Device for transporting objects in a polishing machine

Abstract

The device is for transporting objects to and / or from a polishing machine and comprises a base, a carrier platform arranged on the base and rotatable about a first rotation axis relative to the base, and a swivel device arranged on the carrier platform for transporting the objects, the swivel device being pivotable about a second rotation axis relative to the carrier platform, the device being designed to rotate the carrier platform about the first rotation axis and, at least sometimes simultaneously, swivel the swivel device about the second rotation axis so that the objects can be transported by a transport movement of the swivel device resulting from the superposition of the rotation movement of the carrier platform and the swivel movement of the swivel device.

Description

[Technical field]

[0001] The present invention relates to a device for transferring objects to and / or from a polishing 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 is designed to transfer the objects.

[0002] The invention further relates to a grinding machine for gear grinding of workpieces, which machine is equipped with a device of the above type. Furthermore, the invention relates to a method for loading and unloading the grinding machine using the device according to the invention. [Background technology]

[0003] The so-called ring loader concept is known from the state of the art. Devices according to the ring loader concept usually have a gripping device which is rotatable around a rotation axis and which comprises several pairs of gripper arms. Each pair of gripper arms is designed to grip or release a workpiece independently from the other pairs of gripper arms. In order to transfer one or several workpieces, the gripping device rotates around the rotation axis after at least one pair of gripper arms has gripped a workpiece. As a result, all pairs of gripper arms, including the pair of gripper arms which has gripped a workpiece, pivot around the rotation axis simultaneously.

[0004] Such devices known from the prior art have the disadvantage that the position of the pair of gripper arms is fixed or cannot be changed with respect to another pair of gripper arms or to the axis of rotation due to the design of the gripping device. As a result, the pair of gripper arms can only pick up or release the workpiece for loading at a fixed position or always at the same radial distance from the axis of rotation. The pair of gripper arms cannot flexibly pick up the workpiece in different positions. The same applies analogously to the position at which the pair of gripper arms releases the workpiece during unloading. This reduces or limits the flexibility in the use of the known devices. After the workpiece has been released by the pair of gripper arms, it must be periodically centered for further processing.

[0005] Another problem with known devices is that the dimensions of the rotary shaft are limited due to the fixed radial distance from the rotary shaft to the gripper, which leads to a correspondingly small shaft size, which reduces the stiffness of the centering device, with a negative effect on the centering result and therefore on the quality of the workpiece.

[0006] In the known devices, the maintainability of the grinding machine is also limited, in particular because the gripping device is spatially fixed with respect to the grinding machine to be loaded and unloaded. The gripping devices known from the prior art are also not designed for transferring replacement parts and / or accessories to and / or from the grinding machine. Summary of the Invention [Problem to be solved by 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 which overcomes the above-mentioned problems and shortcomings of the prior art. In particular, it is an object of the present invention to provide a device which allows both flexible loading and unloading of workpieces from a grinding machine. [Means for solving the problem]

[0008] To achieve this object, a device according to the invention is suitable for transferring objects to and / or from a grinding machine and comprises a base, a carrier and a swivel device. Preferably, the device is designed for transferring 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 that is transported by the device. The "object" may for example be a workpiece, in particular a workpiece to be machined by the grinder. The workpiece may be a gear blank, in particular a gear blank with pre-tooth. Preferably, the device is designed to load and unload the workpiece to the grinder.

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

[0011] Alternatively or additionally, the "object" may be an attachment of the polishing 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 polishing head. Preferably, the device is designed to transport the attachment towards and / or away from the polishing machine.

[0012] The information storage elements may be arranged on the object, in particular on the workpiece, for example permanent optical elements or structural protrusions and / or recesses that allow the identification of the object. The elements may also comprise permanent or changeable data storage mechanisms, for example radio-frequency identification (RFID) 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 into a polishing machine or polishing unit interacting therewith (for example a set-up trolley, an automated guided vehicle (AGV), etc.). Depending on the type of the element, such a reading unit comprises a camera, a radio-frequency identification (RFID) reading group and / or other components for detecting the element. In the case of changeable data storage mechanisms, their content can be changed as required by an integrated corresponding writing unit. The reading unit and the writing unit may be combined into a single reading / writing 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 platform and is able to read elements arranged on the object while the object is held by the swiveling device.

[0014] The stored information may include an identifier of the object, e.g. a unique identification number, and / or may directly include information about the object's geometry, processing status, use and / or other relevant aspects. The reading information may be stored in a local database or in a central database, e.g. a cloud-based database. The reading information may be used, e.g. during processing of the workpiece, or may be made available to subsequent users of the workpiece.

[0015] The carrier bed is disposed on the base and is rotatable about a first axis of rotation relative to the base. The pivoting device is disposed on the carrier bed and is designed to transport the object. In particular, the pivoting device is designed to transport the object during loading and unloading of the polisher. The pivoting device is pivotable about a second axis of rotation relative to the carrier bed.

[0016] The pivoting device has a pivoting means and a gripping device. The pivoting means radially spaces the gripping device from the second axis of rotation. The gripping device is designed to grip or release the object. Such a pivoting device has the advantage that it is easy to manufacture and maintain.

[0017] The pivoting device comprises a pivoting arm, which is the pivoting means of the pivoting device. Designing the pivoting means as a pivoting arm has the advantage that the pivoting arm is simple and inexpensive to manufacture. At the same time, the radial spacing of the gripping device and / or pick-up / feed device from the second axis of rotation is ensured in an effective manner.

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

[0019] According to the invention, the device is designed to rotate the carrier about a first rotation axis and at least sometimes simultaneously swivel the pivoting device about a second rotation axis. 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. Advantageously, this causes the pivoting device to undergo a transport movement resulting from the superposition of the rotational movement of the carrier and the pivoting movement of the pivoting device. The transport movement of the pivoting device can be used to transport objects for loading and unloading the grinding machine.

[0020] For the purposes of the present invention, the term "transfer movement" is understood to mean a forced movement of an element relative to the base. A "transfer movement" is a movement of an element to be transferred, for example an object in particular, from a first position to a second position different from the first position. For example, the first position may be a pick-up position where the object is picked up by the device. The second position may be, for example, a use position. The use position may be a position where the object can be processed by a grinding machine. In this case, the object is, for example, a workpiece to be machined by the grinding machine. Additionally or alternatively, the use position may be a position where the object is used on a grinding machine. In this case, the object is, for example, a spare part and / or an accessory part of the grinding machine. The object is preferably a workpiece and may be transferred from the pick-up position to the use position by the device, preferably by a pivoting device of the device, in particular for loading into the grinding machine.

