Machine tool handling device

Abstract

The present invention relates to a handling device (1) for handling tools and / or workpieces (16) of a machine tool (2), the handling device comprising: a horizontal track device (101); a vertical tower (3) arranged on the horizontal track device (101) in a manner capable of moving in the direction of a horizontal axis (21); a vertical track device (102) arranged on the tower (3); a vertical slide (12) capable of moving in a vertical direction (B) along the vertical track device (102); and a rigid arm (15) arranged on the vertical slide (12) and capable of rotating about a first horizontal rotation axis (13) on a vertical slide (12); and a manipulator (5), which is arranged on an arm (15) and capable of rotating about a second horizontal rotation axis (14) on the arm (15), wherein: the arm (15) is capable of rotating about the vertical rotation axis (103, 104); the first rotation axis (13) is parallel to the second rotation axis (14); and the first rotation axis (13) is arranged on a first side of the vertical rotation axis (103, 104) at a first distance (A1) from the vertical rotation axis (103, 104).

Description

Technical Field

[0001] The present invention relates to a transport device for transporting tools and / or workpieces of a machine tool and a machine tool device. Background Art

[0002] Handling devices are used to automatically load workpieces into machine tools and change tools. This can be accomplished, for example, with the aid of a six-axis robot. However, six-axis robots, in addition to their high investment costs, also carry high maintenance costs. Alternatively, it is known to use simpler handling devices that travel longitudinally on rails in front of the machine tool to feed workpieces into and remove them from the machine tool for processing. These handling devices are typically designed so that a carriage can move along the machine tool along a bottom axis. Mounted on the carriage is a rotatable tower, upon which a horizontally extendable telescopic arm can move up and down. This allows access to any position in all directions using four controlled axes. While this design has generally proven effective, it requires a relatively large space in front of the machine tool. Another disadvantage is that all components of the handling device must be individually assembled on-site at the customer's site. This results in relatively long assembly times. Summary of the Invention

[0003] The object of the present invention is to provide a handling device which is simple and inexpensive to produce and a machine tool arrangement having such a handling device, which requires very little space in front of the machine tool and can be quickly and easily installed at the customer's site.

[0004] This object is achieved by a handling device having the features of claim 1 and a machine tool device having the features of claim 15. The dependent claims indicate preferred further embodiments of the invention.

[0005] The advantage of the handling device according to the present invention for handling tools and / or workpieces having the features of claim 1 is that the handling device is designed to be very compact and simple. Thus, the handling device can be deployed in the limited space between a shelving system and a machine tool (e.g., in front of the machine tool). At the same time, the design of the handling device according to the present invention is highly cost-effective and robust. This is achieved according to the present invention by a handling device comprising a horizontal track arrangement and a tower that can move along a horizontal axis on the horizontal track arrangement. Furthermore, the handling device comprises a vertical track arrangement disposed on the tower. A vertical carriage can move vertically on the vertical track arrangement. Furthermore, a single, one-piece rigid arm without joints or kinks is provided, which is disposed on the vertical carriage and can rotate about a first horizontal rotation axis on the vertical carriage. Preferably, the arm is configured in the form of a linear rod or beam. A gripper, in particular, a manipulator such as a gripper or one or more forks, is disposed on the arm and can rotate about a second horizontal rotation axis on the arm, the first and second rotation axes being arranged parallel to each other. Furthermore, the arm can rotate about a vertical rotation axis. Furthermore, the first rotation axis is arranged on a first side of the vertical rotation axis at a predetermined first distance therefrom. Preferably, the horizontal first rotation axis and the horizontal second rotation axis on the one-piece arm are both arranged near the free end of the arm.

[0006] Preferably, the vertical rotation axis is a third rotation axis, about which the tower can rotate. Alternatively, the vertical rotation axis is a fourth rotation axis, about which the arm on the vertical carriage can rotate. Preferably, in this case, the tower is not designed to be rotatable. The corresponding rotation angle about the vertical rotation axis is preferably ≥ 180°.

