Device for transporting an object for a grinding machine

Abstract

The invention relates to a device for transporting an object to a grinding machine and / or away from a grinding machine, with said device comprising: a base; a support arranged on the base, which can be rotated about a first axis of rotation in relation to the base; a pivot device arranged on the support for transporting the object, wherein the pivot device can be pivoted about a second axis of rotation in relation to the support, and the device is designed to simultaneously perform a rotational movement of the support about the first axis of rotation and a pivot movement of the pivot device about the second axis of rotation at least periodically in such a way that the object can be transported by means of a transporting movement of the pivot device resulting from the superimposition of the rotational movement of the support and the pivot movement of the pivot device.

Description

[0001] Device for transporting an object for a grinding machine

[0002] Technical area

[0003] The invention relates to a device for transporting an object to and / or from a grinding machine. The device comprises a base, a carrier, and a pivoting device. The carrier is arranged on the base and is rotatable relative to the base about a first axis of rotation. The pivoting device is arranged on the carrier and designed to transport the object.

[0004] The invention further relates to a grinding machine for gear grinding of a workpiece, wherein the grinding machine comprises a device of the above-mentioned type. Furthermore, the invention relates to a method for loading and unloading a grinding machine using a device according to the invention.

[0005] State of the art

[0006] So-called ring loader concepts are known from the prior art. Devices according to the ring loader concept have a gripping device that is usually rotatable about a rotational axis and comprises several pairs of gripper arms. Each pair of gripper arms is designed to grip or release a workpiece independently of the other pairs of gripper arms. To transport one or more workpieces, the gripping device rotates about the rotational axis after at least one pair of gripper arms has gripped a workpiece. This causes all pairs of gripper arms, including the pair of gripper arms that has gripped a workpiece, to pivot simultaneously about the rotational axis.

[0007] Such devices known from the prior art have the disadvantage that the position of one gripper arm pair in relation to another gripper arm pair and in relation to the rotation axis is fixed or cannot be changed due to the design of the gripping device. This means that a workpiece for loading can only ever be picked up or released by the gripper arm pairs at a fixed position, or always at the same radial distance from the rotation axis. The gripper arm pairs cannot pick up workpieces flexibly at different positions. The same applies analogously to the positions at which the workpiece is released by the gripper arm pairs during unloading. This leads to reduced or restricted flexibility in the use of the known devices. The workpiece must regularly be centered for further processing after being released by a gripper arm pair.

[0008] Another problem with centering with existing devices is that the dimensions of the rotary axis are limited due to the fixed radial distance of the grippers from the rotary axis. Due to the relatively small dimensions of the rotary axis, the rigidity of the centering device is correspondingly reduced, which negatively impacts the centering result and thus also the workpiece quality.

[0009] The maintainability of the grinding machine is also limited with the known devices, especially since the gripping device is spatially fixed in relation to the grinding machine being loaded and unloaded. The gripping devices known from the prior art are also not designed to transport spare and / or accessory components to and from the grinding machine.

[0010] Description of the invention

[0011] The object of the invention is to provide a device for loading and unloading a grinding machine belonging to the aforementioned technical field, which eliminates the aforementioned problems and disadvantages of the prior art. In particular, it is an object of the present invention to provide a device that enables both flexible loading and unloading of workpieces from a grinding machine.

[0012] To achieve this objective, a device according to the invention, which is suitable for transporting an object to and / or away from a grinding machine, comprises a base, a support, and a pivoting device. The device is preferably designed to transport an object to and / or away from a gear grinding machine.

[0013] For the purposes of this application, the term "object" is understood to mean, quite generally, an object to be transported by the device. The "object" can be, for example, a workpiece, in particular a workpiece to be machined by the grinding machine. The workpiece can be a gear blank, in particular a pre-toothed gear blank. The device is preferably designed to load and unload the workpiece from the grinding machine.

[0014] Alternatively or additionally, the "object" can be a replacement component of the grinding machine. For example, the object can 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 component to and / or away from the grinding machine.

[0015] Alternatively or additionally, the "object" can be an accessory component of the grinding machine. For example, the object can be a dressing wheel, a tailstock center, 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 component to and / or away from the grinding machine.

[0016] Elements for storing information can be arranged on the object, in particular on a workpiece, e.g., permanent optical elements or structural elevations and / or depressions that enable identification of the object. The elements can also comprise permanent or changeable data storage devices, e.g., RFIDs integrated into or arranged on the object. The elements can be read by a reading unit integrated into the device according to the invention or the grinding machine or units interacting therewith (e.g., a tool truck, an AGV, etc.). Depending on the type of elements, such a reading unit comprises a camera, an RFID reading group, and / or other components for detecting the elements. In the case of changeable data storage devices, their content can be changed as needed by a correspondingly integrated writing unit. The reading unit and the writing unit can be combined in a single reading / writing unit.

[0017] In a preferred embodiment of the device according to the invention, the reading unit or read / write unit is arranged on the carrier and is able to read the elements arranged on the object while the object is held by the pivoting device.

[0018] The stored information can include an identifier for the object, e.g., a unique identification number, and / or direct information about the geometry, processing status, usage, and / or other relevant aspects of the object. The extracted information can be stored in a local or central database, e.g., a cloud-based database. It can be used, for example, during the processing of a workpiece or made available to subsequent users of the workpiece.

[0019] The carrier is arranged on the base and is rotatable relative to the base about a first axis of rotation. The pivoting device is arranged on the carrier and is designed to transport the object. In particular, the pivoting device is designed to transport the object during loading and unloading of the grinding machine. The pivoting device is pivotable relative to the carrier about a second axis of rotation.

[0020] The pivoting device comprises a pivoting means and a gripping device. The pivoting means radially space the gripping device from the second rotational axis. The gripping device is designed to grip or release the object. Such a pivoting device has the advantage that the device is simple to manufacture and easy to maintain.

[0021] The pivoting device comprises a pivot arm, which serves as the pivoting means of the pivoting device. Designing the pivoting means as a pivot arm has the advantage that the pivot arm is simple and cost-effective to manufacture. At the same time, the radial spacing of the gripping device and / or the receiving / feeding device from the second axis of rotation is effectively ensured. The pivot arm is arranged on a holder so as to be pivotable about the second axis of rotation. The holder is arranged on the carrier, in particular so as to be movable on the carrier. For example, the holder can be connected to the carrier such that the holder is axially movable with respect to the first axis of rotation and / or with respect to the second axis of rotation. Advantageously, the pivot arm is connected to the holder at a first end. The gripping device and / or the receiving / feeding device can be arranged at a second end of the pivot arm opposite the first end.

[0022] According to the invention, the device is designed to execute a rotational movement of the carrier about the first axis of rotation and a pivoting movement of the pivoting device about the second axis of rotation at least temporarily simultaneously. As a result, the rotational movement of the carrier and the pivoting movement of the pivoting device are superimposed at least for a limited period of time. This advantageously causes the pivoting device to undergo a transport movement resulting from the superposition of the rotational movement of the carrier with the pivoting movement of the pivoting device. The transport movement of the pivoting device allows the object to be transported for loading and unloading of the grinding machine.

