EP4090496B1 - Appareil et procédé de meulage de matériaux tels que du métal, comprenant un système de manipulation conçu pour échanger et dresser automatiquement des outils - Google Patents

Appareil et procédé de meulage de matériaux tels que du métal, comprenant un système de manipulation conçu pour échanger et dresser automatiquement des outils Download PDF

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Publication number
EP4090496B1
EP4090496B1 EP21707773.4A EP21707773A EP4090496B1 EP 4090496 B1 EP4090496 B1 EP 4090496B1 EP 21707773 A EP21707773 A EP 21707773A EP 4090496 B1 EP4090496 B1 EP 4090496B1
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EP
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Prior art keywords
workpiece
tool
indexer
finishing
workpiece holder
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EP21707773.4A
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German (de)
English (en)
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EP4090496A1 (fr
Inventor
Bernard Gschwend
Michael EGETER
Fabrizio DOSSENA
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L Kellenberger and Co AG
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L Kellenberger and Co AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/04—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor involving a rotary work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0061—Other grinding machines or devices having several tools on a revolving tools box
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools

Definitions

  • the present invention is in the field of automatic finishing machines such as machining, polishing and grinding machines, in particular circular finishing machines which are capable to finishing an inside surface.
  • Such finishing machines of the state of the art comprise typically a machine bed, two linear axes on that machine bed, and one rotational axis below the tool holder, for which limited rotational motion is allowed.
  • US 2013/337726 A1 discloses an industrial finishing machine tool comprising:
  • a safer industrial finishing machine offering collision free kinematics has a machine bed; a rotatable indexer capable of a swing of from zero to about 225 degrees (-45°...+180°), optionally combined with a linear indexer (110) which is in turn mounted to the machine bed; a workpiece holder mounted on a work head and at least two QC and/or tooling setups (maintenance, dressing, cleaning, etc.) mounted to the rotatable indexer such that the QC and/or tooling setups rotate around the indexing axis in a fixed relationship to other dressing arrangements and to the axis of the workpiece holder and a finishing tool mounted to the machine bed so as to finish a workpiece mounted in the workpiece holder.
  • the finishing machine offers kinematics free of collision risk when dressing or changing out tools.
  • a further object of the invention is to provide a maximum number of dynamic movements or configurations, the use of up to 4 spindles, and a unique finishing head configuration with a fixed measuring probe.
  • the present invention provides the advantages that the risk of collision is reduced by means of using two units, one which is a linear indexer combined with rotatable indexer, the other which is a combined linear indexer with a turret.
  • the workpiece holder and at least one QC and/or tooling setup preferably at least two QC and/or tooling setups are mounted in a fixed relationship.
  • at least one grinding tool, and optionally at least one measurement setup is mounted.
  • This configuration provides a maximum number of dynamic movements or configurations and the possibility to use up to 4 spindles.
  • the measuring probe mounted next to at least one grinding tool on the combined linear and rotatable indexer and turret allows an integral measurement because it's ready at all times and essentially in position for operation.
  • a collision free kinematic arrangement for a circular finishing machine configured to grind an inside surface and having a finishing tool head 210 (shown in FIG. 2A ) mounted on a turret 102 connected to at least one linear indexer 104, as well as a workpiece holder 202 (shown in FIG. 2A ) mounted on a rotatable indexer 106 connected to at least one linear indexer 110 (or vice-versa), the linear indexers 104 and 110 (or the rotatable indexers in the case of the alternative arrangement) being mounted on a base or machine bed 112.
  • a machine bed structure supports/carries and connects the two sliders which each connect to rotational indexers, which then optionally connect to linear tables, which connect to the workpiece holder and the turret, respectively.
  • at least two rotation axes are attached to the moving part of each linear axis.
  • the rotating part (the rotating indexer) having each an axis of rotation forming a carrier platform.
  • the embodiments of the basic design include: (1) bed connected to ("-") linear axis - rotary axis-workpiece/tool; (2) bed - rotational axis - linear axis - workpiece carrier/tool carrier; and (3) bed - linear axis1 - linear axis2 - rotational axis - tool carrier (i.e., the workpiece is motionless).
