EP1858667A2

EP1858667A2 - Machine tool

Info

Publication number: EP1858667A2
Application number: EP06723184A
Authority: EP
Inventors: Ulrich Baumann
Original assignee: Traub Drehmaschinen GmbH and Co KG
Current assignee: Traub Drehmaschinen GmbH and Co KG
Priority date: 2005-03-07
Filing date: 2006-03-03
Publication date: 2007-11-28
Also published as: DE102005011306A1; JP2008531321A; WO2006094712A8; CN101151121A; WO2006094712A2; WO2006094712A3

Abstract

Disclosed is a machine tool for machining a workpiece with the aid of at least one tool (WZ) by having the workpiece (WS) and the tool (WZ) perform controlled positioning movements relative to each other. Said machine tool comprises a machine frame (10), a support head (20) that can be moved relative to the machine frame (10) by means of a moving unit (14), and at least one receiving device (A) which is located on the support head (20) and by means of which a workpiece (WS) or a tool (WZ) can be placed on the support head (20) such that at least some of the positioning movements can be performed using the moving unit. In order to improve said machine tool in such a way that multiple complex machining processes can be carried out in an optimal fashion, the support head (20) is mounted on a support arm (24) so as to be pivotable about a first swiveling axis (26) while said support arm (24) is mounted so as to be pivotable relative to a support base (30) about a second swiveling axis (32) that is located parallel to and at a distance from the first swiveling axis (26). Furthermore, the support base (30) can be moved relative to the machine frame (10) by means of at least one controlled axis of movement (X, Y, Z).

Description

MACHINE TOOL

The invention relates to a machine tool for machining a workpiece by means of at least one tool by controlled positioning movements of workpiece and tool relative to each other, comprising a machine frame, a relative to the machine frame by means of a moving unit movable carrier head and at least one provided on the carrier head recording, by means of either a Workpiece or a tool can be arranged on the carrier head, so that by means of the movement unit at least a part of the positioning movements is executable.

Such machine tools are known from the prior art. In these machine tools, the carrier head is usually designed as a tool carrier head, which is movable by means of a carriage system for carrying out the positioning movements.

Under a processing in the sense of the solution according to the invention is any type of design of the workpiece to understand, so for example, removal or application of material but also conversion of material, for example by curing.

In the case of material-removing or material-applying processes, laser machining including laser welding is also included in particular. In any case, the material-removing processes include the machining of workpieces, for example by turning, milling or grinding.

However, this concept has the disadvantage that a variety of complex machining of a workpiece can not be performed optimally.

The invention is therefore an object of the invention to improve a machine tool of the generic type such that a variety of complex processes are optimally executed.

This object is achieved in a machine tool of the type described above according to the invention that the carrier head is pivotally supported about a first pivot axis on a support arm, that the support arm in turn about a pivot axis parallel to the first and spaced therefrom second pivot axis pivotally relative to a support base is mounted and that the support base relative to the machine frame by means of at least one controlled movement axis is movable.

The advantage of the solution according to the invention is the fact that a large range of movement of the carrier head with the highest possible rigidity and accuracy in the positioning of the same is feasible, especially in that the pivotable about the second pivot axis support arm together with the first pivot axis relative to the support arm pivotable carrier head opens up a simple way, on the one hand to achieve a large range of motion of the carrier head and on the other hand to position within this range of motion the support arm with the necessary rigidity and precision. In addition, the provision of a pivotable support arm in addition to a large range of motion also allows high speeds when pivoting the support arm and thus fast and time-saving movements of the movement unit, at least insofar as they are made to movements of the support arm relative to the support base.

This concept has over the known solutions in particular the advantage that due to the provided for the movement of the turret movement unit, a large range of movement of the carrier head can not be realized by a large length of linear axes, the problems in terms of the stiffness of the moving unit and the precision of the positioning of the axes of motion brings with it.

Moreover, the provision of the support arm also has advantages with regard to the accuracy of the positioning movements, since the lever arm caused by the support arm is always the same size and not variable in length, thereby already allowing a highly reproducible positioning of the support head to the support base due to the nature of the construction is.

With regard to the at least one movement axis for moving the carrier base, no further details have been given so far. Thus, an advantageous embodiment provides that the support base is movable through the at least one movement axis in the direction approximately parallel to a transverse to the pivot axes first movement plane. Due to the movability of the carrier base with at least one movement axis in the first movement plane, a sufficient number of axes is available in order to be able to carry out machining operations in the machine tool at least to the usual extent.

Conveniently, the first plane of movement runs parallel to the X direction.

In addition, it is preferably provided that the first plane of movement runs parallel to the Z direction of the machine tool.

Furthermore, an advantageous embodiment of the machine tool according to the invention provides that the support base is movable by a movement axis in a direction approximately parallel to the pivot axes.

Such a movement axis preferably runs parallel to the Y-direction of the machine tool.

It is furthermore particularly favorable if the carrier base is movable in the direction approximately parallel to a second movement plane extending approximately parallel to the pivot axes.

With regard to the type of axes of motion, no details have yet been given.

For example, the axes provided for moving the support base could also be pivot axes, that is, the axis of movement parallel to the respective plane guides the support base on a curved path. However, a particularly advantageous solution provides that the support base can be moved relative to the machine frame along at least one first linear axis.

The provision of the first linear axis has the advantage that it makes the overall movements of the movement unit easily controllable, since there is the possibility to use at least with respect to this axis a conventional control and the linear movement without superposition of further movements directly to the positioning of the carrier head in the processing of Insert workpiece.

It is even more advantageous if the carrier base is movable on the machine frame along a second linear axis extending transversely to the first linear axis.

The second linear axis also has the great advantage that it makes it possible to use it directly for the positioning of the carrier head during the machining of the workpiece.

The linear axes can basically be arranged arbitrarily. A particularly favorable solution provides that the first linear axis lies in the first movement plane.

The second linear axis could also be in the first movement plane. However, a solution in which the second linear axis lies in the second plane of movement is particularly favorable.

Preferably, the second linear axis is designed such that it runs approximately parallel to the pivot axes.

With regard to the alignment of the first plane of movement to a spindle axis provided in the machine tool, no further details have so far been given. Thus, it is preferably provided that the first

Movement plane runs parallel to a spindle axis about which the workpiece or the tool are rotatably driven.

Furthermore, with regard to the second movement plane, provision is expediently made for the second movement plane to extend transversely to a spindle axis about which the workpiece or the tool can be driven.

In this case, the spindle axis may be, for example, the spindle axis of a workpiece spindle, so that, in particular, a turning operation is performed with the machine tool according to the invention.

Alternatively, however, it is also conceivable that the spindle axis is the spindle axis of a tool spindle, so that milling operations can be performed with the machine tool according to the invention.

Preferably, both a workpiece spindle and a tool spindle are provided, so that both turning operations and milling operations and thus the complete machining of workpieces with the machine tool according to the invention is possible. With regard to the arrangement of the pivot axes in relation to the forces occurring during a machining machining, no further details have been given so far.

In principle, any type of arrangement is conceivable.

However, a particularly favorable solution provides that the pivot axes run parallel to a direction of a main cutting force occurring during the machining.

This arrangement of the pivot axes has the great advantage that no moments with respect to the pivot axes arise through the main cutting force, but the main cutting force is taken over the provided for the realization of the pivot axes bearings and thus the drives for the pivot axes are free from the main cutting force resulting moments.

With regard to the drive of the movements about the pivot axis so far no further details have been made. Thus, it would be conceivable, for example, to drive the pivot axes together or at least starting from a common drive motor, to which the individual pivot axes can be engaged.

A particularly favorable in terms of control and design effort solution provides that the first pivot axis is assigned its own drive. Such a separate drive of the pivot axis can be on the one hand a positioning drive, with which the rotational position about the first pivot axis is free of forces occurring during the machining of the workpiece.

But it is also conceivable to form the drive of the first pivot axis as a high-torque drive, which is able to rotate relative to the support arm and to keep in the respective rotational position even when the occurring during machining of the workpiece forces the carrier body.

In the same way, it is provided for the sake of a structurally particularly simple and advantageous solution that the second pivot axis is assigned its own drive.

At the second pivot axis, the own drive has to pivot the carrier arm relative to the carrier base.

Again, it is conceivable to provide only one position drive, which is able to pivot in non-performing machining operations of the support arm relative to the support base.

Alternatively, an even more advantageous solution provides that the second pivot axis is assigned a high-torque drive, which makes it possible to rotate, position and hold the support arm relative to the support base during the machining of the workpiece.

All drives can be, for example, hydraulic or other driven drives. A particularly advantageous solution provides that the drives are electric motors, and it is particularly favorable, in particular in the case of high-torque drives, when the drives are designed as round linear motors, that is, torque motors.

In principle, the drive associated with the first pivot axis and the drive associated with the second pivot axis can operate completely independently of one another.

However, in order to have a high drive power, in particular during machining of the workpiece, or at least to be able to carry out the pivoting movement with the necessary rigidity, it is preferably provided that the first pivot axis and the second pivot axis can be coupled by a coupling gear.

The coupling gear could also work hydraulically. However, it is particularly expedient if the coupling transmission is a mechanical coupling transmission, which is used to couple the rotational movement about the first

Swivel axis and the rotational movement about the second pivot axis can be switched or switched off again.

In particular, when the first pivot axis and / or the second pivot axis associated drives positioning drives, it is particularly advantageous if the first pivot axis and the second pivot axis are blocked in at least one relative position. Such a blockage of the first pivot axis and the second pivot axis has the advantage that at least one usable for machining the workpiece position is present, in which by blocking the rotational movement about the first pivot axis and the second pivot axis a very rigid orientation of the carrier head Relative to the support base exists to edit the workpiece with the greatest possible precision.

It is even more expedient if the first pivot axis and the second pivot axis can be blocked in each pivot position.

Such a blocking of the pivot position can be achieved, for example, with the drives, in particular with round linear motors.

Another possibility is that the blocking is done by braking or gearing.

However, such blockability is also advantageous in high-torque drives to improve the rigidity of the unit carrier base, support arm and carrier head.

In connection with the previous description of the machining of the workpiece by moving the carrier head, no further details have so far been provided as to how the carrier head is to be moved by the movement unit.

Thus, an advantageous solution provides that, for machining the workpiece, the carrier head can be moved by moving the carrier base. This solution has the advantage that the movement of the support base is easy to implement and thus initially primarily the support base is moved to achieve a high rigidity of the unit of support base, support arm and carrier head.

