Device for conveying objects to grinding machine

Abstract

The invention relates to a device for transporting objects to and / or from a grinding machine, wherein the device comprises: a base; the supporting piece is arranged on the base, and the supporting piece can rotate around a first rotation axis relative to the base; the pivoting device is arranged on the supporting piece and is used for conveying objects, and the pivoting device can pivot relative to the supporting piece around a second axis; the device is designed to at least periodically perform a rotational movement of the support about a first axis of rotation and a pivoting movement of the pivoting device about a second axis of rotation simultaneously such that the object can be conveyed by a conveying movement of the pivoting device. The conveying movement of the pivoting device is generated by the superposition of the rotational movement of the support and the pivoting movement of the pivoting device.

Description

Technical Field

[0001] The invention relates to a device for conveying objects to and / or from a grinding machine. The device comprises a base, a carrier and a rotary device. The carrier is arranged on the base and can rotate relative to the base around a first rotation axis. The rotary device is arranged on the carrier and is designed to convey the object.

[0002] The invention also relates to a grinding machine for gear grinding of workpieces, wherein the grinding machine comprises a device of the above-described type. Furthermore, the invention relates to a method for loading and unloading a grinding machine by means of the device according to the invention. Background Art

[0003] The so-called ring loader concept is known in the prior art. Devices according to the ring loader concept have a clamping device which is usually rotatable about an axis of rotation and comprises several pairs of clamping arms. Each pair of clamping arms is designed to clamp or release a workpiece independently of the other pairs of clamping arms. To transport one or more workpieces, the clamping device is rotated about the axis of rotation after at least one pair of clamping arms has clamped the workpiece. As a result, all pairs of clamping arms (including the pair of clamping arms that has clamped the workpiece) rotate simultaneously about the axis of rotation.

[0004] A disadvantage of such devices known from the prior art is that, due to the design of the clamping device, the position of one pair of clamping arms relative to the other pair of clamping arms and relative to the axis of rotation is fixed or unchangeable. As a result, a workpiece can only be picked up or released for loading by the pair of clamping arms in a fixed position or always at the same radial distance from the axis of rotation. The pair of clamping arms cannot flexibly pick up the workpiece in different positions. This applies similarly to the position of the workpiece released by the pair of clamping arms during unloading. This leads to reduced or restricted flexibility during use of the known device. The workpiece must often be centered after being released by the pair of clamping arms for further processing.

[0005] Another problem with the known devices in terms of centering is that, since the radial distance of the gripper from the axis of rotation is fixed, the size of the axis of rotation is limited. The relatively small size of the axis of rotation leads to a correspondingly reduced rigidity of the centering device, which has a negative impact on the centering result and therefore also on the workpiece quality.

[0006] The maintainability of the grinding machine is also limited by the known devices, in particular when the holding device is spatially fixed relative to the grinding machine to be loaded and unloaded. The holding devices known in the prior art are also not designed to transport replacement parts and / or accessory parts to and / or from the grinding machine. Summary of the invention

[0007] The object of the present invention is to provide a device for loading and unloading a grinding machine, which belongs to the technical field mentioned at the beginning and eliminates the above-mentioned problems and disadvantages of the prior art. In particular, the object of the present invention is to provide a device that can flexibly load and unload workpieces to a grinding machine.

[0008] In order to solve this problem, the device suitable for conveying objects to and / or from a grinding machine according to the present invention comprises a base, a carrier and a rotary device. Preferably, the device is designed to convey objects to and / or from a gear grinding machine.

[0009] For the purposes of this application, the term "object" is generally understood to mean an object to be conveyed by the device. The "object" may be, for example, a workpiece, in particular a workpiece to be machined by a grinding machine. The workpiece may be a gear blank, in particular a gear blank pre-toothed. Preferably, the device is designed to load and unload workpieces to a grinding machine.

[0010] Alternatively or additionally, the "object" may be a replacement part of the grinding machine. For example, the object may be a replacement workpiece spindle and / or a replacement grinding wheel for a grinding device of the grinding machine. Preferably, the device is designed to transport the replacement part to and / or from the grinding machine.

[0011] Alternatively or additionally, the "object" may be an accessory part of the grinding machine. For example, the object may be a dressing wheel, a tailstock tip, a cooling oil nozzle, a tool spindle, a clamping device, a dressing device and / or a grinding head. Preferably, the device is designed to transport the accessory part toward and / or away from the grinding machine.

[0012] Information storage elements can be arranged on an object, in particular a workpiece, such as permanent optical elements or structural protrusions and / or indentations that enable the object to be identified. These elements can also include permanent or variable data storage, such as an RFID (radio frequency identification) integrated into the object or arranged on the object. These elements can be read by a reading unit integrated into the device according to the invention or a grinder or a unit that interacts with the device according to the invention (such as a mounting trolley, AGV (automatic guided vehicle) etc.). Depending on the type of element, this reading unit includes a camera, an RFID reading group and / or other components for detecting these elements. In the case of a variable data storage, its content can be changed as required by a corresponding integrated writing unit. The reading unit and the writing unit can be combined in a single read / write unit.

[0013] In a preferred embodiment of the device according to the invention, the reading unit or the reading / writing unit is arranged on the carrier and is able to read elements arranged on the object while the object is held by the swivel device.

[0014] The stored information may include an identifier of the object (e.g., a unique identification number), and / or information directly related to the geometry, processing status, use, and / or other relevant aspects of the object. The readout information may be stored in a local database or in a central database, such as a cloud-based database. For example, the readout information may be used during processing of the workpiece or may be made available to a subsequent user of the workpiece.

[0015] The carrier is arranged on a base and can rotate relative to the base about a first rotation axis. The swivel device is arranged on the carrier and is designed to transport objects. In particular, the swivel device is designed to transport objects during loading and unloading of the grinding machine. The swivel device can pivot relative to the carrier about a second rotation axis.

[0016] The slewing device has a slewing mechanism and a clamping device. The slewing mechanism separates the clamping device from the second rotation axis in the radial direction. The clamping device is designed to clamp or release an object. The slewing device has the advantages of being easy to manufacture and easy to maintain.

[0017] The swivel device comprises a swivel arm, which is the swivel mechanism of the swivel device. The design of the swivel mechanism as a swivel arm has the advantage that the swivel arm is simple and cheap to manufacture. At the same time, the radial spacing of the clamping device and / or the pick-up / feeding device from the second rotation axis is ensured in an effective manner.

[0018] The swivel arm is arranged on the holder so that the swivel arm can pivot about the second axis of rotation. The holder is arranged on the carrier, in particular movably arranged on the carrier. For example, the holder can be connected to the carrier so that the holder can be axially moved relative to the first axis of rotation and / or relative to the second axis of rotation. Advantageously, the swivel arm is connected to the holder at a first end. The clamping device and / or the pick-up / feeding device can be arranged at a second end of the swivel arm opposite to the first end.

[0019] According to the invention, the device is designed to carry out, at least sometimes simultaneously, a rotational movement of the carrier about a first rotational axis and a rotational movement of the swivel device about a second rotational axis. As a result, the rotational movement of the carrier and the swivel movement of the swivel device are superimposed for at least a limited period of time. Advantageously, this results in the swivel device undergoing a conveying movement resulting from the superposition of the rotational movement of the carrier and the swivel movement of the swivel device. The conveying movement of the swivel device can be used to convey objects for loading and unloading the grinding machine.

