CN102555257A - Press molding system and method for controlling press molding system - Google Patents
Press molding system and method for controlling press molding system Download PDFInfo
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- CN102555257A CN102555257A CN2011104222977A CN201110422297A CN102555257A CN 102555257 A CN102555257 A CN 102555257A CN 2011104222977 A CN2011104222977 A CN 2011104222977A CN 201110422297 A CN201110422297 A CN 201110422297A CN 102555257 A CN102555257 A CN 102555257A
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- handling device
- punch forming
- forming system
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Abstract
The invention provides a press molding system and a method for controlling the press molding system, which do not need to provide a signal line for a conveying device or can simplify the operation. In a press forming system (11) in which a plurality of press devices (13) for forming are arranged and a conveying device (14) for carrying in and out a formed article (P) is arranged so as to be movable to a position corresponding to the press devices (13) in which the plurality of press devices are arranged, a control device (21) which is mounted on the conveying device (14) and controls the conveying device (14) is provided; a wireless transceiver (30) connected to the control device (21); a control device (22) for controlling the press forming system; and a wireless transceiver (25) connected to the control device (22), and performing bidirectional wireless communication between the control device (21) and the control device (22).
Description
Technical field
The present invention relates to dispose a plurality of decompressors that carry out moulding, and carry out the punch forming system and the control method thereof of the Handling device of moving into, taking out of of moulding article with mode being provided with that can move to the position corresponding with a plurality of decompressor of said configuration.
Background technology
As disposing a plurality of decompressors that carry out moulding; And carry out the punch forming system of the Handling device of moving into, taking out of of moulding article with mode being provided with that can move to the position corresponding, knownly in patent documentation 1 and patent documentation 2, put down in writing with a plurality of decompressor of said configuration.Though not directly explanation in patent documentation 1 and patent documentation 2 in existing punch forming system, is transmitted signal from the control device of controlling the punch forming system to each Handling device (handler) through holding wire (wire cable).And; Above-mentioned holding wire perhaps bands together the distribution of the motor supply capability of mechanical arm forward-reverse or up-down with the motor that is used for to the transportation vehicle portion that drives carrying device; Use cable carrier or pulley, the distribution after according to Handling device mobile these being tied up is flexible.
But there is the complex structure that is provided with of distribution etc. in aforesaid way, and needs the big problem that the space is set.In addition, since decompressor set up the movable distance that waits the prolongation Handling device time, also need append construction.And, in large-scale punch forming system, because the displacement of Handling device is also very long, so the problem that exists above-mentioned electric power also need prolong with the distance of holding wire with distribution or signal.
[patent documentation 1] TOHKEMY 2005-262245 communique (claim 1,0014, Fig. 1)
[patent documentation 2] TOHKEMY 2008-291832 communique (claim 1,0014, Fig. 2)
Summary of the invention
The present invention proposes in view of the above problems; Relate to and dispose a plurality of decompressors that carry out moulding; And carry out the punch forming system and the control method thereof of the Handling device of moving into, taking out of of moulding article with mode being provided with that can move to the position corresponding with a plurality of decompressor of said configuration, its purpose is to provide a kind of need or can not simplify the punch forming system of this construction and the control method of punch forming system to the construction of Handling device signalization line.
The punch forming system of first mode of the present invention; Dispose a plurality of decompressors that carry out moulding; And can move to the Handling device of moving into, taking out of that carries out the moulding article with said mode being provided with of having disposed the corresponding position of a plurality of decompressors; In this punch forming system, be provided with: the wireless transceiver that be assemblied in the control device that carries out the control of Handling device on the Handling device, the wireless transceiver that is connected with the control device of the control of carrying out Handling device, the control device that carries out the control of punch forming system, is connected with the said control device that carries out the control of punch forming system, at the control device of said Handling device with carry out carrying out two-way radio communication between the control device of control of punch forming system.
The punch forming system of second mode of the present invention does not use wire cable power line ground that the motor of said Handling device is carried out the electric power supply in first mode.
