JPS6360843A - Method and device for transporting workpiece by using adsorbing pad - Google Patents
Method and device for transporting workpiece by using adsorbing padInfo
- Publication number
- JPS6360843A JPS6360843A JP20278786A JP20278786A JPS6360843A JP S6360843 A JPS6360843 A JP S6360843A JP 20278786 A JP20278786 A JP 20278786A JP 20278786 A JP20278786 A JP 20278786A JP S6360843 A JPS6360843 A JP S6360843A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- suction
- suction pad
- pressure switch
- closed
- 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
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000002950 deficient Effects 0.000 abstract description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Control And Safety Of Cranes (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Controlling Sheets Or Webs (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、吸着パッドにてワークを吸着して搬送する方
法及び装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method and apparatus for suctioning and conveying a workpiece using a suction pad.
例えば、自動車の組立てラインには、多くのワーク搬送
装置がラインに組込まれている。そして、この種の組立
ラインの各工程は、他の工程との間の関連において、タ
イムタクトがとられており、例えば、一つの搬送装置が
何らかの原因で停止したときは、ライン全体が停止され
るようになっている。For example, an automobile assembly line includes many workpiece conveyance devices. Each process on this type of assembly line takes a time tact in relation to other processes; for example, if one transport device stops for some reason, the entire line will stop. It has become so.
又、自動組立てライン等において作業者は、多くの工程
を受は持っている。Furthermore, in an automatic assembly line, etc., workers are responsible for many processes.
従来の吸着パッドを有するワークの搬送装置は、第３図
に示すように、シーケンス１の常開接点が図示省略の外
部信号にて接続されて駆動装置３が起動し、ワーク搬送
装置を下降させる。As shown in FIG. 3, in a conventional workpiece conveyance device having a suction pad, the normally open contact of sequence 1 is connected by an external signal (not shown), and the drive device 3 is activated to lower the workpiece conveyance device. .
この下降によって吸着パッド９はワーク１２に接地する
。この吸着パッド９の接地により信号が発せられて電磁
弁６が吸引入側に切換えられ、エアエジェクタ１ｏによ
って吸引パッド９内を真空にする。このようにして吸引
パッド９内が真空になると、第４図に示すように大気圧
力との差圧力によって、圧力スイッチ８がＯＮになり、
ワーク１２は、吸引パッド９によって吸着されたことが
確認される。This lowering brings the suction pad 9 into contact with the workpiece 12. When the suction pad 9 is grounded, a signal is generated, the solenoid valve 6 is switched to the suction input side, and the inside of the suction pad 9 is evacuated by the air ejector 1o. When the inside of the suction pad 9 becomes a vacuum in this way, the pressure switch 8 is turned on due to the pressure difference between the atmospheric pressure and the atmospheric pressure, as shown in FIG.
It is confirmed that the workpiece 12 has been suctioned by the suction pad 9.
上記作動において、ワーク有り、吸引パッド６接地及び
圧力スイッチ８ ＯＮの条件が揃ったとき、常開接点４
が閉じられて駆動装置５が起動し、ワーク搬送装置が上
昇する。このようにして、ワーク１２は、吸着パッド９
にて吸着され搬送される。In the above operation, when the following conditions are met: there is a workpiece, the suction pad 6 is grounded, and the pressure switch 8 is ON, the normally open contact 4
is closed, the drive device 5 is activated, and the workpiece conveyance device is raised. In this way, the workpiece 12 is attached to the suction pad 9
It is adsorbed and transported.
ところで、第５図に示すように、パレット１３内に積ま
れたワーク１２が少ない場合（第５図（ａ））は、吸着
面の傾き角度θｌが小さいので、スライドパーＶの伸縮
によって吸着パッド９による吸着は可能であるが、（ｂ
）に示すようにワーク１２を高く積み上げたときは、吸
着面の傾き角度θ２が大きくなって、吸着バット９によ
る吸着は不可能になる。By the way, as shown in FIG. 5, when there are few works 12 loaded on the pallet 13 (FIG. 5(a)), the inclination angle θl of the suction surface is small, so the suction pad is moved by the expansion and contraction of the slider V. Although adsorption by 9 is possible, (b
) When the workpieces 12 are piled up high, the inclination angle θ2 of the suction surface becomes large, and suction by the suction vat 9 becomes impossible.
