WO2013171897A1 - Mécanisme de séparation pour séparer une lame circulaire et/ou un intercalaire, robot manipulateur, support de stockage et procédé de séparation - Google Patents

Mécanisme de séparation pour séparer une lame circulaire et/ou un intercalaire, robot manipulateur, support de stockage et procédé de séparation Download PDF

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Publication number
WO2013171897A1
WO2013171897A1 PCT/JP2012/062793 JP2012062793W WO2013171897A1 WO 2013171897 A1 WO2013171897 A1 WO 2013171897A1 JP 2012062793 W JP2012062793 W JP 2012062793W WO 2013171897 A1 WO2013171897 A1 WO 2013171897A1
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WO
WIPO (PCT)
Prior art keywords
round blade
spacer
round
adjacent
separation
Prior art date
Application number
PCT/JP2012/062793
Other languages
English (en)
Japanese (ja)
Inventor
忠典 伏田
賢一 羽瀬川
Original Assignee
太平工業株式会社
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 太平工業株式会社 filed Critical 太平工業株式会社
Priority to MX2014003444A priority Critical patent/MX341569B/es
Priority to CN201280049397.2A priority patent/CN103889627B/zh
Priority to JP2013525038A priority patent/JP5329728B1/ja
Priority to PCT/JP2012/062793 priority patent/WO2013171897A1/fr
Priority to TW102117482A priority patent/TWI542428B/zh
Publication of WO2013171897A1 publication Critical patent/WO2013171897A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D19/00—Shearing machines or shearing devices cutting by rotary discs
    • B23D19/04—Shearing machines or shearing devices cutting by rotary discs having rotary shearing discs arranged in co-operating pairs
    • B23D19/06—Shearing machines or shearing devices cutting by rotary discs having rotary shearing discs arranged in co-operating pairs with several spaced pairs of shearing discs working simultaneously, e.g. for trimming or making strips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together

Definitions

  • the present invention relates to a separation mechanism, a handling robot, a storage table, and a separation method for separating a round blade and / or a spacer.
  • this round blade separating apparatus 100 includes a desired number of round blades 103 and spacers (not shown) arranged in a row on a storage shelf 102 by a handling robot 101.
  • the blade 103 and the spacer are separated and attached to an arbor (not shown) for a round blade shearing slitter.
  • the fingers 105 provided at the tips of the two finger frames 104 shown in FIG. 10 hold the round blade 103 from the inner diameter side of the round blade 103 and lift the round blade 103 upward from the storage shelf 102.
  • the round blade 103 to be taken out is separated from the remaining round blades 103.
  • the adjacent round blades 103 are continuously arranged in the axial direction of the round blade 103, and the end faces of the round blades 103 are in contact with each other.
  • the round blade 103 and the spacer are often attached with anti-rust oil or the like from the handling robot 101 or a steel plate (not shown) cut by the round blade 103, and a plurality of round blades 103 that are in contact with each other.
  • Liquids such as rust preventive oil may enter the slight gap between the spacers.
  • a liquid such as rust preventive oil enters between the two round blades 103, between the round blades 103 and the spacers, and between the two spacers, the adhesion between the two end faces increases.
  • the first round blade 103a and the second round blade are separated. Due to the increased adhesive force between the blade 103b, there is a problem that not only the single round blade 103a to be taken out but also the adjacent round blade 103b is lifted. Further, since the adjacent round blade 103b is not gripped from the inner diameter side of the round blade 103b by the finger 105 of the handling robot 101, the round blade 103b is dropped after being lifted once or falls to the handling robot 101 side. This also causes a problem.
  • the present invention can take out only the desired number of round blades and spacers to be taken out by the handling robot, and reliably leave the round blades and spacers that do not need to be separated on the storage table. It is an object of the present invention to provide a separation mechanism for a round blade and / or a spacer, a handling robot, a storage table and a separation method.
  • the separation mechanism of the present invention is a separation mechanism for separating one or a plurality of round blades and / or spacers from a storage table on which the round blades and / or spacers are supported, wherein the separation mechanism comprises a round blade and And / or holding means for holding the position of the round blade or spacer adjacent to the round blade or spacer that is gripped by the handling robot having fingers that grip the spacer, and the round blade or spacer gripped by the handling robot , And is configured to be slidable and separable along an end surface of the adjacent round blade or spacer held by the holding means.
  • the handling robot of the present invention is a handling robot for separating one or more round blades and / or spacers from a storage table on which the round blades and / or spacers are supported, wherein the handling robot comprises round blades and And / or a finger that grips the spacer, and a round blade that is gripped by the finger or a holding means for holding the position of the round blade or spacer adjacent to the spacer, and the handling robot is a round that is gripped by the finger.
  • a blade or spacer is configured to slide and separate along an end face of the adjacent round blade or spacer held by the holding means, and the holding means moves the adjacent round blade or spacer to the adjacent Press from the outer diameter side of the round blade or spacer to be Characterized in that it is a pressing pushers.
  • the storage table of the present invention is a storage table that supports a round blade and / or a spacer and separates one or more round blades and / or spacers, and the storage table includes a round blade and / or a spacer.
  • Holding means for holding the position of the round blade or spacer adjacent to the round blade or spacer gripped by the handling robot having a gripping finger, and the holding means for holding the round blade or spacer gripped by the handling robot It is configured to be slidable and separable along an end surface of the adjacent round blade or spacer held by the holding means, and the holding means is fixed to the storage table, and the outer peripheral portion or the inside of the adjacent round blade or spacer It is a stopper member provided facing the peripheral portion.
  • the storage table of the present invention is a storage table that supports a round blade and / or a spacer and separates one or more round blades and / or spacers, and the storage table includes a round blade and / or a spacer.
  • a round blade gripped by a handling robot having fingers for gripping the spacer, or holding means for holding the position of the round blade or spacer adjacent to the spacer, and the round blade or spacer gripped by the handling robot It is configured to be slidable and separable along the end face of the adjacent round blade or spacer held by the holding means, and the holding means is provided in the storage table in the axial direction of the round blade or spacer. It characterized in that it is a mobile stopper member movable along.