[0023] The term "transport movement" in the context of this invention refers to a forced translation of an element with respect to the base. The "transport movement" is, for example, the translation of an element to be transported, in particular the object, from a first position to a second position that differs from the first position. For example, the first position can be a receiving position at which the object is received by the device. The second position can be, for example, a use position. The use position can be a position at which the object can be machined by the grinding machine. This is the case, for example, when the object is a workpiece to be machined by the grinding machine. Additionally or alternatively, the use position can be a position at which the object is used on the grinding machine.This is the case, for example, if the object is a spare and / or accessory component of the grinding machine. The object, preferably the workpiece, can be transported from the receiving position to the use position by the device, preferably by the pivoting device of the device, in particular for loading the grinding machine.

[0024] Unless explicitly stated otherwise, a "rotational axis" in this document refers to a geometric axis. This axis can generally be realized using various structural means, including elements such as mechanical axes located in the area of ​​the geometric axis and / or components spaced apart from the geometric axis, such as curved guides or similar.

[0025] For the sake of clarity, the term "rotary movement" always refers to the rotary movement of the support about the first axis of rotation. The term "pivoting movement" always refers to the pivoting movement of the pivoting device about the second axis of rotation. If the terms "rotary movement" or "pivoting movement" refer to or describe other movements, this will be explicitly stated at the appropriate points.

[0026] The advantage of a transport movement resulting from the superposition of a rotary movement with a swivel movement is that the object can be transported flexibly through the device. Not only is the transport path, i.e., the path along which the object moves during transport, flexible, but the starting and end points of the transport path can also be selected variably.

[0027] A further advantage of the present invention is that various components of the device can be made more accessible to a user by rotating the support about the first axis of rotation and / or pivoting the pivoting device about the second axis of rotation. This increases the maintainability of the entire device.

[0028] Furthermore, by adding a pivot axis in addition to the rotation axis, the support can be made larger or more solid. The same advantageously applies to the fixture's centering device. A larger support and / or a larger centering device results in greater rigidity of the centering device. This, in turn, can lead to better centering results and higher workpiece quality if the object is a workpiece to be machined by the grinding machine.

[0029] The grinding machine can also include intermediate or secondary stations, e.g., for centrifuging the workpiece or for a post-processing operation, such as chamfering and / or internal grinding. The centrifuging of the workpiece can be performed using the workpiece spindle; the support of the device according to the invention can be in a specific position or perform a rotary movement.

[0030] In a first exemplary embodiment, the first axis of rotation and the second axis of rotation are arranged relative to one another such that the first axis of rotation and the second axis of rotation are spaced apart from one another. The distance between the first axis of rotation and the second axis of rotation can be fixed, i.e., non-variable. A fixed distance between the first axis of rotation and the second axis of rotation causes the second axis of rotation to move in a circular path around the first axis of rotation when the carrier is rotated about the first axis of rotation. This has the advantage that the transport movement of the pivoting device resulting from the superposition of the rotational movement with the pivoting movement can be easily controlled or regulated.

[0031] Alternatively, it is also conceivable for the distance between the first rotational axis and the second rotational axis to be variable. The variability of the distance between the first rotational axis and the second rotational axis has the advantage of further increasing the variety of possible transport movements. In particular, the range or transport distance that can be covered by the device is thereby increased. The variability in the selection of the transport path can also be further increased by superimposing the distance change with the rotational movement and the pivoting movement.

[0032] In a further exemplary embodiment, the second axis of rotation is shifted parallel to the first axis of rotation. For example, the second axis of rotation can be shifted parallel to the first axis of rotation in the radial direction. This has the advantage that the transport movement of the pivoting device resulting from the superposition of the rotary movement with the pivoting movement is easier to control or regulate. In an exemplary development, the rotary movement of the carrier about the first axis of rotation can be superimposed on the pivoting movement of the pivoting device about the second axis of rotation in such a way that the object can be moved through the device (at least in sections) on a rectilinear path. For example, the transport movement of the pivoting device resulting from the superposition of the rotary movement with the pivoting movement can run on a rectilinear path. As a result, the object also experiences a rectilinear transport movement.The transport movement of the object along a straight path advantageously ensures that the object can be transported along the shortest transport route, particularly the most direct transport route, during loading and unloading of the grinding machine. This has the advantage that the device allows the grinding machine to be loaded and unloaded more quickly.

[0033] A further advantage can be that the device requires less space for transporting the object. For example, an object can be picked up by the device and then transported on a straight path towards the center of the device. The object can then be transported further close to the center. If, for example, the first axis of rotation defines the center of the device, an object can first be moved on a straight path towards the first axis of rotation by superimposing the rotary movement with the pivoting movement. The object can then be transported further, for example, by rotating the carrier about the first axis of rotation. The object is pivoted about the first axis of rotation close to the center, i.e. at a small radial distance from the first axis of rotation.

[0034] For this purpose, but also for other purposes, the device can be designed to selectively execute the rotary movement and the pivoting movement. This means that the carrier can be rotated about the first axis of rotation without the pivoting device having to be pivoted about the second axis of rotation. Conversely, the pivoting device can be pivoted about the second axis of rotation without the carrier having to be rotated about the first axis of rotation. This has the advantage that smaller position changes can be controlled and implemented more easily. In a further development of the aforementioned embodiment, the device can be designed to execute a rotary movement and a pivoting movement in series. For example, it can be provided that first the carrier is rotated about the first axis of rotation and then the pivoting device is pivoted about the second axis of rotation. Such a serial sequence of movements has the advantage that the device is easy to control and regulate.

[0035] The device can also be designed to perform a serial movement sequence and a superimposed movement one after the other. This has the advantage that even complex transport processes can be realized by the device.

[0036] In another exemplary embodiment of the device, the rotational movement of the carrier can be superimposed on the pivoting movement of the pivoting device in such a way that the object can be transported by the device from a receiving area to a use position. This is particularly advantageous for loading the grinding machine when the object is a workpiece.

[0037] In this context, a receiving area is preferably a spatially limited area within which there can be a plurality of receiving positions. For the purposes of this invention, a "receiving position" is understood to be a storage location or a provision location for an object to be transported by the device. The device is advantageously designed to be able to receive at least one object from each of the receiving positions within the receiving area.

[0038] For example, the device can be configured to receive a workpiece in the receiving area, in particular at various receiving positions, in order to load the grinding machine with the workpiece. Alternatively or additionally, the device can be configured to receive a spare and / or accessory component in the receiving area, in particular at various receiving positions, in order to transport the spare and / or accessory component to the grinding machine.

[0039] The use position can be a processing position if the object is a workpiece. For example, the processing position can be the position at which the workpiece to be machined is being machined by the grinding machine. Advantageously, the device can be designed to place the workpiece to be machined at the processing position at the end of a loading process.

[0040] If the item is a spare and / or accessory component, the position of use may be the position at which the spare and / or accessory component is to replace another component and / or be arranged on the grinding machine.

[0041] Preferably, the use position is also the position from which the object is to be transported or removed by the device. This can be the case, in particular, at the beginning of an unloading process. Preferably, the device is designed to accommodate the object, in particular a workpiece, a spare component, and / or an accessory component, at the use position.

[0042] To unload the grinding machine, the rotational movement of the carrier can be superimposed on the pivoting movement of the pivoting device in such a way that the workpiece can be transported by the device from the processing position to a loading area. A similar procedure is also conceivable if the object is a spare part and / or an accessory component.

