JPH038896B2 - - Google Patents
Info
- Publication number
- JPH038896B2 JPH038896B2 JP58237806A JP23780683A JPH038896B2 JP H038896 B2 JPH038896 B2 JP H038896B2 JP 58237806 A JP58237806 A JP 58237806A JP 23780683 A JP23780683 A JP 23780683A JP H038896 B2 JPH038896 B2 JP H038896B2
- Authority
- JP
- Japan
- Prior art keywords
- pallet
- pallets
- machine table
- rotary table
- clamper
- 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 - Lifetime
Links
- 230000003028 elevating effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- B23Q7/1426—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 with work holders not rigidly fixed to the transport devices
- B23Q7/1431—Work holder changers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
Description
【発明の詳細な説明】
＜産業上の利用分野＞
本発明は工作物を工作機械の加工位置に搬入搬
出するパレツトの交換装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a pallet changing device for carrying workpieces into and out of a processing position of a machine tool.
＜従来技術＞
マシニングセンタ等において、工作物を載せた
パレツトをマシンテーブルとパレツト支持台との
間で交換する装置として従来では、マシンテーブ
ルの前方に設けられた旋回台上に、旋回台の回転
中心の両側に２つのパレツトを支持させ、旋回台
をマシンテーブルに対し180度旋回してパレツト
を交換する旋回式と、マシンテーブルの前方に２
つのパレツトを並列支持するパレツト支持台を設
け、マシンテーブルをパレツト支持台に対し左右
移動させてパレツトを交換するシヤトル式のもの
がある。この従来のものは、何れの型式のものに
おいてもマシンテーブルより搬出されるパレツト
とマシンテーブルに搬入すべきパレツトの２つの
同時に支持する旋回台やパレツト支持台の設置ス
ペースを必要とする問題があつた。<Prior art> In a machining center, etc., as a device for exchanging pallets with workpieces placed between the machine table and the pallet support base, the rotation center of the swivel base is placed on a swivel base provided in front of the machine table. The rotating type supports two pallets on both sides of the machine table and rotates the rotating table 180 degrees relative to the machine table to exchange pallets.
There is a shuttle type machine that is equipped with a pallet support stand that supports two pallets in parallel, and that moves the machine table left and right with respect to the pallet support stand to exchange pallets. This conventional type has the problem that it requires installation space for a swivel table or a pallet support stand to simultaneously support two pallets, one being carried out from the machine table and the other pallet being carried into the machine table. Ta.
＜発明の目的＞
本発明の目的は、小さなスペースで２つのパレ
ツトを交換可能とし、上記従来の問題を解決した
ものである。<Object of the Invention> An object of the invention is to solve the above-mentioned conventional problems by making it possible to exchange two pallets in a small space.
＜発明の構成＞
本発明の特徴とする構成は、各パレツトに互い
に分離可能に係合する係合フツクをそれぞれ設
け、前記パレツトを、パレツト支持台上に引き出
した第１位置と、マシンテーブルのパレツトの係
合フツクに係合および分離する第２位置と、前記
係合フツクを介して係合したマシンテーブル上の
パレツトを一体にシフトさせつつマシンテーブル
の回転中心の両側に支持させる第３位置との間で
搬送するパレツト搬送手段を設け、前記マシンテ
ーブル上にパレツトを摺動可能に係合するクラン
パを上下動可能に設け、このクランパを前記第２
位置において上下動させて前記マシンテーブル上
およびパレツト支持台上の２つのパレツトの係合
フツクを互いに係合および分離しかつ前記第３位
置において上下動させて前記マシンテーブル上の
２つのパレツトを同時にクランプするクランパ昇
降機構を設け、前記マシンテーブル上に２つのパ
レツトが支持された状態でマシンテーブルを所要
角度回転させるテーブル回転手段を備えたもので
ある。<Configuration of the Invention> The characteristic configuration of the present invention is that each pallet is provided with an engaging hook that engages with the pallet in a separable manner, and the pallet is moved between a first position where the pallet is pulled out onto a pallet support base and a machine table. a second position in which the pallet engages and separates from the engaging hook; and a third position in which the pallets on the machine table that are engaged through the engaging hook are shifted together and supported on both sides of the rotation center of the machine table. A pallet conveying means is provided for conveying the pallet between the machine table and the pallet, and a clamper that slidably engages the pallet on the machine table is provided so as to be movable up and down, and this clamper is connected to the second machine table.