  • bed - linear axis1 - linear axis2 - rotational axis - tool carrier i.e., the workpiece is motionless.
  • a rotary axis with large swivel range is disposed below the workpiece carrier.
  • a linear indexer 110 and rotatable indexer 106 are combined and mounted to the machine bed 112.
  • a spindle workhead 206 attached to a workpiece holder 202 and at least two QC and/or tooling setups 211, such as a dressing setup 212, a measuring setup (QC touch probes, optical probes, etc.) 212', or a cleaning setup 212a, a further dressing setup 212" are mounted to the combined linear indexer 110 and rotatable indexer 106 such that the QC and/or tooling setup(s) 211 rotates with the workpiece holder 202 (with its axis) in a fixed relationship thereto.
  • At least two QC and/or tooling setups of course is meant to include the possibility of at least two dressing setups 212, 212" or any combination thereof, including at least one QC setup and at least one tooling setup.
  • a finishing tool 214 or probe 215 is mounted to the finishing tool head 210 which is mounted to the combined linear indexer 104 and turret 102 and these indexers 104 and 102 are mounted to an optional slider and then to the machine bed 112.
  • the finishing tool 214 or probe 215 is positioned so as to finish or probe a workpiece 208 when said workpiece 208 is mounted in the workpiece holder 202.
  • the combined axis of rotation of the workpiece, the workpiece holder, and the workpiece workhead remains in a geometrically unchanged position relative to the reference point of the QC and/or tooling setup.
  • the geometrical position of the reference point of the workpiece remains unchanged in relation to the geometrical position of the reference point of the respective QC and/or tooling setup (this, during rotary movements).
  • the workpiece/workpiece holder/workpiece headstock and dresser are rigid with respect to each other when the underlying rotational axis rotates.
  • the linear axes 104, 110 are connected to the bed/machine frame 112, while the rotary axes 120, 122 are connected to the moving part of the linear axis - thus not directly to the bed.
  • the present invention relates to the inventive setup of the machine as well as to the production process, in particular the grinding process, which is possible due to the inventive setup of the machine.
  • the production process is shown in FIGs. 3A to 3E further below.
  • the grinding tool 214 (the grinding disk) needs to be dressed.
  • a QC and/or tooling setup 211 is used in order to get, on the one hand, the grinding disk 214 into a desired geometrical shape, and on the other hand, to get the grinding disk 214 sharpened and/or cleaned.
  • the process of dressing the grinding tool 214 and as well as the process of workpiece changing entails advantages compared to existing solutions.
  • the present invention provides a rotational axis 120 provided by the rotatable indexer 106, this rotatable indexer 106 being arranged below the workpiece holder 202, in such a way that the workpiece holder 202 and each QC and/or tooling setup 211 are positioned on circular paths, each circular path having its center substantially on the rotational axis 120.
  • the rotatable indexer 106 is rotatable through a large pivot range (larger than 180 degrees) such as, for example, 0-180°, 0-360°, or is rotatable without any angular limitation. In a typical embodiment, the indexer 106 rotates through 225°.
  • FIG. 2A the working area of the circular finishing machine is shown in FIG. 2A
  • FIG. 2B shows a close-up view of a part of that working area.
  • the first embodiment (as shown in FIGs. 2A and 2B ) is placed in that working area.
  • a machine table 204 is affixed to the rotatable indexer 106.
  • a spindle workhead 206 is affixed, the spindle workhead 206 has a workpiece holder 202.
  • the machine table 204 accommodates further one or more, preferably at least two tools for dressing 212.
  • the preferably at least two QC and/or tooling setups 211 are preferably located on one and/or the other side of the workpiece holder 202, on one or both sides of the spindle workhead 206.
  • at least two QC and/or tooling setups 211 are located either on one or on the other side of the axis of the spindle workhead 206.
  • at least two QC and/or tooling setups 211 are located on each side of the workpiece holder 202, on one or both sides of the spindle workhead 206.
  • the spindle workhead 206 is affixed to the machine table 204 via a slide 222.
