Patent Grant
11383333
This application is based on and incorporates herein by reference German Patent Application No. 10 2019 115 607.6 filed on Jun. 7, 2019.
The invention concerns a multi-clamping and measuring and/or presetting station.
Manually loadable tool clamping stations having no presetting and/or no measuring facilities are known from the state of the art.
The objective of the invention is in particular to provide a generic device with advantageous characteristics regarding flexibility.
A multi-clamping and measuring and/or presetting station for tools is proposed, which is configured for an automated, preferably fully automated, mounting of tools into tool holders and/or demounting of tools from tool holders and for an adjustment, in particular at least a length adjustment, and/or measuring of the tools in the tool holders, with at least two, preferably at least a plurality of, in particular fully automated, identical and/or different tool clamping-in units, in particular for a clamping-in and/or clamping-out of the tools into and/or from the tool holders, with at least one, in particular optical, measuring and/or presetting apparatus for tools and with at least one handling robot, which is at least configured to move tools and tool holders between the tool clamping-in units and the measuring and/or presetting apparatus. This advantageously allows achieving a high degree of flexibility. It is in particular advantageously possible to achieve a time-saving and/or personnel-saving clamping-in and/or clamping-out of tools into and/or from tool holders. Advantageously costs can be kept low. Advantageously it is possible for several work steps, for which in particular different work stations were necessary before, to be comprised in one single work station, as a result of which in particular an advantageously high effectivity is achievable.
By a “multi-clamping and measuring and/or presetting station” is in particular a device to be understood which is at least configured to load, in particular at least partly simultaneously, a plurality of identical and/or preferentially different tool holders with tools, and/or to remove tools, in particular at least partly simultaneously, from a plurality of identical and/or preferentially different tool holders. In particular, the multi-clamping and measuring and/or presetting station is at least configured to at least partly simultaneously remove one tool from a tool holder and to fixate another tool in another tool holder. In particular, the multi-clamping and measuring and/or presetting station is at least configured to at least partly simultaneously remove one tool from a tool holder or to fixate a tool in a tool holder and to measure and/or preset another tool in another tool holder. By a process being “fully automated” is in particular to be understood that the process is free of any influence from an operator's side, in particular except for a starting and/or stopping of the process. The tools are in particular embodied as shaft tools, preferably as rotary shaft tools, for example drills, milling tools, profiling tools, and/or reamers, a shaft of such a shaft tool being preferably configured to be mounted in a tool holder.
By a “tool holder” is in particular a structural component to be understood which is configured to receive a tool and to connect the tool to a machine. In particular, the tool holder is configured as a tool-machine interface. Preferentially the tool holder is implemented as a tool-chuck, for example a shrink-clamp chuck, as a hydraulic-expansion chuck, as a compression-clamp chuck, as a collect chuck or the like. In particular, the multi-clamping and measuring and/or presetting station is configured at least for tool holders in sizes HSK 40 to HSK 100 and/or tool holders of other types, e.g. SK, Coromant Capto®, KM or the like. By a “tool clamping-in unit” is in particular a unit to be understood which is configured for a mounting of a tool in a tool holder and/or for a demounting of a tool from a tool holder. The tool clamping-in unit in particular forms a tool clamping-in and/or tool clamping-out unit. In particular, the tool clamping-in unit is configured to activate, in particular adjust, a clamping mechanism of a tool holder, and/or to deactivate, in particular release, the clamping mechanism of the tool holder. In particular, the multi-clamping and measuring and/or presetting station comprises at least a plurality of tool clamping-in units, wherein at least two tool clamping-in units may be implemented identically and/or may be configured for operation of an identical clamping mechanism, and/or wherein at least two tool clamping-in units may be implemented differently and/or may be configured for operation of different clamping mechanisms. It is for example conceivable that at least two tool clamping-in units, which are configured for operation of an identical clamping mechanism, are configured for different sizes of tool holders and/or for different tools. In particular, each tool clamping-in unit is configured exclusively for the operation of one single clamping mechanism. A “clamping mechanism” is in particular to mean a hydraulic-expansion clamping mechanism, a shrink-clamping mechanism, a collet chuck clamping mechanism or a compression-clamping mechanism, preferentially a clamping mechanism tensioned by means of a union nut. A “mounting” of a tool in a tool holder is in particular to mean an insertion of the tool in a tool receiving opening of the tool holder and a subsequent, substantially extraction-resistant, fixation of the tool in the tool holder. A “demounting” of a tool from a tool holder is in particular to mean a release of a force effecting a fixation of the tool in the tool holder and a removal of the tool out of the receiving opening of the tool holder.
By a “measuring” is in particular a detection and recordal of at least one parameter, preferably a plurality of parameters, of a tool unit to be understood, wherein the measuring data allow working out a characterization, preferably a comprehensive characterization, of the tool unit, which is in particular configured to be transmitted to a machine tool which the tool unit is to be mounted on. A “tool unit” in particular comprises a tool and a tool holder, with the tool preferably being mounted in the tool holder in an extraction-resistant manner. A “presetting” is in particular to mean a presetting of a relative position, in particular a relative rotational position and/or a relative longitudinal position, of a tool in a tool holder. In particular, in the presetting of the tool unit a total length of tool chuck and tool and/or an insertion depth of a tool in a tool chuck are/is defined. A “length adjustment” is in particular to mean a presetting of a total length of the tool holder with the tool fixated therein, and/or a presetting of an insertion depth of the tool in the tool receiving opening of the tool holder. “Configured” is in particular to mean specifically programmed, designed and/or equipped. By an object being configured for a certain function is in particular to be understood that the object fulfills and/or implements said certain function in at least one application state and/or operation state. By a “measuring and/or presetting apparatus for tools” is in particular an apparatus to be understood which is at least configured for an at least partial capture and/or adjustment at least a length, at least an angle, at least a contour and/or at least an outer shape of a tool.