[0020] For the purposes of the present invention, the term "conveying movement" is to be understood as meaning a forced translation of an element relative to a base. A "conveying movement" is, for example, a translation of an element to be conveyed, in particular an object, from a first position to a second position different from the first position. For example, the first position can be a pick-up position, in which the object is picked up by the device. The second position can be, for example, a use position. The use position can be a position in which the object can be processed by a grinder. This is the case, for example, if the object is a workpiece to be processed by a grinder. Additionally or alternatively, the use position can be a position in which the object is used on the grinder. This is the case, for example, if the object is a spare part and / or an accessory part of a grinder. The object, preferably the workpiece, can be conveyed from the pick-up position to the use position by the device, preferably by a swivel device of the device, in particular for loading the grinder.

[0021] Unless explicitly stated otherwise, an "axis of rotation" in the context of this document is a geometric axis. In principle, this can be achieved by various construction mechanisms, wherein these elements (e.g. mechanical axes) can include components in the region of the geometric axis and / or components spaced apart from the geometric axis, such as curved guides or the like.

[0022] For the sake of clarity, the term "rotational movement" hereinafter always refers to the rotational movement of the carrier about the first rotation axis. The term "swivel movement" hereinafter always refers to the swivel movement of the swivel device about the second rotation axis. If other movements are represented or described by the terms "rotational movement" or "swivel movement", this is explicitly mentioned where relevant.

[0023] The advantage of the conveying movement generated by the superposition of the rotational movement and the slewing movement is that the objects can be conveyed flexibly by the device. Not only is the conveying path (i.e. the path along which the objects move during conveying) flexible. The starting point and the end point of the conveying path can also be selected variably.

[0024] Another advantage of the invention is that by rotating the carrier about the first rotation axis and / or by rotating the swivel device about the second rotation axis, the user can more easily access the various components of the device. This improves the maintainability of the entire device.

[0025] Furthermore, the carrier can be made larger or more massive by having an additional pivot axis relative to the axis of rotation. This also advantageously applies to the centering device of the device. Larger dimensions of the carrier and / or larger dimensions of the centering device lead to a higher rigidity of the centering device. If the object is a workpiece to be processed by a grinding machine, this can in turn lead to better centering results and a higher workpiece quality.

[0026] The grinding machine may also comprise intermediate or auxiliary stations, for example for rotating the workpiece or for finishing operations such as chamfering and / or internal grinding. The workpiece may be rotated using a workpiece spindle and the carrier of the device according to the invention may be in a specific position or perform a rotational movement.

[0027] In a first exemplary embodiment, the first rotation axis and the second rotation axis are arranged relative to each other such that the first rotation axis and the second rotation axis are spaced apart from each other. The distance between the first rotation axis and the second rotation axis may be fixed, i.e. not variable. The fixed distance between the first rotation axis and the second rotation axis means that the second rotation axis moves on a circular path around the first rotation axis when the carrier rotates around the first rotation axis. This has the advantage that the conveying movement of the slewing device due to the superposition of the rotational movement with the slewing movement can be easily controlled or adjusted.

[0028] Alternatively, it is also conceivable that the distance between the first rotation axis and the second rotation axis is variable. The variability of the distance between the first rotation axis and the second rotation axis has the advantage of further increasing the number of possible conveying movements. In particular, this increases the range or conveying distance that the device can cover. By superimposing the variation of the distance with the rotational movement and the swivel movement, the variability of the conveying path selection can also be further increased.

[0029] In another exemplary embodiment, the second rotation axis is displaced parallel to the first rotation axis. For example, the second rotation axis can be displaced in a radial direction parallel to the first rotation axis. This has the advantage that the conveying movement of the rotary device resulting from the superposition of the rotational movement with the rotational movement is easier to control or regulate.

[0030] In an exemplary further development, the rotational movement of the carrier about the first rotational axis can be superimposed on the rotational movement of the swivel device about the second rotational axis, so that the object can be moved by the device (at least partially) along a straight path. For example, the conveying movement of the swivel device resulting from the superposition of the rotational movement and the rotational movement can run along a straight path. As a result, the object also undergoes a straight conveying movement. The conveying movement of the object on a straight path advantageously means that during loading and unloading of the grinding machine, the object can be conveyed on the shortest conveying path, in particular on a straight conveying path. This has the advantage that the grinding machine can be loaded and unloaded faster by the device.

[0031] Another advantage may be that the device requires less space for conveying objects. For example, an object can be picked up by the device and then conveyed along a straight path towards the center of the device. Further conveying of the object can then take place close to the center. For example, if a first rotation axis defines the center of the device, the object can first be moved along a straight path in the direction of the first rotation axis by superimposing a rotational movement with a swiveling movement. Further conveying can then take place, for example, by rotating the carrier around the first rotation axis. The object is pivoted around the first rotation axis close to the center, i.e. at a smaller radial distance from the first rotation axis.

[0032] For this purpose, but also for other purposes, the device can be designed to selectively perform a rotational movement and a swivel movement. This means that the carrier can be rotated about a first rotation axis without the swivel device having to be rotated about a second rotation axis. Conversely, the swivel device can be pivoted about the second rotation axis without the carrier having to be rotated about the first rotation axis. This has the advantage that smaller position changes can be more easily controlled and realized.

[0033] In a further development of the aforementioned embodiment, the device can be designed to perform a rotational movement and a swivel movement sequentially. For example, it can be provided that the carrier is first rotated about a first rotation axis and then the swivel device is swivelled about a second rotation axis. This continuous movement sequence has the advantage that the device can be easily controlled or regulated.

[0034] The device can also be designed to perform continuous motion sequences and superimposed motions one after another. This has the advantage that even complex conveying operations can be realized with the device.

[0035] In another exemplary embodiment of the device, the rotational movement of the carrier can be superimposed on the rotational movement of the rotary device so that the object can be transported by the device from the pick-up area to the use position. This is particularly advantageous for loading the grinding machine if the object is a workpiece.

[0036] In this case, the pick-up area is preferably a spatially confined area in which a plurality of pick-up positions may be present. For the purposes of the present invention, a "pick-up position" is understood to be a storage position or a temporary location for objects to be transported by the device. Advantageously, the device is designed to be able to pick up at least one object from each pick-up position in the pick-up area.

[0037] For example, the device can be designed to pick up workpieces in the pick-up area, in particular at different pick-up positions, in order to load the workpieces to the grinding machine. Alternatively or additionally, the device can be designed to pick up replacement and / or accessory parts in the pick-up area, in particular at different pick-up positions, in order to deliver replacement and / or accessory parts to the grinding machine.

[0038] If the object is a workpiece, the use position may be a processing position. For example, the processing position may be a position where a grinder processes the workpiece to be processed. Advantageously, the device may be designed to feed the workpiece to be processed to the processing position at the end of the loading operation.

[0039] If the object is a replacement and / or accessory part, the use location may be a location at which the replacement and / or accessory part is to replace another component and / or is to be arranged on the grinding machine.

[0040] Preferably, the use position is also the position from which objects are to be transported away or removed by the device. This may be the case in particular at the beginning of an unloading operation. Preferably, the device is designed to be able to pick up objects, in particular workpieces, replacement parts and / or accessory parts, in the use position.

[0041] To unload the grinding machine, the rotational movement of the carrier can be superimposed on the rotational movement of the rotary device so that the workpiece can be transported by the device from the processing position to the delivery area. A similar process is also conceivable if the object is a replacement part and / or an accessory part.

[0042] In this case, the delivery area is preferably a spatially confined area within which a large number of delivery locations may be present. For the purposes of the present invention, a "delivery location" is understood to be a storage location or a delivery location of an object transported by the device. Advantageously, the device is designed to be able to deliver an object to each of these delivery locations.

