WO2013175831A1 - 工作機械及び加工方法 - Google Patents

工作機械及び加工方法 Download PDF

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Publication number
WO2013175831A1
WO2013175831A1 PCT/JP2013/056771 JP2013056771W WO2013175831A1 WO 2013175831 A1 WO2013175831 A1 WO 2013175831A1 JP 2013056771 W JP2013056771 W JP 2013056771W WO 2013175831 A1 WO2013175831 A1 WO 2013175831A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
receiving plate
processing
head
work
Prior art date
Application number
PCT/JP2013/056771
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English (en)
French (fr)
Japanese (ja)
Inventor
修吾 荒川
▲祐▼紀 山浦
松永　直也
Original Assignee
本田技研工業株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to JP2014516691A priority Critical patent/JP5830605B2/ja
Priority to BR112014029320-1A priority patent/BR112014029320B1/pt
Priority to CN201380027428.9A priority patent/CN104334315B/zh
Publication of WO2013175831A1 publication Critical patent/WO2013175831A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B39/00—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines
    • B23B39/16—Drilling machines with a plurality of working-spindles; Drilling automatons
    • 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
    • B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines

Definitions

  • the present invention relates to a machine tool, and more particularly, to an improved machine tool that conveys a workpiece by a workpiece conveyance mechanism and processes the workpiece by a machining head.
  • a machine tool that performs machining on a workpiece by a machining head called a gang head is known as disclosed in, for example, patent literature.
  • the machining unit includes six multi-axis machining heads and moves in a horizontal direction so as to approach and separate from the clamp unit.
  • the clamp unit is provided in the transport line.
  • the clamp unit is transported in the horizontal direction perpendicular to the horizontal direction along the transport line.
  • the clamp unit includes an advance / retreat arm, and a workpiece is clamped by these advance / retreat arms.
  • the processing unit that is a heavy object is moved in the contact / separation direction with respect to the transfer line, and thus energy consumed for movement increases. Further, the clamp unit is transported by a transport line, stopped at a predetermined position, and machined by the processing unit at that position.
  • the stop position of the clamp unit needs to be accurate. To be accurate, considerations such as lowering the transport speed and driving a knock pin at the stop position are required. As a result, the structure of the transport line becomes complicated and it is difficult to increase the transport speed.
  • An object of the present invention is to provide a machine tool that can move a processing line at a high speed without the need to move a processing unit.
  • a machine tool that conveys a workpiece by a workpiece conveyance mechanism and performs machining on the workpiece by a machining head, the workpiece being provided in the workpiece conveyance mechanism with the workpiece input port.
  • a conveying jig that conveys from the previous process to the lower part of the machining head, a receiving pin that is provided on the conveying jig and engages with an engagement hole of the workpiece, and that is provided on the machining head and below the machining head.
  • a workpiece receiving plate that waits for the workpiece to arrive, a positioning pin that is provided on the workpiece receiving plate and engages with a positioning pin hole of the workpiece, and the workpiece receiving plate that is provided on the machining head picks up the workpiece while the workpiece is picked up.
  • a plurality of the machining heads are provided, and a plurality of the conveying jigs are provided according to the number of the machining heads, and the plurality of conveying jigs are mutually connected. Connected, the workpiece transfer mechanism transfers a plurality of the workpieces simultaneously.
  • the workpiece receiving plate moving mechanism causes a plurality of the workpiece receiving plates to simultaneously approach the processing head.
  • the transfer jig when the workpiece is transferred, the transfer jig is closer to the processing head than the workpiece receiving plate so that the transfer jig does not interfere with the workpiece receiving plate. Is arranged.
  • a conveyance treatment is provided in a workpiece conveyance mechanism that conveys a workpiece, and conveys the workpiece from a workpiece input port or below a machining head that processes the workpiece from a previous process.
