JPS61193212A - Repeating step feed device with high accuracy and at high speed - Google Patents

Repeating step feed device with high accuracy and at high speed

Info

Publication number
JPS61193212A
JPS61193212A JP60031531A JP3153185A JPS61193212A JP S61193212 A JPS61193212 A JP S61193212A JP 60031531 A JP60031531 A JP 60031531A JP 3153185 A JP3153185 A JP 3153185A JP S61193212 A JPS61193212 A JP S61193212A
Authority
JP
Japan
Prior art keywords
positioning
feed
high speed
repeating step
feed device
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
JP60031531A
Other languages
Japanese (ja)
Inventor
Hiroyoshi Morita
森田 弘良
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.)
Ikegai Corp
Original Assignee
Ikegai Corp
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 Ikegai Corp filed Critical Ikegai Corp
Priority to JP60031531A priority Critical patent/JPS61193212A/en
Publication of JPS61193212A publication Critical patent/JPS61193212A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q5/00Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22Feeding members carrying tools or work
    • B23Q5/34Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
    • B23Q5/38Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
    • B23Q5/40Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To decide a repeating step position with high accuracy and a high speed by combining a simple elastic mechanism and a positioning mechanism and loading them on a traveling object. CONSTITUTION:A brake beam 20 is set horizontally to a feed device rack 1 and a traveling object 4 contains a clamp mechanism 21 which holds the beam 20 and a hydraulic cylinder 22. Then a servo motor 7 and a ball screw 3 are driven by a shift command given from a positioning controller 8. However the object 4 is clamped and the feed driving force is stored in a feed device 30. A solenoid valve 23 is energized by a positioning shift command and opened by the next command. Thus a repeating step position can be decided instantaneously with high accuracy and at a high speed owing to the elastic restoring force using the feed driving force stored in the device 30.

Description

【発明の詳細な説明】 イ、産業上の利用分野 工作機械のコラムとか電線巻取り機用送り駆動部等の質
量および慣性の極めて大きな移動体を高速高精度繰返し
ステップ送りで位置決めする装置に関する。
DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a device for positioning a moving body having an extremely large mass and inertia, such as a column of a machine tool or a feed drive unit for a wire winding machine, by high-speed, high-precision repetitive step feed.

口、従来の技術 従来移動体の位置決めの動作システムは第1図に代表さ
れるのが主であった。1は送り装置架台、2は案内棒、
3はポールスクリュ、4は位置決めをする移動体、6は
ポールナツト、7はサーボモータ、8は位置決め制御装
置で制御部9、偏差カウンター10、D/A変換器11
よりなりアンプ12およびフィードバック13に結合さ
れ移動体4はプログラム指令により位置決め制御装置8
の指令値によりサーボモータ7を回転させポールスクリ
ュ3、ポールナツト6により移動体4を駆動するもので
、従って位置決め動作は、第1図下方に示す矢線の如く
、繰返しステップ位置決めされる場合、すなわち第2図
に示す如くかりに15の如き5Qmsecの時間に移動
指令値を送り装置に与えても実際には、移動体4、ポー
ルスクリュ3等の慣性が大きく、応答度が悪いため、実
際には16如く位置決め動作が流れ、100m5ないし
200m5の位置決め時間となり、高速位置決めが困難
で、かつ第3図の如く頻繁に位置決め指令を500m5
ec間隔で指令したりすると、熱発生が大きいため、大
容量のサーボモータを必要としたり、また位置決め点が
流れるため位置決め精度が極めて悪くなる等の欠点を有
していた。
BACKGROUND OF THE INVENTION 2. Description of the Related Art Conventionally, the operating system for positioning a moving body has mainly been represented by the one shown in FIG. 1 is the feeder mount, 2 is the guide rod,
3 is a pole screw, 4 is a moving body for positioning, 6 is a pole nut, 7 is a servo motor, 8 is a positioning control device, which includes a control unit 9, a deviation counter 10, and a D/A converter 11.
The moving body 4 is coupled to the amplifier 12 and the feedback 13, and the moving body 4 is controlled by the positioning control device 8 according to program instructions.
The servo motor 7 is rotated according to the command value, and the movable body 4 is driven by the pole screw 3 and the pole nut 6. Therefore, the positioning operation is performed when positioning is performed repeatedly in steps as shown by the arrow shown in the lower part of FIG. As shown in Fig. 2, even if a movement command value is given to the feeding device at a time of 5 Qmsec such as 15, in reality, the inertia of the moving body 4, pole screw 3, etc. is large and the response is poor, so The positioning operation flows as shown in Fig. 3, resulting in a positioning time of 100m5 to 200m5, making it difficult to perform high-speed positioning, and as shown in Figure 3, positioning commands are frequently issued for 500m5.
If commands are given at ec intervals, there are drawbacks such as a large amount of heat is generated, requiring a large-capacity servo motor, and positioning accuracy becomes extremely poor because the positioning points flow.