[0021] Unless explicitly stated otherwise, the "axis of rotation" in the context of this document is a geometric axis. In principle, this can be realized by various constructional means, these elements being, for example, mechanical axes and may comprise parts in the area of ​​the geometric axis and / or parts, such as, for example, curved guides or the like, spaced apart from the geometric axis.

[0022] For the sake of clarity, the term "rotational movement" hereinafter always refers to the rotational movement of the carrier about the first axis of rotation. In the following, the term "swivel movement" always refers to the swivel movement of the swivel device about the second axis of rotation. If the terms "rotational movement" or "swivel movement" mean or describe another movement, this will be explicitly mentioned at the relevant point.

[0023] The transport movement resulting from the superposition of the pivoting and rotating movements has the advantage that the object can be transported flexibly by the device: not only the transport path, i.e. the path along which the object travels during transport, is flexible: the start and end points of the transport path can also be variably selected.

[0024] A further advantage of the present invention is that by rotating the carrier about a first axis of rotation and / or by pivoting the pivoting device about a second axis of rotation, various parts of the device may be made more accessible to a user, thereby improving the serviceability of the overall device.

[0025] Furthermore, by adding a pivot axis to the rotation axis, the carrier can be larger or more massive. Advantageously, the same applies to the centering device of the device. The larger the dimensions of the carrier and / or the centering device, the higher the rigidity of the centering device. This, in turn, can result in better centering results and improved quality of the workpiece when the object is a workpiece to be processed by a grinding machine.

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

[0027] In a first exemplary embodiment, the first and second rotation axes are arranged relative to each other such that they are spaced apart from each other. The distance between the first and second rotation axes can be fixed, i.e. invariable. A fixed distance between the first and second rotation axes means that when the carrier rotates around the first rotation axis, the second rotation axis moves on a circular path around the first rotation axis. This has the advantage that the transport movement of the swivel device resulting from the superposition of the swivel and rotation movements can be easily controlled or adjusted.

[0028] Alternatively, it is conceivable that the distance between the first and second rotation axes is variable. A variable distance between the first and second rotation axes has the advantage that the number of possible transfer movements is further increased. In particular, the variability increases the range or transfer distance that can be covered by the device. By superimposing the change in distance due to the rotational and pivoting movements, the variability in the selection of the transfer path can also be further improved.

[0029] In another exemplary embodiment, the second axis of rotation is displaced parallel to the first axis of rotation. For example, the second axis of rotation can be displaced 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 pivoting and rotational movements is easier to control or adjust.

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

[0031] Another advantage may be that the device requires less space to transfer the object. For example, the object may be picked up by the device and then transferred along a linear path toward the center of the device. Then, near the center, further transfer of the object may be performed. For example, if a first rotation axis defines the center of the device, the object may first be moved along a linear path toward the first rotation axis by superimposing a pivoting motion and a rotating motion. Then, further transfer may be performed, for example, by rotating the carrier about the first rotation axis. The object is pivoted about the first rotation axis that is close to the center, i.e., has a small radial distance from the first rotation axis.

[0032] For this purpose, as well as others, the device may be designed to selectively perform rotational and swivel movements. This means that the carrier can rotate about a first axis of rotation without the need for the swivel device to swivel about a second axis of rotation. Conversely, the swivel device may be pivotable about a second axis of rotation without the need for the carrier to rotate about the first axis of rotation. 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 may be designed to perform rotational and pivoting movements sequentially. For example, first the carrier may be rotated about a first rotational axis, and then the pivoting device may be pivoted about a second rotational axis. Such a sequential sequence of movements has the advantage that it may be easier to control or adjust the device.

[0034] The device can also be designed to perform alternating sequential sequences of movements and superimposed movements, which has the advantage that even complex transport operations can be realized by the device.

[0035] In a further exemplary embodiment of the device, the rotational movement of the carrier can be superimposed with the swivel movement of the swivel device so that the object can be transferred by the device from the pick-up area to the use position, which is particularly advantageous for loading the object into a grinding machine if the object is a workpiece.

[0036] In this context, the pick-up area is preferably a spatially limited area within which there may be multiple pick-up positions. For the purposes of the present invention, a "pick-up position" is understood to be a position where objects are transferred, stored or processed in stages by the device. Advantageously, the device is designed to be able to pick up at least one object from each of the pick-up positions within the pick-up area.

[0037] For example, the device may be designed to pick up workpieces in the pick-up area, particularly at various pick-up positions, for loading the workpieces into a grinder. Alternatively or additionally, the device may be designed to pick up replacement parts and / or accessories in the pick-up area, particularly at various pick-up positions, for transferring the replacement parts and / or accessories to the grinder.

[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 the workpiece to be machined is machined by a grinding machine. Advantageously, the device may be designed to transfer the workpiece to be machined to the processing position at the end of the loading operation.

[0039] If the object is a replacement part and / or an accessory part, the position of use may be the position where the replacement part and / or accessory part replaces another part and / or is placed on a grinder.

[0040] Preferably, the position of use is also the position where objects are transferred away or removed by the device. This may in particular be the case when starting an unloading operation. Preferably, the device is designed in such a way that it can pick up objects, in particular workpieces, replacement parts and / or accessories, in the position of use.

[0041] The rotational movement of the carrier bed can be superimposed with the swivel movement of the swivel device so that the workpieces can be transferred by the device from the processing location to a delivery area in order to unload the grinder. Similar procedures are also conceivable if the objects are replacement parts and / or accessories.

[0042] In this context, the delivery area is preferably a spatially limited area inside which there can be a number of delivery locations. For the purposes of the present invention, a "delivery location" is understood to be a storage or delivery location to which objects are transferred by the device. Advantageously, the device is designed to be able to deliver objects to each of these delivery locations.

[0043] Preferably, the pick-up area and the delivery area are arranged together, meaning that the pick-up area and the delivery area overlap at least to a large extent. For example, the pick-up area may correspond spatially to the delivery area. Advantageously, the pick-up area and the delivery area form a loading cell that is assigned to the circular storage belt.

[0044] The pick-up area and / or the delivery area can also be a storage area of ​​the setup trolley. For example, if an operator wants to replace a part of a polisher, it is conceivable that the replacement part is provided in the storage area of ​​the setup trolley. The device then transfers the replacement part from the storage area of ​​the setup trolley to the polisher, where it can be exchanged for the part to be replaced. The replaced part can then be transported by the device to the storage area of ​​the setup trolley. This has the advantage that maintenance operations of the polisher can be at least partly automated by the device.