  • a receiving pin that is provided on the conveying jig and engages with an engagement hole of the workpiece, a workpiece receiving plate that is provided on the machining head and waits for the workpiece to arrive below the machining head, and the workpiece receiver
  • a positioning pin that is provided on the plate and engages with a positioning pin hole of the workpiece
  • a workpiece receiving plate moving mechanism that is provided on the processing head and moves the workpiece receiving plate so as to approach the processing head while scooping up the workpiece
  • the workpiece is disposed between the machining head and the workpiece receiving plate, and the workpiece approaches the machining head to a predetermined position.
  • a workpiece holding plate that presses the workpiece against the workpiece receiving plate later.
  • a machining method for machining the workpiece using a machine tool comprising:
  • the work receiving plate is provided with a through groove that allows the transfer jig to pass therethrough so that the workpiece can be transferred to the plate or the processed workpiece can be transferred from the workpiece receiving plate to the transfer jig.
  • a pre-processing transfer step of transferring to the plate, and further raising the work receiving plate, and moving the work to the work receiving plate and the front A workpiece clamping step for clamping by a workpiece holding plate, a machining step for machining the workpiece to be clamped and positioned by the machining head, a workpiece receiving plate being lowered, and an engagement hole for the workpiece
  • a processing method including a post-processing transfer step of transferring the workpiece onto the conveying jig by inserting the receiving pin into the transfer jig is provided.
  • the machining head is stopped and the workpiece is brought close to the machining head. Energy saving can be achieved because the processing head, which is a heavy object, is not moved.
  • a workpiece receiving plate moving mechanism is attached to the machining head, and the workpiece receiving plate is moved closer to the machining head by this workpiece receiving plate moving mechanism. While holding the workpiece between the workpiece receiving plate and workpiece holding plate, the workpiece is moved closer to the machining head. That is, since the workpiece is separated from the workpiece conveyance line and brought closer to the machining head, the conveyance speed in the workpiece conveyance line can be increased.
  • a receiving pin that engages with the engagement hole of the workpiece is provided on the conveying jig. Since the workpiece engagement hole is used, the conveyance jig can be simply provided with a receiving pin, and the cost of the conveyance jig can be reduced.
  • the plurality of conveying jigs are connected to each other, and the workpiece conveying mechanism conveys the plurality of workpieces simultaneously. Since the plurality of workpieces are integrally conveyed by the coupled conveyance jig, it is possible to improve the conveyance efficiency.
  • the workpiece receiving plate moving mechanism causes the plurality of workpiece receiving plates to simultaneously approach the machining head. Since the workpiece receiving plate moving mechanism clamps the plurality of workpiece receiving plates simultaneously and sends them to the machining head, the clamping function and the feeding function of the plurality of workpieces can be integrated, and the apparatus can be simplified.
  • the conveying jig is arranged closer to the processing head than the workpiece receiving plate so that the conveying jig does not interfere with the workpiece receiving plate when conveying the workpiece. Since the conveying jig is disposed on the processing head side with respect to the workpiece receiving plate, the conveying jig does not interfere with the workpiece receiving plate even when the conveying jig is slid sideways when conveying the workpiece. As a result, it is only necessary to slide the transfer jig to the side, and the work transfer mechanism for moving the transfer jig can be simplified.
  • a through groove allowing passage of the conveying jig is provided in the workpiece receiving plate, and in the transfer process before processing, the workpiece receiving plate is raised and the workpiece is moved from the conveying jig to the workpiece. Transfer to the receiving plate.
  • the work receiving plate is provided with a through groove that allows the transfer jig to pass, so that the work can be transferred from the transfer jig to the work receiving plate simply by raising the work receiving plate, thus simplifying the transfer process before processing. Can be.
  • the conveying jig is moved below the machining head, the distance from the workpiece to the machining head is short, the workpiece moving distance can be shortened, and the workpiece moving time can be shortened. As a result, productivity can be improved.
  • FIG. 1 is a perspective view of a machine tool according to the present invention.
