Handling arrangement for machine tools

Abstract

The present invention includes a horizontal rail arrangement (101), a vertical tower (3) arranged on the horizontal rail arrangement (101) so as to be movable in the direction of a horizontal axis (21), a vertical rail arrangement (102) arranged on the tower (3), a vertical carriage (12) arranged so as to be movable in a vertical direction (B) on the vertical rail arrangement (102), a single one-piece rigid arm (15) arranged on the vertical carriage (12) and pivoted about a horizontal first pivot axis (13) on the vertical carriage (12), and a vertical rail arrangement (102) arranged on the arm (15). and a manipulator (5) swivelled on the arm (15) about a horizontal second swivel axis (14), the arm (15) being swivelled about a vertical swivel axis (103; 104), the first swivel axis (13) being parallel to the second swivel axis (14), the first swivel axis (13) being arranged at a first distance (A1) from the vertical swivel axis (103; 104) on a first side of the vertical swivel axis (103; 104).

Description

[Technical field]

[0001] The present invention relates to a handling arrangement for handling tools and / or workpieces of a machine tool and to a machine tool arrangement. [Background technology]

[0002] Handling arrangements are used to automate the placement of workpieces on machine tools and to change tools. For example, this can be done by means of a six-axis robot, which, however, has high investment costs plus high maintenance costs. Alternatively, it is known to use simpler handling arrangements, which move longitudinally on rails in front of the machine tool to feed and remove workpieces to and from the machine tool for processing, instead of a six-axis robot. These handling arrangements are usually designed in such a way that a carriage can be moved along a bottom axis along the machine tool. A rotatable tower is mounted on the carriage, on which a horizontally extendable telescopic arm can move upwards and downwards. In this way, four controlled axes can be used to move to any position in all directions. Although this design has proven effective in principle, a relatively large amount of space is required in front of the machine tool. Another disadvantage is that all components of the handling arrangement have to be installed individually on-site at the customer's site, which leads to relatively long assembly times. Summary of the Invention [Problem to be solved by the invention]

[0003] The object of the invention is to provide a handling arrangement which is simple and inexpensive to manufacture, which requires very little space in front of the machine tool and can be installed quickly and easily on-site at the customer's site, as well as a machine tool arrangement which has such a handling arrangement. [Means for solving the problem]

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

[0005] The handling arrangement according to the invention for handling tools and / or workpieces with the features of claim 1 has the advantage that the handling arrangement can be designed very compactly and simply. As a result, the handling arrangement can be arranged in a limited space, for example in front of the machine tool, between the shelf system and the machine tool. At the same time, the design of the handling arrangement according to the invention is very cost-effective and robust. According to the invention, this is realized by a handling arrangement comprising a horizontal rail arrangement and a tower which can be moved on the horizontal rail arrangement in the direction of a horizontal axis. Furthermore, the handling arrangement comprises a vertical rail arrangement arranged on the tower. A vertical carriage is vertically movable on the vertical rail arrangement. Furthermore, a single one-piece rigid arm without joints or kinks is provided, which is arranged on the vertical carriage and is pivotally mounted on the vertical carriage about a horizontal first pivot axis. Preferably, the arm is provided in the form of a straight bar or beam. A manipulator, in particular a gripper or one or more forks, is arranged on the arm and is pivotally mounted on the arm about a horizontal second pivot axis, the first and second pivot axes being arranged parallel to each other. Furthermore, the arm is pivotally mounted about a vertical pivot axis. Furthermore, the first pivot axis is arranged on a first side of the vertical pivot axis at a first predetermined distance from the vertical pivot axis. Preferably, the first horizontal pivot axis and the second horizontal pivot axis on the one-piece arm are each arranged near the free end of the arm.

[0006] Preferably, the vertical pivot axis is the third pivot axis, about which the tower is mounted to pivot. Alternatively, the vertical pivot axis is the fourth pivot axis, about which the arm on the vertical carriage is arranged to pivot. Preferably, the tower is designed in this case not to be pivotally mounted. Each pivot angle about the vertical pivot axis is preferably ≧180°.