position to engage and separate the engaging hooks of the two pallets on the machine table and pallet support from each other, and move up and down in the third position to simultaneously engage and separate the two pallets on the machine table. A clamper elevating mechanism for clamping is provided, and a table rotation means is provided for rotating the machine table by a required angle with the two pallets supported on the machine table.
＜実施例＞
以下本発明の実施例を図面に基いて説明する。
第１図及び第２図において、１は工作機械のベツ
ド２は前記ベツド１上に摺動自在に載置されてい
るスライドテーブルである。このスライドテーブ
ル２上には回転テーブル３が設けられ、テーブル
割出しモータ４によつて回転割出し可能となつて
いる。<Examples> Examples of the present invention will be described below based on the drawings.
In FIGS. 1 and 2, a bed 2 of a machine tool 1 is a slide table slidably placed on the bed 1. As shown in FIG. A rotary table 3 is provided on the slide table 2, and can be rotated and indexed by a table indexing motor 4.
前記回転テーブル３の上面には図略のシリンダ
装置によつて上下動可能でパレツトを摺動可能に
係合するクランパ５が設けられており、回転テー
ブル３上に搬入されたパレツト８ａ（又は８ｂ）
を回転テーブル３上にクランプすると共に、パレ
ツト８ａ（又は８ｂ）を所要量だけ回転テーブル
３上よりリフトアツプするよう設けられている。
また、回転テーブル３上にはパレツト８ａ（又は
８ｂ）の下面が当接する基準シート６とパレツト
８ａ（又は８ｂ）に４ケ所明けられたノツク穴１
５に係合するノツクピン７が２ケ所に突設されて
いる。 A clamper 5 is provided on the upper surface of the rotary table 3 and is movable up and down by a cylinder device (not shown) and slidably engages the pallet. )
It is provided to clamp the pallet 8a (or 8b) on the rotary table 3 and to lift up the pallet 8a (or 8b) by the required amount from the rotary table 3.
Also, on the rotary table 3 are a reference sheet 6 on which the lower surface of the pallet 8a (or 8b) comes into contact, and a notch hole 1 made at four locations in the pallet 8a (or 8b).
Knock pins 7 that engage with the screws 5 are protruded from two locations.
一方、パレツト８ａ，８ｂには、一側端に係合
フツク９が設けられ、その反対面の他側端に係合
ブロツク１０が突設されている。この係合ブロツ
ク１０の下面には、第５図に示すように、回転テ
ーブル３上に２つのパレツト８ａ，８ｂを回転テ
ーブル３の回転中心を挾んで両側に支持した状態
における回転テーブル３の回転中心とする軌跡円
２４の円弧溝１１が設けられている。 On the other hand, the pallets 8a and 8b are provided with an engagement hook 9 at one end, and an engagement block 10 protruding from the other end of the opposite surface. As shown in FIG. 5, on the lower surface of this engagement block 10, there is shown the rotation of the rotary table 3 in a state where two pallets 8a and 8b are supported on both sides of the rotary table 3 with the center of rotation of the rotary table 3 being sandwiched between them. An arcuate groove 11 having a locus circle 24 as the center is provided.
さらに、回転テーブル３の前方には１つのパレ
ツトを支持するパレツト支持台１２が支持フレー
ム１３を介して床面上並びにベツド１に固設され
ている。このパレツト支持台１２の両側上には、
パレツト８ａ（又は８ｂ）を回転テーブル３の方
向に案内するガイドローラ１４が配設されてい
る。 Further, in front of the rotary table 3, a pallet support stand 12 for supporting one pallet is fixed to the floor surface and the bed 1 via a support frame 13. On both sides of this pallet support stand 12,
Guide rollers 14 are provided to guide the pallet 8a (or 8b) toward the rotary table 3.
