着されており、割り
出し筒５０３の軸心に平行に押付シリンダ５５２及び割
り出し筒５０３の軸心と同じ高さで平行に摺動可能に押
付軸５５３ とが設けられており、押付シリンダ５５２
のピストンのピストンロッド５５４と押付軸５５３とは
連結板によって連結されている。On the table 524, a stand 551 is fastened to the workpiece pushing device in line with the setup temporary support device, and the axis of the pressing cylinder 552 and the indexing tube 503 is parallel to the axis of the indexing tube 503. A pressing shaft 553 is provided so as to be able to slide in parallel at the same height as the center, and a pressing cylinder 552
The piston rod 554 of the piston and the pressing shaft 553 are connected by a connecting plate.
更にテーブル５２４上には工作物押付装置に並んで段取
り組付ボルト緊締装置の取り付は台５６１が締着されて
おり、ドライバ本体５６２には先端六角ドライバ６５３
を固着し、軸方向に摺動且つ回転可能にドライバ６５４
が装入されている。ドライバ６５４は内側より中心に
スプライン穴が穿設されており図示しない油圧駆動モー
タによって回転されるスプライン軸６５５が嵌装され、
このドライバ６５４はばね６５６によって常時突出方向
に付勢されている。油圧駆動モータの油圧を変更にする
ことにより仮締め増締めを行うことができる。Further, on the table 524, a stand 561 is fastened for mounting a stage mounting bolt tightening device in line with the workpiece pressing device, and a hexagonal driver 653 at the tip is attached to the driver body 562.
A driver 654 that can be slid and rotated in the axial direction
is loaded. The driver 654 has a spline hole drilled in the center from the inside, and a spline shaft 655 rotated by a hydraulic drive motor (not shown) is fitted therein.
This driver 654 is always urged in the projecting direction by a spring 656. Temporary tightening and retightening can be performed by changing the oil pressure of the hydraulic drive motor.
作用
コンベアラインよりパレット手多送４ｉＳ１２のライン
受取り位置に移動しているパレット台２０４上に工作物
素材と位置決めピン５３３の位置を決めた段取りを立て
た状態で固定したパレットが搬入されると、モータ２０
２が駆動されてスプロケット軸２０３の回転によりチェ
ーンでパレット台２０４ が移送されローダ３０４ と
の受渡し位置に位置決めされる。When a fixed pallet is carried into the pallet stand 204, which is moving from the working conveyor line to the line receiving position of the pallet manual multi-transfer 4iS12, with the setup in which the positions of the workpiece material and the positioning pins 533 are determined, set up, motor 20
2 is driven, and as the sprocket shaft 203 rotates, the pallet stand 204 is transferred by the chain and positioned at the delivery position with the loader 304.
ローダ３０４がＸ軸２ Ｚ軸制御されて、パレットーヒ
の工作物素材の真上に位置決めされる。グリッパ３０５
がモータ３０６で開けられＹ軸制御にて下降して把持位
置に位置決めされ、グリッパ３０５が閉じて工作物素材
を把持して上昇搬送位置に停止する。The loader 304 is controlled in the X and Z axes and positioned directly above the workpiece material on the palette. gripper 305
is opened by the motor 306 and lowered under Y-axis control to be positioned at the gripping position, and the gripper 305 is closed to grip the workpiece material and stop at the raised conveyance position.