It is even more advantageous if the carrier head is moved exclusively by moving the carrier base, so that the unit of carrier base, carrier arm and carrier head can form a rigid unit that is not moving during processing.

It is particularly advantageous if, for machining the workpiece, the carrier head can be moved exclusively by means of at least one of the linear axes, since in this way the at least one linear axis can be used directly for positioning the carrier head during processing and thus machining the workpiece with conventional axes of motion is possible.

In this case, the pivoting movement around the first and the second

Swivel axis primarily not used to achieve positioning movements in the machining of the workpiece, but primarily to achieve positioning movements at times outside the machining of the workpiece.

Such positioning movements are for example tool change, workpiece change or the like. Alternatively, a further advantageous embodiment of the solution according to the invention provides that, for the machining of the workpiece, the carrier head can be moved two-dimensionally relative to the carrier frame by a combination of a rotation of the carrier arm about the second pivot axis relative to the carrier base with a movement of the at least one movement axis for the carrier base.

In this way, the pivotal movement of the carrier arm in combination with a movement axis of the carrier base can be used to carry out two-dimensional movements.

It is advantageous if the two-dimensional movement by a linear movement of the support base combined with a pivoting movement of the support arm transverse to the linear movement is executable. This creates a particularly simple combination of the pivotal movement of the carrier arm with the movement of the carrier base.

In particular, it is provided that in the machining of the workpiece, the support arm with its longitudinal axis in an angular range of -80 ° to + 80 ° to the linear direction of movement is movable in order to use the support arm optimally for generating the two-dimensional movement can.

In particular, the unit of carrier base, carrier arm and carrier head is arranged during the machining of the workpiece so that a base body of the carrier arm is located on a side facing away from the workpiece. Finally, it is advantageous for alignment of the carrier head when the rotation of the carrier arm about the second linear axis is combined with a rotational movement of the carrier head about the first pivot axis.

With regard to the recording provided on the carrier head so far no further details have been made.

For example, an advantageous embodiment provides that the at least one receptacle provided on the carrier head is a tool receptacle into which a tool or a tool holder can be inserted directly.

In addition, the at least one provided on the carrier head receptacle is expediently designed as a controlled releasable receptacle. Under such a controlled releasable recording is possible either to hold a workpiece or a tool in the recording and release again controlled from this.

In addition or as an alternative to the features of the aforementioned machine tool, a further embodiment of a machine tool mentioned above provides that the movement unit comprises two pivot axes for moving the carrier head and positioning movements of the carrier head within a movement range of the carrier head can be performed by the movement unit.

This solution is based on the fact that generally by the provision of two pivot axes, an advantageous movement of the carrier head within a range of motion is possible. For this purpose, the two pivot axes are not necessarily arranged parallel to each other, they can be arranged in any manner windschief each other, in particular in the space extending transversely to each other.

It is expediently provided in this solution that the range of motion is determined by maximum achievable with the pivot and movement axes positions, that is, the range of motion by the combination of the maximum positions of the support base relative to the machine frame and the combination of the maximum positions of the carrier head relative to the support base is fixed.

In this case, it is preferably provided that the carrier head can be moved within a machining movement range encompassed by the movement region during machining of the workpiece, ie, that the machining movement region is dimensioned much smaller than the entire movement region of the carrier head which can be realized with the solution according to the invention is.

Furthermore, a preferred embodiment provides that the carrier head for changing the workpiece or tool arranged on the carrier head is movable within a range of change of movement encompassed by the movement region.

In this case, such an alternating movement range is defined as the movement range in which a change of the tool or of the workpiece or of other components which can be received on the carrier head takes place. In particular, it is provided that the machining movement area and the change movement area are not arranged overlapping within the movement area.

In order to be able to easily change a tool or a workpiece in the alternating movement range of the carrier head, it is preferably provided that at least one holding device for a tool or workpiece is arranged on the machine frame in the area of change of movement of the carrier head.

It is even more advantageous when a multiplicity of holding devices for tools and / or workpieces is arranged on the machine frame in the area of change of movement of the carrier head.

Expediently, in particular so as not to hinder the machining of a workpiece, it is provided that the at least one holding device is arranged in an outer region of the movement region of the machine tool.

The arrangement of the holding device is particularly favorable when the at least one holding device is arranged in an outer region of the alternating movement region.

Furthermore, a suitable solution provides that the movement range of the carrier head extends to at least one wall of a working space.

In this case, it is favorable if the at least one holding device is arranged on the wall of the working space. The wall of the working space usually forms a lot of space, so that the conception of the invention particularly favorable then uses the opportunities offered by this, if a plurality of holding devices is provided on the at least one wall of the working space.

With regard to the design of the holding device so far no details have been made.

For example, it is provided that the holding device is a passive storage device, that is, in the holding device on the carrier head fixable units can be used and removed again from the carrier head, without requiring an actuation or control of the holding device for receiving or releasing the units.

Such units can be, for example, tools or tool carriers or also handling units for tools or workpiece holders, but also grippers for workpieces.

The holding devices may be stationary relative to the machine frame. But it is also possible to arrange the holding devices on the machine frame movable.

Another embodiment of a holding device provides that the respective holding device is designed as a changing device. Under a change device is to be understood that this is a device that actively either supplies or removes an element to be changed. Such elements may be, for example, tools or workpieces.

An example of such a change device is, for example, a known tool magazine in which the change device comprises a carrier which has an access position and is able to position or receive by movement one of the held tools in the access position.

Another example of such a change device is, for example, a workpiece feed or a workpiece removal, which actively feeds a workpiece into a specific position, from which it can be picked up by the carrier head, or removes a workpiece from a certain position, thereby creating a new one Workpiece can be stored in this position again.

The concept according to the invention can be further developed expediently if a receptacle for at least one tool or at least one workpiece is arranged on the machine frame and in the movement region of the carrier head.

In order to keep the number of existing axles as small as possible it is expediently provided that the receptacle is arranged stationary relative to the machine frame.

But it is also conceivable that the receptacle is movable relative to the machine frame. In this case, the receptacle could also be movable with a movement unit according to the invention described above.

For the sake of simplicity, however, it has proven to be expedient if the receptacle is linearly movable relative to the machine frame, preferably is exclusively linearly movable.

With regard to the training of recording a variety of ways are conceivable.

If the receptacle is provided as a receptacle for tools, it may be sufficient if the receptacle is a stationary receptacle for at least one tool or a plurality of tools.

For the use of rotating tools, however, it has also proved to be advantageous if the at least one receptacle is designed as a spindle, in particular as a tool spindle, so that a machining of the workpiece with at least one rotating tool or a plurality of rotating tools is possible.

If the at least one receptacle is designed as a spindle, the receptacle can also serve to receive a workpiece.

It is provided that the at least one receptacle is designed as a workpiece spindle, so that at least one workpiece spindle or several workpiece spindles are available for receiving a workpiece. A further expedient exemplary embodiment of a machine tool according to the invention provides that a main body of a carrier arm is also the basic body for a further carrier arm. In this way, the advantages of a carrier arm according to the invention can be achieved even more comprehensively, since two carrier heads are available.

In this case, it is particularly favorable if the carrier arm and the further carrier arm enclose an angle of at least 90 ° with one another, since collisions of the other carrier head with the workpiece or tool with which the carrier head cooperates during processing can thereby be avoided.

Another advantageous embodiment of an inventive

Machine tool provides that the machine tool has at least two movement units, and that tools or workpieces from one of the carrier heads to the other of the carrier heads can be handed over. Thus, not only are the advantages of two independently operable movement units available, but additionally exploited their handling properties to the effect that, for example, workpieces can be transferred and thus a front and back side machining is feasible in a simple manner.

Alternatively or in addition to the above-described solutions of the above-mentioned object, a further solution of the aforementioned object provides for an aforementioned machine tool according to the invention that the carrier head about a first pivot axis is pivotally mounted on a support arm, that the carrier head is provided with at least one receptacle for a replaceable unit which is fixable with a fixing device in the receptacle, and that the fixing device can be controlled by a machine control and thereby brought into a release position.

The advantage of this solution is the fact that such a receptacle provided with a controllable fixing device opens up the possibility of being controlled by the machine control in a simple manner to fix or detach units from the carrier head.

The fixing device can be designed so that it also passes controlled by the machine control in the fixing position.

A particularly favorable solution provides that the fixing device is designed to automatically transition into a fixing position.

In order to bring the fixing in the release position, a variety of ways are conceivable. An advantageous solution provides that the fixing device is associated with an activatable by the machine control actuator.

The carrier head can basically be provided with such a receptacle or with a plurality of receptacles.

It has proved to be particularly favorable if the carrier head is provided with at least two receptacles with these associated fixing device. The advantage of this solution can be seen in the fact that several units can be taken simultaneously by the recordings and fixed in these.

Since the units are subjected to different forces depending on the function to be performed, it would be necessary to design at least one of the at least two receptacles in such a way that they withstand the maximum forces acting on the units.

However, this has the disadvantage that thus the size of the carrier head according to the maximum acting forces receiving receptacle must be formed.

For this reason, an advantageous solution provides that two of the at least two receptacles form a pair of receptacles on which one of the units can be fixed.

This means that the unit which is to absorb the maximum forces can not be fixed in one of the receptacles, but can be fixed in two receptacles at the same time, and thus the forces distributed over two receptacles can be introduced into the carrier head. Thus, only the two images together are so stable form that they are able to absorb the maximum acting on such a unit forces.

In principle, the unit fixed in the recordings of the record pair could additionally be supported on the support head. In order to achieve an easy interchangeability of this unit is advantageously provided that the fixed in the recordings of the pair of recording unit is fixed solely on these recordings on the carrier head.

The receptacle provided with a controllable fixing device can in principle be a stationary receptacle into which the unit can be inserted and fixed in place.

It is particularly favorable, however, if the at least one receptacle is driven in rotation.

In the case of multiple recordings can be provided that one of the recordings is driven in rotation and the other not.

However, it is particularly advantageous if a plurality of drivable receptacles are provided.

In order to realize the drive of the recordings, it is conceivable to assign each of the recordings a separate drive.

For reasons of a compact construction, it has proven to be advantageous if the recordings are driven by a common drive.

A common drive can be designed so that all recordings are driven at the same speed. But it is also conceivable that despite the common drive different shots with different speed can be driven.

When driving the recordings, even if a common drive is provided, each of the recordings can be driven individually.

It is also provided in the context of the inventive solution, however, that the carrier head is designed so that the recordings are driven simultaneously.

