EP3107685A1 - Cellule de robot pour le chargement et déchargement de machines d'usinage monoposte en parallèle - Google Patents

Cellule de robot pour le chargement et déchargement de machines d'usinage monoposte en parallèle

Info

Publication number
EP3107685A1
EP3107685A1 EP15705607.8A EP15705607A EP3107685A1 EP 3107685 A1 EP3107685 A1 EP 3107685A1 EP 15705607 A EP15705607 A EP 15705607A EP 3107685 A1 EP3107685 A1 EP 3107685A1
Authority
EP
European Patent Office
Prior art keywords
robot
robot cell
machine
cell
room
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
EP15705607.8A
Other languages
German (de)
English (en)
Inventor
Stefan Andreas KRUCK
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.)
Sk-Technologies Ug
Original Assignee
Sk-Technologies Ug
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
Priority claimed from DE201420001487 external-priority patent/DE202014001487U1/de
Priority claimed from DE102014114258.6A external-priority patent/DE102014114258B4/de
Application filed by Sk-Technologies Ug filed Critical Sk-Technologies Ug
Publication of EP3107685A1 publication Critical patent/EP3107685A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
    • B23Q1/66—Worktables interchangeably movable into operating positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08—Protective coverings for parts of machine tools; Splash guards
    • B23Q11/0891—Protective coverings for parts of machine tools; Splash guards arranged between the working area and the operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B23Q3/061—Work-clamping means adapted for holding a plurality of workpieces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B23Q39/028—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of workholder per toolhead in operating position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages

