JPS584337A - ワ−ク供給装置 - Google Patents

ワ−ク供給装置

Info

Publication number
JPS584337A
JPS584337A JP56100503A JP10050381A JPS584337A JP S584337 A JPS584337 A JP S584337A JP 56100503 A JP56100503 A JP 56100503A JP 10050381 A JP10050381 A JP 10050381A JP S584337 A JPS584337 A JP S584337A
Authority
JP
Japan
Prior art keywords
work
height
workpiece
robot
handle
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
JP56100503A
Other languages
English (en)
Inventor
Hajime Inaba
稲葉　肇
Nobutoshi Torii
信利 鳥居
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
Fujitsu Fanuc Ltd
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 Fanuc Corp, Fujitsu Fanuc Ltd filed Critical Fanuc Corp
Priority to JP56100503A priority Critical patent/JPS584337A/ja
Priority to EP82303016A priority patent/EP0068685A1/en
Priority to KR1019820002749A priority patent/KR840000327A/ko
Publication of JPS584337A publication Critical patent/JPS584337A/ja
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L11/00—Pulses, i.e. fruits of leguminous plants, for production of food; Products from legumes; Preparation or treatment thereof
    • A23L11/60—Drinks from legumes, e.g. lupine drinks
    • A23L11/65—Soy drinks
    • 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
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23C—DAIRY PRODUCTS, e.g. MILK, BUTTER OR CHEESE; MILK OR CHEESE SUBSTITUTES; MAKING THEREOF
    • A23C11/00—Milk substitutes, e.g. coffee whitener compositions
    • A23C11/02—Milk substitutes, e.g. coffee whitener compositions containing at least one non-milk component as source of fats or proteins
    • A23C11/10—Milk substitutes, e.g. coffee whitener compositions containing at least one non-milk component as source of fats or proteins containing or not lactose but no other milk components as source of fats, carbohydrates or proteins
    • A23C11/103—Milk substitutes, e.g. coffee whitener compositions containing at least one non-milk component as source of fats or proteins containing or not lactose but no other milk components as source of fats, carbohydrates or proteins containing only proteins from pulses, oilseeds or nuts, e.g. nut milk
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L11/00—Pulses, i.e. fruits of leguminous plants, for production of food; Products from legumes; Preparation or treatment thereof
    • A23L11/05—Mashed or comminuted pulses or legumes; Products made therefrom
    • A23L11/07—Soya beans, e.g. oil-extracted soya bean flakes
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L11/00—Pulses, i.e. fruits of leguminous plants, for production of food; Products from legumes; Preparation or treatment thereof
    • A23L11/50—Fermented pulses or legumes; Fermentation of pulses or legumes based on the addition of microorganisms
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L2/00—Non-alcoholic beverages; Dry compositions or concentrates therefor; Their preparation
    • A23L2/38—Other non-alcoholic beverages
    • A23L2/382—Other non-alcoholic beverages fermented
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L2/00—Non-alcoholic beverages; Dry compositions or concentrates therefor; Their preparation
    • A23L2/52—Adding ingredients
    • A23L2/58—Colouring agents
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L2/00—Non-alcoholic beverages; Dry compositions or concentrates therefor; Their preparation
    • A23L2/52—Adding ingredients
    • A23L2/68—Acidifying substances
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L5/00—Preparation or treatment of foods or foodstuffs, in general; Food or foodstuffs obtained thereby; Materials therefor
    • A23L5/40—Colouring or decolouring of foods
    • A23L5/42—Addition of dyes or pigments, e.g. in combination with optical brighteners
    • A23L5/43—Addition of dyes or pigments, e.g. in combination with optical brighteners using naturally occurring organic dyes or pigments, their artificial duplicates or their derivatives
    • 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
    • B23Q7/04—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 by means of grippers
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23V—INDEXING SCHEME RELATING TO FOODS, FOODSTUFFS OR NON-ALCOHOLIC BEVERAGES AND LACTIC OR PROPIONIC ACID BACTERIA USED IN FOODSTUFFS OR FOOD PREPARATION
    • A23V2002/00—Food compositions, function of food ingredients or processes for food or foodstuffs
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23V—INDEXING SCHEME RELATING TO FOODS, FOODSTUFFS OR NON-ALCOHOLIC BEVERAGES AND LACTIC OR PROPIONIC ACID BACTERIA USED IN FOODSTUFFS OR FOOD PREPARATION
    • A23V2200/00—Function of food ingredients
    • A23V2200/04—Colour
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23V—INDEXING SCHEME RELATING TO FOODS, FOODSTUFFS OR NON-ALCOHOLIC BEVERAGES AND LACTIC OR PROPIONIC ACID BACTERIA USED IN FOODSTUFFS OR FOOD PREPARATION
    • A23V2250/00—Food ingredients
    • A23V2250/02—Acid
    • A23V2250/032—Citric acid
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23V—INDEXING SCHEME RELATING TO FOODS, FOODSTUFFS OR NON-ALCOHOLIC BEVERAGES AND LACTIC OR PROPIONIC ACID BACTERIA USED IN FOODSTUFFS OR FOOD PREPARATION
    • A23V2250/00—Food ingredients
    • A23V2250/20—Natural extracts
    • A23V2250/21—Plant extracts

