JPS6319297B2 - - Google Patents

Info

Publication number
JPS6319297B2
JPS6319297B2 JP11224379A JP11224379A JPS6319297B2 JP S6319297 B2 JPS6319297 B2 JP S6319297B2 JP 11224379 A JP11224379 A JP 11224379A JP 11224379 A JP11224379 A JP 11224379A JP S6319297 B2 JPS6319297 B2 JP S6319297B2
Authority
JP
Japan
Prior art keywords
tool
rail
rollers
carrier
roller
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.)
Expired
Application number
JP11224379A
Other languages
Japanese (ja)
Other versions
JPS5639849A (en
Inventor
Kazutomi Ishikawa
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 JP11224379A priority Critical patent/JPS5639849A/en
Publication of JPS5639849A publication Critical patent/JPS5639849A/en
Publication of JPS6319297B2 publication Critical patent/JPS6319297B2/ja
Granted legal-status Critical Current

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
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15726—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle
    • B23Q3/1574—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle the axis of the stored tools being arranged perpendicularly to the rotating or circulating plane of the storage means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Description

【発明の詳細な説明】 本発明は工具マガジンに収められた多数の工具
のなかから任意の工具を選択して工作機械の主軸
へ自由に交換を行うための自動工具交換装置
（Automatic Tool Changer、ATCと略称）に関
するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention is an automatic tool changer for selecting an arbitrary tool from among a large number of tools stored in a tool magazine and freely changing it to the main spindle of a machine tool. (abbreviated as ATC).

横中ぐり盤等に工具マガジンを配置して自動的
に工具を交換する場合、工作機械の主軸位置と同
一垂直面内で主軸の軸方向と同一方向に工具マガ
ジンを配置し、左右動する直線キヤリヤーで交換
するのが最も簡便である。しかしながら、このよ
うな場合は工具マガジンを工作機本体から相当距
離を隔てて設置しないと工作のじやまになり、い
たずらに床面積を拡大する弊害を併うことにな
る。そこで、工作機本体コラムの側面に工具マガ
ジンを主軸と直角方向に配置することが考えられ
るが、この場合は工具の90゜角変換をする必要が
あり、キヤリヤーに90゜の方向転換装置を採用し
なければならない。この角度変換のためには工具
の持替えを必要とすることが多く、工具の落下の
危険が生じて装置の信頼性が薄らぐ結果をもたら
す。そのうえに方向転換などの不必要な装置の付
加によりATC装置の製作費が大幅にアツプする
欠点もある。 When placing a tool magazine on a horizontal boring machine etc. to automatically change tools, place the tool magazine in the same vertical plane as the main spindle position of the machine tool and in the same direction as the main spindle axis, so that it can move horizontally in a straight line. It is easiest to replace using a carrier. However, in such a case, unless the tool magazine is installed at a considerable distance from the machine tool body, the machining will be hindered and the floor space will be unnecessarily increased. Therefore, it is conceivable to place the tool magazine on the side of the machine tool body column in a direction perpendicular to the spindle, but in this case it is necessary to change the tool angle by 90 degrees, so a 90 degree direction change device is adopted for the carrier. Must. This angle conversion often requires changing the tool's grip, creating the risk of the tool falling and reducing the reliability of the device. Furthermore, there is also the disadvantage that the production cost of the ATC device increases significantly due to the addition of unnecessary devices such as direction change.

本発明に係るATC装置は、工具マガジンの工
具を工作機械の主軸へ搬送するのに、直線レール
と所定の円弧レールとの組合せのみによつて移動
するキヤリヤーで一気に搬送交換するようにした
ことを特徴とするもので、確実な工具交換操作と
安価な製作費において従来にない優れた構造を有
している。 The ATC device according to the present invention transports and exchanges tools in a tool magazine to the main shaft of a machine tool all at once using a carrier that moves only by a combination of a straight rail and a predetermined arcuate rail. It has an unprecedented structure with reliable tool exchange operations and low manufacturing costs.

