Processing machine

Abstract

The utility model provides a processing machine which can enable a main shaft to feed along a straight line and stably perform drilling and milling processing. The processing machine (10) includes: a robot (11) having a connection surface (11a); an X guide (29) disposed on the connection surface (11a) and extending in an X direction parallel to the connection surface (11a); an X slider (31) that is guided by the X guide (29) and reciprocates in the X direction; a processing unit (40) that is disposed on the X slider (31) and that comprises: a Z slider (45) that reciprocates in a Z direction perpendicular to the X direction; and a main shaft (59) to which the tool (1) can be attached, which is rotatably disposed on the Z slider (45), and which extends in the Z direction.

Description

Technical Field

[0001] The utility model relates to a processing machine. Background Art

[0002] Japanese Patent Publication No. 2009-248279 (hereinafter referred to as Patent Document 1) discloses a thread processing device, which includes: a robot having a robotic arm at its top; a lifting mechanism supported by the top of the robotic arm via a flange; a rotating mechanism supported by the lifting mechanism; a supporting portion configured at the top of the rotating mechanism; a tap supported by the supporting portion; a sensor configured on the upper surface of the robot to detect the inclination of the robotic arm; a computing device that calculates information obtained from the sensor; and a control console that operates the lifting mechanism and the rotating mechanism based on the information obtained from the computing device.

[0003] In addition, Patent Gazette No. 5656268 (hereinafter referred to as Patent Document 2) discloses an industrial robot, which includes: a first arm; a second arm; a first frame extending along a first direction; a first movable body supported so as to be movable along the extension direction of the first frame; a second frame extending along a second direction perpendicular to the first direction relative to the first movable body; a second movable body supported so as to be reciprocating along the second direction; and a processing tool arranged on the second movable body, arranged in a direction perpendicular to the first direction and the second direction. Utility Model Content

[0004] Articulated robots cannot trace straight lines. Therefore, stable machining may not be possible. The thread machining device of Patent Document 1 cannot perform milling. The machining machine of Patent Document 2 cannot perform drilling.

[0005] The purpose of the utility model is to provide a processing machine, which can feed a main shaft along a straight line and stably perform drilling and milling processing.

[0006] The processing machine of the first aspect of the present invention comprises:

[0007] a robot having a connection surface;

[0008] an X-guide member disposed on the connecting surface and extending along an X-direction parallel to the connecting surface;

[0009] An X slider, which is guided by the X guide and reciprocates along the X direction;

[0010] A machining unit, which is configured on the X slide and includes:

[0011] A Z slider that reciprocates along a Z direction perpendicular to the X direction; and

[0012] A spindle, on which a tool can be mounted, is rotatably disposed on the Z slide and extends along the Z direction.

[0013] The robot may include an arm. The connection surface may be disposed at a top end of the arm. The connection surface may be, for example, a flange. The robot may be, for example, a vertical multi-joint robot or a parallel linkage robot.

[0014] The Y-axis travel can be less than half of the X-axis travel.

[0015] The coolant supply device may be arranged on the table where the robot is installed or on the first axis of the robot. The coolant may be, for example, compressed air, oil mist, or mist coolant.

[0016] The nozzle is configured on the ram or Z slider. The nozzle can be connected to the top of the ram or Z slider.

[0017] The machining unit may include a Z-actuated cylinder that extends and retracts along the Z direction and pushes the ram or the Z-slide toward the top. The Z-actuated cylinder may be, for example, a fluid-actuated cylinder, particularly a pneumatic cylinder.

[0018] The processing machine may include an X frame that supports the X guide. The processing machine may include an X drive device that is disposed on the X frame and moves the X slide.

[0019] The machining unit may also have a machining unit body.

[0020] The processing machine may also include a Y-frame that supports the Y-guide. The processing machine may also include a Y-axis drive device, which is disposed on the Y-frame and moves the Y-slide. The Y-frame may also include a rib. The rib extends in the XY direction and connects the Y-frame and the X-slide. The Y-stroke of the Y-slide is smaller than the X-stroke of the X-slide. The Y-stroke is preferably less than 50% of the X-stroke, and more preferably less than 30%.