ローダ３０４がＸ軸、Ｚ軸制御されて、旋盤１の開いた
チャックに搬入してチャックに渡す。ローダ３０４ は
再びパレット台２０４上に位置決めされ、旋盤はサドル
１０２．刃物台１０３をＸ軸、Ｚ軸制御しタレ、）１０
４が必要工具を割り出して所定の加工を行つ。この間に
ローダ３０４ はグリッパ３０５を開は段取り把持位置
に下降して段取り５４１の把持溝を把持して搬送位置に
上昇しＸ、ｚ軸制御されて自動段取り組付は装置５の待
機している段取り仮受装置の仮受軸５３２の手前で下降
し同心に位置決めされる。仮受は装置はシリンダ５３３
の後室に圧力空気を送りピストン５３４．ピストンロフ
ト５３５を前進させてコレット５３６を開いた状態とし
、サーボモータ５２２を駆動して送りねじ５２３を回転
させサドル５２１ を前進させる０段取り５４１ の裏
面の取り付は部とプルスタッド５４２が仮受軸５３２の
穴に挿入され、取付は部の接触寸前でサドル５２１が停
止される。シリンダ５３３の圧力空気を切り換え前室に
圧力空気を送ってピストン５３４を後退させ、ピストン
ロッド５３５の頭部がコレット５３６の保合部と係合し
て引き、コレット５３５がプルスタンド５４２を引き込
んで段取り５４１ の取り付は部を仮受軸５３２ と同
心に固着する。グリッパ３０５ は開放し搬送位置に上
昇させ、サーボモータ５２２は駆動してサドル５２１を
待機位置に戻す。旋盤１における加工終了の信号でロー
ダ３０４が位置制御されて加工済工作物を把持し自動清
掃装置４の真上に位置決めされる。駆動シリンダ４０４
を作用させて天井ドア４０５を両側に開く。ローダ３０
４ のグリ７パ３０５を下降させ天井ドア４０５を閉じ
る０次いでモータ４１６を駆動してスプロケット４１４
を回転してチェーン４１５を介してノズル板４０６を有
する中空軸４０７を回転するとともに、図示しない電磁
切り換え弁を作動してオイル供給管４２０．エア供給管
４１１ にオイルミスト及び圧力空電を送り込む。それ
ぞれの回転継手４０９，４１０よりノズル板４０６のミ
スト用ノズルとエア用ノズルより工作物に向けて両側よ
り噴出させる。圧力空気によって切粉が吹き落とされ、
オイルミストにより加工表面を防錆し、潤滑油を付着さ
せる。これらの切粉はスクリーン板４１９の上に溜めら
れ、滴下した油はスクリーン板４１９を通してドレーン
受け４１７に溜められる。清掃終了でシリンダ４０４を
作用させ天井ドア４０５を開き、グリッパ３０５を搬送
位置に上昇させ天井ドア４０５を閉める。ローダ３０４
が位置制御されて、自動段取り組付は装置５の割り出
し筒５０３の開いた状ｍにあるバイス爪５０５の手前で
同一軸心となるようにグリッパ３０５が位置決めされる
。ローダ３０４を移動させてバイス爪５０５の間に工作
物Ｗを挿入するとともに工作物Ｗの中心に引き込み軸頭
５１５の小径軸５１５ｂ、係合片５１９が挿入される。The loader 304 is controlled in the X and Z axes to carry the material into the open chuck of the lathe 1 and pass it to the chuck. The loader 304 is again positioned on the pallet stand 204 and the lathe is placed on the saddle 102. The turret 103 is controlled on the X and Z axes to prevent sagging, )10
Step 4 determines the necessary tools and performs the specified machining. During this time, the loader 304 opens the gripper 305, descends to the setup gripping position, grips the gripping groove of the setup 541, rises to the transport position, and is controlled by the X and Z axes so that the automatic stage mounting is carried out by the device 5. It is lowered in front of the temporary support shaft 532 of the setup temporary support device and positioned concentrically. For temporary reception, the device is cylinder 533.
The piston 534 sends pressurized air to the rear chamber. The piston loft 535 is advanced to open the collet 536, and the servo motor 522 is driven to rotate the feed screw 523 to advance the saddle 521.The installation on the back side of the zero setup 541 is such that the part and pull stud 542 are temporarily supported. The saddle 521 is inserted into the hole of the shaft 532, and the saddle 521 is stopped just before the two parts come into contact with each other. The pressurized air in the cylinder 533 is switched and the pressure air is sent to the front chamber to move the piston 534 backward, and the head of the piston rod 535 engages and pulls the retaining part of the collet 536, and the collet 535 pulls in the pull stand 542. When installing the setup 541, the part is fixed concentrically with the temporary support shaft 532. The gripper 305 is opened and raised to the transport position, and the servo motor 522 is driven to return the saddle 521 to the standby position. The position of the loader 304 is controlled by a signal indicating the end of machining in the lathe 1, grips the machined workpiece, and is positioned directly above the automatic cleaning device 4. Drive cylinder 404