This also applies to the recordings of a pair of recordings, so that either one of the recordings can be driven individually or the recordings can be driven together.

In the case of rotationally drivable recordings, a particularly expedient solution, in which the recordings of a pair of recordings keep a unit together, provides that the recordings of a record pair can drive the unit held together in these recordings.

In this case, the units can be designed such that one of the receptacles of the pair of receptacles drives a function of the unit.

A particularly advantageous solution provides that one function of the unit can be driven with each of the receptacles of a pair of receptacles, so that two different functions of the unit can be driven by the two receptacles of the pair of receptacles. In one embodiment of a machine tool with a pair of receptacles, a tool change can be realized particularly favorable when a tool magazine has holding devices arranged in pairs for the units arranged in a receiving pair.

Thus, for example, two tools arranged in the holding devices can be simultaneously inserted into the carrier head or at the same time two tools arranged in the receptacles can be deposited in the holding devices by the carrier head.

It is particularly useful if one of the paired holding devices is a free and the other is equipped with a tool and that of the pair of receptacles a recording is equipped with a tool and the other is free and that in a single access of the carrier head to the Tool magazine, the tool of a recording in a holding device can be stored and the tool of the other holding device in the other recording is used.

With regard to the shape of the carrier head and the arrangement of the recordings on this have been made in connection with the inventive solution so far no further details.

In order to have as many images on the carrier head available, on the other hand to keep the risk of collision of units used in the recordings as low as possible, it is preferably provided that the carrier head carries on at least two different sides recordings. It is even better if the carrier head carries pictures on at least three different sides.

The different sides of the carrier head are preferably formed by side surfaces of the carrier head, wherein the side surfaces are arranged so that surface normal of the same have in different directions.

The side surfaces can be curved in principle.

It is particularly favorable, however, if the side surfaces of the carrier head are flat surfaces.

With regard to the type of training of the carrier head a variety of geometric shapes are conceivable.

For example, it would be conceivable to form the carrier head in a spherical or ellipsoidal or conical shape, wherein these body shapes may also be provided with additional flattenings.

A particularly favorable form for the spatial relationships of a machine tool provides that the tool carrier head is designed as a prismatic body and the first pivot axis passes through the prismatic body running parallel to a side surface.

Preferably, the first pivot axis runs parallel to the central axis of the prismatic body. It is particularly advantageous geometrically when the prismatic body has an extension in the direction of the first pivot axis which is at least as large as in each direction transverse to the first pivot axis.

It is even better if the prismatic body has an extension in the direction of the first pivot axis that is at least 1.5 times the maximum extent transverse to the first pivot axis.

The base of the prismatic body can have a variety of forms.

For example, the base can also have a round or elliptical shape.

A particularly favorable solution provides that the prismatic body has a polygon as a base.

Preferably, the polygon is at most a hexagon, even more advantageous are base surfaces in the form of a pentagon or a quadrilateral, on the one hand to provide as many shots and on the other hand to keep the units held in the recordings still with the least possible risk of collision.

With regard to the extent of the carrier head so far no further details have been made. However, so that the carrier head does not adversely affect the size of the machine tool in terms of its size is preferably provided that the tool carrier head transversely to the first pivot axis has a maximum extent which corresponds at most to 8 times a maximum workpiece diameter.

It is even better if the tool carrier head transversely to the first

Swivel axis has a maximum extent, which corresponds to at most 6 times a maximum tool diameter.

If the tool carrier head have side surfaces, then it is preferably provided that the side surfaces are arranged at a distance from the first pivot axis, which corresponds at most to 4 times the maximum workpiece diameter.

It is even better if the distance between the side surfaces of the first pivot axis corresponds to a maximum of 2 times the maximum workpiece diameter.

In addition, a particularly favorable form of a carrier head according to the invention provides that this has opposite side surfaces, and that the opposite side surfaces each have a maximum distance from each other, which corresponds at most to 6 times the maximum workpiece diameter.

It is even better if this maximum distance corresponds to at most 4 times the maximum workpiece diameter, because then the carrier head is constructed even more compact. With regard to the expansion of the carrier head in the direction of the first pivot axis so far no further details have been made. Thus, a structurally particularly suitable solution provides that the carrier head has an extension in the direction of the first pivot axis which corresponds at least to 6 times the maximum workpiece diameter.

With regard to the rotatability of the carrier head about the first pivot axis, no further details have been given in connection with the previous explanation of the solution according to the invention.

Thus, it would be conceivable, for example, to equip the tool carrier head with tools on two different sides and to provide a rotatability of the carrier head of a maximum of 180 °.

However, it is even more advantageous, in particular, to be able to optimally use the units on the tool carrier head when the tool carrier head is rotatable about the first pivot axis by at least 270 °, so that units can be arranged on several sides of the carrier head, which can then be rotated by rotation of the carrier head Machining of the workpiece can be used.

It is even more advantageous if the carrier head is rotatable about the first pivot axis by at least 360 °, so that an optimal flexibility in the assembly of the carrier head with units and the use of these units is given.

With regard to the rotatability of the carrier head about the first pivot axis a variety of ways are conceivable. A solution provides that the carrier head is rotatable about the first pivot axis in discrete rotational positions.

For example, such discrete rotational positions can be predetermined by the main directions required for the units provided on the carrier head, for example main directions of tools or workpieces, so that each tool or workpiece can be aligned with its main direction in a suitable manner.

It is particularly favorable in terms of discrete rotational positions when the discrete rotational positions are arranged at the same angular distance from each other, so that may be provided for the determination of the carrier head fixing devices with corresponding multi-line symmetry.

A further advantageous solution provides that the carrier head has more discrete rotational positions than main directions of units provided on the carrier head.

One possible solution provides that the angular distances between the discrete rotational positions of the carrier head are less than 10 °. It is even more advantageous if the angular distances are an integer multiple of 1.25 °, that is 1.25 ° or 2.5 ° or 5 °.

As an alternative or in addition to providing discrete rotational positions, a further advantageous embodiment provides that the carrier head about the first pivot axis as controlled by the machine control B-axis is rotatable and thus the machine control has the ability to rotate the carrier head in any rotational position to edit in these rotational positions analogous to the known B-axis the workpiece.

With regard to the arrangement of the images on the carrier head, no further details have been given so far. For example, the recordings can be distributed as desired on the carrier head.

A solution which is particularly favorable for the control and also the freedom of collision when using the carrier head provides that the carrier head has at least two receptacles which lie with their main directions in a common plane.

Preferably, the plane is arranged so that it runs transversely in particular perpendicular to the first pivot axis.

Even more optimally, a plurality of receptacles can then be arranged on the carrier head if the latter has at least two planes spaced apart from one another in the direction of the pivot axis, in each of which at least one receptacle is arranged.

It is even more advantageous if several receptacles, in particular also several receptacles on different sides of the carrier head, are arranged in each of the planes.

Further features and advantages of the invention are the subject of the following description and the drawings of some embodiments of the inventive solution. In the drawing show:

1 shows a perspective view of a first embodiment of a machine tool according to the invention;

FIG. 2 shows a side view of the first embodiment of the machine tool according to the invention in the direction of the arrow A; FIG.

Fig. 3 is a section along line 3-3 in Fig. 1;

FIG. 4 is a side view corresponding to FIG. 2 of a tool acting on a workpiece in the first embodiment; FIG.

Fig. 5 is a view of a carrier head in the direction of a first

The same pivot axis;

Fig. 6 is a view of the first embodiment according to

Fig. 2 with a dashed line shown working position of a support arm and shown in phantom change position of a support arm;

Fig. 7 is a perspective view similar to Fig. 1 of a second

Embodiment of a machine tool according to the invention; Fig. 8 is a perspective view similar to Fig. 1 of a third

Embodiment of a machine tool according to the invention;

9 is a perspective view similar to FIG. 1 of a fourth

Embodiment of a machine tool according to the invention;

10 shows a view similar to FIG. 2 of the fourth exemplary embodiment of the machine tool according to the invention, showing a tool magazine and a supply and removal device for workpieces;

11 is a view similar to FIG. 10 of a fifth embodiment of a machine tool according to the invention;

FIG. 12 is a view similar to FIG. 2 of a sixth embodiment of a machine tool according to the invention; FIG.

13 is a perspective view of a seventh embodiment of a machine tool according to the invention;

14 is a plan view of an eighth embodiment of a machine tool according to the invention;

FIG. 15 is a plan view similar to FIG. 14 of a ninth embodiment of a machine tool according to the invention; FIG. FIG. 16 is a side view similar to FIG. 2 of a tenth embodiment of a machine tool according to the invention; FIG.

Fig. 17 is a section in one through a first and a second

Pivot axis extending cutting plane by a pivoting unit according to the invention;

FIG. 18 shows a schematic representation of various tools that can be used in spindles of the carrier head; FIG.

Fig. 19 is a schematic representation of a in a spindle of

Spindle head insertable milling tool;

Fig. 20 is a schematic representation of a in a spindle of

Carrier head insertable sawing tool;

21 is an illustration of a simultaneous tool change in a carrier head according to the pivot unit in FIG. 17;

Fig. 22 is a schematic representation of a tool holder which can be used simultaneously in both spindles of the carrier head with a tool on which large forces act;

FIG. 23 shows an illustration of the tool holder according to FIG. 22 with a tool subjected to further large forces; FIG. FIG. 24 shows a schematic representation of the tool holder shown in FIGS. 21 and 22 with a plurality of tools; FIG.

Fig. 25 is a schematic representation of another in both

Spindles of the carrier head insertable tool holder with a tool spindle arranged thereon, which is drivable by means of one of the spindles;

FIG. 26 shows a schematic illustration of a tool holder that can be used in common in both spindles with a tool turret arranged thereon in side view; FIG.

FIG. 27 is a view in the direction of the arrow B in FIG. 26; FIG.

FIG. 28 shows a view similar to FIG. 27 of the tool holder with a further turret arranged on it, comprising a plurality of tool spindles; FIG.

Fig. 29 is a view in the direction of the arrow C in Fig. 28;

FIG. 30 shows a schematic representation of the tool holder insertable in both spindles with a workpiece gripper arranged on it; FIG.

Fig. 31 is a plan view in the direction of the arrow D in Fig. 30;

FIG. 32 shows an illustration similar to FIG. 17 of a second exemplary embodiment of a pivoting unit according to the invention; FIG. Fig. 33 is a plan view in the direction of the arrow E on the pivot unit of FIG. 32 in a first pivot position and

Fig. 34 is a plan view in the direction of arrow E on the pivot unit of FIG. 32 in a second pivot position.

