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WO1987001642A1 - Dispositif d'echange d'outils lors d'operations de meulage - Google Patents

Dispositif d'echange d'outils lors d'operations de meulage Download PDF

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Publication number
WO1987001642A1
WO1987001642A1 PCT/DE1986/000362 DE8600362W WO8701642A1 WO 1987001642 A1 WO1987001642 A1 WO 1987001642A1 DE 8600362 W DE8600362 W DE 8600362W WO 8701642 A1 WO8701642 A1 WO 8701642A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool unit
holding body
tool
clamping
spindle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE1986/000362
Other languages
German (de)
English (en)
Inventor
Ernst Saljé
Werner Gerhard Lang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to DE8686905216T priority Critical patent/DE3679544D1/de
Publication of WO1987001642A1 publication Critical patent/WO1987001642A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B45/00—Means for securing grinding wheels on rotary arbors
    • B24B45/003—Accessories therefor

Definitions

  • the invention relates to a device for changing tools that can be used in the execution of grinding operations according to the preamble of claim 1.
  • a grinding machine with a movable table, a stand, at least one grinding spindle, a workpiece carrier and a grinding wheel magazine is known (DE-OS 32 46 168), the factory .
  • the workpiece carrier and the grinding spindle can be adjusted relative to one another and the direction of movement of the table, the grinding spindle and the workpiece carrier define three machine axes.
  • the grinding wheel magazine and the grinding Spindles are arranged to be movable relative to one another from a working position ' into a ' transfer position and back. In the transfer position, the spindle axis and the axis of a grinding wheel holder of the grinding wheel magazine are aligned with one another.
  • Spindle and magazine can be moved axially relative to one another, the transfer of the grinding wheel from the grinding spindle to the grinding wheel holder of the grinding wheel magazine and vice versa.
  • a grinding wheel exchange device is provided at an exchange station.
  • the spindle support is moved in such a way that the spindle axis is aligned with the axis of the grinding wheel device at the exchange station. The latter can take over the grinding wheel from the grinding spindle, bring it into the storage facility, remove a new grinding wheel from it by means of a selector and transfer it to the grinding spindle.
  • a device of the specified type is characterized by at least one transfer unit with a frame or the like, which has at least one holding body for tool units which, relative to the frame or the like, has mobility in two degrees of freedom transverse to it Axis.
  • the concept of the frame is not to be understood as restrictive. This means that it is also a column, a stand, a support or the like. can act.
  • the two degrees of freedom mentioned exist in particular in two mutually perpendicular directions, each of which primarily also runs in a plane perpendicular to the axis.
  • the mobility can be provided by elements arranged essentially in one plane or also by elements provided in different planes axially offset from one another. In addition, other arrangements are also conceivable.
  • the design is such that the holding body always has an essentially defined rest position with respect to other parts of the transfer unit in the absence of external influences.
  • This is expediently achieved by means of returning means, in particular elastic elements.
  • the invention offers the great advantage that no very high accuracy requirements have to be made for the transfer position to be reached, but that any small deviations from the target position are easily compensated for by the mobility of the holding body. This also avoids or minimizes the effort otherwise required.
  • the invention opens up a particularly favorable way of doing this, which can also involve more than two tool units to be transferred simultaneously or in a close spatial or temporal connection.
  • the embodiment can be made such that the holding body or a base body supporting it relative to an intermediate body in a degree of freedom transverse to the axis and the intermediate body relative to a base body in a further degree transverse to the axis is kept movable.
  • the base body is expediently fastened to the frame of the transfer unit or formed by it itself.
  • leaf springs are provided in order to achieve mobility in at least one freedom ridge, connecting one of the parts with another part.
  • Such leaf springs not only form a guide for the part held by them, but at the same time also generate the desired return force 1, by means of which the part in question is held in a rest position or transferred into it.
  • one of the parts is at least one degree of freedom relative to another part in guides against the reset to achieve mobility! can be moved in a straight line using springs.
  • an intermediate body and / or a base body is each frame-shaped.
  • the holding body can be moved axially relative to a base body carrying it.
  • a starting or rest position of the holding body is expediently provided, into which the latter is brought into force by a reset 1 or in which it is normally held.
  • the holding body can be displaceable against the force of springs on guides arranged distributed over the circumference of the base body.