[0045] Alternatively, the pick-up area and the delivery area can be spatially separated from each other, meaning that the pick-up area and the delivery area preferably do not overlap, for example, a device for loading and unloading the polisher can be at least partially located between the pick-up area and the delivery area.

[0046] The pick-up area and / or delivery area may be areas where devices may be manually loaded or manually unloaded, respectively.

[0047] Irrespective of this, the pick-up area and / or the delivery area can be a storage space. Advantageously, several objects, in particular various objects, are provided in the storage space. For example, clamping devices, grinding wheels, cooling oil nozzles, dressing wheels and / or tailstock tips for a grinding machine can be provided in the storage space. Preferably, the device is designed to selectively, i.e. individually, transfer the objects from the storage space to the grinding machine and / or from the grinding machine to the storage space.

[0048] In another exemplary embodiment of the device, the workpiece spindle is arranged on the carrier bed. The workpiece spindle is designed to rotate the workpiece arranged on the workpiece spindle. In the embodiment in which the workpiece spindle is arranged on the carrier bed, advantageously, when the carrier bed rotates about the first rotation axis, the workpiece spindle is pivoted about the first rotation axis. This has the advantage that the workpiece spindle can be more easily accessible to improve maintenance or can be moved to a measuring position. Moreover, if the workpiece spindle is accessible to the user by rotating the carrier bed, advantageously, the workpiece spindle can also be loaded manually.

[0049] The workpiece spindle may be rotatable about a third axis of rotation, in particular may 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 may be arranged parallel to the second axis of rotation.

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

[0051] For example, the swivel device may be pivotable about a second axis of rotation such that the workpiece is transferred to the workpiece spindle by a swivel movement of the swivel device about the second axis of rotation. Advantageously, this means that the workpiece can be placed on the workpiece spindle already while the carrier is still rotating about the first axis of rotation to rotate the workpiece into the processing position. This has the advantage that the grinder can be loaded faster and more efficiently with this device.

[0052] Furthermore, the swivel device may be pivotable about the second axis of rotation such that the workpiece is transferred 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 be moved away from the workpiece spindle even before the carrier initially rotates from the processing position. This has the advantage that the grinder can be unloaded more quickly and effectively by this device.

[0053] The swivel device may be movably arranged on the carrier bed. For example, the swivel device may be arranged on the carrier bed so that it can be axially moved relative to the first and / or second rotation axis. Movably arranging the swivel device on the carrier bed advantageously means that, for example, objects can also be transported axially by the swivel device. This has the advantage that objects can be raised and / or lowered by the device, in particular by the swivel device.

[0054] The gripping device may have two gripper arms. The gripper arms are preferably designed to be able to assume a gripping position and a release position relative to each other. In the release position, the gripper arms are arranged relative to each other such that they can release an object. In the gripping position, the gripper arms are arranged relative to each other such that they can grip an object together, i.e. jointly.

[0055] For the purposes of the present invention, the term "gripping" is understood to mean clamping, in particular pinching or clamping an object between gripper arms, which can, for example, apply a clamping force to the object in the gripping position.

[0056] Alternatively or additionally, the term "gripping" may also include gripping the object from below by the gripper arms. For example, the gripper arms may grip the object from below in the gripping position. Preferably, the gripper arms are connected to the object in a force-fit and / or form-fitting manner in the gripping position.

[0057] For the purposes of the present invention, the term "releasing" is understood to mean the release of contact between the gripper arms and the object. For example, the contact between the gripper arms and the object may be released when the gripper arms switch from the gripping position to the release position. The object is preferably considered to be already released when the object is in contact with only one gripper arm. The gripping device may have a drive for driving the gripper arms. For example, the drive may be pneumatically driven. The drive may be designed in such a way that the gripper arms can be driven together or separately. The gripping device may be pneumatic, hydraulic and / or electric, for example as an electric servomechanism gripper. The gripper arms may be hydraulically actuated, especially for heavy objects.

[0058] The gripping device may have three or more gripper arms or gripper elements. Alternatively or in addition to the gripper arms, the gripping device may also be provided with one or more rotating mandrels. As an alternative to the gripper arms, a jaw chuck is also conceivable. For example, the workpiece may be clamped to the gripping device by the jaw chuck via one or more holes in the workpiece.

[0059] In an exemplary further development, the swivel device may have a replacement device instead of or in addition to the gripping device. The replacement device may be designed to automatically perform the replacement of parts on the grinding machine. This means that parts of the grinding machine may be replaced by the replacement device without operator intervention or with only minimal operator involvement. For example, the clamping device and / or the grinding wheel of the grinding machine may be replaced by the replacement device.

[0060] Additionally or alternatively, the change device may be designed to automatically mount additional parts onto the grinder, for example, the change device may be used to mount a workpiece spindle onto a carrier bed.

[0061] Preferably, the gripping device and the replacement device are a single device, in other words the gripping device may be designed such that it can also perform the functions of the replacement device.

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

[0063] The carriage or pivoting device may have a steady rest or support for the shaft portion.

[0064] Preferably, the pick-up / feed device and the replacement device are a single device, in other words the pick-up / feed device may be designed such that it is able to perform the functionality of the replacement device as well.

[0065] To reduce oil carry-over, the device may have a blow-off device, which is advantageously designed to remove lubricant and / or coolant residues, in particular oil residues, from the workpiece. Additionally or alternatively, the blow-off device may be designed to free the device from lubricant and / or coolant residues, in particular from oil carry-over, or at least to reduce these.

[0066] In another exemplary embodiment, the carrier may have a carrier tower. The carrier tower is preferably arranged vertically on the carrier. For example, the carrier tower may be a tower-like body arranged vertically on the carrier. The carrier tower may be at least partially cylindrical. Regardless of this, the carrier tower may be eccentrically arranged on the carrier with respect to the first rotation axis.

[0067] In a further development of the aforementioned embodiment, the holder can be movably arranged on the carrier tower. Preferably, the holder is provided on the carrier tower axially movably with respect to the first rotation axis. Such a structural design advantageously means that the user can easily access the holder and thus also the pivoting device, which is preferably arranged on the holder. This has the advantage that the maintainability of the device is improved.

[0068] At the same time, such an arrangement has the advantage that the second axis of rotation is provided outside the carrier tower, in particular outside the outer dimensions of the carrier tower, which has the advantage that the swivel range of the swivel device is increased.

