JPS63144902A - Loading device - Google Patents

Loading device

Info

Publication number
JPS63144902A
JPS63144902A JP28932086A JP28932086A JPS63144902A JP S63144902 A JPS63144902 A JP S63144902A JP 28932086 A JP28932086 A JP 28932086A JP 28932086 A JP28932086 A JP 28932086A JP S63144902 A JPS63144902 A JP S63144902A
Authority
JP
Japan
Prior art keywords
chuck
spindle
axis
reversing
product
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
Application number
JP28932086A
Other languages
Japanese (ja)
Other versions
JPH0798281B2 (en
Inventor
Kenjiro Mori
健次郎 森
Masayoshi Ishioka
石岡 正好
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.)
OKUMA HOWA KIKAI KK
Original Assignee
OKUMA HOWA KIKAI 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 OKUMA HOWA KIKAI KK filed Critical OKUMA HOWA KIKAI KK
Priority to JP61289320A priority Critical patent/JPH0798281B2/en
Publication of JPS63144902A publication Critical patent/JPS63144902A/en
Publication of JPH0798281B2 publication Critical patent/JPH0798281B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

PURPOSE:To perform material feeding toward one of two main shafts, and formed work carrying from the other of them, with a simple structure, by setting at least one loading chuck on one loader head which can be moved along X, Y, Z axes, for attaching/detaching two main shaft chucks. CONSTITUTION:The first and the second main shaft chucks 3A, 3B, a material X-axis carrying device adapted to carry in the material with a chuck 26, to a material accepting E-position above the first main shaft chuck 3A, and a formed work X-axis carrying device 67 adapted to carry out the formed work with a chuck 70, from a formed work taking O-position above the second main shaft chuck 3B, are equipped. Then, this device is constituted as it contains a loading device 37, which has at least one loading chuck on one loader head which can be moved and positioned along X, Y, Z three axes, for interchanging with each of the chucks. Accordingly, material feeding to the main shaft 3A and formed work carrying from the main shaft 3B, can be performed with a simple structure by this loading device 37, and the cost can be lowered.

Description

【発明の詳細な説明】 産業上の利用分野 この発明は2主軸旋盤におけるローディング装置に関す
る。
DETAILED DESCRIPTION OF THE INVENTION Field of the Invention This invention relates to a loading device in a two-spindle lathe.

従来技j・F# 従来多軸旋盤例えば2主軸旋盤において、それぞれの主
軸で同一加工を行う場合、あるいは一方の王!1で第1
工程を加工し、他方の主軸で第2工程を反転して加工す
る場合のローディング装置は、措逍が複雑であり多種ワ
ークへの対応は困デtであり、汎用性に欠けているのが
通例であった。例えば実公昭61−19847号のよう
に供給位置、2主軸位置、排出位置を同一円とする円の
中心に旋回中心をおき等角度放射状の3本のローダアー
ムを配し中央アームに反転機構とつかみ直し機構とを併
設したものが知られている。
Conventional technology j・F# In a conventional multi-spindle lathe, for example, a two-spindle lathe, when the same machining is performed on each spindle, or only one spindle is used. 1 in 1
The loading device used when machining a process and reversing the second process on the other spindle is complicated to handle, difficult to handle a wide variety of workpieces, and lacks versatility. It was customary. For example, as in Utility Model Publication No. 61-19847, three loader arms are arranged radially at equal angles with the rotation center at the center of a circle in which the supply position, two main shaft positions, and the discharge position are the same circle, and the central arm is equipped with a reversing mechanism. A device equipped with a regripping mechanism is known.

発明が解決しようとする問題点 従来のものはローダアームの待機位置が加工中の主軸チ
ャ、りに近く刃物台の動作に制約が生じたり切粉や切削
油剤が故障の原因となり、更に多種ワークに応用可能な
汎用性も望まれていた。
Problems to be Solved by the Invention In conventional systems, the standby position of the loader arm is close to the main spindle shaft during machining, which limits the operation of the turret, chips and cutting fluid can cause malfunctions, and it is difficult to work with a wide variety of workpieces. It was also desired that the product would be versatile enough to be applied to other areas.

問題点を解決するための手段 第1発明は2個の主軸を有しこの2王Φ°む位置への素
材供給と成品搬出を行う1)送装置を本機上に設けた工
作機械において、第1主軸に嵌着され第1主軸チJpy
り3Aと、第2主軸に嵌着される第2王帖チャック3B
と、該第1主軸チャック上方の素材渡し8位2までチャ
ックで素ナオを搬入する素材Xl1iIゆ動装置29と
、前記第2主軸チャック3B上方の成品受取り0位置よ
りチャックで成品を搬出する成品X軸移動装置67と、
面記木機上に設けられ前記第1主軸チャック、第2主帖
チャック、E位置の素材X軸移動装置のチャック、O位
置の成品×軸移動装置のチQ 7りと受渡しするためY
軸、Y軸、Y軸の3軸方向に移動位置決め可能な1個の
ローダヘッド61に少なくとも1個のローディングチャ
ック62を有するローデング装置37とを含んでなるも
のであり、第2発明は第1発明に加えて前記本機上に設
けられ前記E位置上方の半加工材受取りJ位置と41 
J位置に対し01f記第2主軸チ〒ツク側の受渡しに位
置に移動可能で且チ中7・り軸心を、 1111方向と
X軸方向に90@旋回可能な第1反転チャック52A及
び前記O位置上方の受渡しW位置で該第1反転チャ7り
と反対方向に906旋回し対向姿勢となる第2反転チャ
ック52Bを有する半加工材反転装置とを含んでなるも
のである。
Means for Solving the Problems The first invention is a machine tool having two main shafts and supplying materials to positions between the two spindles and carrying out finished products.1) A machine tool having a feeding device on the machine, The first spindle is fitted onto the first spindle.
3A, and a second chuck 3B that is fitted onto the second main shaft.
, a material Xl1iI swinging device 29 for transporting the raw material with a chuck to the material transfer position 8 2 above the first spindle chuck, and a product Xl1iI swinging device 29 for transporting the product from the product receiving position 0 above the second spindle chuck 3B with the chuck. an X-axis moving device 67;
The first spindle chuck, the second main chuck, the chuck of the material X-axis moving device at the E position, and the product x axis moving device chuck at the O position, which are installed on the marking machine, are Y
The second invention includes a loading device 37 having at least one loading chuck 62 in one loader head 61 capable of moving and positioning in the three-axis directions of the axis, the Y-axis, and the Y-axis. In addition to the invention, a semi-finished material receiving position J provided on the machine above the E position and 41
The first reversing chuck 52A is movable from the J position to the 01f second spindle chuck side delivery position and is rotatable by 90 degrees in the 1111 direction and the X axis direction with respect to the middle axis. The half-work material reversing device includes a second reversing chuck 52B that rotates 906 in the opposite direction to the first reversing chuck 7 at the delivery W position above the O position to take an opposing attitude.