従って、このようなときは、圧力スイッチ８がＯＮにな
らないので昇降装置１４は作動しない。これにより２イ
ン全体は停止する。この停止原因は、ワーク１２の積み
上げ過き゛にょるものであシ、ライン全体の停止原因は
明らかである。Therefore, in such a case, the pressure switch 8 will not be turned on, and the lifting device 14 will not operate. This causes the entire 2-in to stop. The cause of this stoppage is due to over-piling of the workpieces 12, and the cause of the stoppage of the entire line is obvious.
然しなから、上昇過程で吸着不良の発生が起る場合があ
る。例えばその原因の一つとしては、吸着面の傾きがち
ょうど第５図（ａ）、（ｂ）に示す−１と＃！の中間に
あるようなときは、一応吸着バッド９にて吸着されて圧
力スイッチ８がＯＮになシ、上昇の条件が整い上昇され
るが、吸着力が弱いために上昇の途中で圧力スイッチ８
がＯＦＦになることがある。However, suction failure may occur during the rising process. For example, one of the reasons is that the inclination of the suction surface is exactly -1 and #! shown in FIGS. 5(a) and 5(b). If the pressure is somewhere in the middle, the suction pad 9 will absorb it and the pressure switch 8 will not be turned on, and the conditions for lifting will be established and the pressure switch 8 will be turned on.
may turn off.
このような事態が起ったとき従来は、第６図に示すよう
に昇降装置をその位置で自動的に停止させ、作業者の手
動操作によって、昇降装置を下降し吸着のやり直しをし
ていた。In the past, when such a situation occurred, as shown in Figure 6, the lifting device would automatically stop at that position, and the worker would manually lower the lifting device and try again for suction. .
上記のように、昇降装置が停止すると、ライン全体が停
止する。そして作業者は、ラインの多くの工程を一人で
受は持っているので、ラインの停止原因を調べなければ
ならない。As mentioned above, when the lifting device stops, the entire line stops. Since the worker is in charge of many processes on the line by himself, he must investigate the cause of the line stoppage.
その結果、ワークの搬送装置の吸着不良がライン全体の
停止原因であることを見つけるまでに長時間を要し、そ
の間ライン全体が停止するのでその影響は大きく、生産
性を著じるしく低下させるという問題があった。As a result, it takes a long time to discover that the workpiece transfer device's suction failure is the cause of the entire line stopping, and the entire line stops during that time, which has a large impact and significantly reduces productivity. There was a problem.
本発明は、上記問題を解決した吸着パッドを用いたワー
クの搬送方法及び装置を提供せんとするものである。The present invention aims to provide a method and apparatus for transporting a workpiece using a suction pad that solves the above problems.
上記問題を解決する本発明に係る方法は、電磁弁の切換
えによりエアを供給して吸着パッドをワークに吸着させ
、吸着パッドに設けた圧力スイッチを作動させてワーク
を持ち上げて搬送する吸着パッドを用いたワークの搬送
方法において、上記ワークの持ち上げ途中で吸着不良が
発生したときこれを圧力スイッチで検知し、吸着パッド
を下降してワークに再度吸着させ、吸着パッドがワーク
に完全に吸着するまで上記動作をく夛返し行なうように
したものであり、この方法を実施する。装置は、電磁弁
の切換えにょシェアを供給して吸着パッドをワークに吸
着させ、吸着パッドに設けた圧力スイッチを作動させて
ワークを持ち上げて搬送する吸着パッドを用いたワーク
の搬送装置において、上記、圧力スイッチがＯＦＦでか
つ電磁弁が吸引側に切換えられているとき下降指令を出
力するシーケンス回路を備えていることを特徴とする。The method according to the present invention for solving the above problem is to supply air by switching a solenoid valve to cause a suction pad to adsorb a workpiece, and to operate a pressure switch provided on the suction pad to lift and transport the workpiece. In the method of transporting the workpiece used, when a suction failure occurs while lifting the workpiece, the pressure switch detects this and lowers the suction pad to suction the workpiece again until the suction pad completely suctions the workpiece. This method is designed to repeat the above operations repeatedly. The device is a workpiece transfer device using a suction pad that supplies a switching force to a solenoid valve to cause a suction pad to adsorb a workpiece, and activates a pressure switch provided on the suction pad to lift and convey the workpiece. The present invention is characterized in that it includes a sequence circuit that outputs a lowering command when the pressure switch is OFF and the solenoid valve is switched to the suction side.