  • the separation method of the present invention is a method in which one or a plurality of round blades and / or spacers are removed from a storage table on which the round blades and / or spacers are supported by a handling robot having fingers that grip the round blades and / or spacers.
  • a separation method for separation wherein the separation method comprises: a) a step of grasping a round blade and / or a spacer by the finger; and b) a round blade or a round blade adjacent to the spacer that is grasped by the finger. Or a step of holding the position of the adjacent round blade or spacer by a holding means for holding the position of the spacer; and c) the holding blade holds the round blade or spacer held by the finger. Slide along the edge of the round blade or spacer held by Characterized in that it comprises a separation step of separating.
  • the holding means is provided at a position that restricts the movement of the adjacent round blade or spacer in the same direction as the slide direction of the round blade or spacer held by the finger.
  • the handling robot slides the round blade or spacer and reduces the contact area between the end surfaces of the round blade or spacer, the end surface of the gripped round blade or spacer and the adjacent round blade or spacer It is preferable to separate the end face.
  • the handling robot slides the round blade or the spacer and then separates the end faces by tilting the slid round blade or the spacer with respect to the adjacent round blade or spacer.
  • the handling robot is provided with a separation pusher that presses the end face of the adjacent round blade or spacer exposed by sliding the round blade or spacer from the substantially vertical direction against the end face of the adjacent round blade or spacer. It is preferable that
  • the stopper member has a shape along the shape of the opposing round blade or spacer.
  • the movable stopper member is disposed on the inner diameter side of the round blade or spacer, the movable stopper member is provided with a stopper portion facing the inner peripheral portion of the round blade or spacer, and the finger on the round blade or spacer. And when the finger is inserted and the pressed part is pressed, the movable stopper member has an inner diameter of a round blade or a spacer. It is preferable that the stopper portion is opposed to the inner peripheral portion of the adjacent round blade or spacer.
  • the pressed part is a finger contact part pressed by the finger.
  • the round blade or the spacer is suspended from the inner diameter side of the round blade or the spacer by a shaft provided on the storage table.
  • a drop prevention member that prevents the round blade or the spacer from falling off is provided at the end of the shaft on the handling robot side, and the drop prevention member has a height higher than the moving amount of the round blade or the spacer to be slid. It is preferable that a low protrusion is provided.
  • the protrusion is configured to be able to protrude and retract from the drop-off preventing member by an elastic member.
  • a round blade and a spacer to be taken out can be taken out from a storage table by a handling robot, and a liquid such as rust preventive oil is separated from a round blade and a spacer that do not need to be separated.
  • a liquid such as rust preventive oil
  • Can be separated only the round blades and spacers to be separated can be separated, and the round blades and spacers that do not need to be separated can be reliably left in the storage table.
  • round blades and spacers that are not directly gripped by the handling robot and do not need to be separated will not be lifted from the storage stand. And accidents such as injury to workers can be prevented.
  • FIG. 1 is a diagram showing a schematic configuration of a separation mechanism 1 of the present invention.
  • the separation mechanism 1 includes one or more round blades C and / or spacers (hereinafter simply round blades) from a storage table 2 on which the round blades C and / or spacers (not shown) are supported. C)).
  • the adjacent round blades C1 and C2 are arranged such that the end surface CE1 of the round blade C1 and the end surface CE2 of the round blade C2 adjacent to the round blade C1 are in contact with each other.
  • the round blade C and the spacer are annular members having through holes for insertion into an arbor of a round blade shearing slitter (not shown).
  • the separation mechanism 1 holds the position of a handling robot 3 having fingers F ⁇ b> 1 and F ⁇ b> 2 for gripping the round blade C and a round blade C ⁇ b> 2 adjacent to the round blade C ⁇ b> 1 gripped by the handling robot 3.
  • the holding means 4 is provided on the handling robot 3 side as an example.
  • a round blade that is gripped and separated by the handling robot 3 is referred to as a “separated round blade”
  • a round blade adjacent to the gripped round blade is referred to as an “adjacent round blade”.
  • separation refers to the operation from the position where the separation round blade and the adjacent round blade are adjacent to each other, and the case of “separation” refers to the contact.
  • the handling robot 3 can handle the round blade C, and as shown in FIG. 1, a rotatable base portion 31, a first arm 32 provided to be rotatable with respect to the base portion 31, and a first A second arm 33 provided so as to be pivotable with respect to the arm 32 and a robot hand 34 attached to the tip of the second arm 33 are provided.
  • Each component of the handling robot 3 performs a handling operation controlled by a control device (not shown).
  • the robot hand 34 has two finger frames 34a and 34b, and the upper finger frame 34a has two fingers F1 and F1 formed on the lower side.
  • One finger F2 is formed on the finger frame 34b.
  • the lengths of the fingers F1 and F2 are appropriately selected according to the number of round blades C to be separated.
  • the lower finger frame 34b moves downward, and the three fingers F1, F1, F2 are round.
  • the round blade C is held at three points by contacting the inner diameter of the blade C.
  • the base portion 31, the first arm 32, the second arm 33, etc. are driven to separate the round blade C and move it to attach to the arbor. it can.
  • 3 (a) and 3 (b) show a case where the handling robot 3 separates one round blade C, but controls the insertion depth of the fingers F1, F2 into the round blade C, By making the lengths of the fingers F1 and F2 freely extendable, the plurality of round blades C can be separated and moved.
  • the handling robot 3 does not withdraw the round blade C along the end surface of the round blade C, instead of pulling it in the direction of the axis X (left and right in FIG. 1) after holding the round blade C. And then controlled so as to move the round blade C in the X direction.
  • the configuration of the handling robot 3 is merely an example, and the configuration is not particularly limited as long as the round blade C can be gripped, and modifications obvious to those skilled in the art are included in the present invention. Needless to say.
  • the number of fingers that hold the round blade C is not particularly limited to three as long as the round blade C can be held.
