JPS59166437A - Tool changing device - Google Patents
Tool changing deviceInfo
- Publication number
- JPS59166437A JPS59166437A JP58035909A JP3590983A JPS59166437A JP S59166437 A JPS59166437 A JP S59166437A JP 58035909 A JP58035909 A JP 58035909A JP 3590983 A JP3590983 A JP 3590983A JP S59166437 A JPS59166437 A JP S59166437A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- tools
- bad
- stand
- defective
- 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.)
- Granted
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
- B23Q3/15539—Plural magazines, e.g. involving tool transfer from one magazine to another
Abstract
Description
【発明の詳細な説明】
く技術分野〉
本発明は工作機械に甲いられる工具の取替装置に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a tool changing device installed in a machine tool.
〈従来技術〉
複合加ニジステムにおいては、加工する工作物の変更に
伴う専用的工具（特定の工作物の加工のみに使用される
工具）の取替えだけではなく、折損工具や使用限界工具
の取替が必要となり、これらの工具は刃具部分の交換あ
るいは刃部を研磨して再び工作機械側に供給する必要が
ある。<Prior art> In the compound machining system, it is not only necessary to replace special tools (tools used only for machining a specific workpiece) when the workpiece to be machined changes, but also to replace broken tools or tools with limited usability. It is necessary to replace the blade part or polish the blade part of these tools and then supply them to the machine tool again.
従来の工具取替装置においては、折損工具や使用限界工
具の不良工具だけを工作機械側から取外して工具貯蔵部
へ戻し新しい良工具と取替える機能がないだけでなく、
工具貯蔵部において、不良工具を他の正常な良工具と区
別して戻す機能がなく、作業看は、どの工具を取替え、
また研磨すれば良いかを知得することができず作業性が
悪い問題があった。Conventional tool changing devices not only do not have the ability to remove broken tools or defective tools that have reached their limit of use from the machine tool and return them to the tool storage section and replace them with new, good tools.
In the tool storage section, there is no function to distinguish defective tools from other good tools and return them, and the work inspector has to decide which tools to replace and which ones to replace.
In addition, there was a problem in that it was not possible to know which polishing should be performed, resulting in poor workability.
〈発明の目的〉
本発明は、上記従来の問題点に鑑み、工作機械側で自動
検出された不良工具を特定の個所に集中して戻すように
し、作業性の向上を図ったものである。<Object of the Invention> In view of the above-mentioned conventional problems, the present invention aims to improve workability by concentrating defective tools automatically detected on the machine tool side and returning them to a specific location.
〈発明の構成〉
本発明は、各種多数の工具が整列して保管され、これを
取り出し、取り入れする工具出し入れ用マニピュレータ
を備えた工具貯蔵庫と、この工具貯蔵庫に近接して不良
工具のみを収容する不良工具台とを配設し、工具搬送装
置によって良工具は工具貯蔵庫へ搬入し、不良工具は不
良工具台へ搬送するようｆｃＬ＊ものである。<Structure of the Invention> The present invention provides a tool storage in which a large number of various tools are stored in a row and is equipped with a tool loading/unloading manipulator for taking out and taking in the tools, and a tool storage that stores only defective tools in the vicinity of the tool storage. A defective tool stand is provided, and a tool conveyance device is used to transport good tools to the tool storage and to transport defective tools to the defective tool stand.
〈実施例〉 以下本発明の実施例を図面に基いて説明する。<Example> Embodiments of the present invention will be described below based on the drawings.
第１Ｉゾにおいて、ｌａ、ｌｂは床面上に並列設置され
た工作機械であり、工具マガジン２ａ 、 ２ｂと図示
省略しているが工具マガジン２ａ 、 ２ｂとスピンド
ルとの間で工具を交換する自動工具交換装置を備えてい
る。In the 1st Zo, la and lb are machine tools installed in parallel on the floor, with tool magazines 2a and 2b (not shown), but an automatic machine that exchanges tools between the tool magazines 2a and 2b and the spindle. Equipped with a tool changer.