The control method of the punch forming system of Third Way of the present invention; Disposing a plurality of decompressors that carry out moulding; And carry out in the control method of punch forming system of the Handling device of moving into, taking out of of moulding article can move to said mode being provided with of having disposed the corresponding position of a plurality of decompressors; Be provided with: the wireless transceiver that be assemblied in the control device that carries out the control of Handling device on the Handling device, the wireless transceiver that is connected with the control device of the control of carrying out Handling device, the control device that carries out the control of punch forming system, is connected with the said control device that carries out the control of punch forming system, at the control device of said Handling device with carry out carrying out two-way radio communication between the control device of control of punch forming system.
The control method of the punch forming system of cubic formula of the present invention; In Third Way; Said radio communication is an infrared communication; Be provided with: the transceiver of the infrared communication that is connected with the control device of said Handling device, be arranged on the position on the extended line of mobile route of said Handling device, the transceiver of the infrared communication that is connected with the said control device that carries out the control of punch forming system, at the control device of said Handling device with carry out carrying out two-way infrared communication between the control device of control of punch forming system.
The control method of punch forming system of the present invention or punch forming system; Disposing a plurality of decompressors that carry out moulding; And carry out with mode being provided with that can move to the position corresponding in the punch forming system of the Handling device of moving into, taking out of of moulding article with a plurality of decompressor of said configuration; Be provided with: the wireless transceiver that be assemblied in the control device that carries out the control of Handling device on the Handling device, the wireless transceiver that is connected with the control device of the control of carrying out Handling device, the control device that carries out the control of punch forming system, is connected with the said control device that carries out the control of punch forming system; At the control device of said Handling device with carry out carrying out two-way radio communication between the control device of control of punch forming system, so need or can not make this construction simplification to the construction of Handling device signalization line.
Description of drawings
Fig. 1 is the plane of the punch forming system of this embodiment.
Fig. 2 is the block diagram of summary relation of transceiver of timer and the infrared communications set of this embodiment of expression.
Fig. 3 is the concept map of anomaly monitoring of infrared communication of the punch forming system of this embodiment.
Symbol description
11 punch forming systems; 13 decompressors; 14 Handling devices; 21,22 timers;
25,30 transceivers; 28,33 light projectors; 29,34 light-receiving devices; The I infrared signal;
P article laminated into type
The specific embodiment
The control method of punch forming system of the present invention and punch forming system is described referring to figs. 1 through Fig. 3.The punch forming system 11 of this embodiment has disposed the decompressor 13 that carries out the moulding of article P laminated into type between a plurality of hot plates in vacuum chamber 12, having disposed the Handling device of moving into, taking out of 14 (handler) that mode being provided with that a plurality of decompressor 13 moves carried out article P laminated into type with respect to said.
At first, the summary of explanation decompressor 13 in punch forming system 11.Decompressor 13 is provided with through the pull bar channeling conduct between dish and the lower wall on not shown, the movable plate that can go up and down, and dispose a plurality of hot plates betwixt.And the fixing plunger of closing liquid cylinder pressure below movable plate boosts movable plate and hot plate through the closing liquid cylinder pressure to the top, carry out heating, the pressurization of article P laminated into type.In addition, between dish and the lower wall, the molding space of configuration movable plate, hot plate etc. is accommodated in the vacuum chamber 12 as forming room on said, and vacuum chamber 12 is communicated with vavuum pump.And, in each decompressor 13, dispose to be used to control and begin the hot plate temperature, the stressed not shown control device (timer (sequencer)) that finish to moulding from moulding.In this embodiment, arranged 10 decompressor 13 linearities, get final product but be provided with at least more than two.
When the transport mechanism of the article P laminated into type of explanation punch forming system 11, be provided with mobile route in a certain side of the shutter door of the front of each decompressor 13.And, on mobile route, be provided with the mobile of Handling device 14 with track 15.Near towards moving with one of the guide rail 15 distolateral terminal part side has disposed warehouse-in device 16.Warehouse-in device 16 is to be used for being prepared as multi-level state to the article P laminated into type before the moulding of sending here from conveyer 17 so that the device of the Handling device 14 of can packing into.In addition, near above-mentioned mobile another distolateral terminal part, disposed outbound device 18 towards the side with track 15.Outbound device 18 be used for to conveyer 19 one-level one-levels see the device of article P laminated into type of moulding that has been placed on conveyance comes on the Handling device 14 completion with multi-level state off.In addition, along move with guide rail 15 linearities disposed the stringing 20 that driver element to Handling device 14 is supply capabilities such as not shown servomotor or timer 21.
