# US 11,305,400 B2 · Device for processing a workpiece > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,400 B2 - Document ID: US11305400B2 - Status: Granted - Kind: B2 - Application number: 17/288,386 - Filed: 2019-10-10 - Published: 2021-11-25 - Granted: 2022-04-19 - Earliest claimed: 2018-10-26 - Assignees: zwo17 GmbH & Co. KG - Applicants: zwo17 GmbH & Co. KG - Inventors: Norbert Eugler - Web page: https://patentgrep.com/patent/US11305400B2 ## CPC - B24B 41/06: Work supports, e.g. adjustable steadies (B24B37/27 takes precedence) - B25J 9/0096: {co-operating with a working support, e.g. work-table} - B23Q 7/045: {using a tool holder as a work-transporting gripper} - B25J 15/0066: {with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence)} - B23Q 2230/002: Using the spindle for performing a non machining or non measuring operation, e.g. cleaning, actuating a mechanism - B24B: MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING (grinding of gear teeth B23F, of screw-threads B23G1/36; by electro-erosion B23H; abrasive or related blasting B24C; tools for grinding, buffing or sharpening B24D; polishing compositions C09G1/00; abrasives C09K3/14; electrolytic etching or polishing C25F3/00; grinding arrangements for use on assembled railway tracks E01B31/17); DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT ## Abstract A device is proposed for machining a workpiece using a robot which holds and moves the workpiece, in which the robot has a drive unit which is suitable for fixing the workpiece in a clamping device. According to the method the workpiece is placed in a clamping device by a robot and then machined after the workpiece has been fixed in the clamping device by means of the robot. ## Claims ### Claim 1 A device for machining a workpiece comprising a robot, which has an arm; wherein the robot holds and moves the workpiece; wherein the robot has a drive unit which is suitable for fastening the workpiece in a clamping device; wherein the drive unit and at least one gripper are arranged simultaneously on the arm of the robot in order to use the drive unit and the at least one gripper one after the other; wherein at least one gripper is arranged laterally to the drive unit; and wherein the at least one gripper and drive unit are arranged orthogonally to one another; wherein the drive unit has two pins, each of the two pins on opposite sides of a screwdriver relative to the other of the two pins, the two pins configured so that the two pins can be aligned flush with two bores on the clamping device; or two bores are provided in the drive unit wherein the two bores cooperate with two pins in the clamping device; wherein the two pins slide into the two bores and hold the drive unit firmly, relative to the clamping device, in order to relieve the stress on the robot arm. ### Claim 2 (depends on 1) The device according to claim 1, wherein the drive unit has an additional a screwdriver with an adapter having an adapter profile and a spring is provided between the adapter and the drive unit which enables the adapter to enter into engagement with the profile on the clamping device with a small movement of the adapter relative to a corresponding profile on the clamping device, wherein the tension on the spring which presses the adapter towards the profile of the clamping device is released. ### Claim 3 (depends on 1) An arrangement of the device according to claim 1; and a clamping device; wherein the clamping device is configured without a motor and the clamping device and a plurality of pin connections of the drive unit are connected positively to one another. ### Claim 4 (depends on 3) The arrangement according to claim 3, wherein the clamping device receives a plurality of workpieces which are braced together. ### Claim 5 (depends on 3) The arrangement according to claim 3, wherein the clamping device and a moving part of the drive unit are connected positively to one another. ### Claim 6 (depends on 3) A method for machining a workpiece using the arrangement according to claim 3 in which the workpiece is placed by the robot in the clamping device and is then machined, wherein the workpiece is fixed in the clamping device using the robot. ### Claim 7 (depends on 6) The method according to claim 6, wherein the workpiece is released from the clamping device by means of the robot.