By a “handling robot” is in particular an industrial robot to be understood, preferably an articulated-arm robot, in particular having at least three, preferentially at least four, preferably at least five and particularly preferably at least six robot joints which are movable independently from each other, and/or a handling device and/or a manipulator. The handling robot is in particular configured to manage a material flow from and/or to at least one work point. A “work point” may in particular be at least a portion of a structural component and/or of a component of the measuring and/or presetting apparatus and/or at least of a tool clamping-in unit, which is at least configured to carry out a functional work step. Preferentially the work point is a respective holder of the tool clamping-in unit or of the measuring and/or presetting apparatus for a tool holder or a tool holder inserted in a holder of the tool clamping-in unit or of the measuring and/or presetting apparatus. The handling robot in particular comprises at least one gripper unit, which is at least configured to grip a tool, a tool holder and/or an attachment holder. Preferably the handling robot comprises at least one robot controller unit. The robot controller unit in particular comprises a specifically programmed robot controller device, which is configured for a controlling, regulation and/or selection of activities and/or movements of the robot and/or of at least one sub-component of the handling robot. Preferentially the robot controller unit comprises at least one operator interface, in particular for influencing a movement of at least one sub-component of the robot and/or for influencing a programming of the robot controller device. Preferably the handling robot comprises at least one sensor unit for a determination of at least one environment parameter. The sensor unit may in particular comprise at least one force and/or momentum sensor, at least one sensor for electromagnetic waves, at least one sound sensor, at least one pressure sensor, at least one vibration sensor, at least one gyrosensor, at least one humidity sensor and/or at least one temperature sensor. In particular, the handling robot is configured to insert tools and tool holders into the tool clamping-in units and/or into the measuring and/or presetting apparatus or to remove tools and tool holders from the tool clamping-in units and/or from the measuring and/or presetting apparatus.
Beyond this it is proposed that the handling robot comprises at least one temperature sensor, preferably a plurality of temperature sensors, which is/are configured to determine a temperature of the tool and/or of the tool holder and to optimize a positioning process of the robot, e.g. of a tool holder or of a tool unit, in a holding device of a tool clamping-in unit. This advantageously allows achieving an especially high precision. It is in particular conceivable for at least one temperature sensor being allocated to at least one location in the multi-clamping and measuring and/or presetting station, preferably at least several locations in the multi-clamping and measuring and/or presetting station, for example at least the measuring and/or presetting apparatus or at least the shrink-clamping station. If a most precise information is available on the temperature of a tool unit and/or of the tool holder may advantageously allow a temperature-caused expansion of a material to be taken into account in a measuring by the measuring and/or presetting apparatus. It is for example advantageously possible that a length-change of a tool unit, which is yet to be expected until complete cooling-down of the tool unit, will be taken into account, with measuring data of the tool unit being corrected accordingly.
It is further proposed that the at least two, in particular fully automated, tool clamping-in units are embodied as different tool clamping-in units, which are at least configured for an automated, preferably fully automated mounting of tools in respectively different tool holders with respectively different clamping methods, and/or for an automated, preferably fully automated demounting of tools from respectively different tool holders with respectively different clamping methods. This advantageously allows achieving an especially high degree of flexibility. Advantageously a single mounting station may be used for different types of tool chucks. It is in this way possible to advantageously save space, time and/or personnel. Moreover advantageously something like a “black box” can be created for a mounting of tools in tool holders, which is in particular operable without special knowledge of different types of tool chucks or clamping mechanisms. This advantageously allows providing a high level of user-friendliness.
Furthermore it is proposed that the tool clamping-in units, in particular the tool clamping-in units for tool holders with different clamping methods, are implemented separately, in particular completely separately, from each other. In this way a high degree of flexibility is advantageously achievable. In particular, it is advantageously possible to facilitate parallel operation of a plurality of tool clamping-in units, as a result of which a particularly high work speed is advantageously achievable. Moreover this advantageously allows flexible combination of different tool clamping-in units within the multi-clamping and measuring and/or presetting station, for example respectively adapted to numbers of tool holders of certain types which are to be expected. A modular construction may advantageously be made possible. By the tool clamping-in units being implemented “separately” from each other is in particular to be understood that different tool clamping-in units, in particular with the exception of connection elements for a mounting of the separate tool clamping-in units with each other, are free of shared structural components, preferably of shared functional structural components, which are directly or indirectly part of carrying out a tool clamping-in process or of a tool clamping-out process. Tool clamping-in units which are implemented separate from each other preferably realize tool clamping-in units which are, in particular completely, functional independently from each other. In particular, tool clamping-in units which are implemented separate from each other are configured to work, preferably to carry out tool clamping-in processes or tool clamping-out processes, simultaneously or in temporally overlapping periods. In particular, the positions of separate tool clamping-in units are interchangeable within the multi-clamping and measuring and/or presetting station in any regard and without affecting the respective functionalities. In particular, the tool clamping-in units form modules which are separate from each other.
It is also proposed that the multi-clamping and measuring and/or presetting station comprises at least one third tool clamping-in unit for tool holders with a third clamping method which differs from the clamping methods that can be carried out by the two other tool clamping-in units. This advantageously allows achieving an even higher degree of flexibility.
Beyond this it is proposed that the multi-clamping and measuring and/or presetting station comprises at least one fourth tool clamping-in unit for tool holders with a fourth clamping method which differs from the clamping methods that can be carried out by the three other tool clamping-in units. This advantageously allows achieving an even higher degree of flexibility.
If the tool clamping-in units and the measuring and/or presetting apparatus are arranged at least section-wise around the handling robot, a high degree of flexibility is advantageously achievable. In particular, it is advantageously possible for the handling robot to be arranged in such a way that it is capable of loading all the tool clamping-in units as well as the measuring and/or presetting apparatus. Advantageously a high efficiency is achievable. Advantageously this allows realizing the multi-clamping and measuring and/or presetting station in an especially compact manner. By objects, in particular tool clamping-in units and/or measuring and/or presetting apparatuses, being arranged “section-wise around” another object, in particular a handling robot, is to be understood that the other object is surrounded by the objects on more than one side, preferably on at least two sides, preferentially on at least three sides and particularly preferably on four sides. In particular, the objects which are arranged section-wise around the other object are not arranged linearly in a single row. It is however conceivable for the objects to be arranged in two rows situated at an angle to one another, or that the objects form two directly opposite-situated rows, in a center of which the other object is arranged. In particular, the objects which are arranged section-wise around the other object are arranged at least section-wise along a curved path, for example along a circular path and/or along an at least section-wise angled path, e.g. along a path comprising one angle or a plurality of angles. The tool clamping-in units and the measuring and/or presetting apparatus are preferentially arranged in an oval, in a circle or preferably in a rectangle around the handling robot. In particular, the tool clamping-in units, the measuring and/or presetting apparatus and the handling robot are arranged in a shared plane. It is however also conceivable that the at least two tool clamping-in units are stacked vertically one above the other.