  • the number of finger frames is not limited to two, and can be appropriately changed according to the number of fingers, and the finger frames themselves may not be provided.
  • the base part 31, the first arm 32, the second arm 33, etc. are not necessarily required as long as the gripped round blade C can be separated and moved based on the present invention. or it may be further provided with components such as separate arm.
  • the storage table 2 is a table for storing a plurality of round blades C as shown in FIGS. 1 and 2A.
  • the lower side of the round blade C standing upright to the storage table 2 is held, but the storage table 2 has a plurality of round blades C so that the end faces are in contact with each other.
  • Any structure can be used as long as it can be supported side by side. For example, it can be suspended on a rod-shaped member through a through hole of the round blade C.
  • the storage base 2 is not only one in which the round blades C are arranged in a row, but also one in which a plurality of round blades C are arranged in the vertical direction as shown in FIG. It can also be arranged in line.
  • the holding mechanism 4 used in the separation mechanism 1 and the separation method of the present invention will be described.
  • the holding means 4 is provided on the separation round blade C1 gripped by the handling robot 3 so that the adjacent round blade C2 does not move relative to the separation round blade C1. it is intended to hold the positions of adjacent neighboring round blade C2.
  • the separation round blade C1 is slid by the handling robot 3
  • the adjacent round blade C2 is held so as not to follow the sliding operation of the separation round blade C1. Therefore, in order to separate the leftmost round blade C1 of FIG. 1, the second round blade C2 from the left adjacent to the round blade C1 may be held.
  • the holding means 4 is only required to hold at least the adjacent round blade C2 adjacent to the separation round blade C1 to be separated, and holds a plurality of round blades C such as C3 adjacent to the round blade C2. It may be.
  • the holding means 4 is provided on the handling robot 3 side, but may be provided on the storage table 2 side, or may be attached to a member other than the handling robot 3 and the storage table 2. .
  • the holding means 4 is provided at a position that regulates the movement of the separation round blade C1 held by the handling robot 3 in the sliding direction. Accordingly, when the separation round blade C1 that is gripped and separated slides upward in FIG. 2A, the holding means 4 is a position to which a force that prevents the adjacent round blade C2 from moving upward is applied. Should be provided. Note that “regulating the movement of the gripping separation round blade C1 in the sliding direction” means that the holding means 4 causes the holding means 4 to apply a force in the direction opposite to the sliding direction of the separation round blade C1. In other words, the holding means 4 need not be provided in the same direction as the sliding direction.
  • the holding means 4 is shown in FIGS. 1 to 3 (b) as a telescopic pusher provided on the handling robot 3 and protruding from the outer peripheral portion of the adjacent round blade C2.
  • the pusher may protrude from the inner peripheral portion of the adjacent round blade C 2.
  • the adjacent round blade C2 abuts on the outer peripheral portion or the inner peripheral portion of the adjacent round blade C2, or the adjacent round blade C2 does not follow.
  • the stopper member can be slightly separated from the outer peripheral portion or the inner peripheral portion.
  • “slightly spaced” means that the adjacent round blades C2 are separated by at least a distance smaller than the sliding amount of the separated round blades C1 so that two adjacent blades C2 do not follow the separated round blades C1.
  • the specific separation distance is not particularly limited.
  • the holding means 4 can also be configured to move the holding means 4 with respect to the axis X direction of the plurality of round blades C when the handling robot 3 grips and separates the plurality of round blades C. .
  • 2 (a) to 3 (b) a method for separating a single round blade C1 will be described for convenience of explanation.
  • the separation method of the present invention is also applicable to a case where a plurality of round blades C are separated. It can be adapted as well.
  • 2A and 3A are views of the round blade C viewed from the handling robot 3 side (viewed from the left side in FIG. 1), and the first round blade C1 is the paper surface.
  • the finger frames 34a and 34b of the handling robot 3 are indicated by a two-dot chain line for convenience of explanation, and some members are omitted.
  • the holding means 4 makes the adjacent round blade C2 is held (adjacent round blade holding step). Further, before and after the adjacent round blade holding step or simultaneously, the fingers F1 and F2 of the handling robot 3 are inserted into the through hole of the round blade C1 (see FIG. 2A). Thereafter, the lower finger frame 34b is driven downward, and the round blade C1 is gripped from the inner diameter side of the round blade C1 by the three fingers F1, F1, and F2 (round blade gripping step). In the present embodiment, as shown in FIG.
  • the fingers F1, F1, and F2 are inserted so as not to contact the through-hole of the round blade C1, and the entire handling robot 3 is lifted so that the fingers F1, F1 After contacting the inner peripheral portion of the round blade C1, the lower finger frame 34b is lowered. With this configuration, it is not necessary to accurately control the insertion positions of the fingers F1, F1, and F2.
  • the adjacent round blade holding step for holding the adjacent round blade C2 and the round blade holding step for holding the separation round blade C1 may be reversed in order or at the same time.
  • the separation round blade C1 and the adjacent round blade C2 are in the state shown in FIGS. 2A and 2B, and the holding means 4 makes the second adjacent In a state where the round blade C2 is held, the separation round blade C1 is held by the fingers F1, F1, and F2.
  • the handling robot 3 is driven, and the separation round blade C1 held by the fingers F1, F1, and F2 of the handling robot 3 is held by the holding means 4. and along the end face CE2 adjacent round blade C2 sliding.
  • the separation round blade C1 is moved by the handling robot 3 from the state shown in FIG. Are moved in a direction away from the adjacent round blade C2 (left direction in FIG. 3B) (separation step). Thereby, the separation round blade C1 can be separated, and the handling robot 3 can move the separation round blade C1 separated into an arbor or the like.
  • the round blade gripping process as described above, after the fingers F1 and F1 abut on the inner peripheral portion of the round blade C1, the lower finger frame 34b is lowered, and the fingers F1 and F1
  • the separation round blade C1 can be separated even when the lower finger frame 34b provided with the finger F2 is lowered after the separation round blade C1 is raised and slid, or after the finger F1 and F1 are slid. Is possible. Therefore, if the round blade gripping step is before moving the separation round blade C1 in the direction of separating from the adjacent round blade C2 in the separation step, the slide operation before the slide operation of the separation round blade C1, during the slide operation, It may be performed at any timing after the operation.
