JPH0117817B2 - - Google Patents
Info
- Publication number
- JPH0117817B2 JPH0117817B2 JP58208002A JP20800283A JPH0117817B2 JP H0117817 B2 JPH0117817 B2 JP H0117817B2 JP 58208002 A JP58208002 A JP 58208002A JP 20800283 A JP20800283 A JP 20800283A JP H0117817 B2 JPH0117817 B2 JP H0117817B2
- Authority
- JP
- Japan
- Prior art keywords
- finger
- chuck
- arm
- workpiece
- fingers
- 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.)
- Expired
Links
- 238000013461 design Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Feeding Of Workpieces (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
- Automatic Assembly (AREA)
Description
【発明の詳細な説明】 〔技術分野〕 この発明はチヤツク装置に関するものである。[Detailed description of the invention] 〔Technical field〕 This invention relates to a chuck device.
チヤツク装置は、製品の自動組立等の移送手段
において利用されている。従来、ワークを把持す
る一対のフインガのうち、一方のみを駆動するも
のがあつた。しかし、第１図および第２図のよう
にワーク１に対するチヤツク装置２の位置合せに
おいて非常に高精度を要求されるという欠点があ
つた。すなわち、ワーク１に対してフインガ３，
４が第１図の左に寄りすぎるとパレツト５の側面
５ａと可動側フインガ４でチヤツクすることにな
るため、チヤツク装置２を上昇させるとワーク１
が落下する。またチヤツク装置２がワーク１に対
し右側に寄りすぎると、降下時に固定側フインガ
３がワーク１に当る。
Chuck devices are used in transfer means for automatic product assembly and the like. Conventionally, there have been devices in which only one of a pair of fingers that grips a workpiece is driven. However, as shown in FIGS. 1 and 2, there is a drawback that very high precision is required in positioning the chuck device 2 with respect to the workpiece 1. In other words, for workpiece 1, finger 3,
If the chuck 4 is too far to the left in FIG.
falls. Furthermore, if the chuck device 2 is too far to the right with respect to the workpiece 1, the fixed side finger 3 will hit the workpiece 1 when descending.
そこで、一対のフインガを駆動するようにした
従来例として、一対のシリンダで一対のフインガ
を同時にピストン駆動するものがあつた（たとえ
ば実公昭50−31580号）が、一対のフインガの動
作が不均一となる欠点があつた。 Therefore, as a conventional example of driving a pair of fingers, there was a piston drive for a pair of fingers at the same time using a pair of cylinders (for example, Utility Model Publication No. 31580/1973), but the movement of the pair of fingers was uneven. There was a drawback.
一方、一対のフインガを均一に動作させること
ができる従来例を第３図ないし第５図に示す。す
なわち、チヤツク本体６の一端にフインガ７の中
間部を軸９により軸支し、チヤツク本体６に設け
たエアーシリンダ装置１１のピストン１２の先端
をフインガ７の後端の駆動部８に対向し、駆動部
８をばね１３でピストン１２に押圧する。またチ
ヤツク本体６の他端にフインガ１４の端部を軸１
０により軸支し、前記駆動部８の軸１５とフイン
ガ１４の中間部の軸１６をアーム１７で連結して
いる。シリンダ装置１１にエアーを注入してピス
トン１２を押出すとフインガ７が矢印の方向に動
き、同時にアーム１７が矢印の方向に動くため、
フインガ１４が矢印の方向に動き、したがつてワ
ーク１８を把持することとなる。 On the other hand, a conventional example in which a pair of fingers can be operated uniformly is shown in FIGS. 3 to 5. That is, the middle part of the finger 7 is pivotally supported at one end of the chuck body 6 by a shaft 9, and the tip of the piston 12 of the air cylinder device 11 provided in the chuck body 6 is opposed to the driving part 8 at the rear end of the finger 7. The drive unit 8 is pressed against the piston 12 by a spring 13. Also, attach the end of the finger 14 to the other end of the chuck body 6 on the shaft 1.