[0021] The processing machine may also include a W-frame supporting the W-guide. The processing machine may also include a W-axis drive device disposed on the W-frame to move the W-slide. The W-direction is parallel to the Z-direction. The W-guide extends in the W-direction. The W-slide reciprocates in the W-direction.

[0022] The processing machine may include a first support body that supports the X-frame or X-guide during processing. The first support body may also include the X-frame, a coupling connected to the X-guide, or a mechanical stop. The processing machine may include a second support body that supports the main body of the processing unit or the Z-guide during drilling. The first support body or the second support body may be disposed on the bottom surface, for example. The first support body or the second support body may also be a robot.

[0023] Utility model effect

[0024] According to the processing machine of the utility model, the main shaft can be fed along a straight line, and drilling and milling processing can be performed stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a perspective view of the processing machine according to the first embodiment.

[0026] Figure 2 It is a cross-sectional view of the processing machine according to the first embodiment.

[0027] Figure 3 yes Figure 2 Cross-sectional view along line III-III.

[0028] Figure 4 It is a perspective view of the processing machine of Embodiment 2.

[0029] Figure 5 It is a cross-sectional view of the processing machine according to the second embodiment.

[0030] Figure 6 It is a cross-sectional view of a processing machine according to a third embodiment.

[0031] Description of Reference Numerals

[0032] 10, 100, 200 processing machines

[0033] 11 Robot

[0034] 11a Connection surface

[0035] 29 X guide

[0036] 31 X Slider

[0037] 40 processing units

[0038] 45 Z Slider

[0039] 59 Spindle DETAILED DESCRIPTION

[0040] (Implementation 1)

[0041] like Figure 1 As shown, the processing machine 10 of this embodiment includes a robot 11 and an end effector 15. The end effector 15 includes an X linear motion unit 20 and a processing unit 40. Figure 3 As shown, the processing machine 10 may also include a coolant supply device 75 , a nozzle 79 , a bracket 78 , a supply hose (coolant piping) 76 , an air source (working fluid source) 84 , and a support body 87 .

[0042] Figure 2 yes Figure 3The II-II line cross-sectional view. Figure 2 As shown, the robot 11 includes a connecting surface 11a and an arm 11b. The robot 11 is, for example, a vertical multi-joint robot. The connecting surface 11a is disposed at the top of the arm 11b. Hereinafter, a direction along the connecting surface 11a is referred to as the X direction. The direction perpendicular to the connecting surface 11a is referred to as the Y direction, and the direction toward the arm 11b is referred to as the positive direction. The directions perpendicular to the X direction and the Y direction are referred to as the Z direction, and the Figure 3 For convenience of explanation, the -Y direction is set as the top. The +Z direction is set as the base or rear. The -Z direction is set as the top or front.

[0043] like Figure 2 and Figure 3 As shown, the X linear motion unit 20 includes an X frame 21 , an X guide 29 , an X slider 31 , an X driving device 22 , a fixed cover 33 and a sliding cover 34 .

[0044] The X frame 21 is box-shaped and is disposed on the connection surface 11a. The X frame 21 is open at the top and extends along the X direction.

[0045] The X guide 29 includes a guide rail 29a and a guide block 29b. The guide rail 29a extends along the X axis and is disposed above the X frame 21. The guide block 29b reciprocates along the X direction on the guide rail 29a.

[0046] The X-slider 31 includes a slider 31a and a nut block 31b. The slider 31a is connected to the guide block 29b. The nut block 31b is connected to the bottom of the X-slider 31.

[0047] The X drive device 22 is, for example, a ball screw servo motor mechanism. The X drive device 22 includes an X feed screw 23, a bearing 24, a pulley 25, and an X motor 27 (see Figure 3 ). X motor 27 in Figure 3 The X-drive unit 22 is positioned near the front of the drawing and is indicated by a two-dot chain line. The X-drive unit 22 may also include an X-drive cylinder 36. The X-feed screw 23 includes a screw shaft 23a and a nut 23b. The X-feed screw 23 extends in the X direction. The screw shaft 23a is supported by the X-frame 21 via a bearing 24. The nut 23b is connected to the nut block 31b. The pulley 25 is connected to the screw shaft 23a. The pulley 25 is connected to the X-motor 27 via a belt 26.