[0007] Particularly preferably, in the first end position, the second pivot axis is arranged at a second distance on the second side of the vertical pivot axis. In this way, a particularly compact position of the arm can be achieved in the first end position, since the first pivot axis is located on the first side of the vertical pivot axis and the second pivot axis is located on the opposite second side of the vertical pivot axis. Particularly preferably, the second distance is greater than the first distance.

[0008] More preferably, the first pivot axis is located between the vertical pivot axis and a rail of a vertical rail arrangement on the tower.

[0009] According to another preferred embodiment of the invention, the second pivot axis in the second end position is also arranged on the second side of the vertical pivot axis at a third distance from the vertical pivot axis, preferably the third distance being the same as the second distance from the vertical pivot axis, so that also in the second end position of the straight arm a very compact position of the arm can be achieved.

[0010] Particularly preferably, the one-piece arm connected to the vertical carriage has a pivot range of ≧180°, in particular about 240°. At a pivot angle of 240°, the first end position and the second end position are preferably located on a common vertical line. During pivoting from the first end position to the second end position, the second pivot axis pivots twice past the third pivot axis.

[0011] More preferably, the vertical pivot axis intersects the arm itself in the first and / or second end position of the arm, which ensures a particularly compact position of the arm on the tower so that it can perform rotational movements with a very small interference circle.

[0012] More preferably, a force coupling unit is provided between the first and second pivot axes, the force coupling unit being arranged to maintain the manipulator in a horizontal orientation at each pivot position of the arm, so that only one of the two pivot axes is driven, simplifying control of the manipulator arrangement.

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

[0014] The third pivot axis, which is in particular vertical, is preferably also drivable. Preferably, the central axis of the tower and the third pivot axis are offset. Thus, the central axis of the tower and the third pivot axis are preferably parallel to each other, and when the tower is pivoted, it pivots at a distance about the third vertical pivot axis, which further increases the compactness of the handling arrangement.

[0015] Preferably, the tower is arranged on a horizontal carriage, which preferably has its own drive. If the tower is pivotally mounted about the third pivot axis, the drive of the tower is preferably arranged on the horizontal carriage.

[0016] Preferably, a base plate is further provided on which the tower is arranged. The base plate is preferably rotatably arranged on a horizontal carriage. The horizontal carriage is horizontally movably arranged on the horizontal rail arrangement.

[0017] According to another alternative embodiment of the invention, the arm is connected to the tower and is pivoted relative to the tower about a fourth pivot axis which is vertical. This has the advantage that the tower does not have to be pivoted. The holder preferably comprises a first and a second support plate or support arm or the like between which the arm is pivoted in the horizontal direction about the first pivot axis.

[0018] Preferably, the holder comprises a third and a fourth horizontal holding plate arranged on a vertical carriage. The third and fourth holding plates act as bearings for the vertical pivot axis, around which the first and second holding plates together with the arm are mounted to pivot. The forced coupling unit connecting the first pivot axis to the second pivot axis preferably comprises a chain or belt drive. This allows a cost-effective and simply designed forced coupling between the two pivot axes to be realised. At the same time, the forced coupling can also be designed to be robust.

[0019] According to a further preferred embodiment of the invention, the handling arrangement further comprises a shelf system in which the workpieces and / or tools are arranged. The shelf system is preferably provided such that the tower of the handling arrangement is arranged between the shelf system and the machine tool, thereby making it possible to reduce the distance for handling the tools and / or workpieces between the shelf system and the machine tool.

[0020] Preferably, a single handling arrangement is integrated in a cabinet together with a shelf system. Particularly preferably, several cabinets and several shelf systems are provided in a modular design, which are arranged adjacent to each other. Preferably, only a single handling arrangement is used for several shelf systems, and preferably for several machine tools.

[0021] Preferably, multiple shelving systems are arranged adjacent to one another in a row and connected by a common horizontal rail arrangement, which allows the tower to be moved in front of the shelving systems to store a variety of different tools and / or different workpieces on the shelving systems. Preferably, the individual shelving systems are connected via mechanical connections, such as openings and appropriately shaped protrusions.

