JPS6150767B2 - - Google Patents
Info
- Publication number
- JPS6150767B2 JPS6150767B2 JP10537480A JP10537480A JPS6150767B2 JP S6150767 B2 JPS6150767 B2 JP S6150767B2 JP 10537480 A JP10537480 A JP 10537480A JP 10537480 A JP10537480 A JP 10537480A JP S6150767 B2 JPS6150767 B2 JP S6150767B2
- Authority
- JP
- Japan
- Prior art keywords
- mold clamping
- clamping force
- injection
- pressure
- arbitrarily determined
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000002347 injection Methods 0.000 claims description 33
- 239000007924 injection Substances 0.000 claims description 33
- 238000000034 method Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 4
- 238000001746 injection moulding Methods 0.000 claims description 4
- 238000001816 cooling Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 239000003921 oil Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/82—Hydraulic or pneumatic circuits
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Description
【発明の詳細な説明】
本発明は射出成形機の型締力制御方法およびそ
の装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a mold clamping force control method and apparatus for an injection molding machine.
従来、この種機械の型締工程においては、射出
工程開始から完了までの間（射出−保圧−冷却）
をその機械が有する最大型締力で締付ているのが
普通であつた。 Conventionally, in the mold clamping process of this type of machine, the period from the start of the injection process to the completion (injection - holding pressure - cooling)
It was common practice to tighten the mold with the maximum mold clamping force that the machine had.
しかし、最大型締力が必要な時は射出工程中の
極く短時間であり、その他の時間は最大型締力で
締付る必要はない。その間、無駄な仕事をしたこ
とになり、消費電力の増大は勿論のこと、ポン
プ、バルブ等の油圧機器およびそのパツキン頼、
作動油の寿命を縮めるばかりでなく金型の寿命を
も短かくする。 However, the maximum mold clamping force is required only for a very short time during the injection process, and there is no need to clamp the mold with the maximum mold clamping force at other times. During that time, you will have done wasted work, which not only increases power consumption, but also reduces the dependence on hydraulic equipment such as pumps and valves and their gaskets.
This not only shortens the life of the hydraulic oil, but also the life of the mold.
本発明は前述のような欠点を取除き、型締工程
中の必要な時にだけ最大型締力で型締が行われ、
その他の時は必要最低型締力で締付が行うことが
出来る型締力制御方法およびその装置を提供する
ことである。さらに詳しく本発明について述ると
予め定められた射出ストローク中の任意の位置、
あるいは射出工程開始時より任意に定めた時間に
おいて、射出中に金型内の樹脂圧力と抽入量によ
り発生する金型を開こうとする力に抗して金型を
閉じ続けるに必要な種々の金型の投影面積によつ
て異なる最低型締力を設定しておき、型締工程中
に、スクリユ又はプランジヤが射出ストローク中
に前記任意に定めた位置を通過したとき又は射出
工程開始時より任意に定めた時間が経過したと
き、又は位置と時間の併用により前記型締力が前
記必要最低の型締力となるようにする型締力制御
方法およびその装置である。 The present invention eliminates the above-mentioned drawbacks, and allows mold clamping to be performed with maximum mold clamping force only when necessary during the mold clamping process.
It is an object of the present invention to provide a mold clamping force control method and device that can perform clamping with the minimum required mold clamping force at other times. To describe the present invention in more detail, any position during a predetermined injection stroke,
Or various things necessary to keep the mold closed during an arbitrarily determined time from the start of the injection process against the force that tries to open the mold generated by the resin pressure and the amount of injected resin in the mold during injection. A minimum mold clamping force that varies depending on the projected area of the mold is set, and during the mold clamping process, when the screw or plunger passes the arbitrarily determined position during the injection stroke, or from the start of the injection process. A mold clamping force control method and device for controlling the mold clamping force so that the mold clamping force becomes the minimum required mold clamping force when an arbitrarily determined time has elapsed or by using a combination of position and time.
