JPS58143933A - Swing arm type automatic tool changer - Google Patents

Swing arm type automatic tool changer

Info

Publication number
JPS58143933A
JPS58143933A JP57026479A JP2647982A JPS58143933A JP S58143933 A JPS58143933 A JP S58143933A JP 57026479 A JP57026479 A JP 57026479A JP 2647982 A JP2647982 A JP 2647982A JP S58143933 A JPS58143933 A JP S58143933A
Authority
JP
Japan
Prior art keywords
tool
swing arm
type automatic
arm type
grip
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.)
Pending
Application number
JP57026479A
Other languages
Japanese (ja)
Inventor
Kazutomi Ishikawa
石川　量富
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.)
Mori Iron Works Co Ltd
MORI TEKKOSHO KK
Original Assignee
Mori Iron Works Co Ltd
MORI TEKKOSHO KK
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.)
Filing date
Publication date
Application filed by Mori Iron Works Co Ltd, MORI TEKKOSHO KK filed Critical Mori Iron Works Co Ltd
Priority to JP57026479A priority Critical patent/JPS58143933A/en
Publication of JPS58143933A publication Critical patent/JPS58143933A/en
Pending legal-status Critical Current

Links

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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • 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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15706—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a single tool being inserted in a spindle directly from a storage device, i.e. without using transfer devices
    • 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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q2003/15537—Linearly moving storage devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

PURPOSE:To increase the tool housing capacity while shunting a tool magazine in a large extent by oscillating the magazine between the tool changing position and the shunting position thereof while moving only a tool grip to be changed when the tool is changed. CONSTITUTION:A mounting bracket 4 is provided on a back ram 2 of a spindle 1 through a mounting block 3. An arm 5 at the tip of which a tool magazine 7 is fixed is provided on a mount bracket 4 in such a manner as to turn on a shaft A and turns between the position of changing a tool and the position of shunting it with a cylinder 11. A tool grip 10 for retaining a tool 9 is provided on a tool supporting rotary drum 8 which is indexed rotatively on the tool magazine 7 in such a manner as to be slidable axially. A lift piece moving in the axial direction of the tool 9 is provided on the tool magazine 7 and only the tool grip 10 indexed at the position B of the spindle is hooked, moved and inserted into the spindle 1.

Description

【発明の詳細な説明】 本発明は小型・高性能に集約された自動工具交換装置で
あって、工具マガジン本体をスイングアームに設置して
主軸位置とワーク不干渉領域を揺動するようにしたスイ
ングアーム型自動工具交換装置に関するものである。[Detailed Description of the Invention] The present invention is an automatic tool changer that is compact and highly efficient, and the tool magazine body is installed on a swing arm so that the main shaft position and workpiece non-interference area can be swung. This invention relates to a swing arm type automatic tool changer.

自動工具交換装置（Ａｕｔｏｍａｔｉｃ　　Ｔｏｏｌ　
Ｃｈａｎｇｅｒ。Automatic tool changer
Changer.

以下Ａ　Ｔ　Ｏと略記）は工作機械の自動化・省力化に
不可欠の装置であυ、独立した大型の工具マガジンから
主軸コラムの側面へ取付ける小型の工具マガジンに至る
種々の規模のものが開発されている。近時は小型のフラ
イヌ盤、ポール盤等にも、主軸コラム側面に２０種類程
度の工具を収容した回転ドラム型工具マガジンを備える
ようになってきているが、従来のＡＴＣの交換方式は工
具マガジン本体の平行移動とドラム全体の回転及び上下
動によって交換操作を行う方式が多い。このような移動
方式であると、機構が複雑なうえに、大きな動力を要し
、更に交換時に隣接する工具との干渉があり、密度高く
ドラム周辺に工具を配列することができないなどの欠点
がみられた。The ATO (hereinafter abbreviated as ATO) is an indispensable device for automation and labor saving of machine tools, and various sizes have been developed, ranging from large independent tool magazines to small tool magazines attached to the side of the spindle column. ing. Recently, small flywheel machines, pole machines, etc. are also equipped with a rotating drum-type tool magazine that stores about 20 types of tools on the side of the spindle column, but the conventional ATC exchange method is a tool magazine. There are many methods in which the exchange operation is performed by parallel movement of the main body and rotation and vertical movement of the entire drum. This type of movement has drawbacks such as a complex mechanism, requiring a large amount of power, interference with adjacent tools during replacement, and the inability to arrange tools around the drum due to their high density. It was seen.

