JPS61164745A - Drive device for tool replacing arm - Google Patents
Drive device for tool replacing armInfo
- Publication number
- JPS61164745A JPS61164745A JP60007004A JP700485A JPS61164745A JP S61164745 A JPS61164745 A JP S61164745A JP 60007004 A JP60007004 A JP 60007004A JP 700485 A JP700485 A JP 700485A JP S61164745 A JPS61164745 A JP S61164745A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- tool
- arm
- fixed
- drive
- 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
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
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- 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
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
-
- 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
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
-
- 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
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155435—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable
- B23Q2003/155439—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable along the pivoting axis
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
この発明は工作機械、特にマシニングセンタ等の工具交
換装置における工具交換アームの駆動装置に関する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a drive device for a tool changing arm in a tool changing device such as a machine tool, particularly a machining center.
従来の技術
マシニングセンタ等の工具交換装置における工具交換ア
ームは、工具の抜き差し動作を行わせるために、通常そ
の旋回軸が軸方向に移動自在になっておシ、そのことに
より該旋回軸へと駆動源から回動力を伝達する伝達機構
はどうしても構造複雑となっていた。そして、また上記
工具交換アームには、両端に保持した工具を１８０度旋
回して工具交換する動作以外に、該アームをスピンドル
または工具マガジン中の工具に干渉しない第３の待機位
置へと旋回させる動作が要求されるため、上記伝達機構
の構造は一層複雑となっていたのである。Conventional Technology A tool changing arm in a tool changing device such as a machining center usually has a rotating shaft that is movable in the axial direction in order to insert and remove tools. The transmission mechanism that transmits rotational force from the source inevitably has a complicated structure. In addition to rotating the tool held at both ends by 180 degrees to exchange the tool, the tool exchange arm is also rotated to a third standby position where it does not interfere with the spindle or the tools in the tool magazine. Because of the movement required, the structure of the transmission mechanism has become more complex.
発明が解決しようとする問題点
この発明は上記問題を解決し、工具交換装置における工
具交換アームの駆動機構を簡略化し、併せて工具交換ア
ームの動作の確実性を高めることを目的とする。Problems to be Solved by the Invention It is an object of the present invention to solve the above-mentioned problems, to simplify the drive mechanism of the tool changing arm in a tool changing device, and to increase the reliability of the operation of the tool changing arm.
問題点を解決するだめの手段
そこで、この発明は、工具交換アームの駆動装置として
該工具交換アームの旋回軸に歯車を固設し、この歯車の
軸方向移動位置少くとも２カ所に、該歯車に噛合う駆動
歯車を設け、該駆動歯車に夫々別個の駆動源を連結する
構造を提案するものである。Means for Solving the Problems Therefore, the present invention provides a gear that is fixed to the rotation axis of the tool changing arm as a driving device for the tool changing arm, and that the gear is mounted at at least two axial movement positions of the gear. The present invention proposes a structure in which drive gears are provided that mesh with the drive gears, and separate drive sources are connected to the drive gears.
実施例 以下、図面に基づいて実施例を説明する。Example Examples will be described below based on the drawings.
第３図はこの発明に係る工具交換アーム（１）の駆動装
置（２）を取付けたマシニングセンタのヘッド部の平面
図で１、当該駆動装置（２）はスピンドルヘッド（３）
と工具マガジン（４）の工具交換位置（工具割出し位置
）（５）との間にブラケット（６）を介して配設しであ
る。（７）は加工物の載置台である。工具マガジン（４
）内には図示しないスプロケットに懸回された無端チェ
ーン（８）が配設してあり、該無端チェーンに取付けら
れた多数の工具ソケット（９）のうち所望のものが上記
工具交換位置（５）に割出され、当該割出された工具ソ
ケットは工具と共に下方へ旋回して垂直姿勢に保たれる
ようになっている。FIG. 3 is a plan view of the head of a machining center equipped with a drive device (2) for a tool change arm (1) according to the present invention, and the drive device (2) is a spindle head (3).
and a tool exchange position (tool indexing position) (5) of the tool magazine (4) via a bracket (6). (7) is a workpiece mounting table. Tool magazine (4
) is provided with an endless chain (8) suspended from a sprocket (not shown), and a desired one of the many tool sockets (9) attached to the endless chain is placed at the tool exchange position (5). ), and the indexed tool socket pivots downward together with the tool and is maintained in a vertical position.
