EP3718659B1 - Appareil d'automatisation - Google Patents

Appareil d'automatisation Download PDF

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Publication number
EP3718659B1
EP3718659B1 EP19000169.3A EP19000169A EP3718659B1 EP 3718659 B1 EP3718659 B1 EP 3718659B1 EP 19000169 A EP19000169 A EP 19000169A EP 3718659 B1 EP3718659 B1 EP 3718659B1
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EP
European Patent Office
Prior art keywords
drive
axis
movement
automation device
horizontal carriage
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.)
Active
Application number
EP19000169.3A
Other languages
German (de)
English (en)
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EP3718659A1 (fr
Inventor
Helmut WIESING
Jörg ROSENHÄGER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Horstkemper Maschinenbau GmbH
Original Assignee
Horstkemper Maschinenbau GmbH
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.)
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Priority to EP19000169.3A priority Critical patent/EP3718659B1/fr
Publication of EP3718659A1 publication Critical patent/EP3718659A1/fr
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Publication of EP3718659B1 publication Critical patent/EP3718659B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B21D43/052—Devices having a cross bar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom

Definitions

  • the present invention relates to an automation device with a base body with a plurality of carriages which can be moved via a control device over a plurality of movement axes and orientation axes on the base body in order to automatically move at least one workpiece from a first location to a second location that is different from the first location , wherein the plurality of carriages comprises at least one X1 horizontal carriage and one X2 horizontal carriage, each of which can be moved telescopically along the X1 or X2 movement axis, and the at least one X1 horizontal carriage is guided on an X1 axis body, and with a drive device comprising an A drive for rotating the X1 axis body about the A orientation axis and a B drive for rotating about the B orientation axis.
  • Such an automation device is used, for example, in forming technology.
  • sheet metal parts go through so-called press lines with different processing sections in which the sheet metal parts are formed by forming tools. Between the processing sections, the sheet metal parts that accumulate at the end of a respective processing section must be unloaded, reloaded and/or loaded.
  • the relocation of the sheet metal parts at the end of a processing section and/or at the beginning of a processing section or between a first processing section and a second processing section require high precision and are therefore carried out using automation.
  • the automation can be implemented in the form of standard robots, which are supplemented by appropriate grippers or even additional axes, or automation devices specially designed for press automation.
  • automated device should also include the term “standard robot with supplement”.
  • Such an automation device is out U.S. 2012/282066 known, which forms the basis for the preamble of claim 1.
  • This allows a workpiece to be moved around multiple orientation axes and along multiple movement axes.
  • the drives for the orientation axes are located at the end of a support beam, in close proximity to a component to be oriented.
  • the drives take up space in a work area of the automation device and thus prevent optimal adaptation to a cramped environment.
  • automation devices When loading and unloading the sheet metal parts and also during further transport from one processing section to the next processing section, automation devices are used that include six axes. In the case of automation devices in linear technology, which have an advantage over standard robots in terms of speed and range, these six axes are not easy to implement for reasons of space.
  • the object of the present invention is therefore to further develop an automation device of the type mentioned at the outset in such a way that it requires less space than automation devices of the prior art.
  • the object is achieved according to claim 1 in that the drive device with an A drive and a B drive is arranged in the base body below a Z axis of movement.
  • the arrangement of the individual drives in the base body and below the Z movement axis saves space in the work area of the automation device and in the tool room between two consecutive processing steps of a press line.
  • the ability to pivot the X1 horizontal slide and the X2 horizontal slide around the A orientation axis allows an additional direction of movement of the two horizontal slides that can be controlled directly. This increases the degree of freedom of the automation device and creates an additional possibility of storing workpieces in a position that previously could only be reached indirectly.
  • Another advantage of the present invention is that the X1 and X2 horizontal slides are connected to a drive mechanism for movement about the A orientation axis, about the B orientation axis and along the Y axis of movement. It is favorable to combine a drive device for the movement of both horizontal carriages about three axes. This reduces the space required for the drive device.