[0043] Preferably, the pick-up area and the delivery area are located together. This means that the pick-up area and the delivery area overlap at least to a large extent. For example, the pick-up area can correspond spatially to the delivery area. Advantageously, the pick-up area and the delivery area form a loading unit assigned to the endless storage belt.

[0044] The pick-up area and / or the delivery area can also be a storage area of ​​the mounting carriage. For example, it is conceivable that if an operator wishes to replace a component of a grinding machine, the replacement component is provided on the storage area of ​​the mounting carriage. The device then transports the replacement component from the storage area of ​​the mounting carriage to the grinding machine, where it can then be exchanged for the component to be replaced. The replaced component can then be transported by the device to the storage area of ​​the mounting carriage. This has the advantage that maintenance work on the grinding machine can be at least partially automated by the device.

[0045] Alternatively, the pick-up area and the delivery area can be spatially separated from each other. This means that the pick-up area and the delivery area preferably do not overlap. For example, the device for loading and unloading the grinding machine can be at least partially arranged between the pick-up area and the delivery area.

[0046] The pick-up area and / or the delivery area may each be an area where the device may be manually loaded or manually unloaded.

[0047] Independently of this, the pick-up area and / or the delivery area can be a storage space. Advantageously, several, in particular different objects are provided in the storage space. For example, a clamping device for a grinder, a grinding wheel, a cooling oil nozzle, a dressing wheel and / or a tailstock tip can be arranged in the storage space. Preferably, the device is designed to selectively, i.e. individually, transport individual objects from the storage space to the grinder and / or from the grinder to the storage space.

[0048] In a further exemplary embodiment of the device, the workpiece spindle is arranged on a carrier. The workpiece spindle is designed to rotate a workpiece arranged on the workpiece spindle. In an embodiment in which the workpiece spindle is arranged on a carrier, advantageously, the workpiece spindle pivots about the first rotation axis when the carrier rotates about the first rotation axis. This has the advantage that the workpiece spindle can be more easily accessed to improve maintainability or the workpiece spindle can be moved into a measuring position. Furthermore, if the workpiece spindle is accessible to a user by rotating the carrier, manual loading of the workpiece spindle is also advantageously possible.

[0049] The workpiece spindle may be rotatable about a third rotation axis, in particular the workpiece spindle may be rotatable about the third rotation axis. Preferably, the third rotation axis is offset parallel to the first rotation axis. Alternatively or additionally, the third rotation axis may be arranged parallel to the second rotation axis.

[0050] Advantageously, the rotary device is designed to transport the workpiece towards the workpiece spindle and away from the workpiece spindle.

[0051] For example, the swivel device can be pivoted about the second rotation axis so that the workpiece is conveyed to the workpiece spindle by the swivel movement of the swivel device about the second rotation axis. Advantageously, this means that the workpiece can already be arranged on the workpiece spindle while the carrier is still rotating about the first rotation axis to rotate the workpiece into the machining position. This has the advantage that the grinding machine can be loaded faster and more efficiently by means of this device.

[0052] Furthermore, the swivel device can be pivoted about the second axis of rotation so that the workpiece is transported away from the workpiece spindle by the swivel movement of the swivel device about the second axis of rotation. This advantageously means that the workpiece can already be moved away from the workpiece spindle when the carrier is initially rotated out of the machining position. This has the advantage that the grinding machine can be unloaded faster and more efficiently by means of the device.

[0053] The rotary device is arranged movably on the carrier. For example, the rotary device can be arranged on the carrier such that the rotary device can be moved axially relative to the first rotation axis and / or relative to the second rotation axis. The movable arrangement of the rotary device on the carrier advantageously means that objects can also be transported, for example, in the axial direction by the rotary device. This has the advantage that objects can be raised and / or lowered by the device, in particular by the rotary device.

[0054] The clamping device may have two clamping arms. The clamping arms are preferably designed to be able to assume a clamping position and a release position relative to each other. In the release position, the clamping arms are arranged relative to each other so that the clamping arms can release the object. In the clamping position, the clamping arms are arranged relative to each other so that the clamping arms can clamp the object together or jointly.

[0055] For the purpose of the present invention, the term "clamping" is understood to mean clamping, in particular clamping or clamping an object between the clamping arms. For example, the clamping arms can exert a clamping force on the object in the clamping position.

[0056] Alternatively or additionally, the term "clamping" may also include clamping under an object by means of a clamping arm. For example, the clamping arm may be clamped under the object in a clamping position. Preferably, the clamping arm is connected to the object in a press fit and / or form fit manner in the clamping position.

[0057] For the purposes of the present invention, the term "release" is understood to mean releasing the contact between the clamping arm and the object. For example, when the clamping arm changes from the clamping position to the release position, the contact between the clamping arm and the object can be released. When the object is in contact with only one clamping arm, it is preferably considered that the object has been released. The clamping device can have a drive device to drive the clamping arm. For example, the drive device can be a pneumatic drive. The drive device can be designed so that these clamping arms can be driven together or separately by the drive device. The clamping device can be pneumatic, hydraulic and / or electric, for example as an electric servo clamp. The clamping arm can be hydraulically actuated, particularly for heavy objects.

[0058] The clamping device can have three or more clamping arms or clamping elements: As an alternative or in addition to the clamping arms, one or more rotating spindles can also be provided on the clamping device. A jaw chuck is also conceivable as an alternative to the clamping arms. For example, a workpiece can be clamped to the clamping device via one or more holes in the workpiece by means of a jaw chuck.

[0059] In an exemplary further development, the rotary device can have a changing device as an alternative or in addition to the clamping device. The changing device can be designed to automatically carry out the replacement of components on the grinding machine. This means that components of the grinding machine can be replaced by the changing device without operator intervention or with only minimal operator involvement. For example, the clamping device and / or the grinding wheel of the grinding machine can be replaced by the changing device.

[0060] Additionally or alternatively, the changing device can be designed to automatically mount additional components on the grinding machine.For example, the changing device can be used to mount a workpiece spindle on a carrier.

[0061] Preferably, the clamping device and the changing device are a single device. In other words, the clamping device can be designed so that the clamping device can also perform the function of the changing device.

[0062] As an alternative or in addition to the gripping device, the rotary device can also have a pick-up / feed device. For example, the pick-up / feed device can be an electromagnetic pick-up / feed device. In particular, the electromagnetic pick-up / feed device can be designed to attract and / or repel objects by generating an electromagnetic field. Independently of this, it is conceivable that the pick-up / feed device is a suction device. For example, the suction device can be designed to suck in objects by generating a negative pressure and / or to push objects away by generating a positive pressure.

[0063] The carrier or the pivoting device can have a stable mount or support for the shaft-like components.

[0064] Preferably, the pick-up / feeding device and the changing device are a single device. In other words, the pick-up / feeding device can be designed such that the pick-up / feeding device can also perform the function of the changing device.

[0065] In order to reduce oil carryover, the device can have a blow-off device. The blow-off device is advantageously designed to remove lubricant residues and / or coolant residues, in particular oil residues, from the workpiece. Additionally or alternatively, the blow-off device can be designed to free the device from lubricant residues and / or coolant residues, in particular oil residues, or at least reduce these residues.

[0066] In another exemplary embodiment, the carrier can have a carrying tower. The carrying tower is preferably arranged on the carrier in a vertical direction. For example, the carrying tower can be a tower-shaped body arranged on the carrier in a vertical direction. The carrying tower can be cylindrical, at least partially cylindrical. In any case, the carrying tower can be arranged on the carrier eccentrically with respect to the first rotation axis.