次に本発明の１実施例を射出ストローク中の４
位置における最低型締力を設定した場合を例に採
り、第１図および第２図により説明すると、１は
加熱シリンダでスクリユ２が射出シリンダ３によ
り射出ストロークＳ間に進退自在に、油圧モータ
４により回転自在に挿入されている。５は固定プ
レート６に取付られた固定金型、７は移動プレー
ト８に取られた移動金型である。前記移動プレー
ト８は型締シリンダ９に作用する圧油により進退
自在に挿入された型締ラム１０に取付られている
ので前記固定金型５に対し進退し、金型合せ面Ｚ
で接合しあるいは離脱する。１１は型開閉用の電
磁切換弁である。１２はリリーフバルブで型締圧
力の設定を行い、油圧ポンプ１３の過負荷を防止
するものである。１４は電磁比例圧力制御弁でそ
の入力電圧の強弱によりその設定圧力を変化させ
るものである。１５は射出シリンダ３に作用する
圧油の切換を行う電磁切換弁、１６は射出圧力を
設定するリリーフバルブである。１７は前記スク
リユ２の進退に伴い、その移動量を連続的に電気
信号として検出するポテンシヨンメータである。
１８は電磁比例流量制御弁で作用する電圧の強弱
によりその回路の開閉を行つて前記射出シリンダ
３に作用する圧油の流量を制御し、前記スクリユ
２の射出速度を調整するものである。 Next, we will explain one embodiment of the present invention during the injection stroke.
Taking as an example the case in which the minimum mold clamping force at a position is set, the description will be explained with reference to FIGS. It is inserted rotatably. 5 is a fixed mold attached to a fixed plate 6, and 7 is a movable mold attached to a movable plate 8. The movable plate 8 is attached to a mold clamping ram 10 inserted so as to be movable forward and backward by pressure oil acting on a mold clamping cylinder 9, so it moves forward and backward with respect to the fixed mold 5, and moves toward the mold mating surface Z.
join or separate. 11 is an electromagnetic switching valve for opening and closing the mold. 12 is a relief valve that sets the mold clamping pressure and prevents the hydraulic pump 13 from being overloaded. Reference numeral 14 denotes an electromagnetic proportional pressure control valve that changes its set pressure depending on the strength of the input voltage. 15 is an electromagnetic switching valve that switches the pressure oil acting on the injection cylinder 3, and 16 is a relief valve that sets the injection pressure. Numeral 17 is a potentiometer that continuously detects the amount of movement of the screw 2 as an electric signal as it moves forward and backward.
Reference numeral 18 is an electromagnetic proportional flow control valve which opens and closes its circuit depending on the strength of the voltage applied thereto to control the flow rate of the pressure oil acting on the injection cylinder 3 and adjust the injection speed of the screw 2.
以上のような構成となつており、次に電気回路
図について説明すると、１９ないし２２は各々射
出ストロークＳ中の任意に決定した位置ａ，ｂ，
ｃ，ｄを電気信号（電圧）として設定したポテン
シヨンメータである。２３ないし２６は信号発信
器で前記位置検出用ポテンシヨンメータ１７の検
出した前記スクリユ２の移動に伴い変化する電圧
値と前記位置設定用ポテンシヨン１９ないし２２
の設定値とを順々に比較し、両電圧値が一致した
とき前記電磁化例圧力制御弁１４を制御する圧力
変化指令信号を発するようになつている。２３ａ
ないし２６ａ、および２３ｂないし２６ｂは各々
前記信号発信器２３ないし２６内にあるリレーの
Ａ接点およびＢ接点で前記信号発信器２３ないし
２６が発する電気信号により、NO、OFFし各電
気回路２７ないし３１を導通、あるいは非導通す
るものである。３２ないし３６はポテンシヨンメ
ータで、各々設定した電圧を前記電磁比例圧力制
御弁１４へ作用させるようになつていて、前記射
出ストロークＳ中の位置ａ，ｂ，ｃ，ｄに来たと
きの型締シリンダ９における必要な最低型締力を
設定するものである。Ｒ１は射出工程開始リレー
でＡ接点Ｒ１ａを有する。Ｒ２は保圧工程切換用
リレーでＡ接点Ｒ２ａおよびＢ接点Ｒ２ｂを有す
る。３７ないし４１は保圧用圧力、即ち保圧用の
型締力を決定するための電圧を設定するポテンシ
ヨンメータで前記保圧工程切換用リレーＲ２が作
動すると同時にタイミングを開始するタイマ４２
およびこれに続いて次々に作動するタイマ４３な
いし４５の入、切により各々に制御される。TR1
ないしTR4は、前記タイマ４２ないし４５の接点
で、各タイマ４２ないし４５がタイムアウトする
と夫々ON、OFFし、電気回路４６ないし５０を
導通、あるいは非導通とする。５１は増巾器であ
る。 The structure is as described above. Next, the electric circuit diagram will be explained. Reference numerals 19 to 22 indicate arbitrarily determined positions a, b, and 22 during the injection stroke S, respectively.