[0069] The dressing device may be provided on the carrier bed. The dressing device may be designed to dress the abrasive material of the polishing machine. Preferably, the dressing device is arranged on the carrier bed with a radial offset relative to the first axis of rotation. This has the effect that when the carrier bed rotates, for example, about the first axis of rotation, the dressing device swivels about the first axis of rotation. This has the advantage that by rotating the carrier bed about the first axis of rotation, the dressing device can be positioned relative to the abrasive material so that the abrasive material can be dressed by the dressing device.

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

[0071] For this purpose, the carrier can, for example, assume a dressing position. In the dressing position, the grinding machine can preferably be serviced so that the abrasive is dressed or re-ground by the dressing device. Regardless of this, the device in the dressing position can also advantageously be serviced 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, a carrier tower may be provided at least partially between the workpiece spindle and the dressing device. Preferably, the carrier tower is arranged on the carrier so as to spatially separate the workpiece spindle and the dressing device. Alternatively or additionally, the dressing device may be arranged at least partially in the carrier tower. Spatial separation of the dressing device from the workpiece spindle by the carrier tower advantageously means that the workpiece spindle is protected from possible chips that may be produced as waste products by the carrier tower during dressing. Conversely, the dressing device may be protected from chips that may be produced as waste products by the carrier tower during grinding of the workpiece. This has the advantage that the durability of the device, in particular of the parts on the carrier, is increased.

[0073] To protect the dressing device and / or the workpiece spindle, the carrier tower may have, for example, a first outer wall facing the workpiece spindle. A second outer wall of the carrier tower may face the dressing device. The second outer wall is preferably the opposite side wall of the carrier tower to the first outer wall. The workpiece spindle and / or the dressing device are advantageously shielded by the respective outer wall of the carrier tower so as to be largely protected from contaminations coming from the processing chamber. This has the advantage that the durability of the device, in particular of the parts on the carrier, is increased.

[0074] In another exemplary embodiment, the device comprises a centering device. The centering device may be designed to align, in particular centrally, the workpiece relative to other parts of the device and / or parts of the grinding machine. For example, a centering device may be provided to align, in particular center, the workpiece relative to the workpiece spindle. Additionally or alternatively, the centering device may be designed to support the workpiece. For example, the centering device may support the workpiece when it is driven by the workpiece spindle. The centering device is preferably a tailstock. The embodiment using a centering device has the advantage that the grinding machine can be very accurately loaded by the device and / or the workpiece can be held in place during grinding. This increases, in particular, the precision of the grinding machine. Advantageously, manufacturing tolerances of the workpiece can be minimized.

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

[0076] The device may have a position determining device. The position determining 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 determining device detects the position of the workpiece after it is loaded on the grinding device. Alternatively or additionally, the position determining device detects the position of the workpiece after it is placed on the workpiece spindle by the gripping device. In particular, the position determining device may be designed to determine the position of a tooth flank or a tooth gap of the workpiece. It is also conceivable that the position determining device may be used to determine the angle of rotation of the workpiece. Alternatively or additionally, the position determining device may be designed to determine the position of the gripping device and / or the pick-up / feed device.

[0077] The position determination device may have at least one sensor for determining the respective position. The sensor may be an optical sensor and / or an electromagnetic sensor, in particular a distance sensor. The sensor may be, for example, an inductive sensor. Detecting the position of the workpiece by the position determination device has the advantage that the precision of the grinding machine is improved. For example, the abrasive of the grinding machine may be better aligned with the workpiece depending on the determined position of the workpiece, minimizing the manufacturing tolerance of the workpiece. In particular, the position of the workpiece may be determined by the position determination device in such a way that it is guaranteed that the abrasive does not collide with the teeth of the workpiece when it comes into contact.

[0078] In an exemplary further development of the embodiment using the position determination device, the position determination device is arranged on the carrier, in particular on the carrier tower. For example, the position determination device may be arranged movably on the carrier, in particular on the carrier tower. The position determination device may be arranged on the carrier so as to be axially movable relative to the first rotation axis and / or the second rotation axis, in particular so as to be axially movable on the carrier tower. Arranging the position determination device on the carrier has the advantage that the measurement accuracy of the position determination device may be improved.

[0079] The carrier can be hydrostatically mounted on the base. In particular, hydrostatic bearings can improve the rotatability of the carrier about the first axis of rotation. This has the advantage that the carrier remains rotatable, in particular smoothly rotatable, about the first axis of rotation even with heavy loads, in particular with heavy objects, for example with a self-weight of more than 100 kg. Furthermore, hydrostatic bearings allow high stiffness and precise positioning of the connection between the carrier and the base. Hydrostatic bearings can also improve damping properties.

[0080] Alternatively or additionally, the carrier may also be connected to the base by means of conventional bearings, for example the carrier may be mounted on the base by means of conventional rolling and / or sliding bearings.

[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 into the device.

[0082] The control system is preferably designed to control the rotational movement of the carrier bed, the swivel movement of the swivel device, the dressing device, the workpiece spindle, the centering device, the gripping device, the exchange device and / or the pick-up / feed device.

[0083] The control system may also be designed to control the rotational movement of the carrier table, the swivel movement of the swivel device, the dressing device, the workpiece spindle, the centering device, the gripping device, the exchange device and / or the pick-up / feed device, especially when the control system is communicatively connected to one or more control sensors. Control may then be performed based on a target vs. actual comparison using information from the control sensors.

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

[0085] Additionally or alternatively, the control system may be connected to a position determination device for information communication. Irrespective of this, the control system may be designed to recognize which selection device is provided on the device. For example, the control system recognizes whether a gripping device, a change device and / or a pick-up / feed device is provided on the swivel device. Preferably, the control system is designed to at least adapt the adjustment of the control system and / or the rotational movement of the carrier and / or the swivel movement of the swivel device depending on the recognized selection device. The control system has the advantage that the transfer of objects to and / or away from the polishing machine may be automated or at least partially automated. For example, the control system may be used to automate the loading of workpieces into the polishing machine. The replacement of parts with replacement parts and / or the assembly of ancillary parts may also be automated or at least partially automated using the control system.

[0086] In an exemplary further development of the embodiment in which the device comprises a control system, the device has input means, which may be designed to receive control inputs from an operator and transmit them to the control system, which may for example be a joystick that can be operated by the operator.

[0087] In another exemplary embodiment, the device comprises an additional transfer device. In particular, the additional transfer device may be a robot and / or a robot arm. The additional transfer device may be designed to interact with the gripping device, the exchange device and / or the pick-up / feed device. The additional transfer device may be designed as an additional element of the set-up trolley. For example, it is conceivable that the object to be transferred may be transferred or exchanged between the transfer device and the gripping device.