  • Such axial mobility of the holding body has several advantages. This avoids the risk of damage due to irregular loads. Furthermore, a signal can be obtained from such a displacement movement, in particular when an end position of the holding body serving for the transfer of a tool unit relative to the base body is reached.
  • a sensor, position switch or the like can be located at a suitable point. be provided, the signal of which is used for a correctly timed sequence of the tool change.
  • the retaining body can for engagement in a groove of the flan see * 's of a tool unit furnished od the outside Ferkl means of controllable drive from a rest position into an operative position and vice versa movable size.
  • Have. These are able to releasably fix the tool unit on the holding body. In particular, they can be designed in such a way that they can also absorb additional forces, such as when releasing a clamping device for
  • IDT a tool unit may occur in response.
  • An actuating device for a clamping device for fixing a tool unit on the spindle is advantageously provided in or on the holding body. This can depend on the type of such a clamping device
  • the 15 device be formed in different ways.
  • it contains a pressure bolt which can be displaced against the force of a spring by means of pressure medium, or a key element 0 or the like which can be driven in rotation and can be brought into engagement with part of a clamping device.
  • Such elements are particularly suitable for this purpose, to actuate a clamping device provided in an advantageous manner on or in a tool unit itself.
  • a clamping device accommodated in a tool unit expediently contains a spring arrangement for applying the clamping force, the release of the clamping being effected by an external force which counteracts the spring force.
  • the clamping device has an abutment for the spring arrangement, which either has an actuation * accessible from the outside of the tool unit approach, on which a force can act on the ring member, or which can be axially displaced by a screwing movement and has a key accessible from the outside of the tool unit or the like.
  • a screwdriver or another torque-generating device can then engage the latter.
  • a further special embodiment consists in that an abutment for the spring arrangement forms a piston which is displaceable in a cylinder or is connected to such a piston, and that a pressure means leading to the cylinder or a connection is provided for such a piston .
  • the design can be such that a passage leading from the outside of the tool unit leads to the cylinder and a pipe or the like in this passage. can be inserted under seal when the tensioning device is to be actuated. Such a design does not require additional absorption of reaction forces.
  • the transfer unit can have a corresponding number of holding bodies for a plurality of tool units provided with grinding wheels and / or for a number of tool units equipped with dressing tools.
  • the transfer unit can be a slide, stand or the like which can be moved relative to the working area of a grinding machine. be trained.
  • the transfer unit is is.
  • the gripper arrangement with the explained mobility of the holding body can in particular the head of an arm, boom or the like, which can preferably be moved in a controlled manner. form, which can be arranged on a stand or in particular also form the part of a robot or a manipulator device.
  • the holder for a tool unit has a plurality of jaws, clamping pieces or the like which engage in a groove in a tool unit in order to grip, hold and move the latter.
  • One or more sensors, position switches or the like are advantageously used. provided that give a signal when the tool unit in question is correctly detected. Such a signal can then be used for further control of the change process.
  • a transfer unit designed in the form of a gripper system has the great advantage, among other things, that it can be built relatively flat and can therefore be easily moved from the side in front of a grinding and / or dressing spindle, and the change can be made by one or several tool units can be carried out in the axial direction without requiring a large amount of space.
  • the invention includes, in particular, the arrangement of one or more brackets on a part which is capable of executing even complicated movements in space, as is the case with a robot or manipulator already mentioned.
  • F g. 3 shows a section along the line III-III in FIG. 2,
  • FIG. 6 shows a modified embodiment of FIG. 5
  • FIG. 11 shows a section along the line XI-XI in FIG. 10. Ways of Carrying Out the Invention
  • a tool unit W1 with a grinding wheel S is located on a working spindle of the grinding spindle stock 5.
  • a tool unit W2 with a dressing tool A e.g. a diamond dressing roller.
  • the number 7 designates a transfer unit, for example in the form of a displaceable stand 9, which has two brackets H1 and H2. The latter are arranged in such a way that they are in a position adjacent to the tool units W1 and W2 when • the associated elements are in the transfer position.
  • the holder Hl is set up for receiving the tool unit W1 and the holder H2 is set up for receiving the tool unit W2.
  • the transfer unit is moved out of the transfer position shown and thus out of the working area of the grinding machine, which can be done in different ways depending on the design of the machine.
