WO2019059242A1 - Gabarit de dispositif de préhension, et dispositif de préhension - Google Patents

Gabarit de dispositif de préhension, et dispositif de préhension Download PDF

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Publication number
WO2019059242A1
WO2019059242A1 PCT/JP2018/034692 JP2018034692W WO2019059242A1 WO 2019059242 A1 WO2019059242 A1 WO 2019059242A1 JP 2018034692 W JP2018034692 W JP 2018034692W WO 2019059242 A1 WO2019059242 A1 WO 2019059242A1
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WO
WIPO (PCT)
Prior art keywords
base
holding device
jig
workpiece
gripping device
Prior art date
Application number
PCT/JP2018/034692
Other languages
English (en)
Japanese (ja)
Inventor
重幸 山添
Original Assignee
株式会社かいわ
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 株式会社かいわ filed Critical 株式会社かいわ
Priority to TW107133180A priority Critical patent/TW201914731A/zh
Publication of WO2019059242A1 publication Critical patent/WO2019059242A1/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
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/24—Details, e.g. jaws of special shape, slideways

Definitions

  • the present invention relates to a holding device and a holding device.
  • a gripping device is used to fix the workpiece on the table of the machine tool. It is commonly used.
  • a holding device a device such as a machine device is known. For example, when cutting the upper surface of a rectangular parallelepiped workpiece, the side surface of the workpiece is held by a gripping device to fix the workpiece on a table of a machine tool. While the workpiece is fixed to the table, the upper surface of the workpiece is cut using an appropriate blade.
  • Patent Document 1 an instrument for a gripping device provided with a movable cap is disclosed (for example, Patent Document 1).
  • the tool for a gripping device described in Patent Document 1 can move straight on the frame of the gripping device and push and fix a workpiece.
  • the size and shape of the workpiece are not constant but varied. For example, larger sized workpieces may be processed.
  • rectangular solid (plate-like) workpieces having a very small height with respect to width and depth, rectangular parallelepiped shaped (square columnar) workpieces having a very large depth with respect to width and height, etc. also exist Do.
  • An object of the present invention is to provide a device for a gripping device and a gripping device that make the fixation of a workpiece with the gripping device more secure.
  • An instrument for a gripping device includes a jig for a gripping device in contact with a workpiece, and a movable die which supports the gripping device jig and is movable in a direction of pressing the workpiece.
  • a jig for the holding device wherein the holding device jig is provided with a plate-like base curved so as to protrude toward the workpiece, and provided at both ends of the base, and supported by the movable base
  • a chord portion having a support portion and a projection portion provided on the workpiece side of the base portion, the projection portion being spaced apart from the base portion and disposed substantially in parallel to the surface of the base portion;
  • a plurality of leg portions connecting the base portion and the chord member portion, the plurality of leg portions extending inward from both ends of the chord member portion to the pair of outer leg portions, and the chord member A pair of V-shaped inner legs extending from the center of the head toward the base And butterflies.
  • a holding device comprises: the holding device tool; a frame on which the holding device tool is placed on the mounting surface; a tightening screw having a tip that contacts the movable base; And a mounting member for supporting the mounting member, wherein the mounting member is fixed to the frame so as to be changeable in a direction perpendicular to the mounting surface of the frame with respect to the contact position of the clamping screw with respect to the movable base.
  • the fixture for the gripping device makes the fixation of the workpiece on the gripping device more reliable.
  • the mounting member is fixed to the frame so that the position in the height direction can be changed, so that the height of the tightening screw can be changed in accordance with the center of gravity of the workpiece.
  • FIG. 6 is a partial cross-sectional view taken along line AA in FIG. 5 when the workpiece is fixed. It is an X arrow line view in FIG. FIG. 6 is a partial cross-sectional view taken along line AA in FIG.