以下、第１．２図に基づいて工具交換アームの駆動装置
（２）を詳細に説明すると、（１１）は上記ブラケット
（６）に連設したケーシング（１２）に、回動自在かつ
軸方向に沿って摺動自在に支持せしめた工具交換アーム
（１）の旋回軸であり、該旋回軸（１１）および工具交
換アーム（１）は旋回軸（１１）上端に回転自在に取付
けたロータリージヨイント（１３）に、そのロッド（１
４ａ）端を連結した昇降用シリンダ（１４）の伸縮によ
って第１図実線、鎖線図示間を昇降されるようになって
いる。Hereinafter, the drive device (2) of the tool change arm will be explained in detail based on Fig. 1.2. The pivot shaft (11) and tool change arm (1) are rotary joints rotatably attached to the upper end of the pivot shaft (11). Into (13), that rod (1
4a) By expanding and contracting the lifting cylinder (14) whose ends are connected, it can be moved up and down between the solid line and the chain line in FIG.
該旋回軸（１１）の内部には上記ロータリージョイ７
ト（１３）から工具交換アーム（１）の各油圧作動力所
（例えば工具保持爪（１５） ）へと通じる油路（１６
）が形成しである。The rotary joy 7 is located inside the pivot shaft (11).
An oil passage (16) leading from the toe (13) to each hydraulic power station (for example, the tool holding claw (15)) of the tool change arm (1)
) is formed.
（１７）はロータリージヨイント（１３）内部の軸受、
（１８）は摺動ブツシュである。(17) is the bearing inside the rotary joint (13),
(18) is a sliding bush.
上記のようになって旋回軸（１１）は軸方向に清い上下
動するのであるが、該旋回軸（１１）中間には歯車（１
９）がキー（２１）固定してあって、該歯車（１９）の
上下動位置（第１図実線、鎖線図示）において夫々噛合
う駆動歯車（２２） （２３）が次のようにして設けで
ある。As described above, the rotating shaft (11) moves up and down smoothly in the axial direction, but there is a gear (1
9) is fixed to a key (21), and drive gears (22) and (23) that mesh with each other in the vertical movement position of the gear (19) (shown by solid lines and chain lines in Figure 1) are provided as follows. It is.
すなわち、ケーシング（１２）上には、その出力軸（２
４ａ）を上記旋回軸（１１）に平行に垂下したロータリ
ーアクチェータ（２４）が設けてあり、該出力軸（２４
ａ）の大径になった上部にはアーム（１）の１００度旋
回用の第１の、枢動歯車（２２）がキー固定してあり、
小径になった下部には軸受（２５）を介して、該出力軸
（２４ａ）とは独立して回転自在なアーム（１）の１８
０度旋回用の第２の駆動歯車（２３）が設けである。上
記第１、第２の駆動歯車（２２）（２３）の旋回軸（１
１）に沿う歯幅は、はぼ前記歯車（１９）の上下移動範
囲に等しい長さに設定しており、駆動歯車（２２） （
２３）同士の上下間隔（ｄ）はごく小に設定しである。That is, the output shaft (2) is mounted on the casing (12).
4a) is provided with a rotary actuator (24) hanging parallel to the rotation axis (11), and the output shaft (24)
A first pivot gear (22) for 100 degree rotation of the arm (1) is keyed to the large diameter upper part of a).
