JPH0516994B2 - - Google Patents
Info
- Publication number
- JPH0516994B2 JPH0516994B2 JP63267051A JP26705188A JPH0516994B2 JP H0516994 B2 JPH0516994 B2 JP H0516994B2 JP 63267051 A JP63267051 A JP 63267051A JP 26705188 A JP26705188 A JP 26705188A JP H0516994 B2 JPH0516994 B2 JP H0516994B2
- Authority
- JP
- Japan
- Prior art keywords
- connector
- board
- unit
- attached
- gun
- 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
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 7
- 239000000758 substrate Substances 0.000 description 8
- 239000000498 cooling water Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000005612 types of electricity Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/318—Supporting devices for electrode holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
- B23K9/323—Combined coupling means, e.g. gas, electricity, water or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/66—Structural association with built-in electrical component
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
［産業上の利用分野］
この発明はロボツトガンに電気、ガス、空気、
水等を供給するためのロボツト用ガンチエンジヤ
の改良に関するものである。[Detailed Description of the Invention] [Industrial Application Field] This invention provides a robot gun that uses electricity, gas, air,
This invention relates to the improvement of a robot gun chain engine for supplying water, etc.
［従来の技術］
この種の装置としては、ロボツトアーム側から
ガン側へ電気、ガス、空気、水等を供給するため
に、ロボツトアーム側に取付けられる基板とガン
側に取付けられる基板の一方にコネクタのオス部
を他方にコネクタのメス部をそれぞれ必要な数だ
け固定したものを用いるのを普通としていた（前
者）。[Prior Art] In order to supply electricity, gas, air, water, etc. from the robot arm side to the gun side, this type of device has a board attached to the robot arm side and a board attached to the gun side. It was common practice to use a connector in which the male part of the connector was fixed to the other part and the female part of the connector was fixed in the required number (the former).
また、給電装置としては、給電コネクタをユニ
ツト化して基板に取り替え自在に接続するものが
例えば特開昭59−117077号公報、実公昭58−
17752号公報等にある（後者）。 In addition, as a power supply device, devices in which a power supply connector is made into a unit and connected to a board in a replaceable manner are disclosed, for example, in Japanese Patent Application Laid-Open No. 59-117077,
It is in Publication No. 17752, etc. (the latter).
［発明が解決しようとする課題］
ところで、前者においては、ガン側の使用目的
に応じたコネクタを備えたロボツトアーム側基板
及びガン側基板をそれぞれ用意しておかねばなら
ず、そのため相当の設備費用を必要とした。また
その取り替えが面倒であつて作業能率が悪かつ
た。[Problems to be Solved by the Invention] In the former case, it is necessary to prepare a robot arm side board and a gun side board each equipped with a connector according to the intended use of the gun, which requires considerable equipment cost. required. In addition, it was troublesome to replace them, resulting in poor work efficiency.
また、後者においては、給電コネクタのユニツ
ト化は見られるが、ロボツト用ガンチエンジヤの
ような給電コネクタと共に複数種類の例えば水供
給コネクタ、空気供給コネクタ、ガス供給コネク
タ等を同一基板上に配置する場合の配慮は全くな
されていない。 In the latter case, the power supply connector is integrated into a unit, but when multiple types of power supply connectors such as water supply connectors, air supply connectors, gas supply connectors, etc. are arranged on the same board together with the power supply connector such as a robot gun chain engine. No consideration was given at all.
この発明は、従来の技術の有するこのような問
題点に鑑みてなされたものであり、その目的とす
るところは、コネクタをそれぞれユニツト化し、
該ユニツト化された各種のコネクタを基板の四隅
部に配置して、所望のコネクタを交換出来るよう
にして、安価な設備費でしかも作業能率を向上さ
せ得、且つコンパクトなロボツト用ガンチエンジ
ヤを提供しようとするものである。 This invention has been made in view of the above-mentioned problems of the conventional technology, and its purpose is to unitize each connector,
To provide a compact gun chain for a robot that can improve work efficiency at low equipment cost by arranging the various unitized connectors at the four corners of the board so that desired connectors can be replaced. That is.