前記パレツト支持台１２の側方には、回転テー
ブル３とパレツト支持台１２との間でパレツト８
ｂ，８ａを搬送し、且つ回転テーブル３上のパレ
ツト８ａをシフトさせて回転テーブル３上に２つ
のパレツト８ｂ，８ａを回転テーブル３の回転中
心の両側に支持させるパレツト搬送手段が設けら
れている。このパレツト搬送手段は第１図、第３
図で示すように、先端に前記係合ブロツク１０に
設けられている円弧溝１１に係合する係合ローラ
１７を備えた搬送アーム１６が支持フレーム１３
に固定した支持体１８に鉛直軸線回りに回転自在
に軸承されている回転軸１９に固着され、回転軸
１９の回転により水平方向に旋回するよう設けら
れている。この搬送アーム１６は、パレツト支持
台１２上のパレツト８ｂを回転テーブル３上のパ
レツト８ａと係合フツク９により連結並びに連結
を解除する位置と、連結した２つのパレツト８
ａ，８ｂを回転テーブル３の回転中心の両側に支
持するシフト位置と、前記連結並びに連結を解除
する位置で連結を解除したパレツト８ａ（又は８
ｂ）をパレツト支持台１２上に引き出した位置と
の３位置の間で搬送動作を行わせるために第４図
に示す作動装置と連結されている。すなわち、回
転軸１９に搬送アーム１６と平行に連結リンク２
０を固設し、一端をピボツト２３によつて支持フ
レーム１３に枢着したダブルシリンダ構造の搬送
用シリンダ２１のピストンロツド２２と前記連結
リンク２０とを連結した構造である。 On the side of the pallet support stand 12, a pallet 8 is placed between the rotary table 3 and the pallet support stand 12.
A pallet conveying means is provided for conveying the pallets 8b and 8a and shifting the pallet 8a on the rotary table 3 to support the two pallets 8b and 8a on the rotary table 3 on both sides of the rotation center of the rotary table 3. . This pallet conveying means is shown in Figures 1 and 3.
As shown in the figure, a transport arm 16 is attached to a support frame 13, which has an engagement roller 17 at its tip that engages with an arcuate groove 11 provided in the engagement block 10.
It is fixed to a rotating shaft 19 that is rotatably supported around a vertical axis by a support 18 fixed to the support member 18, and is provided so as to pivot in the horizontal direction by rotation of the rotating shaft 19. This transfer arm 16 has a position where the pallet 8b on the pallet support stand 12 is connected and disconnected from the pallet 8a on the rotary table 3 by the engaging hook 9, and a position where the two connected pallets 8
a and 8b are supported on both sides of the rotation center of the rotary table 3, and a position where the pallets 8a and 8b are released from the connection and the connection is released.
It is connected to an actuating device shown in FIG. 4 in order to carry out the conveyance operation between three positions, including the position in which the pallet is pulled out onto the pallet support stand 12 (b). That is, the connecting link 2 is connected to the rotating shaft 19 in parallel with the transport arm 16.
In this structure, the connecting link 20 is connected to the piston rod 22 of a conveying cylinder 21 having a double cylinder structure, in which the piston rod 21 is fixedly mounted and one end is pivotally connected to the support frame 13 by a pivot 23.