  • FIG. 2 is a cross-sectional view taken along line 2-2 of FIG.
  • FIG. 3 is a cross-sectional view taken along line 3-3 in FIG.
  • FIG. 4 is a modification diagram of FIG. 3.
  • 1 is a front view of a machine tool according to the present invention. It is a principal part perspective view of a workpiece conveyance mechanism. It is a front view of a workpiece
  • FIG. 13 is a plan view of FIG. 12. It is a figure which shows the further example of a change of a workpiece
  • the machine tool 10 includes a base frame 11 and 11 extending horizontally so as to be placed on a foundation or a machine base, and an inverted U-shaped frame 12 extending upward from the base frames 11 and 11.
  • the machining head 13 supported by the frame 12, the workpiece receiving plate moving mechanism 14 provided on the machining head 13, the workpiece receiving plate 15 moved up and down by the workpiece receiving plate moving mechanism 14, and the workpiece receiving A work holding plate 16 disposed between the plate 15 and the processing head 13 is provided.
  • the machining head 13 includes a plurality (two in this example) of spindle shafts 18 and 19 extending downward.
  • Cutting tools 21 and 22 such as drills and end mills are removably attached to the spindle shafts 18 and 19.
  • the machining head 13 includes a drive gear 23 and driven gears 24 and 25.
  • the drive gear 23 is rotated by a spindle motor 26, whereby the driven gears 24 and 25 are rotated. 18 and 19 are rotated at high speed. Since the processing head 13 includes a plurality of spindle shafts 18 and 19 densely, it is also called a gang head.
  • the guide bars 27 and 27 extend downward from the processing head 13, and the workpiece holding plate 16 is guided along the guide bars 27 and 27 so as to be movable up and down.
  • the work holding plate 16 is suspended by cushion units 28 and 28 extending from the lower surface of the processing head 13.
  • the cushion unit 28 a structure in which a large number of disc springs are stacked in a cylinder or a structure in which a spring and a hydraulic damper are integrated is suitable. A downward reaction force that suppresses the workpiece restraining plate 16 from rising is generated.
  • the workpiece receiving plate moving mechanism 14 is a fluid pressure cylinder unit 30 in which a piston rod 29 extends downward along a vertical axis.
  • the workpiece receiving plate 15 is fixed to the tip (lower end) of the piston rod 29 with nuts 31 and 31.
  • the guide posts 32 and 32 are extended from the lower surface of the machining head 13. Guide bushes 33 and 33 are provided on the work receiving plate 15.
  • the fluid pressure cylinder unit 30 is divided into a lower chamber 35 and an upper chamber 36 by a piston 34.
  • the piston 34 can be raised by supplying high pressure fluid to the lower chamber 35, and the piston 34 can be lowered by supplying high pressure fluid to the upper chamber 36.
  • the guide posts 32, 32 may extend upward from the work receiving plate 15.
  • Guide bushes 33 and 33 are provided on the processing head 13, and guide posts 32 and 32 are inserted through the guide bushes 33 and 33. That is, a guide post 32 is provided on one of the machining head 13 and the workpiece receiving plate 15, and a guide bush 33 into which the guide post 32 is inserted is provided on the other, being guided by the guide post 32 and the guide bush 33, It suffices that the workpiece receiving plate 15 approaches the processing head 13, and it is arbitrary whether the guide posts 32, 32 extend upward or downward.
  • the work transport mechanism 40 includes a horizontal moving member 41 that horizontally traverses the lower portion of the inverted U-shaped frame 12, an arm 42 that stands on the horizontal moving member 41 at a predetermined pitch, 42, and a conveying jig 50 that conveys the workpieces W1, W2.
  • the conveyance jig 50 includes a support bar 43 and first and second receiving pins 44 and 45 that are extended from the support bar 43.
  • the workpiece conveyance mechanism 40 is a mechanism that conveys the workpiece W1 and the workpiece W2 before machining in the horizontal direction, and does not move up and down.