[0043] In this context, a loading area is preferably a spatially limited area within which there may be a plurality of loading positions. For the purposes of this invention, a "loading position" is understood to be a storage location or a delivery location for an object transported by the device. The device is advantageously designed to be able to load the object at any of these loading positions.

[0044] Preferably, the receiving area and the feed area are located close together. This means that the receiving area and the feed area overlap at least to a large extent. For example, the receiving area can spatially correspond to the feed area. Advantageously, the receiving area and the feed area form a loading cell that is assigned to a circulating storage belt.

[0045] The receiving area and / or the loading area can also be the storage area of ​​a tool cart. For example, if an operator wants to replace parts of the grinding machine, a spare part can be placed on the storage area of ​​the tool cart. The device then transports the spare part from the storage area of ​​the tool cart to the grinding machine, where the spare part can then be exchanged for a component to be replaced. The replaced component can then be transported by the device to the storage area of ​​the tool cart. This has the advantage that maintenance work on the grinding machine can be at least partially automated by the device.

[0046] Alternatively, the receiving area and the feed area can be spatially separated from each other. This means that the receiving area and the feed area preferably do not overlap. For example, the device for loading and unloading the grinding machine can be arranged at least partially between the receiving area and the feed area.

[0047] The receiving area and / or the loading area can each be an area in which the device can be manually loaded or manually unloaded.

[0048] Independently of this, the receiving area and / or the feed area can be a storage area. Advantageously, several, in particular different, objects are provided in a storage area. For example, clamping devices, grinding wheels, cooling oil nozzles, dressing wheels, and / or tailstock centers for the grinding machine can be provided in the storage area. Preferably, the device is designed to transport the objects selectively, i.e., individually, from the storage area to the grinding machine and / or from the grinding machine to the storage area.

[0049] In a further exemplary embodiment of the device, a workpiece spindle is arranged on the carrier. The workpiece spindle is designed to rotate a workpiece arranged on the workpiece spindle. An embodiment in which a workpiece spindle is arranged on the carrier advantageously causes the workpiece spindle to be pivoted about the first axis of rotation when the carrier rotates about the first axis of rotation. This has the advantage that the workpiece spindle can be made more easily accessible for improved maintainability or can be moved into a measuring position. Furthermore, the workpiece spindle can advantageously also be loaded manually if the workpiece spindle is made accessible to a user by rotating the carrier.

[0050] The workpiece spindle can be rotatable about a third axis of rotation, in particular rotate about a third axis of rotation. Preferably, the third axis of rotation is offset parallel to the first axis of rotation. Alternatively or additionally, the third axis of rotation can be arranged offset parallel to the second axis of rotation.

[0051] Advantageously, the pivoting device is designed to transport a workpiece to the workpiece spindle and to transport it away from the workpiece spindle.

[0052] For example, the pivoting device can be pivoted about the second axis of rotation in such a way that the workpiece is transported to the workpiece spindle by the pivoting movement of the pivoting device about the second axis of rotation. This advantageously ensures that the workpiece can be positioned on the workpiece spindle while the carrier is still rotating about the first axis of rotation in order to rotate the workpiece into the machining position. This has the advantage that the grinding machine can be loaded more quickly and effectively using the device.

[0053] Additionally, the pivoting device can be pivotable about the second axis of rotation such that the workpiece is transported away from the workpiece spindle by the pivoting movement of the pivoting device about the second axis of rotation. This advantageously ensures that the workpiece can be moved away from the workpiece spindle as soon as the carrier initially rotates from the machining position. This has the advantage that the grinding machine can be unloaded more quickly and effectively using the device.

[0054] The pivoting device can be arranged so as to be movable on the support. For example, the pivoting device can be arranged so as to be axially movable with respect to the first axis of rotation and / or with respect to the second axis of rotation. A movable arrangement of the pivoting device on the support advantageously means that an object can also be transported in the axial direction by the pivoting device, for example. This has the advantage that the object can be raised and / or lowered by the device, in particular by the pivoting device. The gripping device can have two gripping arms. The gripping arms are preferably designed so as to be able to assume a gripping position and a release position relative to one another. In the release position, the gripping arms are arranged relative to one another such that the gripping arms can release the object.In the gripping position, the gripping arms are arranged relative to each other in such a way that the gripping arms can grip the object together or jointly.

[0055] For the purposes of this invention, the term "gripping" refers to clamping, in particular pinching or jamming, the object between the gripping arms. For example, the gripping arms can exert a clamping force on the object in the gripping position.

[0056] Alternatively or additionally, the term "grasping" can also include the gripping arms reaching underneath the object. For example, the gripping arms can reach underneath the object in the gripping position. Preferably, the gripping arms are connected to the object in a force-locking and / or positive-locking manner in the gripping position.

[0057] The term "release" in the context of this invention refers to the breaking of contact between the gripper arms and the object. For example, the contact between the gripper arms and the object can be broken when the gripper arms move from the gripping position to the release position. An object is preferably considered released when the object is still in contact with only one gripper arm. The gripping device can have a drive device to drive the gripper arms. For example, the drive device can be a pneumatic drive. The drive device can be designed such that the gripper arms can be driven jointly or separately by the drive device. The gripping device can be pneumatically, hydraulically, and / or electrically, e.g., as an electric servo gripper. Especially for heavy objects, the gripper arms can be hydraulically operated.

[0058] The gripping device can have three or more gripping arms or gripping elements:

[0059] Alternatively or in addition to the gripping arms, one or more rotary mandrels can also be provided on the gripping device. A jaw chuck is also conceivable as an alternative to the gripping arms. For example, a workpiece could be clamped to the gripping device by the jaw chuck via one or more holes in the workpiece.

[0060] In an exemplary further development, the pivoting device can have a changing device instead of or in addition to the gripping device. The changing device can be designed to automate the changing of components on the grinding machine. This means that the components of the grinding machine can be replaced using the changing device without operator intervention, or with only minimal operator involvement. For example, a clamping device and / or a grinding wheel of the grinding machine can be changed using the changing device.

[0061] Additionally or alternatively, the changing device can be designed to automatically mount an additional component on the grinding machine. For example, a workpiece spindle can be mounted on the carrier using the changing device.

[0062] Preferably, the gripping device and the changing device are a single device. In other words, the gripping device can be designed such that the gripping device can also perform the functions of the changing device.

[0063] Alternatively or in addition to the gripping device, the pivoting device can also have a pick-up / feed-up device. The pick-up / feed-up device can, for example, be an electromagnetic pick-up / feed-up device. The electromagnetic pick-up / feed-up device can, in particular, be designed to attract and / or repel the object by generating an electromagnetic field. Independently of this, it is conceivable for the pick-up / feed-up device to be a suction device. For example, the suction device can be designed to suck in the object by generating negative pressure and / or to repel it by generating positive pressure.

[0064] The carrier or pivoting device can have a steady rest or a support for shaft parts. Preferably, the receiving / feeding device and the changing device are a single device. In other words, the receiving / feeding device can be designed such that the receiving / feeding device can also perform the functions of the changing device.