  • FIG. 5 when another workpiece is fixed. It is an X arrow line view in FIG. It is a longitudinal cross-sectional view which shows the attachment member which concerns on a modification. It is a top view of the jig for holding devices concerning a modification. It is a top view of the jig for holding devices concerning another modification. It is a top view of the jig for holding devices which concerns on another modification.
  • the tool for a gripping device is used in a gripping device that fixes the workpiece on a table of the machine tool.
  • the holding device tool of the present embodiment reliably pushes the workpiece on the frame of the holding device to make the fixing of the workpiece with the holding device more secure.
  • the holding device 10 shown in FIG. 1 includes a holding device jig 20 and a movable cap 40.
  • the holding device fixture 10 is movably mounted on the mounting surface 55 of the holding device frame with the holding device jig 20 directed to the workpiece side.
  • the height direction H is perpendicular to the mounting surface 55 of the frame
  • the moving direction of the holding device jig 20 parallel to the mounting surface 55 is the moving direction M
  • the direction orthogonal to M is taken as the width direction B.
  • the moving die 40 presses the holding device jig 20 along the moving direction M the end face 26 of the holding device jig 20 contacts the workpiece.
  • the height h of the end face 26 can be set arbitrarily.
  • the width w of the end face 26 can be approximately the same as the width of the frame of the gripping device.
  • the width w of the end face 26 may exceed the width of the frame of the gripping device.
  • Gripping devices include general structural rolled steel, carbon steel, chromium molybdenum steel, nickel chromium molybdenum steel, carbon tool steel, alloy tool steel, high speed tool steel, high carbon chromium bearing steel, stainless steel, gray iron, SCN 435, Metal materials such as chromium molybdenum steels such as SCN 440, steels, and nickel alloys are generally used. Such metal materials may be subjected to surface treatment such as heat treatment (quenching) or coating (black dyeing).
  • the holding device jig 20 and the movable base 40 are made of such a metal material.
  • the holding device jig 20 in a top view includes a base 22 having bent portions 23 as support portions at both ends, and a protrusion 25.
  • the base 22 and the protrusion 25 are integrally formed.
  • the base 22 is in the form of a plate extending in the direction perpendicular to the paper surface (see FIG. 1).
  • the bending portion 23 protrudes backward in the moving direction M from the surface of the base 22.
  • the bent portion 23 has a flat support surface 24 at the tip, and the inner surface 31 in the width direction B is inclined inward from the surface of the base 22 toward the support surface 24.
  • the projecting portion 25 is provided on the base 22 so as to project forward in the moving direction M opposite to the bending portion 23.
  • the base 22 is curved toward the protrusion 25 side. As shown in FIG. 1, the bending portion 23 is locked to the locking convex portion 44 of the movable base 40, and the support surface 24 at the tip of the bending portion 23 abuts on the contact surface 46 of the moving base 40.
  • the protrusion 25 includes a chord portion 27 spaced apart from the base 22.
  • the chord portion 27 is substantially parallel to the surface of the base 22 in top view. “Substantially parallel to the surface of the base 22” means parallel to a straight line connecting both ends of the base 22.
  • the end face 26 in contact with the workpiece (not shown) is the outer surface of the chord portion 27.
  • the end surface 26 in the present embodiment is a flat surface having a slit as described later, but is not limited thereto.
  • the chord portion 27 is connected to the base 22 by a pair of outer legs 28 and a pair of inner legs 29.
  • a pair of outer legs 28 extend inwardly from both ends of the chord 27 to the base 22.
  • the pair of inner legs 29 is a V-shape extending from the center of the chord 27 toward the base 22 inside the outer legs 28.
  • the protrusions 25 are provided with a plurality of slits 30 in the height direction H from the base 22 side to the end face 26 side.
  • the protrusion 25 is divided in the height direction H by the slit 30.
  • the divided portions are each free to deform when subjected to a force, so that even if the surface of the workpiece in contact with the end surface 26 is not smooth, the end surface 26 can be reliably in contact with the workpiece.
  • the force applied to the holding device jig 20 from the movable base not shown, can be uniformly applied over the entire end face 26 of the chord portion 27.
  • the number of the slits 30 is nine in the jig 20 for a gripping device illustrated, the number is not limited thereto.
  • the number of slits 30 can be selected as appropriate.