Further it is proposed that the multi-clamping and measuring and/or presetting station comprises a shared housing which encloses at least the handling robot, the tool clamping-in units and the measuring and/or presetting apparatus, at least to a large extent. This advantageously allows achieving a high level of work safety. Moreover a particularly compact implementation of the multi-clamping and measuring and/or presetting station is advantageously possible. A “large extent” is in particular to mean, in this context, 51%, preferentially 60%, advantageously 70%, preferably 80% and particularly preferably 90%. In particular, the housing encloses the multi-clamping and measuring and/or presetting station to a large extent at least on four sides, preferably at least on five sides and preferentially at least on six sides.
It is also proposed that the housing comprises a flap that can be opened and permits access to the measuring and/or presetting apparatus and permits manual operation of the measuring and/or presetting apparatus, in particular from outside the housing. This advantageously allows achieving a particularly high degree of flexibility. Advantageously it is thus possible to allow selection between manual and automatic operation of the measuring and/or presetting apparatus. This may be advantageous in particular if an operator wishes to put in a manual measurement in between, for example if he wishes to quickly check a tool unit or if he wishes to make a measurement of a certain tool unit in advance. Advantageously, as a result of this an operator does not require a further separate measuring and/or presetting apparatus in place, which allows saving costs and/or keeping space requirements low. In particular, when the flap is opened the multi-clamping and measuring and/or presetting station automatically switches into a manual mode and/or pauses all currently running processes. It is alternatively conceivable that an opening of the flap is only permitted if all currently running processes of the tool clamping-in units and/or of the measuring and/or presetting apparatus are finished and/or paused, and/or if the measuring and/or presetting apparatus is free, i.e. there is no tool holder in the measuring and/or presetting apparatus. Alternatively it is conceivable that by an opening of the flap only a loading of the measuring and/or presetting apparatus by the handling robot is prevented while the tool clamping-in units continue to be loaded and operated in an automated manner.
Beyond this it is proposed that the multi-clamping and measuring and/or presetting station has a modular construction. This advantageously allows achieving a high degree of flexibility. In particular, it is advantageously possible to flexibly adapt a composition of he multi-clamping and measuring and/or presetting station to different specifications, customers' wishes and/or requirements at a location of use. For example, the number and type(s) of tool clamping-in units is freely selectable. Moreover a simple conversion, in particular a simple upgrade or downgrade, of the multi-clamping and measuring and/or presetting station is advantageously possible. This advantageously allows achieving especially easy mounting or demounting. Due to the modular construction it is in particular possible to combine the types and/or positions of the tool clamping-in units in any desired manner. However, the measuring and/or presetting apparatus advantageously always remains in the position of the housing in which the flap is located. The tool clamping-in units and/or the measuring and/or presetting apparatus in particular realize modules which are formed in such a way that they are couplable with one another in any required way. In particular, each module has a uniform width. In particular, each module has a uniform depth. In particular, each module has a uniform height. In particular, the functional units of each module, i.e. in particular the clamping devices of the tool clamping-in units implementing the respective clamping mechanism and/or the measuring and/or presetting devices of the measuring and/or presetting apparatus, are situated at a uniform height. In particular, each module comprises at least one support surface which is configured to receive the respective functional unit, with the support surfaces being situated at uniform heights respectively. In particular it is conceivable that at least one tool clamping-in unit, at least the measuring and/or presetting apparatus and/or the handling robot are/is composed of at least two or more modules. By a “module” is in particular a technical unit to be understood that is capable of being combined with other units to form an entirety, in particular of the multi-clamping and measuring and/or presetting station, that is of higher quality. In particular, individual modules may be combined into an entirety in different ways, depending on requirements and/or on customers' wishes. However, in particular the individual modules are already functional on their own. In particular, the individual modules are capable of operating independently from one another. Advantageously the modules realize structural components of a construction kit system. Advantageously a module constitutes an exchangeable complex element within a whole system and realizes a closed functional unit. In particular, in the modular construction a system, in particular the multi-clamping and measuring and/or presetting station, is composed of structural components, in particular the tool clamping-in units, the measuring and/or presetting apparatus and/or the handling robot, along defined points, in particular defined interfaces. In particular, the interfaces of all modules are embodied such that they are identical to each other and/or compatible with each other.
If at least an arrangement at least of part of the components of the multi-clamping and measuring and/or presetting station within the housing, i.e. for example of the individual tool clamping-in units, is module-wise selectable and/or module-wise modifiable, a particularly high degree of flexibility is advantageously achievable.
If moreover at least a combination at least of part of the components of the multi-clamping and measuring and/or presetting station within the housing, i.e. for example the individual tool clamping-in units, is module-wise selectable and/or module-wise modifiable, a particularly high degree of flexibility is advantageously achievable.
It is further proposed that at least one tool clamping-in unit is embodied as a shrink-clamping station, which is in particular configured for a mounting/demounting of tools into/out of (a) shrink-clamp chuck(s) by inductive heating. This advantageously allows achieving a high degree of flexibility, in particular as this facilitates at least a shrink-clamping of tools in tool holders by means of the multi-clamping and measuring and/or presetting station, preferably in a combination with a presetting and/or measuring of the produced tool units, the shrink-clamping preferentially constituting one of several different clamping methods that can be managed by the multi-clamping and measuring and/or presetting station. The shrink-clamping station is in particular configured to fixate a tool in a tool holder, in particular by shrink-clamping, and/or to remove a tool from the tool holder, in particular by unshrink-unclamping. Preferentially the shrink-clamping station comprises at least one induction—coil unit for heating a tool receiving region—of a tool holder that surrounds a tool receiving opening. The shrink-clamping station is in particular configured, in a shrink-clamping, for a thermal expansion of the tool receiving opening of the tool holder to increase a size, in particular a diameter, of the tool receiving opening in such a way that a tool fits in the tool receiving opening. Preferably due to a following cooling down of the tool holder the size, in particular the diameter, of the tool receiving opening is decreased once again, thus creating a force-fit connection between the tool holder and the tool. Preferentially the shrink-clamping station comprises at least one cooling station. The cooling station is at least configured, in particular following a heating by the induction coil unit, to cool the tool holder down, preferably to a lukewarm temperature. In particular, the handling robot is configured for a loading of the shrink-clamping station, i.e. in particular an insertion of tools and/or tool holders in the shrink-clamping station and/or a removal of tools and/or tool holders from the shrink-clamping station.