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。

Description

【発明の詳細な説明】 本尭−は１県用−Ｍ　ｙ　）のワーク（被工作物）―み
位置にワークを供給す、！１羨置に関すゐ。
工作機械等に用いられ石工業用藺ぎ、トにおいては、ツ
ー１把持＾Ｏ位置の調節は、縦軸の垂直方向ｓｗＩＩと
横軸Ｏ水平移動と前記縦軸又は横軸周ｅｏａ転這動とａ
Ｓ＠Ｏ這動Ｏ１ｍ合わせによル行われているが、中には
上記の縦軸の横腹方向の移動ａｔいＩ”＃ｙ）（以下高
さ方向の軸管欠如する口がットと称する・）が用いられ
ることも多い。
本発明は上記徒者の形式のＤ　ｇ　ｙ　）　％すなわち
高さ方向の軸を欠如する口Ｉットの把持具にワークを供
給する装置に関するものでありて、一定の高さに位置す
ゐＣ１ｆ　ｙ　）の把持ＪＬＫ所望のワークを簡単で安
価な装置によって正確に供給しようとするものであゐ・ 本発明の構成を図１ｆＫ示す実施例に基づいて訳―する
・ ｌはワーク供給装置の支持機枠であって、その上面にス
プロケット３，４を設け、この２つのスデーケ、）３．
４にワークを載置するノ譬しッＦ２・・・を取りつけた
／ｆしｖト移動チェーン５を掛は渡す、６はスプロケッ
ト３の軸９に固定されえ歯車、７はこれと噛み合う歯車
、８はモーター、ＩＯ＃ｉスデロケ、ト４の軸、１１．
１ｇは軸受でありてモーター８０回転が歯車７．６を経
てスプロケット３に伝えられ、ノ母しｖト移動テ、−ン
５を動かし、９−り３３をＩＩｔ置し九ノナレット２を
所定の位置まで移動させるようＫなりている＊５ｓＦｉ
ワータ供給装置支持機粋ＩＫ支持され一定位ｔＫシいて
回転Ｏ与可能でＴｏ為ように数少っけられ良す−ｒ軸で
その中央部を墳として左右のらせん溝を刻設してＩｌｌ
、むのらせんＩＩＩＫ左右のナラ）１４゜１４が優金畜
れている・左右０？ｙ）１４．１４はそれぞれ左右ａｔ
シト支持体１７．１７ＫＩｌ定畜れ、ナツト支持体１７
．１７はリンク１Ｂ、Ｉｓ−にようて機枠ＩＫｍ！着し
た上Ｉｌｌンタ取付部１・と、橡粋支持体！ＩＫＩＩ着
した下部リンク取付Ｉｌｌ・′に連Ｎｉｌれ為、９−Ｐ
軸１１０−１１１ＫＦ１角ｍ１１１１８を酸け、ζＯ角
璽郁１８にハンドル１・Ｏ角孔ＳＺＯ′ＩＪＸ嵌舎され
るようＫなりてぃゐ。
しえ＃！うて、ハンドル１９をリード軸１３に取ルクけ
て辷れを一転ずゐとリード軸１１０ｗＡ転によ）左右の
ナラ）１４．１４は互いに１＠近又は−間し、ｔ　０ｊ
ｌｌｌｉ＃　ｖｙ　Ｉ　１１　＊介し？Ｉｌ枠Ｉ　Ｋ伝
ＪＬられ、−枠金体を昇降１せることができる。２３紘
スケールてＴｏうて１Ｍ鵞Ｉｌｌに示す構成ではこれを
円弧状として一粋ＩＫ一定し、左右のリンクＩＢ、ＩＭ
Ｅ）＊ｌす１角度の便化を読み取りて機枠１ｔ）Ｉｌ＆
＠調節上調節室をはかる＠′＆かこのストルは物差し状
のものも用いゐことができ、この場合は第４図に示すよ
うにスケール２３の一端を左又は右Ｏすｙ）１４にビン
２４１にどで固定しナラ）１４．１４間の間隔を読み取
りて機枠１０高さ調節を容１とするものである。
＆Ｔｈ、２ｇは機枠支持体２１の取付けが＾トである。
會た１１は口がｖトを示し、意・は機枠支持体２１に一
体的に設けられ高さ方向に伸びゐスタンド、２７はスタ
ンド２６上に取付１られたローット本体、２８はアーム
、！９はアーム２８の旋回中心軸、３０は手賃、３１は
ハンド、３２はエアシリンダを示すｓｊ＃ｙ）！！ＩＩ
のアーム２８は図示されないエアシリンダで第２図紙１
１ｉＫ１１１方向に運動することが可能てあシ、ｔたエ
アシリンダ３意によ〉旋回軸２９を中心とし＊、旋闘這
動可能である・ｗｌット１１はアーム２８の旋回運動０
−ｙ５ｃ！終端においてハンド３１は水平位置を占めて
ワーク供給位置に到来しているパレｖト上Ｏワー１８ｍ
、を把持すゐことがてき、他方Ｏ＃Ｉ瑞において工作機
械の主軸とハンドＯＩＩみ中心とが一致すゐ位置を占め
うるように手賃機構３０にようてハンｒｓｌを一転する
ことができるものとして構成されて−る。
以上達べ大ように、本発明Ｆｉ／ｅしｙ）を支持す為機
枠１１すなわちワーク供給装置全体を手動で任意の１４
さに昇降で奮ゐものであるから、縦方向の軸を欠如す為
が九めに上下動作の不足するｗｆ、トと銀金わぜ用いれ
ば、−がットが作業物体の文論ＩＩｋもかかわらず所定
の位置でワークを把持すゐことかで亀、ｌｌ＃ツ）０作
業に支障を来Ｓｔｉもので、そａＳ作も簡単？ｈ）、−
構も簡単でありて安価ＫＩＩＩ＃Ｌ得るもＯである。
【図面の簡単な説明】
園爾は本尭−０ＳＳ例を示すものであうて、第１ＩＩｌ
はその金体の平曹閣、第意論は同情１ｍ５ｕ、第ｓａは
岡正−園、第４−＃ｉミスケール都つけｌｌ０−の実施
例を示す拡大ｌ１ＩＮ−である。 １−リーＩ倶鎗装置支持機枠、２・−ΔしＦ）、１．４
−スｆｖａケｙ）、！＄−Δし、ト移動用テ。 −ン、５ｓ−ｖ−ｙ軸、１４−ナツト、Ｉ　Ｓ−・・リ
ンク、１＠、１６’−リンク取付部、１７・・・ナツト
支持体、１８・・・角頭部、１９・・・ハンドル、２０
・・・ハンドル角孔郁、２１−・機枠支持体、２３−ス
ケール、２　Ｂ　・”　Ｉｉｌ　ｄｌ　ｙト、２ｓ・−
アーＡ、３Ｇ−・・手賃、３１・・・ハンド 特許出願人 富士通７アナ、夕株式会社 特許出願代理人 弁理士青水　艙 弁理士　頁　舘　和　之 弁層土中山巷介 弁理士　山　口　昭　之