  • a rah enformi ger base body 11 is releasably attached to the transfer unit 7.
  • a frame-shaped intermediate body 12 is arranged within this base body. The latter is connected to the base body 11 by two leaf springs 13 so that it can experience a movement in the direction of the arrows F1, wherein the elasticity of the leaf springs 13 exerts a restoring force on the intermediate body 12, which tries to keep it in a central position with respect to the central axis M of the entire holder.
  • the leaf springs 13 are detachably siskö at their ends to the Ba 'body 11 and secured in their central region to the intermediate body 12th
  • Pot-shaped base body 16 with an inner holding body 14 received by it is connected by leaf springs 15 to the intermediate body 12 in such a way that it can move in the direction of the arrows F2, that is to say perpendicular to the direction of the arrows Fl.
  • the ends of the leaf springs 15 are also fixed here to the intermediate body 12, in particular clamped between parts thereof, and are fastened to the base body 16 with their central region.
  • the holding body 14 has a mobility in two degrees of freedom F1 and F2 in directions transverse to the axis M.
  • the leaf spring arrangements 13 and 15 are in this embodiment in the same area enclosed by two radial planes. But they can also be axially offset from one another.
  • the holding body 14 is arranged in the base body 16 so as to be axially movable. It can be displaced on three guide bolts 18 distributed over the circumference of the latter against the force of compression springs 17. The latter seek to hold the holding body 14 in a starting position (on the right in FIG. 3).
  • a sensor, position switch 19 or the like. attached which gives a signal when the holding body 14 has reached a rear end position during an axial displacement. The signal can be used for control purposes.
  • the holding body 14 On its front side, the holding body 14 is provided with a recess 21 which can receive the end of a clamping flange 31 of a tool unit W1, as shown in FIG. 3.
  • gripper claws 22 designed as an angle lever are provided, which are mounted on pins 23 and can each engage with their front ends 22a in a groove 32 of the flange 31, around the latter and thus the tool unit Wl to hold on the holding body 14.
  • the piston rod ends 24 of pistons 26 which can be displaced in cylinders 25 by pressure medium serve to actuate the gripper claws 22.
  • the pressure medium supply is designated by the number 27.
  • the gripper claws are returned to a rest position by tension springs 28, in which the ends 22a lie outside the flange 31 of a tool unit, so that one can be moved freely into or out of the receptacle 21.
  • Numbers 29a and 29b denote two position switches which scan a rod 30 connected to the piston 26, which may have an annular groove, for example, and thereby give signals which indicate the respective position of the piston 26 and thus the gripper claws 22.
  • the holding body 14 there is also an actuating device, generally designated by the number 40, for a clamping device for fixing a tool unit on a work spindle.
  • the actuating device 40 has a piston 42 which can be displaced in a cylinder 41 against the force of a compression spring 43 and which continues in a pressure bolt 44 towards the front.
  • a pressure medium too! The direction to the cylinder 41 is denoted by the number 45. she is passed through an opening in the base body 16 and connected to a pressure medium supply and control device, not shown.
  • the holding body or a base body 16a supporting it is displaceably mounted with pins 46 in guides 47 of the intermediate body 12a and loaded by compression springs 48 which seek to hold it in a central position with respect to the central axis M. Accordingly, the intermediate body 12a is mounted in the base body 11a with pins 46 in guides 49 and is loaded by compression springs 48.
  • FIG. 5 shows an embodiment of a tool unit W1, in which the clamping flange 31 for a grinding wheel S contains a clamping device.
  • the flange part 31a has a conical bore 33, which is accommodated on the outer cone 51 of a shank 52.
  • a screw 53 with a head 54 is firmly screwed into the front end of the shaft, the rear annular surface of the head 54 forming an abutment for gripper pieces 55.
  • a plate spring assembly 62 Arranged in a cylindrical cavity in the flange part 31a, which is closed by a cover 61, is a plate spring assembly 62, which rests with one end on the base of the cavity 63 and is supported with the other end on an abutment 64, which is supported by a piston-like arrangement term Te l is formed, which can slide in a cylindrical recess 65 of the lid 61.
  • an actuating projection 66 extends outwards through a bore in the cover 61 in such a way that its end, for example, with can come into contact with the pressure pin 44 of the actuating device 40 shown in FIG. 3.
  • the abutment 64 continues in a shaft 67 which ends in a head 68.
  • the outer cone 51 of the spindle 52 is fixed by the force of the telescopic spring assembly 62, the flow of force going through the abutment 64, the shaft 67, the gripper pieces 55, the screw 53, the outer cone 51 and the flange part 31a.
  • reaction forces can be absorbed by the gripper claws 22, as shown in FIG. 3, or by other suitable holding means.
  • Clamping devices that work with gripper pieces corresponding to the parts 55 are known per se, specifically for tools that are inserted into a receptacle with a shank.