18 of the arm (1), which is rotatable independently of the output shaft (24a), is attached to the lower part with a smaller diameter via a bearing (25).
A second drive gear (23) for 0 degree turning is provided. The rotation shaft (1) of the first and second drive gears (22) (23)
The tooth width along 1) is set to a length approximately equal to the vertical movement range of the gear (19), and the width of the teeth along the drive gear (22) (
23) The vertical distance (d) between them is set to be very small.
そして、上記第２の駆動歯車（２３）の側方には、ケー
シング（１２）上に設けた他のロータリーアクチェータ
（２６）の出力軸（２６ａ）にキー固定した歯車（２７
）が設けてあり、該歯車（２７）が第２の駆動歯車（２
３）に噛合せしめである。（２８） （２９）は夫々の
出力軸（２４ａ） （２６ａ）下端の軸受である。Further, on the side of the second driving gear (23), a gear (27) which is key-fixed to the output shaft (26a) of another rotary actuator (26) provided on the casing (12) is provided.
) is provided, and the gear (27) is connected to the second drive gear (2
3) is meshed tightly. (28) and (29) are bearings at the lower ends of the respective output shafts (24a) and (26a).
なお、上記第１、第２の駆動歯車（２２）（２３）の回
動角度（１００度、１８０度）規制手段として、駆動歯
車（２２）の上部および上記歯車（２７）の上部に次の
ような当だシ面を形成しである。In addition, as a means for regulating the rotation angle (100 degrees, 180 degrees) of the first and second drive gears (22) and (23), the following is installed on the top of the drive gear (22) and the top of the gear (27). It forms a surface like this.
すなわち、第１の駆動歯車（２２）の上部には第２図示
のような、夫々の面から出力軸（２４ａ）芯へと向けて
直角に垂設した法線（ｘ） （ｙ）同士が１００度の角
度をなす当たり面（２２ａ） （２２ｂ）が形成してあ
り、該当たシ面（２２ａ） （２２ｂ）が夫々ケーシン
グ（１２）に螺設したスト、パボルト（３１）（３２）
に当接して、該駆動歯車（２２）の回動範囲つまり旋回
軸（１１）の回動範囲が正確に１００度に規制されるよ
うになっており、上記歯車（２７）の上部には第２図示
のような、夫々の面が出力軸（２６ａ）を挟んで平行に
なった当たり面（２７ａ）（２７ｂ）が形成してあり、
該当たり面（２７ａ） （２７ｂ）が夫々ケーシング（
１２）に螺設したストッパポル） （３３） （３４）
に当接して、該歯車（２７）の回動範囲つまり第２の駆
動歯車（２３）を介した旋回軸（１１）の回動範囲が正
確に１８０度に規制されるようになっている。That is, at the top of the first drive gear (22), as shown in the second diagram, normal lines (x) and (y) are vertically perpendicular to each other from the respective surfaces toward the output shaft (24a) core. Contact surfaces (22a) (22b) forming an angle of 100 degrees are formed, and the corresponding surfaces (22a) (22b) are screwed onto the casing (12), respectively.
The rotation range of the driving gear (22), that is, the rotation range of the rotation shaft (11) is precisely regulated to 100 degrees. As shown in Figure 2, contact surfaces (27a) and (27b) are formed, each of which is parallel to the output shaft (26a).
The corresponding facing surfaces (27a) and (27b) are respectively connected to the casing (
12) (33) (34)
The rotation range of the gear (27), that is, the rotation range of the pivot shaft (11) via the second drive gear (23) is precisely regulated to 180 degrees.
上記第１、第２の駆動歯車（２２） （２３）の回動角
度規制手段としては、上記例の構造に限られず、利手段
を設けてもよい。The rotation angle regulating means for the first and second drive gears (22) and (23) is not limited to the structure of the above example, and other means may be provided.
次に、上記例の工具交換アームの駆動装置について動作
を説明する。Next, the operation of the tool exchange arm drive device of the above example will be explained.