  • the conveying jig 50 simply moves horizontally, and is a simple one composed of a support bar 43, large and small first receiving pins 44, and second receiving pins 45.
  • the workpieces W1 and W2 in this embodiment are a continuously variable transmission case or a lid that closes the opening of the case, but the form, type, and use of the workpiece W1 are arbitrary.
  • the arm 42 is a C-type arm.
  • the workpiece receiving plate 15 is provided with a through groove 47 having a T-shape.
  • the through groove 47 is a groove that relatively allows the support bar 43 and the arm 42 to pass therethrough.
  • the support bar 43 and the arm 42 do not move up and down. That is, the conveyance jig 50 does not move up and down, but only moves sideways.
  • the through groove 47 reaches the position of the imaginary line without interfering with the support bar 43 and the arm 42. That is, the workpiece receiving plate 15 can move up and down from the position of the solid line to the position of the imaginary line.
  • the work receiving plate 15 is provided with a first receiving surface 48, a first positioning pin 49, a second receiving surface 51, and a second positioning pin 52.
  • a first positioning pin hole 64 into which the first positioning pin 49 fits and a second positioning pin hole into which the second positioning pin 52 fits below the workpieces W1 and W2. 65 is provided.
  • the first positioning pin 49 is fitted into the first positioning pin hole 64
  • the second positioning pin 52 is fitted into the second positioning pin hole 65 to be fitted.
  • first engagement hole 66 into which the first receiving pin 44 is fitted and a second engagement hole 67 into which the second receiving pin 45 is fitted are provided below the workpieces W1 and W2.
  • the shapes of the workpieces W1 and W2 are not limited to the shapes shown in FIG. 7, and other shapes may be used as long as they are general mechanical parts other than the crankcase and the cylinder head. Further, the size, length, position, and number of the positioning pins 49, 52 and the receiving pins 44, 45 are appropriately determined according to the size and position of the positioning pin holes 64, 65 and the engagement holes 66, 67.
  • the workpiece receiving plate 15 is held below the workpiece W1.
  • the arm 42 since the arm 42 has a C shape so as to bypass the workpiece receiving plate 15, the arm 42 does not interfere with the workpiece receiving plate 15, and the workpiece W ⁇ b> 1 before processing can be conveyed. It is conveyed horizontally by the mechanism 40.
  • the workpiece W1 is conveyed from the workpiece insertion port or from the previous process to the lower part of the machining head 13 and stopped at a predetermined position. (Conveying process)
  • the workpiece W 1 is scooped up by the workpiece receiving plate 15 by raising the workpiece receiving plate 15.
  • the workpiece W1 is separated from the first receiving pin 44 and the second receiving pin 45, but is positioned in the horizontal direction by the first positioning pin 49 and the second positioning pin 52, and the first receiving surface 48 and the first receiving pin 48 are 2 Vertical positioning is performed with the receiving surface 51.
  • the workpiece receiving plate 15 is in the middle of rising, and there is a gap between the workpiece W1 and the workpiece holding plate 16.
  • the workpiece W1 is transferred from the conveying jig 50 to the workpiece receiving plate 15 (pre-processing transfer step).
  • the workpiece receiving plate 15 When the workpiece receiving plate 15 is further raised, the upper surface of the workpiece W1 comes into contact with the workpiece holding plate 16 as shown in FIG.
  • the cushion units 28 and 28 are contracted, and the cushion units 28 and 28 urge the workpiece W1 toward the workpiece receiving plate 15 in accordance with the contraction amount. That is, the workpiece W1 is clamped between the workpiece receiving plate 15 and the workpiece holding plate 16 (work clamping process).
  • the workpiece W1 sandwiched between the workpiece receiving plate 15 and the workpiece holding plate 16 is machined by the cutting tools 21 and 22 of the machining head 13 (machining process).