This is a potentiometer with c and d set as electrical signals (voltage). Reference numerals 23 to 26 are signal transmitters that transmit voltage values that change as the screw 2 moves, detected by the position detection potentiometer 17, and the position setting potentiometers 19 to 22.
When the two voltage values match, a pressure change command signal for controlling the electromagnetic pressure control valve 14 is issued. 23a
26a to 26a and 23b to 26b are the A and B contacts of the relays in the signal transmitters 23 to 26, respectively, and are turned ON and OFF in response to the electrical signals emitted by the signal transmitters 23 to 26, respectively, to turn the respective electrical circuits 27 to 31 conduction or non-conduction. Reference numerals 32 to 36 indicate potentiometers, each of which applies a set voltage to the electromagnetic proportional pressure control valve 14, and controls the mold when reaching positions a, b, c, and d during the injection stroke S. This is to set the required minimum mold clamping force in the clamping cylinder 9. R1 is an injection process start relay and has an A contact R1a. R2 is a pressure holding process switching relay and has an A contact R2a and a B contact R2b. Numerals 37 to 41 are potentiometers that set the voltage for determining the holding pressure, that is, the mold clamping force for holding pressure, and a timer 42 that starts the timing at the same time as the holding pressure process switching relay R2 is operated.
Subsequently, each of the timers 43 to 45 is controlled by turning on and turning off the timers 43 to 45, which operate one after another. TR 1
TR 4 to TR 4 are contacts of the timers 42 to 45, and are turned ON and OFF when each timer 42 to 45 times out, respectively, to make the electric circuits 46 to 50 conductive or non-conductive. 51 is an amplifier.
次に作用動作について説明すると、電磁切換弁
１１がｂ位置、即ち金型前進位置に切換ると、リ
リーフバルブ１２に設定した油圧力で作動油が型
締シリンダ９に作用し、移動プレート８は前進
（図中右行する）し、金型５および７が金型合せ
面Ｚで接合する。一方、加熱シリンダ１もノズル
タツチし、計量工程が完了するとスクリユ２が後
退限から射出するべく射出ストロークＳ間を前進
（図中左行）する。その間前記スクリユ２が位置
ａを通過するとき、即ちポテンシヨンメータ１７
の検出する検出値がポテンシヨンメータ１９に設
定した値と一致したとき、信号発信器２３から信
号が発せられ、Ｂ接点２３ｂが切れ、Ａ接点２３
ａが入り回路２７が回路２８に切換り前記電磁比
例圧力制御弁１４の制御はポテンシヨンメータ３
２に設定された設定値からポテンシヨンメータ３
３に設定された設定値で行われる。このようにし
て前記スクリユ２の射出ストロークＳ間の移動に
伴い電磁比例圧力制御弁１４は位置ａ，ｂ，ｃ，
ｄで順次ポテンシヨンメータ３３ないし３６に設
定された設定値で制御され、型締力は必要最低型
締力となつているので無駄な力を必要とせず、当
初に掲げた欠点が取除かれる。 Next, to explain the operation, when the electromagnetic switching valve 11 is switched to the b position, that is, the mold advance position, hydraulic oil acts on the mold clamping cylinder 9 with the hydraulic pressure set in the relief valve 12, and the moving plate 8 moves. It moves forward (to the right in the figure), and the molds 5 and 7 are joined at the mold mating surface Z. On the other hand, the nozzle of the heating cylinder 1 is also touched, and when the metering process is completed, the screw 2 advances through the injection stroke S (to the left in the figure) to inject from the retraction limit. Meanwhile, when the screw 2 passes through position a, that is, the potentiometer 17
When the detected value detected by the potentiometer 19 matches the value set in the potentiometer 19, a signal is emitted from the signal transmitter 23, the B contact 23b is disconnected, and the A contact 23
a is input, the circuit 27 is switched to the circuit 28, and the electromagnetic proportional pressure control valve 14 is controlled by the potentiometer 3.