Beyond this it is proposed that the shrink-clamping station, in particular the heating station, comprises a tool holder recognition unit that is configured for an automated recognition of tool holders which are not embodied as shrink-clamp chucks and for preventing an insertion of tool holders in the shrink-clamping station which are not embodied as shrink-clamp chucks. In this way a particularly high level of operational safety is advantageously achievable. For example, a hydraulic-expansion chuck erroneously inserted in the heating station could explode when heated, thus causing damages and injuries, which is advantageously preventable by a recognition of the tool holder type prior to heating. The tool holder recognition—unit is in particular implemented at least partly integrally with a recognition unit of the multi-clamping and measuring and/or presetting station that is allocated to a gate unit of the multi-clamping and measuring and/or presetting station, or is implemented as a unit that is separate from the recognition unit, comprising separate recognition means. The recognition means may in particular be realized as a camera system with a tool holder recognition, as an NFC transponder system, e.g. an RFID transponder system, in particular with an RFID reading device at the shrink-clamping station and an RFID tag on the tool holder, and/or as a QR-code system or barcode system, in particular with a QR-Code reading device or barcode reading device at the shrink-clamping station and with a QR Code or a barcode on the tool holders. By two units being implemented “partly integrally” is in particular to be understood that the units comprise at least one, in particular at least two, advantageously at least three shared elements, in particular recognition means, which is/are (a) component(s), in particular functional relevant component(s), of both units.
In addition it is proposed that the shrink-clamping station comprises the cooling station, which is configured for a simultaneous cooling of a plurality of tool holders, in particular shrink-clamp chucks. This advantageously allows achieving a particularly high degree of flexibility, in particular as shrink-clamp chucks of different types and/or different shapes can be cooled effectively. Moreover a high work speed is advantageously achievable, in particular as a cooling process usually takes longer than a heating process and therefore a further shrink-clamp chuck can already be heated while the preceding shrink-clamp chuck(s) is/are still in the cooling phase. The cooling station in particular constitutes a portion of the same module as the shrink-clamping station. However, preferentially the cooling station implements its own module, which is in particular separate from the shrink-clamping station. In particular, the cooling station is configured for an active cooling of tool units. In particular, the cooling station comprises a plurality of cooling places, each of which is configured for an active cooling of exactly one tool unit. In particular, the cooling station comprises a plurality of cooling cuffs which can be placed upon respectively one heated tool unit for cooling. In particular, the handling robot is configured for a loading of the cooling station, which in particular means an insertion of tool units and/or tool holders in the cooling station and/or a removal of tool units and/or tool holders out of the cooling station. The handling robot is moreover in particular configured for picking up, moving and setting down cooling cuffs. Preferentially the handling robot is configured to place cooling cuffs on tool holders and/or tool units and/or to remove cooling cuffs from tool holders and/or tool units.
Furthermore it is proposed that the shrink-clamping station comprises a cooling station and a heating station which are implemented as respectively separate modules, which are arrangeable in any module places within a housing of the multi-clamping and measuring and/or presetting station. This advantageously allows further increasing flexibility and/or work speed. In particular, the multi-clamping and measuring and/or presetting station comprises at least 8, preferably at least 12, preferentially at least 16 and especially preferentially no more than 20 module places. Alternatively the cooling station and the heating station may form a shared single module, which in particular requires maximally one module place. Herein in particular a cooling unit of the cooling station and a heating unit of the heating station are combined in a shared structural unit, in particular implemented to be only movable together, which is in particular described in the German patent application having the application number 10 2019 108 605.1. In particular, by referring to the German patent application 10 2019 108 605.1 its disclosure is adopted into the present patent application, preferably with the exception of possible definitions, exclusions and/or inconsistencies.
It is also proposed that at least one tool clamping-in unit is embodied as a compression-clamping station, in particular a powRgrip® clamping station, which is at least configured for mounting tools in the tool holders via pressing of the tool holders. This advantageously allows achieving a high degree of flexibility, in particular as it is possible at least for a compression-clamping of tools in tool holders, in particular in powRgrip® tool holders, to be enabled by the multi-clamping and measuring and/or presetting station, preferably in a combination with a presetting and/or measuring of the produced tool units, preferentially constituting one of several different clamping methods that can be managed by the multi-clamping and measuring and/or presetting apparatus. The compression-clamping station is in particular configured to press a collet chuck of a tool holder, in particular a powRgrip® collet chuck of a powRgrip® tool holder, into a collet chuck holder of the tool holder, in particular a powRgrip® collet chuck holder of the powRgrip® tool holder, in particular while a shaft tool is arranged in the collet chuck holder. In particular, the handling robot is configured to insert the tool holder, in particular the collet chuck and the collet chuck holder of the tool holder, into the compression-clamping station. In particular, the handling robot is configured to introduce the tool into the collet chuck that is arranged in the compression-clamping station. In particular, the handling robot is configured to close the compression-clamping station to permit an execution of the clamping process and/or to open the compression-clamping station for a removal of the mounted tool unit or of the demounted tool holder. In particular, the handling robot is configured to remove the mounted tool unit and/or the demounted tool holder out of the compression-clamping station. In particular, the handling robot is configured to select a compression adapter of the compression-clamping station that is suitable for a certain tool holder and to mount the compression adapter in the compression-clamping station prior to a clamping-in or clamping-out process. The compression-clamping station is in particular realized as an “Automatische Spanneinheit PGU” [automatic clamping unit PGU] of the company Rego-Fix AG, Tenniken (Switzerland).
Beyond this it is proposed that, in an interaction with the measuring and/or presetting apparatus, the compression-clamping station is configured for a length adjustment of a tool in a powRgrip® tool holder. This advantageously allows achieving a high degree of flexibility. For this purpose, in particular, first the tool holder, in particular the powRgrip® tool holder with the collet chuck, in particular the powRgrip® collet chuck, with the collet chuck holder, in particular the powRgrip® collet chuck holder, and with the tool inserted in the tool holder, is inserted in the measuring and/or presetting apparatus and is there adjusted to a nominal length by means of a length-adjustment pin of the measuring and/or presetting apparatus and by means of an optical unit of the measuring and/or presetting apparatus, in particular a camera system of the measuring and/or presetting apparatus. Then in particular the tool unit which consists of the collet chuck, the collet chuck holder and the tool, and which has been preset to length, is transferred to the compression-clamping station and is fixated in the adjusted position by the compression-clamping station. In a further step, following the fixation by the compression-clamping station, in particular the length adjustment is controlled by means of the measuring and/or presetting apparatus. In particular if the length adjustment of the fixated tool unit differs from the pre-set length adjustment of the tool unit prior to the fixation, the tool unit is once again demounted and the process is repeated.