すなわち、その特徴とするところは、工具マガ
ジン中にストツクされている工具のなかから任意
の工具を選択して工作機械の主軸へ工具を自動的
に着脱交換する自動工具交換装置において、工具
マガジンと主軸との間を直線レールと湾曲レール
の組合せで連結すると共にレール側面にローラー
チエンを装着し、工具交換キヤリヤーを左右２個
宛の水平走行ローラーにより外側ローラー間ピツ
チＣを内側ローラー間ピツチＤり大となるようレ
ールに跨架し、水平走行ローラーの一つを駆動ロ
ーラーとすると共にその駆動ローラーの駆動軸に
駆動スプロケツトを装着して工具交換キヤリヤー
を前記ローラーチエンと噛み合せて走行すること
である。 In other words, its feature is that it is an automatic tool changer that selects any tool from among the tools stored in the tool magazine and automatically attaches and detaches the tool to the main spindle of a machine tool. A combination of a straight rail and a curved rail is used to connect the main shaft, and a roller chain is attached to the side of the rail, and the tool exchange carrier is moved from the pitch C between the outer rollers to the pitch D between the inner rollers using two horizontally running rollers on the left and right. The tool is mounted on a rail so that it is large in size, one of the horizontally running rollers is used as a drive roller, and a drive sprocket is attached to the drive shaft of the drive roller, and the tool exchange carrier is meshed with the roller chain and runs. .

以下図面によつて、本発明を詳細に説明する。
第１図はATC装置の平面図で横中ぐり盤に設置
した例であり、第２図は正面図、第３図は側面図
である。 The present invention will be explained in detail below with reference to the drawings.
Figure 1 is a plan view of the ATC device, showing an example installed on a horizontal boring machine, Figure 2 is a front view, and Figure 3 is a side view.

第４図は工具交換キヤリヤー正面図、第５図は
第４図のＡ−Ａ断面図である。また、第６図は工
具交換キヤリヤーのレール直線部及びレール湾曲
部での支持状態を示す平面図である。 FIG. 4 is a front view of the tool exchange carrier, and FIG. 5 is a sectional view taken along line AA in FIG. 4. FIG. 6 is a plan view showing how the tool exchange carrier is supported at the straight rail portion and the curved rail portion.

第１図から明らかなように、工具マガジン１は
横中ぐり盤のコラム２の側面へ配置し、横中ぐり
盤の主軸３は工具マガジン１と90゜角度を違えて
図では右へ向けている。このような状態にATC
装置を配置すると、主軸３の前部で大きな動作に
よつて加工作業をしても工具マガジン１がコラム
２の側面へかくれているので、何らの干渉なしに
作業が遂行できるのである。ここで、工具マガジ
ン１と主軸３との間の工具の受け渡しは工具交換
キヤリヤー４によつて行うのであるが、工具交換
キヤリヤー４はマガジン側レール直線部５、レー
ル湾曲部６及び主軸側レール直線部７からなる一
本のレール上を往復動するモーター８を備えた自
走式キヤリヤーである。 As is clear from Fig. 1, the tool magazine 1 is arranged on the side of the column 2 of the horizontal boring machine, and the main shaft 3 of the horizontal boring machine is oriented at a 90° angle to the tool magazine 1, pointing to the right in the figure. There is. ATC in this situation
When the device is arranged, even if machining work is performed by large movements at the front of the main spindle 3, the tool magazine 1 is hidden behind the side of the column 2, so the work can be performed without any interference. Here, the tool exchange carrier 4 transfers tools between the tool magazine 1 and the spindle 3. This is a self-propelled carrier equipped with a motor 8 that reciprocates on a single rail consisting of a section 7.