[0048] Alternatively, the X motor 27 may be directly connected to the screw shaft 23a or connected to the screw shaft 23a via a coupling (not shown).

[0049] The X-drive cylinder 36 is mounted on the X-frame 21. It is a pneumatic cylinder. It can be either a single-acting or double-acting cylinder. It includes a cylinder body 36a, a piston 36b, and a piston rod 36c. The cylinder body 36a is connected to the X-frame 21. The piston 36b reciprocates within the cylinder body 36a. The piston rod 36c connects the piston 36b to the X-slide 31. When the X-slide 31 moves in the +X direction, the X-drive cylinder 36 applies a force to the X-slide 31 in the +X direction. When the X-slide 31 moves in the -X direction, the X-drive cylinder 36 applies a force to the X-slide 31 in the -X direction.

[0050] An air source (working fluid source) 84 is connected to the X-drive cylinder 36. The air source 84 is, for example, a compressor, a fluid directional valve, a pressure regulating valve, or a combination of these devices.

[0051] The fixed cover 33 is fixed to the X frame 21. The fixed cover 33 is box-shaped and covers most of the X drive unit 22 or the X guide 29. Figure 2 As shown, the fixed cover 33 has an opening 33a at its top. The X slider 31 extends through the opening 33a. The sliding cover 34 is connected to the X slider 31 and covers the opening 33a. The sliding cover 34 and the fixed cover 33 together cover the X linear motion unit 20. For example, the sliding cover 34 slides on the fixed cover 33. A scraper may also be disposed between the sliding cover 34 and the fixed cover 33.

[0052] like Figure 1 As shown, support body 87 includes a support block 88 and one or more connecting portions 89. Support block 88 is, for example, fixed to the bottom surface. Support block 88 may also be supported by a robotic arm different from arm 11b. Connecting portion 89 is, for example, a coupler or mechanical stop. Connecting portion 89 is disposed on support block 88 and is connected to X-frame 21.

[0053] like Figure 3 As shown, the machining unit 40 includes a main body 41, a Z guide 43, a Z slider 45, a ram 47, a main bearing 60, a main shaft 59, a propeller shaft 61, bearings 50 and 62, a main shaft driven pulley 63, a main shaft motor 65, a main shaft driving pulley 66, belts 52 and 67, a Z feed screw 49, a Z driven pulley 51, a Z motor 53, a Z driving pulley 55, a unit cover 69, and a pulley cover 71. The machining unit 40 may also include a Z drive cylinder 83.

[0054] Alternatively, the Z motor 53 may be directly connected to the screw shaft 49a. The Z motor 53 is connected to the screw shaft 49a via a coupling (not shown).

[0055] The main body 41 is mounted on the X-slide 31. It includes a motor bracket 41c, a bearing bracket 41b, and an opening 41d. The main body 41 is box-shaped. The opening 41d is located at the top of the main body 41. The bearing bracket 41b has a ram guide hole 41a. The main body 41 can also be formed integrally with the X-slide 31.

[0056] The Z guide 43 includes a guide rail 43a and a guide block 43b. The guide rail 43a extends along the Z direction and is disposed on the upper surface of the main body 41. The guide block 43b is connected to the lower side of the Z slider 45.

[0057] The base end of the ram 47 is connected to the Z slider 45. The ram 47 extends in the Z direction. The ram 47 has a hollow straight cylindrical shape. The top end of the ram 47 is guided by the ram guide hole 41a.

[0058] The spindle 59 is supported by a main bearing 60 within the ram 47. The spindle 59 includes a relief hole 59a and a spline hole 59b. The relief hole 59a opens at the rear end of the spindle 59 and extends to the tip. A spline hole 59b is located at the rear end of the relief hole 59a. The tool 1 is mounted at the tip (front end) of the spindle 59.