  • gripper pieces in the clamping position interact positively with a clamping head on the shaft in the sense of pulling the shaft into the receptacle, while in an advanced release position they can deflect radially outwards into a recess in the part in question, releasing the clamping head.
  • These known devices are operated with a pull rod passing through the spindle.
  • the clamping device is in each case in a tool unit, so that the spindle can be completely free of any fittings.
  • Devices for balancing the grinding wheel or the tool unit and / or devices for vibration damping may be present in the clamping flange 31 of a tool unit.
  • one of several chambers 34 for compensating liquid for balancing is shown in the flange part 31a in FIG. 5.
  • the spindle 52 is provided with a "long" outer cone 51 for receiving a tool unit.
  • An embodiment with a so-called short taper 56 on the spindle 52 is shown in FIG. 6.
  • the flange part 31b of the clamping flange 31 has a correspondingly conical bore 35.
  • There is also a flat surface 36 which comes to rest on a surface 57 of a part 58 of the spindle 52.
  • Such surfaces lying on a large diameter result in a particularly good contact strength and accuracy.
  • the other design of the tool unit can also be made as it is the respective Best meets requirements and conditions, especially with regard to the different possibilities of clamping devices.
  • FIG. 7 an embodiment is shown in which an axial force for compressing a plate spring assembly 62 or the like. and thus generated to loosen the tension by a screwing process.
  • a cover 37 is provided with a threaded bore 38 for receiving a screw 39, which has a square head 39a or other key contact surfaces and rests with its end face against a projection or a lug 64a of the abutment 64.
  • the torque for turning the screw 39 is generated by a screwdriver or another suitable device, the front part of which can be brought into engagement with the square 39a.
  • a part is as a bowl element or the like. seen in particular at the point where the pressure pin 44 is located in the embodiment according to FIG. 3.
  • a unit for generating a torque can be directly assigned to such a part, so it can be accommodated in the holding body, or it can also be located at another location, if necessary also optionally be coupled with a displaceable key element.
  • FIG. 8 A further advantageous embodiment of a clamping device accommodated in the clamping flange 31 of a tool unit is shown in FIG. 8, wherein, just like in FIG. 7, a number of parts which are shown in FIG. 5 are not shown here for the sake of simplicity.
  • the same reference numbers indicate identical or corresponding parts.
  • a cover 71 of the clamping flange 31 forms a cylinder 72 in which a piston 74 serving as an abutment for a plate spring package 62 can be displaced.
  • a bore 75 provided with a seal 73, into which the head piece of a tube 76 can be inserted from the outside and can neither be pulled out.
  • a tube is provided in particular at the point at which the pressure bolt 44 is located in the embodiment according to FIG.
  • the pipe 76 is connected to a pressure medium source 1 e via a line (not shown) and can be moved in the sense of the double arrow D by a mechanical, electrical or pressure-operated device, for example one of the type shown in FIG. 3 become.
  • pressure medium compressed air or hydraulic oil
  • a check valve can be provided in the area of the bore 75, as is indicated schematically by the number 77.
  • FIG. 9 shows a tool unit W2 in which a dressing tool A in the form of a dressing roller is fastened by means of a nut 84 to a clamping flange denoted overall by the number 81.
  • An end face 81a of the flange can form a reference surface for a specific positioning of the dressing roller.
  • Clamping means are also provided here in the clamping flange 81. 9 correspond to 5, so that the same or similar parts are designated with the same reference numerals as there. However, another of the stated embodiments can also be provided.
  • stored working spindle 82 for the dressing tool A can, as shown in FIG. 9 with solid lines, have a Tangen cone 83 or also a short cone 85, indicated by dash-dotted lines, the clamping flange 81 being designed accordingly.
  • FIGS. 10 and 11 A further advantageous embodiment of a transfer unit 8 with a holder for a tool unit is shown in FIGS. 10 and 11, in the form of a system to be addressed as a gripper arrangement.
  • a holder designated overall by H3 is attached to a load-bearing part 80, which is shown in FIG. 10 only with its end, and which can be designed differently depending on the requirements and conditions.
  • a load-bearing part 80 which is shown in FIG. 10 only with its end, and which can be designed differently depending on the requirements and conditions.
  • it is an arm or the like. , which can be provided movably on a base, stand, slide, carriage or similar element and whose movements can be controlled in the desired manner.
  • the arm can in particular be part of a manipulation device or an industrial robot.
  • a head-like holding body 94 is connected to the arm 80 in such a way that it has mobility in two degrees of freedom F1 and F2.
  • an intermediate body 92 is displaceably guided on pin 78 of the arm 80 forming a base body here, expediently in roller guides, and is loaded by compression spring assemblies 79 which seek to keep it in the position shown.