Definitions

  • the invention relates to a robot cell for loading and unloading of single-station cutting machines according to the preamble of patent claim 1 and a device for cutting according to claim 21.
  • the term robot cell refers to a separate unit.
  • individual robots are firmly connected to a machine tool or anchored to the ground. These rigid systems often prove to be inflexible and require additional Si ⁇ cherheits promoteden.
  • the main time is referred to here and below as the machining time of workpieces.
  • loading and unloading which are mostly time-neutral, these loading and unloading processes have no influence on the processing time of the workpieces.
  • the term loading and unloading space refers to a separate, separate space for loading and unloading workpieces into the clamping points.
  • the term single-user machine designates here and in the following ⁇ a machine tool in which the machining spindles of a workpiece-carrying receptacle (eg machine table) are permanently assigned.
  • the workpiece-supporting receptacle eg Maschi ⁇ nentisch or additional axis
  • the machining spindle is preferably for cutting Bear ⁇ processing (also called machining) is used.
  • Bear ⁇ processing also called machining
  • the object of the invention is to provide a robot ⁇ cell time parallel to the main loading and unloading of single ⁇ space-cutting machines and a Vorrichutng for machining without changing point execution and without transfer executing, in each of which, except for a relatively very short driving ⁇ time a Machine table from a clamping position to the next ⁇ th, no additional time by replacing the workpiece from Be ⁇ teungsplatz to the processing station at each processing cycle arises to provide.
  • the object of the invention is achieved by a robot cell for the time-parallel loading and unloading of single-station cutting machines with the features of patent claim 1 and an apparatus for cutting with the characteristics of Pa ⁇ tent tapes 21st
  • the robot cell of the invention with a robot cell space for loading and unloading of single-cutting machines with a machine room, wherein in the robot cell space at least one robot is arranged and being arranged in the machine room we ⁇ antes two clamping points and at least one processing ⁇ spindle of a single-cutting machine , so that the clamping points for workpiece holder in the machine room can be reached with the robot, characterized in that the robot cell space is coupled to the machine room ⁇ bar, so that in the coupled state of the Roboterzel ⁇ lenraum and the engine room, a processing space is formed.
  • multiple clamping points also ver ⁇ different workpieces can be processed in parallel, in which the various clamping points are simply equipped with different work ⁇ piece clamping means.
  • the single-place cutting machine can be equipped manually. With the robot cell space disconnected, setting up the machine room with workpieces is relatively easy. Manual operation means operation by means of human intervention.
  • the Ro ⁇ boterzelle By coupling the Ro ⁇ boterzelle the single-cutting machine can be automatically loaded in the so-called ⁇ Automatic mode.
  • Advantage ⁇ way proves to be a robot cell during continuous automatic operation ⁇ if repairs or maintenance in the machine must be carried out ⁇ area. Then the robot cell can be disconnected easily.
  • a "rigid system” often turns out to be difficult or impossible to access. cell is a hazardous access or access chertussi ⁇ .
  • the robot cell can be detachably coupled to the single-station cutting machines.
  • the robot cell can easily be disconnected.
  • a "fixed system" often proves to be difficult or inaccessible.
  • a coupling point of the robot cell between the robot cell space and the machine room at a ⁇ our camp-site-cutting machine a coupling point seal.
  • the coupling points seal forms a compound of Robo ⁇ terzelle with the machine.
  • the machine room is combined with the robot cell room
  • the single-station cutting machine by the robot main time-parallel, preferably automated, loading and unloading.
  • workpieces can be machined in the machine tool and new workpieces fed at the same time. This supply can take place directly or by means of work ⁇ piece carrier.
  • the robot cell is ge ⁇ suitable formed, so that with the robot, the clamping points for workpiece holder in the engine room at a standstill and / or running machining spindle can be reached.
  • the machining spindle is running spindle stops fall away, which are nö ⁇ tig at change machines in the corresponding space change.
  • the clamping points can be controlled and a clamping of supplied ⁇ led workpieces are triggered by the robot cell. In automatic mode, the clamping points can thus be clamped automatically in the continuous cycle.
  • the drive means are suitably removablebilet that the clamping points are independently controllable.
  • Advantage of this embodiment is that while at one of
  • Clamping points is processed, can be loaded and unloaded at another clamping point.
  • a clamping point lenabprocessung is arranged in the processing space, wherein the Spannstellenabprocessung is fixedly arranged on a machine table, on the robot or on the Bear ⁇ processing spindle. Also connected to the machine ⁇ table, the machining spindle trackable Anord ⁇ tion can be arranged as Spannstellenabprocessung.
  • the clamping points shield protects against adjuvants of cerium ⁇ spanung (media such as oil or emulsion) and chips from the cutting process. In addition, less cleaning of the clamping points is required by the Spannstellenab ⁇ shielding.
  • flushing elements such as nozzles, are arranged in the clamping point screen. Through this a cleaning ⁇ supply can be loaded and unloaded clamping points are reached with saube ⁇ ren media like purified emulsion or blowing air.
  • the robot is arranged on the machine table or with this indirectly or indirectly. indirectly connected.
  • indirectly is expressed indirectly with the loading ⁇ reached that the robot is connected via an interim ⁇ rule membered to the machine table; Accordingly, the term directly expresses that the robot is connected directly, ie without an intermediate link, to the machine table.