to open the ceiling door 405 on both sides. loader 30
4. Lower the gripper 305 and close the ceiling door 405. Next, drive the motor 416 to close the sprocket 414.
to rotate the hollow shaft 407 having the nozzle plate 406 via the chain 415, and operate an electromagnetic switching valve (not shown) to open the oil supply pipe 420. Oil mist and pressure static electricity are sent to the air supply pipe 411. The mist nozzles and air nozzles of the nozzle plate 406 eject water from both sides toward the workpiece through the respective rotary joints 409 and 410. Chips are blown away by pressurized air,
Oil mist prevents rust on the machined surface and attaches lubricating oil. These chips are collected on the screen plate 419, and the dripped oil is collected in the drain receiver 417 through the screen plate 419. Upon completion of cleaning, the cylinder 404 is operated to open the ceiling door 405, the gripper 305 is raised to the transport position, and the ceiling door 405 is closed. Loader 304
is position-controlled, and when installing the automatic stage, the gripper 305 is positioned so that it is coaxial with the vise claw 505 in the open position m of the index cylinder 503 of the device 5. The loader 304 is moved to insert the workpiece W between the vice claws 505, and the small diameter shaft 515b of the retraction shaft head 515 and the engagement piece 519 are inserted into the center of the workpiece W.
サーボモータ５２５を駆動してテーブル５２４を移動さ
せサーボモータ５２２を駆動してサドル５２１を移動さ
せ加工物押付は装置の押付は軸５５３を把持工作物Ｗの
前面に位置決めし、シリンダ５５２を作用させて押し付
は軸５５３を前進させ、工作物Ｗを押圧してその端面を
バイス爪５０５の基小面に当接させる。モータ５０７を
回転させ歯車５０６よりねじ５０４を回転させる。２個
のバイス爪５０５は右、左ねしにより同時に同量移動し
て工作物Ｗを軸心上に把持する。グリッパ３０５を開い
て搬送位置に上昇させる。シリンダ５５２の作動方向を
切り損え押付は軸５５３を後退させ、サーボモータ５２
２を駆動してサドル５２１を途中まで後退させる。次い
でサーボモータ５２５を駆動してテーブル５２４を移動
さ上段取り仮受装置の仮受は軸５３２の中心と割り出し
筒５０３の中心即ち工作物Ｗ中心とを一致させ、サーボ
モータ５２２を駆動してサドル５２１ を前進させ、段
取り５４１の位置決めピン５３３が工作物Ｗの位置決め
穴にまた引き込み軸５１５ｂ及び係合片５１９が段取り
５４１ の蓋体５４５の窓に挿入されてサドル５２１の
送りが停止される。これらの挿入時の各部の位相は、工
作物Ｗの位置決め穴及びボルトのねし穴が旋盤加工にお
いて主軸のＣ軸割り出しで所定位置に正確に穿設されて
おり、ローダ３０４ も清掃中把持したままであり、ま
た段取り５４１ もパレット上に位置決めされた姿勢で
段取り組付は装置５に搬入されるので位相は変わらない
０位置決めビン５３３が穴に望めば僅かな狂いは仮受軸
５３２がフローティングとなっているため挿入時の支障
は起こらない。The servo motor 525 is driven to move the table 524, the servo motor 522 is driven to move the saddle 521, and the workpiece is pressed.The device positions the shaft 553 in front of the gripped workpiece W and causes the cylinder 552 to act. For pressing, the shaft 553 is advanced and the workpiece W is pressed so that its end surface comes into contact with the base facet of the vise claw 505. The motor 507 is rotated to cause the gear 506 to rotate the screw 504. The two vise claws 505 simultaneously move by the same amount by turning to the right and left to grip the workpiece W on the axis. Gripper 305 is opened and raised to the transport position. If the cylinder 552 is pressed in the operating direction incorrectly, the shaft 553 is moved backward, and the servo motor 52
2 to move the saddle 521 halfway back. Next, the servo motor 525 is driven to move the table 524. The temporary support of the upper setup temporary support device aligns the center of the shaft 532 with the center of the index cylinder 503, that is, the center of the workpiece W, and the servo motor 522 is driven to move the table 524. 521 is advanced, the positioning pin 533 of the setup 541 is inserted into the positioning hole of the workpiece W, and the pull-in shaft 515b and the engagement piece 519 are inserted into the window of the lid 545 of the setup 541, and the feeding of the saddle 521 is stopped. The phase of each part at the time of insertion is such that the positioning hole of the workpiece W and the tapped hole of the bolt are accurately drilled at the predetermined position by indexing the C axis of the main spindle during lathe machining, and the loader 304 is also gripped during cleaning. Also, since the setup 541 is carried into the equipment 5 with the position set on the pallet, the phase remains the same.0 If the positioning bin 533 is in the hole, a slight deviation will cause the temporary support shaft 532 to float. Therefore, there will be no problem during insertion.