  • Other equipment for the manufacturing sequence on the table like measurement equipment (touch and optical, etc.) and reference marks (e.g., reference marks used to perform calibration steps, in order to calibrate probes) (see FIG. 2B ) may be added.
  • FIGs 3A to 3E are top views of the elements as shown in FIG. 2B .
  • FIGs 3A to 3E the process of dressing the grinding tool and as well as the process of tool changing is shown.
  • the rotatable indexer 106 positions the machine table 204 is in a position, such that the workpiece holder 202, which is affixed to the rotatable indexer 106 which, in one embodiment, is mounted on that machine table, is positioned to be easily accessible from outside the working area.
  • the workpieces 208 can be easily unloaded and loaded, preferably unloaded and loaded by a loading equipment 216, such as an automated handling system, alternatively loaded by hand.
  • the rotating axis 106 positions the machine table 204 in a position, such that one of the setups 211is positioned towards one of the grinding tools 214.
  • the one QC and/or tooling setup 211 which is directed towards the one grinding tool 214 can now be used to dress that one grinding tool 214.
  • the rotating axis 106 In order to get one of the other QC and/or tooling setups 211 positioned towards the one grinding tool 214, the rotating axis 106 (not visible) must position the machine table 204 in another position such that one of the other QC and/or tooling setups 211 is positioned towards the one grinding tool 214. Once the dressing of the one grinding tools 214 is completed, either another grinding tool can be dressed, or the next process step initiated.
  • the rotatable indexer 106 positions the machine table 204 in a position, such that the workpiece 208 is positioned towards one of the grinding tools 214. In that position, the workpiece 208 can be grinded at the inner or outer diameter by one or more of the grinding tools 214.
  • the workpiece 208 is shown in FIG. 3D in a sectional view. Possible is also a measuring step with one or more measuring devices (e.g., touch probes) 215.
  • the rotatable indexer 106 positions the machine table 204 in a position, such that the processed/grinded workpiece 208 can be, optionally automatically, measured by suitable measurement equipment 220. Depending the result(s) of the measurement, the workpiece 208 can be processed again according to the third process step as described above.
  • FIG. 3E also shows also an optional measuring operation on the grinding tool 214 by a measuring device 213. This step allows to check the grinding wheel and to measure its actual dimensions.
  • FIG. 4 more than one QC and/or tooling setup 211 (three such setups are shown in the figure) are located on either the left or right side (counterclockwise or clockwise direction to 180 degrees) of the workpiece holder 102 or on both the left and right side. Still further, it should be understood that two or more workpiece holders 202' may each hold a separate workpiece 208. Note that the embodiment of FIGs. 3A to 3E (and any embodiment shown herein for that matter) should also be considered in its mirror image across a plane between the rotatable indexer 106 and the turret 102.
  • the plus swivel range (null position: workpiece axis parallel to the tool axis or to the linear axis which is carrying the tool)
  • the plus swiveling range > 100° / > 120° / > 135° / > 150° is provided for swiveling of the QC and/or tooling setups.
  • the measurement equipment 220 may, optionally, be mounted on the turret 102, parallel to or in place of one of the grinding tools (alternatively measuring probes 215).
  • a method 400 of using the finishing machine 101 includes several steps.
  • the finishing machine 101 rotates the first rotatable indexer 106 to receive a workpiece 208 in a workpiece holder 202, optionally via an automated workpiece charger 216 or is charged by hand.
  • the workpiece 208 is charged and clamped in place in the workpiece holder 202.
  • the first rotatable indexer 106 is moved to a work position such that the workpiece 208 may be ground by a grinding tool 214.
  • the workpiece 208 is ground.
  • a fifth step 412 the workpiece holder 202 is rotated on the rotatable indexer 106 to an inspection position for inspection or, alternatively, rotating a QC and/or tooling setup 211 on the rotatable indexer 106 to dress a grinder (the tool used for inspection may also be used for calibration of a touch probe 215.) Before and/or after dressing, the tool (the grinding wheel) can still be measured by a measuring tool (see FIG. 2B in which the measuring tool is located between the dressers 212, 212").