[0065] To reduce oil carryover, the device can have a blow-off device. The blow-off device is advantageously designed to free the workpieces of lubricant and / or coolant residues, in particular oil residues. Additionally or alternatively, the blow-off device can be designed to free the device of lubricant and / or coolant residues, in particular oil carry-over, or at least to reduce them.

[0066] In a further exemplary embodiment, the support can have a support tower. The support tower is preferably arranged vertically on the support. For example, the support tower can be a tower-shaped body arranged vertically on the support. The support tower can be cylindrical, at least in sections. Independently of this, the support tower can be arranged eccentrically on the support with respect to the first axis of rotation.

[0067] In a further development of the aforementioned embodiments, the holder can be movably mounted on the support tower. Preferably, the holder is provided on the support tower so that it can be axially moved relative to the first axis of rotation. Such a structural design advantageously ensures that the holder, and thus preferably also the pivoting device arranged on the holder, is easily accessible to a user. This has the advantage of increasing the maintainability of the device.

[0068] At the same time, such an arrangement ensures that the second axis of rotation is located outside the support tower, in particular outside the outer dimensions of the support tower. This has the advantage of increasing the pivoting range of the pivoting device.

[0069] A dressing device can be provided on the carrier. The dressing device can be designed for dressing an abrasive of the grinding machine. The dressing device is preferably arranged on the carrier radially offset with respect to the first axis of rotation. This causes the dressing device to pivot about the first axis of rotation when the carrier rotates, for example, about the first axis of rotation. This has the advantage that the dressing device can be positioned relative to the abrasive by rotating the carrier about the first axis of rotation such that the abrasive can be dressed by the dressing device.

[0070] The dressing device can be movable vertically and / or horizontally relative to the support. Alternatively or additionally, the dressing device can be pivotable relative to the support.

[0071] For this purpose, the carrier can, for example, assume a dressing position. In the dressing position, the grinding machine can preferably be serviced by dressing or regrinding the abrasive by the dressing device. Independently of this, the device can also advantageously be serviced and / or manually loaded by a user in the dressing position. The device, in particular the pivoting mechanism of the device, can be more easily accessible to a user in the dressing position.

[0072] In an exemplary further development, the support tower can be provided at least partially between the workpiece spindle and the dressing device. The support tower is preferably arranged on the support in such a way 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 support tower. The spatial separation of the dressing device from the workpiece spindle by the support tower advantageously ensures that the workpiece spindle is protected by the support tower from possible chips that may arise as a waste product during dressing. Conversely, the dressing device can be protected by the support tower from possible chips that may arise as a waste product during grinding of the workpiece. This has the advantage of increasing the durability of the device, in particular of the components on the support.

[0073] To protect the dressing device and / or the workpiece spindle, the support tower can, for example, have a first outer wall facing the workpiece spindle. A second outer wall of the support tower can face the dressing device. The second outer wall is preferably a side wall of the support tower opposite the first outer wall. The respective outer wall of the support tower advantageously shields the workpiece spindle and / or the dressing device in such a way that the workpiece spindle and / or the dressing device are largely protected from contamination emanating from the work area. This has the advantage of increasing the durability of the device, in particular of the components on the support.

[0074] In a further exemplary embodiment, the device comprises a centering device. The centering device can be designed to align, in particular to center, the workpiece with respect to another component of the device and / or with respect to a component of the grinding machine. For example, the centering device can be provided to align, in particular to center, a workpiece with respect to the 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. The embodiment with a centering device has the advantage that the grinding machine can be loaded very precisely by the device and / or the workpiece can be held in position during grinding.This increases the accuracy of the grinding machine, and advantageously minimizes manufacturing tolerances on the workpiece.

[0075] In a device according to the present invention, the support can be larger, in particular, have a larger cross-section. This means that the centering device can also be larger and / or, together with the support, is more stable. This advantageously increases the accuracy of the grinding machine. This has the advantage of improving workpiece quality.

[0076] The device can have a position-determining device. The position-determining device is preferably designed to detect the position of the workpiece, in particular of at least one tooth gap of the workpiece. For example, the position-determining device detects the position of the workpiece after the grinding device has been loaded with the workpiece. Alternatively or additionally, the position-determining device detects the position of the workpiece after the workpiece has been arranged on the workpiece spindle by the gripping device. The position-determining device can, in particular, be designed to determine the position of tooth flanks or tooth gaps of the workpiece. It is also conceivable that the rotational angular position of the workpiece can be determined by the position-determining device.Alternatively or additionally, the position-determining device can be designed to determine the position of the gripping device and / or the receiving / feeding device.

[0077] To determine the respective position, the position-determining device can have at least one sensor. The sensor can be an optical and / or an electromagnetic sensor, in particular a distance sensor. The sensor can be an inductive sensor, for example. The detection of the position of the workpiece by the position-determining device has the advantage of increasing the accuracy of the grinding machine. For example, an abrasive of the grinding machine can be better aligned with the workpiece depending on the determined position of the workpiece, thereby minimizing the manufacturing tolerances on the workpiece. In particular, the position-determining device can determine the position of the workpiece in such a way that it is ensured that the abrasive does not collide with a tooth of the workpiece when brought into contact.

[0078] In an exemplary development of the embodiment with a position-determining device, the position-determining device is arranged on the carrier, in particular on the carrier tower. For example, the position-determining device can be arranged so as to be movable on the carrier, in particular on the carrier tower. The position-determining device can be arranged so as to be axially movable with respect to the first axis of rotation and / or with respect to the second axis of rotation, in particular on the carrier tower. The arrangement of the position-determining device on the carrier has the advantage that the measurement accuracy of the position-determining device can be increased.

[0079] The support can be hydrostatically mounted on the base. A hydrostatic bearing can, in particular, improve the support's ability to rotate around the first axis of rotation. This has the advantage that the support remains rotatable, particularly smoothly, relative to the first axis of rotation even with heavy loads, especially with heavy objects that, for example, have a weight of > 100 kg. Furthermore, a hydrostatic bearing enables high rigidity of the connection between the support and the base and precise positioning. The damping properties can also be improved by the hydrostatic bearing.

[0080] Alternatively or additionally, the carrier can also be connected to the base by means of a conventional bearing. For example, the carrier can be mounted on the base via a conventional rolling and / or plain bearing.

[0081] In another exemplary embodiment, the device comprises a controller. The controller can be a computer and / or a programmable logic unit (CPU). The controller can be integrated into the device.

[0082] The control is preferably designed to control the rotational movement of the carrier, the pivoting movement of the pivoting device, the dressing device, the workpiece spindle, the centering device, the gripping device, the changing device, and / or the receiving / feeding device.

[0083] The controller can also be configured to control the rotary movement of the carrier, the pivoting movement of the pivoting device, the dressing device, the workpiece spindle, the centering device, the gripping device, the changing device, and / or the pick-up / feed device. This is particularly the case if the controller is connected to one or more control sensors for information communication. Control can then be based on a target / actual comparison using the information from the control sensor.

[0084] The control sensor is preferably at least one sensor designed to monitor the rotational movement of the carrier, the pivoting movement of the pivoting device, the dressing device, the workpiece spindle, the centering device, the gripping device, the changing device, and / or the receiving / feeding device. The term "monitoring" in this context refers to determining a position, a speed, and / or an acceleration of one of the aforementioned components. The determination of other physical variables, such as temperature and / or pressure, also falls under the term "monitoring."