[0007] Particularly preferably, in the first end position, the second rotation axis is arranged at a second distance on a second side of the vertical rotation axis. This allows for a particularly compact position of the arm in the first end position, since the first rotation axis is located on a first side of the vertical rotation axis and the second rotation axis is located on a second, opposite side of the vertical rotation axis. Particularly preferably, the second distance is greater than the first distance.

[0008] It is further preferred that the first rotation axis is located between the vertical rotation axis and the track of the vertical track arrangement on the tower.

[0009] According to another preferred embodiment of the present invention, the second rotation axis in the second end position is also arranged at a third distance from the vertical rotation axis, on the second side of the vertical rotation axis. Preferably, the third distance from the vertical rotation axis is the same as the second distance. Thus, a very compact position of the linear arm can be achieved even in the second end position.

[0010] Particularly preferably, the one-piece arm articulated to the vertical carriage has a rotation radius of ≥180°, in particular approximately 240°. At a rotation angle of 240°, the first end position and the second end position preferably lie on a common vertical line. When rotating from the first end position to the second end position, the second rotation axis rotates twice over the third rotation axis.

[0011] It is further preferred that the vertical axis of rotation intersects the arm itself in the first end position and / or the second end position of the arm. This ensures a particularly compact position of the arm on the tower so as to enable a rotational movement with a very small interference circle.

[0012] Furthermore, a forced coupling unit is preferably provided between the first and second rotational axes, wherein the forced coupling unit is configured to keep the manipulator horizontally oriented in each rotational position of the arm. Thus, only one of the two rotational axes can be driven, simplifying the control of the manipulator device.

[0013] Particularly preferably, the first axis of rotation is driven while the second axis of rotation does not have its own drive. This means that the drive for the first axis of rotation can be arranged on the vertical carriage and the weight of the arm together with the manipulator can be reduced.

[0014] The vertical, in particular the third, axis of rotation is preferably also drivable. The central axis of the tower is preferably spaced apart from the third axis of rotation. Therefore, the central axis of the tower and the third axis of rotation are preferably parallel to each other, so that when the tower is rotated, it rotates a certain distance about the vertical third axis of rotation, which further increases the compactness of the handling device.

[0015] The tower is preferably arranged on a horizontal carriage, which preferably has its own drive. When the tower is rotated about the third axis of rotation, the drive of the tower is preferably arranged on the horizontal carriage.

[0016] Preferably, a base plate is provided on which the tower is arranged. The base plate is preferably rotatably arranged on a horizontal carriage. The horizontal carriage is arranged to be movable in a horizontal direction on a horizontal track device.

[0017] According to another alternative embodiment of the present invention, the arm is connected to the tower so that it can rotate relative to the tower about a fourth vertical rotation axis. This has the advantage that the tower does not need to be rotated. The holder preferably has first and second support plates or support arms, etc., between which the arm can rotate about the first horizontal rotation axis.

[0018] Preferably, the retaining element comprises third and fourth horizontal retaining plates arranged on the vertical carriage. The third and fourth retaining plates serve as supports for the vertical rotation axis, and the first and second retaining plates, together with the arm, are rotatable about the vertical rotation axis. The forced coupling unit connecting the first rotation axis to the second rotation axis preferably comprises a chain drive or a belt drive. This enables a cost-effective and simple forced coupling between the two rotation axes. Furthermore, the forced coupling is designed to be highly robust.

[0019] According to another preferred embodiment of the present invention, the handling device further includes a shelving system in which workpieces and / or tools are arranged. The shelving system is preferably arranged such that the tower of the handling device is positioned between the shelving system and the machine tool. This allows for short-distance transport of tools and / or workpieces between the shelving system and the machine tool.

[0020] Preferably, a single handling device is integrated into the cabinet together with the shelving system. Particularly preferably, multiple cabinets and multiple shelving systems are provided in a modular design, with several cabinets and multiple shelving systems arranged adjacent to one another. Preferably, only a single handling device is used to service multiple shelving systems and preferably also multiple machine tools.