A first embodiment of a machine tool shown in Figs. 1 and 2 comprises a generally designated 10 machine frame, which rests with a foot 12 on a base surface and on which a designated as a whole by 14 movement unit is arranged, which serves to a tool WZ, for example, a tool WZl to move relative to a workpiece WS to machine the workpiece WS machining.

The movement unit 14 is provided with a carrier head designated as a whole with 20, which has a receptacle Al for the tool WZl.

The carrier head 20 is in turn arranged between mutually parallel legs 22a, b of a carrier arm 24 and rotatably mounted relative to the carrier arm 24 about a first pivot axis 26.

Furthermore, the carrier arm 24 comprises a main body 28, from which the two legs 22a, b of the carrier arm 24 extend, and which in turn is rotatable relative to a carrier base 30 about a second pivot axis 32. The carrier base 30 is arranged on an X-carriage 34, which in turn can be moved by means of X-guides 36 in a so-called X-direction relative to the machine frame 10.

For this purpose, the carrier base 30 preferably still sits on a Y slide 44 which is movable relative to the X slide and which is guided on the X slide 34 by means of Y guides 46, so that the support base 30 as a whole is moved relative to the X slide in the Y slide. Direction, that is transversely to the X direction, preferably perpendicular to this, is movable.

In the first embodiment of the machine tool according to the invention, the workpiece WS is held in a machining receptacle BA, for example a chuck, which is arranged on the front side on a workpiece spindle 50, which in turn is rotatably mounted in a spindle housing 52 about a spindle axis 54, wherein the spindle housing 52 in turn is guided in a Z-carriage 56 which is guided via Z-guides 58 relative to the machine frame 10 in a Z-direction movable.

The Z-direction is transverse to the Y-direction and preferably perpendicular to it.

In addition, the Z-direction is transverse to the X-direction, preferably also perpendicular to this.

In addition, the spindle axis 52 and the Z-direction are parallel to each other, as is common in conventional machine tools. In the simplest case, with the machine tool according to the invention, a machining of the workpiece WS with the tool WZl by moving the carrier head 20 in the X direction due to a displacement of the X-carriage 34 and corresponding displacement of the workpiece WS by moving the workpiece spindle 50 by means of the Z-carriage 56 controlled in the Z direction by a machine control M possible.

In this case, the rotational movement of the carrier head 20 is blocked relative to the support arm 24 about the first pivot axis 26 by the machine control M and also blocks the rotation of the support arm 24 relative to the support base 30 about the second pivot axis 32 by the machine control M and also there is no shift in Y- Direction so that the carrier head 20 follows the movements of the X-carriage 34 in the X direction rigid. This solution makes it possible for the pivoting movement about the first pivot axis 26 and about the second pivot axis 32 to use actuators that do not generate torques that can be used for machining the workpiece WS, but much lower torques, and the actuators by the machine control M controllable To block brakes.

When machining the material of the workpiece WS in the course of a conventional turning operation, the tool WZl is in a first movement plane 60, which passes through the spindle axis 54, wherein in such a conventional turning a Hauptschnitt- force 62 is formed, which is perpendicular to the first plane of movement 60th runs (Fig. 3). Furthermore, according to the invention, the first pivot axis 26 and the second pivot axis 32 are oriented such that they run parallel to the main cutting force 62, so that the main cutting force 62 does not contribute to a torque about one of the pivot axes 26, 32, but through which the pivot axes 26, 32 forming bearing is added.

Thus, the first pivot axis 26 and the second pivot axis 32 extend perpendicular to the first plane of movement 60, which in turn runs parallel to the X direction, in which a delivery of the tool WZl takes place in the direction of the workpiece WS.

Conveniently, the support arm 24 extends with a longitudinal axis 66 extending between the pivot axes 26, 32 in a machining position substantially parallel to the first plane of motion 60 and in an angular range of about -45 ° to about + 45 °, more preferably in an angular range of about - 30 ° to approximately + 30 °, for projecting the X direction onto the first movement plane 60, the carrier head 20 being arranged facing the workpiece WS and thus the spindle axis 54, while the main body 28 is facing away from the spindle axis 54 side of the carrier head 20 lies.

In addition, the carrier head 20 due to the mobility in the Y direction in a second plane of movement 68 which is parallel to the pivot axes 26, 32, movable.

In that regard, the conventional functionality of a simple lathe is given. However, the rotatability of the carrier head 20 about the first pivot axis 26 by means of the machine control M allows, in the case that the tool WZl is a simple turning tool with a cutting tip SP, an angle α between the cutting tip SP and a surface O of the workpiece WS or the spindle axis 54 variable set to use, for example, multiple tools in a variety of ways can (Fig. 4).

Furthermore, the rotatability of the carrier head 20 about the first pivot axis 26 allows the use of a further tool arranged on the carrier head 20, for example a tool WZ2 inserted in a receptacle A2, wherein the tool WZ2 is a driven tool, for example a milling or drilling tool, and the Recording A2, the recording of a arranged on the carrier head 20 tool spindle 70 for driving the rotating tool WZ2 about its axis of rotation WZD.

Thus, the rotatability of the carrier head 20 about the first pivot axis 26 allows the same functionality as a known B-axis.

In addition, the first pivot axis 26 opens up the possibility, as shown in FIG. 5, that a plurality of tools WZ1 and WZ2 can be arranged on the carrier head 20 and used to machine the workpiece.

Preferably, the plurality of tools WZ, for example, the tools WZL and WZ2, arranged on the carrier head 20, that the tool cutting WZSl and WZS2 with respect to the first pivot axis 26 have an angular distance WA of at least about 60 ° to the tools WZL and WZ2 collision-free on To be able to use workpiece WS.

For example, as shown in FIG. 5, the carrier head 20 can be equipped, on one side 72, with a carrier block T, two stationary tools WZ1 and WZ3 mounted in the receptacles A1 and A3 of the carrier block T. In this case, the support block T can be mounted as a whole with preassembled tools WZl and WZ3 on the carrier head 20 or it can be fixed by a provided in the carrier head 20 fixing on this, wherein in an expedient embodiment, the fixing device by the machine control M is solvable, so that the Carrier block T can be replaced as a unit controlled by the machine control M.

From a side 74 of the carrier head 20 adjoining the side 72, the tool WZ2 is seated, which is seated in the receptacle A2, which in turn is designed as a tool spindle 70 arranged in the carrier head 20 and is designed as an interchangeable receptacle into which tools WZ2 are controlled use the machine control M and from which the tools WZ2 controlled by the machine control M can be solved.

Furthermore, as not shown in FIG. 5, the side 72 opposite side 76 and the side 74 opposite side 78 could also be equipped with tools WZ, preferably fixedly arranged tools.

In particular, the tools WZ1, WZ2 and WZ3 are arranged relative to one another such that they extend in a direction perpendicular to the pivot axis 26 and through the tools WZ1, WZ2 and WZ3 passing through level 64 always have a distance from each other, which corresponds approximately to a maximum diameter of the workpiece WS, so that the tools WZl, WZ2 and WZ3 can be used without collision.

Furthermore, in particular the tools WZ1, WZ2 and WZ3 are aligned such that, with their extent, starting from the carrier head 20, they respectively lie in planes perpendicular to the first pivot axis 26. On the one hand, this can be done such that all the tools WZ1, WZ2 and WZ3 extend in one and the same plane 64 or in such a way that each of the tools WZ1, WZ2 and WZ3 respectively extends in a plane parallel to the plane 64, which extends vertically to the first pivot axis 26 extends (Fig. 5).

Due to the rotatability of the carrier head 20 about the first pivot axis 26, it is thus possible to use each of the tools WZ1, WZ2 and WZ3 in different angular positions relative to the workpiece surface O and thus also in a different orientation to the spindle axis 54.

For example, with the tool WZ2, if this is a drill, either a bore parallel to the spindle axis 54 or perpendicular to this run, depending on how the carrier head 20 is rotated relative to the support arm 24 about the first pivot axis 26.

Preferably, the carrier head 20 is provided with four flat sides, 72, 74, 76 and 78, which have approximately the same extent in the plane 64 extending perpendicular to the pivot axis 26, so that the carrier head 20 is rectangular in cross-section, for example. .

The extent of the flat sides 72, 74, 76 and 78 corresponds to at least approximately a maximum diameter of the workpiece WS. The plane 64, in which the respective tool WZ1, WZ2 or WZ3 or all three tools WZ1, WZ2 and WZ3 lie, thereby coincides, at least in a conventional turning operation, with the first movement plane 60 passing through the spindle axis 54 and parallel to the X axis. Direction runs, so that by moving the carrier head 20 in the X direction of this tool WZl or WZ3 as in the known machine tools in the X direction is deliverable.

The mobility in the Y-direction is advantageous if a machining outside the first movement plane 60 on the workpiece WS is to be performed with the driven tool WZ2, so that a displacement of the carrier head 20 in the Y-direction can take place.

Advantageously, in the solution according to the invention, a suitable kinematics can be obtained if the first pivot axis 26 extends parallel to the second pivot axis 32 and both pivot axes 26 and 32 transversely, more preferably perpendicularly, to the first plane of motion 60,

The pivotability of the support arm 24 about the second pivot axis 32 by means of the machine control M now opens the possibility of the carrier head 20 in processing positions facing the workpiece WS, in which the first pivot axis 26 of the carrier head 20, for example within a processing movement range 80 (FIG. 1) is moved, in changing positions, exemplified by a in 6 continuously drawn change position, in which the first pivot axis 26 is movable within an alternating movement range 90 to move without large travels in the X direction are required.

Overall, thus, a range of motion 82 can create, which - apart from the movement in the Y direction - on the one hand by the travel in the X direction is determined and on the other hand by the length of the support arm 24, in particular the distance of the first pivot axis 26 of the second pivot axis 32nd

With such an extended range of motion, additional functionalities, such as a tool change or a workpiece change with the movement unit 14, can be carried out in a simple manner, without the machining movement region 80 being restricted.

Rather, the machining movement region 80 remains unaffected by the additional functions to be performed in the alternating motion region 90.

In this case, the alternating movement region 90 could, for example, be designed so that it covers the entire region not covered by the machining movement region 80.