  • the contact area between the end surface CE1 of the separation round blade C1 and the end surface CE2 of the adjacent round blade C2 is reduced by the amount of sliding. It will be. Since the contact area between the separation round blade C1 and the adjacent round blade C2 is reduced, the adhesion force between the end surface CE1 of the separation round blade C1 and the end surface CE2 of the round blade C2 can be reduced. The force required to separate C1 from the adjacent round blade C2 can be reduced, and the round blade C1 can be smoothly separated. As shown in FIGS. 3A and 3B, the sliding amount of the separation round blade C1 can be sufficiently achieved only by sliding an amount smaller than the width of the annular portion on the end face of the round blade C. Can be obtained.
  • the present invention by providing the holding means 4 and sliding the separation round blade C1 with respect to the adjacent round blade C2, due to the adhesion between the separation round blade C1 and the adjacent round blade C2. It is possible to prevent lifting and movement of the adjacent round blade C2 that does not need to be separated, and to reduce the peeling force for separating the separated round blade C1 from the adjacent round blade C2 in the axis X direction of the round blade C. Can do.
  • the adjacent round blade C2 that is not directly gripped by the handling robot 3 and does not need to be separated does not lift from the storage table 2, the adjacent round blade C2 or the spacer is lifted once and then dropped. It is possible to prevent accidents such as damage to the storage base 2 and injury to workers.
  • the adjacent round blade C2 that does not require separation is held by some holding means, and then the separation round blade C1 is peeled along the axis X direction of the round blade C without sliding the separation round blade C1.
  • the adhesion force between the end face CE1 of the separation round blade C1 and the end face CE2 of the adjacent round blade C2 is large.
  • Great power is required. Therefore, when the separation round blade C1 is peeled off, the separation round blade C1 to which a large force is applied to the peeling and the adjacent round blade C2 held with a strong force at the time of peeling may be deformed. (Especially when the round blade is thin).
  • the adjacent round blade C2 is held by the holding means 4 and the separation round blade C1 is slid with respect to the adjacent round blade C2 as in the present invention, a large force is not required to separate the round blade C. The deformation of the separation round blade C1 and the adjacent round blade C2 can also be prevented.
  • the separation round blade C1 when the separation round blade C1 is simply slid and removed (when the separation round blade C1 is not separated in the axis X direction when separated), the separation round blade C1 is equal to the length of the outer diameter of the separation round blade C1. Need to be slid, and a large space is required in the sliding direction such as above the separation round blade C1. However, after the separation round blade C1 is slid with respect to the adjacent round blade C2, the separation round blade C1 is separated from the adjacent round blade C2 in the direction of the axis X of the round blade C, for example, as shown in FIG. As shown, even when the storage table 2 is provided in a plurality of stages above and below, the space above the separation round blade C1 can be minimized and the space can be saved.
  • FIGS. 4a and 4b show the handling robot 3 according to the first embodiment of the present invention, in which a pusher 41 is provided on the handling robot 3 as a holding means (see FIGS. 4a and 4b).
  • the round blade C (indicated by a two-dot chain line in FIGS. 4 a and 5 b) is stored in a state where the lower portion is placed on the storage table 2.
  • the robot hand 34 attached to the tip of the second arm 33 (see FIG. 1) of the handling robot 3 is shown.
  • the robot hand 34 includes an upper finger frame 34 a and a lower finger frame 34 b, and each is attached to the base plate 5 of the robot hand 34.
  • the lower finger frame 34b is attached to the base plate 5 so as to be movable up and down. Since the configuration for moving up and down is not essential in the present invention, the description thereof is omitted.
  • the upper finger frame 34a is provided with two fingers F1 and F1 for gripping the separation round blade C1
  • the lower finger frame 34b is provided with a finger F2 for gripping the separation round blade C1. Is provided.
  • the robot hand 34 is further provided with a pusher (round blade outer surface pressing pusher) 41 as a holding means.
  • the pusher 41 and the finger frames 34a and 34b move together when the fingers F1 and F2 are inserted into the through holes of the separation round blade C1, but when the separation round blade C1 is separated, the pusher 41 and the finger frames 34a. , and 34b are configured to move independently of each other.
  • the robot hand 34 is configured so that the end face CE1 of the separation round blade C1 to be gripped can be inclined with respect to the end face CE2 of the adjacent round blade C2, so that the entire robot hand 34 or the finger frame 34a, 34b is comprised so that turning is possible.
  • the pusher 41 is configured to press the outer peripheral portion of the adjacent round blade C2 obliquely from above the adjacent round blade C2.
  • the blade C2 may be pressed.
  • a telescopic type in which a rod 41b inserted into the cylinder 41a projects from the cylinder 41a by hydraulic pressure, pneumatic pressure or the like can be used.
  • a soft member such as rubber may be provided at the tip of the rod 41b so that the outer peripheral portion of the adjacent round blade C2 is not damaged when coming into contact with the outer peripheral portion of the adjacent round blade C2.
  • what is indicated by reference numeral 6 is a posture holding member that stably supports the round blade C1 by contacting the free end surface of the round blade C1, and does not interfere with the fingers F1 and F2. It has an inverted U shape.
  • the posture holding member 6 has an inverted U-shape in FIG. 4A, but the shape is not particularly limited.
  • the posture holding member 6 is configured to be movable in the axis X direction (vertical direction in FIG. 4B) of the round blade C by a cylinder 61 provided behind the posture holding member 6.
  • a pair of pushers round blade end face pressing pushers that can expand and contract along the axis X direction of the round blade C are positioned adjacent to the finger F1 of the upper finger frame 34a. 7 is provided.
  • the pusher 7 presses the end surface CE2 (see FIG. 3A) of the adjacent round blade C2 exposed by sliding the separation round blade C1 from a substantially vertical direction. 4a and 4b, the pusher 7 is fixed to the upper finger frame 34a.