ハ0発明が解決しようとする問題点 位置決め制御装置8を経由してサーボモータ7およびポ
ールスクリュ3によりなる移動体4の駆動系では移動体
4の質量および慣性が極めて大きく前述の如く、位置決
めが流れるため、これに簡単な弾性機構と位置決め機構
を組合せたものを移動体4に装着することにより繰返し
ステップ位置決めを高精度高速で達成しようとするもの
である。
C0 Problems to be Solved by the Invention In the drive system of the movable body 4 which is composed of the servo motor 7 and the pole screw 3 via the positioning control device 8, the mass and inertia of the movable body 4 are extremely large, and as mentioned above, positioning is difficult. Therefore, by attaching a combination of a simple elastic mechanism and a positioning mechanism to the movable body 4, repeated step positioning can be achieved with high accuracy and high speed.

二1問題点を解決するための手段 先づ本発明の提供する作動システムを説明するために第
4図は従来の送り装置の送り装置架台1にブレーキ梁2
0を左右に横架し、移動体4には前記ブレーキ梁、20
を挟持するクランプ機構21と該機構を作動させる油圧
シリンダ22を移動体4に装着し位置決め制御装置8よ
りの移動指令によりサーボモータ7、ポールスクリュ3
は駆動させるが移動体4はクランプされ、前記送り推力
を送り装置30に蓄勢し位置決め移動指令によりソレノ
イドバルブ23を励磁し次の指令により開放することに
より、第5図の送り装置30に蓄勢された送り推力から
なる弾性復元力により瞬時に高精度、高速位置決めをす
るものである。
21 Means for Solving the Problems First, in order to explain the actuation system provided by the present invention, FIG.
0 is horizontally mounted on the left and right, and the moving body 4 has the brake beam 20
A clamp mechanism 21 that clamps the clamp mechanism and a hydraulic cylinder 22 that operates the mechanism are attached to the movable body 4, and the servo motor 7 and the pole screw 3 are moved by a movement command from the positioning control device 8.
is driven, but the movable body 4 is clamped, the feed thrust is stored in the feed device 30, and the solenoid valve 23 is excited by the positioning movement command and opened by the next command, so that the feed thrust is stored in the feed device 30 in FIG. The elastic restoring force generated by the applied feed thrust instantly performs high-precision, high-speed positioning.

次に本提案の移動体の送り装置30を第5図により説明
する。送り装置は第4図の移動体の右側に装備されポー
ルナツト−3が貫通する移動体4右側部に送り装置ケー
ス33を嵌入させ、これをボルト40およびノックピン
(図示せず)にて締結する。ケース33にはコマ31.
32を軸方向に案内滑動させる案内キイ35が嵌挿され
ている。
Next, the proposed moving body feeding device 30 will be explained with reference to FIG. The feeding device is installed on the right side of the moving body in FIG. 4, and the feeding device case 33 is fitted into the right side of the moving body 4 through which the pole nut 3 passes, and is fastened with bolts 40 and knock pins (not shown). Case 33 has piece 31.
A guide key 35 is inserted into the guide key 35 to guide and slide the guide key 32 in the axial direction.