実施例 以下本発明の実施例を図面5二もとづき説明する。Example Embodiments of the present invention will be described below based on FIG. 52.

ヘッド1の上面中央部に主軸台2が数置固定され主軸台
2に軸心を水平かつ前後方向に平行して2木の図示しな
い主軸が横に並んで回転自在に軸承されている。そして
この2木の主IIIの先端に主軸チャ、り3.へ、31
3がそれぞれ嵌着されている。
A number of headstocks 2 are fixed to the center of the upper surface of the head 1, and two wooden main shafts (not shown) are rotatably supported on the headstock 2 so that their axes are horizontal and parallel to each other in the front-rear direction. Then, attach the main shaft cha to the tip of the main III of these two trees.3. To, 31
3 are fitted in each.

更にヘッドlの上面玉軸台2の両側に主軸と平行な摺動
案内面4A、4Bが削設されており、この摺動案内面4
A、4B上にX軸方向の図示しない摺動案内面を有する
往復台5A、5Bが移動可能に載置され、このX軸方向
の摺動案内面上に2つの刃物台6A、6Bが左右対称形
をなして設シナろれY軸及びX軸方向にNC制御n ′
7+、ii独に移動位置決めされる。そしてそれぞれの
刃物台6A、6Bには複数の工具ホルダ7の装着面を外
周に有するタレット8A、8BfJ<NC制御で旋回割
出可能に設けられ、工具ホルダ7Jこは工具T fJ<
装着されるようになっている。
Further, sliding guide surfaces 4A and 4B parallel to the main shaft are cut on both sides of the upper surface ball rest 2 of the head l, and these sliding guide surfaces 4
Carriages 5A and 5B having sliding guide surfaces (not shown) in the X-axis direction are movably mounted on A and 4B, and two tool rests 6A and 6B are placed on the left and right sliding guide surfaces in the X-axis direction. NC control n' in the Y-axis and X-axis directions
7+, ii moved and positioned. Each of the tool rests 6A, 6B is provided with a turret 8A, 8BfJ which has a mounting surface for a plurality of tool holders 7 on its outer periphery and can be rotated and indexed by NC control.
It is designed to be installed.

ヘッド1の左端に側板12が垂直に設−すられており、
この側板12に片端が固着され本IJ左側王上に設けら
れた支柱13に先端部が支えられU状溝を有する素材用
受二すい14が本機伊1に下り!ti i[で取付シナ
られている。素材用受は樋14には側板120近くに素
材を1個づつ送り出す流体I′E駆l・5の公知の送り
出し装置15が取付けみれており、累材持ち上げ装置1
6上に送り込りようになっている。素子オ持ち上げ装置
16は側板12の左側面に軸心を垂直とし固設された流
体圧シリンダ17に嵌挿されるピストンロンドの上端に
設けられたV字音18によって素材を垂直に持ち上げる
ようになっている。側板12の左側面上部に前後(Z軸
)方向のレール22 aを有する素材Z軸移動装置20
の枠体22が固設されている。そしてレール22a上に
第1移動台23が公知の2重シリンダ24.25によっ
て待機位置A、素材受取位置B、素材渡し位置Cの3位
置に移動位置決め可能に設けられている。第1移動台2
3のl15ij 23 aの下部に軸心をZ軸方向とし
素材持ち上げ装置16側を向く流体圧駆動の第1移動チ
ャック26が固設されている。主軸台2の前側面上部の
左側と側板12の間に素材X軸移動装置29の枠体30
が固設されている。枠体30には左右(X軸)方向水平
にレール30aが設けられており、第1移動チセツク2
6と同心で対向する流体圧駆動の第2移動チャック32
を備える第2移動台31がレール30aに沿って移動可
能に設けられている。そして枠体30の両端部に設けら
れた図示しない鎖歯車間に張設されたチェノ33の両端
が第2移動台31に固着され送りモータ34によって第
2送り台31がX軸方向に移動され素材受取り位置り。
A side plate 12 is installed vertically at the left end of the head 1.
A material receiver 14 having one end fixed to this side plate 12 and having a U-shaped groove with its tip supported by a support 13 provided on the left side crown of this IJ descends to this machine IJ! It is installed with ti i[. In the material receiver, a well-known sending device 15 for sending out materials one by one near the side plate 120 is attached to the gutter 14, and a material lifting device 1 is installed.
It is designed to be sent to the top of 6. The element lifting device 16 lifts the material vertically by means of a V-shape 18 provided at the upper end of a piston rond that is fitted into a fluid pressure cylinder 17 fixed to the left side surface of the side plate 12 with its axis perpendicular. There is. A material Z-axis moving device 20 having a rail 22 a in the front-rear (Z-axis) direction on the upper left side of the side plate 12
A frame body 22 is fixedly installed. A first movable table 23 is provided on the rail 22a so that it can be moved to three positions: a standby position A, a material receiving position B, and a material transfer position C using a known double cylinder 24.25. First moving platform 2
A first movable chuck 26 driven by fluid pressure is fixed to the lower part of No. 3 l15ij 23 a with its axis in the Z-axis direction and facing the material lifting device 16 side. A frame 30 of the material X-axis moving device 29 is located between the left side of the upper front side of the headstock 2 and the side plate 12.
is permanently installed. The frame body 30 is provided with rails 30a horizontally in the left-right (X-axis) direction, and the first moving chisel 2
6 and a second movable chuck 32 driven by fluid pressure and facing concentrically to
A second movable table 31 is provided so as to be movable along the rail 30a. Both ends of a chain 33 stretched between chain gears (not shown) provided at both ends of the frame 30 are fixed to the second moving table 31, and the second feeding table 31 is moved in the X-axis direction by the feed motor 34. Material receiving position.