[0059] The transmission shaft 61 includes a splined shaft 61b. The splined shaft 61b extends from the tip to the center of the transmission shaft 61. The base end 61a of the transmission shaft 61 is supported by the motor bracket 41c via a bearing 62. The transmission shaft 61 passes through the Z slider 45 and is inserted into the clearance hole 59a within the main shaft 59. The splined shaft 61b meshes with the splined hole 59b. A portion of the transmission shaft 61 protrudes from the rear surface of the motor bracket 41c.

[0060] The main shaft driven pulley 63 is connected to the rear end portion of the transmission shaft 61 .

[0061] The spindle motor 65 is located on the front surface of the motor bracket 41c. The output shaft 65a of the spindle motor 65 protrudes from the rear surface of the motor bracket 41c. The output shaft 65a is connected to the spindle drive pulley 66. The spindle drive pulley 66 and the spindle driven pulley 63 are connected by an endless belt 67.

[0062] The Z feed screw 49 includes a screw shaft 49a and a nut 49b. The screw shaft 49a is supported by the bearing bracket 41b and the motor bracket 41c via a bearing 50. The nut 49b is connected to the upper end of the Z slider 45. The rear end of the screw shaft 49a protrudes rearward of the motor bracket 41c. The Z driven pulley 51 is connected to the rear end of the screw shaft 49a.

[0063] The Z motor 53 is located on the front surface of the motor bracket 41c. The output shaft 53a of the Z motor 53 protrudes from the rear surface of the motor bracket 41c. The Z driving pulley 55 is connected to the output shaft 53a. The Z driving pulley 55 and the Z driven pulley 51 are connected by an endless belt 52.

[0064] The unit cover 69 is disposed on the main body 41 and covers the opening 41d. The unit cover 69 covers the Z guide 43, the ram 47, the Z slider 45, the Z feed screw 49, and the bearings 50 and 62. The unit cover 69 may also cover the spindle motor 65 or the Z motor 53.

[0065] The pulley cover 71 is disposed on the main body 41 and covers the pulleys 63 , 51 , 55 , and 66 and the belts 52 and 67 .

[0066] The coolant supply device 75 supplies, for example, mist coolant or compressed air. The coolant supply device 75 is disposed at a mounting portion (not shown) of the robot 11. Alternatively, the coolant supply device 75 may be disposed on the first axis of the robot 11, which is a multi-joint robot.

[0067] The bracket 78 is arranged on the ram 47. Preferably, the bracket 78 is arranged on the top end portion of the ram 47. Alternatively, the bracket 78 may be arranged on the Z slider 45. The bracket 78 may also be omitted.

[0068] The nozzle 79 is disposed on the bracket 78 or the ram 47 . The nozzle 79 sprays the coolant toward the tool 1 .

[0069] The supply hose 76 connects the coolant supply device 75 and the nozzle 79 .

[0070] The Z drive cylinder 83 is located within the main body 41. It is a pneumatic cylinder. It is a single-acting cylinder that applies force to the Z slider 45 in the -Z direction. The Z drive cylinder 83 includes a drive cylinder body 83a, a piston 83b, and a piston rod 83c. The drive cylinder body 83a is connected to the X frame 21. The piston 83b reciprocates within the drive cylinder body 83a. The piston rod 83c connects the piston 83b to the Z slider 45. The Z drive cylinder 83 is connected to an air source 84.

[0071] The processing machine 10 may also include a support body 91 (see Figure 2 The support body 91 is connected to the main body 41 to support the main body 41. The support body 91 is substantially the same as the support body 87.

[0072] The following describes how to use the processing machine 10. First, the robot 11 positions the X linear motion unit 20 at a predetermined processing position (not shown). The support 87 may also be connected to the X linear motion unit 20. During processing, the robot 11 holds the X linear motion unit 20 at the processing position.

[0073] During hole drilling, the following operations are performed. The X-drive unit 22 positions the X-slide 31 at the specified drilling position (not shown). At this point, the support 91 may be connected to the main body 41 to support it. The spindle motor 65 then rotates the spindle 59. While holding the X-slide 31 at the drilling position, the Z-motor 53 advances the ram 47 and retracts it after reaching the specified depth.