  • the slits 30 are preferably inclined downward towards the end face 26, ie towards the mounting surface 55 of the frame.
  • the movable cap 40 has a pressing portion 42 and two first fixed support portions 48 extending from the vicinity of the center of the pressing portion 42 to both sides in the width direction B.
  • the pressing portion 42 has a length corresponding to the base portion 22 of the holding device jig 20, and the locking convex portion 44 which the bent portion 23 of the holding device jig 20 holds has a moving direction M near both ends.
  • the outer surface 45 in the width direction B of the locking convex portion 44 is formed to be complementary to the inner surface 31 of the bending portion 23.
  • the contact surface 46 is disposed on the outer side in the width direction B of the locking convex portion 44, and the second fixed support portion 47 is formed on the rear side in the moving direction M of the locking convex portion 44.
  • the holding device jig 20 and the movement nozzle 40 are integrated by sliding the holding device jig 20 with respect to the movement nozzle 40 from the upper side in the height direction H.
  • the bent portion 23 provided on the base 22 of the holding device jig 20 is engaged with the engagement convex portion 44 from the outside in the width direction B.
  • the first fixed support 48 extends rearward in the moving direction M from the second fixed support 47.
  • the first fixed support portion 48 and the second fixed support portion 47 each have a movement guide 12 fitted to a rail formed on a frame described later.
  • the first fixed support 48 and the second fixed support 47 are movably fixed to the frame of the gripping device, as described later.
  • the holding device 50 includes a frame 52, a holding device 10 placed on the mounting surface 55 of the frame 52, an attachment member 56 fixed to one end of the frame 52, and an attachment member And a clamping screw 58 supported at 56.
  • the frame 52 is formed with rails 59 on which the moving guides 12 are fitted on both side surfaces in the width direction B.
  • the moving cap 40 moves forward and backward in the moving direction M on the mounting surface 55 by sliding the moving guide 12 along the rail 59.
  • the tip 58 a of the tightening screw 58 is in contact with the back surface of the movable cap 40 at a predetermined height.
  • the clamping screw 58 can press the gripping device 10 towards the workpiece 60.
  • a fixing block 54 is provided on the mounting surface 55 at the other end of the frame 52.
  • the clamping device 58 is moved toward the workpiece 60 by clamping the clamping screw 58 and pushing the moving base 40, and the workpiece 60 is gripped between the fixed block 54 and the clamping device 10 Ru.
  • the holding device jig 20 When the tightening screw 58 is tightened, the force from the tightening screw 58 is transmitted to the holding device jig 20 through the moving die 40.
  • the holding device jig 20 receives the force toward the workpiece 60 at the bending portions 23 at both ends. Since the jig 20 for the gripping device is in contact with the workpiece 60 at the chord portion 27, a reaction force acts from the workpiece 60.
  • the reaction force acts on the base 22 from the pair of outer legs 28 and the pair of inner legs 29 inward from the bent portions 23 at both ends.
  • the pair of outer legs 28 extend inwardly from both ends of the chord portion 27 in contact with the workpiece 60 toward the base 22, and are connected to the base 22 inside the bent portion 23.
  • the base 22 supported by the movable base 40 at the bent portions 23 at both ends is elastically deformed by the force received from the pair of outer legs 28 and the pair of inner legs 29.
  • the outer leg portion 28 and the inner leg portion 29 are arranged in a truss-like shape between the base portion 22 and the chord portion 27 to suppress the deformation of the chord portion 27 and to prevent deformation of the base portion 22 and the chord portion 27. Keep the interval constant.
  • the jig 20 for the gripping device elastically deforms the jig 20 for the gripping device, and thereby the jig 60 for the workpiece 60 and the gripping device Deviation from the tool 20 is absorbed.
  • the workpiece 60 can be gripped with high precision by the gripping device 50 by using such a gripping device tool 10.
  • the force applied from the tightening screw 58 is in the outer direction (arrow 52 in the width direction B of the frame 52). Act on the outside).
  • the force from the tightening screw 58 can be applied to a wide range in the width direction B even with a wide workpiece 60, so the effect of suppressing the movement of the workpiece 60 in the width direction B is enhanced.