Potentiometer 3 from the set value set to 2
This is done with the setting value set to 3. In this way, as the screw 2 moves between the injection strokes S, the electromagnetic proportional pressure control valve 14 moves to positions a, b, c,
The mold clamping force is controlled by the set values sequentially set on the potentiometers 33 to 36 at d, and the mold clamping force is the minimum required mold clamping force, so no wasted force is required, and the drawback mentioned at the beginning is eliminated. .
スクリユ２が射出ストロークＳを前進しする
と、即ち位置ｄとなると、型締力はポテンシヨン
メータ３６に設定した設定値により制御され、同
時に保圧工程切換用リレーＲ２が作動し、Ａ接点
Ｒ２ａが入り、回路４６が導通されるとともにタ
イマ４２がタイミングを開始し、保圧力は前記タ
イマ４２に設定された時間だけポテンシヨンメー
タ３７に設定された値により前記電磁比例圧力制
御弁１４により制御される必要最低の型締保圧力
となる。 When the screw 2 moves forward through the injection stroke S, that is, when it reaches position d, the mold clamping force is controlled by the set value set on the potentiometer 36, and at the same time, the pressure holding process switching relay R2 is activated, and the A contact R2a is activated. The circuit 46 is turned on and the timer 42 starts timing, and the holding pressure is controlled by the electromagnetic proportional pressure control valve 14 according to the value set in the potentiometer 37 for the time set in the timer 42. This is the minimum required mold clamping pressure.
次いでタイマ４２が所定の時間をタイムアウト
すると、接点TR1が作動し、回路４７が導通され
るとともに、回路４６は断路されタイマ４３がタ
イミングを開始する。このようにして保圧力はタ
イマ４２ないし４５により切換が行われ設定され
た時間だけポテンシヨンメータ３７ないし４１に
設定された電圧、即ち油圧力で制御され、これも
前述の型締力と同様に必要最低の保圧力を保つよ
うになつている。 Then, when timer 42 times out a predetermined time, contact TR 1 is actuated, circuit 47 becomes conductive, circuit 46 is disconnected, and timer 43 begins timing. In this way, the holding force is controlled by the voltage set in the potentiometers 37 to 41, that is, the hydraulic pressure, for the set time by switching by the timers 42 to 45, and this is also the same as the mold clamping force described above. It is designed to maintain the minimum necessary holding pressure.
以上の如くして、成形品の種類により異なる金
型の投影面積に対応する必要最低の型締力をスク
リユの任意の位置および時間に対応して設定する
ことが出来るので、当初に掲げたような種々の欠
点が取除かれる。 As described above, the minimum necessary mold clamping force corresponding to the projected area of the mold, which varies depending on the type of molded product, can be set at any position and time of the screw, so that various drawbacks are eliminated.