すなわち、工具交換しない通常の加工運転時には、前記
シリンダ（１４）が伸長して旋回軸（工１）が上昇し、
工具交換アーム（１）は第１図鎖線位置高さに持たらさ
れ、かつ前記ロータリーアクチェータ（２４）が第２図
時計まわり方向へ回転して、交換アーム（１）の姿勢は
第２図実線図示の待機状態に保たれているが、この待機
状態から次のように動作して工具交換を行う。That is, during normal machining operation without changing tools, the cylinder (14) extends and the rotation axis (machining 1) rises,
The tool exchange arm (1) is held at the height indicated by the chain line in Figure 1, and the rotary actuator (24) rotates clockwise in Figure 2, so that the attitude of the exchange arm (1) is as shown by the solid line in Figure 2. The tool is kept in the standby state shown in the figure, and from this standby state the tool is replaced by operating as follows.
すなわち、前記工具マガジン（４）内の工具交換位置（
５）に所望の工具を割出して垂直姿勢になしておいた上
で、前記ロータリーアクチェータ（２４）を第２図反時
計まわり方向へ回転し工具交換アーム（１）を第２図鎖
線図示位置へ旋回せしめ、両端の工具保持爪（１５）に
よって、夫々工具交換位置（５）、スピンドルヘッド（
３）位置の工具を保持せしめる。この際、第１の駆動歯
車（２２）の回動角度は幽たり面（２２ａ） （２２ｂ
）およびストッパボルト（３１） （３２）によって正
確に１００度に規制されるので、工具交換アーム（１）
の旋回位置も正確に上記工具交換位置（５）、スピンド
ルヘッド（３）位置に位置設定される。That is, the tool exchange position (
5) After indexing the desired tool and keeping it in a vertical position, rotate the rotary actuator (24) counterclockwise in Figure 2 to move the tool changing arm (1) to the position shown by the chain line in Figure 2. The tool holding claws (15) at both ends move the tool to the tool changing position (5) and the spindle head (
3) Hold the tool in position. At this time, the rotation angle of the first drive gear (22) is set to a rectangular plane (22a) (22b
) and stopper bolts (31) (32) to accurately control the angle of 100 degrees, so the tool change arm (1)
The rotational position of is also set accurately to the tool exchange position (5) and the spindle head (3) position.
この状態で次に、前記シリンダ（１４）を収縮して工具
交換アーム（１）を第１図鎖線位置から実線位置へと下
降すれば、各保持爪（１５）によってアーム（１）両端
に保持された工具が、夫々工具マガジン（４）、スピン
ドルヘッド（３）から抜き出されると共に、歯車（１９
）の噛合いが第１の駆動歯車（２２）から第２の駆動歯
車（２３）へと移行するので、次にロータリーアクチェ
ータ（２６）を第２図反時計まわり方向へ回転すれば工
具交換アーム（１）が１８０度旋回して、両端に保持し
ている工具が位置交換される。In this state, when the cylinder (14) is contracted and the tool change arm (1) is lowered from the chain line position in Figure 1 to the solid line position, the arm (1) is held at both ends by the holding claws (15). The loaded tools are extracted from the tool magazine (4) and spindle head (3), respectively, and the gear (19)
) will shift from the first drive gear (22) to the second drive gear (23), so if you then rotate the rotary actuator (26) counterclockwise in Figure 2, the tool change arm will move. (1) rotates 180 degrees, and the tools held at both ends are exchanged.