  • a further advantage of the present invention is that the drive means comprises an A drive for rotation about the A axis of orientation, a B drive for rotation about the B axis of orientation and a Y drive for movement along the B axis of movement and in which Body is located below the Z-axis of movement.
  • the summary of the respective drives for the respective axes and their arrangement below the Z axis of movement has the advantage that these are located at a distance from the respective carriage and can therefore be arranged at a location that does not restrict the space required in the workroom.
  • a further advantage of the present invention is that the X1 horizontal slide is movably mounted on the base body and the X2 horizontal slide is movably mounted on the X1 horizontal slide. This enables a telescopic linear displacement of the horizontal slide in relation to the base body.
  • the X2 carriage includes at least one carriage having the Y axis of motion and the plurality of carriages include at least one Y carriage movable along the Y axis of motion of the carriage. This also optimizes the freedom of movement of the automation device in the workroom.
  • a further advantage of the present invention is that the X2 horizontal slide has a first support beam and a second support beam, each with one of the Y movement axes, on each of which a first and second Y horizontal slide can be moved along the Y movement axis. This further optimizes the freedom of movement of the automation device according to the invention.
  • the Y drive drives the first horizontal Y slide independently of the second horizontal Y slide. It is particularly advantageous that the B drive also has the first Y horizontal slide drives independently of the second Y horizontal slide. This means that the spaces available on both sides of the X1 horizontal slide can be optimally used independently of one another for moving workpieces.
  • the drive device with the respective drives is arranged outside the work area and thus does not limit the space required for moving workpieces.
  • a production plant 1 is shown schematically by way of example in the form of a press line with three processing sections 3 , 5 , 7 .
  • the processing sections 3, 5, 7 are arranged in a row one behind the other.
  • the processing sections 3, 5, 7 can also be arranged not (only) in a straight row one behind the other but also offset and/or at an angle to one another.
  • the arrangement of the individual processing sections 3, 5, 7 generally depends on the space available and the space required for the production plant.
  • the spatial arrangement of the individual processing sections 3, 5, 7 relative to one another is therefore not relevant to the invention and can therefore be planned as required.
  • the present invention also includes systems with only a single processing section 3, 5, 7.
  • Each machining section 3, 5, 7 forms a tool space 9 in which a tool 10 machines a workpiece 12 in a predetermined manner.
  • the predetermined The processing is carried out by controlling the respective processing section 3, 5, 7 or the production plant 1. Such control is performed using suitable software and hardware which is generally known and is not the subject of the present invention. Therefore, these will not be discussed further here.
  • the processing sections 3, 5, 7 are presses in which sheet metal parts are pressed into a predetermined shape by a predetermined pressing process.
  • completely different processing operations e.g. assembly steps, can also be carried out in the production plant 1 with the present invention.
  • each processing section 3, 5, 7 forms a tool space 9 in which a workpiece 12 is placed as a sheet metal part on a lower tool 11 before a pressing operation, in order to then carry out the predetermined pressing operation with an upper tool 13.
  • a sheet metal part must be loaded into the first processing section 3, unloaded from this first processing section 3 after processing in the first processing section 3 and transferred and loaded into the second processing section 3 in order to be processed there again and after processing from the second processing section 3 to be transferred to the third processing section 5 and loaded therein to be processed there again and finally to be unloaded from the third processing section 5 .
  • the tool space 9 is defined as the space that is located between the lower tool 11 and the upper tool 13 .
  • the tool space 9 changes its height depending on the distance between the upper tool 13 and the lower tool 11 and thus has its greatest volume when the upper tool 13 has moved as far as possible from the lower tool, i.e. in a state that is suitable for loading and unloading a workpiece 12 is.
  • two sheet metal parts B1, B2 are arranged side by side. It is easy to see that the space required in the tool room 9 is a critical variable.