コマ31および32は左右に分割され、ナツトケース3
7.38の上に環装され、特定の予圧をかけられたスプ
リング41によりコマ31はケース33の左壁に押圧さ
れ位置決めされ、またコマ32はケース33を移動体4
に固定するための蓋34の壁に右方に押圧され位置決め
されている。
The pieces 31 and 32 are divided into left and right parts, and the nut case 3
The top 31 is pressed and positioned against the left wall of the case 33 by a spring 41 mounted on the top of 7.38 and applied with a specific preload, and the top 32 pushes the case 33 against the moving body 4
The lid 34 is pressed to the right and positioned against the wall of the lid 34 for fixing to the lid 34.

ナツトケース37および38はコマ31.32およびス
プリング41を組付は容易にするため2分割され「ねじ
」で結合されて一体となりケース33にコマ31 、3
#がスプリング41と共に組込まれた状態では中央部に
繰返しステップ送り量より大きな隙間ができるように構
成されている。
The nut cases 37 and 38 are divided into two parts to facilitate the assembly of the pieces 31 and 32 and the spring 41, and are connected with "screws" so that the pieces 31 and 3 are integrated into the case 33.
When # is assembled together with the spring 41, the structure is such that there is a gap in the center that is larger than the amount of repeated step feed.

また左、右ナツトケース37.38にはポールスクリュ
3の回転によりナツトケース37.38が軸方向に滑動
案内させるための案内キイ36が固着されていて、ケー
ス33に刻設されたキイ溝に軸方向に滑動可能に嵌入さ
れている。
Further, a guide key 36 is fixed to the left and right nut cases 37, 38 for slidingly guiding the nut cases 37, 38 in the axial direction by rotation of the pole screw 3. is slidably fitted into the

ナツトケース(右)38には、ポールナツト39が、緊
・密に嵌入されていて、ポールスクリュ3の回転を案内
キイ36を案内としてナツトケース37.38を直進運
動とさせる。
A pole nut 39 is tightly fitted into the nut case (right) 38, and the rotation of the pole screw 3 is guided by the guide key 36 to cause the nut cases 37 and 38 to move in a straight line.

ホ6作 用 第6図により送り装置30の動作を説明する。For 6 works The operation of the feeding device 30 will be explained with reference to FIG.

図は移動体4の送り装置30の動作を拡大して図示した
もので、第6図−1は移動前の状態で移動体4は前述の
クランプ21により送り装置架台lにクランプ締結され
ている。位置決め移動指令が与えられるとクランプした
状態であるので、ポールスクリュ3は移動指令値分だけ
回転するので、ナツトケース37.38は指令値分だけ
案内キイ36を案内として左方に直進移動し第6図−2
の如く突出する。またコマ(左)31はケース33に当
接しているので移動せず、コマ(右)32は−前述の如
く指令値分だけスプリング41を圧縮し付勢される。
The figure shows an enlarged view of the operation of the feeding device 30 of the moving body 4, and FIG. . When a positioning movement command is given, the pole screw 3 is in a clamped state and rotates by the movement command value, so the nut cases 37 and 38 move straight to the left by the command value using the guide key 36 as a guide. Figure-2
stand out like this. Further, the top (left) 31 is in contact with the case 33 and does not move, and the top (right) 32 is biased by compressing the spring 41 by the command value as described above.

位置決め移動指令によりソレノイドバルブ23、油圧シ
リンダ22、およびクランプ21を経て、クランプが開
放されると第6図−3に示す如く先に付勢されたスプリ
ング力によりコマ31が指令値分だけ瞬発的に作動し、
ナツトケース37の肩部にコマ31の端部が一定のスプ
リング力で当接するため極めて高い位置決め精度が達成
される。
When the positioning movement command passes through the solenoid valve 23, hydraulic cylinder 22, and clamp 21, and the clamp is released, the previously energized spring force causes the top 31 to move instantaneously by the command value, as shown in Figure 6-3. operates,
Since the end of the piece 31 abuts against the shoulder of the nut case 37 with a constant spring force, extremely high positioning accuracy is achieved.

また図は左方に繰返しステップ送りされる場合であるが
、ポールスクリュ3が逆転し右方に繰返しステップ送り
される場合は上記とは逆になり、コマ31は右方に移動
しコマ31によりスプリング41は圧縮されクランプが
解放されることによりコマ32が指令値分だけ瞬発的に
作動し蓋34の肩部に当接し位置決めされる。
Also, the figure shows a case where the step feed is repeated to the left, but if the pole screw 3 is reversed and the step feed is repeated to the right, the above is reversed, and the piece 31 moves to the right. When the spring 41 is compressed and the clamp is released, the top 32 is instantaneously actuated by the command value and is brought into contact with the shoulder of the lid 34 and positioned.