素材渡し位置Eに位置決めされるようになっている。It is positioned at material transfer position E.

主軸台2の上面にX Ih方向の平行する2本のレール
38aを有する固定台38が固設されており、レール3
8a上にZ軸方向のレール39aを有する第3移動台3
9がを多IJ+可能にiI2置され流体圧シリンダ40
によって主軸チャック3A上方のF位置と主軸チャック
3B上方の0位置に移動位置決めされる。そしてレール
39a上に上下(Y軸)方向にFB動案内穴41,1を
有するローディング装置37の第4移動台41がZ軸方
向移動可能に截置され、NCで回転制御されるモータ4
2で回されるボールねし43によって移動されて受渡し
位置Hと■の2位置に位置決めされる。
A fixed base 38 having two parallel rails 38a in the XIh direction is fixed on the upper surface of the headstock 2.
A third moving table 3 having a rail 39a in the Z-axis direction on 8a
9 allows multiple IJ+iI2 to be placed in the hydraulic cylinder 40
It is moved and positioned to the F position above the spindle chuck 3A and the 0 position above the spindle chuck 3B. A fourth moving table 41 of the loading device 37 having FB movement guide holes 41, 1 in the vertical (Y-axis) direction is placed on the rail 39a so as to be movable in the Z-axis direction, and the motor 4 whose rotation is controlled by the NC
It is moved by the ball screw 43 rotated by 2 and positioned at the delivery position H and 2.

一方加工材反転装置46の下台47は前側のレール38
aの下の固定台38の上面に固設されている。下台47
の上面の左側にはレール38aと平行なX軸方向のレー
ル47aが設けられており、レール47a上に第5移動
台48が移動可能に載置され流体圧シリンダ49によっ
て移動されて受渡し位置J、にの2位置に位置決めされ
る。そして第5移動台、t 8の前部に旋回軸51Aが
軸心を垂直にして旋回可能に設けられ、旋回!!l+5
1 Aの下部に流体圧駆動の第1反転チャック52Aが
軸心を水平にして固着されている。第1反転チャック:
よ流体圧回転シリンダ53Aの出力軸に嵌着される歯車
54Aに噛合される中間歯車55 Aを介して回転され
る旋回軸に嵌着された歯車56Aによって90″旋回さ
れて前向きと右向きに割出しされるようになっている。
On the other hand, the lower stand 47 of the workpiece reversing device 46 is connected to the front rail 38.
It is fixedly installed on the upper surface of the fixed base 38 below a. Lower stand 47
A rail 47a extending in the X-axis direction parallel to the rail 38a is provided on the left side of the top surface, and a fifth moving table 48 is movably placed on the rail 47a and moved by a fluid pressure cylinder 49 to the delivery position J. , and are positioned at two positions. A turning shaft 51A is provided at the front of the fifth moving table, t8, so that the axis can be turned vertically, and it can turn! ! l+5
A first reversing chuck 52A driven by fluid pressure is fixed to the lower part of 1A with its axis horizontal. First reversing chuck:
The intermediate gear 55A is meshed with a gear 54A fitted on the output shaft of the hydraulic rotation cylinder 53A.The gear 56A is rotated by a gear 56A fitted on a pivot shaft which is rotated through an intermediate gear 55A, which rotates the cylinder 90'' and splits it into forward and rightward directions. It is about to be served.

更に下台47の右側〜V位置前面にブラケット57が固
設されておりブラケット57に前記第1反転チャック5
2A及びその反転駆動機構と同様な7Jj2反転チャッ
ク52B。
Furthermore, a bracket 57 is fixedly installed on the right side of the lower stand 47 to the front surface of the V position, and the first reversing chuck 5 is attached to the bracket 57.
7Jj2 reversing chuck 52B similar to 2A and its reversing drive mechanism.

旋回軸51B、流体圧回転シリンダ53B、歯車54B
、55B、56Bが左右対称形に設けられている。そし
て第1.第2反転チャック52A。
Rotating shaft 51B, fluid pressure rotation cylinder 53B, gear 54B
, 55B, and 56B are provided symmetrically. And the first. Second reversing chuck 52A.

528が互いに反対方向に90″反転してそれぞれ前向
きと互いに向き合うように旋回割出しされるようになっ
ている。−力筒4移動台41の垂直穴41aに摺動軸6
0がY軸方向に摺動のみ可能に嵌挿されておりその下部
に固着されたローダヘット’61に流体圧駆動の第10
−デイングチヤソク62及びm20−デイングチヤノク
63が軸心を水平としE 4′i置に位置決めされた第
2チ+、り七J位置に位置決めされ前面を向く第1反転
チャック52Aと同一ビノチに上下に並んで設けみれて
いる。更に第4移動台41の垂直穴41aと直角方向に
NC制??11のモータ65が固着されてδりこの出力
軸に嵌着されるピニオン66が摺動軸60と平行に設け
られたラック67と噛合して摺動軸60を1多動し、第
1.第20−デイングチヤノク62.63が第2移動チ
ャック32.第1移動チセツク26と同心となる上部位
置し及び第10−ディングチャック62が主軸チあツク
3Aと同心となる中間位置M及び第20−デイングチヤ
ノク63が主軸チー1−7り3Aと同心となる下部位置
Nの3fつ置に移動位置決めされる。尚ローダヘッド6
1はチャックの爪取替えのため図示しないセットボルト
を緩めて180  °反転してロープイングチセック6
2・63を前向きとすることも可能である。
528 are rotated and indexed so that they are reversed by 90'' in opposite directions so that they face forward and toward each other.
0 is inserted so that it can only slide in the Y-axis direction, and the 10th hydraulically driven loader head '61 is fixed to the lower part of the loader head '61.
- Deing chucks 62 and m20 - Deing chucks 63 are arranged vertically in the same position as the second reversing chuck 52A, which is positioned at the E4'i position with its axis horizontal, and the first reversing chuck 52A, which is positioned at the R7J position and faces the front. It has been set up. Furthermore, is there an NC control in the direction perpendicular to the vertical hole 41a of the fourth moving table 41? ? A pinion 66 to which the 11 motor 65 is fixed and fitted to the output shaft of the δ riko meshes with a rack 67 provided parallel to the sliding shaft 60 to move the sliding shaft 60 by 1. The second moving chuck 32. The upper position is concentric with the first moving chuck 26, the intermediate position M is where the 10th ding chuck 62 is concentric with the main shaft chuck 3A, and the 20th ding chuck 63 is concentric with the main shaft chuck 1-7 3A. It is moved and positioned every 3f from the lower position N. In addition, loader head 6
1. To replace the chuck jaw, loosen the set bolt (not shown), turn it 180 degrees, and set the rope grip 6.
It is also possible to have 2.63 facing forward.