以上のように構成することにより、昇降の途中何らかの
原因で吸着不良が発生して圧力スイッチがＯＦＦになっ
たとき、電磁弁が吸引側に切換５シ吸着不良が確認され
てＦ降指令を出し、吸着のやり直しを自動的に行なう。With the above configuration, when a suction failure occurs for some reason during lifting and lowering and the pressure switch is turned OFF, the solenoid valve switches to the suction side and issues an F lowering command when suction failure is confirmed. , the suction will be re-done automatically.
これにより、完全に吸着されるまで自動的に吸着ハツト
の昇降動作がくり返され、ライン全体が停止するような
ことはなｌＡ。As a result, the suction hat automatically moves up and down repeatedly until it is completely suctioned, and the entire line does not stop.
以下本発明の一実施例につ贋て詳細に説明する。先ず、
本発明に係る方法を実施するだめの装置について説明す
る。第１図において、１はシーケンス回路であり、３は
、ワーク搬送装置の昇降装置を下降する駆動源である。Hereinafter, one embodiment of the present invention will be explained in detail. First of all,
An apparatus for implementing the method according to the present invention will be described. In FIG. 1, numeral 1 is a sequence circuit, and numeral 3 is a drive source for lowering the lifting device of the workpiece conveyance device.
この下降駆動源３は、常開接点２とこれに並列に常閉接
点１５と常開接点１６とが設けら′Ｉ’Ｌ１常開接点２
が閉じられるか或は、常閉接点１５が開、常開接点１６
が閉のどちらかの条件が整ったときに作動し、搬送装置
が下降するようになっている。そして、常開接点２は、
外部からの下降信号により閉じられ、常閉接点１５は吸
着パッド９に設けられた圧力スイッチ８（第４図参照）
がＯＦＦのとき開き、又、常開接点１６は、電磁弁６が
吸引入側のとき閉じ吸引切側のときは開いているように
なって＾る。５は、上昇駆動源であり、常開接点４が閉
じているときに作動し、搬送装置を上昇する。This lowering drive source 3 is provided with a normally open contact 2 and a normally closed contact 15 and a normally open contact 16 in parallel with it.'I'L1 Normally open contact 2
is closed or normally closed contact 15 is open, normally open contact 16
It is activated when either of the two conditions is met, and the transport device lowers. And the normally open contact 2 is
The normally closed contact 15 is closed by a downward signal from the outside, and the pressure switch 8 provided on the suction pad 9 (see Fig. 4)
The normally open contact 16 is closed when the solenoid valve 6 is on the suction in side and open when the solenoid valve is on the suction off side. Reference numeral 5 denotes a lifting drive source, which operates when the normally open contact 4 is closed, and lifts the conveying device.
そして、常開接点４が閉じる条件は、ワーク１２有り、
吸着パッド９が接地、圧力スイッチ８がＯＮ 、電磁弁
６が吸引入側にあるすべての条件が整ったときに閉じら
れる。The conditions for the normally open contact 4 to close are that the workpiece 12 is present,
It is closed when all conditions are met: suction pad 9 is grounded, pressure switch 8 is ON, and solenoid valve 6 is on the suction inlet side.