In addition it is proposed that at least one tool clamping-in unit is embodied as a hydraulic-expansion screw-driving station, which is in particular configured for a mounting/demounting of tools in/out of a hydraulic-expansion chuck by a tightening/releasing of a clamping screw of the hydraulic-expansion chuck. In this way a high degree of flexibility is advantageously achievable, in particular as enabling at least of a clamping-in and/or clamping-out of tools in hydraulic-expansion chucks by means of the multi-clamping and measuring and/or presetting station is facilitated, in particular in a combination with a presetting and/or measuring of the produced tool units, preferentially constituting one of several different clamping methods manageable by the multi-clamping and measuring and/or presetting station. In particular, the hydraulic-expansion screw-driving station is configured to operate different clamping screws of different hydraulic-expansion chucks. In particular, the hydraulic-expansion screw-driving station is implemented at least partly integrally with the measuring and/or presetting apparatus. In particular, the hydraulic-expansion screw-driving station is mounted on the measuring and/or presetting apparatus. In particular, the hydraulic-expansion screw-driving station and the measuring and/or presetting apparatus occupy one single, in particular an identical, module place. In particular, the hydraulic-expansion screw-driving station is configured for manipulating a tool holder that is inserted in a holder device of the measuring and/or presetting apparatus and/or is fixated therein.
If the hydraulic-expansion screw-driving station comprises a screw head magazine containing a plurality of screw heads with different shapes and/or different sizes, with the hydraulic-expansion screw-driving station being configured to carry out an automated exchange of the active screw head, a high degree of flexibility is advantageously achievable, in particular as it is possible for different clamping screws of different hydraulic-expansion chucks to be operated, i.e. in particular to be tensioned or released. In particular, the handling robot is configured for an insertion of the hydraulic-expansion chuck and/or of the tool in the hydraulic-expansion screw-driving station and/or for a removal of the hydraulic-expansion chuck and/or of the tool out of the hydraulic-expansion screw-driving station. In particular, the handling robot is configured for a tightening or a releasing of the clamping screw of the hydraulic-expansion chuck. In particular, the handling robot is configured to take a screw head from the screw head magazine and/or to insert a screw head into the screw head magazine. In particular, the handling robot is configured for an exchange of a screw head of the hydraulic-expansion screw-driving station. Alternatively the handling robot may be configured to operate the clamping screw directly, i.e. to operate a screw head for a tensioning or a releasing of the clamping screw. However, preferably a screw-driving unit, which is configured to induce a rotation of the screw head for an operation of the clamping screw, is implemented separately from the handling robot. An “active screw head” is in particular to mean the respective screw head which is fixated in the hydraulic-expansion screw-driving station, which is currently rotatable by the hydraulic-expansion screw-driving station and which is thus in particular situated outside the screw head magazine. In particular, the screw head magazine is fixated on the measuring and/or presetting apparatus.
Furthermore it is proposed that at least one tool clamping-in unit is embodied as a union nut screw-driving station which is configured for a mounting/demounting of tools in/from a tool holder by a tightening/releasing of a union nut. This advantageously allows achieving a high degree of flexibility, in particular as at least enabling of a clamping-in and/or clamping-out of tools in collet chucks with union nuts by the multi-clamping and measuring and/or presetting station is possible, preferably in a combination with a presetting and/or measuring of the produced tool units, preferentially constituting one of several different clamping methods which are manageable by the multi-clamping and measuring and/or presetting station. In particular, a collet chuck that is tensionable by the union nut screw-driving station comprises a union nut which is in particular, for a clamping-in of a tool, put over the tool and is screwed with a portion of the collet chuck which the tool is inserted in and which has a tool receiving opening. In particular, the union nut screw-driving station comprises at least one torque element, which is configured to engage around the union nut and to tighten and/or release the union nut by a rotation movement of the torque element or of the portion of the collet chuck comprising the tool receiving opening. In particular, the handling robot is configured to insert a tool holder and/or a tool into the union nut screw-driving station and/or to remove a tool holder and/or a tool from the union nut screw-driving station. In particular, the handling robot is configured to remove a union nut from the tool holder or to place a union nut onto the tool holder. In particular, the handling robot is configured to lay the torque element onto the union nut and/or to remove it from the union nut.
If the union nut screw-driving station is configured for a fully automated tightening and/or releasing of a tool-surface-free union nut, in particular a cylindrically-shaped union nut, a flexibility is advantageously augmentable even further. Advantageously this allows a tensioning and/or releasing of tool chucks with tool-surface-free union nuts. By a “tool-surface-free union nut” is in particular a union nut to be understood that is on its outer circumference free of pre-formed surfaces, e.g. key surfaces, edges, holes, slits or the like, which are configured to provide an engagement possibility for tools, for example screw wrenches, or the like. In particular, a tool-surface-free union nut of a tool holder has a substantially smooth surface which is in particular, for the purpose of optimizing a true running of the tool holder, as rotationally symmetrical to a rotation axis of the tool holder as possible. An exemplary union nut screw-driving station has been described in the German patent application having the application number 10 2018 116 263.4, wherein in particular, by referring to the German patent application 10 2018 116 263.4, its disclosure is adopted into the present patent application, preferably with the exception of possible definitions, exclusions and/or inconsistencies.
It is also proposed that the multi-clamping and measuring and/or presetting station comprises at least one cleaning station, which is configured for cleaning at least a portion of the tool prior to a mounting in the tool holder or prior to a demounting of the tool from the tool holder. This advantageously allows further increasing flexibility, for example as even contaminated tool units can be demounted in the multi-clamping and measuring and/or presetting station. Moreover an especially high precision of an adjustment and/or a measuring is advantageously achievable in this way. Further a particularly high level of operational safety is achievable. In particular, the handling robot is configured for an insertion of tools and/or tool units in the cleaning station and/or to remove tools and/or tool units from the cleaning station. In particular, the cleaning station comprises at least one steam spray nozzle, which is preferentially configured to spray the tool and/or the tool holder, preferably at least a cutter of a tool, with steam for cleaning purposes. Alternatively or additionally the cleaning station comprises a blotting device, which is configured for blotting the tool and/or the tool holder, preferably at least a cutter of a tool, with an adhesive material for cleaning purposes. Such a blotting device has been described, for example, in the German patent application with the application number 10 2018 113 704.4, wherein in particular, by referring to the German patent application 10 2018 113 704.4, its disclosure is adopted into the present patent application, preferably with the exception of possible definitions, exclusions and/or inconsistencies.
