(A) ;HALOGENATION AND IMINOHALOGENATION OF CEPHALOSPORIN COMPOUND

摘要

PURPOSE:To elevate workability by deciding automatically the size and shape of various sorts of works fed to NC machine tools using a robot provided on NC machine tool and by feeding an accepted product only. CONSTITUTION:A work is held by a robot 2 which drives 4 each driving shaft of the robot 2 and a position is decided 14 by a position sensor 6 provided on the locus drawn by the center of a holding part. CPU10 has a unit vector row storing part 12 and size row inputting part 13 and outputs 13 the size row inputted from the outside part and the output of the storing part 12 and the combination is performed by a composing part 15 and the position is decided 14 with the input from the position sensor 6. A controlling signal generating part 16 outputs to the driving device 4 a controlling signal in order that the central part of the holding part of the robot is in a position corresponding to each motion factor vector only on the accepted product corresponding to these motion factor vectors. The size and shape of a work are thus automatically decided and by feeding an accepted product only, a working is rationalized.