  • the pusher 7 can press the end face CE2 of the adjacent round blade C2 exposed by the slide of the separation round blade C1.
  • its configuration is not limited to a telescopic type.
  • FIGS. 5a to 5e are simplified conceptual diagrams of the respective members.
  • the thickness of the round blade C, the length of the finger F1, the position at which the finger F1 grips the round blade C1, etc. are partially deformed. ing.
  • FIG. 5a shows a state before the separation round blade C1 is gripped by the fingers F1 and F2. In this state, neither the pusher 41 nor the pusher 7 is in a stretched state.
  • the robot hand 34 is inserted into the through hole of the separation round blade C1, and at the same time, the pusher 41 extends, and the outer peripheral surface of the adjacent round blade C2 is pressed by the pusher 41 (see FIG. 5b). .
  • the posture holding member 6 abuts on an end surface of the separation round blade C1 that is not adjacent to the adjacent round blade C2. At this point, as shown in FIG. 5b, the pusher 7 is not yet extended.
  • the entire robot hand 34 is moved upward with the adjacent round blade C ⁇ b> 2 being pressed by the pusher 41.
  • the separation round blade C1 slides along the end surface CE2 of the adjacent round blade C2.
  • the fingers F1 and F1 of the robot hand 34 are brought into contact with the inner peripheral portion of the separation round blade C1 to lift and slide the separation round blade C1, and almost simultaneously with this sliding operation.
  • the lower finger frame 34b moves downward to grip the inner peripheral surface of the separation round blade C1 by the three fingers F1, F1, and F2.
  • timing can be changed suitably.
  • the contact area between the end surface CE1 of the separation round blade C1 and the end surface CE2 of the adjacent round blade C2 is reduced, as shown in FIG.
  • the pusher 7 is extended to bring the tip of the pusher 7 into contact with the end surface CE2 of the adjacent round blade C2, and at the same time, the entire robot hand 34 is tilted.
  • the separation round blade C1 to be gripped is slid to reduce the contact area with the adjacent round blade C2, and then the separation round blade C1 is adjacent to the handling robot 3 by the handling robot 3.
  • the peeling force from the adjacent round blade C2 can be further reduced.
  • both the force from the circumferential direction and the force from the axis X direction are applied to the adjacent round blade C2, so that the separation is performed.
  • the force for gripping the separation round blade C1 can be further reduced. Therefore, the deformation
  • Embodiment 2 In Embodiment 2 shown in FIGS. 6a to 7d, the round blade C is suspended from the storage table 2, and the holding means 4 fixed to the storage table 2 is provided.
  • This is an embodiment suitable for separation.
  • the configuration on the handling robot 3 and robot hand 34 side is that it is not necessary to provide the pusher 41 and pusher 7 in the robot hand 34, and it is not necessary to rotate the separated round blade C1 to be gripped with respect to the adjacent round blade C2. Other than that, the description is omitted.
  • the round blade C is suspended and stored by two rods 21 (shown by broken lines in FIG. 6a) provided on the storage table 2.
  • the rod 21 extends horizontally from the storage base body 22, and the free end of the rod 21 (the left end in FIG. 6b) abuts against the end surface of the separation round blade C1 to prevent the separation round blade C1 from falling off.
  • a drop prevention member 23 is provided.
  • the drop-off prevention member 23 has a drop-off prevention protrusion 23a that comes into contact with the end face of the separation round blade C1.
  • the height of the drop-off prevention projection 23a is provided to be lower than the slide height of the separation round blade C1.
  • the holding means 4 of the present embodiment is shown as a stopper member 42 that is fixed to the storage table 2 and provided opposite to the outer peripheral portion of the adjacent round blade C2, and is to be gripped.
  • a portion facing the outer peripheral portion of the blade C1 (sliding direction of the separation round blade C1; upward direction in FIG. 6b) is not covered by the stopper member 42 (see FIG. 6c).
  • the stopper member 42 is provided to face the outer peripheral portion of the adjacent round blade C2, but may be provided to face the inner peripheral portion of the adjacent round blade C2. .
  • the stopper member 42 is disposed so as to abut against the outer peripheral portion of the adjacent round blade C2 or slightly away from the outer peripheral portion of the adjacent round blade C2.
  • “slightly spaced” means that the adjacent round blade C2 is smaller than the slide amount of the separated round blade C1 so that two adjacent round blades C2 are not taken following the gripped separated round blade C. It is intended to include those that are separated, and the specific separation distance is not particularly limited.
  • the contact portion between the stopper member 42 and the round blade C is formed in an arc shape along the shape of the round blade C. Therefore, when facing the outer peripheral portion of the round blade C, it is formed as an arc-shaped concave portion, and when facing the inner peripheral portion of the round blade C, it is formed as an arc-shaped convex portion.
  • the shape and number of the stopper member 42 are not limited as long as the adjacent round blade C2 is provided at a position where the adjacent round blade C2 does not follow the separation round blade C1 and can hold the adjacent round blade C2.
  • the stopper member 42 is preferably formed of a soft member so that the outer peripheral portion of the adjacent round blade C2 is not damaged when the adjacent round blade C2 contacts the stopper member 42.
  • the material is not particularly limited as long as C2 can be restricted from moving in the same direction as the sliding direction of the separation blade C1 to be gripped.
  • a plurality of round blades C are supported by the rod 21, but one of the plurality of round blades C is a round blade separation position where the round blades C can slide (in FIG. 6b).
  • a biasing means 8 for biasing and moving the round blade C toward the drop-off prevention member 23 side is provided so as to move to the position where the separation round blade C1 is located in FIG.
  • the urging means 8 is not limited to the air cylinder, and an urging means such as a spring may be used.
  • the pushing plate 9 shown in FIGS. 6 a to 6 c is connected to the biasing means 8, and the round blade C is biased to the round blade separating position side via the push plate 9.
  • FIGS. 7a to 7d are conceptual diagrams in which each member is simplified.