３ａ、３ｂは工作機械１ａ ｓ ｌｂに近接して配置さ
れている工具パレット受台、４ａ 、 ４ｂは工具パレ
ット受台３ａ 、 ３ｂ上に搬入された工具パレット８
と前記工具マガジン２ａ 、 ２ｂ間で工具を取替える
ための工具取替ロボットである。3a and 3b are tool pallet holders arranged close to the machine tools 1a and 1b, and 4a and 4b are tool pallet 8s carried onto the tool pallet holders 3a and 3b.
This is a tool changing robot for changing tools between the tool magazines 2a and 2b.
５は床面に設けられている搬送経路であり、自動走行す
る搬送台車６が、この搬送経路５に従って走行移動する
。前記搬送台！６は工作物パレットを各工作機械１ａ
、 ｌｂに対し搬送し、また工具パレット８を前記工具
パレット受台３ａ ％３ｂＫ搬入する。Reference numeral 5 denotes a conveyance path provided on the floor surface, and an automatically traveling conveyance cart 6 travels along this conveyance path 5. Said transport platform! 6 is a workpiece pallet for each machine tool 1a.
, lb, and the tool pallet 8 is carried into the tool pallet holder 3a%3bK.
工具パレット受台３ａ 、３ｂ ＶＣ搬入する工具パレ
ット８は、前記搬送経路５に沿った別の位置に設置され
ている工具パレット受台７から搬送され、かつ工具パレ
ット受台７に戻される。尚工具パレット８上には工具を
保持する円板マガジン１４を有している。Tool pallet pedestals 3a, 3b The tool pallet 8 to be carried in by VC is conveyed from a tool pallet pedestal 7 installed at another position along the conveyance path 5, and returned to the tool pallet pedestal 7. A disk magazine 14 for holding tools is provided on the tool pallet 8.
本発明は、前記工具パレット受台７に近接して工具貯蔵
庫９を設けると共に、この工具貯蔵庫９Ｖｃ隣接して不
良工具のみを収容する不良工具台１５を配設する。In the present invention, a tool storage 9 is provided adjacent to the tool pallet holder 7, and a defective tool stand 15 for accommodating only defective tools is provided adjacent to the tool storage 9Vc.
工具貯蔵庫９は第２図に示すように、正真を整列して保
管する上下数段゛の棚１１と、この棚１１よシ工具を出
し入れする工具出し入れ用マニピュＬ／ −’） １０
ヲ備えている。工具マニピュレータ１０は、各段の棚１
１と対応するよう垂直支持レール１３によって上下方向
に案内され、また水平支持レール１２によって各段の棚
１１と平行して案内されている。As shown in FIG. 2, the tool storage 9 includes shelves 11 of several levels above and below for storing the originals in line, and a tool manipulator L/-') 10 for loading and unloading tools from the shelves 11.
I am prepared. The tool manipulator 10 has shelves 1 at each stage.
It is guided in the vertical direction by vertical support rails 13 so as to correspond to 1, and is guided in parallel with the shelves 11 of each stage by horizontal support rails 12.
一方、不良工具台１５に近接し、かつ前記工具パレット
受台７が配置している搬送経路５に沿った位置ＶＣ’；
ｒ：良工具受取台１７を設置し、これに不良工具中の小
形工具パレット１８が支持されるように々っている。On the other hand, a position VC' near the defective tool stand 15 and along the conveyance path 5 where the tool pallet holder 7 is arranged;
r: A good tool receiving stand 17 is installed, on which a small tool pallet 18 among defective tools is supported.
さらに、不良工具台１５と並列して新工具台１６が設置
され、刃部の再研磨もしくは刃部の取替えを完了した工
具が作業者により収納される。Furthermore, a new tool stand 16 is installed in parallel with the defective tool stand 15, and the tool whose blade part has been reground or whose blade part has been replaced is stored by the operator.