  • the holding body 94 is connected to the intermediate body 92 by leaf springs 95, which at the same time bring about a restoring force with the mobility.
  • the desired stiffness can be achieved in the connections, in particular in the case of the leaf springs, also against rotation. This also applies to the springs of the embodiments according to FIGS. 2 to 4.
  • the holding body 94 (gripper head) can also be provided with an additional degree of freedom in the direction of the central axis M if this is desired. It can in particular be the case here that the part 94 suspended from the leaf springs 95 in FIG. 10 does not itself form the holding body, but (roughly analogously to the embodiment according to FIGS. 2 and 3) forms a basic body in which the actual part is then Holding body is axially movable, preferably under spring loading. Axial mobility can also be present elsewhere. Regardless of this, a sensor or the like can be used in any case. provide with which the axial position of the holding body can be grasped relative to the arm or another part.
  • the holding body 94 has three gripper jaws 86, 87 and 88, which can engage in a groove 32 or in other recesses in the clamping flange 31. Of which are at In the embodiment shown, the two gripper jaws 87 and 88 are stationary or can be adjusted and locked to a desired radial position, while the third gripper jaw 86 by means of an angle lever 89 which can be pivoted about a pin 90 seated in the holding body 94 and thereby in and can be disengaged from the groove 32.
  • a controllable, hydraulic or pneumatic cylinder-piston unit 91 is provided on the holding body 94.
  • the clamping flange 31 and thus the tool unit W1 are centered relative to the holding body by means of the gripper jaws 86, 87 and 88.
  • Each gripper jaw is equipped with a sensor, limit switch 93 or the like. equipped which emits a signal when the relevant gripper jaw rests on the bottom of the groove. If all sensors have emitted a signal, it is ensured that the tool unit is correctly detected. Further control or work processes can then be made dependent on this.
  • a sensor as shown in FIG. 11, can have a spring-loaded stylus 93a, which actuates the actual switching element when it reaches an end position in a guide sleeve surrounding it.
  • the clamping flange 31 of the tool unit W1 is equipped with a clamping device, as has already been explained in connection with FIG. 8, so that what has been said there in principle also applies here.
  • the same or corresponding parts are identified by the same reference numbers as in FIG. 8.
  • An actuating device for the tensioning device is attached to the holding body 94.
  • An arm 96 fastened to the holding body 94 has a guide bore 97 for a tube 76 which is held in a cross member 98.
  • the latter can be controlled in a controllable manner by means of a pressure medium to be actuated device 70, which has a spring-loaded piston 69 in a cylinder provided with pressure medium connection, can be displaced in the direction of the double arrow D shown, so that the tube 76 is moved into and out of the bore 75 can.
  • a sensor, position switch 99 or the like. on the traverse 98 gives a processable signal when the operating position is reached (indicated by dash-dotted lines).
  • the tube 76 is connected via a screwed to its rear end and at the same time its attachment fitting 98a with a pressure medium source not shown e.
  • the tensioning device in the tensioning flange 31 and the actuating device 100 can also be designed in a different way, with, inter alia, reference can be made to the explanations given above.
  • the arm 80 with the holding body 94 located thereon is moved transversely to the axis of the spindle or to the central axis M until the gripper jaws 87 and 88 are inserted from the side into the groove 32 of the Enter clamping flange 31 and come to rest on the bottom thereof, which is reported by the associated sensors 93. Then it will be in an external position until then! - Before the third gripper jaw 86 is pivoted radially inwards by means of the unit 91 until it also abuts the bottom of the groove 32. The signal emitted by the associated sensor 93 completes the check that the tool unit has been correctly detected.
  • the transfer unit 8 with a holder H3 has been described above. It is also within the scope of the invention to provide a transfer unit designed in the sense of such a gripper system with a plurality of brackets, be it that these are arranged on a single arm or on a plurality of arms which can be moved independently of one another.
  • the device according to the invention is suitable for grinding and dressing tools of various types. It also falls within the scope of the invention to provide tool units in which a plurality of tools are arranged next to one another at a distance on a tool unit to be handled by the transfer unit and to be received in a holder thereof. This is particularly good for so-called set discs or the like. Furthermore, the invention also provides for brackets to be arranged axially offset from one another on a transfer unit if this is conducive to an inexpensive implementation of a change process.
  • a tool change can be carried out automatically in whole or in part without difficulty, using the sensors, position switches or the like described by the emitted signals can be used.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