  • 3 1 is a schematic perspective view of an automation device 100 according to the present invention, as shown in FIG 1 and 2 is used in production plant 1, which is designed as a press line.
  • the automation device 100 has an X0 movement axis X0, an X1 movement axis X1, an X2 movement axis X2, which are assigned to an A orientation axis A, a Y movement axis Y, to which a B orientation axis B is assigned, and a Z -Movement axis Z, to which a C-orientation axis C is assigned.
  • the respective movement and orientation axes will be described in more detail below.
  • the automation device 100 is embodied symmetrically to the X1 movement axis X1.
  • the automation device 100 has a base body 101, which essentially forms a Z-axis body 103 and includes the Z-axis of movement Z.
  • a Z vertical slide 105 is linearly displaceable along the Z movement axis Z.
  • the base body 101 is connected to an X0 axis body 107 in a vertically overhead region and is attached to the X0 axis body 107 via an X0 horizontal slide 109 in a linearly displaceable manner.
  • the base body 101 can therefore change its position along the X0 movement axis X0 horizontally and can change its position along the Z movement axis Z vertically.
  • the base body 101 is also connected via an X1 horizontal slide 111 to an X1 axis body 113 which can move linearly horizontally in relation to the base body 101 . In 3 the X1 axis body 113 is in a fully advanced position in the X direction.
  • the X1 axis body 113 is formed symmetrically on both sides of the X1 axis of movement X1.
  • the two sides are identified as “left” and “right” as seen from the base body 101 .
  • the same components on both sides of the axis of symmetry are denoted by the same reference numbers.
  • the suffix "L” for "Left” and “R” for “Right” will be added to the respective reference numbers.
  • a Y support beam 117L, 117R is attached to the X1 axis body 113 on both sides, i.e. left and right, via an X2 horizontal slide 112, each of which includes a Y axis of movement Y.
  • a gripping device 119L, 119R for gripping the workpiece 12 to be transported is located on each of the two Y-support beams 117L, 117R 3 the gripping device 119L, 119R is gripping such a workpiece 12.
  • FIG 4 1 is a schematic side view of the automation device 100.
  • the Z-vertical slide 105 can move along the Z-axis of movement Z and thus decrease or increase the distance between the X0-axis of movement X0 and the X1-axis of movement X1.
  • the Z vertical slide 105 moved upwards, so that the distance between the X0 movement axis X0 and the X1 movement axis X1 is small.
  • the Z vertical slide is moved down so that the distance between the X0 movement axis X0 and the X1 movement axis X1 is large.
  • FIG. 6 is a schematic side view of the automation device 3 shown, in which an X0 horizontal slide 109 is located on the base body 101 at a first exemplary position, an X1 horizontal slide 111 is located at a first exemplary position with respect to the base body 101 and an X2 horizontal slide 112 at a first exemplary position with respect to the X1 horizontal slide 111.
  • FIG 7 1 is a schematic side view of the automation device 100.
  • FIG 3 in a second exemplary position of the X0, X1 and X2 horizontal slides 109, 111, 112 in relation to the base body 101 and in comparison to the first position in 6 shown.
  • 6 and 7 are each intended to give an example of the linear movement along the XO movement axis, the X1 movement axis and the X2 movement axis. Any horizontally aligned position in the tool space 9 can thus be reached by the workpiece 12 .
  • In 8 1 is a schematic perspective view from above of the left and right Y horizontal slides 115L, 115R in an exemplary first position.
  • the two horizontal Y slides 115L, 115R move on the left Y-support beam 117L and the right Y-support beam 117R, respectively, and thus the gripping means 119L, 119R away from or towards the X1-axis body 113 with the X1 movement axis X1.
  • a neutral position of the two Y horizontal slides 115L, 115R is shown.
  • FIG. 9 is a schematic perspective side view diagonally from above of the two horizontal Y slides 115L, 115R in a second exemplary position, that is, in a position shifted to the right in the direction of the arrow.