[0021] Preferably, a plurality of shelving systems are arranged adjacent to one another in a row and connected by a common horizontal rail arrangement. This allows the tower to be moved in front of the shelving system, with a variety of different tools and / or various workpieces stored in the shelving system. Preferably, the individual shelving systems are interconnected via mechanical interfaces (e.g., openings and appropriately formed protrusions).

[0022] Particularly preferably, the shelving system and the handling device are arranged in a cabinet. This allows the tools and / or workpieces located in the shelving system to be protected. Preferably, the cabinet has a door to allow access from the outside. The door is preferably arranged on the side opposite to the side where the tower of the handling device is arranged.

[0023] The present invention further relates to a machine tool installation comprising a machine tool and a handling device according to the present invention. The handling device is arranged in front of the machine tool. Particularly preferably, a tower for the handling device is arranged between the machine tool and a shelving system for storing tools and / or workpieces. The machine tool installation preferably comprises a plurality of machine tools, preferably arranged in series, and capable of being supplied with tools and / or workpieces via a common handling device, enabling suitable exchange of the tools and / or workpieces.

[0024] The machine tool is preferably a metal-cutting machine tool, in particular a milling machine or a drilling machine or a lathe. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Hereinafter, preferred exemplary embodiments of the present invention will be described in detail while referring to the accompanying drawings, in which:

[0026] Figure 1 is a schematic perspective view of a handling device according to a first preferred exemplary embodiment of the present invention in a first position;

[0027] Figure 2 It is in the second position Figure 1 A schematic perspective view of a transport device;

[0028] Figure 3 It is in the third position Figure 1 A schematic perspective view of a transport device;

[0029] Figure 4 is a schematic perspective view in a very compact fourth position,

[0030] Figure 5 It has machine tools and Figures 1 to 4 A schematic top view of a machine tool device of a handling device;

[0031] Figure 6 In the cabinet system Figure 1 A perspective view of a handling device;

[0032] Figures 7 to 11 are different positions of the arms of the handling device as seen from the horizontal track device;

[0033] Figure 12 is a top view of the handling device in a first position of the arm;

[0034] Figure 13 is a top view of the handling device in a second position of the arm;

[0035] Figure 14 is an alternative top view of a machine tool arrangement having multiple cabinet systems, and

[0036] Figure 15 and Figure 16 are perspective views of a transport device according to a second exemplary embodiment of the present invention, seen from different perspectives. DETAILED DESCRIPTION

[0037] In the following, reference will be made to Figures 1 to 14 Detailed description will be given of the transport device 1 and the machine tool device 100 according to the first exemplary embodiment of the present invention.

[0038] from Figure 1 It can be seen that the handling device 1 comprises a horizontal rail device 101 , on which the horizontal carriage 9 can move along the horizontal axis 21 .

[0039] The horizontal track device 101 includes two tracks arranged parallel to each other.

[0040] Furthermore, the handling device comprises a tower 3 having a central axis 22 in the vertical direction B, which is arranged on a horizontal carriage 9 by means of a base plate 11. In order to move the horizontal carriage 9 together with the tower 3 in the horizontal direction A, the horizontal carriage 9 has a drive (not shown).

[0041] In addition, the transport device includes a vertical track device 102 configured on the tower 3. Figure 1 It can be seen that the vertical track assembly 102 includes two independent and parallel tracks.

[0042] The vertical carriage 12 is movable along a vertical direction B on a vertical rail arrangement 102. A single, one-piece straight arm 15 is rotatably mounted on the vertical carriage 12 by means of a holder 6. Thus, the rigid, jointless arm 15 is mounted for rotation about a first rotation axis 13. The first rotation axis 13 is thus arranged at a first end of the arm 15 and is fixedly mounted on the vertical carriage 12. A second rotation axis 14 is also provided on the arm 15, on which a manipulator 5, designed as a gripper, is rotatably mounted. The manipulator 5 can hold a pallet 60 with a workpiece 16 or a tool (not shown).

[0043] The first rotation axis 13 is parallel to the second rotation axis 14 . Furthermore, the two rotation axes 13 , 14 are arranged perpendicular to the vertical central axis 22 .