  • Examples of workpieces having a portion in contact with the holding device jig 20 that is larger than the width of the chord portion 27 include plate-like and columnar workpieces.
  • a large-sized workpiece as a whole also corresponds to a workpiece whose portion in contact with the holding device jig 20 is larger than the width of the chord portion 27.
  • the fixture 10 for a holding device according to the present embodiment is particularly effective when a workpiece to be processed whose portion in contact with the holding device jig 20 is larger than the width of the chord member 27 is fixed by the holding device. Even when a portion in contact with the holding device jig 20 fixes a workpiece equal to or smaller than the width of the chord portion 27, the holding device tool 10 is suitably used.
  • the distance between the action point of the reaction force received from the pair of outer legs 28 and the bent portion 23 becomes shorter as the distance between the pair of outer legs 28 and the connection portion of the base 22 becomes wider, so that the base 22 becomes difficult to deform.
  • the holding device jig 20 in which the base 22 is not easily deformed can not sufficiently absorb the displacement between the workpiece 60 and the holding device jig 20, so that the holding device 60 holds the object 60 with high accuracy. Is difficult.
  • the instrument 10 for a gripping device according to the present embodiment solves such problems, and even a wide workpiece can be gripped with high accuracy by the gripping device.
  • the holding device tool 10 is movably provided on the frame 52 with the upper portion of the frame 52 sandwiched between the lower moving guides 12 of the movable cap 40. Since the moving cap 40 has the moving guide 12, the moving cap 40 can be moved straight on the frame 52 mounting surface 55 by tightening the tightening screw 58. Thus, the holding device jig 20 can stably press and fix the workpiece 60.
  • the protrusion 25 of the holding device jig 20 is provided with a slit 30 inclined downward toward the end surface.
  • a force in the arrow G direction acts on the protrusion 25 along the slit 30.
  • the protrusion 25 elastically deforms by receiving a downward force in the height direction H along the slit 30.
  • the jig for gripping device 20 can reliably press the workpiece 60 against the fixing block 54 to prevent the workpiece 60 from rising.
  • FIG. 7 shows a partial cross-sectional view taken along line AA in FIG.
  • the workpiece 60 shown in the figure has a thickness similar to that of the movable base 40 of the holding device 10.
  • the mounting member 56 supporting the fastening screw 58 is a rectangular parallelepiped member, and has a through hole 62 and a female screw portion 57 penetrating in the moving direction M.
  • a counterbore 64 is provided on one side surface of the mounting member 56 in which the through hole 62 is formed.
  • the through holes 62 and the counterbore holes 64 have an oval shape whose longitudinal direction is the height direction of the gripping device 50, as shown in FIG.
  • two female screws 53 are formed side by side vertically in the height direction.
  • the mounting member 56 is in contact with one end of the frame 52 on the other side surface where the counterbore hole 64 is not formed.
  • the fixing screw 66 inserted into the through hole 62 is screwed into the female screw 53, and the head of the fixing screw 66 contacts the bottom of the counterbore 64 to fix the mounting member 56 to the frame 52.
  • the female screw portion 57 is provided on the top of the mounting member 56, and a tightening screw 58 is screwed in.
  • the mounting member 56 is fixed to the frame 52 in the lower position, that is, with the fixing screw 66 disposed on the upper side in contact with the upper end of the through hole 62. Since the mounting member 56 is fixed at the lower position, the height at which the tip 58 a of the tightening screw 58 contacts the movable base 40 is substantially at the center in the height direction H of the movable base 40.
  • the gripping device 50 is a clamping screw 58 in the vicinity of the center of gravity of a workpiece having a center of gravity at substantially the center in the height direction H of the movable base 40, for example, the workpiece 60 having a thickness similar to the thickness of the movable base 40. Power can be applied through
  • the mounting member 56 shown in FIGS. 9 and 10 is fixed to the frame 52 in the upper position, that is, with the fixing screw 66 disposed on the lower side in contact with the lower end of the through hole 62. Since the mounting member 56 is fixed at the upper position, the height at which the tip 58 a of the tightening screw 58 contacts the movable base 40 is near the upper end in the height direction H of the movable base 40.