本発明のＡＴＣは、工具マガジン本体の主軸位置からワ
ーク不干渉位置への移動を、平行移動型からスイング移
動型に変えたことを特徴とし、更に交換すべき工具の工
具グリップのみを工具マガジン本体から個々に移動可能
にして工具の収容能力を増し、工具交換時の相互干渉を
回避すると共に小型、省力化を図ったものである。The ATC of the present invention is characterized in that the movement of the tool magazine body from the spindle position to the workpiece non-interference position is changed from a parallel movement type to a swing movement type, and furthermore, only the tool grip of the tool to be replaced is moved to the tool magazine body. The tool is made movable individually to increase the storage capacity of tools, avoid mutual interference when exchanging tools, and achieve downsizing and labor saving.

以下、図面に基いて本装置を具体的に説明する。Hereinafter, this device will be specifically explained based on the drawings.

第１図は本装置をフライス盤に装着した正面図第２図は
同平面図である。第３図は工具マガジン本体の一部省略
平面図、第４暗は第３図Ａ−Ａ断面一部省略図である。FIG. 1 is a front view of the device mounted on a milling machine, and FIG. 2 is a plan view thereof. FIG. 3 is a partially omitted plan view of the tool magazine main body, and the fourth dark side is a partially omitted cross-sectional view taken along line AA in FIG.

第１図と第２図から明らかなように、本装置はスイング
アーム型であって、この場合は主軸（１）の背部ラム（
２）の左側面に取付ブロック（３）と取付ブラケット（
４）を設け、この取付ブラケット（４）にスイングアー
ム（５）の支点（Ａ）となるスイングアーム回動軸受（
６）が設けられている。このスイングアーム（５）の先
端に工具マガジン本体（７）が設けられ、前記スイング
アーム（５）によって、工具支持回転ドラム（８）外周
に配列された工具（９）を主軸位置（Ｂ）とラム（２）
の側面のワーク不干渉領域との間で旋回させるのである 本装置は各所に多数の工夫がなされているが、なかでも
特徴的な点は、スイングアーム（５）によって工具マガ
ジン本体を主軸位置とテーブルのＸ　−Ｙ軸方向の移動
範囲からはずれたラム（２）側面のワーク不干渉領域ま
で大きく後退させることができる点と、工具マガジン本
体（７）の構造において多数の工具グリップＱｉを個々
に独立して移動可能とし工具グリップ間隔を狭めても工
具交換時に隣接する工具との干渉なしに安全に交換可能
とした点にある。As is clear from Figures 1 and 2, this device is of a swing arm type, and in this case, the back ram (1) of the main shaft (1) is
Attach the mounting block (3) and mounting bracket (
4), and on this mounting bracket (4) a swing arm rotation bearing (
6) is provided. A tool magazine body (7) is provided at the tip of the swing arm (5), and the swing arm (5) moves the tools (9) arranged on the outer periphery of the tool support rotating drum (8) to the spindle position (B). Ram (2)
This device has many improvements in various parts, but the most distinctive feature is that the swing arm (5) allows the tool magazine body to be rotated between the main shaft and the workpiece non-interference area. The ram (2), which is out of the movement range of the table in the X-Y axis direction, can be moved back to the workpiece non-interference area on the side surface, and the structure of the tool magazine body (7) allows a large number of tool grips Qi to be individually moved. The feature is that the tool can be moved independently, and even if the interval between tool grips is narrowed, tools can be replaced safely without interference with adjacent tools.