次に上記本発明装置によるパレツト交換動作に
ついて説明する。第１図において、回転テーブル
３上にあるパレツト８ａを加工済とし、パレツト
支持台１２上にあるパレツト８ｂを加工前とする
と、回転テーブル３上のパレツト８ａに載置され
た工作物の加工が完了してスライドテーブル２が
所定位置に位置決めされると、先ずパレツト支持
台１２上のパレツト８ｂを搬送アーム１６によつ
て第１図の仮想線で示す係合フツク９の連結並び
に連結を解除する位置まで前進する。次いで回転
テーブル３上のパレツト８ａをクランパ５の上昇
により第２図の仮想線で示すようにリフトアツプ
してアンクランプとする。このパレツト８ａのリ
フトアツプによつて前記位置に前進しているパレ
ツト８ｂの係合フツク９とパレツト８ａの係合フ
ツク９とが連結される。この状態で搬送アーム１
６が作動し両パレツト８ａ，８ｂを一定量シフト
する。この両パレツト８ａ，８ｂのシフトによ
り、加工前のパレツト８ｂはクランパ５上に搬入
し、両パレツト８ａ，８ｂは第５図に示すように
回転テーブル３上で回転テーブル３の回転中心の
両側に支持される。しかる後に、クランパ５を下
降させ両パレツト８ａ，８ｂのノツク穴１５にノ
ツクピン７を係合させて回転テーブル３上に位置
決めクランプする。次いで、テーブル割出しモー
タ４が作動して回転テーブル３を180度回転させ
る。この回転テーブル３の回転により、パレツト
８ｂ側の係合ブロツク１０の係合溝１１は搬送ア
ーム１６の先端の係合ローラ１７から外れ、180
度回転したところで加工済パレツト８ａ側の係合
ブロツク１０の係合溝１１が前記係合ローラ１７
に係合される。この回転テーブル３の回転後に、
再びクランパ５を上昇して両パレツト８ａ，８ｂ
をアンクランプし、搬送アーム１６によつて両パ
レツト８ａ，８ｂを連結を解除する位置まで後退
シフトさせる。これによりパレツト８ａはパレツ
ト支持台１２上に引き出され、一部が支持され
る。またパレツト８ｂは回転テーブル３上の正規
の支持位置に位置される。この状態でクランパ５
を下降してパレツト８ｂを回転テーブル３上にク
ランプすることによりパレツト８ａの係合フツク
９とパレツト８ｂの係合フツク９とは連結が解除
されるのである。その後、搬送アーム１６は原位
置まで後退旋回し、パレツト８ａを全面的にパレ
ツト支持台１２上に引き出してパレツト交換動作
が完了するものである。 Next, the pallet exchange operation by the above-mentioned apparatus of the present invention will be explained. In FIG. 1, if the pallet 8a on the rotary table 3 is considered to be processed and the pallet 8b on the pallet support base 12 is not processed, then the workpiece placed on the pallet 8a on the rotary table 3 will not be processed. When the slide table 2 is positioned at a predetermined position, the pallet 8b on the pallet support stand 12 is first connected and uncoupled by the engaging hook 9 shown by the imaginary line in FIG. 1 using the conveying arm 16. Advance to position. Next, the pallet 8a on the rotary table 3 is lifted up and unclamped as shown by the imaginary line in FIG. 2 by raising the clamper 5. This lift-up of pallet 8a connects the engaging hook 9 of pallet 8b, which has been advanced to the above-mentioned position, with the engaging hook 9 of pallet 8a. In this state, transfer arm 1
6 is activated to shift both pallets 8a and 8b by a certain amount. By this shift of both pallets 8a and 8b, the unprocessed pallet 8b is carried onto the clamper 5, and both pallets 8a and 8b are placed on the rotary table 3 on both sides of the rotation center of the rotary table 3, as shown in FIG. Supported. Thereafter, the clamper 5 is lowered and the notch pins 7 are engaged with the notch holes 15 of both pallets 8a and 8b to position and clamp them on the rotary table 3. Next, the table indexing motor 4 is operated to rotate the rotary table 3 by 180 degrees. Due to this rotation of the rotary table 3, the engagement groove 11 of the engagement block 10 on the pallet 8b side is disengaged from the engagement roller 17 at the tip of the conveyance arm 16, and the
When rotated once, the engagement groove 11 of the engagement block 10 on the processed pallet 8a side is aligned with the engagement roller 17.
is engaged with. After this rotation of the rotary table 3,
Raise the clamper 5 again to remove both pallets 8a and 8b.
is unclamped, and both pallets 8a and 8b are shifted backward by the transport arm 16 to a position where the connection is released. As a result, the pallet 8a is pulled out onto the pallet support stand 12 and partially supported. Further, the pallet 8b is positioned at a regular support position on the rotary table 3. In this state, clamper 5
By lowering the pallet 8b and clamping the pallet 8b onto the rotary table 3, the engagement hook 9 of the pallet 8a and the engagement hook 9 of the pallet 8b are released. Thereafter, the transport arm 16 swings backward to its original position, and the pallet 8a is completely pulled out onto the pallet support stand 12, thereby completing the pallet exchange operation.