へ、実施例 第7図は台形を有する巻取りドラムを一定回転させ、巻
取ドラムの台形内にワイヤー等を巻取らせる装置で、ベ
ッド上に回転駆動部71が固定され、その上部に前述の
送り駆動部78が装備されている。回転駆動部71には
巻取りドラム72が締結され、前述の高精度高速度繰り
返しステップ送り装置を具備する送り駆動部78に取り
付けられたロール74に案内されるワイヤ等を巻取りド
ラム72に巻取らせるもので第8図は巻取りドラム72
の台形部73に前記送り駆動部78を使用し、巻取りド
ラム1回転毎にワイヤ直径分を間歇送りをして巻取った
断面形状を示したもので巻取りドラム72、ワイヤ82
、台形部73を現わし、巻取られた状態を示した本装置
の応用例である。
Embodiment FIG. 7 shows a device that rotates a trapezoidal winding drum at a constant rate and winds a wire or the like within the trapezoid of the winding drum. A feed drive unit 78 is provided. A winding drum 72 is fastened to the rotary drive unit 71, and a wire or the like is wound around the winding drum 72, which is guided by a roll 74 attached to a feed drive unit 78 equipped with the above-mentioned high-precision, high-speed repeating step feed device. Figure 8 shows the winding drum 72.
The cross-sectional shape of the winding drum 72 and the wire 82 is shown by using the feeding drive unit 78 on the trapezoidal part 73 of the winding drum 72 and the wire 82.
, is an application example of the present device showing a trapezoidal portion 73 and showing a wound state.

また第9図は繰返しステップ送りの1例として巻取りド
ラム72をa点により展開したもので図の如く巻き始め
開始点A。から巻取りドラム72の円周に沿って直線的
に巻かれ、A、を通り、AI’で高速にワイヤの直径分
だけ左方に高速移動させA、”に位置決めし、再びドラ
ムの円周に沿って直線的にA2を通りA2IでA2″ 
に高速に位置決めする。・・・・・・・・・・・・この
動作を繰返し底部の一辺が巻き終るとA4′で図の如く
ワイヤの上部に重ねるためワイヤの半径分だけ送りを与
へ入1に位置決めし重ね1.A、に送りA、’で右方に
A、″ にワイヤの直径分だけ送り位置決めをし再び円
周に沿って直線に、巻くこの繰返しステップ送りをする
Further, FIG. 9 shows an example of repeated step feeding, in which the winding drum 72 is developed from point a, and the winding start point A is shown in the figure. It is wound linearly along the circumference of the winding drum 72, passes through A, is moved at high speed to the left by the diameter of the wire at AI', is positioned at A,'', and is again wound around the circumference of the drum. Pass through A2 in a straight line along A2I and A2''
positioning at high speed.・・・・・・・・・・・・Repeat this operation until one side of the bottom has been wound. At A4', feed the wire by the radius of the wire in order to overlap it on the top of the wire as shown in the figure. Position it at 1 and overlap it. 1. Feed the wire to A, A,', feed it to the right by the diameter of the wire at A,'', position it, and then wind it again in a straight line along the circumference, repeating this step feed.

実施例としては1ピツチの位置決め移動指令は2+a程
度であり、巻取りドラム1回転の所要時間は5 Q Q
(11Sec位、1回の指令の位置決め完了時間は5 
Q m Secで前述の高精度高速繰返しステップ送り
装置を利用した実施例である。
As an example, the positioning movement command for one pitch is about 2+a, and the time required for one rotation of the winding drum is 5 Q Q
(About 11 Sec, positioning completion time for one command is 5
This is an example in which the above-mentioned high-accuracy high-speed repetitive step feeding device is used in Q m Sec.