前記工具パレット受台７上の工具パレット８と工具貯蔵
庫９との間の工具の受は渡し並びに不良工具受取台１７
上の小形パレット１８から不良工具台１５への不良工具
の搬送手段としては、工具貯蔵庫９並びに不良工具台１
５と工具パレット受台７並びに不良工具受取台１７との
間の床面上を走行する工具移送用ロボッ） ２０が配置
される。The tools are received between the tool pallet 8 on the tool pallet holder 7 and the tool storage 9, and the defective tool receiving holder 17
The means for transporting defective tools from the upper small pallet 18 to the defective tool stand 15 includes the tool storage 9 and the defective tool stand 1.
A tool transfer robot 20 that runs on the floor between the tool pallet holder 7 and the defective tool holder 17 is arranged.
そして不良工具受取台１７上の小形パレット１８と不良
工具台１５との間は工具移送用ロボッ） ２０で直接不
良工具を不良工具台１５に搬送するが、工具貯蔵庫９と
工具パレット受台７上の工具パレット８との間の工具の
受は渡しには、工具貯蔵庫９の外部の床面上に設置した
反転動する工具仮受台１９を介して前記工具移送用ロボ
ット２０にて行われるようになっている。Then, between the small pallet 18 on the defective tool receiving stand 17 and the defective tool stand 15, a tool transfer robot (20) directly transfers the defective tool to the defective tool stand 15. The tools are transferred to and from the tool pallet 8 by the tool transfer robot 20 via a reversible tool temporary holder 19 installed on the floor outside the tool storage 9. It has become.
さらに、工作機械１ａ 、 １ｂ（ｌｌｌｌと工具貯蔵
庫９並びに不良工具台１５とを直接結んだ搬送手段が設
けられている。すなわち、工作機械１ａ 、 ｌｂ側と
工具貯蔵庫９側とに設置した支柱２２．２３によって床
面上方の空間に直接取替用の走行レール２１を支持し、
この走行レール２１に案内されて自動走行する直接取替
用のマニピュレータ装置２４を設ける。そして、工具貯
蔵庫９の外側壁に直接取替用仮受台２５を設けると共に
、不良工具台１５の側部には直接取替用不良工具受台２
６とマニピュレータ２７とを設けた構成である。Furthermore, a transport means is provided that directly connects the machine tools 1a, 1b (llll) to the tool storage 9 and the defective tool stand 15. That is, a support 22 installed on the machine tools 1a, 1b side and the tool storage 9 side is provided. .23 supports the replacement running rail 21 directly in the space above the floor surface,
A manipulator device 24 for direct replacement that automatically travels while being guided by the travel rail 21 is provided. A temporary holder 25 for direct replacement is provided on the outer wall of the tool storage 9, and a holder 2 for a direct replacement defective tool is provided on the side of the defective tool holder 15.
6 and a manipulator 27.
２８は上記の各種の装置等をコントロールするコンピユ
ータを示す。Reference numeral 28 indicates a computer that controls the various devices mentioned above.
上記の構成よシ々る本発明において工具の取替には搬送
台車６による場合と直接取替用のマニピュレータ装置２
４による場合との２つの方法があるが、この２つの方法
をどのように用するかは自由である。In the present invention, which is similar to the above-described structure, tools can be replaced by using a conveyor 6 or by a manipulator device 2 for direct replacement.
There are two methods, 4 and 4, and you are free to use these two methods as you wish.
そこで、それぞれの方法についての動作を説明する。搬
送台車６による場合においては、工具貯蔵庫９の工具は
工具出し入れ用マニピュレータ１０によって所要の工具
が工具仮受台１９に取り出される。これを工具移送用ロ
ボット２０Ｃよって受は取り、工具パレット受台７上の
円板マガジン１４に格納する。工具を格納した円板マガ
ジン１４は、その工具パレット８と共に搬送台車６ 上
１’（ｆｉｌＪれ、搬送台車６によって工作機械１ａ。Therefore, the operation of each method will be explained. In the case of using the carrier vehicle 6, the necessary tools from the tool storage 9 are taken out to the tool temporary holder 19 by the tool loading/unloading manipulator 10. This is picked up by the tool transfer robot 20C and stored in the disk magazine 14 on the tool pallet holder 7. The disk magazine 14 storing the tools is transferred together with the tool pallet 8 to the transport vehicle 6 1' (filJ), and the transport vehicle 6 transports the machine tool 1a.