The shaft 15 of the drive section 8 and the shaft 16 at the intermediate portion of the finger 14 are connected by an arm 17. When air is injected into the cylinder device 11 and the piston 12 is pushed out, the finger 7 moves in the direction of the arrow, and at the same time the arm 17 moves in the direction of the arrow.
The fingers 14 move in the direction of the arrow, thus gripping the workpiece 18.
しかし、このチヤツク装置は、両フインガ７，
１４の作用点７ａ，１４ａの移動量を均一にする
ためには、第５図のようにレバー比l1，l2，l1′，
l2′の設計より、支点位置９、原動軸力点１５、従
動軸力点１６、フインガ作用点７ａ，１４ａの関
係がおのずから決まつてきて寸法が固定される。
しかも連結用アーム１７がチヤツク本体６より下
方へ突出しワーク１８をチヤツクする領域にはみ
出しているので、チヤツク作業時に他の部品およ
び機構に当りチヤツクが阻害される。さらに、こ
れを防止しようとすると大形化するという欠点が
ある。 However, this chuck device has both fingers 7,
In order to equalize the movement amount of the points of action 7a and 14a of 14, the lever ratios l 1 , l 2 , l 1 ',
Due to the design of l2 ', the relationship among the fulcrum position 9, driving shaft force point 15, driven shaft force point 16, and finger application points 7a and 14a is automatically determined and the dimensions are fixed.
Moreover, since the connecting arm 17 protrudes downward from the chuck body 6 and protrudes into the region where the workpiece 18 is chucked, the chuck is obstructed by hitting other parts and mechanisms during the chuck operation. Furthermore, attempts to prevent this have the disadvantage of increasing the size.
したがつて、この発明の目的は、一対のフイン
ガの動作を均一にできるとともに設計が容易でワ
ークチヤツク動作を阻害せずしかも小形化を図る
ことができるチヤツク装置を提供することであ
る。
SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a chuck device that can uniformly operate a pair of fingers, is easy to design, does not hinder work chuck operation, and can be made smaller.
この発明は、原動手段を有するチヤツク本体
と、このチヤツク本体に中間部が軸支された第１
のフインガと、前記第１のフインガに対向して前
記チヤツク本体に中間部が軸支されるとともに回
動用の係合部を前記中間部に有する第２のフイン
ガと、前記第１のフインガおよび第２のフインガ
の後端側間に張設されて相互に引き寄せるととも
に前記第１のフインガの後端側を前記原動手段に
押付けるスプリングと、前記第２のフインガの前
記第１のフインガ側で前記チヤツク本体に中間部
が軸支されるとともに前記係合部に係合して回動
することにより前記第２のフインガを回動させる
被係合部を前記中間部に有する補助駆動体と、前
記第１のフインガの後端側と前記補助駆動体とを
連結して前記補助駆動体を前記第１のフインガと
同方向に回動させるアームとを備えたものであ
る。
This invention includes a chuck body having a driving means, and a first chuck body having an intermediate portion pivotally supported by the chuck body.
a second finger whose intermediate portion is pivotally supported by the chuck body opposite to the first finger and has an engaging portion for rotation in the intermediate portion; a spring stretched between the rear end sides of the two fingers to draw them together and press the rear end side of the first finger against the driving means; an auxiliary drive body having an engaged part in the intermediate part, the intermediate part of which is pivotally supported by the chuck body, and which rotates the second finger by engaging with the engaging part and rotating; The device includes an arm that connects the rear end side of the first finger and the auxiliary drive body and rotates the auxiliary drive body in the same direction as the first finger.