なお、図中７はスライドバー、１０はエジェクタ、１１
はエア配管である。In the figure, 7 is a slide bar, 10 is an ejector, and 11 is a slide bar.
is air piping.
次に本装置を用いて搬送する方法について説明する。Next, a method of transporting using this device will be explained.
先ず、外部信号によって常開接点２が閉じられ、搬送装
置は下降して、吸着パッド９がワーク１２上に接地し、
電磁弁６が吸引入側に切り換えられる。これによシ、エ
ア配管１１を通してエアが供給され、エアエジェクタ１
０によって吸着パッド９内が真空にされ、圧力スイッチ
８がＯＮになる。First, the normally open contact 2 is closed by an external signal, the conveyance device is lowered, and the suction pad 9 is grounded on the workpiece 12.
The solenoid valve 6 is switched to the suction input side. As a result, air is supplied through the air pipe 11 and the air ejector 1
0, the suction pad 9 is evacuated and the pressure switch 8 is turned on.
これにより、ワーク１２有り、吸着パッド９が接地、圧
力スイッチＯＮ、電磁弁６が吸引入側に切換えられたと
いうすべての条件が整って、常開接点４が閉じ、搬送装
置は上昇する。そして、ワーク１２は、第２図に示すワ
ーク受渡し場所１５まで搬送される。この搬送の間は、
上記条件はすべて満されている。ワーク受渡し場所１５
にて、ワーク１２を受は渡すには、電磁弁６を吸引切側
に切換えることにより、上記条件は、崩ずされ、搬送装
置は元の糸路を戻り、常開接点２により下降し、搬送作
業をくり返し行う。As a result, all the conditions are met: the workpiece 12 is present, the suction pad 9 is grounded, the pressure switch is ON, and the solenoid valve 6 is switched to the suction input side, the normally open contact 4 is closed, and the conveying device is raised. The workpiece 12 is then transported to a workpiece delivery location 15 shown in FIG. During this transportation,
All of the above conditions are met. Work delivery place 15
In order to transfer the workpiece 12, the above conditions are broken by switching the solenoid valve 6 to the suction cut side, the conveying device returns to the original thread path, descends through the normally open contact 2, Repeated transportation work.
上記搬送の過程に２いて、搬送中は、電磁弁６が吸引入
側にあり、戻りのときは切り側圧あるのでｓ 電磁弁６
が入側にあるか切シ側にあるかによって、搬送過程は、
搬送中であるか戻シ中であるかが判断される。During the above-mentioned conveyance process, the solenoid valve 6 is on the suction inlet side during conveyance, and when returning, there is pressure on the cut side.
The conveyance process depends on whether it is on the entry side or the cutting side.
It is determined whether the object is being transported or returned.
そこで、搬送の上昇過程において、何らかの原因で吸着
不良が生じたときは、吸着不良によって圧力スイッチ８
がＯＦＦ、搬送中であるので電磁弁６が吸引入側にある
という条件が成立する。この条件は、常閉接点１５を閉
、常開接点１６を閉として与えられて電気的に導通し、
下降駆動源３により搬送装置を下降し、吸着のやり直し
を行なう。Therefore, if suction failure occurs for some reason during the ascending process of conveyance, the pressure switch 8
is OFF and is being transported, so the condition that the solenoid valve 6 is on the suction input side is established. This condition is given with the normally closed contact 15 closed and the normally open contact 16 closed, and electrical conduction is established.
The conveyance device is lowered by the lowering drive source 3 and suction is performed again.
この吸着のやり直し動作は、第２図に示すように吸着不
良（ＮＧ）、吸着良好（ＯＫ）のようにくり返し行うこ
とになシ、完全吸着が達成される。As shown in FIG. 2, this suction operation is not repeated until suction fails (NG) and suction is successful (OK), and complete suction is achieved.