[0067] In a further development of the above-mentioned embodiment, the holder can be arranged movably on the support tower. Preferably, the holder is arranged on the support tower so as to be axially movable relative to the first axis of rotation. Such a structural design advantageously means that the holder and therefore the swivel device preferably arranged on the holder are easily accessible to the user. This has the advantage of increasing the maintainability of the device.

[0068] At the same time, this arrangement has the effect that the second axis of rotation is arranged outside the support tower, in particular outside the outer dimensions of the support tower. This has the advantage of increasing the swivel range of the swivel device.

[0069] The dressing device can be arranged on the carrier. The dressing device can be designed for dressing a grinding tool of a grinding machine. Preferably, the dressing device is arranged on the carrier radially offset relative to the first rotation axis. This has the effect that, for example, when the carrier rotates about the first rotation axis, the dressing device revolves about the first rotation axis. This has the advantage that by rotating the carrier about the first rotation axis, the dressing device can be positioned relative to the grinding tool so that the grinding tool can be dressed by the dressing device.

[0070] The trimming device may be movable vertically and / or horizontally relative to the carrier. Alternatively or additionally, the trimming device may be pivotable relative to the carrier.

[0071] For this purpose, for example, the carrier can be in a dressing position. In the dressing position, the grinder can preferably be maintained so that the grinding tool is dressed or reground by the dressing device. Independently of this, the device in the dressing position can also advantageously be maintained and / or manually loaded by the user. The device, in particular the swivel device of the device, can be more easily accessible to the user in the dressing position.

[0072] In an exemplary further development, the carrying tower can be arranged at least partially between the workpiece spindle and the dressing device. Preferably, the carrying tower is arranged on the carrier such that it spatially separates the workpiece spindle and the dressing device. Alternatively or additionally, the dressing device can be arranged at least partially in the carrying tower. The spatial separation of the dressing device from the workpiece spindle by the carrying tower advantageously means that the workpiece spindle is protected by the carrying tower from possible chips that may be generated as waste during dressing. Conversely, the dressing device can be protected by the carrying tower from possible chips that may be generated as waste during grinding of the workpiece. This has the advantage that the durability of the device, in particular the durability of the components on the carrier, is increased.

[0073] In order to protect the dressing device and / or the workpiece spindle, the carrier tower can, for example, have a first outer wall facing the workpiece spindle. A second outer wall of the carrier tower can face the dressing device. The second outer wall is preferably a side wall of the carrier tower opposite the first outer wall. The workpiece spindle and / or the dressing device are advantageously shielded by the corresponding outer wall of the carrier tower, so that the workpiece spindle and / or the dressing device are largely protected from contamination from the working chamber. This has the advantage that the durability of the device, in particular the durability of the components on the carrier, is increased.

[0074] In another exemplary embodiment, the device comprises a centering device. The centering device can be designed to align, in particular center, the workpiece relative to another component of the device and / or relative to a component of the grinding machine. For example, the centering device can be arranged to align, in particular center, the workpiece relative to a workpiece spindle. The centering device can additionally or alternatively be designed to support the workpiece. For example, the centering device can support the workpiece when the workpiece is driven by the workpiece spindle. The centering device is preferably a tailstock. Embodiments with a centering device have the advantage that the grinding machine can be loaded very accurately by means of the device and / or the workpiece can be kept in place during grinding. This improves the precision of the grinding machine in particular. Advantageously, manufacturing tolerances of the workpiece can be minimized.

[0075] In the device according to the invention, the carrier can be larger in size, in particular with a larger cross section. This means that the centering device can also be designed with the carrier to be larger and / or more stable. Advantageously, this increases the precision of the grinding machine. This has the advantage of increasing the quality of the workpiece.

[0076] The device can have a position determination device. The position determination device is preferably designed to detect the position of the workpiece, in particular at least one tooth gap of the workpiece. For example, the position determination device detects the position of the workpiece after the grinding device has been loaded with the workpiece. Alternatively or additionally, the position determination device detects the position of the workpiece after the workpiece has been placed on the workpiece spindle by the clamping device. In particular, the position determination device can be designed to determine the position of a tooth surface or a tooth gap of the workpiece. It is also conceivable that the position determination device can be used to determine the rotation angle of the workpiece. Alternatively or additionally, the position determination device can be designed to determine the position of the clamping device and / or the pick-up / feeding device.

[0077] In order to determine the respective position, the position determination device can have at least one sensor. The sensor can be an optical sensor and / or an electromagnetic sensor, in particular a distance sensor. For example, the sensor can be an inductive sensor. Detecting the position of the workpiece by means of the position determination device has the advantage of increasing the precision of the grinding machine. For example, based on the determined position of the workpiece, the grinding tool of the grinding machine can be better aligned with the workpiece, which minimizes the manufacturing tolerances of the workpiece. In particular, the position of the workpiece can be determined by the position determination device in such a way that it is ensured that the grinding tool does not collide with the teeth of the workpiece when in contact.

[0078] In an exemplary further development of the embodiment with the position determining device, the position determining device is arranged on a carrier, in particular on a carrying tower. For example, the position determining device can be arranged movably on the carrier, in particular on a carrying tower. The position determining device can be arranged on the carrier so that it can be axially moved relative to the first rotation axis and / or relative to the second rotation axis, in particular on the carrying tower. The arrangement of the position determining device on the carrier has the advantage that the measuring accuracy of the position determining device can be increased.

[0079] The carrier can be hydrostatically mounted on the base. In particular, the hydrostatic bearing can improve the rotatability of the carrier about the first axis of rotation. This has the advantage that even with heavy loads, in particular with a weight of, for example, >100 kg, the carrier remains rotatable, in particular smoothly rotatable, relative to the first axis of rotation. Furthermore, the hydrostatic bearing enables a high rigidity and precise positioning of the connection between the carrier and the base. The damping properties can also be improved by the hydrostatic bearing.

[0080] Alternatively or additionally, the carrier can also be connected to the base via a common bearing. For example, the carrier can be mounted on the base via a common rolling bearing and / or sliding bearing.

[0081] In another exemplary embodiment, the device includes a control system. The control system may be a computer and / or a programmable logic unit (CPU). The control system may be integrated in the device.

[0082] The control system is preferably designed to control the rotary movement of the carrier, the rotary movement of the swivel device, the dressing device, the workpiece spindle, the centering device, the clamping device, the changing device and / or the pick-up / feeding device.

[0083] The control system can also be designed to control the rotational movement of the carrier, the rotational movement of the swivel device, the dressing device, the workpiece spindle, the centering device, the clamping device, the changing device and / or the pick-up / feeding device. This is particularly true if the control system is connected to one or more control sensors in an information-communicating manner. The control can then be carried out based on a target comparison / actual comparison with the information from the control sensors.

[0084] The control sensor is preferably at least one sensor which is designed to monitor the rotational movement of the carrier, the rotational movement of the swivel device, the dressing device, the workpiece spindle, the centering device, the clamping device, the changing device and / or the pick-up / feeding device. The term "monitor" is understood in the sense of the present invention to mean the determination of the position, speed and / or acceleration of one of the aforementioned components. The term "monitoring" also includes the determination of other physical variables, such as temperature and / or pressure.

[0085] Additionally or alternatively, the control system can be connected to the position determination device for information communication. Independently of this, the control system can be designed to identify which optional devices are provided on the device. For example, the control system identifies whether a clamping device, a replacement device and / or a pick-up / feeding device are provided on the rotary device. Preferably, the control system is designed to at least adjust the control system and / or adjust the rotational movement of the carrier and / or the rotational movement of the rotary device according to the identified optional device. The advantage of the control system is that the conveying of objects to the grinder and / or the conveying of objects away from the grinder can be automated or at least partially automated. For example, the control system can be used to automatically load the workpiece into the grinder. Replacing parts with replacement parts and / or assembling accessory parts can also be automated or at least partially automated using the control system.