［課題を解決するための手段］
上記目的を達成するため、この発明におけるガ
ンチエンジヤは、ロボツトアーム側からガン側へ
電気、ガス、空気、水等を供給するためにロボツ
トアーム側に取付けられる基板とガン側に取付け
られる基板の一方にコネクタのオス部を他方にコ
ネクタのメス部を形成して両部を結合するものに
おいて、前記両基板をそれぞれ平面視で十字状に
形成し、前記各コネクタをそれぞれユニツト化し
て平面視で各基板の四隅部に基板から突出しない
範囲で着脱自在に取付けるようにしたものであ
る。[Means for Solving the Problems] In order to achieve the above object, the gun chain engine of the present invention includes a board attached to the robot arm side for supplying electricity, gas, air, water, etc. from the robot arm side to the gun side. In a device in which a male part of the connector is formed on one side of a board to be attached to the gun side and a female part of the connector is formed on the other side, and the two parts are connected, each of the two boards is formed in a cross shape in a plan view, and each of the connectors is connected to the other board. They are each made into a unit and can be detachably attached to the four corners of each board in a plan view within a range that does not protrude from the board.
［作用］
ロボツトアーム及びガン側にそれぞれ基板を固
定した状態で、両者を近付けて基板の一方に設け
たガイドピンを他方の基板に設けたガイドピン受
けに挿入することによつて、コネクタも結合され
て電気、ガス、空気、水等を一方の基板から他方
の基板側へ出来るようになる。[Operation] With the boards fixed to the robot arm and gun side, the connectors can also be connected by bringing them closer together and inserting the guide pin provided on one board into the guide pin receiver provided on the other board. This allows electricity, gas, air, water, etc. to be transferred from one substrate to the other.
そして、ガン側の使用目的に応じて、その使用
する電気、ガス、空気、水等の容量に変更が生じ
た場合には、その変更するコネクタの属するユニ
ツトのみを基板から取り外し、所望の容量のコネ
クタを有するユニツトを前記基板に取付けるとよ
い。 If the capacity of electricity, gas, air, water, etc. to be used changes depending on the purpose of use of the gun, remove only the unit to which the changed connector belongs from the board and adjust the desired capacity. Preferably, a unit having a connector is attached to the board.
［実施例］
第１図ないし第８図を参照してこの発明の実施
例について説明する。[Example] An example of the present invention will be described with reference to FIGS. 1 to 8.
１はロボツトアーム端に固着された基板であ
り、２は溶接ガン側に固着された基板である。 1 is a board fixed to the end of the robot arm, and 2 is a board fixed to the welding gun side.
前記基板１は、中央に凹孔３を形成した円柱状
の結合部材４と該結合部材４の外周に放射状に取
付けられた取付部５，６，７，８と該取付部５，
６に取付けられたガイドピン９，１０とからなつ
ていて、平面視で十字状に形成されている。 The substrate 1 includes a cylindrical coupling member 4 with a recessed hole 3 formed in the center, mounting portions 5, 6, 7, and 8 radially attached to the outer periphery of the coupling member 4;
6 and guide pins 9 and 10 attached to the guide pin 6, and is formed in a cross shape when viewed from above.
また前記基板２は、中央に前記凹孔３に嵌合す
る突起１１を有する被結合部材１２の該被結合部
材１２外周に放射状に取付けられた取付部１３，
１４，１５，１６と該取付部１３，１４に取付け
られ前記ガイドピン９，１０が挿入されるガイド
ピン受け１７，１８とからなつていて、これもま
た平面視で十字状に形成されている。 The substrate 2 also includes attachment portions 13 radially attached to the outer periphery of the member 12 to be coupled, which has a protrusion 11 in the center that fits into the recessed hole 3;
14, 15, 16 and guide pin receivers 17, 18 that are attached to the attachment parts 13, 14 and into which the guide pins 9, 10 are inserted, and are also formed in a cross shape in plan view. .
前記基板１の四隅部である取付部５，８間、
８，６間、６，７間及び７，５間には第１図で仮
想線で示したようにコネクタのオス部がそれぞれ
ユニツト化され例えばボルト１９，２０，２１，
２２，２３，２４，２５，２６等によつて着脱自
在に該基板１から平面視で突出しない範囲で取付
けられている。 Between the mounting parts 5 and 8 which are the four corners of the board 1,
Between 8 and 6, between 6 and 7, and between 7 and 5, the male parts of the connectors are unitized as shown by imaginary lines in FIG. 1, and bolts 19, 20, 21,
22, 23, 24, 25, 26, etc., are removably attached to the substrate 1 within a range that does not protrude from the substrate 1 in plan view.