If the measuring and/or presetting apparatus is at least configured for an optical examination of a cleanliness of a portion of a tool that has been cleaned in the cleaning station, a particularly high measuring precision and/or a particularly high adjustment precision are/is achievable. In particular, the measuring and/or presetting apparatus is configured for an optical examination of a tool unit and/or of a tool before and after a cleaning by the cleaning station. An “optical examination” is in particular to mean a comparison of image recordings of an optical sensor system, e.g. a camera. In particular, the cleaning station is configured to repeat the cleaning process in case insufficient cleanliness has been stated.
Beyond this it is proposed that the multi-clamping and measuring and/or presetting station comprises at least one balancing station, which is configured for a determination, in particular by a rotation of a tool mounted in one of the tool clamping-in units with a tool holder, of an imbalance of a combination of tool and tool holder, in particular of a tool unit. This advantageously allows achieving a high balancing quality and/or a high clamping-in precision. In particular, a high precision, i.e. for example a high machining precision, of the ready-clamped tool units can be obtained. Due to high balancing quality, it is advantageously possible to extend a service life of a tool unit and/or to go easy on a machine tool, in particular a spindle of a machine tool. In particular, the handling robot is configured to insert a ready-mounted tool unit in the balancing station and/or to remove a ready-mounted tool unit from the balancing station. In particular, the multi-clamping and measuring and/or presetting station is configured, in case a tolerated imbalance is exceeded, to demount a respective tool unit in the respectively suitable tool clamping-in unit and to re-mount it, wherein an imbalance of the re-mounted tool unit is then preferably measured once again. In particular if the tolerated imbalance is then undershot, the tool unit is released for further use by the multi-clamping and measuring and/or presetting station. In particular if the tolerated imbalance is then once more exceeded, the tool unit is once again demounted and re-mounted or discarded by the multi-clamping and measuring and/or presetting station. In particular, tool units and/or tool holders with insufficient balancing quality and/or with insufficient or non-satisfactory measuring data determined by the measuring and/or presetting apparatus are marked, for example in an operation software of the multi-clamping and measuring and/or presetting station or on a chip assigned to the tool holder, and are discharged. Alternatively or additionally, in case of a multiple exceeding of the tolerated imbalance of a tool unit, the tool/the tool holder of the respective tool unit may be combined with another tool holder/tool for the purpose of identifying the cause of the imbalance.
Beyond this it is proposed that the measuring and/or presetting apparatus comprises an attachment holder magazine to provide a plurality of different attachment holders. This advantageously allows increasing flexibility, in particular as different types of tool holders, preferably differently shaped tool holders, can be measured and/or preset by a single measuring and/or presetting apparatus. In particular, an attachment holder is configured to support a tool holder in the measuring and/or presetting apparatus, preferentially in a stationary and/or rotationally fixed manner, relative to a measuring device and/or relative to a presetting device of the measuring and/or presetting apparatus. In particular, the different attachment holders are configured for holding differently shaped tool holders. In particular, the handling robot is configured to remove an attachment holder out of the measuring and/or presetting apparatus and/or out of the attachment holder magazine, and/or to insert an attachment holder in the measuring and/or presetting apparatus and/or in the attachment holder magazine. In particular, the attachment holder magazine is arranged within the housing, allowing the handling robot permanent access to all available attachment holders. Alternatively it is conceivable that the attachment holder magazine is arranged outside the housing and different attachment holders may be conveyed to the handling robot via the gate unit.
If the multi-clamping and measuring and/or presetting station comprises a tool assembly station which is configured for a mounting and/or demounting of tools that are composed of several parts and/or modules, an especially high level of flexibility is advantageously achievable. The tool assembly station may for example be configured for a loading of tools with indexable inserts and/or for a mounting of tool extensions.
Further it is proposed that the multi-clamping and measuring and/or presetting station comprises the recognition unit which is configured for a recognition of a tool holder, and comprises a control and/or regulation unit that is configured, on the basis of the data determined by the recognition unit, to prepare at least one tool clamping-in unit and then to prompt the handling robot to convey the tool holder to the prepared tool unit for a mounting/demounting of a tool into/from the tool holder. This advantageously allows achieving a particularly high degree of automatization. Advantageously an especially high level of user-friendliness is achievable. Moreover high operational safety is advantageously achievable as it is possible, at an early stage, to sort out tools and/or tool holders which are incompatible with the configuration of the multi-clamping and measuring and/or presetting station. “Preparing of a tool clamping-in unit” is in particular to mean an insertion of an adapter that is suitable for the respective tool holder and is necessary for an appropriate functionality of the tool clamping-in unit, e.g. a screw head, a torque element, a compression adapter, a collet chuck, or the like. The recognition unit is in particular realized as a camera system with a tool recognition and/or tool holder recognition, as an NEC transponder system, for example an REID transponder system, in particular with an RFID reading device at the gate unit of the housing and an RFID tag on the tool holders and/or on the tools, and/or as a QR-code system or barcode system, in particular with a QR-code reading device or barcode reading device at the gate unit of the housing and a QR code or a barcode on the tool holders and/or on the tools. Alternatively it is conceivable that the QR-code system or barcode system is free of a separate QR-code reading device or a barcode reading device at the gate unit and the QR codes or barcodes are read out by a camera system of the measuring and/or presetting apparatus. For this purpose, the handling robot is in particular configured for a positioning of the tool and/or the tool holder with the QR code or the barcode in a field of vision of the camera system of the measuring and/or presetting apparatus. By a “control and/or regulation unit” is in particular a unit to be understood that comprises at least one control electronics part. By a “control electronics part” is in particular a unit to be understood with a processor unit and with a memory unit and with an operation program stored in the memory unit.
It is also proposed that the housing comprises at least the gate unit which is configured for a loading and/or unloading of tools and/or tool holders, with the gate unit comprising at least one signal device that is configured to output to an operator at least one signal by which it may be perceived whether ready-mounted combinations of tool and tool holder, in particular tool units, which are situated in the gate unit, have been assembled correctly. This advantageously allows achieving a particularly high level of user-friendliness. Moreover high operational safety is achievable, in particular as it is possible to prevent further use of faulty or faultily assembled tool units. The gate unit is in particular implemented as a closable opening in the housing. The gate unit in particular serves as a transfer region for a transfer of tools and tool holders to the handling robot. The handling robot is configured to remove tools and/or tool holders out of the gate unit or to deposit tools and/or tool holders in the gate unit. In particular, an access of the handling robot to the gate unit is prevented while the gate unit is open towards an operator's side, i.e. on an outer side of the housing. The signal device is in particular embodied as an acoustical signal device and is preferably embodied as an optical signal device.