  • the movement of the robot mount is the same as that of the machine table. It is therefore only the movement of the robot holder and not the entire robot that of the machine table the same, since the axes of the robot rela ⁇ tively can move to his robot recording, for example, for loading and unloading the clamping points.
  • a development of the invention provides to arrange the robot on egg ⁇ ner weighing plate or with this position fixed Maschinenele ⁇ elements.
  • the robot may be directly or indirectly connected to the weighing plate.
  • the movement of the robot mount is the same as the cradle plate. Therefore, only the movement of the robot holder and not the entire robot is the same as the weighing plate, since the axes of the robot can move relative to its robot holder, for example for loading and unloading the clamping points.
  • the robot is designed with multiple arms.
  • an arm can perform each independently of another an object of arms, which is an advantage with a view to re ⁇ sultierende shortened processing time arises.
  • the Spannstellenabcanung of least ⁇ least one robotic arm in a shielding durable and the loading and unloading of the clamping points is carried out by at least one other robot arm.
  • a robot shield is arranged in the processing ⁇ space.
  • the robotic mung protects the robot before Zerspanungsangesstoffen and SPAE ⁇ nen and before other impurities.
  • the machine table is movable at least along a first direction and a second direction, wherein preferably the first direction and the second direction are substantially perpendicular au ⁇ finely other.
  • a movable machine table be ⁇ favored loading and unloading the single-slot machine, compared with machines in which the machine table also performs Z-axis movements.
  • XY plane a plane perpendicular to the machining spindle
  • the controller may allow the controller to engage, for example, currency ⁇ rend drilling cycles, since then only Z-axis motion leads excluded. If the machine loading and unloading takes longer than this program part, the processing stops for a short time.
  • the single-station cutting machine on an additional axis.
  • Additional axles can be mounted on the machine table or on the machine frame. If the design of the machine is possible, the machine table can also be omitted and the additional axis can assume the function of the machine table.
  • the clamping points are rotatably arranged around the additional axis.
  • Such additional axes are used to process the workpieces from multiple sides.
  • Rotierbar arranged clamping points allow a chip waste by gravity, which facilitates the protection of loading and unloading clamping ⁇ points from contamination.
  • the clamping points are arranged on weighing plates. By equipping the weighing plate with clamping points of at least one side, more preferably but at least two sides, can be achieved that a loading and unloading on the machining spindle terminatelie ⁇ ing side or at another suitable angle to Spin ⁇ del is possible. This results in a clamping point ⁇ shielding by the weighing plate and a chip waste with ⁇ means of gravity, which facilitates the protection of loading and unloading clamping points from contamination.
  • Movements of the robot, the machine table, and / or a movement of an additional axis at least partially synchronized, in particular synchronously to each other are movable.
  • ⁇ with present invention can also be used when the machine table is not fixed, ie machining ⁇ tung axes be moved with the machine table (single or multi-axis machining to the machine table).
  • the loading and unloading of the clamping stations is hidden time characterized ge ⁇ ensures that a machine control is the corresponding axial movements of the robot and that of the supply BEWE ⁇ follows. There is thus no relative movement between the robot and the machine table.
  • the Robo ⁇ terzelle communication means for controlling the robot, whereby, by the communication means of the robot in depen ⁇ dependence controllable by the control of the clamping points and / or by the communication means, the clamping bodies, depending on the control of the robot are controllable.
  • the communication means convey axis movements between clamping points and robots.
  • a movement of the robot is a
  • Movement of the machine table and / or the additional axis trackable.
  • the robot can load and unload the clamping points even if the machine table and / or additional axis are not stationary.
  • the inventive device is characterized in that it comprises a robot cell according to the invention and a ⁇ A our camp-site-cutting machine, wherein preferably the robot cell and single-cutting machine integrally ⁇ leads are.
  • the apparatus comprises a Bevorratungsein ⁇ direction.
  • the robot cell space is pre-loaded to such delivery systems, conveyor belts, cartridge systems, Palet ⁇ tensysteme on known methodological. This pre-loading via Bevorra ⁇ assessment bodies of the stocker. These components finished will provide to the stockkeeping ⁇ after processing stockpiled.
  • Fig. 1 is a side view of an embodiment of a
  • FIG. 2 shows a plan view of a robot cell according to FIG. 1, FIG.
  • Fig. 3 is a perspective view of a robot cell according to
  • FIG. 4 shows a side view of an embodiment of an arrangement with an integral design of robot cell and single-station cutting machine
  • FIG. 5 shows a plan view of an arrangement according to FIG. 4,
  • FIG. 6 is a perspective view of an arrangement with in ⁇ tegraler execution of an embodiment of a robot and an embodiment of a machine table, wherein the robot is arranged on the machine table ⁇ or connected to this,
  • FIG. 7 is a perspective view of an arrangement with in ⁇ tegraler execution with a robot according to Figure 6 and an additional axis according to Figure 3, wherein the Robo ⁇ ter is arranged on the additional axis or connected thereto, and
  • FIG. 8 is a perspective view of an arrangement with an embodiment of a Spannstellenabtubung on a robot.
  • FIG. 1 shows an exemplary embodiment of a robot cell 1 with a single-station cutting machine 2.
  • the robot cell 1 has a robot cell space 15 in which a robot 7 is arranged.
  • the operation of the robot 7 can be carried out with corresponding hydraulic or pneumatic drive elements. Thus, electronic ⁇ problems can be avoided.