[0022] Particularly preferably, the shelving system and the handling arrangement are arranged in a cabinet, whereby the tools and / or workpieces positioned on the shelving system can be protected. Preferably, the cabinet has a door allowing access from the outside. The door is preferably arranged on the side of the handling arrangement opposite to the side on which the tower is arranged.

[0023] Furthermore, the invention relates to a machine tool arrangement comprising a machine tool and a handling arrangement according to the invention. The handling arrangement is thereby arranged in front of the machine tool. Particularly preferably, a tower of the handling arrangement is thereby arranged between the machine tool and a shelf system on which the tools and / or workpieces are stored. Preferably, the machine tool arrangement comprises several machine tools, preferably arranged in series, which can be supplied with tools and / or workpieces by a common handling arrangement and which allow the exchange of applicable tools and / or workpieces.

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

[0025] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. [Brief description of the drawings]

[0026] [Figure 1] FIG. 1 is a schematic perspective view of a handling arrangement according to a first preferred embodiment of the present invention in a first position. [Diagram 2] FIG. 2 is a schematic perspective view of the handling arrangement of FIG. 1 in a second position. [Diagram 3] FIG. 3 is a schematic perspective view of the handling arrangement of FIG. 1 in a third position. [Figure 4] FIG. 4 is a schematic perspective view of the fourth highly compact position. [Diagram 5] FIG. 5 is a schematic top view of a machine tool arrangement with a machine tool and a handling arrangement according to FIGS. 1 to 4. [Figure 6] FIG. 6 is a perspective view of the handling arrangement of FIG. 1 in a cabinet system. [Figure 7] FIG. 7 shows different positions of the arms of the handling arrangement as viewed from the horizontal rail arrangement. [Figure 8] FIG. 8 shows different positions of the arms of the handling arrangement as viewed from the horizontal rail arrangement. [Figure 9] FIG. 9 shows different positions of the arms of the handling arrangement as viewed from the horizontal rail arrangement. [Figure 10] FIG. 10 shows different positions of the arms in the handling arrangement as viewed from the horizontal rail arrangement. [Figure 11] FIG. 11 shows different positions of the arms in the handling arrangement as viewed from the horizontal rail arrangement. [Figure 12] FIG. 12 is a top view of the handling arrangement in a first position of the arm; [Figure 13] FIG. 13 is a top view of the handling arrangement in a second position of the arm; [Figure 14] FIG. 14 is an alternative top view of a machine tool arrangement having multiple cabinet systems. [Figure 15] FIG. 15 is a perspective view of a handling arrangement according to a second embodiment of the invention, seen from a different perspective. [Figure 16] Figure 16 shows a perspective view of a handling arrangement according to a second embodiment of the invention from a different perspective. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Hereinafter, a handling arrangement 1 and a machine tool arrangement 100 according to a first embodiment of the present invention will be described in detail with reference to Figs.

[0028] As can be seen in FIG. 1, the handling arrangement 1 comprises a horizontal rail arrangement 101 on which a horizontal carriage 9 is movable along a horizontal axis 21 .

[0029] The horizontal rail arrangement 101 comprises two rails arranged parallel to each other.

[0030] Furthermore, the handling arrangement comprises a tower 3 with a central axis 22 in the vertical direction B, which is arranged on a horizontal carriage 9 via 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.

[0031] Furthermore, the handling arrangement comprises a vertical rail arrangement 102 arranged on the tower 3. As can be seen in figure 1, the vertical rail arrangement 102 comprises two separate and parallel rails.

[0032] A vertical carriage 12 is movable in a vertical direction B on a vertical rail arrangement 102. A single one-piece straight arm 15 is pivotally arranged on the vertical carriage 12 via a holder 6. The rigid arm 15 has no joints and is mounted so as to pivot about a first pivot axis 13, whereby the first pivot axis 13 is arranged at a first end of the arm 15 and is fixedly arranged on the vertical carriage 12. Also provided on the arm 15 is a second pivot axis 14, on which a manipulator 5 designed as a gripper is pivotally arranged. A pallet 60 with a workpiece 16 or a tool (not shown) can be held by the manipulator 5.