ｌｂ側の工具パレット受台３ａ、 ３ｂに搬送されるの
である。It is transported to the tool pallet holders 3a and 3b on the lb side.
［乞搬送台車６ｖｃよって工作機械１ａ 、 ｌｂ側の
工具パレット受台３ａ、 ３ｂから工具貯蔵庫９側の工
具バレット受台７に搬送された工具）（レット８上の良
工具は工具移送用ロボット２０により工具仮受台１９に
移送され、これを工具出し入れ用マニピュレータ１０に
よって工具貯蔵庫９内の所定の棚１１に戻すのである。[Tools transported from the tool pallet pedestals 3a, 3b on the machine tool 1a, lb side to the tool pallet pedestal 7 on the tool storage 9 side by the transport vehicle 6vc] (The good tools on the pallet 8 are transferred to the tool transfer robot 20. The tool is transferred to the tool temporary holder 19, and then returned to a predetermined shelf 11 in the tool storage 9 by the tool loading/unloading manipulator 10.
一方、工作機械１ａ 、 ｌｂ側において折損あるいは
使用限界の不良工具がある場合には、搬送台Ｍ６によっ
て小形工具パレット１８を工作機械１ａ。On the other hand, if there is a broken or defective tool on the machine tool 1a or lb side, the small tool pallet 18 is transferred to the machine tool 1a using the conveyor table M6.
ｌｂ側の工具パレット受台３ａ、３ｂに搬送し、不良工
具を小形工具パレット１８に格納して搬送台車６によっ
て不良工具受取台１７に搬送する。そして、小形工具パ
レット１８に格納されている不良工具を工具移送口ボッ
）２０によって不良工具台１５に移送し、不良工具を不
良工具台１５に集中して収容するものである。The defective tools are transported to the tool pallet receivers 3a and 3b on the lb side, and the defective tools are stored in the small tool pallet 18 and transported to the defective tool receiver 17 by the conveyance truck 6. Then, the defective tools stored in the small tool pallet 18 are transferred to the defective tool stand 15 through the tool transfer port 20, and the defective tools are stored in the defective tool stand 15 in a concentrated manner.
さらに、直接取替による場合は、工具出し入れ用マニピ
ュレータ１０によって工具貯蔵庫９内の工具を直接取替
用仮受台２５に取り出す。これ。Furthermore, in the case of direct replacement, the tool in the tool storage 9 is directly taken out to the temporary holder 25 for replacement by the tool loading/unloading manipulator 10. this.
を直接取替用のマニピュレータ装置別によって杷持し、
走行レール２１に沿って直接工作機械１ａ、ｌｂ側に搬
送し、また工作機ｍｌａ、１ｂ側から良工具を直接取替
用仮受台２５１Ｃ搬送する。is held by a separate manipulator device for direct replacement,
The tool is directly transported along the running rail 21 to the machine tools 1a and 1b, and the good tool is directly transported from the machine tool mla and 1b side to the replacement temporary holder 251C.
工作機械１ａ 、 ｌｂ側における不良工具はマニピュ
レータ装置２４によって直接取替用不良工具受台２６に
搬送する。そして、これをマニピュレータ２７によって
不良工具台１５に収容するのである。Defective tools on the machine tools 1a and 1b are directly conveyed to a replacement defective tool pedestal 26 by the manipulator device 24. Then, this is accommodated in the defective tool stand 15 by the manipulator 27.
尚、不良工具の取替等により、それに代る新工具が新工
具台】６に収納されると、この新工具が新工具台１６よ
り工具移送口ボッ） ２０を介して工具貯蔵庫９内へ補
充保管される。When a new tool is stored in the new tool stand 6 due to replacement of a defective tool, the new tool is transferred from the new tool stand 16 to the tool storage 9 via the tool transfer port 20. Replenishment will be kept.