  • FIG. 10 1 is a schematic, perspective side view of the automation device 100 according to the present invention in a first exemplary position with respect to the A-orientation axis A.
  • FIG. A rotational movement of the X1 axle body 113 in the negative direction A is indicated by an arrow.
  • FIG. 12 is a schematic side perspective view of the automation device 100.
  • FIG 10 in a second position with respect to the A-orientation axis A. Movement in direction A positive is indicated by an arrow. 10 thus shows an example of a rotary movement of the X1 axle body 113 to the left, while 10 shows, for example, a rotary movement of the X1 axle body 113 to the right.
  • FIG. 12 12 is a schematic perspective side view of the automation device 10 in a first position with respect to a B-orientation axis B.
  • a rotational movement of the Y-support beam 117L, 117R in direction B positive is indicated by an arrow.
  • the positive direction B is therefore tilted towards the viewer.
  • FIG. 12 is a schematic perspective view of the automation device 100.
  • FIG 10 in a second position in relation to the B orientation axis B.
  • a rotational movement of the Y-support beam 117L, 117R in the negative direction B is also indicated here by an arrow.
  • the second position in direction B negative is tilted backwards away from the viewer.
  • FIG. 12 is a schematic perspective view of the automation device 100.
  • FIG 10 wherein the position of the Y-beam 117L and the position of the Y-beam 117R with respect to the B-orientation axis B are different or opposite.
  • the controller of the automation device 100 allows the left Y-beam 117L and the right Y-beam 117R to be driven independently, for example in opposite directions about the (respective) B-orientation axis B.
  • the positions are in 14 i.e. left B negative and right B positive.
  • FIG. 15 is a schematic detailed view of a drive device 200 for a movement along the Y movement axis Y and a movement about the B orientation axis B and a movement about the A orientation axis A.
  • the drive device 200 is located in the area of the base body 101, essentially below the Z - axis of movement Z.
  • the drive device 200 comprises a left drive 200L and a right drive 200R, which can comprise one or more drive motors.
  • the drive mechanisms on the left and on the right are identical, so the drive system below is essentially based on the left drive side is described. The description also applies to the right drive side. Reference is made to the right-hand drive side only in individual cases, where this is necessary for the sake of clarity.
  • the drive device 200 on the left drive side includes a bearing 201 for rotating the X1 axle body 113 about the A orientation axis A, a B drive 203L for rotating the Y support beam 117L about the B orientation axis B and a Y drive 205L for moving the Y horizontal slide 115L along the B movement axis B.
  • the A drive 202 is indicated, which pivots the drive unit 200 about the bearing 201 with the aid of a spindle.
  • the B driver 203L is arranged above the Y driver 205L in a space below the Z movement axis Z of the main body 101 .
  • the B-drive 203L and the Y-drive 205L are oriented transverse to the X1 movement axis X1 and each have a B- and Y-drive towards the viewer.
  • the B drive shaft 209L of the B drive 203L protrudes spatially somewhat further towards the viewer than the underlying drive shaft 211L of the Y drive 205L.
  • B and Y pulleys 213L, 215L are disposed at the projecting free ends of the drive shafts 209L and 211L, respectively.
  • the foregoing driving means 200 rotates the B and Y pulleys 213L, 215L, respectively.
  • a Y drive belt 217L passes around the lower pulley 215L and over two Y idler pulleys 218L along the left side of the X1 axle beam 113, parallel to the X1 axis of motion X1.
  • a B drive belt 219L runs parallel to the Y drive belt 217L and thus to the X1 movement axis X1 via B pulleys 221L.
  • 16 1 shows in detail the running of the Y drive belt 217L and the B drive belt 219L parallel to the X1 movement axis X1 at one end of the X1 axis body 113.