[0033] The first pivot axis 13 is parallel to the second pivot axis 14. Furthermore, the two pivot axes 13, 14 are arranged perpendicular to the vertical central axis 22.

[0034] A force coupling unit 8 is arranged inside the arm 15 such that the force coupling unit 8 between the first pivot axis 13 and the second pivot axis 14 is arranged to keep the manipulator 5 in a horizontally oriented state in each pivot position of the arm 15.

[0035] 1 to 4 show three different pivot states of the arm 15.

[0036] Figure 2 shows the arm 15 in a pivoted position with a fully horizontal orientation, which is the position of the manipulator 5 further away from the tower 3. This is also shown in the top view of figure 13.

[0037] 3 shows the arm 15 pivoted to a lower position and the base plate 11 in another position, pivoted (rotated 90° to the right) about a vertical third pivot axis 103 relative to the horizontal carriage 9.

[0038] FIG. 1 shows the arm 15 in a central position.

[0039] 4 shows a position of the arm 15 which allows a particularly compact handling, which is particularly preferably assumed during a movement on the horizontal rail arrangement 101 or during a pivoting movement about the third pivot axis 103 of the base plate 11 with the tower 3, and which will hereinafter be referred to as the first end position.

[0040] 1 to 4, the arm 15 can be moved to different positions simply by pivoting it about the first pivot axis 13. A drive is provided on the first pivot axis 13 to realize the movement of the arm 15. No drive needs to be provided on the second pivot axis 14 which is force-connected to the first pivot axis 13.

[0041] To illustrate the compactness of the handling arrangement 1, reference is again made to Figures 7 to 11 which show the movement of the handling arrangement from a first extreme position (Figure 7) to a second extreme position (Figure 11).

[0042] 12 and 13 show two corresponding top views of the handling arrangement 1 from above in two different positions, where the interference area 23 is also shown, which on rotation about the vertical third pivot axis 103 is presented by the handling arrangement 1 in its maximum compact position.

[0043] Figure 7 shows a first end position of the arm 15 for particularly compact handling, as seen in the direction of the horizontal rail arrangement 101 corresponding to Figure 4. As can be seen from Figure 7, the first pivot axis 13 here is arranged at a distance A1 on the first side of the third pivot axis 103 of the tower 3. Here, the first pivot axis 13 is arranged between the third pivot axis 103 and one of the rails of the vertical rail assembly 102. In this view, the third pivot axis 103 and the central axis 22 overlap. The first pivot axis 13 is therefore arranged to the right of the vertical third pivot axis 103.

[0044] The second pivot axis 14 is arranged in a first end position on a second side of the third pivot axis 103 and is spaced from the third pivot axis 103 by a distance A2, whereby the second distance A2 is greater than the first distance A1. As can be seen from FIG. 7, the second pivot axis 14 is located outside the tower 3 in the first end position. In the first end position, the second pivot axis 14 is therefore to the left of the vertical third pivot axis 103. In this first end position, a very small interference area 23, as shown in FIG. 12, results. This interference area 23 projects only minimally above the rails of the horizontal rail arrangement 101.

[0045] Figure 11 shows a second end position of the handling arrangement in which the one-piece arm 15 has been pivoted 240° about the first pivot axis 13 from the first end position. The first end position is designated in Figure 11 with the reference number 14'. In the second end position the second pivot axis 14 is spaced a distance A3 from the third pivot axis 103 to the second side. The first and second end positions are preferably vertically overlapping.

[0046] Due to the forced connection between the first pivot axis 13 and the second pivot axis 14, the workpiece 16 can thereby remain horizontally oriented during the entire movement process from the first to the second end position. This is illustrated in Figures 8, 9 and 10, where Figure 9 shows the one-piece arm 15 in its maximally extended state. In this position, for example, the workpiece 16 is positioned in the machine. Figures 8 and 10 respectively show intermediate positions between the fully extended position of Figure 9 and the two end positions in Figures 7 and 11.