本実施例は型締力を制御するリリーフバルブに
電磁比例圧力制御弁１４（鎖線“イ”で示す）を
用いたが、これに限らず前記鎖線“イ”部を第３
図のよう射出ストロークＳ中の各位置に対応する
型締力を複数個の圧力制御弁１４ａ，１４ｂ，１
４ｃ，１４ｄに設定しておき、前記各位置で電磁
切換弁により夫々の位置用に圧力設定した前記圧
力制御弁に切換えて型締力の制限を行うことも出
来る。 In this embodiment, an electromagnetic proportional pressure control valve 14 (indicated by a chain line "A") is used as a relief valve for controlling the mold clamping force, but the invention is not limited to this.
As shown in the figure, the mold clamping force corresponding to each position during the injection stroke S is controlled by a plurality of pressure control valves 14a, 14b, 1.
4c and 14d, and the mold clamping force can be limited by switching to the pressure control valve whose pressure is set for each position using an electromagnetic switching valve at each position.
また、本実施例はスクリユの射出ストローク中
の位置に対応した型締力を設定したが、射出開始
からタイミングを開始するタイマによる時間制御
により行うことも出来るものである。 Further, in this embodiment, the mold clamping force is set in accordance with the position of the screw during the injection stroke, but it can also be performed by time control using a timer that starts the timing from the start of injection.
第１図は本発明による１実施例を示す図、第２
図はその説明図で電気回路図、第３図は本発明の
他の実施例を示す図。
２……スクリユ、３……射出シリンダ、９……
型締シリンダ、１４……電磁比例圧力制御弁、１
７……位置検出用ポテンシヨンメータ、１９〜２
２……位置設定用ポテンシヨンメータ、２３〜２
６……信号発信器、３２〜３６……型締力設定用
ポテンシヨンメータ、３７〜４１……保圧力設定
用ポテンシヨンメータ、４２〜４５……タイマ。
FIG. 1 is a diagram showing one embodiment according to the present invention, and FIG.
The figure is an explanatory diagram of the electric circuit, and FIG. 3 is a diagram showing another embodiment of the present invention. 2... Screw, 3... Injection cylinder, 9...
Mold clamping cylinder, 14...Solenoid proportional pressure control valve, 1
7... Potentiometer for position detection, 19-2
2... Potentiometer for position setting, 23-2
6... Signal transmitter, 32-36... Potentiometer for setting mold clamping force, 37-41... Potentiometer for setting holding force, 42-45... Timer.
Claims (1)
制御する方法において、射出ストローク中の任意
に定めた位置又は射出工程（射出→保圧→冷却を
含む）開始時より任意に定めた時間における必要
最低の型締力をあらかじめ設定しておき前記射出
成形機等のスクリユ又はプランジヤが前記射出ス
トローク中の任意に定めた位置を通過するとき、
又は射出工程開始時より任意に定めた時間が経過
したとき、前記型締力が前記必要最低の型締力と
なるよう型締力制御用の圧力制御弁の設定圧力を
変化させるようにした型締力制御方法。 ２ 型締シリンダに作用する油圧力を制御する圧
力制御弁と、スクリユ又はプランジヤの移動に同
調して射出ストローク中の任意の位置より電気信
号を発することの出来る位置検出装置と、射出ス
トローク中の任意の位置を電器信号として設定す
る位置設定器と、前記位置検出装置の発する信号
と位置設定器の発する信号とを比較し両信号が一
致したとき前記圧力制御弁を操作し、型締シリン
ダに作用する油圧力を変化させて型締力を制御す
る圧力変化指令信号を発する信号発信器から成
り、射出ストローク中の任意に定めた位置又は射
出工程開始時より任意に定めた時間における必要
最低の型締力をあらかじめ設定しておき射出成形
機等のスクリユ又はプランジヤが前記射出ストロ
ーク中の任意に定めた位置を通過するとき、又は
射出工程開始時より任意に定めた時間が経過した
とき前記型締力が前記必要最低の型締力となるよ
う型締力制御用の圧力制御弁の設定圧力を変化さ
せるようにした型締力制御方法を実施するための
制御装置。[Claims] 1. A method for controlling mold clamping force during a mold clamping process of an injection molding machine, etc., at an arbitrarily determined position during the injection stroke or at the start of the injection process (including injection → holding pressure → cooling) A minimum required mold clamping force at an arbitrarily determined time is set in advance, and when the screw or plunger of the injection molding machine passes through an arbitrarily determined position during the injection stroke,