ヘッド1の右端に設けられた側板6日と主軸台2の前側
面上部右側の間に成品X軸移動装置67の枠体69が固
設されている。枠体69はX軸方向のレール69aを有
し第2移動チャックと同一方向を向く第3移動チャック
70を備える第6移動台71が図示しない送りモータで
駆動されるチェノ72によってレール69aに沿って移
動され成品受取り位置Oと成品渡し位置Pの2位置に位
置決めされるようになっている。
A frame 69 of a product X-axis moving device 67 is fixed between the side plate 6 provided at the right end of the head 1 and the upper right side of the front side of the headstock 2. The frame body 69 has a rail 69a in the X-axis direction, and a sixth moving table 71 including a third moving chuck 70 facing in the same direction as the second moving chuck is moved along the rail 69a by a chino 72 driven by a feed motor (not shown). and is positioned at two positions: a product receiving position O and a product delivery position P.

側板68の右側面上部にZ軸方向のレールを存する成品
Z軸移動装置73の枠体74が固設されレールに沿って
Y軸方向のレール75aを有する7pJ7移動台75が
移動可能に設けられている。第7移動台75は公知の2
重シリンダ76・77によって待機位置Q、成品受取位
置R0成品渡し位置Sの3位置に移動位置決め可能とさ
れている。
A frame 74 of a product Z-axis moving device 73 having a rail in the Z-axis direction is fixed to the upper right side of the side plate 68, and a 7pJ7 moving platform 75 having a rail 75a in the Y-axis direction is movably provided along the rail. ing. The seventh moving table 75 is a known 2
The heavy cylinders 76 and 77 allow movement and positioning to three positions: a standby position Q, a product receiving position R, and a product delivery position S.

そして第7移動台75のレール75a!こ沿って1゛A
体圧シリンダ78によって移動可能とされる腕79が設
けられている。腕79の下部に軸心を水平として第3移
動チャック70と対向する第4移動チャック80が設け
られている。
And the rail 75a of the seventh moving platform 75! 1゛A along this
An arm 79 that is movable by a body pressure cylinder 78 is provided. A fourth movable chuck 80 is provided at the lower part of the arm 79 and faces the third movable chuck 70 with its axis horizontal.

側板68に片端が固着され本機右側東上に設けられ支柱
82に先端部を支えられたし状溝を有する成品搬出用樋
83が下りltQ斜で取付けられている。そして第4移
動チャック80は115i+79のZ伯方向の移動で第
3移動チャック70と同心の成品受取位置Tと放出位置
Uの2位置に位置決めされU位置で第4移動チャック8
0から放された成品は傾斜を利用してυ状、偉内を転が
って1役出されろようになっている。
A gutter 83 for discharging products having one end fixed to the side plate 68, provided on the upper right side of the machine, and having a tip supported by a column 82, is installed with a downward ltQ slope. Then, the fourth movable chuck 80 is moved in the Z direction by 115i+79, and is positioned at two positions, a product receiving position T and a discharge position U, which are concentric with the third movable chuck 70. At the U position, the fourth movable chuck 8
The product released from 0 is designed to take advantage of the slope and roll in a υ-shape, inside the inner circle, to be played as 1 hand.

他の実施例は第1O図のように半加工材反転装置46を
取除き、ローダヘッド61のローデイノグチャソク1個
としたもので、2主軸とも同一加工を行う2主軸旋盤対
応の無反転形ローディング装置である。なお無反転形に
おいてもロープイングチ+7りを2個設は高能率形とす
ることも可能である。
In another embodiment, as shown in Fig. 1O, the half-worked material reversing device 46 is removed, and the loader head 61 has a single loading nozzle, which is non-reversible and compatible with a two-spindle lathe that performs the same machining on both spindles. It is a shape loading device. In addition, even in the non-reversing type, it is possible to make it a high efficiency type by installing two rope inching tips +7.

作用 今、第1図〜第9図において2主軸NC旋盤では左側玉
軸で第1加工、#i側主軸で裏面の第2加工が行われて
いる。そして素材は素材爪受は樋14の(i状溝内に軸
心をZ軸方向として複数個が1列シこ並べみれてストッ
クされている。素材爪受けい14上の素材はNCの指令
で作動する素材の送り出′−装置15によって1個つづ
素材持上げ装置16のV字音18上に送り出される。そ
して素材は、A体圧ンリンダ17によって素材Z軸移動
装置20のA位置で待機中の第1移動チャック26と同
心位置に持ち上げられ2重シリンダ24.25によって
第1移動台23が移動され第1移動チャック26が8位
置に移動し流体圧駆動で把持爪がv学舎18上の素材を
把持する。■掌合18が下li!退避し第1移動チャッ
ク26はC位置に移動され素材Z軸移動装置2つの0位
置に待機中の第2移動チャック32に素材が受渡される
。第2移動チャック32は送りモータ34によって駆動
されるチェノ33によって8位置に移動されローディン
グ装置37のH,L位置で待機中の第10−デイングチ
ヤソク62と同心となり対向する。そして第10−デイ
ングチヤノク624よNC制て1で回転されるモータ4
2によって回されるボールねじ43によって移動する第
4移動台41.摺動軸60、ローダヘッド61を介して
1位置に移動され第2移動チャック32に接近し流体圧
駆+)Jで第10−デイングチヤソク62の把持爪が閉
し第2移動チャック32の把持爪が開いて宋千オの把持
換えが行われ8位置に後退する。第10−デ1′ングチ
ヤノク62は素材を把持してL位置で待機する。
Operation In the two-spindle NC lathe shown in FIGS. 1 to 9, the first machining is performed on the left ball spindle, and the second machining on the back surface is performed on the #i side spindle. The material is stocked in a row of material claw receivers 14 (within the i-shaped groove with the axis in the Z-axis direction. The material on the material claw receiver 14 is The material is delivered one by one onto the V-shape 18 of the material lifting device 16 by the material feed-out device 15 which operates at The double cylinders 24 and 25 move the first movable chuck 23 to a position concentric with the first movable chuck 26, and the first movable chuck 26 moves to the 8th position. The material is gripped.■ The palm 18 is moved downward, the first moving chuck 26 is moved to the C position, and the material is transferred to the second moving chuck 32, which is waiting at the 0 position of the two material Z-axis moving devices. The second movable chuck 32 is moved to the 8th position by the chain 33 driven by the feed motor 34, and is concentrically opposed to the 10th loading chuck 62 which is waiting at the H and L positions of the loading device 37. 624, motor 4 rotated by NC control 1
2, a fourth moving table 41. The sliding shaft 60 is moved to the 1st position via the loader head 61 and approaches the second movable chuck 32, and the gripping claws of the 10th ding chuck 62 are closed by fluid pressure drive +)J, and the gripping claws of the second movable chuck 32 are closed. opens, Song Qian-o's grip is changed, and it retreats to the 8th position. The 10th-de-1' gripper 62 holds the material and waits at the L position.