  • the thickness of the round blade C, the lengths of the fingers F1 and F2, the position where the finger F1 grips the round blade C1, etc. are shown in a deformed manner. Yes.
  • FIG. 7a shows a state before the separation round blade C1 is gripped by the fingers F1 and F2.
  • the separation round blade C1 at the round blade separation position (the left round blade in FIG. 7a) abuts against the drop-off prevention member 23 by the biasing means 8, and the upper portion of the separation round blade C1 is the stopper member 42.
  • the stopper member 42 is arranged above the round blade C on the right side of the second adjacent round blade C2.
  • the fingers F1 and F2 of the robot hand 34 are inserted into the through holes of the separation round blade C1, and at the same time, the posture holding member 6 comes into contact with the end face of the round blade C1 (see FIG. 7b).
  • the separation round blade C ⁇ b> 1 is slid upward by the robot hand 34.
  • the stopper member 42 is not provided in the sliding direction of the separation round blade C1
  • the separation round blade C1 can slide.
  • the fingers F1 and F1 of the robot hand 34 are brought into contact with the inner peripheral portion of the separation round blade C1 to lift and slide the separation round blade C1, and almost simultaneously with this sliding operation.
  • the lower finger frame 34b moves downward to grip the inner peripheral surface of the separation round blade C1 by the three fingers F1, F1, and F2.
  • timing can be changed suitably.
  • the upper part of the adjacent round blade C2 is covered with the stopper member 42, and the upward movement of the adjacent round blade C2 is restricted. Therefore, the adjacent round blade C2 cannot be moved upward and is gripped. Only the separation round blade C1 can move upward. At this time, the inner peripheral portion of the separation round blade C1 slides to a position beyond the height of the drop prevention protrusion 23a of the drop prevention member 23.
  • the robot hand 34 can be moved in the direction of the axis X of the round blade C to separate the separation round blade C1 from the adjacent round blade C2. . That is, when the separation round blade C1 is moved in the direction of the axis X, the adjacent round blade C2 is urged by the urging means 8, and thus moves together with the separation round blade C1 in the axis X direction. Is provided with a drop-off prevention member 23, and the end face of the adjacent round blade C2 abuts against the drop-off prevention protrusion 23a of the drop-off prevention member 23, whereby the separation round blade C1 and the adjacent round blade C2 can be separated and separated. When the separation round blade C1 is separated, the adjacent round blade C2 is moved to the round blade separation position by the biasing means 8, and the preparation for the continuous separation process is completed. By repeating this process, the round blades can be separated one by one.
  • the round blades C can be separated one by one with a simple configuration.
  • the storage table 2 is provided with the drop-off prevention member 23, and the round blade C is biased to the round blade separation position side by the biasing means 8, so that the adjacent round blade is separated after the separation of the single separation round blade C1.
  • C2 is automatically moved to the round blade separation position, and the drop prevention protrusion 23a of the drop prevention member 23 functions as a stopper for separating the separation round blade C1 and the adjacent round blade C2 in the axis X direction.
  • a continuous round blade separation operation can be performed.
  • Embodiment 3 In Embodiment 3 shown in FIGS. 8a to 9d, a round blade C is suspended from the storage table 2 and has holding means 4 that is movably provided on the storage table 2.
  • This is an embodiment suitable for separating an arbitrary number of round blades C. Since the configuration on the handling robot 3 side is the same as that of the second embodiment, the description thereof is omitted.
  • the separation round blade is assumed to be Ca, and the adjacent round blade is assumed to be Cb.
  • the round blade C is suspended and stored by the two rods 21 provided on the storage base 2.
  • FIG. The rod 21 extends horizontally from the storage base body 22, and the free end side (the left end in FIG. 8b) of the rod 21 is in contact with the end face of the separation round blade Ca to prevent the separation round blade Ca from falling off.
  • a drop prevention member 23 is provided.
  • the drop-off prevention member 23 is basically the same as the drop-off prevention member 23 of the second embodiment. However, in this embodiment, the drop-off prevention protrusion 23a is located on the drop-off prevention member 23 as shown in FIG. It is configured to appear and disappear.
  • the drop-off prevention protrusion 23a is accommodated in a recess G formed in the drop-off prevention member 23 as shown in FIG. 8d, and is urged upward by a spring, and is normally dropped off as shown in FIG. 8d. It protrudes from the prevention member 23.
  • the drop prevention protrusion 23 a has a pin 23 b attached to its side surface, and the pin 23 b protrudes from the long hole 23 c formed on the side surface of the drop prevention member 23 to the outside of the drop prevention member 23. Since the pin 23b is urged upward by the torsion spring S in FIG.
  • the pin 23b moves upward and comes into contact with the upper end of the long hole 23c and stops, and the drop prevention protrusion 23a is formed by the drop prevention member. It is comprised so that it may protrude from 23 upwards.
  • the urging means for projecting the drop-off prevention protrusion 23a from the drop-off prevention member 23 is not limited to the torsion spring S, and may be a coil spring or the like.
  • the urging means 8 is provided similarly to the second embodiment, and the round blade C is configured to be urged and moved toward the drop-off prevention member 23 side.
  • the extrusion plate 9 connected to the urging means 8 has a disk shape substantially the same shape as the round blade C. Since the extrusion plate 9 has a disk shape, the round blade C can be stably extruded. As shown in FIGS. 8 b and 8 c, the extrusion plate 9 has a total of three rods 81, 82, a rod 81 protruding from a cylinder as the biasing means 8 and rods 82, 83 extending in parallel with the rod 81. 83, the round blade C is pushed out to the round blade separation position side.
  • the movable stopper member 43 is arranged on the inner diameter side of the round blade C (in FIG. 8b, it moves to the round blade separation position side). This is indicated by a solid line, and a state where the movable stopper member 43 is pushed and moved to the right in FIG. 8b is indicated by a two-dot chain line).
  • This movable stopper member 43 is used when the stopper 43a facing the inner peripheral portion of the adjacent round blade Cb and the separation round blade Ca are gripped (when the fingers F1 and F2 are inserted into the through holes of the round blade C).