In addition, on Handling device 14, assembled timer 21 as control device.And the servomotor (comprising servo amplifier) of the timer 21 of Handling device 14 and the servomotor that drives Handling device 14, driving device arm and limit switch etc. are connected, and said servomotor etc. is carried out programme-control.And through being placed on timer 21 on the Handling device 14, and the holding wire between servomotor or its rotary encoder can be shorter, the influence that the signal of transmitting-receiving is difficult to be interfered.But the present invention does not get rid of a part of functions that Handling device 14 is carried out drive controlling and is arranged on the situation beyond the Handling device 14.In addition, will specify timer 21 in the back, it is connected through the timer 22 of two-way communication with control punch forming system 11.
There is contact 23 in transportation vehicle portion at Handling device 14 towards arranged outside.And, no matter at Handling device 14 when move which position, all keep in touch with said stringing 20 above-mentioned contact 23.In addition, contact 23 is connected with each servomotor (comprising servo amplifier), timer 21 via distribution board.Therefore, the stringing 20 from energising carries out the electric power supply via contact 23 to Handling device 14 each one.Thus; Need not carry out Handling device in the electric power supply at existing power line via wire cable; The structure of complicacy that is used for the processing of wire cable; In the present invention because do not use the outside supply capability of the power line ground of wire cable, so can make distribution become simple structure to Handling device 14 from Handling device 14.
In this embodiment, move with the position of the Handling device on the guide rail 15 14 or the position of mechanical arm through the rotary encoder detection of servomotor.Therefore, and mobile route between be not provided for confirming the limit switch and the cam of position.Therefore, do not need the setting operation of skilled cam.But, also limit switch can be set.In addition, can be through being arranged on the position of the linear movement pick-up mensuration Handling device 14 on the mobile route.And, the limit switch that moves that detects mechanical arm can also suitably be set, perhaps can only control through the position probing that is arranged on the rotary encoder in the servomotor.
The driver element of Handling device 14 is not limited to servomotor, can be other motor, can also be oil sector or air pressure mechanism.When having used other motor or oil sector or air pressure mechanism, need to confirm that action is accomplished or the limit switch in affirmation speed change place or near switch etc.In addition, Handling device 14 can be according to the layout of punch forming system 11, and the mechanical arm part can be the center rotation with the vertical axis, and perhaps transportation vehicle portion can be to decompressor 13 forward-reverses.And Handling device 14 can also be the monorail Handling device that moves along the guide rail that on ceiling or framework, is provided with.In addition, Handling device 14 can not use the power line of wire cable and be to use battery.In addition, Handling device 14 can be provided with respectively the article P laminated into type before the moulding move into the loading attachment of decompressor 13 and accomplish moulding after article P laminated into type take out of the discharge mechanism that other decompressors 13 are arrived in outbound device 18 or conveyance.In addition, as the function of the inverter 22 of control device, also can be the determinate function that inverter 21 or other inverters with Handling device 14 communicate.
In punch forming system 11, beyond Handling device 14, be provided with the control of carrying out punch forming system 11 control device, be timer 22 (PLC).In this embodiment; Said procedure device 22 is set up in parallel with warehouse-in device 16; Except conveyer 17,19, Handling device 14 (load/unload means), outbound device 18, also the timer with each decompressor 13 is connected, and governs whole punch forming system 11.And through timer 22, interlock ground carries out programme-control to each device.As the control device of the control of carrying out punch forming system 11, can be arranged on the timer in the control panel that independently is provided with each device, can also be arranged on the timer in certain decompressor 13 or the outbound device 18.
In punch forming system 11, based on the molding time of the article P laminated into type of decompressor 13 according to the kind of article P laminated into type and fixing.And moving into time of article P laminated into type through Handling device 14 to each decompressor 13 that is set up in parallel neither be simultaneously.Thus, in punch forming system 11, the moulding concluding time of each decompressor 13 is unfixing, its result, and the decompressor of after moulding finishes, waiting for idly 13 is always unfixing yet.Therefore, timer 22 carries out computing or decision of being made as the decompressor 13 that the next one is moved into article P laminated into type which decompressor 13 etc.
