A device for loading and unloading a machine tool for machining gears, in particular a hard fine machining machine, with a workpiece includes: a base, a carrier arranged on the base and which is rotatable with respect to the base about a first axis of rotation, a gripping device arranged on the carrier for gripping and releasing the workpiece, wherein the gripping device has at least two gripper arms which are each pivotable independently of one another about a second axis of rotation, and the gripper arms are pivotable relative to one another about the second axis of rotation in such a way that the gripper arms can assume relative to one another a gripping position for gripping the workpiece and a release position for releasing the workpiece, and the gripper arms are pivotable about the second axis of rotation synchronously with one another at least in the gripping position.

The invention relates to a method for loading and unloading an internally toothed workpiece or a workpiece that is to be provided with internal toothing into/out of a clamping position, in which the workpiece, which is held by a retaining device, is brought into the clamping position by means of a conveying movement so that said workpiece, when clamped, has internal toothing cut by a gear cutting tool that occupies a cutting chamber and, after cutting, said workpiece, which is held by the retaining device, is returned from the clamping position in a return movement, wherein, prior to cutting, the retaining device is permitted to carry out an evasive movement that is different from the return movement/reverse conveying movement and that frees the cutting chamber, or the cutting chamber is already kept free of the retaining device as soon as the clamping position is reached.

The invention relates to a method for loading and unloading an internally toothed workpiece or a workpiece that is to be provided with internal toothing into/out of a clamping position, in which the workpiece, which is held by a retaining device, is brought into the clamping position by means of a conveying movement so that said workpiece, when clamped, has internal toothing cut by a gear cutting tool that occupies a cutting chamber and, after cutting, said workpiece, which is held by the retaining device, is returned from the clamping position in a return movement, wherein, prior to cutting, the retaining device is permitted to carry out an evasive movement that is different from the return movement/reverse conveying movement and that frees the cutting chamber, or the cutting chamber is already kept free of the retaining device as soon as the clamping position is reached.

A device for transporting an object to and/or from a grinding machine includes a base, a carrier arranged on the base and rotatable with respect to the base about a first axis of rotation, a swivel device arranged on the carrier for transporting the object. The swivel device is pivotable with respect to the carrier about a second axis of rotation, and the device is designed to carry out a rotational movement of the carrier about the first axis of rotation and a swivel movement of the swivel device about the second axis of rotation at least at times simultaneously in such a way that the object can be transported by means of a transport movement of the swivel device resulting from the superimposition of the rotational movement of the carrier with the swivel movement of the swivel device.

A device for transporting an object to and/or from a grinding machine includes a base, a carrier arranged on the base and rotatable with respect to the base about a first axis of rotation, a swivel device arranged on the carrier for transporting the object. The swivel device is pivotable with respect to the carrier about a second axis of rotation, and the device is designed to carry out a rotational movement of the carrier about the first axis of rotation and a swivel movement of the swivel device about the second axis of rotation at least at times simultaneously in such a way that the object can be transported by means of a transport movement of the swivel device resulting from the superimposition of the rotational movement of the carrier with the swivel movement of the swivel device.