く効果〉
以上のように本発明によると、工具貯蔵庫の他に不良工
具台を並列配置し、この不良工具台に不良工具だけを集
中して工作機械側から戻して収容するため、作業者は不
良工具の判別を不要とし、工具の判別労力が著〈軽減さ
れると共に、作業性が向上する利点を有しているもので
ある。Effect> As described above, according to the present invention, a defective tool rest is arranged in parallel with the tool storage, and only the defective tools are concentrated on this defective tool rest and returned from the machine tool side to be stored. This method has the advantage that it is not necessary to identify defective tools, the labor for identifying tools is significantly reduced, and workability is improved.
第１図は本発明装置の平面図、第２図は斜視図である。
６・・・搬送台車、７・・・工具バレット受台、９０・
工具貯蔵庫、１０・―・工具出し入れ用マニピュレータ
、１５・・・不良工具台、１７−・・不良工具受取台％
２０−―・工具移送ロボット、２１・・・走行レール、
２４・幽・直接取替用のマニピュレータ装置、２６・・
・直接取替用不良工具受取台、ｎ・−・ マニピュレー
タ。FIG. 1 is a plan view of the apparatus of the present invention, and FIG. 2 is a perspective view. 6... Transport truck, 7... Tool valet holder, 90.
Tool storage, 10--manipulator for loading and unloading tools, 15--defective tool stand, 17--defective tool receiving stand%
20--Tool transfer robot, 21... Traveling rail,
24. Manipulator device for direct replacement, 26.
・Direct replacement defective tool receiver, n-manipulator.
Claims (1)
れ、工具出し入れ用マニピュレータを備えた工具貯蔵庫
と、この工具貯蔵庫に隣接して不良工具の尽を収容する
不良工具台とを配設し、良工具は工具貯蔵部へ搬入し、
不良工具は前記不良工具台へ搬送する工具搬送手段を設
けたことを特徴とする工具取替装置。A tool storage where a large number of various tools used in machine tools are arranged and stored, and is equipped with a manipulator for loading and unloading tools, and a defective tool stand adjacent to the tool storage to store defective tools, Good tools are transported to the tool storage section,
A tool changing device comprising a tool transport means for transporting a defective tool to the defective tool stand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58035909A JPS59166437A (en) | 1983-03-07 | 1983-03-07 | Tool changing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58035909A JPS59166437A (en) | 1983-03-07 | 1983-03-07 | Tool changing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59166437A true JPS59166437A (en) | 1984-09-19 |
| JPH0464818B2 JPH0464818B2 (en) | 1992-10-16 |
Family
ID=12455152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58035909A Granted JPS59166437A (en) | 1983-03-07 | 1983-03-07 | Tool changing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59166437A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6358165A (en) * | 1986-08-27 | 1988-03-12 | Shimadzu Corp | Automatic specimen introducing apparatus |
| JPS63107548U (en) * | 1986-12-26 | 1988-07-11 | ||
| EP0289834A2 (en) * | 1987-05-06 | 1988-11-09 | DÖRRIES SCHARMANN GmbH | Flexible manufacturing system with machine tools arranged in parallel with a space between them |
| US4797989A (en) * | 1987-02-05 | 1989-01-17 | Oerlikon Motch Corporation | Combination machine tool apparatus and pallet changing system |
| US6102839A (en) * | 1997-10-02 | 2000-08-15 | Pluritec Italia S.P.A. | Tool-change system for a machine tool with a number of machining heads |
| JP2004536720A (en) * | 2001-08-09 | 2004-12-09 | カー．アール．プフィフナー アクチエンゲゼルシャフト | Tool magazine |
| US20100323863A1 (en) * | 2008-02-22 | 2010-12-23 | Makino Milling Machine Co., Ltd. | Tool Magazine |
| JP2016120542A (en) * | 2014-12-24 | 2016-07-07 | ファナック株式会社 | Processing system including tool conveyance device having function for reading/writing tool information to information medium of tool by communicating with machine tool |
| US10717163B2 (en) * | 2016-01-18 | 2020-07-21 | Makino Milling Machine Co., Ltd. | Control method for machine tool, and machine tool |