[0047] Thus, in the two end positions of the one-piece arm 15 (FIGS. 7 and 11), a very compact arrangement of the workpiece 16 can be realized, for example for a transfer movement. In this case, the arm 15 can be designed very simply as a one-piece linear arm, with one of the first and second pivot axes 13, 14 arranged at each of the two ends. The first pivot axis 13 is fixed with respect to the vertical carriage 12. In this embodiment example, the one-piece arm 15 can be pivoted about the first pivot axis 13 through an angle α of 240°. Thanks to the off-center positioning of the first pivot axis 13 on the tower 3, a positioning of the one-piece arm 15 with the workpiece 16 occupying little installation space can be realized in the end positions.

[0048] Starting from the first end position in Figure 7, the pivoting movements are illustrated in Figures 7 to 11 in each case by arrows 50. Pivoting is possible in each opposite direction from the second end position back to the first end position.

[0049] The tower 3 can furthermore be swiveled on the horizontal carriage 9 about a vertical third swivel axis 103 extending vertically, so that the manipulator 5 can reach all positions on both sides of the horizontal rail arrangement 101. Thereby, the base plate 11 on which the tower 3 is arranged is swivelled at least 180° about the vertical third swivel axis 103 arranged parallel to the central axis 22.

[0050] As can further be seen in figure 1, the central axis 22 of the tower 3 is offset from the third pivot axis 103. This allows the arm 15 to lie along the third pivot axis 103, which results in a particularly compact design, as can also be seen in figure 12.

[0051] As is also apparent from Figures 7 to 11, the first pivot axis 13 is always disposed to the right of the vertical third pivot axis 103. The second pivot axis 14 is disposed to the left of the vertical third pivot axis 103 in the first and second end positions. When the arm 15 moves from the first end position to the second end position, the second pivot axis moves to the right of the third pivot axis 103.

[0052] The arm 15 is fixed to the vertical carriage 12 via a holder 6. In this embodiment example, the holder 6 is L-shaped and has a different design.

[0053] The handling arrangement 1 therefore has, for the movement, a drive in the horizontal rail arrangement 101, a drive in the vertical rail arrangement 102 and a drive in the first pivot axis 13. Furthermore, a drive (not shown) is provided in a vertical third pivot axis 103, about which the tower 3 on the base plate 11 is mounted to pivot relative to the horizontal carriage 9 via bearings 90.

[0054] Therefore, the manipulator 5 can be moved to any position within a range of 360° about the vertical third pivot axis 103 and the first pivot axis 13 by moving the carriage in the horizontal direction A and the vertical direction B and rotating about the vertical third pivot axis 103. During this operation, the workpiece 16 is always in a horizontal position.

[0055] Figure 6 shows how the handling arrangement 1 is installed in a cabinet 4. A shelf system 7 is arranged on the rear wall of the cabinet, on which pallets 60 with the workpieces 16 and / or tools are arranged. Reference number 20 denotes a control cabinet in which there is a control unit for the handling arrangement 1. A horizontal rail arrangement 101 is arranged on the floor 18 of the cabinet 4, by means of which the handling arrangement 1 can be moved inside the cabinet. Furthermore, recesses 19 are provided in the cabinet floor 18, which serve for easy transport with a lift truck or forklift for installation and, if necessary, also as mechanical connections to machines on the one hand (front recess) and to possible adjacent cabinets on the other hand (side recesses).

[0056] The arrangement of the cabinet 4 in front of the machine tool 2 is shown in detail in Fig. 5. It becomes clear therefrom that the distance D between the shelf system 7 and the machine tool 2 is very small, since the handling arrangement 1 can be moved in a straight line to the left and right on the horizontal rail arrangement 101 in the cabinet 4 in front of the machine tool 2 and can be rotated at least 180° (arrow C in Fig. 5) to a point about the vertical third pivot axis 103. In this case the interference area 23 is very small. In this respect the handling arrangement 1 has a very simple and compact design, which, as is evident from Fig. 4, allows rotation in a very small space with the pallets 60 and the workpieces 16.