支点（Ａ）で旋回するスイングアーム（５）の駆動は、
第２図にみられるように、スイングシリンダＱｌ）で行
うのであるが、このスイングシリンダはスイング角（α
）の始点（Ｃ）と終点（Ｄ）におけるシリンダロッドα
埠の位置が共にシリンダの同一軸芯上にあり、かつその
軸芯が支点（Ａ）に接近した位置になる取付ブラケット
（４）の後方の取付位置（Ｅ）点で支持されているので
ある。このようにすると、始点（０）すなわちシリンダ
ロッド＠の大端と、終点（Ｄ）すなわち出端とのいずれ
の位置もスイングアームの支点（Ａ）に接近しているの
でスイングアームのモーメントが小さくなって自然に減
速され、特別なブレーキを設けなくとも緩やかに止まり
旋回停止時の衝撃が緩和される作用をする。しかも、旋
回途中ではシリンダロッド先端がＡ点より離れるのでモ
ーメントが大となり強い力で工具マガジン本体（７）を
速く旋回させるので交換速度の低下にはつながらないの
である。つｔｂ、始点（（３）と終点（Ｄ）とが（Ｅ）
点と直線上に結ばれ、かつ両点で最もアーム支点（Ａ）
に接近しているから、旋回の途中は速く、そして終シは
自然に減速されて止まる理想的な動きをするのである。The drive of the swing arm (5) that pivots at the fulcrum (A) is as follows:
As shown in Fig. 2, this is done with a swing cylinder Ql), which has a swing angle (α
) at the starting point (C) and ending point (D) of the cylinder rod α
Both piers are located on the same axis of the cylinder, and are supported at the rear mounting position (E) of the mounting bracket (4), where the axis is close to the fulcrum (A). . By doing this, the starting point (0), that is, the big end of the cylinder rod @, and the ending point (D), that is, the extending end, are both close to the fulcrum (A) of the swing arm, so the moment of the swing arm is small. As a result, the vehicle is decelerated naturally and comes to a gentle stop without the need for special brakes, reducing the impact when the vehicle stops turning. Moreover, since the tip of the cylinder rod separates from point A during the rotation, the moment becomes large and the tool magazine main body (7) is rotated quickly with a strong force, so that the exchange speed does not decrease. tb, the starting point ((3) and the ending point (D) are (E)
Connected to the point on a straight line, and the arm fulcrum (A) is the closest point between both points.
Because it is close to , it moves quickly in the middle of the turn, and then naturally decelerates and stops at the end, making it ideal.

工具マガジン本体の構造は、第３図及び第４図に示すと
ころで、スイングアーム（５）下方の回転ドラム受α］
外周のベアリングαく上に工具支持回転ドラム（８）を
載置して、その外周に多数の工具ホルダーとなる工具グ
リップαｑが配置されている。The structure of the tool magazine main body is shown in Figs. 3 and 4, with the rotating drum support α below the swing arm (5).
A tool support rotary drum (8) is placed on a bearing α on the outer periphery, and tool grips αq serving as a large number of tool holders are arranged on the outer periphery.

工具支持回転ドラム（８）は内歯歯車（１７）を有し、
とれとモーター（坤の駆動歯車頭とが噛み合って回転ド
ラム受０３の外周に沿って回転する。４工具グリツプＯ
０は、従来のように工具マガジン本体（７）と一体に上
下動するのです＜、個々に独立して上下動するようにな
っている。その構造例は第４図であって、工具グリップ
に２本のガイドバーに）に）を設け、工具支持回転ドラ
ム（８）のガイドバー穴（２１１（２１１に挿通し、下
方を回転中心方向へ突出した引掛片（２）で固定したも
のである。そして、工具支持回転ドラム（８）の工具グ
リップα１が主軸位置直下のＢ点に達した際に、前記引
掛片（社）が工具交換シリンダ（２）のロッド先端に設
けた持上片（至）の溝（至）内にはまるよう、工具交換
シリンダ四を本体ペース（イ）に取付けられている１、
持上片開に挿通されたガイド（５）は持上片の回り止め
のためである。したがって、第４図右側に示すように、
主軸（１）の中心位置（Ｂ）点に達した工具グリップθ
０のみが工具支持回転ドラム（８）から上動して工具（
９ンの主軸への盾脱動作をするので、従来のマガジン全
体の動作に比べて極めて小出力のシリンダでよく、かつ
隣接する工具との干渉もないという効果が得られる。The tool support rotating drum (8) has an internal gear (17),
The handle and the drive gear head of the motor (Kon) mesh and rotate along the outer periphery of the rotating drum receiver 03.4 Tool grip O
0 moves up and down together with the tool magazine body (7) as in the past, but they move up and down individually. An example of its structure is shown in FIG. When the tool grip α1 of the tool support rotary drum (8) reaches point B directly below the spindle position, the hook piece (2) allows the tool to be replaced. The tool exchange cylinder 4 is attached to the main body pace (A) so that it fits into the groove (to) of the lifting piece (to) provided at the end of the rod of the cylinder (2).
The guide (5) inserted through the opening of the lifting piece is for preventing the lifting piece from rotating. Therefore, as shown on the right side of Figure 4,
The tool grip θ reaches the center position (B) of the spindle (1)
0 moves up from the tool support rotating drum (8) and carries the tool (
Since the shield is removed from the 9-inch main shaft, a cylinder with extremely low output is required compared to the conventional operation of the entire magazine, and there is no interference with adjacent tools.