この際の工具交換アーム（１）の１８０度旋回し、第２
の駆動歯車（２３）が別個のロータリーアクチェータ（
２６）により駆動されること、および歯車（２７）に設
けた当たり面（２７ａ） （２７ｂ）がストッパボルト
（３３） （３４）に当接することによって回動角度規
制されるので、前記と同様に工具交換位置（５）、スピ
ンドルヘッド（３）位置に正確に設定される０
位置交換された工具は、前記シリンダ（１４）が再び伸
長し、アーム（１）が第１回鎖線位置へと上昇されるこ
とによって、夫々工具マガジン（４）、スピンドルヘッ
ド（３）へと垂直に挿入される。At this time, the tool exchange arm (1) rotates 180 degrees, and
The drive gear (23) is a separate rotary actuator (
26), and the rotation angle is regulated by the contact surfaces (27a) (27b) provided on the gear (27) contacting the stopper bolts (33) (34), in the same manner as above. The 0 position exchanged tool is set accurately in the tool exchange position (5) and the spindle head (3) position, and the cylinder (14) is extended again and the arm (1) is raised to the first chain line position. As a result, they are vertically inserted into the tool magazine (4) and spindle head (3), respectively.
以上の工具交換が終了した後、ロータリーアクチェータ
（２４）を再び第２図時計まわり方向へ回動して、工具
交換アーム（１）を挿入の完了した工具から離間すると
共に前述の待機位置に持たらす。After the above tool exchange is completed, the rotary actuator (24) is rotated clockwise in FIG. Tarasu.
発明の効果
以上の説明で明らかなように、この発明に係る工具交換
アームの駆動装置では構造が簡単で全体をコンパクトに
設計できる上に、工具交換アームの動作が確実である。Effects of the Invention As is clear from the above description, the tool changing arm drive device according to the present invention has a simple structure and can be designed compactly as a whole, and the tool changing arm can operate reliably.
第１図はこの発明に係る工具交換アーム駆動装置の縦断
面図、第２図は同じく横断面図（断面は第１図のＩ−１
線）、第３図はマシニングセンタに取付けた状態のスピ
ンドルヘッド部の平面図である。
（１）・・・工具交換アーム、（２）・・・駆動装置、
（１１）・・・旋回軸、（２２）・・・第１の駆動歯車
、（２３）・・・第２の駆動歯車、
（２４） （２６）・・・ロータリーアクチェータ、（
２７）・・・歯車。FIG. 1 is a longitudinal cross-sectional view of the tool changing arm drive device according to the present invention, and FIG.
3 is a plan view of the spindle head section attached to a machining center. (1)...Tool exchange arm, (2)...Drive device,
(11)... Rotating shaft, (22)... First drive gear, (23)... Second drive gear, (24) (26)... Rotary actuator, (
27) ...Gear.
Claims (1)
の旋回軸に歯車を固定し、この歯車の移動位置少くとも
２ヵ所に、該歯車に噛合う駆動歯車を設け、該駆動歯車
には夫々別個の駆動源を連結してあることを特徴とする
工具交換アームの駆動装置。A gear is fixed to the pivot shaft of a tool changing arm that is rotatable and movable in the axial direction, and a drive gear that meshes with the gear is provided at at least two moving positions of the gear, and the drive gear is provided with a drive gear that meshes with the gear. A drive device for a tool changing arm, characterized in that separate drive sources are connected to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60007004A JPS61164745A (en) | 1985-01-17 | 1985-01-17 | Drive device for tool replacing arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60007004A JPS61164745A (en) | 1985-01-17 | 1985-01-17 | Drive device for tool replacing arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61164745A true JPS61164745A (en) | 1986-07-25 |
Family
ID=11653924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60007004A Pending JPS61164745A (en) | 1985-01-17 | 1985-01-17 | Drive device for tool replacing arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61164745A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106392730A (en) * | 2016-11-29 | 2017-02-15 | 东莞市埃弗米数控设备科技有限公司 | Telescopic rotation tool changing device |
-
1985
- 1985-01-17 JP JP60007004A patent/JPS61164745A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106392730A (en) * | 2016-11-29 | 2017-02-15 | 东莞市埃弗米数控设备科技有限公司 | Telescopic rotation tool changing device |
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