For reasons of ease of realization and executability of the function to be performed in the changing movement range, it is preferably provided that the changeover movement range 90 or the changeover movement ranges 90 be located in an outer region of the movement range 82 and expediently outside of the machining movement region 80, so that in a simple manner favorable spatial relationships in the realization of the change of motion range or the change of motion ranges associated functions.

For example, if the pivot axis 26 is within the changeover range 90, the carrier head 20 has the capability of removing or depositing tools from a tool magazine 100 provided with tool retainers, such as tool retainers 102a-102d, with the tool retainers 102 being stationary Tool holding devices 102 are formed, in which the respective tool WZ can be used exclusively by moving the support arm 24 and the carrier head 20 and optionally also the X-slide 34 or from these.

This makes it possible to provide the tool magazine 100 only with stationary tool holders 102 and thus structurally simplest form, and still allow a very simple replacement of tools WZ.

Preferably, the tool holding devices 102 of the tool magazine 100 lie in the simplest case in the plane 70, with an intended movability of the carrier base 30 in the Y direction, there is also the possibility of arranging the tool holders 102 in planes parallel to the plane 60, since at the same time the pivoting of the support arm 24 in the change positions a start different plane parallel to plane 64 is possible. Further, a pivotal movement of the support arm 24 about the axis 32 for achieving the change positions has the great advantage that in a simple manner, the carrier head 20 in the plane 64 or parallel to this plane is movable and extending in these planes tools WZ by a Movement in the plane 64 or in the plane parallel to this in the tool holding devices 102 can be used.

When inserting movements of the tools WZ in the tool holding devices 102, the pivoting movement of the carrier head 20 about the first pivot axis 26 is to coordinate in addition, and optionally with a movement of the X-carriage 34 in the X direction to correct the tools WZ in a respective straight insertion direction 104 to be able to use in the tool holding devices 102.

In a second embodiment of a machine tool according to the invention, shown in Fig. 7, those features which are identical to the first embodiments, provided with the same reference numerals, so that reference is made in this regard to the comments on the first embodiment.

In contrast to the first embodiment, in the second exemplary embodiment, the tools WZ are arranged on the support head 20 in a total of three mutually parallel but different planes 64a, 64b and 64c, so that when these tools WZ are used in the first movement plane 60 come, a displacement of the support base 30 in the Y direction is required. For example, the tools WZ1 and WZ3 lie in the plane 64a, whereas tools WZ4 and WZ5 offset in the direction of the pivot axis 26 are provided, which are of the same type as the tools WZ1 and WZ3, ie tools arranged stationarily on the carrier head 20, which, however, lie in the plane 64c.

In addition, in a plane 64b there are two driven tools, namely WZ2 and WZ6, which are drivably received in two corresponding driven tool holders A2 and A6.

By moving the support base 30 in the Y direction, the driven tools WZ2 and WZ6 can now be inserted either in the first movement plane 60 or in a plane parallel to this on the workpiece WS.

Further, for example, the tools WZl and WZ3 and WZ4 and WZ5 are formed as normal turning tools on the carrier T and thus are always used for machining the workpiece WS in a position in which they are in the first plane of movement 60, that is, the support base so far it must be shifted that the plane 64a or plane 64c coincides with the first plane of movement 60.

Incidentally, the second embodiment of the machine tool according to the invention corresponds to the first embodiment, so that the same reference numerals are used for the same parts and with respect to the description of the same fully incorporated by reference to the comments on the first embodiment. In a third exemplary embodiment, illustrated in FIG. 8, in contrast to the first exemplary embodiment, the carrier head 20 is designed so that the tools WZ1, WZ2 and WZ3 lie in the plane 64a, while the tools WZ4, WZ5 and WZ6 are in the plane 64c lie so that by moving the support base 30 in the Y direction arranged in the planes 64a and 64c tools WZ, for example, in the first movement plane 60 or at a distance from this are used.

Incidentally, the third embodiment of the machine tool according to the invention corresponds to the preceding embodiments, so that the same parts are provided with the same reference numerals and can be fully incorporated herein by reference.

In a fourth embodiment, shown in FIGS. 9 and 10, in contrast to the preceding embodiments, the workpiece spindle 50 is arranged stationary on the machine frame 10, so that the movement of the workpiece WS in the Z direction through the workpiece spindle 50 is not possible.

For this reason, the relative movement between the tools WZ and the workpiece WS can be achieved solely by the movement unit 14.

In this, the relative movement in the Z direction between the tool WZ and the workpiece WS can be achieved in that the carrier arm 24 to the second

Swivel axis 32 is pivotable and by moving the X-carriage in X direction and simultaneous rotation of the carrier head 20 about the first pivot axis 26, a linear movement of each of the tools WZ in the Z direction can be achieved by interpolation of these three axes of movement.

As a result, when machining the workpiece WS with one of the tools WZ, it is necessary to form the pivot axes 26 and 32 as pivotal axes which are continuously rotatable during machining of the workpiece WS with the machine control M - similar B axes in known lathes - in order to work with the tools WZ controlled any position in the Z direction controlled and to be able to realize any feed in the Z direction, while still delivering the tools WZ toward the workpiece WS by moving the X-carriage in the X direction and also still optionally in the Y direction, as described in the preceding embodiments.

In the fourth embodiment of the machine tool according to the invention, as shown in Fig. 10, the possibility of pivoting of the support arm 24 even more consistently exploited, namely to order also with the aid of the pivotal movement of the support arm 24 about the second pivot axis 32 and the simultaneous possible pivotal movement of the Carrier head 20 about the first pivot axis 26, and optionally after the movement of the X-carriage 34 to grab raw workpieces WSR to use in the processing fixture BA and to remove after processing the workpieces WS finished workpieces WSF from the processing recording and store. For this purpose, for example, a feed device 110 for raw workpieces and a discharge device 112 for finished workpieces are provided for this purpose, in particular on opposite sides, which are arranged at the edge of the movement region 82, in which the pivot axis 26 as a whole is movable by the movement unit 14, thereby the support arm 24 is not subject to any obstructions with respect to movements for exchanging the tools WZ.

In order to be able to grasp the rough workpieces WSR and the finished workpieces WSF, the carrier head 20 is provided with a workpiece gripper 114, for example on a side opposite the tool WZ2, which with gripper fingers 116 both the raw workpieces WSR and the finished workpieces WSF can grab.

Both the workpiece feed device 110 and the workpiece removal device 112 are merely designed as conveyors which make a raw workpiece WSR available in a specific position and receive a finished workpiece WSF in a defined position and, moreover, move these workpieces towards or away from this position from being transported away from this position, so that no additional handling or fixation is necessary to perform the change of a workpiece WS.

In particular, the advantage of the solution according to the invention is the fact that even heavy workpieces can be simply inserted into or removed from the machining fixture BA by the movement device 14, since large forces are required for the movement of the carrier head 20 for machining the workpiece WS anyway, to achieve the necessary rigidity and machining accuracy, so that these forces be easily enough to accommodate particular heavy workpieces WS of a workpiece feed 110 and store it in a Werkstückabfuhreinrichtung 112.

Incidentally, in the fourth embodiment shown in Figs. 9 and 10, those elements which are identical to the foregoing embodiments are given the same reference numerals, so that the description thereof will be fully taken in conjunction with the foregoing embodiments.

In a fifth embodiment, illustrated in Fig. 11, two machine tools according to any one of the preceding embodiments, in particular, arranged in accordance with the fourth embodiment relative to each other that the movement units are provided 14i and 14 ₂ to each other conces- facing sides of machine frames 10i and 1O ₂ such that a workpiece WS machined on a front side can be removed from the workpiece spindle 50i from the carrier head 20i and transferred to the other carrier head 20 ₂ , which then has the possibility of inserting workpiece WS into the workpiece spindle 50 ₂ and then placing it on its side Back side to work.

Alternatively or additionally, it is also conceivable to exchange between the carrier heads 20i and 2O ₂ tools WZ, be able to use to this more efficiently.

Thus, in this embodiment, the described advantages in the handling of workpieces WS can still be combined with the possibility of efficient front and back side machining without the workpiece spindles having to be aligned coaxially for this purpose. This opens up completely new conceptual possibilities in front and back processing.

Incidentally, in this embodiment, those elements which are identical to those of the preceding embodiments, provided with the same reference numerals, so that reference may be made to the description of the same fully in the foregoing embodiments.

In a sixth exemplary embodiment, illustrated in FIG. 12, the movement device 14 is arranged on the machine frame 10 such that the carrier head 20 is suspended in the direction of gravity on the carrier arm 24 so that the carrier base 30 lies in the direction of gravity above the carrier head 20.

Thus, in contrast to the preceding exemplary embodiments, the tools WZ do not act from below in the direction of gravity, but from above onto the workpiece WS during the machining operation, so that a simple chip fall and easy removal of the chips are ensured.

Incidentally, the sixth embodiment is designed in the same way as the preceding embodiments, so that the comments on this can be made in full content. In a seventh exemplary embodiment of a machine tool according to the invention, illustrated in FIG. 13, the machine frame 10 'comprises a longitudinal beam 120, and a stator 122, which is mounted on the longitudinal beam 120 at the end and carries the spindle housing 52 of the workpiece spindle 50.

The workpiece spindle 50 extends with its spindle axis 54 parallel to a longitudinal direction 123 of the longitudinal member 120.

A Z slide 124 of the movement unit 14 'is displaceably guided on the side member 120 in the Z direction by means of Z guides 126, so that in this exemplary embodiment the movement unit 14' itself can be moved in the Z direction.

The Y slide, which can be moved in the Y direction, is seated on the Z slide, which is guided with Y guides 46 on the Z slide 124.

The support arm 24 is pivoted about the second pivot axis 32 relative to the support base 30, which is arranged on the Y-slide 44 and guided by Y-guides 46 and relative to the support arm 24 in the same manner as described in connection with the preceding embodiments the carrier head 20 is pivotable about the first pivot axis 26.

On the carrier head 20 tools WZ are also arranged, which are movable relative to the workpiece WS, in the Z direction by the Z slide 124 of the movement unit 14 ', in the Y direction by the Y-slide 44 of the movement unit 14' and in the X direction by a coordinated pivotal movement of the support arm 24 for moving the carrier head 20 in Direction of the spindle axis 54 and away therefrom, a corresponding coordinated rotational movement of the carrier head 20 and also a coordinated movement of the Z-carriage 124 in the Z direction to the delivery of the tool WZ in the X direction, the movement of the support arm 24 in Z Direction to compensate.

Incidentally, the seventh embodiment is formed in the same manner as the preceding embodiments, so that the same reference numerals are used for the same elements and reference is made to the comments on this full content.