Then, communication unit between the timer 21 of timer 22 and Handling device 14 of control punch forming system 11 is described.As stated; Handling device 14 does not carry out electric power through wire cable and supplies with; About the transmitting-receiving of the control signal of interlocking (interlock) between said procedure device 22 and the said procedure device 21 etc.,, do not use wire cable to carry out from the problem of distribution processing etc. yet.As shown in Figure 2, on the timer 22 of warehouse-in device 16, connected transceiver 25 as a kind of infrared communication of wireless transceiver via holding wire (wire cable) 24.Towards the position of Handling device 14 1 sides on the extended line of the mobile route of Handling device 14 transceiver 25 has been installed.On the other hand, also on the timer 21 of Handling device 14, connected transceiver 30 as a kind of infrared communication of wireless transceiver via holding wire (wire cable) 35.Towards the transceiver 25 that is connected with said timer 22, be installed on the Handling device 14 transceiver of installing 30, at transceiver 25, can carry out infrared communication between 30 two-wayly.When as loading attachment and discharge mechanism, being provided with two Handling devices 14,14 on the mobile route, the transceiver 25,25 of the infrared communication that is connected with the timer 22 of the control of carrying out punch forming system 11 is set at the position on a side and the opposing party's the extended line of mobile route towards each Handling device 14,14.
In addition; As shown in Figure 2; About with the transceiver 25 of the infrared communication that is connected of timer 22 of warehouse-in device 16; Be provided with the data processing division 26 and infrared controller 27 that the signal from timer 22 are carried out conversion, on infrared controller 27, connect the light projector 28 that constitutes by light emitting diode, formed the transmission side.In addition, on infrared controller 27, connect the light-receiving device 29 that constitutes by photodiode, formed receiver side.And the transmission side of transceiver 25 and receiver side are independent respectively, can carry out serial communication in transmission side and receiver side.In addition; Transceiver 30 1 sides that connect with the timer 21 of Handling device 14 are also identical; Become the structure that is made up of data processing division 31, infrared controller 32, light projector 33 and light-receiving device 34 etc., but a certain side in the transceiver 25,30 becomes main device, the opposing party becomes from device.Infrared communications set is less expensive, can be in certain distance carries out stable communication in the scope of (as an example in about 30m).In addition, the send mode of infrared communications set can be selected Modulation and Amplitude Modulation mode or frequency modulation(PFM) mode etc. rightly.
In the present invention, as the communication unit that the timer 21 of the timer 22 of control punch forming system 11 and Handling device 14 communicates through wireless mode, can also be the visible light communication device beyond the infrared communications set.In addition; Can also connect through WLAN or Ethernet (registration mark) and be used to control the timer 22 of punch forming system 11 and the timer 21 of Handling device 14 carries out programme-control, can also the personal computer of selling on the timer 21 of Handling device 14 and the market (PC) be connected and carry out exchanges data etc.
In the present invention; Through and Handling device 14 between above-mentioned wireless communication unit is set; Can not need carry out the construction that is provided with of holding wire, but except the signal that uses wireless communication unit, do not get rid of situation about a part of signal being communicated through the holding wire of simplifying.In addition, do not get rid of the power line of drive system and supply power, only carry out program unit 21, the situation of signal communication between 22 through wireless communication unit through wire cable.And, in this embodiment, can be from the timer of base side, the part of carrying out Handling device 14 through the open loop instruction drives.
The control method of the punch forming system 11 of this embodiment is described then.With the warehouse-in device 16 article P laminated into type that ships from conveyer 17 (comprising that double team has the laminated into type article P of punching press with stainless sheet steel etc.) that packs into multistagely.Under the full automatic at this moment situation, timer 22 or other are governed the control device of punch forming system 11, and according to the running-active status of each decompressor 13, decision will be moved into the decompressor 13 of article P laminated into type from the decompressor 13 of idle condition.In addition, when the operator determines that the next one will be moved into the decompressor 13 of article P laminated into type, set the decompressor 13 that input will be moved into through the operator.Thus, with the displacement and the decelerate position of the timer 22 computing Handling devices 14 that are set up in parallel of warehouse-in device 16, send instruction to the timer 21 of Handling device 14.At this moment, from timer 22, send infrared signal I from the light-receiving device 34 of the transceiver 30 of 28 pairs of infrared communications that are connected with the timer 21 of said Handling device 14 of light projector of the transceiver 25 of infrared communication.And, driving the mobile servomotor of using of Handling devices 14 through timer 21, Handling device 14 moves to the correspondence position in decompressor 13 the place aheads that determined to carry out moulding.