[0085] Additionally or alternatively, the controller can be connected to the position-determining device in an information-communicating manner. Independently of this, the controller can be designed to recognize which optional devices are provided on the device. For example, the controller recognizes whether a gripping device, a changing device and / or a receiving / feeding device is provided on the pivoting device. Preferably, the controller is designed to adapt at least the control and / or regulation of the rotational movement of the carrier and / or the pivoting movement of the pivoting device depending on the recognized optional devices. The controller has the advantage that the transport of the object to and / or away from the grinding machine can be automated, or at least partially automated. For example, the loading of the grinding machine with a workpiece can be automated by means of the controller.The replacement of a component with a replacement component and / or the assembly of an accessory component can also be automated, or at least partially automated, using a control system.

[0086] In an exemplary development of the embodiment, in which the device comprises a controller, the device has an input device. The input device can be configured to receive control inputs from an operator and transmit them to the controller. The input device can be, for example, a joystick operable by an operator.

[0087] In a further exemplary embodiment, the device comprises an additional transport device. The additional transport device can be, in particular, a robot and / or a robot arm. The additional transport device can be designed to interact with the gripping device, the changing device, and / or the receiving / loading device. It can be designed as an additional element of a setup trolley. For example, it is conceivable that the object to be transported can be transferred or exchanged between the transport device and the gripping device. The additional transport device has the advantage that the effective range of the device, in particular the transport radius of the device, is increased.

[0088] The object mentioned above is also achieved according to the invention by a grinding machine for gear grinding of a workpiece, in particular a pre-toothed workpiece, such as a gear blank. The grinding machine comprises a machine housing, a grinding device, and a device according to the above embodiments. According to the invention, the grinding device is arranged on the machine housing and designed for grinding the workpiece. The machine housing of the grinding machine forms the basis of the device according to the above embodiments.

[0089] The grinding machine according to the invention has the advantage that the device allows for faster loading and unloading of workpieces. Additionally, or independently of this, the support, which can be rotated about the first axis of rotation, increases accessibility to the individual components of the grinding machine. This has the advantage that the grinding machine according to the invention is easier to maintain. The support can also be designed to be more stable than other loading concepts, particularly with regard to the centering device.

[0090] In a first exemplary embodiment, the grinding machine comprises a dressing device arranged on the carrier and a workpiece spindle arranged on the carrier. The dressing device can be designed for dressing, in particular for profiling and / or resharpening, the grinding tool of the grinding machine. Preferably, the dressing device is arranged on the carrier radially offset with respect to the first axis of rotation. This causes, for example, that when the carrier rotates about the first axis of rotation, the dressing device is pivoted about the first axis of rotation.

[0091] The workpiece spindle is preferably designed to rotate a workpiece arranged on the workpiece spindle. The workpiece spindle can be rotatable about a third axis of rotation, in particular rotate about a third axis of rotation. The third axis of rotation is preferably offset parallel to the first axis of rotation. The workpiece spindle can be arranged eccentrically on the carrier with respect to the first axis of rotation. This causes the workpiece spindle to pivot about the first axis of rotation when the carrier rotates, for example, about the first axis of rotation.

[0092] The carrier can be rotatable about the first axis of rotation such that the carrier can be rotated back and forth between a grinding position and a dressing position.

[0093] Preferably, the workpiece spindle faces the grinding device in the grinding position. This advantageously ensures that a workpiece on the workpiece spindle can be machined by the grinding device in the grinding position.

[0094] In the dressing position, the dressing device can be positioned toward the grinding device. This advantageously allows an abrasive of the grinding device to be serviced by the dressing device in the dressing position. The dressing position can correspond to the aforementioned maintenance position of the device.

[0095] The grinding machine according to the first embodiment has the advantage that the grinding machine is easy to handle and easy to maintain for a user.

[0096] The object mentioned above is also achieved according to the invention by a method with a device according to the above statements. In the method according to the invention, the rotational movement and the pivoting movement are carried out simultaneously, at least temporarily, during a loading process and / or during an unloading process.

[0097] This advantageously results in the rotational movement and the pivoting movement overlapping in such a way that the pivoting device, in particular a gripping and / or receiving / feeding device arranged on the pivoting device, undergoes a resulting transport movement. The transport movement can correspond to a linear movement. This has the advantage that the object can be transported, at least temporarily, along a linear path for loading and unloading a grinding machine.

[0098] In a first exemplary embodiment of the method, the carrier is rotated in a first direction of rotation about the first axis of rotation. The pivoting device can be pivoted in a second direction of rotation about the second axis of rotation. Preferably, the first direction of rotation and the second direction of rotation are opposite directions of rotation. For example, the carrier can rotate clockwise about the first axis of rotation, while the pivoting device pivots counterclockwise about the second axis of rotation. In other words, the carrier and the pivoting device can have different directions of rotation if the rotational movement and the pivoting movement are superimposed on one another.

[0099] This advantageously results in the rotational movement and the pivoting movement overlapping in such a way that the pivoting device, in particular a gripping and / or receiving / feeding device arranged on the pivoting device, undergoes a resulting transport movement. The transport movement can correspond to a linear movement. This has the advantage that the object can be transported, at least temporarily, along a linear path for loading and unloading a grinding machine.

[0100] In a further development of the aforementioned embodiment, the absolute angle of rotation of the carrier about the first axis of rotation during the loading process is smaller than the absolute angle of rotation of the pivoting movement of the pivoting device about the second axis of rotation. Alternatively or additionally, the absolute angle of rotation of the carrier about the first axis of rotation during the unloading process can be smaller than the absolute angle of rotation of the pivoting movement of the pivoting device about the second axis of rotation.

[0101] This has the advantage that the device is easier to control and regulate.

[0102] The object mentioned above is also achieved according to the invention by using a device according to the above statements for loading and unloading a grinding machine, wherein the object is a workpiece. The grinding machine is preferably a gear grinding machine.

[0103] The object mentioned above is also achieved according to the invention by the use of a device according to the above statements for the maintenance of a grinding machine, wherein the object is a replacement component and / or an accessory component for the grinding machine. The grinding machine is preferably a gear grinding machine.

[0104] In order to be able to perform different handling functions, in particular transport, holding and / or positioning functions for different objects, the swivel device is advantageously designed such that different grippers, holders and devices can be attached to it in order to be able to grasp different objects. For this purpose, the swivel device in particular comprises a corresponding interface. The controller advantageously recognizes the respective gripper, holder or device and only permits the corresponding movements. The degrees of freedom of the swivel arm can be used for the additional handling functions and in particular for exchanging the grippers, holders or devices. The grippers, holders or other devices can also be kept ready in a storage area or on a setup trolley.

[0105] It is also possible for the gripper intended for workpiece change to remain in the machine during further handling functions, allowing additional elements to be attached for the latter, or for the gripper itself to grasp the corresponding elements. Here, too, the control system enables the permissible movement sequences depending on the operation to be performed.