工作物Ｗと段取り５４１がほぼトンキングされると旋回
シリンダ５１７を作用させてラック５１８． Ｖｉ１車
５１６を介して引き込み軸頭５１５を９０°旋回させる
。When the workpiece W and the setup 541 are almost tonked, the swing cylinder 517 is activated to move the rack 518. The retraction shaft head 515 is turned by 90° via the Vi1 wheel 516.
この旋回で保合片５１９ は水平に位置して蓋５４５
と保合可能状態となる。シリンダ５３３を作用させてピ
ストン５３４．ピストンロッド５３５を前進させてコレ
ット５３６を開く。引き込み用シリンダ５１２を作用さ
せて引き込み軸５１１ を後退させると引き込み軸頭５
１５は図示しないスライド軸受を介して引かれ係合片５
１９がＭ５４５ と係合し、プルスタンド５４２が開放
されているので、段取り５４１ はともに引かれて把持
工作物Ｗの取り付は面に同心に嵌合される。次いでサー
ボモータ５２２を駆動してサドル５２１を途中まで退避
させ、サーボモータ５２５を駆動してテーブル５２４を
移動させるとともにサーボモータ５２２を駆動してサド
ル５２１ を前進させボルト緊締装置の六角ドライバ６
５３を段取り締付位置に位置決めする。Ｃ軸サーボモー
タ５０９を駆動し割り出し筒５０３を旋回させ段取り締
付ボルト５４３を六角ドライバ６５３の前面に角度位置
検出器によって割出す。サーボモータ５２２を駆動して
サドル５２１を更に前進させ六角ドライバ６５３を段取
り締付はボルト５４３ と係合させる。スプライン軸６
５５の駆動の油圧モータを作用させてスプライン軸６５
５を回転させる。このとき若しドライバ先端が係合して
いなければドライバ６５４ はばね６５６を押して後退
しているので回転によって保合位置となったときばね力
で押し出されて係合する。ボルト５４４は加工物Ｗのね
じ穴に螺合し締着される。油圧モータの油圧を調整する
ことによって締付力は適宜調整される。一本の締付けが
終わればサーボモータ５２２を駆動してサドル５２１を
僅か後退させ、六角ドライバ６５３を抜きＣ軸サーボモ
ータ５０９を駆動して割り出し筒５０３を所定角度回転
させ締付はボルト５４３ とねし穴を一致させ同様にし
てボルトを締付けていく、全部のボルト５４３が蹄付け
られると、サーボモータ５２２を駆動してサドル５２１
を待機位置に戻し、Ｃ軸サーボモータ５０９を駆動して
割り出し筒５０３を初め位置に旋回させる。ローダ３０
４を位置制御しグリッパ３０５を開き段取り５４１ の
把持溝を把持する。油圧モータ５０７を駆動してねじ５
０４を逆転してバイス爪５０５を開き工作物Ｗを開放す
る。ローダ３０４ は割り出し筒５０３の軸方向に移動
して引き込み軸頭５１５を抜きローダ３０４をＸ軸、Ｚ
軸制御してパレット移送機２のパレット台２０４上のパ
レットにそのままの姿勢で渡すものである。次工程が段
取りを水平にする必要がある場合はコンベアの途中また
は次加工機微入手前で水平に位置を変える。With this rotation, the retaining piece 519 is positioned horizontally and the lid 545
The state becomes associable. The cylinder 533 is actuated and the piston 534 . Piston rod 535 is advanced to open collet 536. When the retraction cylinder 512 is activated to move the retraction shaft 511 backward, the retraction shaft head 5
15 is an engaging piece 5 pulled through a slide bearing (not shown).
