A machining system for workpiece machining includes a machining cell, to which a workpiece holder for fixing a workpiece, a machining head for machining the workpiece and a robot for workpiece cleaning are assigned, wherein the robot has an articulated robot arm which is mounted with an initial section on a machine frame connected to the machining cell and which is provided at an end section remote from the initial section with a nozzle, which is designed to provide a jet of compressed air, a joint being arranged between the initial section and the end section, wherein the joint is provided with a pneumatic drive for providing a relative movement between the initial section and the end section.

The disclosure provides a milling system and method under different lubrication conditions. The system uses a tool to mill the workpiece, a force measuring system to measure the milling force, a tool change system to replace the tools, a tool storage to store the tools. It can store the tools, provide the lubricating oil to the milling surface, select different tools according to different processing conditions, select the best angle differences of the unequal spiral angle tools according to different conditions comprising dry cutting, casting-type lubrication, minimal quantities of lubrication or minimal quantities of nanofluid lubrication, and/or choose the optimal tool according to different cutting parameters in order to obtain the minimum milling force.

This machine tool is provided with an arm for exchanging a tool between a main shaft in a machining chamber and a secondary tool standby position in a tool holding chamber, a shutter which is provided in an opening defined in a wall which partitions between the machining chamber and the tool holding chamber, a first motor for opening and closing the shutter, a shutter position detector which can detect the position of the shutter in the entire range between the fully open position and the fully closed position, a storage device which stores a prescribed position of the shutter associated with a prescribed operation of the arm and a control device which is configured to perform a prescribed operation of the arm on the basis of the position of the shutter detected by the shutter position detector and the prescribed position of the shutter stored in the storage device.

A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.

A tool-holder unit for machining block or slab materials is moveable above a working plane on which the block or slab material is laid. The tool-holder unit includes a spindle with a circular blade and a coupling assembly that couples a second machining tool with the spindle. The tool-unit further includes a tool-holder; a mechanical coupling device configured to rotationally integrate the tool-holder and the spindle; a first axial locking element configured to removably lock the tool-holder on the spindle; a substantially cylindrical shank extending from the tool-holder; a substantially cylindrical housing seat axially positioned in the spindle or a tool-holder coupling element; and a second axial locking element configured to removably lock the tool-holder in the spindle, the axial locking element being configured to removably lock the shank in the respective housing seat.

A tool storage includes a tool receiver, a tool magazine, and a tool carriage. The tool receiver is provided on a one side of a machine tool with respect to a workpiece holder of the machine tool along a machine tool direction and is configured to receive a tool from an outside of the machine tool. The tool magazine is provided on another side opposite to the one side with respect to the workpiece holder along the machine tool direction. The tool carriage is configured to carry the tool between the tool receiver and the tool magazine.

A method for machining a workpiece includes using a multi-axis robot to lift a tool head from a magazine. The robot attaches the tool head to an end of a drill tube. The drill tube is then rotated and longitudinally translated to machine the workpiece. The tool head is withdrawn from the machined workpiece longitudinally by moving the drill tube. The robot is used to disconnect the tool head, replace the disconnected tool head into a magazine and withdraw a different tool head from the magazine for attachment to the drill tube.

A universal machining system capable of accommodating multiple small-batch or one-off machining jobs, involving workpieces of different diameter and composition, comprises a rotating chuck having multiple jaws that may be adjusted positionally inward or outward towards the longitudinal centerline of the workpiece or removed entirely, and a tool turret capable of holding a variety of socketed tools. System also comprises a measurement sensor, which may be separate or comprise one of the socketed tools. A control program collects machining instructions for a series of workpieces, and directs the chuck, the tool turret, the measurement sensor, and at least one robot to load/unload workpieces and tools from the chuck and turret, respectively, measure workpieces and tools for quality control, and track available storage, overriding or skipping individual machining instructions as dictated by safety parameters and the availability of raw materials and tools.

The invention relates to a processing plant (1) comprising: at least one first working spindle (2); a tool magazine (6) for storing different processing tools (4), wherein at least one storage plane (10) having several tool receiving spaces (11) arranged next to one another is provided in the tool magazine (6); a tool change device (5) comprising at least one first gripper device (13) for exchanging the processing tool (4) held in the working spindle (2), wherein the gripper device (13) comprises at least one first gripper unit (15) and one second gripper unit (16) which are positioned at a gripper-unit distance (17) from one another. The gripper units (15, 16) can be displaced between the working spindle (2) and the tool magazine (6).

A replacing apparatus is configured to replace a processing tool in a processing apparatus. The processing apparatus includes a holder configured to hold a processing target object, a processing mechanism to which the processing tool configured to process the processing target object held by the holder is installed in a replaceable manner, and an exterior cover accommodating therein the holder and the processing mechanism. The replacing apparatus includes a replacing mechanism, a moving mechanism, a traveling table and a traveling mechanism. The replacing mechanism installs the processing tool to the processing mechanism, or separates the processing tool from the processing mechanism. The moving mechanism is configured to move the replacing mechanism from an outside of the exterior cover to an inside thereof through an entrance opening of the exterior cover. The traveling table supports the moving mechanism. The traveling mechanism is configured to allow the traveling table to travel.