[0044] The arm 15 is internally provided with a forced coupling unit 8. The forced coupling unit 8 between the first axis of rotation 13 and the second axis of rotation 14 will thus be configured to keep the manipulator 5 in a horizontal orientation in every rotational position of the arm 15.

[0045] Figures 1 to 4 Three different rotational states of the arm 15 are shown.

[0046] Figure 2 The arm 15 is shown in a completely horizontally oriented rotation state. This is the position of the manipulator 5 furthest away from the tower 3. This is also shown in FIG. Figure 13 in the top view.

[0047] Figure 3 The arm 15 is shown in a state rotated to a lower position. In addition, the base plate 11 is in another rotation position relative to the horizontal carriage 9 about the vertical third rotation axis 103 (rotated 90° to the right).

[0048] Figure 1 An intermediate position of the arm 15 is shown.

[0049] Figure 4A position of the arm 15 is shown which allows for particularly compact handling. This position is particularly preferably adopted during travel operations on the horizontal rail arrangement 101 or during rotation operations of the base plate 11 and the tower 3 about the third rotation axis 103 and is referred to below as the first end position.

[0050] Therefore, from Figures 1 to 4 It can be clearly seen that the arm 15 can be moved to different positions by simply rotating it about the first rotation axis 13. A drive is provided at the first rotation axis 13 to enable movement of the arm 15. No drive is required at the second rotation axis 14 which is positively coupled to the first rotation axis 13.

[0051] In order to illustrate the compactness of the handling device 1, reference is again made to the diagram showing the handling device from the first end position ( Figure 7 ) to the second end position ( Figure 11 ) of mobile Figures 7 to 11 .

[0052] Figure 12 and Figure 13 Two corresponding top views of the handling device 1 from above in two different positions are shown. Here, when rotating about the vertical third rotation axis 103, the interference zone 23 is also shown, which is displayed by the handling device 1 in the most compact position.

[0053] If corresponding to Figure 4 As seen from the direction of the horizontal track device 101, Figure 7 The first end position of the arm 15 is shown for particularly compact handling. Figure 7 As can be seen, the first rotation axis 13 is arranged on the tower 3 at a distance A1 on a first side of the third rotation axis 103. Here, the first rotation axis 13 is arranged between the third rotation axis 103 and a rail of the vertical rail assembly 102. In this figure, the third rotation axis 103 and the central axis 22 overlap. Therefore, the first rotation axis 13 is arranged to the right of the vertical third rotation axis 103.

[0054] In the first end position, the second rotation axis 14 is arranged on the second side of the third rotation axis 103 and is spaced apart from the third rotation axis 103 by a distance A2. Therefore, the second distance A2 is greater than the first distance A1. Figure 7 It can be seen that in the first end position, the second axis of rotation 14 is located outside the tower 3. Therefore, in the first end position, the second axis of rotation 14 is to the left of the vertical third axis of rotation 103. In this first end position, Figure 12 A very small interference zone 23 is shown. This interference zone 23 is only minimally projected above the track of the horizontal track arrangement 101 .

[0055] Figure 11 The second end position of the handling device is shown, wherein the one-piece arm 15 is rotated 240° about the first rotation axis 13 starting from the first end position. Figure 11 In the second end position, the second axis of rotation 14 is spaced apart on the second side from the third axis of rotation 103 by a distance A3. The first end position and the second end position are preferably arranged to overlap in the vertical direction.

[0056] Due to the positive coupling between the first axis of rotation 13 and the second axis of rotation 14, the workpiece 16 can thus remain oriented in the horizontal direction throughout the entire travel from the first end position to the second end position. Figure 8 、 Figure 9 and Figure 10 As shown in Figure 9 The one-piece arm 15 is shown in a state of maximum extension. In this position, for example, a workpiece 16 is positioned in the machine. Figure 8 and Figure 10 Shown respectively Figure 9 The fully extended position Figure 7 and Figure 11 The middle position between the two end positions.