空になった第2移動チャック32は次の素材受取りのた
め再び0位置に移動をする。
The empty second movable chuck 32 moves to the 0 position again to receive the next material.

第1加工が終わるとN Cii’!″4〕■で回転され
るモータ65によりピニオン66が回されラック67を
介して摺動軸60が移動下降されローダヘッド61がN
位置に移動する。この状管で第20−ディングチャ、り
63は主軸チニノク3.\と同心とtリ、1位置にf多
動して主φtチャック3Aに接近し、把持爪が閉し第1
加工の終わった加工材を把持する。続いて主軸チャック
3Aの把持爪が開かれて把持換えが行われ、第20−デ
イングチヤノク63がN位置に後退して加工材は主軸チ
ャック3Aから抜き取られる。次いでローダヘッド61
がM位置に上昇して第10−デイングチヤソク62が玉
軸チャック3Aと同心となり再び■位置に移動して主軸
チャック3Aに接近し第10−デイングナヤノク62が
把持する素材は主軸チャック3Aの開かれている把持爪
内に搬入される。主軸チャック3Aの把持爪が閉じられ
第10−デイングチヤノク62の把持爪が開かれ素材の
把持換えが行われ、■1位Tに後退し第10−デイング
チヤソク62は空となりローダヘッド61はL位置に上
界する。L位置に位置決めされ半加工材を把持する第2
0−デイングチヤノク63は加工材反転装置46のS位
置で前面を向いている第1反転チャック52Aと同心と
なり第20−デイングチャック53が■位置に移動して
第1反転チャック52Aに接近し開かれている第1反転
チャ、り52 Aの把持爪内に半加工材が6人され、把
持換えされたのち第20−デイングチヤノク63がN位
置に後退して半加工材は第1反転チャック52Aに把持
される。第1反転チャック52Aは流体圧回転シリンダ
5j Aによって90°旋回され同時に第2反転チャッ
ク52Bも流体圧回転シリンダ53Bによって反対方向
に909旋回されて互いの把持爪が向かい合って対向姿
勢を取る。そして第1反転チャック52Aが流体圧フリ
ンゾ49によって移動される第5移動台48によってに
位置に移動され第2反転チャック52Bに接近し半加工
材は第2反転チャック52Bに把持換えされる。第1反
転チャック52AはS位置に後退し第1反転チャック5
2A、第2反転チャック52Bは90”旋回して正面を
向く。続いてローディング装置37の第4移動台41が
流体圧シリンダ40によってX軸方向に移動されG位置
となり、半加工材を把持して正面を向く第2反転チャン
ク52Bと空の第20−デイングチヤソク63が同心と
なる。そして第20−デ1′ングチヤノク63が■位置
に移動して第2反転チャックに接近し半加工材が第20
−デ・イングチャソク63に把持換えされる。第20−
デイングチヤノク63はN位置に後退したのちローダヘ
ッド61が下降してM位置に位置決めされ空の第10−
デイングチャック62と成品を把持する主軸チャック3
Bが同心となり第10−デイングチヤノク62が■位置
に移動されて主軸チャック3Bに接近し第2加工が完了
した成品は第10−デイングチ島ツク62に把持される
。第10−デイングチヤノク62は再び(1位置に後退
したのらローダヘッド61がN位置に移動されて第20
−デイングチヤソク63の把持する第1加工の終わった
半加工材が主軸チャック3Bに把持されろ。次いでロー
ダヘッド61がL位置に上昇して成品X軸移動装置67
の0位置で待機中の第3移動チ^ツク70と第10−デ
イングチヤソク62が同心となり成品が第3移動チャッ
ク70に把持喚えされる。成品を把持した第3移動チャ
ック70はP位置に移動し成品Z軸移動装置73のQ位
置で待機中の第4移動チャック8oと同心となる。
When the first processing is completed, N Cii'! The pinion 66 is rotated by the motor 65 rotated by ``4]■, the sliding shaft 60 is moved down via the rack 67, and the loader head 61 is moved down to the N position.
Move to position. In this shaped tube, the 20th dingcha, ri 63 is the main shaft chininoku 3. When concentric with
Grip the finished workpiece. Subsequently, the gripping claws of the spindle chuck 3A are opened to change the grip, the 20th cutting chuck 63 is retreated to the N position, and the workpiece is extracted from the spindle chuck 3A. Next, the loader head 61
moves up to the M position, the 10th ball chuck 62 becomes concentric with the ball chuck 3A, moves again to the position 2, approaches the main spindle chuck 3A, and the material gripped by the 10th ball chuck 62 is held when the main spindle chuck 3A is opened. It is carried into the gripping claw. The gripping jaws of the spindle chuck 3A are closed, the gripping jaws of the 10th denging chuck 62 are opened, and the material is re-grasped, and ■ it retreats to the 1st position T, the 10th denging chuck 62 is empty, and the loader head 61 is in the L position. ascend to the upper world. The second one is positioned at the L position and grips the blank material.
The 0-ding chuck 63 is concentric with the first reversing chuck 52A facing the front at the S position of the workpiece reversing device 46, and the 20th-ding chuck 53 moves to the ■ position, approaches the first reversing chuck 52A, and is opened. The semi-finished material is placed in the gripping claws of the first reversing chuck 52A, and after the gripping is changed, the 20th de-inging chuck 63 retreats to the N position and the semi-finished material is transferred to the first reversing chuck 52A. be grasped. The first reversing chuck 52A is rotated by 90 degrees by the hydraulic rotary cylinder 5jA, and at the same time, the second reversing chuck 52B is also rotated by 909 degrees in the opposite direction by the hydraulic rotary cylinder 53B, so that the gripping claws thereof face each other and take opposing positions. Then, the first reversing chuck 52A is moved to a position by the fifth moving stage 48 moved by the fluid pressure fringe 49, approaches the second reversing chuck 52B, and the semi-finished material is gripped by the second reversing chuck 52B. The first reversing chuck 52A retreats to the S position and the first reversing chuck 5
2A, the second reversing chuck 52B rotates 90" to face the front. Subsequently, the fourth moving table 41 of the loading device 37 is moved in the X-axis direction by the fluid pressure cylinder 40 to the G position, and grips the blank material. The second reversing chunk 52B facing the front and the empty 20th de-ing chuck 63 become concentric.Then, the 20th de-1' chuck 63 moves to position (3) and approaches the second reversing chuck, and the blank material is transferred to the second reversing chuck. 20
- The grip is changed to De Ingchasok 63. 20th-
After the loading channel 63 retreats to the N position, the loader head 61 descends and is positioned at the M position.
Deing chuck 62 and spindle chuck 3 that grips the finished product
B becomes concentric and the 10th cutting chuck 62 is moved to the - position and approaches the spindle chuck 3B, and the product on which the second machining has been completed is gripped by the 10th working chuck 62. The 10th loading channel 62 is moved back to the 1st position, and then the loader head 61 is moved to the N position and the 20th
- The semi-finished material that has undergone the first machining and is gripped by the cutting chuck 63 is gripped by the spindle chuck 3B. Next, the loader head 61 rises to the L position and the product X-axis moving device 67
The third movable chuck 70 and the tenth debugging chuck 62, which are on standby at the 0 position, become concentric and the finished product is gripped by the third movable chuck 70. The third movable chuck 70 that has gripped the product moves to the P position and becomes concentric with the fourth movable chuck 8o that is waiting at the Q position of the product Z-axis moving device 73.