ト効 果 従来人質量、大慣性の移動体を直接サーボで位置決めす
る方法を使用するため高速で繰り返しステップ位置決め
するには、サーボモータ、ポールスクリー、移動体等を
含む大きな質量を短時間で加速、減速が出来ず第3図の
ように位置決め動作が流れたが本発明ではサーボモータ
、ポールスクリュ等の極めて質量が大で慣性の高い駆動
系をあらかじめ無理なく作動させるため高速で立上り、
立下らせる必要がなくなり、移動体のみを付勢されたス
プリング力で位置決めするので、高速で瞬発的に作動し
、かつ位置決め精度はナツトケースとコマによる位置決
め機構よりなる機械ストッパに特定の力で当接されるの
で極めて高精度に位置決めされる。なお本実施例は送り
推力の蓄勢のためスプリングを使用しているが皿バネ、
流体等の利用も当然応用される。
Conventional method of directly positioning moving objects with large mass and large inertia by servo is used.In order to perform high-speed, repeated step positioning, large masses including servo motors, pole scree, moving objects, etc. can be accelerated in a short time. , the positioning operation flowed as shown in Figure 3 due to the inability to decelerate, but in the present invention, the drive system, which has an extremely large mass and high inertia, such as a servo motor and pole screw, can be started up at high speed and operated smoothly in advance.
There is no need to lower the moving body, and only the moving body is positioned by the biased spring force, so it operates instantaneously at high speed, and the positioning accuracy can be achieved by applying a specific force to the mechanical stopper, which consists of a positioning mechanism using a nut case and a piece. Since they are in contact with each other, positioning can be performed with extremely high precision. Although this embodiment uses a spring to store the feed thrust, a disc spring,
Naturally, the use of fluids and the like can also be applied.

また高速繰返しステップ送りの場合に従来の位置決め方
法に比較し起動停止の頻度は同じ回数としても第10図
の如く動作時間を長くとることができるので、サーボモ
ータ等の熱発生が少なく、従って総合的にはサーボ系の
容量が少さくでき経済的となる利点があげられる。
In addition, in the case of high-speed repetitive step feeding, compared to the conventional positioning method, even if the frequency of starting and stopping is the same, the operation time can be extended as shown in Figure 10, so less heat is generated by the servo motor, etc., and therefore the overall One advantage is that the capacity of the servo system can be reduced, making it more economical.

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

第1図は従来の繰返しステップ位置決め装置の作動の概
略図を示したもので矢線が繰返しステップ位置決め指令
である。 第2図は従来の繰返し位置決め装置を使用し指令値に対
し実際の動作状態のずれを示す。 15:位置決め移動指令値、16:実際の移動第3図は
繰り返しステップ位置決め指令に対し実際の移動状態を
示す。 第4図は本発明である高精度、高速度繰返しステップ送
り装置の作動の概略図を示したもので従来機構にブレー
キ梁20、クランプ21、油圧シリンダ22、ソレノイ
ドバルブ23と送り装置30を装備した説明図。 第5図は本発明の中心をなす送り装置の詳細を示したも
ので、移動体4、案内キイ36、蓋34、ケース33、
案内キイ35、ナツトケース(左)37、ナツトケース
(右)38、ポールナツト覧 39、コマ(左)31、コマ(右)32、スプリング4
1、締結ボルト40、ポールスクリュ3、案内キイ35
、右側面図は案内キイのナツトケースとの位置関係を示
す。 第6図1.2.3は送り装置の位置決め動作図。 第7図は本発明を装着した実施例で回転駆動部71を架
台に装着し、その先端に巻取りドラム72を取りつけ、
回転駆動部71に装架した本発明の高精度、高速繰返し
ステップ送り装置を有するワイヤ送り駆動部78を装備
した巻取り装置の概観図を示したものである。 第8図は巻取りドラムにワイヤを重ね巻きする態様を示
したものである。ワイヤ=82第9図は巻取りドラムに
ワイヤを巻取る場合の繰返しステップ送りをする位置を
理解し易くするため巻取ドラムを展開し、ワイヤの送り
位置決め点を示したものである。 第10図は本発明による装置を使用した位置決め移動指
令と実際の移動状態をしたものである。 特許出願人  池貝鉄工株式会社 第 3 図 塔 10区
FIG. 1 shows a schematic diagram of the operation of a conventional repeating step positioning device, and the arrow indicates a repeating step positioning command. FIG. 2 shows the deviation of the actual operating state from the command value using a conventional repeating positioning device. 15: Positioning movement command value, 16: Actual movement FIG. 3 shows the actual movement state in response to the repeated step positioning command. FIG. 4 shows a schematic diagram of the operation of the high-precision, high-speed repetitive step feeding device of the present invention, which is equipped with a conventional mechanism including a brake beam 20, a clamp 21, a hydraulic cylinder 22, a solenoid valve 23, and a feeding device 30. An explanatory diagram. FIG. 5 shows details of the feeding device which is the center of the present invention, including the moving body 4, guide key 36, lid 34, case 33,
Guide key 35, nut case (left) 37, nut case (right) 38, pole nut view 39, top (left) 31, top (right) 32, spring 4
1. Fastening bolt 40, pole screw 3, guide key 35
, the right side view shows the positional relationship of the guide key with the nut case. FIG. 6 1.2.3 is a positioning operation diagram of the feeding device. FIG. 7 shows an embodiment in which the present invention is installed, in which a rotary drive unit 71 is installed on a pedestal, a winding drum 72 is attached to the tip of the rotation drive unit 71, and
1 is a schematic view of a winding device equipped with a wire feed drive unit 78 having a high-precision, high-speed repetitive step feed device of the present invention mounted on a rotation drive unit 71. FIG. FIG. 8 shows a mode in which wires are wound in layers around a winding drum. Wire = 82 In order to make it easier to understand the position at which repeated step feeding is performed when winding a wire onto a winding drum, the winding drum is unfolded and the wire feeding positioning points are shown in FIG. 9. FIG. 10 shows a positioning movement command and an actual movement state using the device according to the present invention. Patent applicant Ikegai Iron Works Co., Ltd. 3rd Tower 10th Ward