[0106] Short description of the drawings

[0107] The various and exemplary features described above can be combined with one another according to the invention, provided this is technically reasonable and suitable. Further features, advantages, and embodiments of the invention will become apparent from the following description of exemplary embodiments and from the figures. They show:

[0108] Fig. 1 is a perspective view of a grinding machine with an embodiment of a device for loading and unloading the grinding machine; Fig. 2 is a further perspective view of the embodiment according to

[0109] Fig. 1 from a different angle;

[0110] Fig. 3 is a plan view of the embodiment according to Fig. 1 at the beginning of a

[0111] loading process;

[0112] Fig. 4 is a plan view of the embodiment according to Fig. 1 during a

[0113] Transport process as part of the loading process;

[0114] Fig. 5 is a plan view of the embodiment according to Fig. 1 at the end of the

[0115] loading process and / or at the start of the unloading process;

[0116] Fig. 6 is a plan view of the embodiment according to Fig. 1 during a

[0117] Transport process as part of the unloading process;

[0118] Fig. 7 is a plan view of the embodiment according to Fig. 1 at the end of the

[0119] unloading process;

[0120] Fig. 8 is a side view of the embodiment according to Fig. 1 , in which the

[0121] Grinding machine is in a dressing position; and

[0122] Fig. 9 is a side view of the embodiment according to Fig. 1 , in which the

[0123] Grinding machine is in a grinding position.

[0124] Ways to implement the invention

[0125] Fig. 1 shows an embodiment of a grinding machine 20 with a device 1. The device 1 is designed to load and unload the grinding machine 20 with a workpiece 30. Fig. 2 shows the embodiment of the grinding machine 20 in a further perspective view, wherein a different viewing angle was chosen in Fig. 2 than in Fig. 1.

[0126] The grinding machine 20 comprises a machine housing 21 and a grinding device 22.

[0127] The grinding device 22 has an abrasive 23. The abrasive 23 is designed for grinding the workpiece 30. The abrasive 23 is, in particular, a grinding worm 23.

[0128] The device 1 comprises a base 2, a support 3 and a pivoting device 12. In the illustrated embodiment, the base 2 corresponds to the machine housing 21.

[0129] The support 3 is rotatable relative to the base 2 about a first axis of rotation D, not shown in Fig. 1 (see Fig. 3-9). The support 3 has a support tower 4 and a workpiece spindle 7. The workpiece spindle 7 faces a first outer wall 5a of the support tower 4. The support tower 4 and the workpiece spindle 7 are rotatable together with the support 3 about the first axis of rotation D.

[0130] A centering device 8 is arranged on the support tower 4. This is designed to center the workpiece 30 on the workpiece spindle 7. In the illustrated embodiment, the centering device 8 is a tailstock 8. A holder 11 is also arranged on the support tower 8. This holder is vertically movable along the support tower 4. A pivoting device 12 is connected to the holder 11.

[0131] The pivoting device 12 is connected to the holder 11 such that the pivoting device 12 can pivot about a second axis of rotation D2. The second axis of rotation D2 is spaced from the support tower 4 by the holder 11 such that the second axis of rotation D2 is located outside the dimensions of the support tower 4.

[0132] The pivoting device 12 comprises a pivoting means 13, which in the exemplary embodiment is designed as a pivot arm 14. Furthermore, the pivoting device 12 has a gripping device 16. The pivot arm 14 is designed to space the gripping device 16 radially from the second rotation axis D2.

[0133] The gripping device 16 comprises a first gripping arm 17 and a second gripping arm 18. The gripping arms 17, 18 are designed to be able to assume a gripping position and a release position relative to one another. In the release position, the first gripping arm 17 and the second gripping arm 18 are arranged relative to one another such that the gripping arms 17, 18 can release the workpiece 30. In the gripping position shown in Fig. 1, the first gripping arm 17 and the second gripping arm 18 are arranged relative to one another such that the gripping arms 17, 18 grip the workpiece 30. The gripping arms 17, 18 jointly exert a clamping force on the workpiece 30, such that the workpiece 30 is immovably connected to the gripping device 16.

[0134] From the position shown in Fig. 1, the workpiece 30 can now be lifted, for example, by moving the holder 11 with the gripping device 16 vertically upwards on the support tower 4.

[0135] The workpiece spindle 7 is rotatable with respect to the carrier 3 about a third axis of rotation D3, in particular for rotating a workpiece 40 arranged on the workpiece spindle 7. The first gripping arm 17 and the second gripping arm 18 are in a release position relative to one another.

[0136] To grind the workpiece 30, the grinding device 22 is displaced relative to the device 1 such that the abrasive 23 contacts the workpiece 30. The abrasive 23 rotates about a fourth axis of rotation D4. At the same time, the workpiece 30 is rotated about the third axis of rotation D3. The fourth axis of rotation D4 is arranged orthogonally with respect to the third axis of rotation D3. The grinding device 22 has a drive device (not shown) for driving the abrasive 23.

[0137] With regard to the functionality of the device 1 when loading and unloading the grinding machine 20, reference is made to Figs. 3-7 and the corresponding figure descriptions.

[0138] In the exemplary embodiment, the device 1 comprises a position-determining device 9 (see Fig. 2). The position-determining device 9 is arranged on the support tower 4 and is movable relative to the support tower 4. The position-determining device 9 is movable, in particular, in the vertical direction relative to the support tower 4.

[0139] The position-determining device 9 comprises at least one sensor 10, which faces the workpiece spindle 7 and in particular the workpiece 30 on the workpiece spindle 7. In the illustrated embodiment, the position-determining device 9 comprises a single sensor 10. The sensor 10 can be an optical, tactile, or 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. The position can thus be determined based on the tooth flanks of the workpiece 30 rotating past the sensor 10.

[0140] Fig. 3 shows the grinding machine 20 of the exemplary embodiment in a top view. As can be seen in Fig. 3, the first axis of rotation D, the second axis of rotation D2, and the third axis of rotation D3 are arranged parallel to one another and spaced apart. This results in the second axis of rotation D2 being moved in a circular path around the first axis of rotation D, when, for example, the carrier 3 rotates about the first axis of rotation D1. Regarding the further construction of the grinding machine 20, reference is made to the above explanations.

[0141] The device 1 is in a position that it can assume at the beginning of a loading process. This can be seen from the fact that a workpiece 30 has been provided within a receiving area 24. In the situation shown in Fig. 3, the workpiece 30 has been provided centrally in the receiving area 24. However, it is also conceivable for the workpiece 30 to be provided decentrally in the receiving area 24. This means that the device 1 is able to grip the workpiece 30 whenever the workpiece 30 is provided at any location within the receiving area 24. The receiving position of the workpiece 30 can vary in the radial and / or axial direction within the boundaries of the receiving area 24.

[0142] In order to arrive at the position of the device 1 shown in Fig. 3, starting from the position of the device 1 shown in Fig. 1 and Fig. 2, the carrier 3 was rotated counterclockwise about the first axis of rotation D1. The pivoting device 12 was also pivoted counterclockwise about the second axis of rotation D2. The rotational movement of the carrier 3 and the pivoting movement of the pivoting device 12 were carried out simultaneously, at least at times, so that the gripping device 16 could grip the workpiece 30 with the gripping arms 17, 18 on both sides. In order to grip the workpiece 30, the first gripping arm 17 and the second gripping arm 18 assumed the gripping position. In order to optionally lift the workpiece 30, the holder 11 can be moved, in particular lifted, along the carrier tower 4, in particular parallel to the first axis of rotation D.