[0074] During milling, the following operations are performed. The X-drive unit 22 positions the X-slide 31 at the specified machining start position (not shown). The spindle motor 65 then rotates the spindle 59. The Z-motor 53 then extends the ram 47 to a specified height. The X-drive unit 22 then conveys the X-slide 31 in the X direction, allowing the tool 1 to mill the workpiece. When the X-slide 31 reaches the specified machining end position, the Z-motor 53 retracts the ram 47.

[0075] In the processing machine of Patent Document 2, the processing point is far away from the tip of the robot arm, and sufficient rigidity cannot be ensured.

[0076] In contrast, according to the processing machine 10 of this embodiment, the center of gravity of the end effector 15 can be brought closer to the connection surface 11a of the robot 11. Furthermore, the tip of the spindle 59 can be brought closer to the connection surface 11a. During machining, cutting resistance or cutting vibration acts on the spindle 59. By bringing the tip of the spindle 59 closer to the connection surface 11a of the robot 11, the load on the robot 11 can be reduced. Consequently, the overall rigidity of the processing machine 10 is improved.

[0077] When the processing machine 10 includes a support 87, the X linear motion unit 20 is supported by the support 87. In this case, the support 87 bears all or part of the cutting resistance or cutting vibration acting on the spindle 59. This reduces the load on the robot 11 during machining, thereby improving the overall rigidity of the processing machine 10.

[0078] The Z drive cylinder 83 pushes the Z slider 45 forward. The Z motor 53 bears the cutting resistance during drilling. The Z drive cylinder 83 can reduce the cutting resistance acting on the Z motor 53. Furthermore, if the Z drive cylinder 83 is a compressible fluid drive cylinder, the Z drive cylinder 83 absorbs cutting vibrations. This reduces the output torque of the Z motor 53 and allows for miniaturization of the Z motor 53.

[0079] The X-drive cylinder 36 pushes the X-slide 31 left and right. The X-motor 27 bears the cutting resistance during milling. The X-drive cylinder 36 can reduce the cutting resistance acting on the X-motor 27. Furthermore, when the X-drive cylinder 36 is a compressible fluid-driven cylinder, it absorbs cutting vibrations. This reduces the output torque of the X-motor 27 and allows for a more compact X-motor 27.

[0080] When the Z drive cylinder 83 or the X drive cylinder 36 is provided, the mass or inertia of the end effector 15 can be reduced by miniaturizing the Z motor 53 or the X motor 27 .

[0081] (Implementation Method 2)

[0082] like Figure 4 and Figure 5 As shown, the processing machine 100 of this embodiment includes a robot 11 and an end effector 115. The end effector 115 includes an X linear motion unit 20, a Y linear motion unit 120, and a processing unit 40. Figure 5 It is a plane passing through the centers of the X feed screw 23 and the Y feed screw 123 and is a cross-sectional view of the X linear motion unit 20 and the Y linear motion unit 120 .

[0083] The Y linear motion unit 120 includes a Y frame 121, a Y guide 129, a Y slider 131, a Y drive unit 122, a fixed cover 133, and a sliding cover 134. The Y linear motion unit 120 extends along the Y direction. The Y frame 121 is connected to the X slider 31. The Y frame 121 and the X slider 31 may also be integrally formed. The Y frame 121 may also have a rib 121a. The rib 121a extends along the XY direction, connecting the Y frame 121 and the X slider 31.

[0084] The Y guide 129 extends in the Y direction and is disposed on the Y frame 121. The Y slider 131 is disposed on the Y guide 129 and reciprocates in the Y direction.

[0085] The Y drive device 122 includes a Y feed screw 123, a bearing 124, a pulley 125, a Y motor (not shown) and an endless belt 126. The Y drive device 122 may also have a Y drive cylinder (not shown). The Y feed screw 123 is supported on the Y frame 121 via the bearing 124. The Y feed screw 123 is connected to the Y slider 131. The pulley 125 is connected to the Y motor via the endless belt 126. The Y motor drives the Y slider 131 in the Y direction. The Y drive cylinder is, for example, an air cylinder. The Y drive cylinder may also be a double-acting cylinder. When the Y slider 131 moves in the -Y direction, the Y drive cylinder applies force to the Y slider 131 in the -Y direction. When the Y slider 131 moves in the +Y direction, the Y drive cylinder applies force to the Y slider 131 in the +Y direction.