Claims (1)

【特許請求の範囲】[Claims] 位置決め制御装置と繰返しステップ位置決めをされる移
動体を有する送り装置に関し、移動体を前記送り装置架
台に締結し前記位置決め制御装置より位置決め移動指令
による送り量だけ送り駆動をさせ誘発する位置決め推力
を移動体内部に蓄勢し次の前記移動体の解放指令により
前記移動体内部に蓄勢された位置決め推力により前記位
置決め移動指令による送り量だけ移動体を正確に位置決
めを繰返し行うことを特徴とする高精度高速繰返しステ
ップ送り装置。
Regarding a feeding device having a positioning control device and a movable body that is repeatedly positioned in steps, the movable body is fastened to the feed device mount and the positioning control device causes the positioning thrust to be driven by a feed amount according to a positioning movement command to move the induced positioning thrust. The high-speed vehicle is characterized in that the movable body is repeatedly positioned accurately by the feed amount according to the positioning movement command by the positioning thrust stored inside the body and then by the next command to release the movable body. Precision high speed repeat step feeder.
JP60031531A 1985-02-21 1985-02-21 Repeating step feed device with high accuracy and at high speed Pending JPS61193212A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP60031531A JPS61193212A (en) 1985-02-21 1985-02-21 Repeating step feed device with high accuracy and at high speed

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP60031531A JPS61193212A (en) 1985-02-21 1985-02-21 Repeating step feed device with high accuracy and at high speed

Publications (1)

Publication Number Publication Date
JPS61193212A true JPS61193212A (en) 1986-08-27

Family

ID=12333778

Family Applications (1)

Application Number Title Priority Date Filing Date
JP60031531A Pending JPS61193212A (en) 1985-02-21 1985-02-21 Repeating step feed device with high accuracy and at high speed

Country Status (1)

Country Link
JP (1) JPS61193212A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1862254A1 (en) * 2005-03-18 2007-12-05 Kosmek Ltd. Screw engagement type clamp device, clamping system, and fluid pressure actuator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1862254A1 (en) * 2005-03-18 2007-12-05 Kosmek Ltd. Screw engagement type clamp device, clamping system, and fluid pressure actuator
EP1862254A4 (en) * 2005-03-18 2009-05-06 Kosmek Ltd Screw engagement type clamp device, clamping system, and fluid pressure actuator

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