If the signal device is implemented as a luminaire unit, which is configured to output light signals in at least two different light colors, it is advantageously possible to further augment user-friendliness, in particular by way of an especially simple recognizability of a signalized state. Alternatively or additionally the signal device may be configured to display an operation state (for example “switched on”, “standby”, “ready for operation”, “error”, “running operation”, “order completed”) of the multi-clamping and measuring and/or presetting station.
In addition, a method is proposed for a mounting/demounting of a tool into/from a tool holder, with a multi-clamping and measuring and/or presetting station, the method advantageously providing an especially high flexibility.
If in the method a tool holder is recognized in an at least partly automated manner and is then fully-automatedly conveyed to a suitable tool clamping-in unit from a plurality of tool clamping-in units, it is moreover advantageously possible to achieve a particularly high level of user-friendliness and/or to prevent malfunction.
The multi-clamping and measuring and/or presetting station according to the invention and the method according to the invention are herein not to be limited to the application and implementation described above. In particular, to fulfill a functionality herein described, the multi-clamping and measuring and/or presetting station according to the invention and the method according to the invention may comprise a number of individual elements, structural components and units that differs from a number that is mentioned here.
Further advantages will become apparent from the following description of the drawings. The drawings show an exemplary embodiment of the invention. The drawings, the description and the claims contain a plurality of features in combination. Someone skilled in the art will purposefully also consider the features individually and will find further expedient combinations.
It is shown in:
The multi-clamping and measuring and/or presetting station 68 comprises a plurality of fully automated tool clamping-in units 14, 16, 18, 20 (see also
The multi-clamping and measuring and/or presetting station 68 comprises a housing 26. The housing 26 is embodied as a shared housing 26 of the handling robot 24, the tool clamping-in units 14, 16, 18, 20 and the measuring and/or presetting apparatus 22. The housing 26 encloses the handling robot 24, the tool clamping-in units 14, 16, 18, 20 and the measuring and/or presetting apparatus 22 to a large extent, preferably completely. The housing 26 is implemented substantially in a rectangular-cuboid shape. The housing 26 comprises a gate unit 62. The gate unit 62 is configured for a loading and/or unloading of tools 10 and/or tool holders 12 into and/or out of an interior of the multi-clamping and measuring and/or presetting station 68. The gate unit 62 comprises in the present case two separate gates 76, 80. Alternatively it is conceivable that the gate unit 62 comprises more or less than two gates 76, 80. The gates 76, 80 can be closed from the outside. In the present case, the gates 76, 80 can be closed by means of a roller-shutter-like closure element 82. Alternatively it is also conceivable that the closure element 82 is implemented as a flap, as a floor-to-ceiling door, as a slide door, or as another closure element 82 known to someone skilled in the art. The multi-clamping and measuring and/or presetting station 68 comprises a control and/or regulation unit 60. The control and/or regulation unit 60 is at least configured to control the closure element 82, in particular an opening state of the closure element 82. The control and/or regulation unit 60 is at least configured to control and/or regulate an operation of the multi-clamping and measuring and/or presetting station 68, in particular of the components of the multi-clamping and measuring and/or presetting station 68, preferably at least of the handling robot 24, depending on an opening state of the closure element 82. If one of the gates 76, 80 is open towards the outside, the control and/or regulation unit 60 prevents the handling robot 24 from accessing the gates 76, 80 from an inside. It is conceivable that the gates 76, 80 are designed such that it is possible for a tool transport wagon to be driven directly into the gate 76, 80 and to be parked there.
The gate unit 62 comprises a signal device 64. The signal device 64 is configured for outputting to an operator at least one signal by which it can be perceived whether ready-mounted combinations of tool 10 and tool holder 12, i.e. ready-mounted tool units 74, which are situated in the gate unit 62, are assembled correctly. The signal device 64 is embodied as a luminaire unit 66. The luminaire unit 66 is configured for outputting light signals in at least two different light colors. The luminaire unit 66 is configured to at least partially illuminate the gate unit 62, in particular the gates 76, 80, in color(s). Different light colors outputted by the luminaire unit 66 are configured to signalize different operation states of the multi-clamping and measuring and/or presetting station 68 or of the gate unit 62. For example, a yellow light could signalize a stand-by operation. For example, a red light could signalize a fault or a presence of faultily assembled tool units 74 in a gate 76, 80. For example, a blue light could signalize a running operation. For example, a green light could signalize a completed order or a gate 76, 80 being ready for re-loading or for removal of ready-mounted tool units 74. Moreover the multi-clamping and measuring and/or presetting station 68 comprises a status light 84 for a general signalization of a current operation state of the multi-clamping and measuring and/or presetting station 68 independently from a status of the gate unit 62. The status light 84 is arranged above the housing 26. Alternatively the status light 84 could also be integrated in the housing 26, in particular in a surface of the housing 26.
The multi-clamping and measuring and/or presetting station 68 comprises an operation panel 86. The operation panel 86 is embodied as a screen, in particular a touch screen. The operation panel 86 is configured for a programming, operating and/or monitoring of the multi-clamping and measuring and/or presetting station 68, of the components of the multi-clamping and measuring and/or presetting station 68 and/or of the gate unit 62. The operation panel 86 is realized such that it is integrated in the housing 26. The surface of the screen of the operation panel 86 is implemented to be substantially flush-mounted with the surface of the housing 26. The housing 26 comprises a flap 28. The flap 28 can be opened from the outside. The flap 28 permits access to the measuring and/or presetting apparatus 22 that is located in the interior of the housing 26. The flap 28 allows a manual operation of the measuring and/or presetting apparatus 22 from outside of the housing 26. The control and/or regulation unit 60 is at least configured for setting an operation mode of the measuring and/or presetting apparatus 22 depending on an opening state of the flap 28. Upon opening of the flap 28 the control and/or regulation unit 60 switches the measuring and/or presetting apparatus 22 into a manual operation mode. Upon closing of the flap 28 the control and/or regulation unit 60 switches the measuring and/or presetting apparatus 22 into a fully automated operation mode. When the flap 28 is open, the control and/or regulation unit 60 at least prevents an access of the handling robot 24 to the measuring and/or presetting apparatus 22 from the inside. The multi-clamping and measuring and/or presetting station 68 comprises an additional operation terminal 88. The operation terminal 88 is configured for a manual operation of the measuring and/or presetting apparatus 22. The operation terminal 88 is freely displaceable at least along a side wall 90 of the housing 26, in particular along the side wall 90 of the housing 26 having the flap 28. In this way a high level of operation comfort is advantageously achievable.