| JP6775704B1 (en) * | 2020-07-28 | 2020-10-28 | Dmg森精機株式会社 | Tool setup device, control method of tool setup device, and control program of tool setup device |
| JP6793278B1 (en) * | 2020-07-28 | 2020-12-02 | Dmg森精機株式会社 | Tool transfer system, tool transfer system control method, and tool transfer system control program |
| DE102020211672A1 (en) | 2020-09-17 | 2022-03-17 | Deckel Maho Pfronten Gmbh | Central tool storage facility |
| WO2022269673A1 (en) * | 2021-06-21 | 2022-12-29 | Dmg森精機株式会社 | Tool transport system, control method, and control program |
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| JPS48102377A (en) * | 1972-03-16 | 1973-12-22 | ||
| JPS50112874A (en) * | 1974-02-18 | 1975-09-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS48102377A (en) * | 1972-03-16 | 1973-12-22 | ||
| JPS50112874A (en) * | 1974-02-18 | 1975-09-04 |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6358165A (en) * | 1986-08-27 | 1988-03-12 | Shimadzu Corp | Automatic specimen introducing apparatus |
| JPS63107548U (en) * | 1986-12-26 | 1988-07-11 | ||
| US4797989A (en) * | 1987-02-05 | 1989-01-17 | Oerlikon Motch Corporation | Combination machine tool apparatus and pallet changing system |
| EP0289834A2 (en) * | 1987-05-06 | 1988-11-09 | DÖRRIES SCHARMANN GmbH | Flexible manufacturing system with machine tools arranged in parallel with a space between them |
| US6102839A (en) * | 1997-10-02 | 2000-08-15 | Pluritec Italia S.P.A. | Tool-change system for a machine tool with a number of machining heads |
| US6371898B1 (en) | 1997-10-02 | 2002-04-16 | Pluritec Italia S.P.A. | Tool-change system for a machine tool with a number of machining heads |
| JP2004536720A (en) * | 2001-08-09 | 2004-12-09 | カー．アール．プフィフナー アクチエンゲゼルシャフト | Tool magazine |
| US8602954B2 (en) * | 2008-02-22 | 2013-12-10 | Makino Milling Machine Co., Ltd. | Tool magazine |
| US20100323863A1 (en) * | 2008-02-22 | 2010-12-23 | Makino Milling Machine Co., Ltd. | Tool Magazine |
| JP2016120542A (en) * | 2014-12-24 | 2016-07-07 | ファナック株式会社 | Processing system including tool conveyance device having function for reading/writing tool information to information medium of tool by communicating with machine tool |
| US10717163B2 (en) * | 2016-01-18 | 2020-07-21 | Makino Milling Machine Co., Ltd. | Control method for machine tool, and machine tool |
| JP6775704B1 (en) * | 2020-07-28 | 2020-10-28 | Dmg森精機株式会社 | Tool setup device, control method of tool setup device, and control program of tool setup device |
| JP6793278B1 (en) * | 2020-07-28 | 2020-12-02 | Dmg森精機株式会社 | Tool transfer system, tool transfer system control method, and tool transfer system control program |
| WO2022024454A1 (en) * | 2020-07-28 | 2022-02-03 | Dmg森精機株式会社 | Tool set-up apparatus, transport system, control method for tool set-up apparatus, and control program for tool set-up apparatus |
| WO2022024456A1 (en) * | 2020-07-28 | 2022-02-03 | Dmg森精機株式会社 | Tool transport system, control method for tool transport system, and control program for tool transport system |
| JP2022024522A (en) * | 2020-07-28 | 2022-02-09 | Dmg森精機株式会社 | Tool conveyance system, tool conveyance system control method, and tool conveyance system control program |
| DE102020211672A1 (en) | 2020-09-17 | 2022-03-17 | Deckel Maho Pfronten Gmbh | Central tool storage facility |
| WO2022058417A1 (en) * | 2020-09-17 | 2022-03-24 | Deckel Maho Pfronten Gmbh | Central tool storage device |
| WO2022269673A1 (en) * | 2021-06-21 | 2022-12-29 | Dmg森精機株式会社 | Tool transport system, control method, and control program |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0464818B2 (en) | 1992-10-16 |
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