  • the finger contact portion 43b is configured to move in the through hole of the round blade C by contacting the fingers F1 and F2, but is a member different from the fingers F1 and F2.
  • the pressed portion of the movable stopper member 43b may be pressed by a rod or the like that is provided in parallel with the fingers F1 and F2 and has a protrusion amount similar to that of the fingers F1 and F2.
  • the movable stopper member 43b is provided on the inner diameter side of the round blade C.
  • the movable stopper member 43b may be provided on the outer diameter side.
  • the round blade C is gripped from the inner diameter side
  • the movable stopper member 43b is provided on the outer diameter side
  • the movable stopper is provided on the outer diameter side by a pressing member having a projection amount similar to the fingers F1 and F2.
  • the member 43b may be pressed.
  • the movable stopper member 43 is urged by the stopper member urging means 10 toward the handling robot 3 side (round blade separation position side) along the axis X direction of the round blade C.
  • the stopper member urging means 10 various urging means such as a compression coil spring and a cylinder can be used.
  • the movable stopper member 43 has three rods 11, 12, 13 urged by the stopper member urging means 10 connected to the back surface thereof, so that the movable stopper member 43 is separated into round blades. Extruded to the position side.
  • the movable stopper member 43 is moved to the handling robot 3 side (the left side movement shown by the solid line in FIG. 8b). (See type stopper member 43).
  • the movable stopper member 43 also has a plurality of separated round blades Ca to be gripped by the fingers F1 and F2. (Refer to the movable stopper member 43 on the right side indicated by a two-dot chain line in FIG. 8B).
  • the fingers F1 and F2 want to separate the two separated round blades Ca
  • the fingers F1 and F2 are inserted into the row of the plurality of round blades C by the thickness of the two separated round blades Ca.
  • the stopper portion 43a of the movable stopper member 43 faces the inner peripheral portion of the third adjacent round blade Cb.
  • the movable stopper member 43 has an n + 1-th adjacent round blade Cb when the number of separated round blades Ca held by the fingers F1 and F2 is n.
  • the movable stopper member 43 need not be in the shape shown in FIG. 8a as long as there is a part that comes into contact with the tips of the fingers F1 and F2, and can be changed as appropriate.
  • FIGS. 9a to 9d are simplified conceptual diagrams of each member.
  • the thickness of the round blade C, the lengths of the fingers F1 and F2, the position where the finger F1 grips the separated round blade Ca, etc. are deformed.
  • Show. 9a to 9d show, as an example, a case where two separated round blades Ca1 and Ca2 are separated at the same time, but this separation method is similarly applied to the case where three or more separated round blades Ca are separated. can do.
  • FIG. 9a shows a state before the separation round blades Ca1 and Ca2 are gripped by the fingers F1 and F2.
  • the foremost separating round blade Ca1 (the leftmost separating round blade in FIG. 9a) is pushed out by the biasing means 8 and the pushing plate 9 to the side of the round blade separating position, and the drop preventing member 23 is removed.
  • the movable stopper member 43 is also positioned on the inner diameter side of the leftmost separation round blade Ca1 by the stopper member urging means 10.
  • the fingers F1 and F2 of the robot hand 34 are inserted into the through holes of the separation round blades Ca1 and Ca2, and the posture holding member is attached to the end surface of the separation round blade Ca1 and Ca2. 6 is brought into contact (see FIG. 9b).
  • the tips of the fingers F1 and F2 come into contact with the finger contact portion 43b, the movable stopper member 43 is pushed in, and the stopper portion 43a is against the urging force of the stopper member urging means 10 so that the stopper portion 43a It moves to a position facing the inner periphery (see FIG. 9b).
  • the robot hand 34 is moved upward, and the separated round blades Ca1, Ca2 are slid with respect to the adjacent round blade Cb.
  • the stopper portion 43a of the movable stopper member 43 is positioned at a position facing the inner peripheral portion of the adjacent round blade Cb, and the upward movement of the adjacent round blade Cb is restricted.
  • Cb cannot move upward, and only the gripped separation round blades Ca1 and Ca2 can move upward.
  • the inner peripheral portions of the separation round blades Ca1 and Ca2 slide to a position exceeding the height of the dropout prevention protrusion 23a of the dropout prevention member 23.
  • the fingers F1 and F1 of the robot hand 34 are in contact with the inner peripheral portion of the separation round blades Ca1 and Ca2, and the separation round blades Ca1 and Ca2 are lifted and slid.
  • the lower finger frame 34b moves downward, and the inner peripheral surfaces of the separation round blades Ca1, Ca2 are gripped by the three fingers F1, F1, F2.
  • timing can be changed suitably.
  • the robot hand 34 can be moved in the direction of the axis X of the round blade C to separate the round blades Ca1 and Ca2 from the round blade Cb. That is, when the separation round blades Ca1 and Ca2 are moved in the axis X direction, the adjacent round blade Cb is urged by the urging means 8, and thus moves in the axis X direction together with the separation round blades Ca1 and Ca2.
  • the storage table 2 is provided with a drop-off prevention member 23, and the end face of the adjacent round blade Cb abuts against the drop-off prevention protrusion 23a of the drop-off prevention member 23, thereby separating the separation round blades Ca1, Ca2 and the adjacent round blade Cb, Can be separated.
  • the adjacent round blade Cb is moved to the round blade separation position by the biasing means 8, and the movable stopper member 43 is also moved by the stopper member biasing means 10 after being moved. It moves to the inside of the adjacent round blade Cb, and the preparation for the continuous separation process is completed. By repeating this process, it is possible to separate a plurality of separated round blades Ca with a single operation.
  • the movable stopper member 43 serving as the holding means is provided with the fingers F1 and F2 regardless of whether a single round blade is separated or a plurality of round blades are separated. Since it is automatically moved by inserting, any number of round blades can be easily and reliably separated. Further, the drop-off prevention member 23 is provided in the storage base 2 and the round blade C is urged toward the round blade separation position by the urging means 8, so that it is adjacent after the separation of one or more round blades Ca.