そして第7移動台75が21「フリンゾ26・27によ
ってN位置に移動され第4移動チャック8゜が第3移動
チャックに接近し成品を第3移動チセフク70から受取
る。続いて第4移動チャック80がS位置に移動したの
ち空にzっだ第3移動チャック70はO位置に戻さ机第
4ト多動チャック80は流体圧シリンダ78によって移
動される腕79によってS位置に下降され把持する成品
は成品搬出用稙83の−J状導のわずか上方に停止して
第4移動チay 7り80の把持爪が開かれて成品がV
状溝内に落とされ傾斜をf11用してL)出される。一
方空になった第1.第20−デイングチヤソク62.6
3はF、L位置に移動され次の素材を第2移動チャック
32から受取り旋削加工がi冬ゎるまで待機する。
Then, the seventh moving table 75 is moved to the N position by the 21 inch fringes 26 and 27, and the fourth moving chuck 8° approaches the third moving chuck and receives the finished product from the third moving chuck 70.Subsequently, the fourth moving chuck 80 After moving to the S position, the third movable chuck 70, which was emptied, is returned to the O position.The fourth multi-moving chuck 80 is lowered to the S position by the arm 79 moved by the fluid pressure cylinder 78, and the product to be gripped is moved to the S position. The product is stopped slightly above the -J-shaped guide of the product carrying shaft 83, and the gripping claws of the fourth moving channel 80 are opened and the product is placed in the V position.
It is dropped into the shaped groove and taken out using the slope f11. Meanwhile, No. 1 was empty. 20th - Deing Cha Seok 62.6
3 is moved to the F and L positions, receives the next material from the second moving chuck 32, and waits until the turning process is completed.

次に第10図の他の実施タリの作用について説明する。Next, the operation of the other embodiment shown in FIG. 10 will be explained.

素tオX +j; 1多動4j2置29の素材を1巴持
してE位置−二位置決めされた第2移fjJチャック3
2はL位置に待機中のローディングチャック62に把持
膜えされ素材を把持したローディングチャック62はロ
ーダヘッド61の移動でM位置に下降し主l111チャ
ック3Aと同心となり玉軸ナヤノク3Aに素材が把持膜
され、空になったローディングチャック62は再びロー
ダヘッド61の移動で上昇しL位置で待機する。次の素
材が第2移動チャック32に把持されてE位置に位;η
決めされると把持膜えが行われて再びローディングチャ
ック62が素+オを把持し第4移動台41の移動でG位
置とされ、ローダヘッド61の移動で下降してM位置で
主軸チャック3Bと同心とされ把持膜えが行われ主軸チ
ャック3Bに素材が把持される。そして空になったロー
ディングチャック62はL位置に戻り待機する。主軸チ
ャック3Aの旋削加工が柊ゎろとローディングチャック
62はF位置を経由しM位置に下降して主軸チャック3
Aと同心とされ把持膜えが行われてコーディングチャッ
ク62に成品が把持される。ローディングチャック62
はローダヘッド61の移動でL位置に上昇し更にG位置
に移動してローディングチャック62と成品X軸移動装
置67の○位置に停止される第3移動チャック70と同
心とされ把持膜えが行われて成品は第1移動チャック7
0に把持され搬出される。
Material tO
2 is held by the loading chuck 62 which is on standby at the L position.The loading chuck 62 which grips the material is lowered to the M position by the movement of the loader head 61, becomes concentric with the main l111 chuck 3A, and the material is gripped by the ball shaft Nayanoku 3A. The loaded chuck 62, now empty, rises again by the movement of the loader head 61 and waits at the L position. The next material is gripped by the second moving chuck 32 and placed at position E; η
When it is determined, the gripping film is fixed, and the loading chuck 62 grips the element + O again, moves to the G position by moving the fourth moving table 41, descends by moving the loader head 61, and moves the main shaft chuck 3B to the M position. The main shaft chuck 3B holds the material concentrically with the main shaft chuck 3B. Then, the empty loading chuck 62 returns to the L position and waits. When the turning process of the main spindle chuck 3A is completed, the loading chuck 62 descends to the M position via the F position, and the main spindle chuck 3
The product is held concentrically with A and gripped by the coding chuck 62. loading chuck 62
is raised to the L position by the movement of the loader head 61, further moved to the G position, and is concentric with the loading chuck 62 and the third moving chuck 70 stopped at the ○ position of the product X-axis moving device 67, and the gripping film is edited. The finished product is transferred to the first moving chuck 7.
0 and carried out.