Or a mold that changes the set pressure of a pressure control valve for controlling mold clamping force so that the mold clamping force becomes the minimum necessary mold clamping force when an arbitrarily determined time has elapsed from the start of the injection process. Tightening force control method. 2. A pressure control valve that controls the hydraulic pressure acting on the mold clamping cylinder, a position detection device that can emit an electric signal from any position during the injection stroke in synchronization with the movement of the screw or plunger, and a A position setting device that sets an arbitrary position as an electrical signal compares the signal emitted by the position detection device with the signal emitted by the position setting device, and when both signals match, the pressure control valve is operated and the mold clamping cylinder is activated. It consists of a signal transmitter that issues a pressure change command signal to control the mold clamping force by changing the applied hydraulic pressure, and is used to control the mold clamping force at an arbitrarily determined position during the injection stroke or at an arbitrarily determined time from the start of the injection process. When the mold clamping force is set in advance and the screw or plunger of an injection molding machine passes an arbitrarily determined position during the injection stroke, or when an arbitrarily determined time has elapsed from the start of the injection process, the mold is closed. A control device for implementing a mold clamping force control method in which a set pressure of a pressure control valve for mold clamping force control is changed so that the clamping force becomes the minimum required mold clamping force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10537480A JPS5729434A (en) | 1980-07-31 | 1980-07-31 | Method and apparatus for controlling clamping pressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10537480A JPS5729434A (en) | 1980-07-31 | 1980-07-31 | Method and apparatus for controlling clamping pressure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5729434A JPS5729434A (en) | 1982-02-17 |
| JPS6150767B2 true JPS6150767B2 (en) | 1986-11-06 |
Family
ID=14405911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10537480A Granted JPS5729434A (en) | 1980-07-31 | 1980-07-31 | Method and apparatus for controlling clamping pressure |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5729434A (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3203810C2 (en) * | 1982-02-04 | 1984-04-26 | Klöckner-Werke AG, 4100 Duisburg | Mold closing unit of an injection molding machine with a device for the controlled running of a given speed profile |
| JPS6091418U (en) * | 1983-11-26 | 1985-06-22 | 本田技研工業株式会社 | Multi-stage control device for mold clamping force in injection molding machines |
| JPS61138527U (en) * | 1985-02-16 | 1986-08-28 | ||
| JPS61255827A (en) * | 1985-05-08 | 1986-11-13 | Mitsubishi Heavy Ind Ltd | Injection/compression molding method |
| JPS6394807A (en) * | 1986-10-09 | 1988-04-25 | Toshiba Mach Co Ltd | Injection compression molding |
| JPS63115715A (en) * | 1986-11-05 | 1988-05-20 | Nok Corp | Mold clamping method in injection molding equipment |
| JPS63242619A (en) * | 1987-03-31 | 1988-10-07 | Sumitomo Heavy Ind Ltd | Injection molding equipment |
| JPH02142007U (en) * | 1989-05-01 | 1990-11-30 | ||
| CN106738727A (en) * | 2016-11-24 | 2017-05-31 | 无锡海天机械有限公司 | A kind of injection machine folding moulding oil road |
| CN107571272B (en) * | 2017-09-30 | 2020-03-17 | 迈克医疗电子有限公司 | Grabbing device state detection method, device and system |
-
1980
- 1980-07-31 JP JP10537480A patent/JPS5729434A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5729434A (en) | 1982-02-17 |
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