In an eighth embodiment shown in FIG. 14, the arrangement of the movement units 14 'and 14'G according to the sixth embodiment can be combined to form a counter-spindle machine in which the workpiece spindle 50 is assigned a workpiece counter spindle 5OG, which is also in Z Direction is displaced to remove a workpiece WS from the workpiece spindle 50 and edit back.

In this case, the workpiece spindle 50 and the workpiece counter spindle 5OG are arranged coaxially to a common spindle axis 54.

Furthermore, the workpiece spindle 50 is assigned the movement unit 14 'and the workpiece counter spindle 5OG the movement unit 14'G.

In the eighth embodiment, the movement unit 14 'is arranged so that the support arm 24 with its longitudinal axis 66, starting from the base body 28 in the direction of the processing receptacle BA Workpiece spindle 50 extends, so that the carrier head 20 is arranged facing this, while the main body 28 is on a side facing away from the processing receptacle BA of the carrier head 20.

The longitudinal direction 66 extends parallel to the first movement plane 60, which is parallel to the X direction and through the spindle axis 54, and at an acute angle to the spindle axis 54, said acute angle in a range between about 0 and about 80 ° lies.

In this case, the movement unit 14 'is formed so that at the maximum acute angle, that is the acute angle of about 80 °, with the held in the carrier head 20 tool WZ machining on a side opposite the base body 28 side of the spindle axis 54 is possible and thus a large axis overpass in the X direction can be realized.

In the same way, the movement unit 14'G assigned to the workpiece counterspindle 50G is arranged and designed so that its base body 28G is arranged with respect to the carrier head 2OG on an opposite side from the machining receptacle BA of the workpiece counterspindle.

Thus, in the processing units 14 'and 14'G, the base bodies 28 and 28G are each arranged at a maximum distance from the associated workpiece spindle 50, 5OG, while the carrier heads 20, 2OG always between the respective base body 28 and 28G and the corresponding processing fixture BA Workpiece spindle 50 and the workpiece counter spindle 5OG are. In the case of the movement units 14 ', 14'G of the eighth exemplary embodiment, however, it is also possible to change the assignment of the carrier heads 20 and 2OG, that is to turn them around, namely by moving the respective carrier base 30 in the Z direction, so far that the support arm 24 and 24G, starting from the main body 28 and 28G to the other workpiece spindle 5OG and 50, that is, in this case then the carrier body 20 of the workpiece spindle 5OG would be assigned and the carrier body 2OG of the workpiece spindle 50th

The movement regions 82, 82G of the processing units 14 ', 14 ¹ G overlap one another in the region of the spindle axis 54 and are furthermore delimited by walls 128 of a working space 130.

Further, as shown in Fig. 14, the eighth embodiment still allows the supply of green workpieces WSR into the moving area 82 of the moving unit 14 ¹ G in an outer area 132d near the wall 128d of the working space 130 and the discharge of finished workpieces WSF from the moving area 82 the moving unit 14'G in an outer area 132f near the wall 128f of the working space 130.

For this purpose, the carrier head 2OG is preferably to be provided with the workpiece gripper 114.

Moreover, in outer regions 132a, 132b and 132c of the movement region 82 of the movement unit 14 ', tools WZ are in tool holders 102 near the walls 128a, 128b and 128c of the working space 130 held, which are accessible to the carrier head 20 so that it can exchange the held in the carrier head 20 tool WZ one of the tools held in the tool holding devices 102 tools WZ.

In a ninth exemplary embodiment, illustrated in FIG. 15, the main body 28G of the carrier arm 24G is also the basic body for a further carrier arm 24WG, which is firmly fixed to this basic body 28G, such that upon pivoting of the carrier arm 24G about the second pivot axis 32G as well the support arm 24WG is pivotable.

The carrier arm 24WG likewise carries a carrier head 20WG which can pivot about a first pivot axis 26WG and has the same functionality as the carrier head 2OG.

The carrier heads 2OG and 20WG can thus be used alternately on a workpiece WS held in the counter-tool spindle 5OG or the tool spindle 50, as has been described in connection with, for example, the eighth exemplary embodiment, so that reference can be made in full to the statements on this point.

In a tenth embodiment shown in FIG. 16, the movement unit 14 is configured in the same way as in the fifth embodiment, except that in this embodiment, a workpiece spindle 50 'with a machining fixture BA for a workpiece WS is held on the carrier head 20 movable by the moving unit 14 in a known manner in the X-direction through the X-carriage 34, in the Y-direction described in connection with the fifth embodiment, parallel to the pivoting axes 26, 32, and around the Swivel axes 26, 32 is pivotable, so that the workpiece spindle 50 'corresponding to these pan and movement axes in space movable and with these thus the workpiece WS can be positioned.

In the tenth embodiment, therefore, machining, corresponding to the machining of a lathe with a vertical spindle are possible, so that for example the individual tools WZV are stationary on a designed as a receptacle WZA for tools WZV tool carrier 134 and the tool carrier 134 is also held stationary on the machine frame 10 and Thus, the workpiece WS can be moved to the individual tools WZV of the tool carrier 134 in order to perform this processing, for example by rotating the workpiece WS about the spindle axis 54 'a turning operation.

Preferably, in this rotation, the spindle axis 54 'of the workpiece spindle 50' extends approximately vertically, so that the same processing options as in a vertical spindle machine can also be realized with standing tools WZ.

In addition, however, there is also the possibility of pivoting the workpiece spindle 50 'about the pivot axis 26 such that the spindle axis 54' extends approximately horizontally and in this position also performs a machining on tools WZH, which in a WZA 'for tools WZH trained tool carrier 136 are held and in turn are aligned approximately horizontally. Thus, it is possible to process one and the same workpiece WS in a particularly simple manner on a multiplicity of tools, for example the tools WZV of a vertical tool set and the tools WZH of a horizontal tool set.

In connection with the previous explanation of the individual embodiments, it was not discussed in more detail how a pivoting unit comprising the support body 20 rotatable about the pivot axis 26 and the support arm 24 rotatable about the pivot axis 32 relative to the support base 30 should be designed.

An exemplary embodiment of a swivel unit illustrated in FIG. 17 comprises a support base 30 in the form of a tube, to which an inner body 140 designed as an inner tube is attached, which serves to support the sleeve-shaped basic body 28 comprising the inner body 140.

For this purpose, the inner body 140 carries two spaced apart in the direction of the pivot axis 32 pivot bearings 142, 144 which support the sleeve-shaped and the inner body 140 cross-base body 28 both in the radial direction to the pivot axis 32 and in the axial direction to the pivot axis 32.

Between the pivot bearings 142 and 144 is a designated as a whole with 150 drive motor, designed as a so-called torque motor, ie round linear motor, arranged, which includes a seated on the inner tube 140 and a stator 152 arranged on the main body 28 rotor 154, so that the main body 28 is rotatable relative to the inner tube 140 by this drive motor 150. To the main body 28, the support arms 22a, 22b integrally formed, between which the carrier head 20 is rotatably mounted about the pivot axis 26.

For this purpose, two mutually prestressed main bearings 162a, 162b are provided in the support arm 22a, which are arranged in a bearing seat 164 of the support arm 22a and rotatably guide a support lug 22a of the support head 20 through the support arm 22a.

Furthermore, a pivot bearing 168 is also provided in the support arm 22b in a bearing seat 170, which receives the support arm 22b by cross-bearing shoulder 172, wherein the bearing lug 172 extends from a side opposite the bearing lug 166 side of the carrier head 20.

For rotatable driving of the carrier head 20 in the support arm 24, the bearing lug 166 extends to a support head 20 opposite side of the pivot bearing 162a, 162b and carries a rotatably on the bearing lug 166 on the carrier head 20 remote from the side of the pivot bearing 162a, 162b arranged rotor 174, which extends within a stator 176 of a drive motor designated as a whole by 180, wherein the drive motor 180 is also designed as a so-called torque motor.

The stator 176 is seated within a stator housing 182 which is fixedly connected to the support arm 24 so that the stator 176 is rotatably mounted on the support arm 24. In the illustrated embodiment, seen in the direction of the pivot axes 26, 32, the drive motor 150 and the drive motor 180 are arranged offset, so that the drive motor 180 may have a greater extent in the radial direction to the pivot axis 26, as a minimum distance of the rotor 154 of the drive motor 150 corresponds to the pivot axis 26, so that the drive motors 150, 180 may overlap in terms of their radial extent to interpret both drive motors 150, 180 optimally in terms of the required torque and holding torque can.

In the exemplary embodiment shown in FIG. 17, spindles 190a, 190b arranged parallel to each other and accommodating a pair of receptacles are provided in carrier head 20, which in turn are rotatably mounted in carrier head 20 via front spindle bearings d92a, 192b and rear spindle bearings 194a, 194b and coupled via a linkage 196, wherein the linkage 196 either drives both spindles 190a, 190b synchronously, that is, both rotate at the same speed, or the linkage 196 is a translating gear, such that, for example, the spindle 190b rotates faster than the spindle 190a.

The drive of the tool spindles takes place via a bearing lug 166 of the carrier head 20 passing through and rotatably mounted in this drive shaft 198, which carries at its end facing the tool spindle 190a a gear 200 which meshes with a circumferentially mounted on the tool spindle 190a gear 202. The drive of the drive shaft 198 via a belt drive 204, which carries on a carrier head 20 remote from the side of the drive motor 180 from the pivot axis 26 to the pivot axis 32 and on the one hand coaxial with the pivot axis 26 on the drive shaft 198 seated pulley 206 and on the other hand, a coaxial Swivel axis 32 arranged

Pulley 208, both of which are coupled by a drive belt 210, such as a toothed belt.

The pulley 208 sits on a coaxial with the pivot axis 32 arranged output shaft 212 of an engaging into an interior 214 of the inner tube 140 and held with a support sleeve 216 spindle drive motor 220, which is thus arranged stationary relative to the support base 30 and partially at least in the inside the interior of the drive motor 150 214 engages.

Thus, a compact and space-saving design for driving the spindles 190a, b is created.

With the spindle drive motor 220, there is thus an immediate drive of the spindle 190a via the belt drive 204 and the drive shaft 198, which, for example, rotates more slowly than the spindle 190b and is thus designed for greater torque, which extends directly via the belt drive 204 and the drive shaft 198 the spindle 190a can be transmitted, while the connecting gear 196 then from the spindle 190a, the spindle 190b at a higher speed, but also with a lower driving torque, drives. In addition, each of the spindles 190a, 190b is provided with a fixing device 222a, 222b assigned to the respective receptacle A for fixing a unit to be inserted, which is detachable by an actuating device 224a, 224b, for example designed as a hydraulic cylinder, and by built-in springs in the direction its fixing position is applied.