[0086] Otherwise, the Y linear motion unit 120 is substantially the same as the X linear motion unit 20. The Y stroke 4 of the Y linear motion unit 120 is preferably smaller than the X stroke 3 of the X linear motion unit 20. The Y stroke 4 is preferably 50% or less of the X stroke 3, more preferably 30% or less.

[0087] Furthermore, the sliding cover 134 and the cover of the X linear motion unit 20 can be freely designed to avoid interference. For example, the sliding cover 134 can be inserted between the sliding cover 34 and the X slider 31. The sliding cover 34 can also have a curved portion 34a.

[0088] In addition, the Y motor (not shown) may be directly connected to the Y feed screw 123. The Y motor (not shown) may be connected to the Y feed screw 123 via a coupling (not shown).

[0089] The processing unit 40 is connected to the Y slider 131. The main body 41 and the Y slider 131 may be formed integrally.

[0090] According to the processing machine 100 of this embodiment, the spindle 59 can be moved in the XYZ directions while maintaining the position of the arm 11b of the robot 11. Therefore, milling of a tool with a width greater than the diameter of the tool 1 or milling of an L-shaped surface drawn on the XY plane can be stably performed.

[0091] Since the Y stroke 4 is smaller than the X stroke 3, the processing point and the connection surface 11a can be brought closer together, thereby improving the rigidity of the entire processing machine 10.

[0092] (Implementation 3)

[0093] like Figure 6 As shown, the processing machine 200 of this embodiment includes a robot 11 and an end effector 215. The end effector 215 includes an X linear motion unit 20, a W linear motion unit 220, and a processing unit 40. The W direction is parallel to the Z direction. Figure 6 It is a YZ plane passing through the W feed screw 223 and is a cross-sectional view obtained by cutting the X linear motion unit 20 and the W linear motion unit 220 .

[0094] The W linear motion unit 220 includes a W frame 221, a W guide 229, a W slider 231, a W driving device 222, a fixed cover 233, and a sliding cover 234. The W linear motion unit 220 extends along the W direction.

[0095] The W frame 221 is connected to the X slider 31. The W frame 221 extends along the W direction. The W frame 221 and the X slider 31 may be formed integrally.

[0096] The W guide 229 extends along the W direction and is disposed on the W frame 221. The W guide 229 is, for example, a linear guide.

[0097] The W slider 231 is arranged on the W guide 229 and reciprocates along the W direction.

[0098] The W drive device 222 includes a W feed screw 223, a bearing 224, a pulley 225, an annular belt 226 and a W motor (not shown). The W drive device 222 may also have a W drive cylinder (not shown). The W feed screw 223 is supported on the W frame 221 via the bearing 224. The W feed screw 223 is connected to the W slider 231. The pulley 225 is connected to the W feed screw 223. The W motor drives the W feed screw 223 via the annular belt 226 and the pulley 225. The W motor may also be directly connected to the W feed screw 223. The W motor may also be connected to the W feed screw 223 via a coupling (not shown). The W motor drives the W slider 231 in the W direction. The W drive cylinder is arranged on the W frame 221 and applies force to the W slider 231 in the -W direction. The W drive cylinder is, for example, an air cylinder. For example, the W drive cylinder is a single-acting cylinder.

[0099] The fixed cover 233 is disposed on the W frame 221. The sliding cover 234 is connected to the W slider 231. The fixed cover 233 and the sliding cover 234 cover the W guide 229 and the W driving device 222 together.

[0100] Except for this, the W linear motion unit 220 is substantially the same as the X linear motion unit 20 .

[0101] The processing unit 40 is connected to the W slider 231. The main body 41 and the W slider 231 may be formed integrally.

[0102] Furthermore, the X linear motion unit 20 may be omitted. In this case, the W frame 221 is directly connected to the connection surface 11a.