[0143] Fig. 4 shows the device 1 during a transport process as part of the loading of the grinding machine 20.

[0144] In order to move from the position of the device 1 shown in Fig. 3 to the position of the device 1 shown in Fig. 4, the carrier 3 is rotated counterclockwise about the first axis of rotation D1. The pivoting device 12 is pivoted clockwise about the second axis of rotation D2. The rotational movement of the carrier 3 and the pivoting movement of the pivoting device 12 are carried out simultaneously, at least at times, such that the workpiece 30 is transported on a rectilinear path 25 and thus experiences a rectilinear transport movement. The rectilinear transport path 25 shown as a dashed line in Fig. 4 indicates the movement path of the workpiece 30, in particular the path movement of the center point of the workpiece 30, during the rectilinear transport movement as part of the loading process.The elliptical area 26 shown in Figure 4 represents the limits of the movement area 26 in which the workpiece 30 moves during the rectilinear transport movement.

[0145] The transport movement on the rectilinear path 25 results from the superposition of the rotational movement of the carrier 3 with the pivoting movement of the pivoting device 12. The workpiece 30 follows the resulting transport movement of the pivoting device 12 because the gripping device 16 has gripped the workpiece 30 during the transport process and the workpiece 30 is accordingly immovably connected to the gripping device 16.

[0146] At the end of the transport movement, in which the workpiece 30 is moved on the rectilinear path 25, the workpiece 30 is preferably located above or on the workpiece spindle 7.

[0147] The carrier 3 can then be rotated clockwise or counterclockwise about the first axis of rotation D such that the device 1 assumes the position shown in Fig. 5. The sequence shown enables transport of the workpiece 30 with very little space requirement in the vicinity of the device 1. If space permits, the rotation of the carrier 3 into the machining position according to Fig. 5 can begin before the workpiece 30 has assumed its position in relation to the workpiece spindle 7. This enables faster loading. In general, the path movement of the workpiece 30 can be varied within wide limits during the transport process by adapting the movement sequences of the rotation and the pivoting movement.

[0148] Fig. 5 shows the device 1 at the end of the loading process and / or at the beginning of the unloading process.

[0149] This can be seen from the fact that the workpiece 30 is arranged on the workpiece spindle 7, which is concealed by the workpiece 30. The workpiece spindle 7 faces the grinding device 22. The first gripping arm 17 and the second gripping arm 18 are in a gripping position relative to each other and exert a clamping force on the workpiece 30.

[0150] At the end of a loading process, the gripper arms 17, 18 would now move from the gripping position to a release position. This releases the workpiece 30 by the gripping device 16. The workpiece 30 can be placed on the workpiece spindle 7. As soon as the workpiece spindle 7 rotates about the third rotation axis D3, the rotation of the workpiece spindle 7 can drive the workpiece 30 to the same rotation.

[0151] As soon as the workpiece 30 rotates, the workpiece 30 can be ground by the grinding means 23. For this purpose, the grinding device 22 is moved toward the workpiece 30, starting from the position shown in Fig. 5. Regarding the specific sequence of the grinding process, which is preferably carried out between the loading and unloading processes, reference is made to the description of Fig. 9.

[0152] To unload the grinding machine 20, the workpiece 30 machined by the grinding means 23 is transported away from the device 1. Part of this transport movement during the unloading process is schematically illustrated in Fig. 6. In order to move from the position of the device 1 shown in Fig. 5 to the position of the device 1 shown in Fig. 6, the carrier 3 was rotated counterclockwise by 90° about the first rotation axis D.

[0153] Subsequently, the carrier 3 is rotated clockwise about the first axis of rotation D, while the pivoting device 12 is simultaneously pivoted counterclockwise about the second axis of rotation D2. As a result, the workpiece 30 is transported on a rectilinear path 25 and thus undergoes a rectilinear transport movement. The rectilinear transport path 25 shown as a dashed line in Fig. 6 represents the movement path of the workpiece 30, in particular the path movement of the center point of the workpiece 30, during the rectilinear transport movement as part of the unloading process. The elliptical region 26 shown in Fig. 6 represents the boundaries of the movement range 26 in which the workpiece 30 moves during the rectilinear transport movement.

[0154] The transport movement on the rectilinear path 25 results from the superposition of the rotational movement of the carrier 3 with the pivoting movement of the pivoting device 12. The workpiece 30 held by the gripping device 16 follows the resulting transport movement of the pivoting device 12.

[0155] At the end of the linear transport movement shown in Fig. 6, the workpiece 30 is placed in a feed area 27, as shown in Fig. 7.

[0156] The device 1 is designed to place the workpiece anywhere within the loading area 27. As an alternative to the central loading position shown in Fig. 7, the device 1 can also place the workpiece 30 in the left-hand part and / or the right-hand part of the loading area 27. Starting from the position of the gripping device 16 shown in Fig. 7, all that is required is to move the first gripping arm 17 and the second gripping arm 18 relative to one another such that the gripping arms 17, 18 assume a release position and release the workpiece 30.

[0157] Fig. 8 shows a side view of the exemplary embodiment of the grinding machine 20, wherein the grinding machine 20, in particular the device 1 of the grinding machine 20, is in a dressing position. The device 1 has a dressing device 6. The dressing device 6 is designed for dressing, in particular for profiling and / or resharpening, the abrasive 23 of the grinding machine 20. For this purpose, the dressing device 6 faces the abrasive 23 in the dressing position.

[0158] The dressing device 6 is arranged on the carrier 3 such that it is at least partially integrated into the carrier tower 4. The carrier tower 4 is arranged between the workpiece spindle 7 and the dressing device 6. As shown in Fig. 8, the first outer wall 5a of the carrier tower 4 faces the workpiece spindle 7. A second outer wall 5b of the carrier tower 4 faces the dressing device 6. The arrangement of the dressing device 6, the carrier tower 4, and the workpiece spindle 7 on the carrier 3 has the advantage that the workpiece spindle 7 is not contaminated by the dressing device 6 during the dressing of the abrasive 23.

[0159] To dress the abrasive 23, the grinding machine 20 is configured to move the grinding device 22 toward the dressing device 6 such that the abrasive 23 and the dressing device 6 can interact with each other. Furthermore, a drive device (not shown) of the grinding device 22 can drive the abrasive 23 such that the abrasive 23 rotates about the fourth axis of rotation D4. When the rotating abrasive 23 contacts the dressing device 6, the abrasive 23 is dressed, in particular profiled and / or sharpened, by the dressing device 6.

[0160] As soon as the dressing of the abrasive 23 is completed, the grinding device 22 is moved away from the dressing device 6 until the starting position of the dressing position shown in Fig. 8 is reached.

[0161] Fig. 9 shows a side view of the embodiment of the grinding machine 20, wherein the grinding machine 20 is in a grinding position.

[0162] This can be seen from the fact that the workpiece spindle 7 and the workpiece 30 face the grinding device 22. The gripping arms 17, 18 of the gripping device 16 have assumed a release position relative to one another and are vertically spaced from the workpiece 30. This allows the workpiece spindle 7 and the workpiece 30 to rotate about the third axis of rotation D3. The arrangement of the dressing device 6, the support tower 4, and the workpiece spindle 7 in the grinding position ensures that the dressing device 6 is not, or only very slightly, contaminated during the grinding process.