  • a large B pulley 223L around which the B drive belt 219L is wound and a large Y pulley 225L around which the Y drive belt 217L is wound.
  • Also at the opposite end of the X1 axle beam 113 are large Y and B pulleys (not shown) so that the drive belts form an upper run and a return run, respectively.
  • the lower run of the two B and Y drive belts 219L, 217L is guided around a B drive wheel 227L and a Y drive wheel 229L and then runs at the opposite rear end of the X1 axle beam 113 around the respective large pulley there (not shown ) back to the pulleys 215L or 213L drive device.
  • the system is in 16 described for the left side, but also applies to the right drive side.
  • the rotational movement of the Y-support beam 117L around the B-orientation axis B is indicated with an arrow.
  • the gripping device 119L moves along the Y support beam 117L depending on the control of the Y drive 205L.
  • 17 12 is a schematic front view of the left Y support beam 117L with the left Y horizontal slide 115L.
  • the Y drive wheel 229L drives a Y screw 231L for movement along the Y movement axis Y, to which the Y horizontal slide 115L is attached via a screw nut 233L.
  • the gripping device 119L with a workpiece 12 can also be seen on the Y horizontal slide 115L.
  • the B drive wheel 227L for movement about the B orientation axis B is part of a hollow shaft transmission 235L which converts the rotational movement of the B drive wheel 227L into an in 16 rotation of the Y-support beam 117L shown by the arrow. This technology is also identical on the right drive side.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Claims (9)

  1. Dispositif d'automation (100), pourvu d'un corps de base (101) comprenant une pluralité de chariots (105 ; 109 ; 111 ; 115L ; 115R), qui par l'intermédiaire d'une multiplicité d'axes de déplacement (X0 ; X1 ; X2 ; Y ; Z) et d'axes d'orientation (A ; B ; C) sont déplaçables sur le corps de base (101) par l'intermédiaire d'un système de commande, pour déplacer automatiquement au moins une pièce à usiner (12) d'un premier lieu vers un deuxième lieu différent du premier lieu, la multiplicité de chariots (105; 109 ; 111 ; 115L ; 115R) comprenant au moins un chariot horizontal X1 (111) et un chariot horizontal X2 (112), qui sont déplaçables chacun de manière télescopique le long d'un axe de déplacement X1 ou X2 (X1 ; X2) et l'au moins un chariot horizontal X1 (111) étant guidé sur un corps d'axe X1 (113) et pourvu d'un système d'entraînement (200) qui comprend un entraînement A (201) pour la rotation du corps d'axe X1 (113) autour d'un axe d'orientation A (A) et un entraînement B (203L) pour la rotation autour d'un axe d'orientation B (B),
    caractérisé en ce que le système d'entraînement (200) avec l'entraînement A (201) et l'entraînement B (203L) est placé dans le corps de base (101), en-dessous d'un axe de déplacement Z (Z).
  2. Dispositif d'automation selon la revendication 1,
    caractérisé
    en ce que l'au moins un chariot horizontal X1 (111) et un chariot horizontal X2 (112) sont reliés en étant déplaçables de manière télescopique le long de l'axe de déplacement X1 et X2 (X1 ; X2).
  3. Dispositif d'automation selon la revendication 1,
    caractérisé
    en ce que le système d'entraînement (200) comprend un entraînement Y (205L) pour le déplacement le long de l'axe de déplacement B (B) et est placé dans le corps de base (101) en-dessous de l'axe de déplacement Z (Z).
  4. Dispositif d'automation selon l'une quelconque des revendications 1 à 3,
    caractérisé
    en ce que l'au moins un chariot horizontal X1 (111) est logé en étant mobile sur le corps de base (101).