  • the workpiece receiving plate 15 is lowered in the order of FIG. 9A ⁇ FIG. 8B ⁇ FIG. 8A, and the processed workpiece W2 is transferred to the support bar 43.
  • the receiving pins 44 and 45 are fitted into the engaging holes 66 and 67 of the workpiece W2, respectively. That is, the workpiece W2 is transferred from the workpiece receiving plate 15 to the conveying jig 50 (post-processing transfer step).
  • the machining head 13 is stopped and the workpiece W1 is moved closer to the machining head 13. Since the heavy processing head 13 is not moved, energy saving can be achieved.
  • a workpiece receiving plate moving mechanism 14 (FIG. 3) is attached to the machining head 13, and the workpiece receiving plate 15 is brought close to the machining head 13 by the workpiece receiving plate moving mechanism 14.
  • the workpiece W1 is moved closer to the machining head 13 while the workpiece W1 is held between the workpiece receiving plate 15 and the workpiece holding plate 16. That is, since the workpiece W1 is separated from the workpiece conveyance mechanism 40 and brought close to the machining head 13, the conveyance speed of the workpiece conveyance mechanism 40 can be increased without being affected by the workpiece W1.
  • a positioning knock pin 54 (hereinafter referred to as a knock pin 54) is provided on the workpiece receiving plate 15, a columnar member 55 is provided on the workpiece holding plate 16, and a knock hole 56 is provided in the columnar member 55. It is done.
  • a groove 57 that opens laterally is formed in the knock pin 54, and a clamp mechanism 58 is provided in the workpiece restraining plate 16 in the vicinity of the columnar member 55.
  • the clamping mechanism 58 is preferably a hydraulic cylinder with a built-in cam groove 59 formed by connecting an oblique groove and an axial groove.
  • the hydraulic cylinder 58 is contracted, the piston rod 29 is rotated by the oblique groove. Next, the piston rod 29 moves in the axial direction without rotating due to the axial groove.
  • the hydraulic cylinder 58 is a cylinder unit that continuously performs turning and linear movement.
  • the workpiece receiving plate 15 is raised by the piston rod 29. Then, the knock pin 54 is fitted into the knock hole 56. As shown in FIG. 11, the clamp mechanism 58 is operated. Then, after the clamping claw 61 turns about 90 ° as indicated by the arrow (1), it moves as indicated by the arrow (2), and the knock pin 54 is attracted to the columnar member 55. As a result, the workpiece holding plate 16 is clamped to the workpiece receiving plate 15.
  • the workpiece holding plate 16 is positioned on the workpiece receiving plate 15 by the knock pin 54 and the knock hole 56. Since the workpiece holding plate 16 is positioned on the workpiece receiving plate 15, the position of the workpiece to be clamped is accurately determined.
  • the elastic member 28 (FIG. 2) attached to the work holding plate 16 can be weak, and the elastic member can be reduced in weight and size.
  • the columnar member 55 may be provided on the workpiece receiving plate 15 and the knock pin 54 may be provided on the workpiece holding plate 16 with the top and bottom reversed.
  • a plurality of processing heads 13 may be provided, and a plurality of conveying jigs 50, 50 may be provided according to the number of the plurality of processing heads 13.
  • the plurality of conveying jigs 50 and 50 are connected to each other.
  • a plurality of workpiece receiving plates 15, 15 may be integrated, and two workpieces W 1, W 1 may be placed on one workpiece receiving plate 15.
  • the plurality of workpiece receiving plates 15 and 15 may be moved up and down simultaneously by one workpiece receiving plate moving mechanism 14.
  • the center of the piston rod 29 can be made to coincide with the total center of gravity obtained by integrating the center of gravity of the two workpieces W1 and W1 and the center of gravity of one workpiece receiving plate 15. . Since the balance is achieved, the workpiece receiving plate 15 can be raised and lowered with only one piston rod 29.