[0057] Therefore, in both end positions ( Figure 7 and Figure 11 ), a very compact arrangement can be achieved, for example, for the travel of a workpiece 16. In this case, the arm 15 can be designed very simply as a one-piece linear arm, with one of the first and second rotation axes 13, 14 being provided at each end. The first rotation axis 13 is fixed to the vertical carriage 12. In this exemplary embodiment, the one-piece arm 15 can be rotated about the first rotation axis 13 by an angle α of 240°. Due to the eccentric positioning of the first rotation axis 13 on the tower 3, the one-piece arm 15, together with the workpiece 16, can be positioned in an end position, taking up little space.

[0058] from Figure 7 Starting from the first end position in the Figures 7 to 11 In the figure, the first end position is indicated by arrows 50. From the second end position, the first end position can be rotated back in the corresponding opposite direction.

[0059] The tower 3 can also rotate on the horizontal carriage 9 about a third vertical rotation axis 103 extending in the vertical direction. This allows the robot 5 to reach all positions on both sides of the horizontal rail arrangement 101. Therefore, the base plate 11 on which the tower 3 is arranged can rotate at least 180 degrees about the third vertical rotation axis 103 arranged parallel to the central axis 22.

[0060] from Figure 1It can be further seen that the central axis 22 of the tower 3 and the third axis of rotation 103 are separated. This allows the arm 15 to be located on the third axis of rotation 103, resulting in a particularly compact design, as can also be seen from Figure 12 As seen.

[0061] from Figures 7 to 11 It can also be clearly seen that the first rotation axis 13 is always arranged to the right of the vertical third rotation axis 103. In the first end position and the second end position, the second rotation axis 14 is arranged to the left of the vertical third rotation axis 103. When the arm 15 moves from the first end position to the second end position, the second rotation axis thereby moves to the right of the third rotation axis 103.

[0062] The arm 15 is fixed to the vertical carriage 12 by means of a holder 6. In this example embodiment, the holder 6 is L-shaped, but may also have a different design.

[0063] Thus, the transport device 1 for traveling has a drive at the horizontal rail arrangement 101, a drive at the vertical rail arrangement 102, and a drive at the first rotation axis 13. In addition, a drive (not shown) is provided at the vertical third rotation axis 103, about which the tower 3 on the base plate 11 is mounted for rotation relative to the horizontal carriage 9 by means of a bearing 90.

[0064] Thus, the manipulator 5 can be moved to all positions within a 360° radius around the third vertical rotation axis 103 and the first rotation axis 13 by moving the carriage in the horizontal direction A and the vertical direction B and by rotating around the third vertical rotation axis 103. During this operation, the workpiece 16 always remains in a horizontal position.

[0065] Figure 6 It is shown how the handling device 1 is placed in the cabinet 4. A shelf system 7 is arranged on the rear wall of the cabinet, on which a tray 60 with workpieces 16 and / or tools is arranged. Reference numeral 20 denotes a control cabinet with a control unit for the handling device 1. A horizontal rail arrangement 101 is arranged on the floor 18 of the cabinet 4. The handling device 1 is thus movable within the cabinet. In addition, recesses 19 are provided in the floor 18 of the cabinet, which facilitate transport for placement using a crane or forklift and, if necessary, can also be provided as mechanical interfaces: on the one hand, to the machine (front recess) and on the other hand, to any adjacent cabinets (side recesses).

[0066] The cabinet 4 is located in front of the machine tool 2. Figure 5It is clear from this that the distance D between the shelf system 7 and the machine tool 2 is very small, because the handling device 1 can be linearly moved left and right on the horizontal rail device 101 in the cabinet 4 in front of the machine tool 2, and can be rotated to at least 180° ( Figure 5 In this case, the interference zone 23 is very small. In this respect, the handling device 1 has a very simple and compact design, which allows the rotation of the pallet 60 and the workpiece 16 in a very small space, such as Figure 4 Clearly seen.

[0067] Figure 5 It is also shown that the cabinet 4 can have doors 41 , 42 , for example in order to carry out the exchange of new workpieces and / or the replacement of tools in the cabinet 4 from the side of the shelving system 7 facing away from the handling device 1 .

