Machining robot for chip removal machining

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

• a base frame (21);
• a foot lever (41) mounted in the base frame and pivotable about a first main axis (11);
• an elbow lever (51) mounted at a free end of the foot lever (41) and pivotable about a second main axis (12), the second main axis (12) being parallel to the first main axis (11), the elbow lever (51) extending in a longitudinal direction along a first subsidiary axis (14), the elbow lever (51) comprising a receiving fork (64) having two tines (65);
• and
• a machining unit (71) mounted in the elbow lever (51) and pivotable about a second subsidiary axis (13), the machining unit (71) is a multifunction unit (71) having a cuboid body, the second subsidiary axis (13) passing through the two tines (65) of the receiving fork (64) and through the cuboid body of the machining unit (71),
• wherein the cuboid body of the multifunction unit (71) has at least two working sides (72, 91, 93) disposed on different faces of the cuboid body of the machining unit (71), the at least two working sides including
• a multifunction side (72), and
• a main spindle side (91) comprising a main spindle holder (92) configured to receive and rotationally drive a tool spindle,
• wherein the cuboid body of the multifunction unit (71) is pivotable about the second subsidiary axis (13) to selectively bring each of the multifunction side (72) and the main spindle side (91) into a machining position,
• wherein the multifunction side (72) comprises at least two chip removal tools (73-75, 78, 81-85),
• wherein the at least two chip removal tools (73-75, 78, 81-85) can be driven for rotation individually, or in groups,
• wherein each of the at least two chip removal tools (73-75, 78, 81-85) can be raised and lowered relative to the multifunction side (72) by a respective tool carrier (76;
• 86) receiving a respective one of the at least two chip removal tools (73-75, 78, 81-85), and
• wherein pivoting motions of
• the foot lever (41) about the first main axis (11),
• the elbow lever (51) about the second main axis (12), and
• the machining unit (71) about the second subsidiary axis (13)
• are controlled via a control circuit.