交換すべき工具を正しく主軸位置へ停止させるについて
も特別の工夫がなされている。すなわち、従来はそのた
めに、割出し装置が設けられているが、本装置では特別
な割出し装置がなくとも簡単な機構でそれを可能とした
のである。これを、第３図及び第４図によシ説明すると
、先ず、工具グリップαｑのガイドバー（イ）（ホ）に
対する組付けをラフにして僅かな角度の首振角βだけの
遊びを設けると共にグリップ爪＠弼をスプリング片とし
ていわゆる首振ジグリップにし、次いで、回転支持ドラ
ムがラフな位置に止っても、工具グリップ０１が正しく
（Ｂ）点に合致するように本体ベース（５））側にテー
パービン四が下向きに取付けられ、工具グリップ００の
位置決め大側がこのテーパーピン（支）中へ下から進入
する構造としている。第４図右上部は、その状態を示し
ており、主軸（１）へ工具（９）が正しく挿入されてい
るのがよく理解できる。Special measures have also been taken to ensure that the tool to be replaced is stopped at the correct spindle position. In other words, conventionally, an indexing device is provided for this purpose, but this device enables this with a simple mechanism without the need for a special indexing device. To explain this with reference to FIGS. 3 and 4, first, the tool grip αq is roughly assembled to the guide bars (A) and (E) to provide a play of a small swing angle β. At the same time, the grip claw @2 is used as a spring piece to create a so-called oscillating jig grip, and then the tool grip 01 is set on the main body base (5)) side so that even if the rotating support drum is stopped in a rough position, the tool grip 01 is correctly aligned with point (B). The taper pin 4 is attached facing downward, and the large positioning side of the tool grip 00 enters into this taper pin (support) from below. The upper right part of FIG. 4 shows this state, and it can be clearly seen that the tool (9) is correctly inserted into the spindle (1).

以上詳述したように、本発明のＡＴＣ装置は従来全くみ
られないスイングアームによる旋回型とし、かつマガジ
ン本体全体を上下動させるのでなく、個々の工具ホルダ
ーグリップを上下動させるようにしたことに大きな特徴
がちυ、これらによって、ＡＴＯ装置の小型化、省エネ
ルギー化が達成でき、しかも、ワーク干渉や、切粉、切
削油による汚染がないコラムやラムの側面へ大きく後退
待機でき、小型であシながら多数の工具がストックでき
、更に簡単な機構でノントラブル、フリーメインテナン
スであるなど性能面でも優れたＡＴＣ装置となったので
ある。As detailed above, the ATC device of the present invention is of a swing type using a swing arm, which has never been seen before, and instead of moving the entire magazine body up and down, the individual tool holder grips are moved up and down. These major features make it possible to downsize the ATO device and save energy.Moreover, it is possible to retreat to the side of the column or ram where there is no interference with workpieces or contamination from chips and cutting oil, making it possible to reduce the size and energy efficiency of the ATO device. However, it has become an ATC device with excellent performance, allowing a large number of tools to be stocked, a simple mechanism, trouble-free maintenance, and so on.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本装置を直立ボール盤に装着した正面図、第２
図は同平面図である。第６図は工具マガジン本体の一部
省略平面図、第４図は第６図Ａ　−Ａ断面一部省略図で
ある。 （１）主軸　　　　　　　（２）　　ラム（５）　　ス
イングアーム （６）　　スイングアーム回動軸受 （７）工具マガジン本体　（８）工具支持回転ドラム（
９）工具　　　　　　　ａｏ　　工具グリラグ０η　ス
イングシリンダ　（６）　シリンダロッドＱ７）内歯歯
車　　　　　に）　ガイドバー（２Ｉｌ　　ガイドバー
穴　　　（支）工具交換シリンダ日　引掛片　　　　　
　（財）持上片 （Ａ）スイングアーム回動支点 （Ｂ）主軸位置 （Ｃ）スイングアーム回動始点 （Ｄ）同回動終点 （Ｅ）スイングシリンダ取付位置 （α）スイングアーム回動角 （β）工具グリップの首振角 以　　上 ９− １８Figure 1 is a front view of this device installed on an upright drilling machine;
The figure is a plan view of the same. FIG. 6 is a partially omitted plan view of the tool magazine main body, and FIG. 4 is a partially omitted cross-sectional view taken along line A-A in FIG. (1) Main shaft (2) Ram (5) Swing arm (6) Swing arm rotation bearing (7) Tool magazine body (8) Tool support rotating drum (
9) Tool ao Tool grip lag 0η Swing cylinder (6) Cylinder rod Q7) Internal gear) Guide bar (2Il Guide bar hole (support) Tool change cylinder date Hook piece
Lifting piece (A) Swing arm rotation fulcrum (B) Main shaft position (C) Swing arm rotation start point (D) Swing arm rotation end point (E) Swing cylinder mounting position (α) Swing arm rotation angle ( β) Swing angle of tool grip or more 9-18

