Machining robot for chip removal machining

1 . A machining robot ( 10 ) for machining workpieces ( 1 ) by chip removal, the machining robot comprising:

a base frame ( 21 );

a foot lever ( 41 ) mounted in the base frame and pivotable about a first main axis ( 11 );

an elbow lever ( 51 ) mounted at a free end of the foot lever ( 41 ) and pivotable about a second main axis ( 12 ), the second main axis ( 12 ) being parallel to the first main axis ( 11 ), the elbow lever ( 51 ) extending in a longitudinal direction along a first subsidiary axis ( 14 ), the elbow lever ( 51 ) comprising a receiving fork ( 64 ) having two tines ( 65 ); and

a machining unit ( 71 ) mounted in the elbow lever ( 51 ) and pivotable about a second subsidiary axis ( 13 ), the machining unit ( 71 ) is a multifunction unit ( 71 ) having a cuboid body, the second subsidiary axis ( 13 ) passing through the two tines ( 65 ) of the receiving fork ( 64 ) and through the cuboid body of the machining unit ( 71 ),

wherein the cuboid body of the multifunction unit ( 71 ) has at least two working sides ( 72 , 91 , 93 ) disposed on different faces of the cuboid body of the machining unit ( 71 ), the at least two working sides including

a multifunction side ( 72 ), and

a main spindle side ( 91 ) comprising a main spindle holder ( 92 ) configured to receive and rotationally drive a tool spindle,

wherein the cuboid body of the multifunction unit ( 71 ) is pivotable about the second subsidiary axis ( 13 ) to selectively bring each of the multifunction side ( 72 ) and the main spindle side ( 91 ) into a machining position,

wherein the multifunction side ( 72 ) comprises at least two chip removal tools ( 73 - 75 , 78 , 81 - 85 ),

wherein the at least two chip removal tools ( 73 - 75 , 78 , 81 - 85 ) can be driven for rotation individually, or in groups,

wherein each of the at least two chip removal tools ( 73 - 75 , 78 , 81 - 85 ) can be raised and lowered relative to the multifunction side ( 72 ) by a respective tool carrier ( 76 ; 86 ) receiving a respective one of the at least two chip removal tools ( 73 - 75 , 78 , 81 - 85 ), and

wherein pivoting motions of

the foot lever ( 41 ) about the first main axis ( 11 ),

the elbow lever ( 51 ) about the second main axis ( 12 ), and

the machining unit ( 71 ) about the second subsidiary axis ( 13 )

are controlled via a control circuit.

2 . The machining robot ( 10 ) according to claim 1 , wherein an elbow lever length ( 17 ) defined by a distance of the second main axis ( 12 ) from the second subsidiary axis ( 13 ) is greater than a foot lever length ( 16 ) defined by a distance of the first main axis ( 11 ) from the second main axis ( 12 ).

3 . The machining robot ( 10 ) according to claim 2 , wherein an intersection point ( 18 ) at an intersection of an elbow lever ( 17 ) length axis and the second subsidiary axis ( 13 ) can move only in a plane perpendicular to the first main axis ( 11 ).

4 . The machining robot ( 10 ) according to claim 1 ,

wherein the elbow lever ( 51 ) has a first partial arm ( 52 ) and a second partial arm ( 61 ), the second partial arm ( 61 ) being pivotable relative to the first partial arm ( 52 ) about the first subsidiary axis ( 14 ),

wherein the first partial arm ( 52 ) is mounted in the foot lever ( 41 ), and

wherein the second partial arm ( 61 ) supports the multifunction unit ( 71 ).

5 . The machining robot ( 10 ) according to claim 4 , wherein the second partial arm ( 61 ) of the elbow lever ( 51 ) is a fork part ( 61 ) in which the multifunction unit ( 71 ) is mounted, which fork part ( 61 ) comprises the receiving fork ( 64 ).

6 . The machining robot ( 10 ) according to claim 1 , wherein at least one of the at least two chip removal tools ( 73 - 75 , 78 , 81 - 85 ) is a rotatable sawing tool ( 73 ).

7 . The machining robot ( 10 ) according to claim 1 ,

wherein the multifunction unit ( 71 ) comprises a drive motor, and

wherein the drive motor is couplable to the at least two chip removal tools ( 73 - 75 , 78 , 81 - 85 ) and to the main spindle holder ( 92 ).

8 . The machining robot ( 10 ) according to claim 1 ,

wherein the machining robot ( 10 ) is arranged on a bed ( 4 ), and

wherein the machining robot ( 10 ) is translationally movable and/or translationally adjustable, and

wherein translational movement and/or translational adjustment takes place in the longitudinal direction of a straight line containing the first main axis ( 11 ).

9 . The machining robot ( 10 ) according to claim 1 ,

wherein the machining robot ( 10 ) is part of a robot cell ( 5 ), and

wherein the robot cell ( 5 ) has an enclosure ( 6 ) and external controls ( 7 ).

10 . The machining robot ( 10 ) according to claim 1 ,

wherein the wherein the main spindle side ( 91 ) comprises a torque support ( 95 ), and

wherein a tool unit ( 101 ) supported on the torque support ( 95 ) and having a spindle and having at least one tool holder ( 102 ; 103 ) can be received on the main spindle side ( 91 ).

11 . The machining robot ( 10 ) according to claim 1 ,

wherein the multifunction unit ( 71 ) has two trunnions ( 77 ) projecting from opposite sides of the cuboid body, and

wherein the two trunnions ( 77 ) are mounted in transverse recesses ( 62 ) of the receiving fork ( 64 ) such that the multifunction unit ( 71 ) is pivotable relative to the receiving fork ( 64 ) about the second subsidiary axis ( 13 ).

12 . The machining robot ( 10 ) according to claim 1 ,

wherein the control circuit is a closed-loop control circuit.

13 . The machining robot ( 10 ) according to claim 12 ,

wherein the pivoting motions of

the foot lever ( 41 ) about the first main axis ( 11 ),

the elbow lever ( 51 ) about the second main axis ( 12 ), and

the machining unit ( 71 ) about the second subsidiary axis ( 13 )

are controlled via the closed-loop control circuit such that the multifunction side ( 72 ) can be moved relative to a working plane at a constant setting angle enclosed between the multifunction side ( 72 ) and the working plane.