[0057] FIG. 5 also shows that the cabinet 4 may have doors 41, 42 for exchanging new workpieces and / or tools in the cabinet 4, for example from the side of the shelf system 7 facing the handling arrangement 1.

[0058] 14 shows an alternative design of the machine tool arrangement 100, in which in addition to the first cabinet 4 a second cabinet 4' is provided. This clearly illustrates the modular design of the machine tool arrangement 100. It should of course be pointed out that several machine tools 2 can be arranged in series and several cabinet systems 4 can be positioned in front of several machine tools 2. In this case, each horizontal rail arrangement 101, in the assembled state, forms a common rail arrangement on which the handling arrangement 1 can be linearly moved in front of all machine tools 2. It should further be pointed out that a common control unit 20 may also be received for all shelf systems 7 and machine tools 2.

[0059] All components of the handling arrangement 1 can thus be installed in one cabinet 4, which can be fully assembled in the manufacturing plant, tested and put into operation even before delivery to the customer. Additional cabinets 4' can be added to the first cabinet 4 in a quick and easy manner. In this case, a common horizontal rail arrangement 101 is provided which extends through all cabinets 4 and 4', but there is only a single handling arrangement 1 in the first cabinet 4. The handling arrangement 1 can be moved on the common rail arrangement 101 into the attached cabinet 4'. In this case, mechanical connection aids can be provided in a simple manner, realizing a modular design in a quick and simple manner.

[0060] Figures 15 and 16 show a handling arrangement 1 according to a second embodiment of the invention. Identical or functionally identical parts are indicated with the same reference symbols.

[0061] As can be seen from FIG. 15, in contrast to the first embodiment example, in the second embodiment example the tower 3 is fixedly mounted on the horizontal carriage 9. The tower 3 is arranged off-centre on the horizontal carriage 9. The tower 3 itself is therefore not rotatable. However, another vertical fourth pivot axis 104 is provided on the holder 6 which rests on the vertical carriage 12. The first and second holding plates 61 and 62 can be pivoted about the vertical pivot axis 104. The arm 15 is held between the holding plates 61 and 62. A horizontal first pivot axis 13 passes through the holding plates 61 and 62, about which the arm 15 can be pivoted, as in the first embodiment example. The vertical pivot axis 104 is perpendicular to the horizontal axis 21. The third and fourth horizontal holding plates 63 and 64 receive the first and second vertical holding plates 61, 62 between them and are pivotally mounted about a pivot axis 104. The third and fourth horizontal holding plates 63, 64 are fixed to the vertical carriage 12. According to the second exemplary embodiment, the handling arrangement 1 can be provided with a smaller and more compact vertical pivot axis 104 than in the first exemplary embodiment and is constructed very compactly. It should be pointed out that it is also possible for the tower 3 to pivot about the third pivot axis 103 according to the first exemplary embodiment. Alternatively, this exemplary embodiment corresponds to the previous exemplary embodiment and reference can be made to the description therein.

[0062] In addition to the foregoing description of the invention, explicit reference is now made to illustrations of the invention in Figures 1-16 for a supplementary disclosure of the invention. [Explanation of symbols]

[0063] 1 Handling arrangement 2 Machine tools 3. Tower 4, 4' Cabinet 5. Manipulator 6 Holder 7 Shelf System 7' Second Shelf System 8 Forced coupling units 9 Horizontal carriage 9 11 Base plate 12 Vertical Carriage 13 First horizontal pivot axis 14 Second horizontal pivot axis 15 Vertical rail arrangement configuration 16 Work 18th Floor 19 Recess 20 Control Unit 21 horizontal axis 22 Central axis of the tower 23 Interference Area 41 Door 42 Doors 50 Turning movement 60 palettes 61 Vertical first retaining plate 62 Vertical second retaining plate 63 Horizontal third retaining plate 64 Horizontal fourth retaining plate 90 Bearing 100 Machine tool layout configuration 101 Horizontal Rail Configuration 102 Vertical rail arrangement configuration 103 Vertical third pivot axis 104 Vertical pivot axis directly on holder A horizontal direction A1 First distance of first pivot axis from vertical axis A2: second distance of the second pivot axis from the vertical axis at the first end position A3: The third distance of the second pivot axis from the vertical axis at the second end position B Vertical direction C 360° rotation D Distance of the shelf system from the machine tool