This makes it possible, via the actuators 224a, 224b, which are controlled by the machine control M, in the fixing means 222a, 222b held units controlled by the machine control M to solve and, for example, to fix other units again.

Preferably, the spindles 190a, 190b are arranged with their spindle axes 226a, 226b so that they are parallel to each other and intersect the first pivot axis 26, and also preferably arranged so that the fixing means 222a, 222b in the same perpendicular to the spindle axes 226a, 226b extending level lie.

For example, with such a design of the carrier head 20 with two spindles 190a, 190b arranged parallel to one another, as shown in FIG. 18, it is possible to arrange different tools in these spindles 190a, 190b, for example, as shown in FIG 18, a boring tool 232 in the spindle 190a and an internal boring tool 234 in the spindle 190b.

Alternatively, however, it is also possible, for example, to use milling tools 236 or sawing tools 238, shown in FIGS. 19 and 20. As shown in FIG. 21, when the two spindles 190a, 190b are provided, it is possible to arrange them in the carrier head 20 so that simultaneous access to two holding devices 102a, 102b for tools WZ, for example the tools 232 and 234, is possible.

This makes it possible to load the two tools 232, 234 simultaneously into the spindles 190a, 190b.

However, it is particularly favorable if one of the spindles 190a, 190b is equipped with a tool WZ and one of the spindles 190a, 190b is free. In this case, by moving to a tool magazine 100 with holding devices 102a, 102b arranged correspondingly to the spindles 190a, 190b, a tool can be loaded into the free spindle and at the same time the tool held in the other of the spindles 190a, 190b can be deposited in the corresponding holding device.

If, for example, the spindle 190a is free and the tool 234 is arranged in the spindle 190b, then the tool 232 arranged in the holding device 102a can be picked up by the spindle 190a and the spindle 190b can be moved by moving the tool magazine 100 once with the holding devices 102a and 102b existing tool 234 are stored in the holding device 102b.

Thus, after a single access to the tool magazine 100, the carrier head 20 can continue to work with the tool 232.

As a result of such alternating equipping of the spindles 190a, 190b, there is also no risk of collision due to the spindles 190a, 190b arranged next to one another. However, the two spindles 190a, 190b can also be used in a turning tool 240 shown in FIG. 22 to jointly receive a tool holder 242 for the turning tool 240 in the unit to be used, wherein the tool holder 242 can be inserted into the spindle 190a 244a and an insertable into the spindle 190b projection 244b, wherein both lugs 244a and 244b in the corresponding fixing means 222a, 222b of the spindles 190a, 190b are fixable.

The turning tool 240 is, for example, a so-called heavy turning tool, which requires a stable fixation on the carrier head 20, which takes place via the two spindles 190a, 190b and in particular their fixing device 222a, 222b, wherein a drive of the spindles 190a, 190b is not required.

Alternatively, as shown in FIG. 23, a heavy boring tool 246 may also be fixed to the tool holder 242 in the two spindles 190a, 190b.

As shown in Fig. 24, it is also possible with a tool holder 242 a plurality of rotary tools 248, 250, 252 to fix, which also do not represent powered tools. However, it is also possible, as shown in Fig. 25, a tool holder 254 form such that it has rotatable lugs 256a, 256b, wherein the rotatable lug 256a in the spindle 190a with the fixing 222a is fixable and the rotatable lug 256b in the spindle 190b with the fixing 222b is fixable.

Thus, a total of the tool holder 254 is fixed twice and also exists in this case by driving the spindles 190a, 190b by means of the spindle drive motor 220 a arranged on the tool holder 254 drive spindle 258 for example, a drilling tool 260 via either the approach 256a or the approach 256b to drive ,

On such a tool holder 254 with rotatable lugs 256a, 256b, which are fixable in the spindles 190a, 190b, but also, as shown in Figs. 26 and 27, a tool turret 270 may be provided with fixed rotary tools 272a to 272f, which on a Turret 274 is disposed, which in turn is rotatable about a turret axis 276 opposite the tool holder 254, wherein rotation of the turret 274 relative to the tool holder 254 is achievable by driving the rotatable lugs 256a, 256b through at least one of the spindles 190a, 190b.

However, the tool holder 254 with the tool turret 270 and the rotatable turret 274 can also, as shown in FIGS. 28 and 29, still be provided with tool spindles 278 for driven tools arranged in these tool spindles 278. In this case, a drive of the turret 274 and a drive of the tool spindles 278 via the two spindles 190a, 190b in the carrier head 20, which, however, must be decoupled for this purpose also takes place.

For example, it is provided in this case that the rotation of the turret 274 about the turret axis 276 can be carried out with the spindle 190a, while the spindle 190b can drive the tool spindle 278 seated on the turret 274.

As shown in FIG. 30 and FIG. 31, a tool holder 254 with rotatable lugs 256a, 256b may also be used to fix and drive a workpiece gripper 282 instead of a tool having gripper arms 286 pivotable about pivot axes 284 and end provided with gripper jaws 288 are.

For example, as shown in FIG. 31, three gripper arms 286 pivotable about the respective pivot axes 284 about a center 290 are arranged at equal angular intervals, the gripper jaws 288 of which are radially displaceable toward the center 290 such that the gripper jaws 288 engage workpieces WS with a large diameter variation can.

For example, with such a workpiece gripper 282, both a raw workpiece WSR and a finished workpiece WSF are tangible. The gripper arms 286 are driven about the respective axes of rotation 284 synchronously via a gear 294 arranged in a tool gripper housing 292, which can be driven by the spindle 190b via the rotatable shoulder 256b, for example, while the rotatable shoulder 256a is freely rotatably mounted in the tool holder 254 ,

Another embodiment of a pivoting unit according to the invention with a support arm 24 ', shown in Fig. 32, in the same manner as the embodiment described above with two drive motors 150 and 180 for pivoting the support arm 24' or for pivoting the carrier head 20 is provided.

Furthermore, in the same way as in the embodiment described above, a drive of the tool spindles 190a, 190b in the carrier head via the tool drive motor 220, the belt drive 204 and the drive shaft 198.

In contrast to the embodiment described above, however, a mechanical coupling gear 300 is still provided in the support arm 24 ', which allows a coupling of the drive power of the drive motor 150 and the drive motor 180.

For this purpose, the rotor 174 of the drive motor 180 is provided with a gear 302 which meshes with a coupling gear 306 rotatably mounted on the support arm 24 'about a rotation axis 304, wherein the coupling gear 306 in turn is in engagement with a gear 308, the end of the Inner body 140 is arranged and via a switchable coupling 310 either rotationally fixed to the inner body 140 can be fixed or relative to the inner body 140 is freely rotatable. In the case of a free rotation of the gear 308 relative to the inner body 140, the coupling gear 300 is ineffective.

However, if the gear 308 with the clutch 310 rotatably connected to the inner body 140, so the coupling gear 304 rolls on the relative to the pivotal movement of the support arm 24 'stationary gear 308 and drives in a corresponding ratio of the gear 302, which in a corresponding manner acts on the rotor 174 and this coupled to the pivoting movement of the support arm 24 'rotates and thus also rotates the carrier head 20 accordingly.

By energizing the two drive motors 150 and 180, the pivotal movement of the carrier arm 24 'can thus be driven by adding the power of the two drive motors 150 and 180, although it must be accepted that the carrier head 20 is in a specific relationship about the pivot axis 26 rotates in accordance with the rotation of the support arm 24 'about the pivot axis 32nd

However, the mechanical coupling gear 300 can be dimensioned so that the carrier head 20, its orientation, for example to the workpiece WS, regardless of the pivoting movement of the support arm 24 'maintains, so that thereby not only in the pivotal movement of the support arm 24', the alignment of the tools WZ relative to the workpiece WS is already determined by the mechanical coupling gear 300 and is always maintained and thus the drive motor 180 with its drive power, the pivoting movement of the support arm 24 'is supported. SoII the alignment of the tools WZ relative to the workpiece WS are changed by turning the carrier head 20 about the pivot axis 26, the clutch 310 is released and it is possible with the drive motor 180, the alignment of the carrier head 20 with the corresponding tool WZ in set any way and then turn after coupling the clutch 310 to perform the pivoting movement of the support arm 24 'while maintaining the alignment of the tools WZ of the carrier head 20 with the two drive motors 150 and 180.

The advantage of this solution is the fact that thus the drive power of the drive motor 180 may be much lower, since this alone must not be designed so that he is able to the carrier head 20 with respect to its rotation about the pivot axis 26 relative to the support arm 24 '.

Rather, both the forces in the pivotal movement of the support arm 24 'as well as the alignment of the support arm 24' and the carrier head 20 relative to the workpiece WS by both drive motors 150 and 180 are generated.

The mechanical coupling gear 300 may be formed so that it has a coupling gear 304 or even a plurality of coupling gears, as shown in FIGS. 33 and 34, at the same time the effect of the mechanical coupling gear 300 in terms of maintaining the orientation of the carrier head 20 relative to the support base 30 during a pivotal movement of the support arm 24 'show.

Claims

PATENT CLAIMS E

1. Machine tool for machining a workpiece (WS) by means of at least one tool (WZ) by controlled positioning movements of workpiece (WS) and tool (WZ) relative to each other, comprising a machine frame (10), one with respect to the machine frame (10) by means of a movement unit (14) movable carrier head (20) and at least one on the carrier head (20) provided receptacle (A), by means of which either for a workpiece (WS) or a tool (WZ) on the carrier head (20) can be arranged so that means the movement unit at least a part of the positioning movements is executed, dadu rch geken nzeich n et that the carrier head (20) about a first pivot axis (26) is pivotally supported on a support arm (24), that the support arm (24) in turn to a for the first pivot axis (26) is mounted parallel and at a distance from this second pivot axis (32) pivotally relative to a support base (30), and that the support base (30) g egenüber the machine frame (10) by means of at least one controlled movement axis (X, Y, Z) is movable.

2. Machine tool according to claim 1, characterized in that the support base (30) through the at least one movement axis (X) in the direction approximately parallel to a transverse to the pivot axes (26, 32) extending first movement plane (60) is movable.