  • the robot 7 is provided with a Robo ⁇ terabtubung. 4 This can be used as a coating film as used in foundry robots.
  • a machine room 14 at least two clamping points 5 and 6 and at least one machining spindle 13 of a single ⁇ place-cutting machine 2 are arranged.
  • the single-station machining machine 2 has the machining spindle 13 and a machining tool 12, for example a drill.
  • the clamping points 5, 6 are arranged on a machine table 3.
  • the clamping points 5, 6 are accessible by a robot arm.
  • FIG. 2 shows a clamping point screen 9 permanently installed on the table.
  • the tool holder is turned is in the machining spindle 13 ⁇ which drives the tool, as required or supported against torque or other forces encountered, see FIG. 3
  • robot cell 1 is the arrival and decoupling.
  • robot cells are designed such that they are designed as closed systems, have an opening to the loading side of the machine tool and the work area of the robot extends from the actual cell into the machine area.
  • Figure 1 shows, form robot cell 1 and the engine room 14 via a seal 10 Koppelstellenab ⁇ a coupling point of a common processing ⁇ space. Through this coupling, a combina- results on, so no separation of the engine room 14 and Roboterzel ⁇ lenraum 15th
  • Robot cells may include placement or storage locations for workpieces 16, 17 or workpiece carriers.
  • FIG. 2 shows storage locations 11 which are located laterally on the robot 7 are arranged.
  • the storage points 11 are protected by Be ⁇ vorratungsstellenabprocessungen 8 from contamination by a ⁇ passing media.
  • Single-station cutting machines 2 are preferably used when they are equipped with a fixed worktable ⁇ .
  • the machining spindle 13 is then moved with other elements in the different axes X, Y, Z. Due to the fixed table, a simultaneous loading or unloading of further clamping points can be ensured even when machining workpieces in several axes.
  • the robot cell 1 can also be used when the machine table 3 is not stationary, i. Machining axes X, Y are moved with the machine table 3 (single or multi-axis machining with the machine table).
  • the loading and unloading of the clamping points 5, 6 is usually time-parallel ensured that releases a machine control with appropriate program parts without disturbing movements loading and unloading.
  • FIG. 3 shows an auxiliary axis 18.
  • this auxiliary axis 18 the workpieces 16, 17 in the clamping areas 5, 6 clamped on ei ⁇ ner cradle plate nineteenth It can on this additional axis 18 a lot of clamping points 5, 6 are attached.
  • clamping points 5, 6 of at least one side, but more advantageously of at least two sides, can be achieved that as shown in Figure 3, a loading and unloading on the machining spindle 13th opposite side or at another suitable angle to the spindle is made possible.
  • the robot cell 1 can also be ⁇ set when the machine table 3 is not fixed, ie machining axes are moved to the machine table 3 (one or more multi-axis machining with the machine ⁇ table).
  • the loading and unloading of the clamping areas 5, 6 is full-time parallel ensured by the fact that the machine controls ⁇ tion passes on the corresponding axial movements of the machine table 3 and additional axis 18 to the robot 7, and this partially follows the movement.
  • the robot controller makes use of the balanced positions, only the insertion and extraction ⁇ point and drives to it.
  • the machine table 3 and supplementary-axis 18 due to the machining program exporting ⁇ reindeer, not having to follow one or more axes of the robot 7 can be connected in an elastic mode (or compliant ⁇ keitsmodus).
  • This mode gives one or more axes a suspension function.
  • the robot is tionality with this functional traced with the gripped component to Be ⁇ movements of the machine table 3 and additional axis 18 and nachgeschoben. It must be programmed no complex movements per ⁇ and there is no synchronization function of Robterschulen to those of the machine table 3 and the supplementary axis 18 necessary.
  • Figures 4 and 5 show an embodiment of the integral robot ⁇ cell 1 and the single-cutting machine 2.
  • the robot cell 1 and the single-cutting machine 2 are formed integrally.
  • Figure 6 shows an embodiment of the robot 7 and the single ⁇ space-cutting machine 2, wherein the robot 7 on the Ma ⁇ is attached schin table. 3
  • the relative movements between the robot 7 or its basic receptacle and the Clamping points eliminated.
  • the Robotgrundauf ⁇ measure is therefore called because the robot 7 can still perform relative movements with its axes, the eliminated Re ⁇ relative movement concerns only a stationary robot 7 and the basic recording of a moving robot in different axes 7.
  • FIG 6 is a connected to the Maschi ⁇ nentisch 3 or the machining spindle 13 robot 7 described.
  • the basic robot recording therefore has, as described above, no relative movement to the clamping points 5, 6.
  • no special precautions are to be taken when the table is stationary.
  • a moving table There are different possibilities for a moving table.
  • a short machine standstill for retrieving or depositing workpieces by the robot 11 at the storage locations 11 can be used. In ⁇ example, when drilling movements in pure Z-direction out ⁇ leads and no X and Y movement is performed.
  • the robot motions according to the Real ⁇ tivschul between the robot 7 and storage location 11 can be synchronized.
  • the robot 7 can track the movements of the storage location 11.
  • FIG. 7 shows an integral embodiment of the robot 7 and the single-station cutting machine 2, wherein the robot 7 is arranged on or connected to the additional axis 18.
  • the robot 7 is thus not directly connected to the machine table 3, son ⁇ countries indirectly, ie via an additional element connected. This design can lead to a compact design.
  • Figure 8 shows a perspective view of an arrangement ei ⁇ nes robot 7 and the machine table 3, wherein the
  • Spannstellenabcanung 9 is arranged on the robot 7. Egg ⁇ ne Such an arrangement of the clamping points shield 9 can be used for improved protection of the robot 7 before excipients machining (media such as oil or emulsion) and chips from the cutting process.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Automatic Assembly (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