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

[0089] The problem mentioned at the outset is also solved according to the invention by a grinding machine for gear grinding of workpieces, in particular of workpieces with pre-tooth such as gear blanks. For this purpose, the grinding machine comprises a machine housing, a grinding device and the aforementioned device. According to the invention, the grinding device is arranged on the machine housing and is designed for grinding the workpieces. The machine housing of the grinding machine forms the base of the device according to the above-mentioned embodiment.

[0090] The polishing machine according to the invention has the advantage that the loading and unloading of the workpieces on the polishing machine can be performed more quickly than with the present device. In addition, or independently, the carrier which can rotate about the first axis of rotation has the effect that the individual parts of the polishing machine are more accessible. This has the advantage that the polishing machine according to the invention is easier to maintain. The carrier can also be designed to be more stable compared to other loading concepts, especially with regard to the centering device.

[0091] In a first exemplary embodiment, the grinding machine comprises a dressing device arranged on the carrier bed and a workpiece spindle arranged on the carrier bed. The dressing device may be designed for dressing, in particular for profiling and / or regrinding, the abrasive material of the grinding machine. Preferably, the dressing device is arranged on the carrier bed with a radial offset relative to the first axis of rotation. This has the effect, for example, that when the carrier bed rotates about the first axis of rotation, the dressing device pivots about the first axis of rotation.

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

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

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

[0095] The dressing device can face the polishing device in the dressing position, which advantageously means that in the dressing position the abrasive of the polishing device can be maintained by the dressing device, which can correspond to the aforementioned maintenance position of the device.

[0096] The polishing machine according to the first embodiment example has the advantage that it is easy for the user to handle and easy to maintain.

[0097] The problem mentioned at the outset is also solved according to the invention by a method using a device according to the above-mentioned embodiment, in which the rotational and pivoting movements are carried out at least temporarily simultaneously during the loading and / or unloading operations.

[0098] Advantageously, this results in a superposition of rotational and swivel movements, such that the swivel device, in particular the gripper and / or pick-up / feed device arranged on the swivel device, undergoes a resulting transport movement, which may correspond to a linear movement, with the advantage that the objects of the grinder for loading and unloading can be transported, at least temporarily, along a linear path.

[0099] In a first exemplary embodiment of the method, the carrier is rotated in a first rotation direction about a first rotation axis. The pivoting device can be pivoted in a second rotation direction about a second rotation axis. Preferably, the first and second rotation directions are opposite rotation directions. For example, the carrier can rotate clockwise about the first rotation axis, while the pivoting device pivots counterclockwise about the second rotation axis. In other words, when the rotation and pivoting movements are superimposed, the carrier and the pivoting device can have different rotation directions.

[0100] Advantageously, this results in a superposition of rotational and swivel movements, such that the swivel device, in particular the gripper and / or pick-up / feed device arranged on the swivel device, undergoes a resulting transport movement, which may correspond to a linear movement, with the advantage that the objects of the grinder for loading and unloading can be transported, at least temporarily, along a linear path.

[0101] In a further embodiment of the aforementioned embodiment, the absolute angular amount of rotation of the rotary motion of the carrier platform about the first rotary axis during the loading operation is smaller than the absolute angular amount of rotation of the pivoting motion of the swivel device about the second rotary axis. Alternatively or additionally, the absolute angular amount of rotation of the rotary motion of the carrier platform about the first rotary axis during the unloading operation can be smaller than the absolute angular amount of rotation of the pivoting motion of the swivel device about the second rotary axis.

[0102] This has the advantage that the device is easier to control or regulate.

[0103] The problem mentioned at the outset is also solved according to the invention by using a device according to the above embodiment for loading and unloading a grinding machine, where the object is a workpiece. Preferably, the grinding machine is a gear grinding machine.

[0104] The problem mentioned at the outset is also solved according to the invention by using a device for the maintenance of a grinding machine according to the above-mentioned embodiment, where 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] The swivel device is designed in such a way that various grippers, holders and devices can be attached to it, advantageously to grip various objects, so that various handling functions can be performed, in particular transport, holding and / or positioning functions for various objects. In particular, the swivel device is equipped with corresponding interfaces for this purpose. The control system advantageously recognizes the respective gripper, holder or device and allows only corresponding movements. The degrees of freedom of the swivel arm can be used for additional handling functions, in particular also for the exchange of grippers, holders or devices. Grippers, holders or other devices can also be kept ready in the storage space or on the set-up trolley.

[0106] The gripper intended for workpiece replacement may also remain in the machine during other handling functions, the machine may be fitted with further elements, or the gripper itself may grip a corresponding element, again with the control system approving the allowed movement sequences depending on the operation to be performed.

[0107] The various features and exemplary features described above may be combined with one another in accordance with the present invention, wherever technically practical and appropriate. Further features, advantages and embodiments of the present invention will become apparent from the following description of illustrative embodiments and with reference to the drawings. [Brief description of the drawings]

[0108] [Figure 1] FIG. 1 is a perspective view of a polisher with an embodiment of a device for loading and unloading the polisher. [Diagram 2] 2 is a further perspective view of the embodiment according to FIG. 1 from a different angle; [Diagram 3] FIG. 2 is a top view of the embodiment according to FIG. 1 at the start of the loading operation. [Figure 4] FIG. 2 is a top view of the embodiment according to FIG. 1 during a transfer operation as part of a loading operation. [Diagram 5] 2 is a top view of the embodiment according to FIG. 1 at the end of a loading operation and / or at the beginning of an unloading operation. [Figure 6] FIG. 2 is a top view of the embodiment according to FIG. 1 during a transfer operation as part of an unloading operation. [Figure 7] FIG. 2 is a top view of the embodiment according to FIG. 1 at the end of the unloading operation. [Figure 8] FIG. 2 is a side view of the embodiment according to FIG. 1, the polisher being in the dressing position. [Figure 9] FIG. 2 is a side view of the embodiment according to FIG. 1, the grinder being in the grinding position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0109] Figure 1 shows an embodiment of a grinder 20 with a device 1, which is designed to load and unload a workpiece 30 to the grinder 20. Figure 2 shows another perspective view of the embodiment of the grinder 20, where a different viewing angle is chosen than in Figure 1.