レールで移動する工具交換キヤリヤーは従来か
ら用いられているが、大抵の場合直線レールのみ
であつて、直線レールと湾曲レールを用いたもの
は見当らないのである。それは、通常のＨ型鋼レ
ールにキヤリヤーを単に跨がらせるだけでは、1/
１００mm台の精度が出せないのであるが、後に述べ
るように、レール側面にローラーチエンを設置し
てキヤリヤーのモーター８に直結したスプロケツ
ト（モーターとスプロケツト間を減速してもよ
い）を添わせて走行させると共に走行ローラーの
位置関係に工夫を加えて上記精度を取得する装置
として直線レールと湾曲レールのいずれの部分に
対しても安定して走行できるようにしたのであ
る。工具交換キヤリヤー４の前面には工具のチヤ
ツク爪９，９が左右端に取付けられた回転するチ
ヤツクアーム１０が設けられ、第１図のＰ位置へ
きたときは工具マガジン１の工具を横からつまん
で工具の出し入れをし、第１図Ｑ位置へきたとき
は同様に主軸３に対して工具の取付けと取はずし
をする。第２図はＰ位置での正面図であり、第３
図はＱ位置での正面図、すなわち、第１図の右側
面図である。 Tool change carriers that move on rails have been used in the past, but in most cases only straight rails have been used, and those that use both straight and curved rails have not been found. It is impossible to simply straddle the carrier over a normal H-shaped steel rail.
Although it is not possible to achieve accuracy on the order of 100 mm, as will be described later, a roller chain is installed on the side of the rail and a sprocket is connected directly to the carrier's motor 8 (it may be possible to reduce the speed between the motor and sprocket). At the same time, the positional relationship of the running rollers has been modified so that the device can run stably on both straight rails and curved rails as a device that achieves the above-mentioned accuracy. A rotating chuck arm 10 with tool chuck claws 9, 9 attached to the left and right ends is provided on the front of the tool exchange carrier 4, and when the tool reaches position P in FIG. The tool is put in and taken out, and when it reaches position Q in Fig. 1, the tool is attached to and removed from the spindle 3 in the same way. Figure 2 is a front view at position P;
The figure is a front view at the Q position, that is, a right side view of FIG. 1.

本発明のATC装置は、前述したように、工具
交換キヤリヤー４が直線往復運動をしないような
位置に工具マガジン１と工作機械の主軸３とを配
置し、工作にじやまにならない位置へ工具マガジ
ン１を設置する際のレールのみによる円滑な工具
交換キヤリヤー４の動作に対して解決をみたもの
で、レールを直線レールと湾曲レールに分割して
その組合せとしたこと、特に湾曲レールを特定の
Ｒ部にし、Ｐ点及びＱ点を直線部として工具の受
渡しの安定化をはかつたことにある。更に、工具
交換キヤリヤー４は単にレールに対して跨架させ
るのではなく、レール側面にローラーチエンを取
付け、キヤリヤーの駆動モーター８の軸にスプロ
ケツトを取付けてローラーチエンに接触して走行
する形式とし、かつ水平走行ローラーの取付位置
をずらせて湾曲レール部においてもガタのないよ
うにしたことを特徴とする。 As described above, in the ATC device of the present invention, the tool magazine 1 and the main shaft 3 of the machine tool are arranged in a position where the tool exchange carrier 4 does not make linear reciprocating motion, and the tool magazine is moved to a position where it does not interfere with machining. This is a solution to the smooth operation of tool exchange carrier 4 using only the rail when installing 1, and the rail is divided into a straight rail and a curved rail, and the combination is made. In particular, the curved rail is The purpose is to stabilize the delivery of the tool by setting the P point and the Q point as a straight line part. Furthermore, the tool exchange carrier 4 is not simply placed over the rail, but has a roller chain attached to the side of the rail, a sprocket attached to the shaft of the carrier's drive motor 8, and runs in contact with the roller chain. Moreover, the mounting position of the horizontal traveling rollers is shifted so that there is no backlash even in the curved rail portion.

第４図〜第６図は本装置の特徴を説明するもの
であり、レールの構造と工具交換キヤリヤーの跨
架構造を示している。 FIGS. 4 to 6 explain the features of this device, and show the structure of the rail and the straddling structure of the tool exchange carrier.