  5. Dispositif d'automation selon la revendication 4,
    caractérisé
    en ce que l'au moins un chariot horizontal X2 (112) comporte au moins une poutre porteuse Y (117L ; 117R) le long de l'axe de déplacement Y (Y) et la multiplicité de chariots (105 ; 109 ; 111 ; 115L ; 115R) comprend au moins un chariot horizontal Y (115L ; 115Y), qui est déplaçable le long de l'axe de déplacement Y (Y) de l'au moins une poutre porteuse Y (117L ; 117R).
  6. Dispositif d'automation selon la revendication 5,
    caractérisé
    en ce que l'au moins un chariot horizontal X2 (112) comporte une poutre porteuse Y gauche (117L) et une poutre porteuse droite (117R) avec chacune l'un des axes de déplacement Y (Y), sur lesquelles
    respectivement un chariot horizontal gauche ou droit (115L ; 115R) est déplaçable le long de l'axe de déplacement Y (Y) respectif.
  7. Dispositif d'automation selon la revendication 6,
    caractérisé
    en ce que l'au moins un entraînement Y (205L) entraîne l'au moins un chariot horizontal Y (115L) indépendamment du chariot horizontal Y droit (115R).
  8. Dispositif d'automation selon la revendication 6 ou 7,
    caractérisé
    en ce que l'au moins un entraînement B (203L) entraîne le chariot horizontal gauche Y (115L) indépendamment du chariot horizontal Y droit (115R).
  9. Agencement d'un dispositif d'automation présentant les caractéristiques de l'une quelconque des revendications 1 à 8 dans une ligne de presses (1) entre un premier segment d'usinage (3) et un deuxième segment d'usinage (5), doté d'un espace d'outils (9) entre le premier segment d'usinage (3) et le deuxième segment d'usinage (5), dans lequel une pièce à usiner (12) est transférée par le dispositif d'automation (100) du premier segment d'usinage (3) pour l'usinage ultérieur vers le deuxième segment d'usinage (5) et doté d'un système d'entraînement (200) qui comprend un entraînement A (201), un entraînement B (203L ; 203R) et un entraînement Y (205L ; 205R)
    caractérisé
    en ce que l'entraînement A (201), l'entraînement B (203L ; 203R) et l'entraînement Y (205L ; 205R) sont placés dans le corps de base (101) en-dessous de l'axe de déplacement Z (Z) et à l'extérieur de l'espace d'outils (9).
EP19000169.3A 2019-04-05 2019-04-05 Appareil d'automatisation Active EP3718659B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP19000169.3A EP3718659B1 (fr) 2019-04-05 2019-04-05 Appareil d'automatisation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19000169.3A EP3718659B1 (fr) 2019-04-05 2019-04-05 Appareil d'automatisation

Publications (2)

Publication Number Publication Date
EP3718659A1 EP3718659A1 (fr) 2020-10-07
EP3718659B1 true EP3718659B1 (fr) 2022-11-23

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Family Applications (1)

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EP (1) EP3718659B1 (fr)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0693334B1 (fr) * 1994-06-16 1999-11-10 Müller Weingarten AG Système de transport
DE19801731A1 (de) * 1998-01-19 1999-07-22 Mueller Weingarten Maschf Transporteinrichtung
DE10158194A1 (de) * 2001-11-28 2003-06-18 Mueller Weingarten Maschf Vorrichtung zum Transport von Formteilen
JP2010046706A (ja) * 2008-08-25 2010-03-04 Ihi Corp ワーク搬送装置
DE202009015682U1 (de) 2009-12-01 2011-04-14 Kuka Systems Gmbh Transporteinrichtung
WO2011076249A1 (fr) * 2009-12-21 2011-06-30 Wilfried Strothmann Gmbh Maschinenbau Und Handhabungstechnik Robot
DE102013010804A1 (de) 2013-06-30 2014-12-31 Hagel Automation Gmbh Vorrichtung und Verfahren zum Transferieren eines Bauteils und Werkzeugsystem
JP2016036880A (ja) * 2014-08-08 2016-03-22 村田機械株式会社 ワーク搬送装置及び工作機械

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