この発明の構成によれば、第１のフインガは原
動手段の作動により動作し、第１のフインガの動
作に連動してアームを介して補助駆動体が動作
し、補助駆動体の動作により係合部および被係合
部を介して第２のフインガが動作する。このよう
に第１のフインガにアームを介して連結された補
助駆動体により第２のフインガを作動するため、
従来例と比較して第１のフインガと第２のフイン
ガの動作を均一にすることができるとともに設計
容易になり、また従来のようにアームがワーク側
にはみ出すことがないので小型にできしかもチヤ
ツク作業を阻害することがなく確実にチヤツクす
ることができる。 According to the configuration of the present invention, the first finger is operated by the operation of the driving means, the auxiliary drive body is operated via the arm in conjunction with the operation of the first finger, and the engagement is caused by the operation of the auxiliary drive body. The second finger operates via the portion and the engaged portion. In this way, in order to operate the second finger by the auxiliary drive body connected to the first finger via the arm,
Compared to the conventional example, the movement of the first finger and the second finger can be made uniform, and the design is easier. Also, unlike the conventional example, the arm does not protrude toward the workpiece, so it can be made smaller, and the chuck can be made smaller. This allows you to check reliably without interfering with your work.
この発明の第１の実施例を第６図ないし第９図
に示す。すなわち、取付軸２０の先端に取付けら
れたチヤツク本体２１は原動手段であるエアーシ
リンダ装置２２を内蔵し、チヤツク本体２１の両
端の腕２３に軸２４，２５により一対のフインガ
２６，２７の中間部が軸支される。エアーシリン
ダ装置２２はピストン２８の先端が第１のフイン
ガ２６の後端部に対向し、シリンダ２９内へのエ
アー注入はエアー管３０および制御弁３１を介し
てコンプレツサ３２に接続されている。３３は制
御弁３１を制御する制御部、３４は加工上必要と
される孔３５を塞ぐ盲蓋である。フインガ２６，
２７の駆動部２６ａ，２７ａとなる後端部にそれ
ぞれ軸３６，３７が設けられ、軸３６，３７間に
引張用スプリング３８が懸架されて、フインガ２
６，２７の作用点２６ｂ，２７ｂが相互に離間す
る方向に付勢される。同時に第１のフインガ２６
の駆動部２６ａがスプリング２８の先端に当接し
支持される。一方、第２のフインガ２７はその軸
部に軸２５を回転中心とする係合部である歯部３
９を刻設してあり、この第２のフインガ２７に隣
接して補助駆動体４０が軸４１により軸支されて
いる。補助駆動体４０は軸４１を中心とする被係
合部である歯部４２を有して前記歯部３９に噛合
し、補助駆動体４０の端部の軸４３と第１のフイ
ンガ２６の軸３６とがアーム４４により連結され
ている。４５は制御弁３１の制御配線である。 A first embodiment of the invention is shown in FIGS. 6 to 9. That is, the chuck main body 21 attached to the tip of the mounting shaft 20 incorporates an air cylinder device 22 as a driving means, and the middle part of a pair of fingers 26, 27 is connected to the arms 23 at both ends of the chuck main body 21 by shafts 24, 25. is pivoted. In the air cylinder device 22, the tip of a piston 28 faces the rear end of the first finger 26, and air injection into the cylinder 29 is connected to a compressor 32 via an air pipe 30 and a control valve 31. 33 is a control unit that controls the control valve 31, and 34 is a blind lid that closes the hole 35 required for processing. finger 26,
Shafts 36 and 37 are provided at the rear end portions of the fingers 27, which become the driving parts 26a and 27a, respectively, and a tension spring 38 is suspended between the shafts 36 and 37.
The points of action 26b and 27b of 6 and 27 are urged in a direction away from each other. At the same time, the first finger 26
The driving portion 26a of the spring 28 contacts and is supported by the tip of the spring 28. On the other hand, the second finger 27 has a toothed portion 3 on its shaft portion, which is an engaging portion that rotates around the shaft 25.
9 is carved, and an auxiliary drive body 40 is pivotally supported by a shaft 41 adjacent to this second finger 27 . The auxiliary drive body 40 has a toothed part 42 which is an engaged part centered on a shaft 41 and meshes with the toothed part 39, and the shaft 43 at the end of the auxiliary drive body 40 and the shaft of the first finger 26 36 are connected by an arm 44. 45 is control wiring for the control valve 31.