L'invention concerne une cellule de robot (1) comportant un espace de cellule de robot (15) servant au chargement et au déchargement de machines d'usinage monoposte (2) et comportant un compartiment machine (14), au moins un robot (7) étant disposé dans l'espace de cellule de robot (15) et au moins deux emplacements de serrage (5, 6) et au moins une broche d'usinage (13) d'une machine d'usinage monoposte (2) étant disposés dans le compartiment machine (14) de telle sorte que les emplacements de serrage (5, 6) destinés à recevoir des pièces à usiner dans le compartiment machine (14) peuvent être atteints par le robot (7), l'espace de cellule de robot (15) pouvant être accouplé au compartiment machine (14) de telle sorte que, une fois accouplés, un espace d'usinage est formé par l'espace de cellule de robot (15) et le compartiment machine (14), et un dispositif d'usinage, le dispositif comportant une cellule de robot (1) selon l'une quelconque des revendications 1 à 20 et une machine d'usinage monoposte (2).
EP15705607.8A 2014-02-21 2015-02-18 Cellule de robot pour le chargement et déchargement de machines d'usinage monoposte en parallèle Ceased EP3107685A1 (fr)

Applications Claiming Priority (11)

Application Number Priority Date Filing Date Title
DE201420001487 DE202014001487U1 (de) 2014-02-21 2014-02-21 Roboterzelle zum hauptzeitneutralen Be- und Entladen von Zerspanungsmaschinen
DE102014002746 2014-03-04
DE102014003596 2014-03-17
DE102014003720 2014-03-18
DE102014007654 2014-05-27
DE102014010880 2014-07-26
DE102014010925 2014-07-28
DE102014114258.6A DE102014114258B4 (de) 2014-02-21 2014-09-30 Roboterzelle zum hauptzeitparallelen Be- und Entladen von Einzelplatz-Zerspanungsmaschinen sowie Vorrichtung zum Zerspanen mit einer solchen Roboterzelle
DE102014017343 2014-11-25
DE102014017930 2014-12-05
PCT/EP2015/053445 WO2015124645A1 (fr) 2014-02-21 2015-02-18 Cellule de robot pour le chargement et déchargement de machines d'usinage monoposte en parallèle

Publications (1)

Publication Number Publication Date
EP3107685A1 true EP3107685A1 (fr) 2016-12-28

Family

ID=53877649

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15705607.8A Ceased EP3107685A1 (fr) 2014-02-21 2015-02-18 Cellule de robot pour le chargement et déchargement de machines d'usinage monoposte en parallèle

Country Status (7)

Country Link
US (1) US20170050282A1 (fr)
EP (1) EP3107685A1 (fr)
JP (1) JP2017514714A (fr)
KR (1) KR20160117617A (fr)
CN (1) CN106232292A (fr)
RU (1) RU2016137477A (fr)
WO (1) WO2015124645A1 (fr)

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RU2016137477A (ru) 2018-03-26
JP2017514714A (ja) 2017-06-08
US20170050282A1 (en) 2017-02-23
WO2015124645A1 (fr) 2015-08-27
RU2016137477A3 (fr) 2018-08-23
CN106232292A (zh) 2016-12-14

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