  • a QC and/or tooling setup 211 (one or more) is located in a fixed relationship with respect to the workpiece holder 202 axis, within a range of 180 degrees to either side (right or left) of the workpiece holder 202.
  • the finishing machine 101 alternates between machining, grinding, dressing, and/or inspecting (the inspection of the workpiece 208 may either be performed by means of measuring devices 215 mounted on the finishing tool head 210, or, alternatively, by means of measuring equipment 220 mounted directly on the machine bed 112), as required, in order to obtain a target form on the workpiece.
  • a seventh step 416 once the target form is obtained, the finishing machine rotates the workpiece holder 202 to a discharge position and discharges the workpiece.
  • An optional step may be performed between the aforementioned sixth 414 and seventh step 416, in which the workpiece 208 may be cleaned and/or labelled.
  • finishing machine 101 is typically a numerically controlled machine tool which uses a CPU which executes a grinding process program, and so can move components of the finishing machine automatically, or an operator can direct the movements of the components as is known in the art.
  • a general interpretation of a manufacturing sequence is laid out.
  • the finishing machines is in an initial setup configuration.
  • a workpiece is charged and fixed in the workpiece holder.
  • the finishing machine is in an operation mode.
  • the operation mode may alternatively be called manufacturing mode.
  • a sequence of sub-steps may be executed. These sub-steps are described in the next paragraph.
  • the finishing machine enters a fourth step 510. In that fourth step 510, the workpiece is discharged.
  • a first sub-step 512 an Auxiliary Operation is performed.
  • a second sub-step 514 a Main Operation is performed.
  • a third sub-step 516 optionally, a further Auxiliary Operation is performed.
  • a fourth sub-step 520 optionally, a further Main Operation is performed.
  • a fifth sub-step 522 optionally, one or several Auxiliary Operations and or Main Operations are performed.
  • sub-step 524 optionally, another Auxiliary Operation is performed.
  • List 526 provides examples of Auxiliary Operations.
  • List 530 provides examples for Main Operations. The Main Operations are done typically on different workpiece zones, each operation with a different tool. A variation of process parameters is possible.
  • This system and process of the invention entails significant advantages compared to existing solutions.
  • the risk of collision is reduced by means of using two units, one is a combined linear indexer with rotatable indexer, the other is a combined linear indexer with a turret.
  • the present invention extends the basic configuration by a further rotary axis with a large swivel angle on the workpiece side. This allows the production sequence to be implemented with very good accessibility between the workpiece, tool, dressers, measuring systems and the workpiece changing system.
  • the invention simplifies and supports the production sequence in the aspect that fewer and less complex auxiliary axes are required.
  • the additional rotation axis with a large swivel angle opens up a turret or rotary indexing machine functionality. This means that the moving positions of the rotating platform can be oriented towards static positions in its surroundings - the further away from the center of rotation, the more cycle positions are possible.
  • the linear axis below the axis of rotation enables linear movement of all elements on the movable platform.
  • the work piece axis can be oriented parallel to the linear axis - this allows the work piece or dressing tool in the dressing setup, e.g., to be brought into a measuring device or a work piece or tool changing system.
  • the setups 211 described herein enable the finishing of the workpiece inner diameter with radii on the outer edge (e.g., radius grinding) due to the good accessibility.
  • the large swivel angle of the swivel axes, together with the good accessibility, also enables interpolations between multiple movement axes in order to finish the inner radius of the inner diameter.
  • measuring on the machine is supported or greatly simplified.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Claims (13)

  1. Machine-outil de finition industrielle offrant un bon accès pendant la séquence de fabrication, la machine-outil de finition ayant au moins :
    (a) un banc de machine (112) ;
    (b) un indexeur rotatif (106) définissant un axe d'indexation (120) et monté directement ou indirectement sur le banc de machine (112) ;
    (c) une tête de travail à broche (206) avec un support de pièce de travail (202) monté sur l'indexeur rotatif (106) et définissant un axe de rotation du support de pièce de travail (202) ;
    (d) au moins deux installations de contrôle qualité (QC) et/ou d'outillage (211) montées sur l'indexeur rotatif (106) sur le même côté droit ou gauche de l'axe du support de pièce de travail (202) de telle
    sorte que les installations de QC et/ou d'outillage (211) se mettent en rotation avec le support de pièce de travail (202) autour de l'axe d'indexation (120) dans une relation fixe les unes par rapport aux autres ou par rapport à d'autres agencements de dressage et par rapport à l'axe du support de pièce de travail ; et
    (e) un outil de finition (214) tel qu'un outil de coupe, de polissage ou de meulage monté sur le banc de machine (112) configuré pour finir une pièce de travail (208) lorsque la pièce de travail est montée dans le support de pièce de travail (202),
    dans laquelle, dans cette configuration, la machine-outil de finition offre une cinématique sans risque de collision lors du traitement de l'outil de finition, de préférence du dressage de l'outil de finition, ou du changement de pièce de travail.