  • the center of the piston rod 29 is made to coincide with the center of gravity of the piston rod 29.
  • the center of the piston rod 29 is allowed to be offset from the center of gravity of the piston rod 29 by the outer diameter dimension. . This is because a small imbalance is allowed by the guide posts 32 and 32.
  • the workpiece receiving plate moving mechanism 14 can be completed with one fluid pressure cylinder unit. If one fluid pressure cylinder unit is used, it is possible to reduce the equipment cost for simplifying the apparatus.
  • the workpiece receiving plate moving mechanism 14 can also be composed of a plurality (a plurality) of fluid pressure cylinder units. That is, as shown in FIG. 14A, the workpiece receiving plate 15 may be moved up and down by two piston rods 29 and 29. In this case, a virtual central axis 63 formed by integrating a plurality of piston rods 29, 29 into one is defined. Specifically, the midpoint of the line 62 connecting the piston rods 29, 29 becomes the virtual central axis 63.
  • the two piston rods 29 and 29 are positioned so that the virtual center axis 63 matches or substantially matches the total center of gravity.
  • the piston rods 29 and 29 are less likely to be bent. As a result, there is no need to increase the diameter of the piston rods 29 and 29, the diameter can be reduced, and the work receiving plate moving mechanism 14 can be reduced in size and weight.
  • the workpiece receiving plate 15 may be moved up and down by three piston rods 29, 29 and 29.
  • the central piston rod 29 becomes the virtual central axis 63.
  • the three piston rods 29, 29, 29 are positioned so that the virtual center axis 63 matches or substantially matches the total center of gravity.
  • the piston rods 29, 29, 29 are less likely to be bent. As a result, there is no need to increase the diameter of the piston rods 29, 29, 29, the diameter can be reduced, and the work receiving plate moving mechanism 14 can be reduced in size and weight.
  • the clamp mechanism 58 described in FIGS. 10 and 11 can be simply combined with an inexpensive rotary actuator and an inexpensive cylinder, and is not limited to the structure of the embodiment.
  • the present invention can be applied to a machine tool for machining a workpiece with a machining unit.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Jigs For Machine Tools (AREA)
  • Feeding Of Workpieces (AREA)
  • Auxiliary Devices For Machine Tools (AREA)
  • Turning (AREA)
PCT/JP2013/056771 2012-05-25 2013-03-12 工作機械及び加工方法 WO2013175831A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2014516691A JP5830605B2 (ja) 2012-05-25 2013-03-12 工作機械及び加工方法
BR112014029320-1A BR112014029320B1 (pt) 2012-05-25 2013-03-12 Máquina-ferramenta e método de usinagem
CN201380027428.9A CN104334315B (zh) 2012-05-25 2013-03-12 机床及加工方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012119945 2012-05-25
JP2012-119945 2012-05-25

Publications (1)

Publication Number Publication Date
WO2013175831A1 true WO2013175831A1 (ja) 2013-11-28

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PCT/JP2013/056771 WO2013175831A1 (ja) 2012-05-25 2013-03-12 工作機械及び加工方法

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JP (1) JP5830605B2 (pt)
CN (1) CN104334315B (pt)
BR (1) BR112014029320B1 (pt)
WO (1) WO2013175831A1 (pt)

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CN105364110A (zh) * 2015-12-12 2016-03-02 山东三维重工有限公司 一种全自动钢管组合钻孔机***
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JP7372097B2 (ja) * 2019-09-20 2023-10-31 コマツＮｔｃ株式会社 ワイヤソー及びワイヤソーのワークの搬入出方法
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CN108290259A (zh) * 2015-11-27 2018-07-17 库卡***有限责任公司 制造设备和制造方法
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CN106312558A (zh) * 2016-08-31 2017-01-11 安徽达来电机有限公司 一种电机端盖加工装置
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CN104334315A (zh) 2015-02-04
BR112014029320A2 (pt) 2017-06-27

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