＜その他の応用変形例＞
上記実施例においては、パレツトを１個だけ支
持するパレツト支持台と回転テーブルとの間でパ
レツトを交換する例について述べたが、回転テー
ブル３の前方に複数のパレツトが周回運動するパ
レツトプールを設け、回転テーブルの前方に位置
した１つのパレツトと回転テーブルの間に前記３
位置にパレツトをシフトさせるパレツト搬送手段
を設けてもよい。<Other Application Modifications> In the above embodiments, an example was described in which pallets are exchanged between a pallet support stand that supports only one pallet and a rotary table. A pallet pool that moves around is provided, and the three pallets are placed between one pallet located in front of the rotary table and the rotary table.
Pallet transport means may be provided for shifting the pallets into position.
さらに上記実施例においては、パレツト支持台
とマシンテーブルとの間におけるパレツトの搬送
およびシフトを、３位置に位置決め可能な単一の
搬送手段によつて行うようにしたが、上記の搬送
シフトを別個の搬送手段によつて行うこともでき
る。 Furthermore, in the above embodiment, the conveyance and shifting of the pallet between the pallet support stand and the machine table was carried out by a single conveyance means that can be positioned in three positions. It can also be carried out by means of conveyance means.
なお、本発明は回転割出し可能な回転テーブル
の回転を利用してパレツトの交換を行うものであ
るが、回転テーブルを持たない工作機械について
もパレツト交換用に一定角度だけ回転する回転テ
ーブルを付設すれば上記と同様なパレツトの交換
を行い得ることは勿論である。 Although the present invention uses the rotation of a rotary table that can be rotated and indexed to exchange pallets, machine tools that do not have a rotary table can also be equipped with a rotary table that rotates by a certain angle for pallet exchange. Of course, then, the same pallet exchange as described above can be performed.
＜効果＞
以上のように本発明装置によると、工作機械の
回転テーブル上に２つのパレツトを回転テーブル
の回転中心の両側に支持した状態で回転テーブル
の回転により反転してパレツト交換を行うように
したものであるから、回転テーブルの回転機構お
よびクランパの昇降機構を利用してパレツト交換
を行うことができ、従来のような回転テーブル前
方での旋回式やシヤトル式のものに比較してパレ
ツト支持台が占める所要スペースが著しく小さく
なると共に、構成部品点数の減少並びにコストの
低減が得られる。<Effects> As described above, according to the device of the present invention, when two pallets are supported on the rotary table of a machine tool on both sides of the rotation center of the rotary table, the pallets can be exchanged by being reversed by the rotation of the rotary table. Because of this, pallets can be exchanged using the rotation mechanism of the rotary table and the elevating mechanism of the clamper, and compared to conventional rotary table swivel or shuttle types, the pallet support is much easier. The space required for the stand is significantly reduced, and a reduction in the number of component parts and cost is achieved.
第１図は本発明装置の平面図、第２図は側面
図、第３図は第１図矢視図、第４図は第３図
−線断面図、第５図はパレツト交換状態を示す
平面図である。
１……ベツド、２……スライドテーブル、３…
…回転テーブル、４……テーブル割出しモータ、
５……クランパ、８ａ，８ｂ……パレツト、９…
…係合フツク、１０……係合ブロツク、１１……
係合溝、１２……パレツト支持台、１６……搬送
アーム、１７……係合ローラ、１９……回転軸、
２０……連結リンク、２１……搬送用シリンダ。
Fig. 1 is a plan view of the device of the present invention, Fig. 2 is a side view, Fig. 3 is a view taken along the arrow in Fig. 1, Fig. 4 is a sectional view taken along the line of Fig. 3, and Fig. 5 shows the pallet exchange state. FIG. 1...Bed, 2...Slide table, 3...