以上詳述した通り本発明によれば、吸着が完全に行なわ
れるまで吸着のやシ直しをくり返し行うので、搬送の上
昇中に何らかの原因で吸着不良が発生したときは、完全
に吸着されるまで自動的に吸着のく９返し動作が行なわ
れて、搬送装置の吸着不良によるライン停止の原因をな
くすことができ、生産性を大巾に向上することができた
。As detailed above, according to the present invention, the suction is repeated until the suction is completely performed, so if suction failure occurs for some reason during the upward movement of the conveyance, until the suction is completed completely. The repeated suction operation is automatically performed, eliminating the cause of line stoppage due to poor suction by the conveying device, and greatly improving productivity.
又、このように、自動的に吸着動作をくシ返し行って、
完全吸着を行なうようにすることＫより、作業者の受持
ち作業範囲を拡大することができ、作業効率をも向上す
ることができるなど優れた効果を有する。Also, in this way, the suction operation is automatically repeated,
Performing complete suction has excellent effects such as being able to expand the work range of the worker and improving work efficiency.
そして、たとえ吸着動作がラインのタクトタイム以内で
行なえずラインが停止されても、吸着動作が自動的に行
なわれるので、短時間でライン停止条件（吸着不良）が
解決されると共に作業員による操作は不要であり、生産
性の向上及び作業員の工数低減が大巾に改善されるなど
優れた効果を有する。Even if the suction operation cannot be performed within the takt time of the line and the line is stopped, the suction operation will be performed automatically, so the line stoppage condition (defective suction) can be resolved in a short time, and the operator can not operate the suction operation. This method is unnecessary, and has excellent effects such as greatly improving productivity and reducing man-hours for workers.
なお、吸着不良の回数をカウントして一定回数以上吸着
不良が発生したときは、搬送装置を自動的に停止させて
、ランプ表示やブザーにて作業者に異常を知らせること
も可能である。Note that when the number of suction failures is counted and suction failures occur a certain number of times or more, it is also possible to automatically stop the conveyance device and notify the operator of the abnormality using a lamp display or a buzzer.
第１図及び第２図は本発明の一実施例を示す図であり、
第１図は、ワーク搬送装置の構成を示す図、第２図は、
ワーク搬送装置の動作を説明するために示した説明用図
である。
第３図乃至第６図は、従来例であり、第３図はワーク搬
送装置の構成図、第４図は圧力スイッチの概略構成図、
第５図は、パレット内にワークを積み上げた状態を示す
側面図であり（ａ） ｉｄワークが少ない場合、（ｂ）
はワークが多い場合をそれぞれ示す図である。第６図は
、ワーク搬送装置の動作を説明するために示した説明用
図である。
１・・・ンーケンス回路、６・・・電磁弁、８・・・圧
力スイッチ、９・・・吸着パッド０
（ほか２名）FIG. 1 and FIG. 2 are diagrams showing one embodiment of the present invention,
Figure 1 is a diagram showing the configuration of the workpiece conveyance device, and Figure 2 is
It is an explanatory diagram shown in order to explain operation of a workpiece conveyance device. 3 to 6 show conventional examples, FIG. 3 is a configuration diagram of a workpiece conveyance device, FIG. 4 is a schematic configuration diagram of a pressure switch,
Figure 5 is a side view showing the state in which workpieces are stacked on the pallet. (a) When there are few ID works, (b)
are diagrams each showing a case where there are many works. FIG. 6 is an explanatory diagram shown to explain the operation of the workpiece conveyance device. 1...Next circuit, 6...Solenoid valve, 8...Pressure switch, 9...Suction pad 0 (and 2 others)
Claims (2)
をワークに吸着させ、吸着パッドに設けた圧力スイッチ
を作動させてワークを持ち上げて搬送する吸着パッドを
用いたワークの搬送方法において、上記ワークの持ち上
げ途中で吸着不良が発生したときこれを圧力スイッチで
検知し、吸着パッドを下降してワークに再度吸着させ、
吸着パッドがワークに完全に吸着するまで上記動作をく
り返し行なうようにしたことを特徴とする吸着パッドを
用いたワークの搬送方法。(1) In the method of transporting a workpiece using a suction pad, in which air is supplied by switching a solenoid valve to cause the suction pad to adsorb the workpiece, and a pressure switch provided on the suction pad is activated to lift and transport the workpiece. When a suction failure occurs while lifting a workpiece, the pressure switch detects this and lowers the suction pad to re-adsorb it to the workpiece.