[0086] In an exemplary further extension of this embodiment, wherein the device includes a control system, the device has an input mechanism. The input mechanism can be designed to receive control inputs from an operator and transmit the control inputs to the control system. The input mechanism can be, for example, a joystick operable by an operator.

[0087] In another exemplary embodiment, the device comprises an additional conveying device. In particular, the additional conveying device can be a robot and / or a robot arm. The additional conveying device can be designed to interact with the gripping device, the changing device and / or the picking / feeding device. The additional conveying device can be designed as an additional element of the mounting trolley. For example, it is conceivable that the objects to be conveyed can be transferred or exchanged between the conveying device and the gripping device.

[0088] The advantage of the additional conveying device is that the effective range of the device, in particular the conveying radius of the device, is increased.

[0089] According to the invention, the object mentioned at the outset is also achieved by a grinding machine for grinding workpieces, in particular workpieces that are previously provided with teeth, such as gear blanks. For this purpose, the grinding machine comprises a machine housing, a grinding device and a device as described above. According to the invention, the grinding device is arranged on the machine housing and is designed for grinding workpieces. The machine housing of the grinding machine forms the base of the device according to the above-described embodiment.

[0090] An advantage of the grinding machine according to the invention is that the grinding machine can be loaded and unloaded with workpieces more quickly by means of the device. Additionally or independently therefrom, the carrier rotatable about the first axis of rotation has the effect of increasing the accessibility to individual components of the grinding machine. This has the advantage that the grinding machine according to the invention is easier to maintain. Compared to other loading concepts, the carrier can also be designed to be more stable, in particular with regard to the centering device.

[0091] In a first exemplary embodiment, the grinding machine comprises a dressing device arranged on a carrier and a workpiece spindle arranged on the carrier. The dressing device can be designed for dressing a grinding tool of the grinding machine, in particular for shaping and / or resharpening a grinding tool of the grinding machine. Preferably, the dressing device is arranged on the carrier radially offset relative to the first rotation axis. This has the effect, for example, that the dressing device pivots about the first rotation axis when the carrier rotates about the first rotation axis.

[0092] The workpiece spindle is preferably designed to rotate a workpiece arranged on the workpiece spindle. The workpiece spindle can be rotatable about a third rotation axis, in particular about the third rotation axis. Preferably, the third rotation axis is offset parallel to the first rotation axis. The workpiece spindle can be arranged eccentrically on the carrier relative to the first rotation axis. This has the effect that, for example, the workpiece spindle pivots about the first rotation axis when the carrier rotates about the first rotation axis.

[0093] The carrier may be rotatable about a first axis of rotation such that the carrier may be rotated back and forth between a grinding position and a dressing position.

[0094] Preferably, the workpiece spindle faces the grinding device in the grinding position. This advantageously means that the workpiece can be machined on the workpiece spindle by the grinding device in the grinding position.

[0095] In the dressing position, the dressing device may face the grinding device. This advantageously means that the grinding implements of the grinding device may be maintained in the dressing position by the dressing device. The dressing position may correspond to the aforementioned maintenance position of the device.

[0096] The grinding machine according to the first embodiment example has the following advantages: the grinding machine is easy to handle and easy to maintain for the user.

[0097] The object mentioned at the outset is also achieved according to the invention by a method with a device according to the above-described exemplary embodiments. In the method according to the invention, a rotational movement and a swivel movement are carried out simultaneously at least temporarily during a loading operation and / or during an unloading operation.

[0098] Advantageously, this results in a superposition of the rotational movement and the pivoting movement, so that the pivoting device, in particular the gripper and / or the pick-up / feeding device arranged on the pivoting device, undergoes a final conveying movement. The conveying movement can correspond to a linear movement. This has the advantage that the objects for loading and unloading the grinding machine can be conveyed at least temporarily along a straight path.

[0099] In a first exemplary embodiment of the method, the carrier rotates around a first rotation axis in a first rotation direction. The swivel device can swivel around a second rotation axis in a second rotation direction. Preferably, the first rotation direction and the second rotation direction are opposite rotation directions. For example, the carrier can rotate clockwise around the first rotation axis, while the swivel device swivels counterclockwise around the second rotation axis. In other words, when the rotational motion and the swivel motion are superimposed, the carrier and the swivel device can have different rotation directions.

[0100] Advantageously, this results in a superposition of the rotational movement and the pivoting movement, so that the pivoting device, in particular the gripper and / or the pick-up / feeding device arranged on the pivoting device, undergoes the resulting conveying movement. The conveying movement can correspond to a linear movement. This has the advantage that the objects for loading and unloading the grinding machine can be conveyed at least temporarily along a linear path.

[0101] In another embodiment of the aforementioned embodiment, during the loading operation, the absolute rotation angle of the rotational movement of the carrier around the first rotation axis is smaller than the absolute rotation angle of the rotational movement of the slewing device around the second rotation axis. Alternatively or additionally, during the unloading operation, the absolute rotation angle of the rotational movement of the carrier around the first rotation axis may be smaller than the absolute rotation angle of the rotational movement of the slewing device around the second rotation axis.

[0102] This has the advantage of making the device easier to control or adjust.

[0103] According to the invention, the object mentioned at the outset is also achieved by using a device for loading and unloading a grinding machine according to the above-described embodiments, wherein the object is a workpiece. Preferably, the grinding machine is a gear grinding machine.

[0104] According to the invention, the object mentioned at the outset is also achieved by using a device for servicing a grinding machine according to the above-described embodiments, wherein the object is a replacement part and / or an accessory part for the grinding machine. Preferably, the grinding machine is a gear grinding machine.

[0105] In order to be able to perform different handling functions, in particular the conveying, holding and / or positioning functions of different objects, the swivel device is advantageously designed so that different grippers, retainers and devices can be attached to the swivel device in order to be able to grasp different objects. In particular, the swivel device comprises a corresponding interface for this purpose. The control system advantageously identifies the corresponding gripper, retainer or device and only allows corresponding movements. The degrees of freedom of the swivel arm can be used for additional handling functions and in particular can also be used to replace grippers, retainers or devices. Grippers, retainers or other devices can also be kept ready in a storage space or on a mounting trolley.

[0106] A gripper intended for workpiece replacement can also remain in the machine during other handling functions and be used to attach further elements to the machine or for the gripper itself to grip corresponding elements. Here, too, the control system approves the permissible movement sequences depending on the operation to be performed.

[0107] Brief description of the attached figure

[0108] According to the invention, the different and exemplary features described above can be combined with each other as long as this is technically reasonable and appropriate. Other features, advantages and embodiments of the invention are shown in the following description of examples of various embodiments with reference to the accompanying drawings. The accompanying drawings show:

[0109] Figure 1 is a perspective view of a grinding mill having an embodiment of an apparatus for loading and unloading the grinding mill;

[0110] Figure 2 is based on Figure 1 Another perspective view of an embodiment of from a different angle;

[0111] Figure 3 is based on the start of the loading operation Figure 1 A top view of an embodiment of the present invention;

[0112] Figure 4 During the conveying operation as part of the loading operation Figure 1 A top view of an embodiment of the present invention;

[0113] Figure 5 At the end of a loading operation and / or at the beginning of an unloading operation Figure 1 A top view of an embodiment of the present invention;

[0114] Figure 6 is during a conveying operation as part of an unloading operation according to Figure 1 A top view of an embodiment of the present invention;

[0115] Figure 7 At the end of the uninstall operation, Figure 1A top view of an embodiment of the present invention;

[0116] Figure 8 is based on Figure 1 A side view of an embodiment of the present invention wherein the grinder is in a dressing position; and

[0117] Fig. 9 is based on Figure 1 A side view of an embodiment of the present invention wherein the grinder is in a grinding position. DETAILED DESCRIPTION

[0118] Figure 1 An embodiment of a grinding machine 20 with the device 1 is shown. The device 1 is designed to load and unload workpieces 30 into and from the grinding machine 20. Figure 2 Another perspective view shows an embodiment of a grinding machine 20, wherein Figure 2 Selected in Figure 1 Different perspectives in.