[0110] The grinding machine 20 comprises a machine housing 21 and a grinding device 22. The grinding device 22 comprises an abrasive material 23. The abrasive material 23 is designed to grind a workpiece 30. In particular, the abrasive material 23 is a grinding worm 23.

[0111] The device 1 comprises a base 2, a carrier 3 and a swivel device 12. In the embodiment shown, the base 2 corresponds to a machine housing 21.

[0112] The carrier 3 is rotatable relative to the base 2 about a first rotation axis D1 (see FIGS. 3 to 9) not shown in FIG. 1. The carrier 3 has a carrier tower 4 and a workpiece spindle 7. The workpiece spindle 7 faces a first outer wall 5a of the carrier tower 4. The carrier tower 4 and the workpiece spindle 7 are rotatable together with the carrier 3 about the first rotation axis D1.

[0113] A centering device 8 is arranged on the carrier tower 4. It is designed to center the workpiece 30 relative to the workpiece spindle 7. In the embodiment shown, the centering device 8 is a tailstock 8. A holder 11 is also arranged on the carrier tower 8. It can be moved vertically along the carrier tower 4. A swivel device 12 is connected to the holder 11.

[0114] The pivoting device 12 is connected to the holder 11 so as to be pivotable about a second axis of rotation D2, which is spaced apart from the carriage tower 4 by the holder 11 so as to be provided outside the dimensions of the carriage tower 4.

[0115] The pivoting device 12 comprises a pivoting means 13, which in this embodiment is designed as a pivoting arm 14. Moreover, the pivoting device 12 has a gripping device 16. The pivoting arm 14 is designed to move the gripping device 16 radially away from the second axis of rotation D2.

[0116] The gripping device 16 comprises a first gripper arm 17 and a second gripper arm 18. The gripper 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 gripper arm 17 and the second gripper arm 18 are arranged relative to one another such that the gripper arms 17 and 18 can release the workpiece 30. In the gripping position shown in FIG. 1, the first gripper arm 17 and the second gripper arm 18 are arranged relative to one another such that the gripper arms 17 and 18 grip the workpiece 30. In doing so, the gripper arms 17 and 18 together apply a clamping force to the workpiece 30, so that the workpiece 30 is fixedly connected to the gripping device 16.

[0117] The workpiece 30 can then be lifted from the position shown in FIG. 1, for example by moving the holder 11 together with the gripping device 16 vertically upwards on the carrier tower 4 .

[0118] The workpiece spindle 7 is rotatable relative to the carrier 3 about a third rotation axis D3 in particular for rotating a workpiece 40 arranged on the workpiece spindle 7, whereby the first gripper arm 17 and the second gripper arm 18 are in a release position relative to each other.

[0119] To polish the workpiece 30, the polishing device 22 is displaced relative to the device 1 so as to bring the abrasive 23 into contact with the workpiece 30. The abrasive 23 rotates about a fourth rotation axis D4. At the same time, the workpiece 30 is rotated about a third rotation axis D3. The fourth rotation axis D4 is arranged perpendicular to the third rotation axis D3. To drive the abrasive 23, the polishing device 22 has a drive (not shown).

[0120] Regarding the functionality of the device 1 during loading and unloading of the grinder 20, reference is made to FIGS. 3 to 7 and the respective associated figure description.

[0121] In this embodiment, the device 1 comprises a position determination device 9 (see FIG. 2 ). The position determination device 9 is arranged on the carriage tower 4 and is movable relative to the carriage tower 4. In particular, the position determination device 9 is vertically movable relative to the carriage tower 4.

[0122] The position determining device 9 comprises at least one sensor 10, which faces the workpiece spindle 7, in particular the workpiece 30 thereon. In the embodiment shown, the position determining device 9 comprises a single sensor 10. The sensor 10 can be an optical, tactile or non-contact 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. Thus, based on the tooth flank of the workpiece 30 rotating past the sensor 10, the position determination can be performed.

[0123] FIG. 3 shows a top view of the grinding machine 20 of this embodiment. As seen in FIG. 3, the first rotation axis D1, the second rotation axis D2, and the third rotation axis D3 are arranged parallel to each other at a distance. As a result, 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 further structure of the grinding machine 20, reference is made to the above description.

[0124] The device 1 is in a position where it can start the loading operation. This can be recognized by the fact that the workpiece 30 is prepared in the pick-up area 24. In the situation shown in Fig. 3, the workpiece 30 is prepared centrally in the pick-up area 24. However, it is also conceivable that the workpiece 30 is prepared decentrally in the pick-up area 24. This means that the device 1 can grip the workpiece 30 no matter where it is prepared in the pick-up area 24. The pick-up position of the workpiece 30 can vary in the radial and / or axial direction within the boundaries of the pick-up area 24.

[0125] To move the device 1 from the position shown in Figures 1 and 2 to the position shown in Figure 3, the carrier 3 was rotated counterclockwise about the first rotation axis D1. The swivel device 12 was also swiveled counterclockwise about the second rotation axis D2. The rotational movement of the carrier 3 and the swivel movement of the swivel device 12 were at least sometimes performed simultaneously so that the gripping device 16 could grip the workpiece 30 with the gripper arms 17, 18 on both sides. To grip the workpiece 30, the first gripper arm 17 and the second gripper arm 18 took up the gripping position.

[0126] 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 D1.

[0127] FIG. 4 shows the device 1 during a transfer operation as part of the loading of the polisher 20.

[0128] FIG. 3 shows a top view of the grinding machine 20 of this embodiment. As seen in FIG. 3, the first rotation axis D1, the second rotation axis D2, and the third rotation axis D3 are arranged parallel to each other at a distance. As a result, 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 further structure of the grinding machine 20, reference is made to the above description.

[0129] To move the device 3 from the position shown in Fig. 3 to the position shown in Fig. 4, the carrier 3 is rotated counterclockwise about the first rotation axis D1. The swivel device 12 is swivel clockwise about the second rotation axis D2. The rotational movement of the carrier 3 and the swivel movement of the swivel device 12 are performed at least sometimes simultaneously, such that the workpiece 30 is transferred on a linear path 25 and undergoes a linear transfer movement. The linear transfer path 25 shown in Fig. 4 by a dotted line indicates the course of movement of the workpiece 30, in particular the path movement of the center of the workpiece 30, during the linear transfer movement as part of the loading operation. The elliptical area 26 shown in Fig. 4 represents the limit of the range of movement 26 within which the workpiece 30 moves during the linear transfer movement.