  • the gripping device 50 is a workpiece having a center of gravity in the vicinity of the upper end of the movable die 40, for example, as shown in the figure, the thickness is as thin as about 1/4 of the thickness of the movable die 40. A force can be applied to the vicinity of the center of gravity of the workpiece 60A disposed near the upper end of 20 through the tightening screw 58.
  • the gripping device 50 can gradually change the position of the mounting member 56 attached to the frame 52 in the height direction. It is possible to change the position in the height direction of the clamping screw 58 supported by the mounting member 56 to match the center of gravity of the workpiece. Since the moment which arises to a to-be-processed object can be suppressed by this, a to-be-processed object can be grasped accurately.
  • the mounting member 56 has been described for the case where the female screw portion 57 is formed over the entire length in the moving direction M, the present invention is not limited thereto.
  • the mounting member 68 shown in FIG. 11 has a female screw portion 57 and a hole 70 coaxially provided with the female screw portion 57.
  • the hole 70 has an inner diameter that matches the outer shape of a tightening screw (not shown in the drawing), and is formed on the side of the female screw 57 in contact with the frame 52.
  • the clamping screw 58 screwed into the female screw 57 is supported by contacting the surface of the hole 70 on the side in contact with the frame 52.
  • the clamping screw 58 can be supported with high accuracy.
  • the mounting member 68 does not have to form the female screw portion 57 over the entire length in the moving direction M, and thus can be easily manufactured.
  • the holding device jig 72 includes the string member 27, the base 22, the outer leg 28 and the inner leg 29. It has a pair of trapezoidal regions 74 and 78 which are divided, and a triangular region 76 which is divided by a pair of inner legs 29 and a base 22. Vibration absorbers 73, 75, and 77 are provided in the respective regions 74, 76, and 78, respectively.
  • the vibration absorbers 73, 75, and 77 are preferably made of an elastically deformable material such as rubber, and are preferably filled in the regions 74, 76, and 78 without gaps.
  • the vibration absorbers 73, 75, and 77 may be manufactured by forming the shape complementary to the regions 74, 76, and 78 by cutting and molding, or integrally forming the protrusion 25 by insert molding. You may form.
  • the vibration absorbers 73, 75, 77 may be disposed in the slit 30 (FIG. 3) in addition to the regions 74, 76, 78.
  • the vibration absorbers 73, 75, and 77 absorb the vibration transmitted from the workpiece 60 to the holding device jig 72 when cutting, grinding, or the like.
  • the jig for holding device 72 can hold the workpiece 60 more stably by absorbing the vibration generated during the above-described processing, so that dimensional change can be suppressed.
  • the vibration absorbers 73, 75, and 77 can efficiently absorb the heat generated at the time of processing and can further suppress the dimensional change by selecting a material having higher thermal conductivity.
  • the jig 80 for the holding device shown in FIG. 13 is provided with a first protrusion 82 and a second protrusion 84 for one base 22.
  • the first protrusion 82 is provided on one side of the bending portion 23, and the second protrusion 84 is provided on the other side of the bending portion 23.
  • the first projecting portion 82 and the second projecting portion 84 each include a chord portion 27 spaced apart from the base 22.
  • the chord members 27 are not connected but separated.
  • the first protrusion 82 and the second protrusion 84 are respectively connected to the base 22 by a pair of outer legs 28 and a pair of inner legs 29.
  • the holding device jig 86 shown in FIG. 14 is another modification having two protrusions.
  • the point in which the chord portion 27 is separated at the center, that is, between the pair of inner legs 29 is different from the above embodiment.
  • the holding device jig 86 includes an inverted triangular first projecting portion 88 formed by one outer leg portion 28, one inner leg portion 29, and a chord portion 27, and the other outer leg portion 28 and the other. And an inverted triangular second projection 90 formed by the inner leg 29 and the chord 27.
  • the first projecting portion 88 is disposed on the side of one of the bent portions 23, and the second projecting portion 90 is disposed on the side of the other bent portion 23.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jigs For Machine Tools (AREA)
  • Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)