[0119] The grinding machine 20 comprises a machine housing 21 and a grinding device 22. The grinding device 22 has a grinding tool 23. The grinding tool 23 is designed to grind a workpiece 30. In particular, the grinding tool 23 is a grinding worm 23.

[0120] The device 1 comprises a base 2, a carrier 3 and a rotary device 12. In the embodiment shown, the base 2 corresponds to a machine housing 21.

[0121] The carrier 3 can rotate relative to the base 2 around a first rotation axis D1. Figure 1 Not shown (see Figure 3-Figure 9 The carrier 3 has a carrying tower 4 and a workpiece spindle 7. The workpiece spindle 7 faces the first outer wall 5a of the carrying tower 4. The carrying tower 4 and the workpiece spindle 7 can rotate together with the carrier 3 around the first rotation axis D1.

[0122] A centering device 8 is arranged on the support tower 4. The centering device is designed to center the workpiece 30 on the workpiece spindle 7. In the embodiment shown, the centering device 8 is a tailstock 8. A holder 11 is also arranged on the support tower 4. The holder 11 can be moved vertically along the support tower 4. A swivel device 12 is connected to the holder 11.

[0123] The swivel device 12 is connected to the holder 11 such that the swivel device 12 can pivot about a second rotation axis D2. The second rotation axis D2 is spaced apart from the carrying tower 4 by the holder 11 such that the second rotation axis D2 is arranged outside the dimensions of the carrying tower 4.

[0124] The swivel device 12 comprises a swivel mechanism 13, which in this embodiment is designed as a swivel arm 14. Furthermore, the swivel device 12 has a clamping device 16. The swivel arm 14 is designed to hold the clamping device 16 at a distance from the second rotation axis D2 in the radial direction.

[0125] The clamping device 16 comprises a first clamping arm 17 and a second clamping arm 18. The clamping arms 17 and 18 are designed to be able to be in a clamping position and a release position relative to each other. In the release position, the first clamping arm 17 and the second clamping arm 18 are arranged relative to each other so that the clamping arms 17 and 18 can release the workpiece 30. Figure 1 In the clamping position shown, the first clamping arm 17 and the second clamping arm 18 are arranged relative to each other so that the clamping arms 17, 18 clamp the workpiece 30. In doing so, the clamping arms 17, 18 together exert a clamping force on the workpiece 30 so that the workpiece 30 is immovably connected to the clamping device 16.

[0126] Artifact 30 can now be obtained from Figure 1 The position shown is lifted, for example, by moving the holder 11 with the clamping device 16 vertically upwards on the carrying tower 4 to lift the workpiece 30 .

[0127] The workpiece spindle 7 is rotatable relative to the carrier 3 about the third rotation axis D3 , in particular for rotating a workpiece 30 arranged on the workpiece spindle 7 , whereby the first clamping arm 17 and the second clamping arm 18 are in a released position relative to one another.

[0128] In order to grind the workpiece 30, the grinding device 22 is displaced relative to the device 1 so that the grinding tool 23 contacts the workpiece 30. The grinding tool 23 rotates around the fourth rotation axis D4. At the same time, the workpiece 30 rotates around the third rotation axis D3. The fourth rotation axis D4 is arranged orthogonally relative to the third rotation axis D3. In order to drive the grinding tool 23, the grinding device 22 has a drive device (not shown).

[0129] With regard to the function of the device 1 during loading and unloading of the grinding machine 20, reference is made to Figure 3-7 and descriptions of the associated drawings.

[0130] In this embodiment, the device 1 comprises a position determination device 9 (see Figure 2 ). The position determination device 9 is arranged on the supporting tower 4 and is movable relative to the supporting tower 4. In particular, the position determination device 9 is movable relative to the supporting tower 4 in the vertical direction.

[0131] The position determination device 9 comprises at least one sensor 10, which faces the workpiece spindle 7, in particular the workpiece 30 on the workpiece spindle 7. In the embodiment shown, the position determination device 9 comprises a single sensor 10. The sensor 10 can be an optical sensor, a tactile sensor or a contactless sensor. Preferably, the sensor 10 is an inductive sensor 10. The sensor 10 is designed to determine the position of the workpiece 30, in particular the rotational angular position of the workpiece 30. Therefore, the position determination can be performed based on the tooth surface of the workpiece 30 rotating past the sensor 10.

[0132] Figure 3 FIG. 2 shows a top view of the grinding machine 20 of this embodiment. Figure 3 As can be seen in the figure, the first rotation axis D1, the second rotation axis D2 and the third rotation axis D3 are spaced apart from each other in parallel. Thus, for example, when the carrier 3 rotates around the first rotation axis D1, the second rotation axis D2 moves on a circular path around the first rotation axis D1. For other structures of the grinding machine 20, please refer to the above description.

[0133] The device 1 is in the position in which it can be at the beginning of the loading operation. This can be seen from the fact that the workpiece 30 is provided in the pick-up area 24. Figure 3 In the case shown, the workpiece 30 has been arranged centrally in the pick-up area 24. However, it is also conceivable that the workpiece 30 is arranged eccentrically in the pick-up area 24. This means that the device 1 is able to clamp the workpiece 30 as long as the workpiece 30 is arranged at any position within the pick-up area 24. The pick-up position of the workpiece 30 can vary within the boundaries of the pick-up area 24 in the radial direction and / or in the axial direction.

[0134] In order to Figure 1 and Figure 2 The device 1 is shown to be moved to the position Figure 3 The position of the device 1 shown causes the carrier 3 to rotate counterclockwise around the first rotation axis D1. The swivel device 12 also rotates counterclockwise around the second rotation axis D2. The rotational movement of the carrier 3 and the swivel movement of the swivel device 12 are at least sometimes carried out simultaneously, so that the clamping device 16 can grasp the workpiece 30 on both sides with the clamping arms 17, 18. In order to clamp the workpiece 30, the first clamping arm 17 and the second clamping arm 18 are in the clamping position.

[0135] For the optional lifting of the workpiece 30 , the holder 11 can be displaced, in particular lifted, along the carrying tower 4 , in particular parallel to the first rotation axis D1 .

[0136] Figure 4 The device 1 is shown during a conveying operation as part of loading of a grinding machine 20 .

[0137] Figure 3 FIG. 2 shows a top view of the grinding machine 20 of this embodiment. Figure 3 As can be seen in the figure, the first rotation axis D1, the second rotation axis D2 and the third rotation axis D3 are spaced apart from each other in parallel. Thus, for example, when the carrier 3 rotates around the first rotation axis D1, the second rotation axis D2 moves on a circular path around the first rotation axis D1. For other structures of the grinding machine 20, please refer to the above description.