19 is engaged with M545 and the pull stand 542 is opened, so the setups 541 are pulled together and the attachment of the gripped workpiece W is fitted concentrically to the surface. Next, the servo motor 522 is driven to retract the saddle 521 halfway, the servo motor 525 is driven to move the table 524, and the servo motor 522 is driven to move the saddle 521 forward and the hexagonal driver 6 of the bolt tightening device is driven.
53 to the setup tightening position. The C-axis servo motor 509 is driven to rotate the index cylinder 503 and the setup tightening bolt 543 is indexed to the front of the hexagonal driver 653 by the angular position detector. The servo motor 522 is driven to further advance the saddle 521 and the hexagonal driver 653 is engaged with the bolt 543 for setup tightening. Spline shaft 6
55 is actuated to drive the spline shaft 65.
Rotate 5. At this time, if the tip of the driver is not engaged, the driver 654 pushes the spring 656 and retreats, so when it reaches the locking position by rotation, it is pushed out by the force of the spring and engaged. The bolt 544 is screwed into the screw hole of the workpiece W and is tightened. The tightening force is adjusted appropriately by adjusting the oil pressure of the hydraulic motor. Once one bolt is tightened, drive the servo motor 522 to move the saddle 521 slightly backwards, remove the hexagonal driver 653, drive the C-axis servo motor 509 to rotate the index cylinder 503 by a predetermined angle, and tighten the bolt 543. Align the holes and tighten the bolts in the same way. When all the bolts 543 are tightened, the servo motor 522 is driven to tighten the saddle 521.
is returned to the standby position, and the C-axis servo motor 509 is driven to rotate the index cylinder 503 to the initial position. loader 30
4 to open the gripper 305 and grip the gripping groove of the setup 541. Driving the hydraulic motor 507 to drive the screw 5
04 in the reverse direction to open the vise claw 505 and release the workpiece W. The loader 304 moves in the axial direction of the index cylinder 503 and pulls out the retraction shaft head 515, moving the loader 304 along the X-axis and Z-axis.
The axis is controlled and the pallet is transferred to the pallet on the pallet stand 204 of the pallet transfer machine 2 in the same posture. If the next process requires the setup to be horizontal, the position is changed to horizontal during the conveyor or before the next processing machine is obtained.
効果
以上詳述したように本発明は複合加工機、パレット移送
機の間に機外自動ｍ掃装置、機外自動段取り組付は装置
を配置し門形ローダで連結するシステムを持つ装置とな
したので本機と装置を個々に結ぶコンベアが不要で類似
部品の加工をも含めて完全自動化が実現できる。Effects As detailed above, the present invention is a device having a system in which an automatic m-sweeping device outside the machine and an automatic stage mounting device outside the machine are arranged between a multi-tasking machine and a pallet transfer machine, and are connected by a portal loader. Therefore, there is no need for a conveyor that connects this machine and the equipment individually, making it possible to achieve complete automation, including the processing of similar parts.
第１図は本装置の配置図、第２図は複合加工機の正面と
門形ローダを示す図、第３図は複合加工機、ローダを主
とする側面図、第４図は機外自動清掃装置の正面説明図
、第５図は同側面説明図、第６図は第４図き外観説明図
、第７図は機外自動段取り組付は装置の縦断説明図、第
８図は同正面説明図、第９図は第７図のＡ−Ａ線断面説
明図、第１１図は第８図のＣ−Ｃ線断面説明図、第１２
図は第８図のＤ−Ｄ線一部断面説明図である。
ｌ・・複合加工８２・・パレット移送機３・・門形ロー
ダ ４・・機外自動ＩＮ掃装置５・・機外自動段取り組
付は装置
２０４ ・・パレット台３０４・・オートローダ３０
５ ・・グリッパ ４０３ ・・天井ドア４０６
・・ノズル仮 ５０３ ・・割り出し筒５０５
・・バイス爪 ５１１ ・・引き込み軸５１５
・・引き込み軸頭 ５１９ ・・係合片５３２
・・段取り軸 ５３６ ・・コレット５４！
・・段取り ５５３ ・・押付軸６５３ ・・六
角ドライバ ６５５ ・・スプライン軸特許出廓人
第３図
第４図
１ｂ
第９図
第１０図
０５Ｊ、’ａ ｌ’ Ｍえる手続補 正 書（方式）
％式％
２、 発明の名称 工作機械の自動加工装置３、補正
をする者
事ｆ１・どの関係 特許出願人
６、補正により増加する発明の数
７、補正の対象
補正の内容
以下のとおり補正する。
１、明細書 第２０頁第２行目〜第３行目「説明図、第
１１図」とあるを
［説明図、第１０図は第７図のＢ−Ｂ線断面説明図、第
１１図」Figure 1 is a layout diagram of this equipment, Figure 2 is a front view of the multitasking machine and the portal loader, Figure 3 is a side view mainly showing the multitasking machine and loader, and Fig. 4 is an external automatic machine. Figure 5 is a front view of the cleaning device, Figure 5 is a side view of the same, Figure 6 is an external view similar to Figure 4, Figure 7 is a longitudinal cross-sectional view of the device showing the installation of the automatic stage outside the machine, and Figure 8 is the same side view. 9 is a cross-sectional view taken along line A-A in FIG. 7, FIG. 11 is a cross-sectional view taken along line C-C in FIG. 8, and FIG.