尚ローダヘッド61に2個のローディングチャックを設
は前述の゛移動経路を若干変更することで更に高能率形
とすることができる。
If the loader head 61 is provided with two loading chucks, it is possible to achieve even higher efficiency by slightly changing the above-mentioned movement path.

効果 以上詳述したように本発明は主軸台上にY軸。effect As described in detail above, the present invention has a Y-axis on the headstock.

Y軸、Z軸に移動可能な1個のローダヘッドに1つ又は
2つのローディングチャックを設けたので2主軸への素
材供給2成品搬出の動作を簡単機構で達成することがで
きコストが低減されうる。また互いに反対方向に90°
旋回可能な2つの反転チャックのうち片方の反転チャッ
クを移動可能とする反転装置を設けたものは本機上で直
ちに反転が可能で作業能率が向上しうる。更にわづがな
変更で他の機構にも適応可能となり一部の装置ガ変更で
無反転形、無反転高能率形等広いバリエーションが得ら
れる効果を有する。
One or two loading chucks are provided on one loader head that can move in the Y-axis and Z-axis, so the operations of supplying materials to two spindles and unloading two products can be achieved with a simple mechanism, reducing costs. sell. Also, 90° in opposite directions
If the machine is equipped with a reversing device that allows one of the two rotatable reversing chucks to move, it can be immediately reversed on the machine, improving work efficiency. Furthermore, it can be adapted to other mechanisms by making simple changes, and by changing some of the devices, a wide variety of variations such as non-reversing type and non-reversing high-efficiency type can be obtained.

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

第1図は本発明のローディング装置付2主軸NC旋盤の
斜視姿図、第2図は本発明の正面概略図で動作説明を加
味した図、第3図は本発明のローディング装置1及転W
 Uの側面よりの説明図、第4図は反転装置の正面図、
第5図は第4図の上方より見た説明図、第6図は素材Z
 Ii+移動装置の説明図、第7図は成品2帖移動装置
の説明図、第8図はローダヘッド部を手前側に旋回させ
た状態の拡大斜視図、第9図はローダの動き説明図、第
1OUjJは無反転形ローディング装置付2主軸NC旋
盤の斜視姿図である。 3A、3B・・チャック 8A、8B・・クレット 12.68・・側板 14・・素材用受は廼 15・・素材送出装置16・・
素材持ち上げ装置 20・・素材Z軸移動装置 23・・第1移動台 26・・第1移動チ島ツク 29・・素材X軸移動装置 31・・第2移動台  33.72・・チェノ32・・
第2移動チ島ツク 37・・ローディング装=39・・第3移動台41・・
第4移動台   48 ・・第5移動台46・・半加工
tオ反転装置 52A・・第1反転チャック 52B・・第2反転チャック 61・・ローダヘッド 62・・第10−ダチヤノク 63・・第20−ダチヤノク 67・・成品X軸移動装置 75・・第7移動台70・
・第3移動チャック 73・・成品Z軸移動装置 80・・第4移動チャック 83・・成品搬出用樋
Fig. 1 is a perspective view of a two-spindle NC lathe with a loading device according to the present invention, Fig. 2 is a schematic front view of the present invention with operation explanation added, and Fig. 3 is a loading device 1 rotation W of the present invention.
An explanatory view from the side of U, Figure 4 is a front view of the reversing device,
Figure 5 is an explanatory diagram seen from above in Figure 4, and Figure 6 is the material Z.
FIG. 7 is an explanatory diagram of the Ii+ moving device, FIG. 7 is an explanatory diagram of the two-book moving device, FIG. 8 is an enlarged perspective view of the loader head turned toward the front, and FIG. 9 is an explanatory diagram of the movement of the loader. The first OUjJ is a perspective view of a two-spindle NC lathe with a non-reversing loading device. 3A, 3B...Chuck 8A, 8B...Cret 12.68...Side plate 14...Material receiver is open 15...Material delivery device 16...
Material lifting device 20...Material Z-axis moving device 23...First moving table 26...First moving unit 29...Material X-axis moving device 31...Second moving table 33.72...Cheno 32...・
2nd mobile island 37... Loading device = 39... 3rd moving platform 41...
4th moving table 48...Fifth moving table 46...Semi-processing t-reversing device 52A...First reversing chuck 52B...Second reversing chuck 61...Loader head 62...10th - Dachanoku 63...No. 20-Dachanoku 67...Product X-axis moving device 75...7th moving table 70...
・Third moving chuck 73... Finished product Z-axis moving device 80... Fourth moving chuck 83... Finished product unloading gutter

Claims (2)