レールの構造は、第４図及び第５図に示すよう
に、コラム２の側面に設置し、キヤリヤーを上下
２個の駆動ローラー１１ａ，１１ｂ及び上下６個
の水平走行ローラー１２ａ〜１４ａと１２ｂ〜１
４ｂとでレールの左右から挾持する形状の上レー
ル部１５と下レール部１６及びその側面凹部にロ
ーラーチエン１７を埋設固着したものとしてい
る。 As shown in FIGS. 4 and 5, the structure of the rail is that it is installed on the side of the column 2, and the carrier is mounted on two upper and lower drive rollers 11a, 11b and six upper and lower horizontal running rollers 12a to 14a and 12b. 1
A roller chain 17 is embedded and fixed in an upper rail part 15 and a lower rail part 16 which are shaped to be held between the right and left sides of the rail by 4b and a recessed part on the side thereof.

工具交換キヤリヤー４には駆動ローラー１１と
水平走行ローラー１２〜１４に加えて、その重量
を支持するための垂直走行ローラー１８ａ，１８
ａと下方支持のための垂直走行ローラー１８ｂ，
１８ｂを設けてレールの上面及び下面から挾着し
てキヤリヤーが走行できるようにし、前記駆動ロ
ーラー１１ａ，１１ｂ及び水平走行ローラー１２
ａ〜１４ａと１２ｂ〜１４ｂによりキヤリヤーの
左右への振れを防止する。駆動ローラー１１ａ，
１１ｂはその名の如くキヤリヤーの駆動モーター
８の駆動軸１９の上下に取付けられ、水平走行ロ
ーラー１１〜１４と同様の作用をし、真の駆動は
駆動軸１９の中間で、前記レールに設けたローラ
ーチエン１７と噛み合う駆動スプロケツト２０に
より確実に行うようにしている。従つて、第５図
に示すキヤリヤーのレールへの跨架構造は本装置
の最も特徴とするところで、これにより従来のラ
ツクとピニオンによる移動よりもはるかに低コス
トで製造することができ、ローラーチエン１７の
使用はレールの湾曲部に対しても自由設置でき、
高精度の加工を必要とせず実用に供せられる利点
がある。 In addition to the drive roller 11 and the horizontally running rollers 12 to 14, the tool change carrier 4 has vertically running rollers 18a and 18 for supporting its weight.
a and a vertical running roller 18b for downward support,
18b are provided so that the carrier can travel by being clamped from the upper and lower surfaces of the rail, and the driving rollers 11a, 11b and the horizontal traveling roller 12
a to 14a and 12b to 14b prevent the carrier from swinging to the left or right. Drive roller 11a,
As the name suggests, rollers 11b are installed above and below the drive shaft 19 of the carrier's drive motor 8, and function in the same way as the horizontal running rollers 11 to 14. This is ensured by the drive sprocket 20 that meshes with the roller chain 17. Therefore, the structure in which the carrier straddles the rail shown in Fig. 5 is the most distinctive feature of this device, and it can be manufactured at a much lower cost than the conventional rack and pinion movement. 17 can be freely installed even on curved parts of the rail,
It has the advantage that it can be put to practical use without requiring high-precision machining.