Then; After Handling device 14 stops, mechanical arm that having placed article P laminated into type is advanced, mechanical arm is descended; Be placed on article P laminated into type on each hot plate of the decompressor 13 that is opened of door (, mechanical arm being descended) perhaps according to the type of Handling device 14.Then; Mechanical arm rises and retreats; When the placement of article P laminated into type is accomplished, send signals from the timer 21 of Handling device 14 to the timer 22 of control punch forming system 11, remove the interlocking that the decompressor 13 of having been moved into article P laminated into type moves.At this moment, the light projector 33 from the transceiver 30 of infrared communication sends infrared signal I to the light-receiving device 29 of transceiver 25.Then, send signal to the timer of decompressor 13, begin to carry out moulding through decompressor 13 from said timer 22.In addition, see mobile relevant instruction with Handling device 14 from said timer 22 to the timer 21 of Handling device 14 via the transceiver 25,26 of infrared communication once more, make Handling device 14 move the destination and move to next.
The anomaly monitoring of infrared communications set is described then.Infrared communication is with carry out the situation that signal sends through wire cable different, imagination since barrier or stray light etc. with the situation of signal temporarily disconnected or detect unusual situation.Therefore, through cut-out or the erroneous detection that both sides' timer 21,22 is kept watch on infrared signal I, keep watch on the unusual of infrared communication.Specifically; As shown in Figure 3; From the light projector 33 of the transceiver 30 that is connected with the timer 21 of Handling device 14 output A (on) is sent for " opening "; If with the timer 22 of the control punch forming system 11 that is set up in parallel of warehouse-in device 16 on the input B of light-receiving device 29 of the transceiver 25 that is connected be made as " opening ", then then making output B through timer 22 from the light projector 28 of transceiver 25 is that " opening " sends.Then, if the input A of the light-receiving device 34 of the transceiver 30 that is connected with the timer 21 of Handling device 14 is made as " opening ", then through timer 21 make from the output A of transceiver 30 for " pass " (off).So the input B of the light-receiving device 29 of transceiver 25 also becomes " pass ", also become " pass " from the output B of the light projector 28 of transceiver 25 via timer 22.Thus, the input A of the light-receiving device 34 of transceiver 30 also becomes " pass ".And, thus, become " opening " via timer 21 from the output A that the light projector of transceiver 30 33 sends once more, before finishing infrared communication, repeat this circulation.Confirming that more than light-receiving device 34,29 also becomes " pass " when light projector 28,33 becomes " pass ", is in order to detect light-receiving device 29,34 whether owing to stray light etc. continues the erroneous detection state.
The input B of the input A of the transceiver 30 that therefore, is connected with the timer 21 of Handling device 14 or the transceiver 25 that is connected with the timer 22 of control punch forming system 11 is all the time with very short cycle repetition ON/OFF (on/off).Then, if at least one side's (being generally both sides) input A, B from " opening " state or " pass " state variation, then are not made as infrared communication and are in abnormality more than certain, start interlocking, arresting stop as a rule by the strong hand.In addition, if input A, the B of infrared communication restart open/close repetition, then interlocking is reverted to common state.These fault detection systems can be used for the light projector of the visible light communication beyond the infrared communication or the fault detect of light-receiving device equally, help to improve the reliability of communication.
Claims (4)
1. punch forming system; It disposes a plurality of decompressors that carry out moulding, and can move to and the said mode that has disposed the corresponding position of a plurality of decompressors, is provided with the Handling device of moving into, taking out of that carries out the moulding article; Said punch forming system is characterised in that
Be provided with:
Be assemblied on the Handling device, carry out the control device of the control of Handling device;
The wireless transceiver that is connected with the control device of the control of carrying out Handling device;
Carry out the control device of the control of punch forming system; And
The wireless transceiver that is connected with the said control device that carries out the control of punch forming system,
At the control device of said Handling device with carry out carrying out two-way radio communication between the control device of control of punch forming system.