  2. Machine-outil de finition industrielle selon la revendication 1, conçue pour permettre un grand angle de pivotement de l'indexeur rotatif (106) de plus de 100° dans l'une et l'autre des directions de pivotement en partant de la position zéro, position à laquelle l'axe de pièce de travail est parallèle à l'axe d'outil.
  3. Machine-outil de finition industrielle selon la revendication 1 ou 2, ayant en outre deux supports de pièce de travail (202) ou têtes de travail à broche (206) ou plus montés sur l'indexeur rotatif (106).
  4. Machine-outil de finition industrielle selon l'une quelconque des revendications 1 à 3, ayant en outre des installations de QC et/ou d'outillage ou des éléments d'outil, supplémentaires, choisis parmi l'un du groupe d'installations/éléments constitué de palpeurs de contact, sondes optiques, repères de référence et stations de nettoyage, les installations/éléments étant montés sur l'indexeur rotatif (106) de telle sorte que ces installations/éléments se mettent en rotation avec le support de pièce de travail (202) dans une relation fixe par rapport à celui-ci.
  5. Machine-outil de finition industrielle selon l'une quelconque des revendications 1 à 4, ayant en outre des éléments d'outil supplémentaires choisis parmi l'un du groupe d'éléments d'outil constitué d'éléments de mesure (par exemple, palpeurs de contact), dispositifs de nettoyage de pièce de travail, dispositifs de manipulation de pièce de travail et dispositifs d'étiquetage montés sur le banc de machine (112) ou montés sur l'une quelconque structure de machine entre le banc de machine (112).
  6. Machine-outil de finition industrielle selon l'une quelconque des revendications précédentes, dans laquelle l'indexeur rotatif (106) est monté dans un agencement typiquement de forme circulaire ou ovale autour de l'indexeur rotatif (106), moyennant quoi une masse radiale de l'agencement de forme circulaire ou ovale influence la quantité d'éléments d'outil supplémentaires de telle sorte que des éléments sur la partie mobile de l'indexeur rotatif (106) sont pourvus d'une bonne accessibilité à ces éléments.
  7. Machine-outil de finition industrielle selon l'une quelconque des revendications 1 à 6, comprenant au moins un indexeur linéaire (110), dans laquelle l'indexeur rotatif (106) est monté sur l'un parmi l'au moins un indexeur linéaire (110), qui est monté sur le banc de machine (112).
  8. Machine-outil de finition industrielle selon la revendication 1 ou 7, dans laquelle la table de machine (204) de l'indexeur rotatif (106) contient une glissière (222) ou une surface d'alignement (203), adaptée pour recevoir des dispositifs de serrage, de telle sorte que le support de pièce de travail (202) sur celle-ci peut être conçu pour être amené dans différentes positions statiques (217) par rapport à une installation de dressage (212, 212"), une installation de mesure (212'), la glissière (222), la pièce de travail (208), les installations de QC et/ou d'outillage (211, 211' 211"), permettant de ce fait un positionnement flexible du support de pièce de travail (202), ce qui permet d'obtenir une grande flexibilité pour la mise en place de nouveaux processus et de nouvelles pièces de travail, dans laquelle en outre, pour un meulage de rayon, la pièce de travail peut être amenée plus près du centre de l'indexeur rotatif pour plus grande précision de rayon par l'utilisation d'un seul axe mobile.