[0130] The transfer movement on a linear path 25 results from the superposition of a rotational movement of the carrier 3 and a swivel movement of the swivel device 12. During the transfer operation, the gripping device 16 grips the workpiece 30, which therefore follows the resulting transfer movement of the swivel device 12, as it is fixedly connected to the gripping device 16.

[0131] When completing the transfer movement, during this time the workpiece 30 is moved along the linear path 25 and is preferably positioned above or on the workpiece spindle 7 .

[0132] The carrier 3 can then be rotated clockwise or counterclockwise about the first axis of rotation D1 so that the device 1 takes up the position shown in FIG.

[0133] The workpiece 30 can be transferred according to the shown sequence with only very little space required near the device 1. If space conditions permit, the rotation of the carrier 3 into the processing position according to Fig. 5 can already start before the workpiece 30 takes up its position relative to the workpiece spindle 7. This allows faster loading. In general, the path movement of the workpiece 30 can be varied within wide limits during the transfer operation by adjusting the sequence of rotation and swivel movements.

[0134] FIG. 5 shows the device 1 at the end of a loading operation and / or at the beginning of an unloading operation.

[0135] This can be seen by the fact that the workpiece 30 is arranged on a workpiece spindle 7 which is covered by the workpiece 30. The workpiece spindle 7 faces the grinding device 22. The first gripper arm 17 and the second gripper arm 18 are in a gripping position relative to each other and apply a clamping force to the workpiece 30.

[0136] The gripper arms 17, 18 at the end of the loading operation then change from the gripping position to the release position. As a result, the workpiece 30 is released by the gripping device 16. The workpiece 30 can be fed onto the workpiece spindle 7. As soon as the workpiece spindle 7 rotates about the third rotation axis D3, the workpiece 30 can be rotationally driven by the rotation of the workpiece spindle 7.

[0137] Once rotated, the workpiece 30 can be polished by the abrasive material 23. For this purpose, the polishing device 22 moves towards the workpiece 30 starting from the position shown in Fig. 5. With regard to the particular sequence of polishing operations which are preferably performed between loading and unloading operations, reference is made to the diagrammatic description of Fig. 9.

[0138] The workpiece 30 which has been treated by the abrasive material 23 is transported away from the device 1 in order to unload the grinder 20. Part of this transport movement during the unloading operation is shown diagrammatically in FIG.

[0139] To move the device 1 from the position shown in FIG. 5 to the position shown in FIG. 6, the carrier 3 has been rotated 90° counterclockwise about the first axis of rotation D1.

[0140] Subsequently, the carrier 3 is rotated clockwise about the first rotation axis D1 and the pivoting device 12 is simultaneously pivoted counterclockwise about the second rotation axis D2. As a result, the workpiece 30 is transferred on a linear path 25 and thus undergoes a linear transfer motion. The linear transfer path 25 shown in Fig. 6 by a dotted line represents the course of motion of the workpiece 30, in particular the path motion of the center of the workpiece 30, during the linear transfer motion as part of the unloading operation. The elliptical area 26 shown in Fig. 6 represents the limit of the range of motion 26 within which the workpiece 30 moves during the linear transfer motion.

[0141] A transfer movement on a linear path 25 results from the superposition of a rotational movement of the carrier 3 and a swiveling movement of the swivel device 12. The workpiece 30 held by the gripping device 16 follows the resulting transfer movement of the swivel device 12.

[0142] At the end of the linear transfer motion shown in FIG. 6, the workpiece 30 is delivered to the delivery area 27 as shown in FIG.

[0143] The device 1 is designed to deliver the workpiece anywhere within the delivery area 27. As an alternative to the central delivery position shown in Figure 7, the device 1 can therefore also deliver the workpiece 30 to the left-hand and / or right-hand part of the delivery area 27. Starting from the position of the gripping device 16 shown in Figure 7, only the first gripper arm 17 and the second gripper arm 18 need to be moved relative to each other so that the gripper arms 17 and 18 assume a release position and release the workpiece 30.

[0144] FIG. 8 shows a side view of an embodiment of a grinder 20 with the grinder 20, and in particular the device 1 of the grinder 20, in the dressing position.

[0145] The device 1 comprises a dressing device 6. The dressing device 6 is designed for dressing, in particular for profiling and / or re-grinding, the abrasive material 23 of the grinding machine 20. For this purpose, the dressing device 6 faces the abrasive material 23 in a dressing position.

[0146] The dressing device 6 is arranged on the carrier 3 so as to be at least partially embedded in 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, a 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. Arranging 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 during dressing of the abrasive material 23 by the dressing device 6.

[0147] The grinding machine 20 is designed to move the grinding device 22 towards the dressing device 6 so that the grinding material 23 and the dressing device 6 can interact to dress the grinding material 23. Furthermore, a drive (not shown) of the grinding device 22 can drive the grinding material 23 to rotate about a fourth rotation axis D4. When the rotating grinding material 23 comes into contact with the dressing device 6, the grinding material 23 is dressed, in particular profiled and / or sharpened, by the dressing device 6.

[0148] As soon as the dressing of the abrasive material 23 is completed, the polishing device 22 is moved away from the dressing device 6 until it reaches the initial dressing position shown in FIG.

[0149] FIG. 9 illustrates a side view of an embodiment of sander 20 with sander 20 in the sanding position.

[0150] This can be seen by the fact that the workpiece spindle 7 and the workpiece 30 face the grinding device 22. The gripper arms 17 and 18 of the gripping device 16 are in a released position relative to each other and are spaced vertically from the workpiece 30. This allows the workpiece spindle 7 and the workpiece 30 to rotate about a third axis of rotation D3.

[0151] The arrangement of the dressing device 6, the carrier tower 4 and the workpiece spindle 7 in the polishing position means that the dressing device 6 is not or only slightly soiled during the polishing operation.

[0152] To grind the workpiece 30, a drive (not shown) of the grinding device 22 can drive the abrasive 23 to rotate about the fourth rotation axis D4. Independently of this, the grinding device 22 is moved, preferably while rotating, towards the workpiece spindle 7 so that the abrasive 23 and the workpiece 30 engage with each other. When the abrasive 23 comes into contact with the workpiece 30, the workpiece 30 is ground by the abrasive 23.

[0153] As soon as the polishing operation is completed, the polishing device 22 is moved away from the workpiece spindle 7, so that the polisher 20 returns to the initial polishing position shown in Figure 9. The gripper arms 17, 18 of the gripping device 16 can then return to their gripping positions, allowing the device 1 to assume the position shown in Figure 5.