そしてユニツトは例えばコネクタ２７，２８
（内部に低電流供給用のピンを有している）ユニ
ツト２９、コネクタ３０（内部に高電流供給用の
ピンを有している）ユニツト３１、コネクタ３２
（内部にガス供給用の管を有している）ユニツト
３３、コネクタ３４，３５（内部に冷却水流通路
を有している）ユニツト３６からなつている。 And the unit is connected to connectors 27 and 28, for example.
Unit 29 (has pins for low current supply inside), connector 30 (has pins for high current supply inside) unit 31, connector 32
It consists of a unit 33 (having a gas supply pipe inside), connectors 34, 35, and a unit 36 (having a cooling water passage inside).
また前記基板２の四隅部である取付部１３，１
６間、１６，１４間、１４，１５間及び１５，１
３間には第３図で仮想線で示したようにコネクタ
のメス部がそれぞれユニツト化され例えばボルト
３７，３８，３９，４０，４１，４２，４３，４
４等によつて着脱自在に基板２から平面視で突出
しない範囲で取付けられている。 Also, the mounting parts 13 and 1 which are the four corners of the board 2
6, 16, 14, 14, 15 and 15, 1
As shown by the imaginary lines in Fig. 3, between 3 and 3, the female parts of the connectors are unitized, for example, bolts 37, 38, 39, 40, 41, 42, 43, 4.
4 or the like in a removable manner so as not to protrude from the substrate 2 in plan view.
そしてユニツトは例えばコネクタ４５，４６
（内部に低電流供給用のピンを有している）ユニ
ツト４７、コネクタ４８（内部に高電流受給用の
ピン受けを有している）ユニツト４９、コネクタ
５０（内部にガス受給用の管を有している）ユニ
ツト５１、コネクタ５２，５３（内部に冷却水流
通路を有している）ユニツト５４からなつてい
る。 And the unit is connected to connectors 45 and 46, for example.
Unit 47 (has a pin for low current supply inside), connector 48 (has a pin receiver for high current reception inside) unit 49, connector 50 (has a pipe for gas reception inside) It consists of a unit 51 (which has a cooling water flow passage inside), a unit 54 (which has a cooling water flow passage inside), and connectors 52 and 53.
そしてコネクタ２７と４５，２８と４６、３０
と４８，３２と５０，３４と５２，３５と５３が
それぞれ接続されるようになつている。 and connectors 27 and 45, 28 and 46, 30
and 48, 32 and 50, 34 and 52, and 35 and 53 are connected, respectively.
これらユニツトの一例を第５図ないし第８図で
説明すると、第５図、第６図はユニツト２９（低
電流供給用）を示し、ユニツト板５５にコネクタ
２７，２８が取付けられているとともに該板５５
には前記ボルト１９，２０を挿通する孔５６，５
７が形成されていて、ボルト１９によつて該ユニ
ツト２９は取付部８にまたボルト２０によつて取
付部５に取付けられるようになつている。なお５
８，５９はコネクタ２７に、６０，６１はコネク
タ２８にそれぞれ設けられた接続端子である。 An example of these units will be explained with reference to FIGS. 5 to 8. FIGS. 5 and 6 show a unit 29 (for low current supply), in which connectors 27 and 28 are attached to a unit plate 55. Board 55
have holes 56 and 5 through which the bolts 19 and 20 are inserted.
7 is formed so that the unit 29 can be attached to the mounting part 8 by bolts 19 and to the mounting part 5 by bolts 20. Note 5
Connection terminals 8 and 59 are provided on the connector 27, and connection terminals 60 and 61 are provided on the connector 28, respectively.
また第７図、第８図はユニツト４７（低電流受
給用）を示し、ユニツト板６２にコネクタ４５，
４６が取付けられているとともに該板６２には前
記ボルト４３，４４を挿通する孔６３，６４が形
成されていて、ボルト４３によつて該ユニツト４
７は取付部１５にまたボルト４４によつて取付部
１７に取付けられるようになつている。なお６
５，６６はコネクタ４５に、６７，６８はコネク
タ４６にそれぞれ設けられた接続端子である。 7 and 8 show the unit 47 (for receiving low current), and the connector 45 is mounted on the unit plate 62.