3. Machine tool according to claim 2, characterized in that the support base (30) by a movement axis (Y) in the direction approximately parallel to the pivot axes (26, 32) is movable.

4. Machine tool according to one of the preceding claims, characterized in that the support base (30) in the direction approximately parallel to a substantially parallel to the pivot axes (26, 32) extending second movement plane (68) is movable.

5. Machine tool according to one of the preceding claims, characterized in that the carrier base (30) relative to the machine frame (10) along at least one first linear axis (X, Z) is movable.

6. Machine tool according to one of the preceding claims, characterized in that the support base (30) relative to the machine frame (10) along a transversely to the first linear axis (X, Z) extending second linear axis (Y) is movable.

7. Machine tool according to claim 5 or 6, characterized in that the first linear axis (X, Z) in the first plane of movement (60).

8. Machine tool according to claim 6, characterized in that the second linear axis (Y) in the second movement plane (68).

9. Machine tool according to one of claims 6 to 8, characterized in that the second linear axis (Y) is approximately parallel to the pivot axes (26, 32).

10. Machine tool according to one of the preceding claims, characterized in that the first movement plane (60) extends parallel to a spindle axis (54) about which the workpiece (WS) or the tool (WZ) are rotatably driven.

11. Machine tool according to claim 10, characterized in that the second movement plane (68) extends transversely to a spindle axis (54) about which the workpiece (WS) or the tool (WZ) are rotatably driven.

12. Machine tool according to claim 10 or 11, characterized in that the spindle axis (54) is the spindle axis of a workpiece spindle (50).

13. Machine tool according to claim 12, characterized in that the spindle axis is the spindle axis (226) of a tool spindle (190).

14. Machine tool according to one of the preceding claims, characterized in that the pivot axes (26, 32) parallel to a direction of a main cutting force occurring during machining (62).

15. Machine tool according to one of the preceding claims, characterized in that the first pivot axis (26) is associated with its own drive (180).

16. Machine tool according to one of the preceding claims, characterized in that the second pivot axis (32) is associated with its own drive (150).

17. Machine tool according to one of the preceding claims, characterized in that the rotational movement about the first pivot axis (26) and the rotational movement about the second pivot axis (32) by a coupling gear (300) can be coupled.

18. Machine tool according to one of the preceding claims, characterized in that the first pivot axis (26) and the second pivot axis (32) are lockable in at least one relative position.

19. Machine tool according to claim 18, characterized in that the first pivot axis (26) and the second pivot axis (32) are lockable in each pivot position.

20. Machine tool according to one of the preceding claims, characterized in that for machining the workpiece (WS) of the carrier head (20) by moving the support base (30) is movable.

21. Machine tool according to claim 20, characterized in that the carrier head (20) exclusively by moving the support base (30) is movable.

22. Machine tool according to claim 21, characterized in that for machining the workpiece (WS) of the carrier head (20) exclusively by means of at least one of the linear axes (X) is movable.

23. Machine tool according to one of claims 1 to 19, characterized in that for machining the workpiece (WS) of the carrier head (20) by combining a rotation of the support arm (24) about the second pivot axis (32) relative to the support base (30) a movement of the at least one movement axis (X, Z) for the support base (30) relative to the machine frame (10) is two-dimensionally movable.

24. A machine tool according to claim 23, characterized in that the two-dimensional movement by a linear movement (Y, Z) of the support base (30) combined with a pivoting movement of the support arm (24) transversely to the linear movement (X, Z) is executable.

25. Machine tool according to claim 23 or 24, characterized in that during the machining of the workpiece (WS) of the support arm (24) with its longitudinal axis (66) in an angular range of -80 ° to + 80 ° to the linear direction of movement (X, Z ) is movable.

26. Machine tool according to one of the preceding claims, characterized in that during machining of the workpiece (WS) a base body (28) of the support arm (24) on a side facing away from the workpiece (WS) is located.

27. Machine tool according to one of claims 23 to 26, characterized in that the rotation of the support arm (24) about the second pivot axis (32) with a rotational movement of the carrier head (20) about the first pivot axis (26) takes place combined.

28. Machine tool according to one of the preceding claims, characterized in that the at least one on the carrier head (20) provided receptacle is a tool holder.

29. Machine tool according to claim 28, characterized in that the at least one receptacle (A) is designed as a controlled releasable receptacle (A).

30. Machine tool according to one of the preceding claims, characterized in that a base body (28) of a support arm (24) and base body for a further support arm (24WG) is.

31. Machine tool according to claim 30, characterized in that the support arm (24) and the further support arm (24WG) form an angle of at least 90 ° with each other.

32. Machine tool according to one of the preceding claims, characterized in that the machine tool has at least two moving units (14i, 14 ₂ ) and that tools (WZ) or workpieces (WS) of one of the carrier heads (20i, 2O ₂ ) the other of the carrier heads 2O ₂ , 20i) can be transferred.

33. Machine tool according to the preamble of claim 1 or according to one of the preceding claims, characterized in that the movement unit (14) for moving the carrier head (20) comprises two pivot axes (26, 32) and that by the movement unit (14) positioning movements of the Carrier head (20) within a range of movement (82) of the carrier head (20) are executable.

34. Machine tool according to claim 33, characterized in that the movement region (82) is defined by maximum achievable with the pivoting and moving axes positions.

35. Machine tool according to claim 33 or 34, characterized in that the carrier head (20) during machining of the workpiece (WS) within a movement of the range (82) encompassed machining movement range (80) is movable.

36. Machine tool according to one of claims 33 to 35, characterized in that the carrier head (20) for changing the carrier head arranged on the workpiece (WS) or tool (WZ) within a range of movement (82) encompassed change movement range (90) is movable.

37. Machine tool according to claim 35 or 36, characterized in that the Bearbeitungsbewegungsbereich (80) and the Wechselbewegungsbereich (90) are arranged non-overlapping.

38. Machine tool according to one of claims 33 to 37, characterized in that on the machine frame (10) in the change movement region (90) of the carrier head (20) at least one holding device (102, 110, 112) for a tool (WZ) or workpiece ( WS) is arranged.

39. Machine tool according to claim 38, characterized in that on the machine frame (10) in the change of movement region (90) of the carrier head (20) a plurality of holding means (102, 110, 112) for tools (WZ) and / or workpieces (WS) is arranged.

40. Machine tool according to claim 38 or 39, characterized in that the at least one holding device (102, 110, 112) in an outer region (132) of a movement region (82) is arranged.

41. Machine tool according to claim 40, characterized in that the at least one holding device (102, 110, 112) in an outer region (132) of the alternating movement region (90) is arranged.

42. Machine tool according to one of claims 38 to 41, characterized in that the movement region (82) of the carrier head (20) extends to at least one wall (128) of a working space (130).

43. Machine tool according to one of the preceding claims, characterized in that the at least one holding device (102, 110, 112) on the wall (128) of the working space (130) is arranged.

44. Machine tool according to claim 43, characterized in that a plurality of holding devices (102, 110, 112) on the at least one wall (128) of the working space (130) are provided.

45. Machine tool according to one of the preceding claims, characterized in that the respective holding device (102) is designed as a memory device (100).

46. Machine tool according to claim 38 to 45, characterized in that the respective holding device (110, 112) is designed as a changing device.

47. Machine tool according to one of the preceding claims, characterized in that on the machine frame (10) and in the movement region (82) of the carrier head (20) at least one receptacle (BA, WZA) for at least one workpiece (WS) or tool (WZ) is arranged.

48. Machine tool according to claim 47, characterized in that the at least one receptacle (BA, WZA) is arranged stationary relative to the machine frame (10).

49. Machine tool according to claim 47 or 48, characterized in that the at least one receptacle (BA, WZA) relative to the machine frame (10) is movable.

50. Machine tool according to claim 49, characterized in that the at least one receptacle (BA, WZA) relative to the machine frame (10) is linearly movable.

51. Machine tool according to claim 49 or 50, characterized in that the at least one receptacle (BA, WZA) is designed as a spindle (50).

52. Machine tool according to claim 51, characterized in that the spindle (50) is designed as a workpiece spindle.

53. Machine tool according to the preamble of claim 1 or any one of the preceding claims, characterized in that the carrier head (20) about a first pivot axis (26) is pivotally mounted on a support arm (24), that the carrier head (20) with at least a receptacle (190) for a replaceable unit (WZ, 242, 254) is provided, which is fixable with a fixing device (222) in the receptacle (190), and that the fixing device (222) by a machine control (M) can be controlled and can be brought into a release position.

54. Machine tool according to claim 53, characterized in that the fixing device (222) is formed automatically in a fixing position.

55. Machine tool according to claim 53 or 54, characterized in that the fixing device (222) is associated with an actuating device (224).

56. Machine tool according to one of claims 53 to 55, characterized in that the carrier head (20) with at least two receptacles (190) with these associated fixing means (222) is provided.

57. Machine tool according to claim 56, characterized in that of the at least two receptacles (190) two form a pair of receptacles (190a, b), to which one of the units (242, 254) is fixable.

58. Machine tool according to claim 57, characterized in that in the receptacles (190) of the pair of receptacles fixed unit (242, 254) is fixed exclusively on these receptacles (190) on the carrier head (20).

59. Machine tool according to one of the preceding claims, characterized in that the at least one receptacle (190) is driven in rotation.

60. Machine tool according to claim 59, characterized in that the receptacles (190) by a common drive (220) are driven.

61. Machine tool according to claim 59 or 60, characterized in that each of the receptacles (190) is individually driven.

62. Machine tool according to one of claims 59 to 61, characterized in that the receptacles (190) are driven simultaneously.

63. Machine tool according to one of claims 59 to 62, characterized in that with the receptacles (190) of a pair of receptacles in these recordings together held unit (254) is drivable.

64. Machine tool according to claim 60, characterized in that with each of the receptacle (190) of a pair of receptacles depending on a function of the unit (254) is drivable.

65. Machine tool according to one of the preceding claims, characterized in that a tool magazine (100) has paired holding devices (102a, b) for in a receiving pair (190a, b) of the carrier head (20) arranged units (232, 234).

66. Machine tool according to claim 65, characterized in that of the paired holding means (102a, b) one is free and the other is equipped with a tool (234), and that of the receiving pair (190a, b) has a receptacle (190a ) is equipped with a tool (232) and the other (190b) is free and that with a single access of the carrier head (20) on the tool magazine (100) the tool (232) of a receptacle (190a) in the one holding device ( 102a) and the tool (234) in the other holding device (102b) in the other receptacle 190b) can be inserted.