Claims

1. A handling arrangement (1) for handling tools and / or workpieces (16) of a machine tool (2), comprising: A horizontal rail arrangement (101); a vertical tower (3) arranged on said horizontal rail arrangement (101) so as to be movable in the direction of a horizontal axis (21); a vertical rail arrangement (102) arranged on the tower (3); a vertical carriage (12) arranged to be movable in a vertical direction (B) on the vertical rail arrangement (102); a single one-piece rigid arm (15) disposed on said vertical carriage (12) and pivotally mounted on said vertical carriage (12) about a horizontal first pivot axis (13); a manipulator (5) disposed on the one-piece rigid arm (15) and pivoted about a horizontal second pivot axis (14) on the one-piece rigid arm (15); said one-piece rigid arm (15) is mounted pivotably about a vertical pivot axis (103; 104); The first pivot axis (13) is parallel to the second pivot axis (14), the first pivot axis (13) is arranged on a first side of the vertical pivot axis (103; 104) at a first distance (A1) from the vertical pivot axis (103; 104); the second pivot axis (14) is disposed at a first end position of pivoting about the first pivot axis (13) on a second side of the vertical pivot axis (103; 104) opposite to the first side, at a second distance (A2); Handling arrangement (1).

2. 2. The handling arrangement (1) according to claim 1, wherein the vertical pivot axis is a third pivot axis (103) about which the tower (3) is mounted to pivot, or the vertical pivot axis is a fourth pivot axis (104) about which the one-piece rigid arm on the vertical carriage (12) is mounted to pivot.

3. 3. The handling arrangement (1) according to claim 1 or 2, characterized in that the second pivot axis (14) is arranged at a third distance (A3) at a second end position of the pivot about the first pivot axis (13), on a second side of the vertical pivot axis (103; 104) opposite to the first side.

4. 4. The handling arrangement (1) according to claim 3, wherein the vertical pivot axis (103; 104) intersects the one-piece rigid arm (15) at the first and / or second end positions.

5. Handling arrangement (1) according to any one of claims 1 to 4, wherein the one-piece rigid arm (15) is pivotally mounted about a first pivot axis (13) at an angle (α) of ≧180°.

6. 6. The handling arrangement (1) according to any one of claims 1 to 5, wherein a forced connection unit (8) is provided between the first pivot axis (13) and the second pivot axis (14) and is arranged to maintain the manipulator (5) in a horizontal orientation in any pivot position of the one-piece rigid arm (15).

7. 7. The handling arrangement (1) according to claim 6, wherein the first pivot axis (13) is drivable by a drive and the second pivot axis (14) does not have its own drive.

8. 3. The handling arrangement (1) according to claim 2, wherein the central axis (22) of the tower (3) and the third pivot axis (103) are offset and parallel to each other.

9. 9. The handling arrangement (1) according to any one of claims 1 to 8, wherein the tower (3) is arranged on a horizontal carriage (9), the horizontal carriage (9) being movable in the direction of the horizontal axis (21) on the horizontal rail arrangement (101).

10. 10. The handling arrangement according to claim 9, wherein a base plate (11) is rotatably arranged on the horizontal carriage (9), and the tower (3) is fixed on the base plate (11).

11. Handling arrangement (1) according to any one of claims 1 to 10, wherein the one-piece rigid arm (15) is attached to the vertical carriage (12) via first and second vertical holding plates (61, 62) of a holder (6).

12. Handling arrangement (1) according to claim 6, characterized in that the forced connection unit (8) comprises a chain drive or a belt drive.

13. and / or a shelf system (7) on which the workpieces (16) and / or the tools are stored; and / or Handling arrangement (1) according to any one of the preceding claims, wherein a single handling arrangement is integrated together with the shelving system (7) in a cabinet (4).

14. At least one machine tool (2); A handling arrangement (1) according to any one of claims 1 to 13, A machine tool arrangement (100) comprising:

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