2. punch forming according to claim 1 system is characterized in that,
Do not use wire cable power line ground that the motor of said Handling device is carried out the electric power supply.
3. the control method of a punch forming system; Said punch forming system configuration has a plurality of decompressors that carry out moulding; And can move to the Handling device of moving into, taking out of that carries out the moulding article with said mode being provided with of having disposed the corresponding position of a plurality of decompressors; The control method of said punch forming system is characterised in that
Be provided with:
Be assemblied on the Handling device, carry out the control device of the control of Handling device;
The wireless transceiver that is connected with the control device of the control of carrying out Handling device;
Carry out the control device of the control of punch forming system; And
The wireless transceiver that is connected with the said control device that carries out the control of punch forming system,
At the control device of said Handling device with carry out carrying out two-way radio communication between the control device of control of punch forming system.
4. the control method of punch forming according to claim 3 system is characterized in that,
Said radio communication is an infrared communication,
Be provided with:
The transceiver of the infrared communication that is connected with the control device of said Handling device; And
Be arranged on the position on the extended line of mobile route of said Handling device, the transceiver of the infrared communication that is connected with the said control device that carries out the control of punch forming system,
At the control device of said Handling device with carry out carrying out two-way infrared communication between the control device of control of punch forming system.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-282204 | 2010-12-17 | ||
| JP2010282204A JP5283198B2 (en) | 2010-12-17 | 2010-12-17 | Press molding system and control method of press molding system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102555257A true CN102555257A (en) | 2012-07-11 |
| CN102555257B CN102555257B (en) | 2014-12-03 |
Family
ID=46402500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110422297.7A Expired - Fee Related CN102555257B (en) | 2010-12-17 | 2011-12-16 | Press molding system and method for controlling press molding system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5283198B2 (en) |
| CN (1) | CN102555257B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101782537B1 (en) | 2017-05-19 | 2017-09-28 | (주)청우에이티에스 | Automatic feeding device for the press |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08265271A (en) * | 1995-03-20 | 1996-10-11 | Hitachi Zosen Corp | Signal transmission method and signal transmitter in press |
| JP2003074790A (en) * | 2001-09-03 | 2003-03-12 | Keyence Corp | Mounting method for multiple optical axis photoelectric safety device |
| JP2005262245A (en) * | 2004-03-17 | 2005-09-29 | Meiki Co Ltd | Press control method and press forming system |
| JP2005313201A (en) * | 2004-04-28 | 2005-11-10 | Meiki Co Ltd | Method for controlling multi-stage stacking press system |
| JP2009142829A (en) * | 2007-12-11 | 2009-07-02 | Kanto Auto Works Ltd | Press panel moving robot and press apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0357444U (en) * | 1989-10-05 | 1991-06-03 |
-
2010
- 2010-12-17 JP JP2010282204A patent/JP5283198B2/en not_active Expired - Fee Related
-
2011
- 2011-12-16 CN CN201110422297.7A patent/CN102555257B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08265271A (en) * | 1995-03-20 | 1996-10-11 | Hitachi Zosen Corp | Signal transmission method and signal transmitter in press |
| JP2003074790A (en) * | 2001-09-03 | 2003-03-12 | Keyence Corp | Mounting method for multiple optical axis photoelectric safety device |
| JP2005262245A (en) * | 2004-03-17 | 2005-09-29 | Meiki Co Ltd | Press control method and press forming system |
| JP2005313201A (en) * | 2004-04-28 | 2005-11-10 | Meiki Co Ltd | Method for controlling multi-stage stacking press system |
| JP2009142829A (en) * | 2007-12-11 | 2009-07-02 | Kanto Auto Works Ltd | Press panel moving robot and press apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2012125833A (en) | 2012-07-05 |
| CN102555257B (en) | 2014-12-03 |
| JP5283198B2 (en) | 2013-09-04 |
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Effective date of registration: 20200522 Address after: Tokyo, Japan Patentee after: THE JAPAN STEEL WORKS, Ltd. Address before: Ai Zhixian Patentee before: KABUSHIKI KAISYA MEIKI SEISAKUSYO |
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Granted publication date: 20141203 Termination date: 20211216 |
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