[0068] Figure 14 An alternative design of a machine tool arrangement 100 is shown, in which a second cabinet 4 ′ is provided in addition to the first cabinet 4 . This clearly illustrates the modular design of the machine tool arrangement 100 . It should be noted that, of course, a plurality of machine tools 2 can also be arranged in series, and a plurality of cabinet systems 4 can be positioned in front of a plurality of machine tools 2 . In this case, in the assembled state, the corresponding horizontal rail arrangements 101 form a common rail arrangement, on which the handling device 1 can be moved linearly in front of all machine tools 2 . It should also be noted that a common control unit 20 can be provided for all shelf systems 7 and machine tools 2 .

[0069] Thus, all components of the handling device 1 can be housed in a single cabinet 4, which can be fully assembled, tested, and put into operation at the manufacturing plant even before delivery to the customer. Additional cabinets 4' can be added to the first cabinet 4 in a quick and simple manner. In this case, a common horizontal rail system 101 extending through all cabinets 4 and 4' is provided, but only a single handling device 1 is present in the first cabinet 4. The handling device 1 can be moved onto the common rail system 101 into the attached cabinet 4'. In this case, mechanical connection aids can be provided in a simple manner, enabling a modular design to be implemented quickly and easily.

[0070] Figure 15 and Figure 16 A handling device 1 according to a second exemplary embodiment of the invention is shown. Identical or functionally identical parts are designated with the same reference numerals.

[0071] from Figure 15As can be seen, in contrast to the first exemplary embodiment, in the second exemplary embodiment, tower 3 is immovably fixed to horizontal carriage 9. Tower 3 is eccentrically arranged on horizontal carriage 9. Therefore, tower 3 itself cannot rotate. However, a fourth vertical rotation axis 104 is provided on retaining member 6 mounted on vertical carriage 12. First retaining plate 61 and second retaining plate 62 can rotate about vertical rotation axis 104. Arm 15 is retained between retaining plates 61 and 62. A first horizontal rotation axis 13 passes through retaining plates 61 and 62, and arm 15 can rotate about this first rotation axis 13, as in the first exemplary embodiment. Vertical rotation axis 104 is perpendicular to horizontal axis 21. Third and fourth horizontal retaining plates 63 and 64 receive first and second vertical retaining plates 61 and 62 therebetween, allowing them to rotate about rotation axis 104. Third and fourth horizontal retaining plates 63 and 64 are fixed to vertical carriage 12. According to the second exemplary embodiment, the handling device 1 can be provided with a vertical rotation axis 104 that is smaller and more compact than that of the first exemplary embodiment, and the handling device 1 is also constructed to be very compact. It should be noted that according to the first exemplary embodiment, the tower 3 can also be rotated about the third rotation axis 103. In other respects, this exemplary embodiment corresponds to the previous exemplary embodiment, and reference can be made to the description given therein.

[0072] In addition to the foregoing written description of the invention, reference is made herein to Figures 1 to 16 The graphical representation of the present invention in the accompanying drawings is used to supplement the disclosure of the present invention.

[0073] Reference Signs List

[0074] 1. Transport device

[0075] 2 Machine Tools

[0076] 3 towers

[0077] 4. 4' cabinet

[0078] 5. Robot

[0079] 6 retaining parts

[0080] 7 Shelving System

[0081] 7' Secondary Shelving System

[0082] 8 Forced connection unit

[0083] 9 Horizontal slide

[0084] 11 base plate

[0085] 12 vertical slides

[0086] 13 Horizontal first rotation axis

[0087] 14 Horizontal second rotation axis

[0088] 15 Vertical track device

[0089] 16 Workpieces

[0090] 18 Floor

[0091] 19 concavity

[0092] 20 Control Unit

[0093] 21 horizontal axis

[0094] 22 Central axis of the tower

[0095] 23 Interference Zone

[0096] 41 doors

[0097] 42 doors

[0098] 50 Rotation Operation

[0099] 60 pallets

[0100] 61 vertical first retaining plate

[0101] 62 vertical second retaining plate

[0102] 63 Horizontal third retaining plate

[0103] 64 Horizontal fourth holding plate

[0104] 90 bearings

[0105] 100 Machine tool devices

[0106] 101 horizontal track device

[0107] 102 vertical track device

[0108] 103 vertical third rotation axis

[0109] 104 Vertical axis of rotation directly on the holder

[0110] A Horizontal direction

[0111] A1 The first distance between the first rotation axis and the vertical axis