Claims (1)

  1. 【特許請求の範囲】 １、高さ方向の軸を欠如している１１がｖトにワークを
    供給する装置において、ワーク供給装置全体を手動で昇
    降しその高さ位置を調節可能としたこと１４１１１１ｍ
    とするワーク供給装置。 ｉ　高１１位置調節機構にスケールを堆シクけた轡許請
    求ａＳＳ第１項記載のワーク供給装置。
JP56100503A 1981-06-30 1981-06-30 ワ−ク供給装置 Pending JPS584337A (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP56100503A JPS584337A (ja) 1981-06-30 1981-06-30 ワ−ク供給装置
EP82303016A EP0068685A1 (en) 1981-06-30 1982-06-11 A workpiece loading apparatus for an industrial robot
KR1019820002749A KR840000327A (ko) 1981-06-30 1982-06-21 산업용로봇을 위한 피가공물의 적재장치

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP56100503A JPS584337A (ja) 1981-06-30 1981-06-30 ワ−ク供給装置

Publications (1)

Publication Number Publication Date
JPS584337A true JPS584337A (ja) 1983-01-11

Family

ID=14275736

Family Applications (1)

Application Number Title Priority Date Filing Date
JP56100503A Pending JPS584337A (ja) 1981-06-30 1981-06-30 ワ−ク供給装置

Country Status (3)

Country Link
EP (1) EP0068685A1 (ja)
JP (1) JPS584337A (ja)
KR (1) KR840000327A (ja)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1125350B (de) * 1959-05-08 1962-03-08 Heyligenstaedt & Co Endloser Foerderer zum Zu- oder Abfuehren von Werkstuecken an Werkzeugmaschinen, insbesondere selbsttaetig arbeitenden Drehbaenken
DE2444124C3 (de) * 1974-09-14 1986-04-17 Index-Werke Kg Hahn & Tessky, 7300 Esslingen Zusatzeinrichtung zum automatischen Be- und/oder Entladen von Werkzeugmaschinen

Also Published As

Publication number Publication date
EP0068685A1 (en) 1983-01-05
KR840000327A (ko) 1984-02-18

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