[0138] In order to Figure 3 The device 1 is shown to be moved to the position Figure 4 In the position of the device 1 shown, the carrier 3 rotates counterclockwise about the first rotation axis D1. The rotary device 12 rotates clockwise about the second rotation axis D2. The rotary movement of the carrier 3 and the rotary movement of the rotary device 12 are at least sometimes carried out simultaneously, so that the workpiece 30 is transported on the straight path 25 and thus undergoes a straight transport movement. Figure 4 The linear transport path 25 shown in dashed lines in FIG. 1 indicates the movement path of the workpiece 30 , in particular the movement path of the center of the workpiece 30 , during the linear transport movement as part of the loading operation. Figure 4 The oval area 26 shown in FIG. 2 represents the limits of the range of motion 26 within which the workpiece 30 is moved during the linear transport movement.

[0139] The transport movement on the straight path 25 results from the superposition of the rotational movement of the carrier 3 and the rotational movement of the rotary device 12. The workpiece 30 follows the final transport movement of the rotary device 12, since the gripping device 16 has already gripped the workpiece 30 during the transport operation and the workpiece 30 is therefore immovably connected to the gripping device 16.

[0140] At the end of the transport movement of the workpiece 30 along the linear path 25 , the workpiece 30 is preferably located above or on the workpiece spindle 7 .

[0141] Subsequently, the carrier 3 can be rotated clockwise or counterclockwise around the first rotation axis D1 so that the device 1 is in Figure 5 The location shown in .

[0142] The sequence shown allows the workpiece 30 to be transported near the device 1 with very little space requirement. If space conditions permit, before the workpiece 30 is positioned relative to the workpiece spindle 7, the carrier 3 can be rotated to the position as shown. Figure 5 The machining position shown. This allows for faster loading. In general, the movement path of the workpiece 30 can be varied within a wide range during the conveying operation by adjusting the sequence of the rotary and swivel movements.

[0143] Figure 5 The device 1 is shown at the end of a loading operation and / or at the beginning of an unloading operation.

[0144] This can be seen by the fact that the workpiece 30 is arranged on the workpiece spindle 7, which is covered by the workpiece 30. The workpiece spindle 7 faces the grinding device 22. The first clamping arm 17 and the second clamping arm 18 are in a clamping position relative to each other and exert a clamping force on the workpiece 30.

[0145] At the end of the loading operation, the clamping arms 17, 18 will now change from the clamping position to the release position. As a result, the workpiece 30 is released by the clamping device 16. The workpiece 30 can be fed onto the workpiece spindle 7. Once the workpiece spindle 7 rotates around the third rotation axis D3, the workpiece 30 can be driven to rotate by the rotation of the workpiece spindle 7.

[0146] Once the workpiece 30 is rotating, the workpiece 30 can be ground by the grinding device 23. To this end, the grinding device 22 is Figure 5 The position shown begins to move in the direction of the workpiece 30. With regard to the specific sequence of grinding operations preferably performed between the loading operation and the unloading operation, reference is made to Fig. 9 Description of the accompanying drawings.

[0147] In order to unload the grinding machine 20, the workpiece 30 processed by the grinding tool 23 is transported away from the device 1. A part of this transport movement during the unloading operation is as follows: Figure 6 shown.

[0148] In order to Figure 5 The device 1 is shown to be moved to the position Figure 6 In the position of the device 1 shown, the carrier 3 is rotated 90° counterclockwise about the first rotation axis D1 .

[0149] Subsequently, the carrier 3 rotates clockwise around the first rotation axis D1, wherein the rotary device 12 simultaneously rotates counterclockwise around the second rotation axis D2. As a result, the workpiece 30 is transported on the linear path 25 and thus undergoes a linear transport movement. Figure 6 The linear transport path 25 shown in dashed lines in FIG. 2 represents the movement path of the workpiece 30 , in particular the movement path of the center of the workpiece 30 , during the linear transport movement as part of the unloading operation. Figure 6 The oval area 26 shown represents the limits of the range of motion 26 through which the workpiece 30 is moved during linear transport.

[0150] The transport movement on the linear path 25 is produced by the superposition of the rotational movement of the carrier 3 and the rotational movement of the rotary device 12. The workpiece 30 held by the gripper device 16 follows the resulting transport movement of the rotary device 12.

[0151] exist Figure 6 At the end of the linear transport motion shown, the workpiece 30 is delivered to the delivery area 27, as shown in FIG. Figure 7 shown.

[0152] The device 1 is designed to deliver the workpiece to a location within the delivery area 27. Figure 7 As an alternative to the central delivery position shown in , the device 1 can therefore also deliver the workpiece 30 to the left and / or right part of the delivery area 27. Figure 7 Starting from the position of the clamping device 16 shown, only the first clamping arm 17 and the second clamping arm 18 need to be moved relative to each other so that the clamping arms 17 , 18 are in the release position and release the workpiece 30 .

[0153] Figure 8 A side view of an embodiment of a grinding machine 20 is shown, wherein the grinding machine 20, in particular the device 1 of the grinding machine 20, is in a dressing position.

[0154] The device 1 has a dressing device 6. The dressing device 6 is designed for dressing a grinding tool 23 of a grinding machine 20, in particular for shaping and / or resharpening a grinding tool 23 of a grinding machine 20. For this purpose, the dressing device 6 faces the grinding tool 23 in the dressing position.

[0155] The dressing device 6 is arranged on the carrier 3 so that the dressing device 6 is at least partially integrated in the support tower 4. The support tower 4 is arranged between the workpiece spindle 7 and the dressing device 6. Figure 8 As shown, the first outer wall 5a of the support tower 4 faces the workpiece spindle 7. The second outer wall 5b of the support tower 4 faces the dressing device 6. The arrangement of the dressing device 6, the support tower 4 and the workpiece spindle 7 on the carrier 3 has the advantage that during the dressing of the grinding tool 23 by the dressing device 6, the workpiece spindle 7 is not soiled.

[0156] In order to dress the grinding tool 23, the grinding machine 20 is designed to move the grinding device 22 in the direction of the dressing device 6 so that the grinding tool 23 and the dressing device 6 can interact with each other. In addition, the drive device (not shown) of the grinding device 22 can drive the grinding tool 23 so that the grinding tool 23 rotates around the fourth rotation axis D4. If the rotating grinding tool 23 contacts the dressing device 6, the grinding tool 23 is dressed by the dressing device 6, in particular, shaped and / or sharpened by the dressing device 6.

[0157] Once the dressing of the grinding tool 23 is completed, the grinding device 22 is moved away from the dressing device 6 until it reaches Figure 8 Initial trim position shown.

[0158] Fig. 9 A side view of an embodiment of a grinder 20 is shown, wherein the grinder 20 is in a grinding position.

[0159] This can be seen by the fact that the workpiece spindle 7 and the workpiece 30 face the grinding device 22. The clamping arms 17, 18 of the clamping device 16 are already in a released position relative to each other and are spaced apart in the vertical direction from the workpiece 30. This allows the workpiece spindle 7 and the workpiece 30 to rotate about the third rotation axis D3.

[0160] The arrangement of the dressing device 6 , the support tower 4 and the workpiece spindle 7 in the grinding position means that the dressing device 6 is not or only very slightly soiled during the grinding operation.

[0161] In order to grind the workpiece 30, the drive device of the grinding device 22 (not shown) can drive the grinding tool 23 so that the grinding tool 23 rotates around the fourth rotation axis D4. Independently of this, the grinding device 22 moves in the direction of the workpiece spindle 7 so that the grinding tool 23 and the workpiece 30 engage with each other, preferably in a rotational manner. If the grinding tool 23 contacts the workpiece 30, the workpiece 30 is ground by the grinding tool 23.