  • the round blade Cb is automatically moved to the round blade separation position, and the drop prevention protrusion 23a of the drop prevention member 23 functions as a stopper for separating the separation round blade Ca and the adjacent round blade Cb in the axis X direction. Te, it is possible to perform the separation operation of the continuous round blade.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Accessories And Tools For Shearing Machines (AREA)
  • Manufacturing Of Magnetic Record Carriers (AREA)

Abstract

L'invention vise à créer un mécanisme de séparation de lame circulaire et/ou d'intercalaire, un robot manipulateur, un support de stockage et un procédé de séparation avec lequel il est possible de prélever uniquement le nombre de lames circulaires ou d'intercalaires à prélever au moyen du robot manipulateur et de laisser de façon fiable sur le support de stockage les lames circulaires et les intercalaires qui n'ont pas besoin d'être séparés. Le mécanisme de séparation est caractérisé en ce qu'il est équipé d'un robot manipulateur, possédant des doigts (F1, F2) qui saisissent une lame circulaire (C1), et d'un moyen de maintien (4) servant à maintenir la position d'une lame circulaire (C2) qui est adjacente à la lame circulaire (C1) à saisir par les doigts (F1, F2) ; et en ce que le robot manipulateur sépare la lame circulaire (C1) qui est saisie par les doigts (F1, F2) en la faisant glisser le long de la face d'extrémité (CE2) de la lame circulaire adjacente (C2) qui est maintenue par le moyen de maintien (4).
PCT/JP2012/062793 2012-05-18 2012-05-18 Mécanisme de séparation pour séparer une lame circulaire et/ou un intercalaire, robot manipulateur, support de stockage et procédé de séparation WO2013171897A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
MX2014003444A MX341569B (es) 2012-05-18 2012-05-18 Mecanismo de separacion, robot manipulador, estanteria de almacenamiento, y metodo de separacion para separar cuchillas redondas y/o separadores.
CN201280049397.2A CN103889627B (zh) 2012-05-18 2012-05-18 用于分离圆盘刀及/或隔套的分离机构、搬运机器人、保管台及分离方法
JP2013525038A JP5329728B1 (ja) 2012-05-18 2012-05-18 丸刃および／またはスペーサーを分離するための分離機構、ハンドリングロボット、保管台および分離方法
PCT/JP2012/062793 WO2013171897A1 (fr) 2012-05-18 2012-05-18 Mécanisme de séparation pour séparer une lame circulaire et/ou un intercalaire, robot manipulateur, support de stockage et procédé de séparation
TW102117482A TWI542428B (zh) 2012-05-18 2013-05-17 用來分離圓盤刀及／或隔片之分離機構、處理機器人、保管台以及分離方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2012/062793 WO2013171897A1 (fr) 2012-05-18 2012-05-18 Mécanisme de séparation pour séparer une lame circulaire et/ou un intercalaire, robot manipulateur, support de stockage et procédé de séparation

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WO2013171897A1 true WO2013171897A1 (fr) 2013-11-21

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CN (1) CN103889627B (fr)
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US11453710B2 (en) 2018-05-14 2022-09-27 Werewolf Therapeutics, Inc. Activatable interleukin 12 polypeptides and methods of use thereof
US11535658B2 (en) 2018-05-14 2022-12-27 Werewolf Therapeutics, Inc. Activatable interleukin-2 polypeptides and methods of use thereof

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CN108025379B (zh) * 2016-04-19 2019-07-30 Ｊｄｃ株式会社 轴体插入物的配置装置
KR102457971B1 (ko) * 2021-04-16 2022-10-24 주식회사 주원이앤에스 원사 자동 투입 장치
JP7325155B2 (ja) * 2021-07-14 2023-08-14 株式会社エイチアンドエフ 取出しロボット

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JPS5715616A (en) * 1980-06-28 1982-01-27 Kobe Steel Ltd Cutter replacing device for slitter stand
JPH10506330A (ja) * 1994-09-23 1998-06-23 アセア ブラウン ボベリ アクチボラグ ロボット装置
JP2000084884A (ja) * 1998-09-11 2000-03-28 Kawasaki Steel Corp 刃替装置のハンド
JP2004066427A (ja) * 2002-08-08 2004-03-04 Taihei Kogyo Co Ltd 自動刃替え式丸刃せん断機用収納棚
WO2004026514A1 (fr) * 2002-09-20 2004-04-01 Taihei Kogyo Co., Ltd. Dispositif de changement d'arete dans un support decoupeur et procede de changement d'arete

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JPS5715616A (en) * 1980-06-28 1982-01-27 Kobe Steel Ltd Cutter replacing device for slitter stand
JPH10506330A (ja) * 1994-09-23 1998-06-23 アセア ブラウン ボベリ アクチボラグ ロボット装置
JP2000084884A (ja) * 1998-09-11 2000-03-28 Kawasaki Steel Corp 刃替装置のハンド
JP2004066427A (ja) * 2002-08-08 2004-03-04 Taihei Kogyo Co Ltd 自動刃替え式丸刃せん断機用収納棚
WO2004026514A1 (fr) * 2002-09-20 2004-04-01 Taihei Kogyo Co., Ltd. Dispositif de changement d'arete dans un support decoupeur et procede de changement d'arete

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US11453710B2 (en) 2018-05-14 2022-09-27 Werewolf Therapeutics, Inc. Activatable interleukin 12 polypeptides and methods of use thereof
US11535658B2 (en) 2018-05-14 2022-12-27 Werewolf Therapeutics, Inc. Activatable interleukin-2 polypeptides and methods of use thereof

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CN103889627A (zh) 2014-06-25
JP5329728B1 (ja) 2013-10-30
CN103889627B (zh) 2016-05-11
TWI542428B (zh) 2016-07-21
MX2014003444A (es) 2014-05-01
MX341569B (es) 2016-08-25
JPWO2013171897A1 (ja) 2016-01-07
TW201410364A (zh) 2014-03-16

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