第８図はワークＡのチヤツク状態である。すな
わち、フインガ２６，２７を開いた状態でチヤツ
ク装置本体２１をワークＡ上に位置し、エアーコ
ンプレツサ３２よりシリンダ２９内にエアーを送
り込み、ピストン２８を突出させる。これに伴な
いスプリング３８に抗して第１のフインガ２６の
作用点２６ｂがワークＡに接近する方向に回動す
ると同時に、アーム４４が矢印の方向に移動して
補助駆動体４０を第１のフインガ２６と同方向に
回動し、歯部３９，４２の噛合を介して第２のフ
インガ２７が矢印のように第１のフインガ２６と
反対向きに動作する。その結果、両フインガ２
６，２７でワークＡをチヤツクすることとなる。 FIG. 8 shows the chuck state of work A. That is, the chuck device main body 21 is positioned on the workpiece A with the fingers 26 and 27 open, and air is fed into the cylinder 29 from the air compressor 32 to cause the piston 28 to protrude. Accordingly, the point of action 26b of the first finger 26 rotates in the direction approaching the workpiece A against the spring 38, and at the same time, the arm 44 moves in the direction of the arrow to move the auxiliary drive body 40 to the first position. The second finger 27 rotates in the same direction as the finger 26 and moves in the opposite direction to the first finger 26 as shown by the arrow through the engagement of the teeth 39 and 42. As a result, both fingers 2
Work A will be checked at steps 6 and 27.
第９図はワークＡを放した状態であり、シリン
ダ２９内のエアーを制御弁３１により解放すると
スプリング３８の復帰作用によりピストン２８が
後退すると同時に第１のフインガ２６が復帰動作
し、これに伴ないアーム４４、補助駆動体４０お
よび第２のフインガ２７が復帰動作して、ワーク
Ａがフインガ２６，２７から離れる。 FIG. 9 shows a state in which the workpiece A is released. When the air in the cylinder 29 is released by the control valve 31, the piston 28 retreats due to the return action of the spring 38, and at the same time the first finger 26 returns. The arm 44, the auxiliary drive body 40, and the second finger 27 perform a return operation, and the workpiece A separates from the fingers 26, 27.
このように、このチヤツク装置は、一対のフイ
ンガ２６，２７が相対して移動するのでトレーに
収納されたワークＡを確実にチヤツクでき、従来
のようにアーム４４がワークＡ側に突出していな
いのでチヤツク作業を阻害することがなく、しか
も小形化することができる。さらに従来と比べて
設計容易である。またフインガ２６，２７の相互
は補助駆動体４０を介してアーム４４と歯部３
９，４２で連結されているので伝達効率が高い。
またチヤツク本体２１内にエアーシリンダ装置２
２を設けているのでさらに小形化が図れる。さら
にこのチヤツク装置はチヤツク方向をＸ−Ｙ両方
向に配設するとができる。 In this way, this chuck device can reliably chuck the workpiece A stored in the tray because the pair of fingers 26 and 27 move relative to each other, and the arm 44 does not protrude toward the workpiece A side as in the conventional case. It does not obstruct chuck work and can be made smaller. Furthermore, it is easier to design than conventional methods. Furthermore, the fingers 26 and 27 are connected to the arm 44 through the auxiliary drive body 40 and the toothed portion 3.
9 and 42, the transmission efficiency is high.
Also, an air cylinder device 2 is installed inside the chuck body 21.
2, further miniaturization can be achieved. Furthermore, this chuck device can be arranged with chuck directions in both the X and Y directions.
この発明の第２の実施例を第１０図および第１
１図に示す。すなわち、第１の実施例において、
アーム４４′を左ねじ４６を有する第１のアーム
４７と、右ねじ４８を有する第２アーム４９と、
これらを連結するナツト５０で構成し、ナツト５
０の回転方向によりアーム４４′の全長を伸縮で
きるようにしてあり、第１０図および第１１図は
ナツト５０の回転によりアーム長さP0，P1をP0
＞P1と変化させた場合である。また第１１図の
ようにフインガを傾斜させた場合、たとえば両側
面が平行な傾斜面になつているワークをフインガ
２６，２７で面保持することができ、点支持する
ことにより生ずるワークの落下がなくワークの支
持状態が安定する。その他は第１の実施例と同様
である。 A second embodiment of this invention is shown in FIGS. 10 and 1.