駆動ローラー１１及び水平走行ローラー１２〜
１４の位置関係は第６図に示すようにして、レー
ル直線部５、レール湾曲部６のいずれかの場所に
おいてもきしみやガタのないようにすることがで
きる。すなわち、レールの厚みＡは直線部、湾曲
部共に同一であつても、水平走行ローラーの位置
をＲ部において外側ローラー１１と１２のピツチ
Ｃを内側ローラー１３と１４のピツチＤよりも大
とし、ピツチＤと（B1）＋（B2）寸法の和をピツ
チＣとするのである。この（B1）、（B2）寸法は、
レール湾曲部６の半径Ｒと各水平走行ローラー径
によつて決定でき、湾曲部においても直線部と同
様に円滑な走行が可能である。 Drive roller 11 and horizontal running roller 12 ~
14, as shown in FIG. 6, so that there is no creaking or rattling in either the rail straight section 5 or the rail curved section 6. That is, even if the thickness A of the rail is the same in both the straight and curved parts, the pitch C of the outer rollers 11 and 12 is set larger than the pitch D of the inner rollers 13 and 14 at the position of the horizontally running roller in the R part, The pitch C is the sum of the pitch D and the (B 1 )+(B 2 ) dimensions. These (B 1 ) and (B 2 ) dimensions are
This can be determined by the radius R of the rail curved section 6 and the diameter of each horizontal running roller, and smooth running is possible on the curved section as well as on the straight section.

（B1）、（B2）寸法の具体的決定の仕方は、第
６図から幾何学的に次の式を導き、計算するとよ
い。 (B 1 ) and (B 2 ) dimensions can be specifically determined by geometrically deriving the following equations from FIG. 6 and calculating them.

但し、 ｒ：水平走行ローラー１２，１３及び１４の半
径 ａ：駆動ローラー１１の半径 ここで、駆動ローラーを水平走行ローラーと同
径にすれば、B1＝B2となり（）式のみで計算
できる。その具体的数値の一例を挙げれば、次の
とおりである。 However, r: Radius of the horizontally running rollers 12, 13, and 14 a: Radius of the driving roller 11 Here, if the driving roller is made to have the same diameter as the horizontally running roller, B 1 = B 2 and it can be calculated using only formula (). . An example of specific numerical values is as follows.

Ｒ＝373.5、Ａ＝25、ｒ＝22.5、ａ＝22.5、Ｃ＝
185、Ｄ＝168.713、B1＝B2＝8.144（単位はmm） 以上詳述したように、ATC装置におけるキヤ
リヤーのガイドレールを直線部と特定のＲを有す
る湾曲部の組合せとし、それらレールの全長にわ
たつてローラーチエンを連続して設け、それと噛
み合う駆動スプロケツトを工具交換キヤリヤーに
設けると共に水平走行ローラーの位置関係を特定
することにより、工作機械の主軸に対して如何な
る位置へ工具マガジンを設置しても、上記直線部
と湾曲部のレールの長さを適当に設定して安定し
た工具交換キヤリヤーの走行が可能となつたので
ある。 R=373.5, A=25, r=22.5, a=22.5, C=
185, D = 168.713, B 1 = B 2 = 8.144 (unit: mm) As detailed above, the carrier guide rail in the ATC device is a combination of a straight part and a curved part with a specific radius, and the By providing a continuous roller chain over the entire length, providing a drive sprocket that meshes with the chain on the tool change carrier, and specifying the positional relationship of the horizontal traveling rollers, the tool magazine can be installed in any position relative to the main axis of the machine tool. However, by appropriately setting the lengths of the rails in the straight and curved sections, it has become possible to run the tool exchange carrier stably.

その結果、工具マガジンの取付位置の設定が容
易となり、高価な工具の持替え装置や、ラツク・
ピニオンによる高価な移動手段を用いる必要がな
くなり、装置のコストダウンにも寄与するところ
大なる装置となつている。 As a result, it is easy to set the mounting position of the tool magazine, which makes it easy to set the mounting position of the tool magazine.
This is a great device because it eliminates the need to use an expensive moving means such as a pinion, and contributes to reducing the cost of the device.