Claims (1)

【特許請求の範囲】 １　工具支持回転ドラム外周に多数の工具グリップを個
々に移動可能に配置した工具マガジン本体を、主軸位置
（Ｂ）とワーク不干渉領域との間を支点（Ａ）で回動す
るスイングアームに設置したことを特徴とするスイング
アーム型自動工具交換装置。 ２　支点（Ａ）で回動するスイングアームはスイング角
（α）の始点（Ｃ）と終点（Ｄ）におけるシリンダロッ
ドの位置が共にシリンダの同一軸芯上にあり、かつその
軸芯が支点（Ａ）に接近した取付位置（Ｅ）点で支持さ
れたスイングシリンダで作動してなる特許請求の範囲第
１項記載のスイングアーム型自動工具交換装置。 ３　工具支持回転ドラムは内歯歯車付ドラムである特許
請求の範囲第１項記載のスイングアーム型自動工具交換
装置。 ４　工具グリップは工具支持回転ドラム外周付近のガイ
ド穴に挿通されたガイドバーに取付けられ、主軸位置（
Ｂ）点に位置した工具グリップのみ移動して工具の主軸
への着脱をするようにしてなる特許請求の範囲第１項記
載のスイングアーム型自動工具交換装置。[Claims] 1. A tool magazine body in which a large number of tool grips are movably arranged individually around the outer periphery of a tool support rotating drum is rotated around a fulcrum (A) between a spindle position (B) and a workpiece non-interference area. A swing arm type automatic tool changer characterized by being installed on a moving swing arm. 2. In the swing arm that rotates at the fulcrum (A), the positions of the cylinder rod at the start point (C) and the end point (D) of the swing angle (α) are both on the same axis of the cylinder, and the axis is on the fulcrum ( A swing arm type automatic tool changer according to claim 1, which is operated by a swing cylinder supported at a mounting position (E) close to point A). 3. The swing arm type automatic tool changer according to claim 1, wherein the tool supporting rotating drum is a drum with an internal gear. 4 The tool grip is attached to a guide bar inserted into a guide hole near the outer periphery of the tool support rotating drum, and
The swing arm type automatic tool changer according to claim 1, wherein only the tool grip located at point B) is moved to attach and detach the tool to and from the main shaft.
JP57026479A 1982-02-20 1982-02-20 Swing arm type automatic tool changer Pending JPS58143933A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP57026479A JPS58143933A (en) 1982-02-20 1982-02-20 Swing arm type automatic tool changer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP57026479A JPS58143933A (en) 1982-02-20 1982-02-20 Swing arm type automatic tool changer

Publications (1)

Publication Number Publication Date
JPS58143933A true JPS58143933A (en) 1983-08-26

Family

ID=12194629

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57026479A Pending JPS58143933A (en) 1982-02-20 1982-02-20 Swing arm type automatic tool changer

Country Status (1)

Country Link
JP (1) JPS58143933A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0860233A1 (en) * 1997-02-22 1998-08-26 Maschinenfabrik Berthold Hermle Aktiengesellschaft Tool exchanger for machine tools

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0860233A1 (en) * 1997-02-22 1998-08-26 Maschinenfabrik Berthold Hermle Aktiengesellschaft Tool exchanger for machine tools

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