A method for transporting a workpiece using a suction pad, characterized in that the above operation is repeated until the suction pad completely adsorbs the workpiece.
をワークに吸着させ、吸着パッドに設けた圧力スイッチ
を作動させてワークを持ち上げて搬送する吸着パッドを
用いたワークの搬送装置において、上記、圧力スイッチ
が ＯＦＦでかつ電磁弁が吸引側に切換えられているとき下
降指令を出力するシーケンス回路を備えていることを特
徴とする吸着パッドを用いたワークの搬送装置。(2) In a workpiece transfer device using a suction pad, which supplies air by switching a solenoid valve to cause the suction pad to adsorb the workpiece, and operates a pressure switch provided on the suction pad to lift and convey the workpiece, A workpiece conveyance device using a suction pad, characterized in that it is equipped with a sequence circuit that outputs a descending command when a pressure switch is OFF and a solenoid valve is switched to the suction side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20278786A JPS6360843A (en) | 1986-08-29 | 1986-08-29 | Method and device for transporting workpiece by using adsorbing pad |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20278786A JPS6360843A (en) | 1986-08-29 | 1986-08-29 | Method and device for transporting workpiece by using adsorbing pad |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6360843A true JPS6360843A (en) | 1988-03-16 |
Family
ID=16463185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20278786A Pending JPS6360843A (en) | 1986-08-29 | 1986-08-29 | Method and device for transporting workpiece by using adsorbing pad |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6360843A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01180441U (en) * | 1988-06-10 | 1989-12-26 | ||
| JPH04260536A (en) * | 1991-02-14 | 1992-09-16 | Kanto Auto Works Ltd | Parts taking out device and use of device thereof |
| US5226640A (en) * | 1991-05-31 | 1993-07-13 | Puzey Jon C | Sheet feeding apparatus with pressure sensing vacuum assembly |
| FR2702781A1 (en) * | 1993-03-17 | 1994-09-23 | Mitsubishi Electric Corp | Cutting machine and process for removing the related parts. |
| JPH06328383A (en) * | 1993-05-21 | 1994-11-29 | Mitsubishi Electric Corp | Gripping device of industrial robot |
| JPH08126983A (en) * | 1994-10-28 | 1996-05-21 | Kobe Steel Ltd | Part feeding device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5511953B2 (en) * | 1976-05-10 | 1980-03-28 | ||
| JPS5699143A (en) * | 1979-12-31 | 1981-08-10 | Ricoh Co Ltd | Feeding error sensor of paper feeder device |
-
1986
- 1986-08-29 JP JP20278786A patent/JPS6360843A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5511953B2 (en) * | 1976-05-10 | 1980-03-28 | ||
| JPS5699143A (en) * | 1979-12-31 | 1981-08-10 | Ricoh Co Ltd | Feeding error sensor of paper feeder device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01180441U (en) * | 1988-06-10 | 1989-12-26 | ||
| JPH04260536A (en) * | 1991-02-14 | 1992-09-16 | Kanto Auto Works Ltd | Parts taking out device and use of device thereof |
| US5226640A (en) * | 1991-05-31 | 1993-07-13 | Puzey Jon C | Sheet feeding apparatus with pressure sensing vacuum assembly |
| FR2702781A1 (en) * | 1993-03-17 | 1994-09-23 | Mitsubishi Electric Corp | Cutting machine and process for removing the related parts. |
| JPH06328383A (en) * | 1993-05-21 | 1994-11-29 | Mitsubishi Electric Corp | Gripping device of industrial robot |
| JPH08126983A (en) * | 1994-10-28 | 1996-05-21 | Kobe Steel Ltd | Part feeding device |
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