[0162] Once the grinding operation is completed, the grinding device 22 is moved away from the workpiece spindle 7 so that the grinding machine 20 returns to the Fig. 9 The initial grinding position shown. Subsequently, the clamping arms 17, 18 of the clamping device 16 can be changed back to the clamping position. This allows the device 1 to be in Figure 5 The location shown in .

Claims

1. A device (1) for conveying an object (30) towards and / or away from a grinding machine (20), the device (1) comprising: (a) a base (2), (b) a carrier (3), the carrier being arranged on the base (2), the carrier being rotatable relative to the base (2) around a first rotation axis (D1), (c) a rotating device (12), which is arranged on the carrier (3) and is used to transport the object (30), wherein (d) (d) the swivel device (12) is capable of pivoting relative to the carrier (3) about a second rotation axis (D2), The rotating device (12) comprises a rotating mechanism (13) and a clamping device (16), wherein the clamping device is used to clamp and release the object (30), wherein the rotating mechanism (13) separates the clamping device (16) from the second rotation axis (D2) in a radial direction, wherein the swivel mechanism (13) is a swivel arm (14) which is pivotally connected to a holder (11) arranged on the carrier (3) about the second rotation axis (D2), and (e) The device (1) is designed to simultaneously perform, at least sometimes, a rotational movement of the carrier (3) around the first rotation axis (D1) and a rotational movement of the rotating device (12) around the second rotation axis (D2), so that the object (30) can be transported by the conveying movement of the rotating device, which is generated by the superposition of the rotational movement of the carrier (3) and the rotational movement of the rotating device (12).

2. The device (1) according to claim 1, characterized in that The first rotation axis (D1) and the second rotation axis (D2) are arranged relative to each other such that when the carrier (3) rotates around the first rotation axis (D1), the second rotation axis (D2) moves on a circular path around the first rotation axis (D1).

3. The device (1) according to any one of the preceding claims, characterized in that The second rotation axis (D2) is displaced in parallel with respect to the first rotation axis (D1).

4. The device (1) according to any one of the preceding claims, characterized in that The device (1) is designed to superimpose the rotational movement of the carrier (3) around the first rotation axis (D1) and the rotational movement of the rotation device (12) around the second rotation axis (D2), so that the object (30) can be moved by the device (1) at least temporarily along a straight path (25).

5. Device (1) according to any one of the preceding claims, characterized in that The rotational movement of the carrier (3) around the first rotation axis (D1) and the rotational movement of the rotary device (12) around the second rotation axis (D2) can be superimposed on each other, so that (a) the object (30) can be transported from the pickup area (24) to a location of use, and (b) The object (30) can be transported from the use location to a delivery area (27).

6. The device (1) according to claim 5, characterized in that The pickup area (24) corresponds to the delivery area (27).

7. Device (1) according to any one of the preceding claims, characterized in that A workpiece spindle (7) is arranged on the carrier (3), and the workpiece spindle (7) is used to rotate the object (30), and the object (30) is preferably the workpiece (30), wherein the rotation device (12) is designed to transport the object (30) towards the workpiece spindle (7) and away from the workpiece spindle (7), and the object (30) is preferably the workpiece (30).

8. Device (1) according to any one of the preceding claims, characterized in that The clamping device (16) has two clamping arms (17, 18), and the clamping arms (17, 18) are designed to exert a clamping force on the object (30) and / or to clamp under the object (30).

9. Device (1) according to any one of the preceding claims, characterized in that The carrier (3) has a vertical support tower (4), preferably an at least partially cylindrical support tower (4).

10. The device (1) according to claim 9, characterized in that The holder (11) is arranged on the support tower (4) in a movably manner, preferably in an axially movably manner relative to the first rotation axis (D1).

11. The device (1) according to any one of claims 9 or 10, characterized in that The second rotation axis (D2) is arranged outside the supporting tower (4).

12. Device (1) according to any one of the preceding claims, characterized in that A dressing device (6) is arranged on the carrier (3), and the dressing device (6) is used to dress the grinding tool (23) of the grinding machine (20).

13. Device (1) according to any of the preceding claims, characterized in that The carrier (3) is rotatable about the first rotation axis (D1) so that the carrier (3) can be in a maintenance position in which the grinder (20) and / or the device (1) can be maintained and / or manually loaded.

14. Device (1) according to claim 12 or 13 in combination with claim 7 and claim 9, characterized in that The supporting tower (4) has a first outer wall (5a) facing the workpiece spindle (7) and a second outer wall (5b) facing the dressing device (6), wherein the first outer wall (5a) is a side wall of the supporting tower (4) opposite to the second outer wall (5b).

15. Device (1) according to any of the preceding claims, characterized in that The device (1) comprises a centering device (8), preferably a tailstock (8), for centering the object (30), preferably for centering the object (30) on a workpiece spindle (7) according to claim 7.

16. Device (1) according to any one of the preceding claims, characterized in that The device (1) has a position determination device (9) for determining the position of the object (30), preferably for determining the position of the workpiece (30), wherein the position determination device (9) comprises at least one sensor (10).

17. The device (1) according to claim 16 in combination with claim 9, characterized in that The position determining device (9) is arranged on the supporting tower (4) so ​​as to be movable, preferably axially and / or radially relative to the first rotation axis (D1), and / or so as to be pivotable, preferably pivotable in a circumferential direction relative to the first rotation axis (D1).

18. Device (1) according to any one of the preceding claims, characterized in that A reading unit is arranged on the carrier (3), and is used to read out an information storage element arranged on the object (30).

19. A grinding machine (20) for gear grinding a workpiece (30), preferably a workpiece (30) pre-toothed, the grinding machine (20) comprising: (a) a machine housing (21), (b) a grinding device (22), the grinding device (22) being arranged on the machine housing (21) for grinding the workpiece (30), (c) The device (1) according to any one of the preceding claims, wherein (d) The machine housing (21) of the grinding machine (20) is the base (2) of the device (1).

20. The grinding machine (20) according to claim 19, characterized in that (a) a dressing device (6) is arranged on the carrier (3), and the dressing device (6) is used to dress the grinding tool (23) of the grinding device (22); (b) a workpiece spindle (7) is arranged on the carrier (3), the workpiece spindle (7) being used to rotate the workpiece (30) around a third rotation axis (D3), and (c) the carrier (3) is capable of rotating back and forth at least between a grinding position and a dressing position, preferably rotating back and forth around the first rotation axis (D1), in which the workpiece spindle (7) faces the grinding device (22) and in which the dressing device (6) faces the grinding device (22).

21. A method for loading and unloading a grinding machine (20) with objects (30) by means of a device (1) according to any one of claims 1 to 18, characterized in that During a loading operation and / or during an unloading operation, the rotational movement of the carrier (3) about the first rotational axis (D1) occurs at least sometimes simultaneously with the rotational movement of the rotary device (12) about the second rotational axis (D2).

22. The method according to claim 21, characterized in that When the rotational movement of the carrier (3) and the rotational movement of the rotating device (12) occur simultaneously, the carrier (3) rotates around the first rotation axis (D1) in a first rotation direction, and the rotating device (12) rotates around the second rotation axis (D2) in a second rotation direction opposite to the first rotation direction.

23. Use of a device according to any one of claims 1 to 18 for loading and unloading a grinding machine (20), preferably a gear grinding machine (20), wherein the object (30) is a workpiece (30).

24. Use of a device according to any one of claims 1 to 18 for servicing a grinding machine (20), preferably a gear grinding machine (20), wherein: The object (30) is a replacement part (30) and / or an accessory part (30) for the grinding machine (20), preferably a replacement part (30) and / or an accessory part (30) for the gear grinding machine (20).

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