...Rotary table, 4...Table indexing motor,
5... Clamper, 8a, 8b... Palette, 9...
...Engagement hook, 10...Engagement block, 11...
Engagement groove, 12... Pallet support base, 16... Conveyance arm, 17... Engagement roller, 19... Rotation shaft,
20...Connection link, 21...Transportation cylinder.
Claims (1)
との間でパレツトを交換するものであつて、前記
各パレツトに互いに分離可能に係合する係合フツ
クをそれぞれ設け、前記パレツトを、パレツト支
持台上に引き出した第１位置と、前記マシンテー
ブルのパレツトの係合フツクに係合および分離す
る第２位置と、前記係合フツクを介して係合した
マシンテーブル上のパレツトを一体にシフトさせ
つつマシンテーブルの回転中心の両側に支持させ
る第３位置との間で搬送するパレツト搬送手段を
設け、前記マシンテーブル上にパレツトを摺動可
能に係合するクランパを上下動可能に設け、この
クランパを前記第２位置において上下動させて前
記マシンテーブル上およびパレツト支持台上の２
つのパレツトの係合フツクを互いに係合および分
離しかつ前記第３位置において上下動させて前記
マシンテーブル上の２つのパレツトを同時にクラ
ンプするクランパ昇降機構を設け、前記マシンテ
ーブル上に２つのパレツトが支持された状態でマ
シンテーブルを所要角度回転させるテーブル回転
手段を備えたパレツト交換手段。1 A device for exchanging pallets between a rotatable machine table and a pallet support base, wherein each of the pallets is provided with an engaging hook that engages them in a separable manner, and the pallets are placed on the pallet support base. A first position where the pallet is pulled out, a second position where the pallet on the machine table is engaged with and separated from the engaging hook, and a pallet on the machine table that is engaged through the engaging hook is shifted together while the pallet is moved on the machine table. A pallet conveying means is provided for conveying the pallet to and from a third position supported on both sides of the rotation center of the machine table, and a clamper that slidably engages the pallet is provided on the machine table so as to be movable up and down. 2 on the machine table and on the pallet support stand by moving up and down in 2 positions.
A clamper lifting mechanism is provided which engages and separates the engaging hooks of the two pallets from each other and moves them up and down in the third position to clamp the two pallets on the machine table at the same time. A pallet exchange means comprising a table rotation means for rotating a machine table through a required angle in a supported state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23780683A JPS60131146A (en) | 1983-12-19 | 1983-12-19 | Pallet changer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23780683A JPS60131146A (en) | 1983-12-19 | 1983-12-19 | Pallet changer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60131146A JPS60131146A (en) | 1985-07-12 |
| JPH038896B2 true JPH038896B2 (en) | 1991-02-07 |
Family
ID=17020683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23780683A Granted JPS60131146A (en) | 1983-12-19 | 1983-12-19 | Pallet changer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60131146A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2521692B2 (en) * | 1987-02-23 | 1996-08-07 | 株式会社 松浦機械製作所 | Pallet changer for machine tools |
| JPH0822491B2 (en) * | 1987-02-27 | 1996-03-06 | 株式会社ツガミ | Lathe that can automatically install work |
| DE4330915C1 (en) * | 1993-09-11 | 1994-09-08 | Steinel Bernhard Werkzeugmasch | Pallet changer for machine tools |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5621540A (en) * | 1979-07-27 | 1981-02-28 | Oriental Yeast Co Ltd | Modification of wheat flour dough |
-
1983
- 1983-12-19 JP JP23780683A patent/JPS60131146A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5621540A (en) * | 1979-07-27 | 1981-02-28 | Oriental Yeast Co Ltd | Modification of wheat flour dough |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60131146A (en) | 1985-07-12 |
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