Shown in Figure 1. That is, in the first example,
The arm 44' includes a first arm 47 having a left-hand thread 46 and a second arm 49 having a right-hand thread 48.
Consisting of a nut 50 connecting these, the nut 5
The entire length of the arm 44' can be extended or contracted by rotating the nut 50. In FIGS. 10 and 11, the arm lengths P 0 and P 1 are changed to
>P 1 . In addition, when the fingers are tilted as shown in Fig. 11, for example, a workpiece whose both side surfaces are parallel sloped surfaces can be held by the fingers 26 and 27, and the workpiece can be prevented from falling due to point support. The supporting state of the workpiece is stabilized. The rest is the same as the first embodiment.
なお、補助駆動体４０と第２のフインガ２７の
駆動部とはゴム等のローラによる摩擦係合でもよ
い。またフインガ２６を駆動するエアーシリンダ
装置２２はこれに限らず、原動手段であればよ
い。 Note that the auxiliary drive body 40 and the drive section of the second finger 27 may be frictionally engaged with each other by a roller made of rubber or the like. Further, the air cylinder device 22 that drives the finger 26 is not limited to this, and any driving means may be used.
以上のように、この発明のチヤツク装置によれ
ば、第１のフインガにアームを介して連結された
補助駆動体により第２のフインガを作動するた
め、従来例と比較して第１のフインガと第２のフ
インガの動作を均一にすることができるとともに
設計容易になり、また従来のようにアームがワー
ク側にはみ出すことがないので小型にできしかも
チヤツク作業を阻害することなく確実にチヤツク
することができるという効果がある。
As described above, according to the chuck device of the present invention, the second finger is actuated by the auxiliary drive body connected to the first finger via the arm. To make the movement of the second finger uniform, to simplify the design, and to reduce the size of the workpiece because the arm does not protrude to the workpiece side as in the conventional case, and to chuck reliably without interfering with chuck work. It has the effect of being able to
第１図は従来例のチヤツク過程の断面図、第２
図はワークの斜視図、第３図は他の従来例の斜視
図、第４図はその断面図、第５図はそのレバー比
を説明する動作線図、第６図はこの発明の第１の
実施例の斜視図、第７図はその断面図、第８図は
チヤツク動作状態の部分断面側面図、第９図はチ
ヤツク解放状態の部分断面側面図、第１０図は第
２の実施例の部分断面側面図、第１１図はそのフ
インガピツチを変化した状態の部分断面側面図で
ある。
２１……チヤツク本体、２２……原動手段であ
るエアーシリンダ装置、２６……第１のフイン
ガ、２７……第２のフインガ、３８……スプリン
グ、３９……係合部である歯部、４２……被係合
部である歯部、４０……補助駆動体、４４……ア
ーム。
Figure 1 is a sectional view of the chuck process in the conventional example;
3 is a perspective view of another conventional example, FIG. 4 is a sectional view thereof, FIG. 5 is an operation diagram explaining the lever ratio, and FIG. 7 is a sectional view thereof, FIG. 8 is a partially sectional side view in the chuck operating state, FIG. 9 is a partially sectional side view in the chuck released state, and FIG. 10 is a second embodiment. FIG. 11 is a partially sectional side view with the finger pitch changed. 21...Chuck body, 22...Air cylinder device which is a driving means, 26...First finger, 27...Second finger, 38...Spring, 39...Tooth part which is an engaging part, 42 . . . tooth portion which is the engaged portion, 40 . . . auxiliary drive body, 44 . . . arm.