[0163] To grind the workpiece 30, the drive device (not shown) of the grinding device 22 can drive the grinding means 23 such that the grinding means 23 rotates about the fourth rotational axis D4. Independently of this, the grinding device 22 is moved in the direction of the workpiece spindle 7 such that the grinding means 23 and the workpiece 30 engage with each other, preferably in a rotating manner. When the grinding means 23 contacts the workpiece 30, the workpiece 30 is ground by the grinding means 23.

[0164] Once the grinding process is completed, the grinding device 22 is moved away from the workpiece spindle 7, so that the grinding machine 20 returns to the initial grinding position shown in Fig. 9. The gripping arms 17, 18 of the gripping device 16 can then return to the gripping position. This allows the device 1 to assume the position shown in Fig. 5.

Claims

Patent claims 1. Device ( 1) for transporting an object (30) to and / or away from a grinding machine (20), the device (1) comprising: (a) a basis (2), (b) a support (3) arranged at the base (2) which is rotatable about a first axis of rotation (D) with respect to the base (2), (c) a pivoting device ( 12) arranged on the carrier (3) for transporting the object (30), wherein (d) the pivoting device (12) is pivotable about a second axis of rotation (D2) with respect to the support (3), wherein the pivoting device (12) comprises a pivoting means (13) and a gripping device (16) for gripping and releasing the object (30), wherein the pivoting means (13) radially spaces the gripping device (16) from the second axis of rotation (D2), wherein the pivoting means (13) is a pivoting arm (14) which is pivotably connected about the second axis of rotation (D2) to a holder (11) arranged on the support (3), and (e) the device ( 1 ) is designed to perform a rotational movement of the carrier (3) about the first axis of rotation (D,) and a pivoting movement of the pivoting device (12) about the second axis of rotation (D2) at least temporarily simultaneously in such a way that the object (30) can be transported by means of a transport movement of the pivoting device resulting from the superposition of the rotational movement of the carrier (3) with the pivoting movement of the pivoting device (12).

2. Device ( 1) according to claim 1 , characterized in that the first axis of rotation (D,) and the second axis of rotation (D2) are arranged relative to each other such that the second axis of rotation (D2) is moved on a circular path around the first axis of rotation (D,) when the support (3) rotates around the first axis of rotation (D,).

3. Device (1) according to one of the preceding claims, characterized in that the second axis of rotation (D2) is shifted parallel to the first axis of rotation (DJ).

4. Device (1) according to one of the preceding claims, characterized in that the device (1) is designed to superimpose the rotational movement of the carrier (3) about the first axis of rotation (D) and the pivoting movement of the pivoting device (12) about the second axis of rotation (D2) in such a way that the object (30) can be moved by the device (1) at least temporarily on a straight path (25).

5. Device ( 1) according to one of the preceding claims, characterized in that the rotational movement of the support (3) about the first axis of rotation (DJ) and the pivoting movement of the pivoting device ( 12) about the second axis of rotation (D2) can be superimposed such that (a) the object (30) from a receiving area (24) to a The position of use is transportable, and (b) the item (30) from the usage position to a Task area (27) is transportable.

6. Device (1) according to claim 5, characterized in that the receiving area (24) corresponds to the delivery area (27).

7. Device (1) according to one of the preceding claims, characterized in that a workpiece spindle (7) for rotating the object (30), preferably a workpiece (30), is arranged on the carrier (3), wherein the swiveling device (12) is designed to transport the object (30), preferably the workpiece (30), towards the workpiece spindle (7) and to transport it away from the workpiece spindle (7).

8. Device (1) according to one of the preceding claims, characterized in that the gripping device (16) has two gripping arms (17, 18) and the gripping arms (17, 18) are designed to exert a clamping force on the object (30) and / or to grip the object (30). . Device (1) according to one of the preceding claims, characterized in that the support (3) has a vertical, preferably at least partially cylindrical, support tower (4).

10. Device (1) according to claim 9, characterized in that the holder ( 1 1) is movably arranged on the support tower (4), preferably axially movable on the support tower (4) with respect to the first axis of rotation (D,). 1 1. Device (1) according to one of claims 9 or 10, characterized in that the second axis of rotation (D2) is provided outside the support tower (4).

12. Device ( 1) according to one of the preceding claims, characterized in that a dressing device (6) for dressing an abrasive (23) of the grinding machine (20) is arranged on the carrier (3).

13. Device ( 1) according to one of the preceding claims, characterized in that the support (3) is rotatable about the first axis of rotation (D,) such that the support (3) can assume a maintenance position, and the grinding machine (20) and / or the device (1) can be serviced and / or manually loaded in the maintenance position.

14. Device (1) according to one of claims 12 or 13 in combination with claim 7 and claim 9, characterized in that the support 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 support tower (4) opposite the second outer wall (5b). Device (1) according to one 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 the workpiece spindle (7) according to claim 7. Device (1) according to one of the preceding claims, characterized in that the device (1) comprises 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).Device (1) according to claim 16 in combination with claim 9, characterized in that the position determination device (9) is movably arranged on the support tower (4), preferably axially and / or radially movable with respect to the first axis of rotation (D,), and / or pivotably arranged, preferably pivotably in the circumferential direction with respect to the first axis of rotation (D,). Device (1) according to any one of the preceding claims, characterized in that a reading unit for reading elements arranged on the object (30) for information storage is arranged on the support (3). Grinding machine (20) for gear grinding of a workpiece (30), preferably a pre-geared workpiece (30), the grinding machine (20) comprising: (a) a machine housing (21), (b) a grinding device (22) arranged on the machine housing (21) for grinding the workpiece (30), (c) a 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). Grinding machine (20) according to claim 19, characterized in that (a) a dressing device (6) for dressing an abrasive (23) of the grinding device (22) is arranged on the carrier (3), (b) a workpiece spindle (7) for rotating the workpiece (30) about a third axis of rotation (D3) is arranged on the support (3), and (c) the carrier (3) can be rotated back and forth at least between a grinding position in which the workpiece spindle (7) faces the grinding device (22) and a dressing position in which the dressing device (6) faces the grinding device (22), preferably about the first axis of rotation (D,). Method for loading and unloading a grinding machine (20) with an object (30) by means of a device (1) according to any one of claims 1 to 18, characterized in that the rotational movement of the carrier (3) about the first axis of rotation (D,) during a loading operation and / or during an unloading operation occurs at least temporarily simultaneously with the pivoting movement of the pivoting device (12) about the second axis of rotation (D2).The method according to claim 21, characterized in that the support (3) is rotated in a first direction of rotation about the first axis of rotation (D,) and the pivoting device (12) is pivoted in a second direction of rotation opposite to the first direction of rotation about the second axis of rotation (D2), when the rotational movement of the support (3) and the pivoting movement of the pivoting device (12) occur simultaneously. Use of the 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). Use of the device according to any one of claims 1 to 18 for maintaining a grinding machine (20), preferably a gear grinding machine (20), wherein the object (30) is a spare part (30) and / or an accessory part (30) for the grinding machine (20), preferably a. Replacement component (30) and / or an accessory component (30) for the Gear grinding machine (20), is.

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