Abstract

L'invention concerne un gabarit de dispositif de préhension permettant de rendre plus fiable la fixation d'un article à traiter par un dispositif de préhension, ainsi que ledit dispositif de préhension. La présente invention est caractérisée en ce qu'elle est concerne un gabarit de dispositif de préhension (20) comportant : une partie base tabulaire (22) qui est incurvée de façon à faire saillie vers l'article à traiter ; des parties courbées (23) disposées aux deux extrémités de la partie base (22), les parties courbées (23) étant soutenues par une armature mobile (40) ; et une partie saillante (25) de la partie base (22) disposée sur le côté de l'article en cours de traitement. La partie saillante (25) comprend une partie élément de corde (27) qui est séparée de la partie base (22) et disposée sensiblement parallèle à la surface de la partie base (22), et une pluralité de parties pieds qui relient la partie base (22) et la partie élément de corde (27) ; et la pluralité de parties pieds sont pourvues d'une paire de parties pieds extérieures (28) qui s'étendent vers l'intérieur depuis les deux extrémités de la partie élément de corde (27) jusqu'à la partie base (22), et une paire de parties pieds intérieures (29) qui s'étendent en V depuis le centre de la partie élément de corde (27) vers la partie base (22).
PCT/JP2018/034692 2017-09-20 2018-09-19 Gabarit de dispositif de préhension, et dispositif de préhension WO2019059242A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
TW107133180A TW201914731A (zh) 2017-09-20 2018-09-20 夾持裝置用器具及夾持裝置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017180306A JP6300249B1 (ja) 2017-09-20 2017-09-20 把持装置用器具および把持装置
JP2017-180306 2017-09-20

Publications (1)

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WO2019059242A1 true WO2019059242A1 (fr) 2019-03-28

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TW (1) TW201914731A (fr)
WO (1) WO2019059242A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4476757A (en) * 1982-09-02 1984-10-16 Shopsmith, Inc. Adjustable featherboard
JPH0621668Y2 (ja) * 1988-03-16 1994-06-08 日本電気株式会社 チャック機構
JPH0650737U (ja) * 1992-12-14 1994-07-12 株式会社高村興業所 フライス盤用チャック口金
US8132309B1 (en) * 2011-05-27 2012-03-13 John M. Bronson Apparatus for joining boards
WO2017104803A1 (fr) * 2015-12-16 2017-06-22 株式会社かいわ Gabarit pour dispositif de préhension et outil pour dispositif de préhension

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4476757A (en) * 1982-09-02 1984-10-16 Shopsmith, Inc. Adjustable featherboard
JPH0621668Y2 (ja) * 1988-03-16 1994-06-08 日本電気株式会社 チャック機構
JPH0650737U (ja) * 1992-12-14 1994-07-12 株式会社高村興業所 フライス盤用チャック口金
US8132309B1 (en) * 2011-05-27 2012-03-13 John M. Bronson Apparatus for joining boards
WO2017104803A1 (fr) * 2015-12-16 2017-06-22 株式会社かいわ Gabarit pour dispositif de préhension et outil pour dispositif de préhension

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Publication number Publication date
TW201914731A (zh) 2019-04-16
JP6300249B1 (ja) 2018-03-28
JP2019055438A (ja) 2019-04-11

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