The multi-clamping and measuring and/or presetting station 68 comprises a recognition unit 58. The recognition unit 58 is configured to recognize a tool holder 12. The recognition unit 58 is configured to recognize a tool 10. In the case shown the recognition unit 58 is implemented as a OR code scanner and/or barcode scanner. The control and/or regulation unit 60 is configured, on the basis of the data determined by the recognition unit 58, to prepare the tool clamping-in unit 14, 16, 18, 20 that is suitable for the respective recognized tool holder 12. The control and/or regulation unit 60 is configured, on the basis of the data determined by the recognition unit 58, to prompt the handling robot 24 to convey the recognized tool holder 12 to the suitable prepared tool clamping-in unit 14, 16, 18, 20 for a mounting of a tool 10 in the tool holder 12, respectively for a demounting of a tool 10 from the tool holder 12.
The multi-clamping and measuring and/or presetting station 68 comprises a tool assembly station 56. The tool assembly station 56 is configured for a fully automated mounting and/or demounting of tools 10 which are composed of a plurality of parts. The mounting and/or demounting of the tools 10 may herein be carried out either by the handling robot 24 or by a separate handling device of the tool assembly station 56. The handling robot 24 is configured for loading the tool assembly station 56. The multi-clamping and measuring and/or presetting station 68 comprises a cleaning station 48. The multi-clamping and measuring and/or presetting station 68 comprises a further cleaning station 92. The cleaning station 48, 92 is configured for a cleaning at least of a portion of the tool 10, in particular a cutter of the tool 10, prior to a mounting in the tool holder 12. The cleaning station 48, 92 is configured for a cleaning at least of a portion of the tool 10, in particular a cutter of the tool 10, prior to a demounting of the tool 10 from the tool holder 12. One of the cleaning stations 48, 92 is configured for a cleaning of the tool 10 by spraying the tool 10 with water vapor from a water vapor spray nozzle. One of the cleaning stations 48, 92 is configured for a cleaning of the tool 10 by blotting. The blotting and/or the spraying may herein be carried out either by the handling robot 24 or by a separate handling device of the cleaning station 48, 92. The handling robot 24 is configured for loading the cleaning stations 48, 92. The measuring and/or presetting apparatus 22 is configured for an optical examination of a cleanliness of a part of a tool 10 cleaned in at least one of the cleaning stations 48, 92.
The multi-clamping and measuring and/or presetting station 68 comprises a balancing station 50 (see
The components of the multi-clamping and measuring and/or presetting station 68 are arranged in a rectangle around the handling robot 24 (see
All modules 36 have a uniform module width 128. The module width 128 is approximately 700 mm. All modules 36 have a uniform module depth 130. The module depth 130 is approximately 1000 mm. All modules 36 have a uniform module height 134 (see
The shrink-clamping station 30 comprises besides the heating station 34 a cooling station 32, which is shown in
A tool clamping-in unit 14, 16, 18, 20 of the multi-clamping and measuring and/or presetting station 68 is embodied as a hydraulic-expansion screw-driving station 40. The hydraulic-expansion screw-driving station 40 comprises a module frame 152, which the functional units of the hydraulic-expansion screw-driving station 40 are mounted on. It is conceivable that the hydraulic-expansion screw-driving station 40 is mounted on the measuring and/or presetting apparatus 22. In this case the hydraulic-expansion screw-driving station 40 and the measuring and/or presetting apparatus 22 are mounted on one identical module frame 152. The hydraulic-expansion screw-driving station 40 comprises a screw-driving unit 184 (see
The torque element 200 is configured to fixedly hold the union nut 72 such that it cannot follow a rotation of the tool holder 12 that is allocated to the union nut 72. The union nut screw-driving station 46 comprises a tower 202. The torque element 200 is movable vertically up and down along the tower 202. By way of the vertical movement, the torque element 200 can be moved along the tower 202 relative to a tool holder 12 in the holding device 142 of the union nut screw-driving station 46, and can preferably be put over the tool holder 12 at least partially. The handling robot 24 is configured to activate a clamping mechanism of the torque element 200, which is configured for a jamming of the torque element 200 with the union nut 72 of the tool holder 12. The union nut screw-driving station 46 comprises a torque element magazine 204. The torque element magazine 204 comprises a plurality of different torque elements 200, which are respectively configured for a fixation of differently shaped and/or differently sized union nuts 72. The union nut screw-driving station 46 is configured to realize a fully automated exchange of the active torque element 200.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2019 115 607.6 | Jun 2019 | DE | national |
| Number | Name | Date | Kind |
|---|---|---|---|
| 7144355 | Momochi | Dec 2006 | B2 |
| 10507989 | Zollitsch | Dec 2019 | B2 |
| 20040005973 | Momochi | Jan 2004 | A1 |
| 20180208409 | Zollitsch | Jul 2018 | A1 |
| 20200030929 | Zoller et al. | Jan 2020 | A1 |
| Number | Date | Country |
|---|---|---|
| 103 30 098 | Jan 2004 | DE |
| 103 05 691 | Aug 2004 | DE |
| 10305691 | Aug 2004 | DE |
| 10 2008 043 195 | May 2010 | DE |
| 102008043195 | Apr 2013 | DE |
| 20 2013 105 390 | Apr 2015 | DE |
| 202015006540 | Dec 2015 | DE |
| 20 2015 006 540 | Jan 2016 | DE |
| 10 2018 113 704 | Dec 2019 | DE |
| 102018113704 | Dec 2019 | DE |
| 10 2018 116 263 | Jan 2020 | DE |
| 102018116263 | Jan 2020 | DE |
| 10 2019 108 605 | Oct 2020 | DE |
| 3 351 350 | Jul 2018 | EP |
| 3351350 | Jul 2018 | EP |
| 2000-77288 | Mar 2000 | JP |
| 2012107038 | Aug 2012 | WO |
| 2019038190 | Feb 2019 | WO |
| WO-2019038190 | Feb 2019 | WO |
| Entry |
|---|
| Pfau et al.; Automated Tool Adjustment and/or Tool Measurement; Feb. 28, 2019; English Machine Translation; pp. 1-34 (Year: 2021). |
| Partial European Search Report dated Oct. 27, 2020 issued in corresponding to EP patent application No. 20178454.3.(and English version enclosed). |
| Extended European Search Report dated Jan. 22, 2021 issued in corresponding to EP patent application No. 20178454.3 (and English version enclosed). |
| Search Report dated Feb. 5, 2020 issued in corresponding DE patent application No. 10 2019 115 607.6 (English translation only). |
| Number | Date | Country | |
|---|---|---|---|
| 20200391335 A1 | Dec 2020 | US |