Un dispositif d'échange des outils utilisés lors d'opérations de meulage (meules, rouleaux de dégrossissage et similaire) comprend une unité de transfert (7, 8) ayant un montant (9, 80), châssis ou similaire présentant un ou plusieurs supports (H1, H2) d'unités d'outils (W1, W2). Chaque unité peut être reçue dans un porte-outils (14, 94) se déplaçant transversalement à deux degrés de liberté (F1, F2) par raport à l'axe (M) du montant (9, 80). En outre, le porte-outil (14, 94) peut se déplacer axialement par rapport à la base (16) qui le soutient. Les unités d'outils présentent en particulier un dispositif de serrage à ressort (62) pouvant être actionné de l'extérieur et monté dans la bride de serrage (31).
PCT/DE1986/000362 1985-09-17 1986-09-12 Dispositif d'echange d'outils lors d'operations de meulage Ceased WO1987001642A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE8686905216T DE3679544D1 (de) 1985-09-17 1986-09-12 Vorrichtung zum wechseln von werkzeugen bei schleifoperationen.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19853533090 DE3533090A1 (de) 1985-09-17 1985-09-17 Vorrichtung zum wechseln von werkzeugen bei schleifoperationen
DEP3533090.2 1985-09-17

Publications (1)

Publication Number Publication Date
WO1987001642A1 true WO1987001642A1 (fr) 1987-03-26

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PCT/DE1986/000362 Ceased WO1987001642A1 (fr) 1985-09-17 1986-09-12 Dispositif d'echange d'outils lors d'operations de meulage

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EP (1) EP0236379B1 (fr)
DE (2) DE3533090A1 (fr)
WO (1) WO1987001642A1 (fr)

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KR100856290B1 (ko) * 2002-04-01 2008-09-03 주식회사 포스코 롤 연마기의 연마지석 교체장치
TWI666090B (zh) * 2017-06-26 2019-07-21 日商Ｔｏｗａ股份有限公司 刀片更換機構、切斷裝置以及刀片更換方法
US11192190B2 (en) * 2019-05-13 2021-12-07 Disco Corporation Blade attachment-detachment assisting apparatus
CN116394159A (zh) * 2023-04-18 2023-07-07 上海赛威德机器人有限公司 打磨换刀系统及其换刀方法

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DE3724697A1 (de) * 1987-07-25 1989-02-02 Schaudt Maschinenbau Gmbh Verfahren und vorrichtung zum schleifscheibenwechsel
DE3724698A1 (de) * 1987-07-25 1989-02-02 Schaudt Maschinenbau Gmbh Schleifkopf
DE10059712A1 (de) 2000-12-01 2002-06-20 Bosch Gmbh Robert Handwerkzeugmaschine

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EP0236379B1 (fr) 1991-05-29
DE3679544D1 (de) 1991-07-04
DE3533090A1 (de) 1987-03-26
EP0236379A1 (fr) 1987-09-16

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