[0112] A2 Second distance of the second rotation axis from the vertical axis in the first end position

[0113] A3 The third distance between the second rotation axis and the vertical axis in the second end position

[0114] B vertical direction

[0115] C 360° rotation

[0116] D Distance between the shelving system and the machine tool

Claims

1. A handling device (1) for handling tools and / or workpieces (16) of a machine tool (2), the handling device (1) comprising: - horizontal track device (101); - a vertical tower (3) arranged on the horizontal rail arrangement (101) in a manner movable in the direction of the horizontal axis (21); - a vertical track device (102) arranged on the vertical tower (3); - a vertical carriage (12) movable in a vertical direction (B) on said vertical track arrangement (102); - precisely one rigid, one-piece arm (15) which is arranged on the vertical carriage (12) and which rotates about a first horizontal axis of rotation (13) on the vertical carriage (12); and a manipulator (5) arranged on the arm (15) and rotatable about a second horizontal axis of rotation (14) on the arm (15), - wherein the arm (15) is rotatable about a vertical axis of rotation (103, 104), - wherein the first axis of rotation (13) is parallel to the second axis of rotation (14), and - wherein the first rotation axis (13) is arranged on a first side of the vertical rotation axis (103, 104) at a first distance (A1) from the vertical rotation axis (103, 104), - wherein the second rotation axis (14) is arranged at a second distance (A2) in the first end position on a second side of the vertical rotation axis (103, 104) opposite the first side.

2. The transport device (1) according to claim 1, wherein: The vertical rotation axis is a third rotation axis (103) around which the vertical tower (3) can rotate, or the vertical rotation axis is a fourth rotation axis (104) around which the arm on the vertical slide (12) can rotate.

3. The transport device (1) according to claim 1, wherein: The second rotation axis (14) is arranged at a third distance (A3) in the second end position on the second side of the vertical rotation axis (103, 104) opposite the first side.

4. The transport device (1) according to claim 3, wherein: The vertical axis of rotation (103, 104) intersects the arm (15) in the first end position and / or the second end position.

5. The transport device (1) according to claim 1 or 2, wherein: The one-piece rigid arm (15) is rotatable about the first rotation axis (13) through an angle (α) of ≥180°.

6. The transport device (1) according to claim 1 or 2, wherein: A forced coupling unit (8) is provided between the first rotation axis (13) and the second rotation axis (14), the forced coupling unit (8) being configured to keep the manipulator (5) oriented horizontally in any rotation position of the arm (15).

7. The handling device (1) according to claim 6, wherein: The first rotational axis (13) can be driven by means of a drive, and the second rotational axis (14) does not have its own drive.

8. The transport device (1) according to claim 2, wherein: The central axis (22) of the vertical tower (3) and the third rotation axis (103) are separated and parallel to each other.

9. The transport device (1) according to claim 1 or 2, wherein: The vertical tower (3) is arranged on a horizontal slide (9), and the horizontal slide (9) is movable along the direction of the horizontal axis (21) on the horizontal track device (101).

10. The transport device according to claim 9, wherein: A base plate (11) is rotatably arranged on the horizontal slide (9), and the vertical tower (3) is fixed on the base plate (11).

11. The transport device (1) according to claim 1 or 2, wherein: The arm (15) is attached to the vertical carriage (12) via a first vertical retaining plate (61) and a second vertical retaining plate (62) of a holder (6).

12. The handling device (1) according to claim 6, wherein: The forced coupling unit (8) comprises a chain drive or a belt drive.

13. The handling device (1) according to claim 1 or 2, further comprising a shelf system (7), in which the workpieces (16) and / or tools are stored, and / or in, A single handling device is integrated into the cabinet (4) together with the shelving system (7).

14. A machine tool arrangement (100) comprising at least one machine tool (2) and a handling device (1) according to any one of the preceding claims.

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