Claims

1. A device (1) for transporting an object (30) towards and / or away from a polishing machine (20), comprising: (a) a base (2); (b) a first rotation axis (D) disposed on the base (2) and １ A carrier (3) rotatable around the carrier (3); (c) a pivoting device (12) arranged on the carrier (3) for transporting the object (30), (d) the pivoting device (12) is rotated about a second axis of rotation (D ２ ) pivotable about said pivoting device (12) having pivoting means (13) and a gripping device (16) for gripping and releasing said object (30); The pivoting means (13) pivots the gripping device (16) about the second axis of rotation (D ２ ) radially spaced from the The rotating means (13) rotates the holder (11) arranged on the conveying table (3) around the second rotation axis (D ２ a pivot arm (14) pivotally connected about the (e) the device (1) rotates the carrier (3) about the first rotation axis (D) so that the object (30) can be transported by a transport movement of the pivoting device (12) resulting from the superposition of the rotational movement of the carrier (3) and the pivoting movement of the pivoting device (12). １ ) and at least sometimes simultaneously, the pivoting device (12) is rotated about the second axis of rotation (D ２ ) in said pivoting motion.

2. The conveying platform (3) is rotated along the first rotation axis (D １ When rotating around the second rotation axis (D ２ ) is the first rotation axis (D １ The first rotation axis (D) is rotated so as to move on a circular path around the first rotation axis (D １ ) and the second rotation axis (D ２ 2. The device (1) according to claim 1, characterized in that:

3. The second rotation axis (D ２ ) is the first rotation axis (D １ 2. The device (1) according to claim 1, characterized in that the device (1) is displaced parallel to the axis of rotation of the rotor (1) relative to the axis of rotation of the rotor (1).

4. The device (1) is adapted to rotate about the first axis of rotation (D) such that the object (30) can be moved at least temporarily along a linear path (25) by the device (1). １ ) and the second rotation axis (D ２ 2. The device (1) according to claim 1, characterized in that it is designed to superimpose the pivoting movement of the pivoting device (12) around a pivot pin (11) and a pivot pin (12) around the pivot pin (11).

5. (a) the object (30) may be transferred from the receiving area (24) to a use position; and (b) the object (30) may be transported from the use location to a delivery area (27); Thus, the first rotation axis (D １ ) and the second rotation axis (D ２ 2. The device (1) according to claim 1, characterized in that the pivoting movements of the pivoting device (12) around the pivoting axis (11) and the pivoting movements of the pivoting device (12) around the pivoting axis (11) can be superimposed on one another.

6. 6. The device (1) according to claim 5, characterized in that said pick-up area (24) corresponds to said delivery area (27).

7. 2. The device (1) according to claim 1, characterized in that a workpiece spindle (7) for rotating the object (30) is arranged on the transport table (3) and the pivoting device (12) is designed to transfer the object (30) towards and away from the workpiece spindle (7).

8. 2. The device (1) according to claim 1, characterized in that the gripping device (16) has two gripper arms (17, 18) designed to apply a clamping force to the object (30) and / or to grip the object (30) from below.

9. 8. The device (1) according to claim 7, characterized in that the carrier (3) comprises a vertical carrier tower (4).

10. 10. The device (1) according to claim 9, characterized in that the holder (11) is movably arranged on the carrier tower (4).

11. The second rotation axis (D ２ 11. The device (1) according to claim 9 or 10, characterized in that a carrier tower (4) is provided outside the carrier tower (4).

12. 10. The device (1) according to claim 9, characterized in that a dressing device (6) for dressing the abrasive material (23) of the polisher (20) is arranged on the carrier (3).

13. The carrier (3) can be arranged in a maintenance position, in which the carrier (3) is rotated around the first axis of rotation (D) so that the grinder (20) and / or the device (1) can be maintained and / or manually loaded. １ 2. The device (1) according to claim 1, characterized in that it is rotatable around a rotation axis (R1).

14. 13. The device (1) according to claim 12, characterized in that the carrier tower (4) has a first outer wall (5a) facing the workpiece spindle (7) and a second outer wall (5b) facing a dressing device (6), the first outer wall (5a) being the side wall of the carrier tower (4) opposite the second outer wall (5b).

15. 2. The device (1) according to claim 1, characterized in that said device (1) comprises a centering device (8) for centering said object (30).

16. The device (1) according to claim 9, characterized in that the device (1) has a position determining device (9) for determining the position of the object (30), the position determining device (9) comprising at least one sensor (10).

17. 17. The device (1) according to claim 16, characterized in that the position determining device (9) is movably and / or pivotably arranged on the carrier tower (4).

18. 2. The device (1) according to claim 1, characterized in that a reading unit for reading an information storage element arranged on the object (30) is arranged on the carrier (3).

19. A grinding machine (20) for gear grinding a workpiece (30), comprising: (a) a machine housing (21); (b) a polishing device (22) disposed on the machine housing (21) for polishing the workpiece (30); (c) a device (1) according to claim 1, (d) A grinder (20), wherein the machine housing (21) of the grinder (20) is the base (2) of the device (1).

20. (a) a dressing device (6) for dressing the abrasive material (23) of the polishing device (22) is disposed on the conveying table (3); (b) rotating the workpiece (30) about a third rotation axis (D ３ a workpiece spindle (7) for rotating the workpiece about a workpiece support (3), (c) the polishing machine (20) according to claim 19, characterized in that the transport table (3) can be rotated back and forth at least between a polishing position in which the workpiece spindle (7) faces the polishing device (22) and a dressing position in which the dressing device (6) faces the polishing device (22).

21. The first rotation axis (D １ The rotational movement of the carrier (3) around the second axis of rotation (D ２ 2. A method for loading and unloading an object (30) on a grinding machine (20) by means of a device (1) according to claim 1, characterized in that the method is performed at least sometimes simultaneously with the pivoting movement of the pivoting device (12) around the grinding machine (20).

22. When the rotational movement of the carrier (3) and the pivoting movement of the pivoting device (12) are performed simultaneously, the carrier (3) rotates about the first rotation axis (D １ ) in a first rotation direction, and the pivoting device (12) is rotated about the second rotation axis (D ２ 22. The method of claim 21, wherein the first rotation direction is opposite to the first rotation direction and the second rotation direction is opposite to the first rotation direction.

23. Use of the device according to claim 1 for loading and unloading a grinding machine (20), wherein said object (30) is a workpiece (30).

24. 2. The object (30) is a replacement part (30) and / or ancillary parts (30) for the grinding machine (20). Use of the device according to claim 1 for the maintenance of the grinding machine (20).

Images