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

第１図はATC装置の平面図で横中ぐり盤に設
置した例であり、第２図はその正面図、第３図は
その側面図である。第４図は工具交換キヤリヤー
正面図、第５図は第４図のＡ−Ａ断面図、第６図
は工具交換キヤリヤーのレール直線部及びレール
湾曲部での支持状態を示す平面図である。 １……工具マガジン、３……横中ぐり盤の主
軸、４……工具交換キヤリヤー、５……マガジン
側レール直線部、６……レール湾曲部、７……主
軸側レール直線部、１１……駆動ローラー、１２
〜１４……水平走行ローラー、１７……ローラー
チエン、２０……駆動スプロケツト。 Figure 1 is a plan view of the ATC device, showing an example installed on a horizontal boring machine, Figure 2 is its front view, and Figure 3 is its side view. FIG. 4 is a front view of the tool exchange carrier, FIG. 5 is a cross-sectional view taken along the line A-A in FIG. 4, and FIG. 6 is a plan view showing the support state of the tool exchange carrier at the rail straight portion and the rail curved portion. DESCRIPTION OF SYMBOLS 1... Tool magazine, 3... Main shaft of horizontal boring machine, 4... Tool exchange carrier, 5... Magazine side rail straight section, 6... Rail curved section, 7... Spindle side rail straight section, 11... ...Drive roller, 12
~14...Horizontal traveling roller, 17...Roller chain, 20...Drive sprocket.

Claims (1)

【特許請求の範囲】[Claims] １ 工具マガジン中にストツクされている工具の
なかから任意の工具を選択して工作機械の主軸へ
工具を自動的に着脱交換する自動工具交換装置に
おいて、工具マガジンと主軸との間を直線レール
と湾曲レールの組合せで連結すると共にレール側
面にローラーチエンを装着し、工具交換キヤリヤ
ーを左右２個宛の水平走行ローラーにより外側ロ
ーラー間ピツチＣを内側ローラー間ピツチＤより
大となるようレールに跨架し、水平走行ローラー
の一つを駆動ローラーとすると共に該駆動ローラ
ーの駆動軸に駆動スプロケツトを装着して工具交
換キヤリヤーを前記ローラーチエンと噛み合せて
走行することを特徴とする工作機における自動工
具交換装置。1. In an automatic tool changer that selects any tool from among the tools stored in a tool magazine and automatically attaches and detaches the tool to the spindle of a machine tool, a straight rail is installed between the tool magazine and the spindle. They are connected by a combination of curved rails, and a roller chain is attached to the side of the rail, and the tool exchange carrier is straddled over the rail using two horizontally running rollers on the left and right so that the pitch C between the outer rollers is larger than the pitch D between the inner rollers. Automatic tool change in a machine tool, characterized in that one of the horizontally traveling rollers is used as a drive roller, a drive sprocket is attached to the drive shaft of the drive roller, and a tool change carrier travels in mesh with the roller chain. Device.
JP11224379A 1979-08-31 1979-08-31 Automatic tool change-over device in machine tool Granted JPS5639849A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP11224379A JPS5639849A (en) 1979-08-31 1979-08-31 Automatic tool change-over device in machine tool

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP11224379A JPS5639849A (en) 1979-08-31 1979-08-31 Automatic tool change-over device in machine tool

Publications (2)

Publication Number Publication Date
JPS5639849A JPS5639849A (en) 1981-04-15
JPS6319297B2 true JPS6319297B2 (en) 1988-04-22

Family

ID=14581816

Family Applications (1)

Application Number Title Priority Date Filing Date
JP11224379A Granted JPS5639849A (en) 1979-08-31 1979-08-31 Automatic tool change-over device in machine tool

Country Status (1)

Country Link
JP (1) JPS5639849A (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60167737A (en) * 1984-02-03 1985-08-31 Yamazaki Mazak Corp Self-propelled tool changing device
JPS61107532A (en) * 1984-10-31 1986-05-26 Konishiroku Photo Ind Co Ltd Magnetic recording medium
JPS621834U (en) * 1985-06-21 1987-01-08
JPS62195424U (en) * 1986-06-03 1987-12-12
JP2001062660A (en) * 1999-08-27 2001-03-13 Mori Seiki Co Ltd Tool conveying device for machine tool

Also Published As

Publication number Publication date
JPS5639849A (en) 1981-04-15

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