The figure is a partial cross-sectional explanatory view taken along the line D--D in FIG. 8. l... Composite processing 82... Pallet transfer machine 3... Portal loader 4... External automatic IN sweeping device 5... External automatic stage assembly is performed by device 204... Pallet stand 304... Autoloader 30
5...Gripper 403...Ceiling door 406
・・Temporary nozzle 503 ・・Index tube 505
・・Vise claw 511 ・・Retraction shaft 515
・・Retraction shaft head 519 ・・Engagement piece 532
... Setup axis 536 ... Collet 54!
...Setup 553 ...Press shaft 653 ...Hexagonal driver 655 ...Spline shaft Patent distributor Figure 3 Figure 4 Figure 1b Figure 9 Figure 10 05J, 'a l' Me procedure amendment (method)
% formula % 2. Title of the invention: Automatic processing device for machine tools 3. Person making the amendment f1/Which relationship: Patent applicant 6. Number of inventions to be increased by the amendment 7. Subject of the amendment The content of the amendment will be amended as follows. . 1. Specification Page 20, lines 2 to 3, "Explanatory drawing, FIG. 11" [Explanatory drawing, FIG. ”
Claims (1)
ーダと、該門形ローダの搬送範囲に工作物受渡し位置を
有するパレット移送機と、ＮＣによって制御される複合
加工機と、該複合加工機と前記パレット移送機との間に
介在され複合加工機で加工された工作物を機外で清掃す
る自動清掃装置と、該自動清掃装置で清掃された工作物
を次工程のための段取りに組立てる自動段取り組付け装
置とを含んでなることを特徴とする工作機械の自動加工
装置。(1) A gantry loader whose position is controlled in three orthogonal directions by an NC, a pallet transfer machine having a workpiece delivery position within the transport range of the gantry loader, a multi-tasking machine controlled by an NC, and the multi-tasking machine. an automatic cleaning device that is interposed between the machine and the pallet transfer machine and that cleans the workpiece processed by the multitasking machine outside the machine, and prepares the workpiece cleaned by the automatic cleaning device for the next process. An automatic processing device for a machine tool, comprising an automatic stage mounting device for assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61065049A JPS62224558A (en) | 1986-03-24 | 1986-03-24 | Automatic machining device in machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61065049A JPS62224558A (en) | 1986-03-24 | 1986-03-24 | Automatic machining device in machine tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62224558A true JPS62224558A (en) | 1987-10-02 |
| JPH0364266B2 JPH0364266B2 (en) | 1991-10-04 |
Family
ID=13275713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61065049A Granted JPS62224558A (en) | 1986-03-24 | 1986-03-24 | Automatic machining device in machine tool |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62224558A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0347750U (en) * | 1989-09-19 | 1991-05-07 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50118382A (en) * | 1974-03-01 | 1975-09-17 | ||
| JPS59152054A (en) * | 1983-02-21 | 1984-08-30 | Toshiba Corp | Automatic preparation system |
-
1986
- 1986-03-24 JP JP61065049A patent/JPS62224558A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50118382A (en) * | 1974-03-01 | 1975-09-17 | ||
| JPS59152054A (en) * | 1983-02-21 | 1984-08-30 | Toshiba Corp | Automatic preparation system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0347750U (en) * | 1989-09-19 | 1991-05-07 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0364266B2 (en) | 1991-10-04 |
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