  9. Machine-outil de finition industrielle selon la revendication 1 ou la revendication 7, dans laquelle en outre, la machine de finition comporte :
    (a) au moins un second indexeur linéaire (104) combiné et monté sous une tourelle (102), combinaison qui est montée sur le banc de machine (112) ; et
    (b) une tête d'outil de finition (210) ayant au moins un outil de finition alimenté en puissance à l'intérieur de celle-ci, monté sur la tourelle (102),
  10. Procédé d'utilisation de la machine-outil de finition industrielle selon l'une quelconque des revendications 1 à 9, dans lequel le procédé comporte les étapes consistant à :
    (a) mettre en rotation l'indexeur rotatif (106) pour recevoir une pièce de travail dans le support de pièce de travail (202), de préférence par l'intermédiaire d'un chargeur automatique de pièce de travail (216) ;
    (b) charger la pièce de travail et la serrer en place dans le support de pièce de travail (202) ;
    (c) mettre en rotation l'indexeur rotatif (106) à une position de travail telle que la pièce de travail peut être finie par l'outil de finition (214) ;
    (d) utiliser l'outil de finition (214), finir la pièce de travail ; et
    (e) une fois que la pièce de travail a obtenu une forme cible, mettre en rotation le support de pièce de travail (202) à une position de déchargement et décharger la pièce de travail,
  11. Procédé selon la revendication 10, comportant en outre les étapes suivantes :
    (a) rotation du support de pièce de travail (202) sur l'indexeur rotatif (106) de telle sorte qu'une installation de QC et/ou d'outillage (211) sur l'indexeur rotatif (106) peut interagir, avec l'outil de finition (214), l'installation de QC et/ou d'outillage (211) étant localisée dans une relation fixe par rapport au support de pièce de travail (202) ; et
    (b) alternance entre des processus tels qu'usinage, meulage et dressage.
  12. Procédé selon la revendication 10 ou la revendication 11, comportant les étapes supplémentaires suivantes :
    (a) rotation du support de pièce de travail (202) sur l'indexeur rotatif (106) jusqu'à une position telle que la pièce de travail dans le support de pièce de travail (202) peut être mesurée à partir d'un dispositif de mesure (215 ou 220) ; et
    (b) alternance entre des processus tels qu'usinage, meulage, dressage, et/ou inspection et/ou nettoyage, et/ou étiquetage, selon le besoin, afin d'obtenir une forme cible sur la pièce de travail.
  13. Procédé selon la revendication 10 ou la revendication 11, comportant en outre les étapes suivantes :
    (a) rotation du support de pièce de travail (202) sur l'indexeur rotatif (106) de telle sorte qu'un dispositif de mesure sur l'indexeur rotatif (106) peut mesurer l'outil de finition (214) sur sa broche, et
    (b) alternance entre des processus tels qu'usinage, dressage et/ou inspection/mesure selon le besoin, afin d'obtenir une forme cible sur l'outil.
EP21707773.4A 2020-01-17 2021-01-18 Appareil et procédé de meulage de matériaux tels que du métal, comprenant un système de manipulation conçu pour échanger et dresser automatiquement des outils Active EP4090496B1 (fr)

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PCT/IB2021/050340 WO2021144771A1 (fr) 2020-01-17 2021-01-18 Appareil et procédé de meulage de matériaux tels que du métal, comprenant un système de manipulation conçu pour échanger et dresser automatiquement des outils

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US8801503B2 (en) * 2012-06-19 2014-08-12 Gleason Cutting Tools Corporation Grinding machine with multi-spindle grinding head
DE102014203402B3 (de) * 2014-02-25 2015-07-09 Erwin Junker Maschinenfabrik Gmbh Schleifmaschine und verfahren zum schleifen von axialen bohrungen und beidseitig zu bearbeitende plane aussenflächen aufweisenden werkstücken
CN106312704A (zh) * 2016-08-29 2017-01-11 广州市昊志机电股份有限公司 一种内孔加工装置
CN110480433A (zh) * 2019-08-02 2019-11-22 陕西瀚瑞医疗科技有限公司 医用旋转工具加工用六轴磨床

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