Claims (1)
ツク本体に中間部が軸支された第１のフインガ
と、前記第１のフインガに対向して前記チヤツク
本体に中間部が軸支されるとともに回動用の係合
部を前記中間部に有する第２のフインガと、前記
第１のフインガおよび第２のフインガの後端側間
に張設されて相互に引き寄せるとともに前記第１
のフインガの後端側を前記原動手段に押付けるス
プリングと、前記第２のフインガの前記第１のフ
インガ側で前記チヤツク本体に中間部が軸支され
るとともに前記係合部に係合して回動することに
より前記第２のフインガを回動させる被係合部を
前記中間部に有する補助駆動体と、前記第１のフ
インガの後端側と前記補助駆動体とを連結して前
記補助駆動体を前記第１のフインガと同方向に回
動させるアームとを備えたチヤツク装置。 ２ 前記係合部は噛合用の歯部である特許請求の
範囲第１項記載のチヤツク装置。 ３ 前記アームは伸縮可能である特許請求の範囲
第１項記載のチヤツク装置。[Scope of Claims] 1. A chuck body having a driving means, a first finger having an intermediate portion pivotally supported on the chuck body, and a first finger having an intermediate portion pivotally supported on the chuck body opposite to the first finger. and a second finger which has an engaging part for rotation in the intermediate part, and a second finger which is stretched between the rear end sides of the first finger and the second finger so as to draw each other towards each other.
a spring that presses a rear end side of the finger against the driving means, and an intermediate portion of the second finger on the first finger side is pivotally supported by the chuck body and is engaged with the engaging portion. an auxiliary drive body having an engaged part in the intermediate part that rotates the second finger by rotation; A chuck device comprising an arm that rotates a driving body in the same direction as the first finger. 2. The chuck device according to claim 1, wherein the engaging portion is a meshing tooth portion. 3. The chuck device according to claim 1, wherein the arm is extendable and retractable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20800283A JPS6099536A (en) | 1983-11-04 | 1983-11-04 | Chuck device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20800283A JPS6099536A (en) | 1983-11-04 | 1983-11-04 | Chuck device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6099536A JPS6099536A (en) | 1985-06-03 |
| JPH0117817B2 true JPH0117817B2 (en) | 1989-04-03 |
Family
ID=16549039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20800283A Granted JPS6099536A (en) | 1983-11-04 | 1983-11-04 | Chuck device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6099536A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995020434A1 (en) * | 1994-01-27 | 1995-08-03 | Engelhard Corporation | Process for recovering catalyst supports |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5031580U (en) * | 1973-07-17 | 1975-04-07 |
-
1983
- 1983-11-04 JP JP20800283A patent/JPS6099536A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5031580U (en) * | 1973-07-17 | 1975-04-07 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6099536A (en) | 1985-06-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR880005999A (en) | Tool changer | |
| JPH0117817B2 (en) | ||
| JPH0768476A (en) | Driver device | |
| KR900009043Y1 (en) | Robot hand | |
| JPS61236485A (en) | Wrist drive for robot | |
| JPS61106216A (en) | Nozzle touch mechanism | |
| JPH0783973B2 (en) | Pick and place unit | |
| JPS6436595A (en) | Variable speed control lever regulator in speed change gear for bicycle | |
| CN2148218Y (en) | Instantaneous return cam | |
| KR200189267Y1 (en) | Stretching arm for industrial robot | |
| JP2545825Y2 (en) | Head position switching device for tape recorder | |
| JPS6071447U (en) | Finger opening adjustment device in heading machine | |
| JPS6320135A (en) | Adjusting device for stroke of knockout pin | |
| JPS55114421A (en) | Reinforcing bar bending machine | |
| JPH0413067Y2 (en) | ||
| JPS5841045Y2 (en) | Tailstock | |
| KR960000946Y1 (en) | A work-piece conveying device having a rotation for a lathe | |
| JPS6333003Y2 (en) | ||
| JPH0224399Y2 (en) | ||
| SU821074A1 (en) | Lever power assembly | |
| JPS5929490A (en) | Machine for inserting electronic part for printed board | |
| JPH0125658B2 (en) | ||
| JPS5832077U (en) | Speed control device for mobile agricultural machinery | |
| JPS5911859U (en) | Yarn separation and turning device | |
| JPH0561060B2 (en) |