46 is attached to the plate 62, and holes 63, 64 are formed in the plate 62, through which the bolts 43, 44 are inserted.
7 is adapted to be attached to the attachment portion 15 and to the attachment portion 17 by a bolt 44. Note 6
Connection terminals 5 and 66 are provided on the connector 45, and connection terminals 67 and 68 are provided on the connector 46, respectively.
以上のような構成からなるこの発明のガンチエ
ンジヤは、基板１，２を接近させることによつ
て、先ずガイドピン９，１０がガイドピン受け１
７，１８に入り、これにガイドされて各コネクタ
のオス部が対応するコネクタのメス部に接合され
ると共に突起部１１が凹孔３に嵌合されて両基板
１，２は完全に接合される。これによつて、ユニ
ツト２９，４７間のコネクタには２種類の低電流
が、ユニツト３１，４９間のコネクタには高電流
が、ユニツト３３，５１間のコネクタにはガス
が、ユニツト３６，５４間のコネクタには２種類
の液体が連通される。 In the gun chain engine of the present invention having the above-described configuration, by bringing the substrates 1 and 2 close together, the guide pins 9 and 10 are first aligned with the guide pin receiver 1.
7 and 18, and guided by these, the male part of each connector is joined to the female part of the corresponding connector, and the protrusion 11 is fitted into the recessed hole 3, so that both boards 1 and 2 are completely joined. Ru. This allows two types of low current to be applied to the connector between units 29 and 47, a high current to the connector between units 31 and 49, a gas to the connector between units 33 and 51, and a gas to the connector between units 36 and 54. Two types of liquids are communicated to the connector between them.
そして、ガン側の使用目的に容量の変更があ
り、それに使用される電気、ガス、空気、水等の
内、例えば高電流を２種類使用したい場合には、
ユニツト３１，４９を取り外して、２種類の高電
流供給用のコネクタを備えたユニツトと取り替え
るとよく、その他のユニツトはそのままでよい。 If there is a change in the capacity of the gun and you want to use two types of electricity, gas, air, water, etc., for example high current,
Units 31 and 49 may be removed and replaced with units equipped with two types of high current supply connectors, and the other units may be left as they are.
［発明の効果］
この発明によれば、コネクタをそれぞれユニツ
ト化して各基板に着脱自在に取付けるようにした
ので、ガン側の使用目的に応じて、その使用する
電気、ガス、空気、水等の容量に変更が生じた場
合には、その変更するコネクタの属するユニツト
のみを基板から取り外し所望の容量のコネクタを
有するユニツトを前記基板に取付けるとよい。従
つて、基板全体を取り替える従来の技術に比して
取り替え作業が簡単であると共に交換用の部品も
少なくて済み、経済的にもコスト安となる。[Effects of the Invention] According to the present invention, each connector is made into a unit and is detachably attached to each board, so that the electricity, gas, air, water, etc. to be used can be adjusted according to the purpose of use of the gun. When a change in capacity occurs, it is preferable to remove only the unit to which the changed connector belongs from the board and attach a unit having a connector of the desired capacity to the board. Therefore, compared to the conventional technique in which the entire board is replaced, the replacement work is simpler, fewer parts are needed for replacement, and the cost is economically lower.
また、各種コネクタユニツトは十字状基板に四
隅部にそれぞれ該基板から突出しない範囲で取付
けられているので、ガンチエンジヤが略長方形に
コンパクトに形成され、ロボツトによる溶接作業
時に該ロボツトの操作を容易にすることができ
る。 In addition, since the various connector units are attached to each of the four corners of the cross-shaped board within a range that does not protrude from the board, the gun chain gear is compactly formed into an approximately rectangular shape, which facilitates the operation of the robot during welding work by the robot. be able to.
第１図はこの発明に係る一実施例のロボツト側
の基板の正面図、第２図は第１図の−断面
図、第３図はガン側の基板の正面図、第４図は第
３図の−断面図、第５図はロボツト側のコネ
クタユニツトの正面図、第６図は第５図の−
断面図、第７図はガン側のコネクタユニツトの正
面図、第８図は第７図の−断面図を示す。
１，２……基板、５，６，７，８，１３，１
４，１５，１６……取付部、２７，２８，３０，
３２，３４，３５……コネクタオス部、４５，４
６，４８，５０，５２，５３……コネクタメス
部、２９，３１，３３，３６，４７，４９，５
１，５４……コネクタユニツト。
1 is a front view of the board on the robot side of an embodiment according to the present invention, FIG. 2 is a cross-sectional view taken from FIG. 5 is a front view of the connector unit on the robot side, and FIG. 6 is a sectional view of the connector unit on the robot side.