[0103] exist Figure 3 The processing machine 10 of the embodiment 1 shown or Figure 5 In the machining center 100 of the second embodiment shown, the machining unit 40 as a whole cannot be moved in the -Z direction relative to the connection surface 11a of the robot 11. Furthermore, the front end surface of the main body 41 of the machining unit 40 is close to the front end surface of the X linear motion unit 20 or the Y linear motion unit 120. Therefore, the amount of protrusion of the ram 47 relative to the X linear motion unit 20 or the Y linear motion unit 120 is approximately equal to the Z stroke 6 of the machining unit 40.

[0104] Furthermore, the front surface of the X linear motion unit 20 or the Y linear motion unit 120 becomes larger around the base end portion of the ram 47 .

[0105] In contrast, Figure 6 As shown, according to the processing machine 200 of this embodiment, the W linear motion unit 220 can cause the W slide block 231 and the processing unit 40 to protrude toward the top end direction (-W direction) of the main spindle 59. Furthermore, the processing unit 40 can extend the ram 47. Therefore, the ram 47 can protrude relative to the X linear motion unit 20 by the W stroke 5 and the Z stroke 6 of the W linear motion unit 220 (see Figure 3 ). The XY cross-section of the machining unit 40 is smaller than the XY cross-section of the entire end effector 215. For example, the XY cross-section of the machining unit 40 is less than half the XY cross-section of the entire end effector 215. Furthermore, the cross-section of the ram 47 is significantly smaller than the XY cross-section of the machining unit 40. For example, the cross-section of the ram 47 is 5% to 10% of the XY cross-section of the machining unit 40. Therefore, according to the processing machine 200, the tool 1 can be inserted into a narrow portion of the workpiece, thereby enabling processing.

[0106] The present invention is not limited to the above-described embodiments and can be modified in various ways without departing from the gist of the present invention. All technical matters included in the technical concepts described in the claims are the subject of the present invention. The above-described embodiments are preferred examples, but those skilled in the art can implement various alternatives, modifications, variations, or improvements based on the content disclosed in this specification, and these are all included in the technical scope described in the claims.

Claims

1. A processing machine, characterized in that: include: a robot having a connection surface; an X-guide member disposed on the connecting surface and extending along an X-direction parallel to the connecting surface; An X slider, which is guided by the X guide and reciprocates along the X direction; as well as A processing unit is arranged on the X slide, The processing unit comprises: A Z slider that reciprocates along a Z direction perpendicular to the X direction; as well as A spindle, on which a tool can be mounted, is rotatably disposed on the Z slide and extends along the Z direction.

2. The processing machine according to claim 1, characterized in that: The robot is a vertical multi-joint robot.

3. The processing machine according to claim 1 or 2, characterized in that Also includes: a Y guide member, which is disposed on the X slider and extends along a Y direction perpendicular to the X direction and the Z direction; as well as The Y slider is guided by the Y guide and reciprocates along the Y direction. The processing unit is configured on the Y slide.

4. The processing machine according to claim 1 or 2, characterized in that Also includes: a coolant supply device that supplies coolant; a nozzle, disposed on the Z slider, reciprocating along the Z direction integrally with the spindle to spray the coolant toward the tool; as well as A coolant pipe connects the coolant supply device and the nozzle.

5. The processing machine according to claim 1 or 2, characterized in that: The processing unit comprises: a main body having a ram guide hole; and A ram is disposed on the Z slider and passes through the ram guide hole. The main shaft is configured on the ram.

6. The processing machine according to claim 1 or 2, characterized in that: The processing unit includes a main body and a Z drive cylinder, The Z drive cylinder includes: a driving cylinder body, which is disposed on the main body; and A piston reciprocates along the Z direction in the driving cylinder body and is connected to the Z slider.

7. The processing machine according to claim 1 or 2, characterized in that: Also includes: A W guide member is disposed on the X slider and extends along a W direction parallel to the Z direction; as well as The W slider is guided by the W guide and reciprocates along the W direction. The processing unit is configured on the W slide.

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