【特許請求の範囲】[Claims] (1)2個の主軸を有しこの2主軸位置への素材供給と
成品搬出を行う搬送装置を本機上に設けた工作機械にお
いて、第1主軸に嵌着される第1主軸チャックと、第2
主軸に嵌着される第2主軸チャックと、該第1主軸チャ
ック上方の素材渡しE位置までチャックで素材を搬入す
る素材X軸移動装置と、前記第2主軸チャック上方の成
品受取りO位置よりチャックで成品を搬出する成品X軸
移動装置と、前記本機上に設けられ前記第1主軸チャッ
ク、第2主軸チャック、E位置の素材X軸移動装置のチ
ャック、O位置の成品X軸移動装置のチャックと受渡し
するためX軸、Y軸、Z軸の3軸方向に移動位置決め可
能な1個のローダヘッドに少なくとも1個のローディン
グチャックを有するローデング装置とを含んでなり、第
1主軸チャックの着脱と第2主軸チャックの着脱を1個
のローダヘッドで行うことを特徴とするローディング装
置。
(1) In a machine tool that has two spindles and is equipped with a conveyor device on the machine that supplies material to the two spindle positions and carries out finished products, a first spindle chuck that is fitted onto the first spindle; Second
A second spindle chuck that is fitted onto the main spindle, a material X-axis moving device that transports the material with the chuck to the material transfer E position above the first spindle chuck, and a chuck from the product receiving O position above the second spindle chuck. a product X-axis moving device for transporting products at the machine, the first spindle chuck, the second spindle chuck, the chuck of the material X-axis moving device at the E position, and the product X-axis moving device at the O position, a loading device having at least one loading chuck on one loader head capable of moving and positioning in the three-axis directions of the X, Y, and Z axes for delivery to and from the chuck; A loading device characterized in that a single loader head is used to attach and detach the second spindle chuck and the second spindle chuck.
(2)2個の主軸を有し、この2主軸位置への素材供給
と成品搬出を行う搬送装置を本機上に設けた工作機械に
おいて、第1主軸に嵌着される第1主軸チャックと、第
2主軸に嵌着される第2主軸チャックと、該第1主軸チ
ャック上方の素材渡しE位置までチャックで素材を搬出
する素材X軸移動装置と、前記第2主軸チャック上方の
成品受取りO位置よりチャックで成品を搬出する成品X
軸移動装置と、前記本機上に設けられ前記E位置上方の
半加工材受取りJ位置と該J位置に対し前記第2主軸チ
ャック側の受渡しに位置に移動可能で且把持軸心をZ軸
方向とX軸方向に90°旋回可能な第1反転チャック及
び前記O位置上方の受渡しW位置で該第1反転チャック
と反対方向に90°旋回し対向姿勢となる第2反転チャ
ックを有する半加工材反転装置と、前記本機上に設けら
れ前記第1主軸チャック、第2主軸チャック、E位置の
素材X軸移動装置のチャック、O位置の成品X軸移動装
置のチャックと受渡しするためX軸、Y軸、Z軸の3軸
方向に移動位置決め可能な1個のローダヘッドに2個の
ローディングチャックを有する着脱装置とを含んでなり
、第1主軸チャックの着脱と第2主軸チャックの着脱を
1個のローダヘッドで行うことを特徴とするローディン
グ装置。
(2) In a machine tool that has two spindles and is equipped with a conveyor device on top of the machine that supplies material to the two spindle positions and carries out finished products, the first spindle chuck is fitted onto the first spindle. , a second spindle chuck fitted to the second spindle, a material X-axis moving device for transporting the material with the chuck to a material transfer position E above the first spindle chuck, and a product receiving O above the second spindle chuck. Product X where the product is transported from the position using a chuck
an axis moving device, which is provided on the machine and is movable between a half-worked material receiving position J above the E position and a delivery position on the second spindle chuck side relative to the J position; A semi-finished work having a first reversing chuck that can rotate 90 degrees in the X-axis direction and a second reversing chuck that rotates 90 degrees in the opposite direction to the first reversing chuck at the delivery W position above the O position to take an opposing posture. The material reversing device, the first spindle chuck, the second spindle chuck provided on the machine, the chuck of the material X-axis moving device at the E position, and the chuck of the product X-axis moving device at the O position for transferring the X-axis , an attachment/detachment device having two loading chucks on one loader head capable of moving and positioning in the directions of three axes, Y-axis and Z-axis, and attaching and detaching the first spindle chuck and the second spindle chuck. A loading device characterized by a single loader head.
JP61289320A 1986-12-04 1986-12-04 Loading device Expired - Fee Related JPH0798281B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP61289320A JPH0798281B2 (en) 1986-12-04 1986-12-04 Loading device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61289320A JPH0798281B2 (en) 1986-12-04 1986-12-04 Loading device

Publications (2)

Publication Number Publication Date
JPS63144902A true JPS63144902A (en) 1988-06-17
JPH0798281B2 JPH0798281B2 (en) 1995-10-25

Family

ID=17741663

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61289320A Expired - Fee Related JPH0798281B2 (en) 1986-12-04 1986-12-04 Loading device

Country Status (1)

Country Link
JP (1) JPH0798281B2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014188648A (en) * 2013-03-28 2014-10-06 Fuji Mach Mfg Co Ltd Work reversing device and lathe
CN108637774A (en) * 2018-07-17 2018-10-12 重庆赛菱斯机电设备有限公司 A kind of device carrying out pump cover automatic loading/unloading based on manipulator
CN110695377A (en) * 2019-10-14 2020-01-17 宁波德立机器人有限公司 Automatic feeding and discharging system of numerical control lathe and control method thereof
DE112021007934T5 (en) 2021-07-07 2024-04-25 Fuji Corporation Machine tool

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59102501A (en) * 1982-11-29 1984-06-13 Murata Mach Ltd Turret lathe provided with measuring device for work
JPS6175901U (en) * 1984-10-23 1986-05-22
JPS61136701A (en) * 1984-12-07 1986-06-24 Mitsubishi Electric Corp Nc control lathe

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59102501A (en) * 1982-11-29 1984-06-13 Murata Mach Ltd Turret lathe provided with measuring device for work
JPS6175901U (en) * 1984-10-23 1986-05-22
JPS61136701A (en) * 1984-12-07 1986-06-24 Mitsubishi Electric Corp Nc control lathe

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014188648A (en) * 2013-03-28 2014-10-06 Fuji Mach Mfg Co Ltd Work reversing device and lathe
CN108637774A (en) * 2018-07-17 2018-10-12 重庆赛菱斯机电设备有限公司 A kind of device carrying out pump cover automatic loading/unloading based on manipulator
CN108637774B (en) * 2018-07-17 2024-06-11 重庆赛菱斯智能装备有限公司 Automatic feeding and discharging device for pump cover based on mechanical arm
CN110695377A (en) * 2019-10-14 2020-01-17 宁波德立机器人有限公司 Automatic feeding and discharging system of numerical control lathe and control method thereof
DE112021007934T5 (en) 2021-07-07 2024-04-25 Fuji Corporation Machine tool

Also Published As

Publication number Publication date
JPH0798281B2 (en) 1995-10-25

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