7 is a front view of the connector unit on the gun side, and FIG. 8 is a cross-sectional view taken along the line shown in FIG. 7. 1, 2...Substrate, 5, 6, 7, 8, 13, 1
4, 15, 16...Mounting part, 27, 28, 30,
32, 34, 35... Connector male part, 45, 4
6, 48, 50, 52, 53... Connector female part, 29, 31, 33, 36, 47, 49, 5
1,54...Connector unit.
Claims (1)
空気、水等を供給するためにロボツトアーム側に
取付けられる基板とガン側に取付けられる基板の
一方にコネクタのオス部を他方にコネクタのメス
部を形成して両部を結合するものにおいて、前記
両基板をそれぞれ平面視で十字状に形成し、前記
各コネクタをそれぞれユニツト化して平面視で各
基板の四隅部に基板から突出しない範囲で着脱自
在に取付けるようにしたことを特徴とするロボツ
ト用ガンチエンジヤ。1 Electricity, gas, etc. from the robot arm side to the gun side.
In the above-mentioned device in which a male part of the connector is formed on one side of a board to be attached to the robot arm side and a board to be attached to the gun side for supplying air, water, etc., and a female part of the connector is formed on the other side. For use in a robot, wherein both boards are each formed in a cross shape when viewed from above, and each of the connectors is formed into a unit and is detachably attached to the four corners of each board as viewed from above within a range that does not protrude from the board. Ganchienjia.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63267051A JPH02116486A (en) | 1988-10-25 | 1988-10-25 | Tool changer for robot |
| US07/282,601 US5010228A (en) | 1987-12-28 | 1988-12-09 | Tool changer for welding robot |
| US07/282,626 US4917619A (en) | 1987-12-26 | 1988-12-09 | Tool changer for welding robot |
| KR1019880017078A KR920004498B1 (en) | 1987-12-26 | 1988-12-20 | Tool changer for welding robot |
| KR1019880017122A KR920004499B1 (en) | 1987-12-28 | 1988-12-21 | Tool changer for welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63267051A JPH02116486A (en) | 1988-10-25 | 1988-10-25 | Tool changer for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02116486A JPH02116486A (en) | 1990-05-01 |
| JPH0516994B2 true JPH0516994B2 (en) | 1993-03-05 |
Family
ID=17439360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63267051A Granted JPH02116486A (en) | 1987-12-26 | 1988-10-25 | Tool changer for robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02116486A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2504693Y2 (en) * | 1990-08-22 | 1996-07-10 | 小原株式会社 | Tool changer for robots |
| JP2579460Y2 (en) * | 1991-11-13 | 1998-08-27 | エスエムシー株式会社 | Hand exchange device for industrial robots |
| US5509191A (en) * | 1994-01-26 | 1996-04-23 | Best; Norman D. | Apparatus for assembling and processing small parts using a robot |
| JPH09245887A (en) * | 1996-03-07 | 1997-09-19 | Honda Motor Co Ltd | Connector and connector fixed automobile component |
| AU2002222330A1 (en) * | 2001-12-10 | 2003-06-23 | Sascha Mantovani | Machining head with electric chuck and corresponding cooling system |
| JP6434737B2 (en) * | 2014-08-01 | 2018-12-05 | ニッタ株式会社 | Automatic tool changer and port unit |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5817752U (en) * | 1981-07-28 | 1983-02-03 | 富士電機株式会社 | electromagnetic contactor |
| JPS59117077A (en) * | 1982-12-24 | 1984-07-06 | 株式会社日立製作所 | Connecting device |
-
1988
- 1988-10-25 JP JP63267051A patent/JPH02116486A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5817752U (en) * | 1981-07-28 | 1983-02-03 | 富士電機株式会社 | electromagnetic contactor |
| JPS59117077A (en) * | 1982-12-24 | 1984-07-06 | 株式会社日立製作所 | Connecting device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH02116486A (en) | 1990-05-01 |
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