Workpiece machining method, machine tool, machining system, and program

Abstract

To provide a workpiece machining method, a machine tool, a machining system, and a program, capable of stably supporting a load acting on a workpiece during cutting and suppressing a temperature drop of the workpiece during additive manufacturing.SOLUTION: A workpiece machining method comprises the steps of: cutting a workpiece gripped by a gripping member in a first state where a total contact area between the gripping member and the workpiece is a first area; performing additive manufacturing on a pre-heated workpiece gripped by the gripping member in a second state where the total contact area between the gripping member and the workpiece is a second area; and re-gripping, by the gripping member, the workpiece to cause state-change between the first state and the second state. Therein the second area is smaller than the first area.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a workpiece machining method, a machine tool, a machining system, and a program. [Background technology]

[0002] Additive manufacturing methods are known for adding material to a workpiece.

[0003] As a related technique, an additive manufacturing method is disclosed in Patent Document 1. The additive manufacturing method described in Patent Document 1 includes a preheating process of heating a cutting area including an additive manufacturing area in a workpiece to a preheat lower limit temperature or higher by cutting the cutting area, and an additive manufacturing process of adding molten metal to the additive manufacturing area of ​​the workpiece in a state preheated by the preheating process. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7102640 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a workpiece machining method, machine tool, machining system, and program that can stably support the load acting on the workpiece during cutting processing and suppress a drop in temperature of the workpiece during additive manufacturing. [Means for solving the problem]

[0006] In some embodiments, a method of machining a workpiece includes cutting the workpiece gripped by a gripping member in a first state where a total contact area between the gripping member and the workpiece is a first area, performing additive manufacturing on the preheated workpiece gripped by the gripping member in a second state where the total contact area between the gripping member and the workpiece is a second area, and re-gripping the workpiece with the gripping member to transition between the first state and the second state, where the second area is smaller than the first area.

[0007] In some embodiments, the machine tool includes an additive manufacturing device having a first support device having a gripping member for gripping a workpiece, a second support device capable of supporting the workpiece, a first head supporting a cutting tool for cutting the workpiece, a material supply device for supplying material to be added to the workpiece, and a laser irradiation device for emitting a laser from the second head, a first moving device for moving the first head relative to the gripping member, a second moving device for moving the second head relative to the gripping member, and a control device for controlling the first support device, the second support device, the additive manufacturing device, the first moving device, and the second moving device. The control device is capable of executing a cutting mode including sending a first movement command to at least the first mover device so that the workpiece gripped by the gripping member is cut by the cutting tool, an additive manufacturing mode including at least sending an additive manufacturing command to the additive manufacturing device and sending a second movement command to the second mover device so that the material is added to the preheated workpiece, and a re-gripping mode including sending a plurality of commands to at least the first support device and the second support device so that the workpiece is re-gripped by the gripping member. When a total contact area between the gripping member and the workpiece in the cutting mode is defined as a first area and a total contact area between the gripping member and the workpiece in the additive manufacturing mode is defined as a second area, the re-gripping mode includes changing the total contact area between the gripping member and the workpiece between the first area and the second area. The second area is smaller than the first area.

[0008] In some embodiments, the processing system includes an additive manufacturing device having a first support device having a gripping member for gripping a workpiece, a second support device capable of supporting the workpiece, a first head supporting a cutting tool for cutting the workpiece, a material supply device for supplying material to be added to the workpiece, and a laser irradiation device for emitting a laser from the second head, a first moving device for moving the first head relative to the gripping member, a second moving device for moving the second head relative to the gripping member, and a control device for controlling the first support device, the second support device, the additive manufacturing device, the first moving device, and the second moving device. The control device is capable of executing a cutting mode including sending a first movement command to at least the first mover device so that the workpiece gripped by the gripping member is cut by the cutting tool, an additive manufacturing mode including at least sending an additive manufacturing command to the additive manufacturing device and sending a second movement command to the second mover device so that the material is added to the preheated workpiece, and a re-gripping mode including sending a plurality of commands to at least the first support device and the second support device so that the workpiece is re-gripped by the gripping member. When a total contact area between the gripping member and the workpiece in the cutting mode is defined as a first area and a total contact area between the gripping member and the workpiece in the additive manufacturing mode is defined as a second area, the re-gripping mode includes changing the total contact area between the gripping member and the workpiece between the first area and the second area. The second area is smaller than the first area.

[0009] In some embodiments, the program is a program for causing a machine tool or machining system to execute a workpiece machining method including the steps of: cutting the workpiece gripped by the gripping member in a first state in which a total contact area between the gripping member and the workpiece is a first area; performing additive manufacturing on the pre-heated workpiece gripped by the gripping member in a second state in which the total contact area between the gripping member and the workpiece is a second area smaller than the first area; and having the gripping member re-gripping the workpiece so that the state is changed between the first state and the second state. Effect of the Invention

[0010] The present invention provides a workpiece machining method, a machine tool, a machining system, and a program that can stably support the load acting on the workpiece during cutting and suppress the temperature drop of the workpiece during additive manufacturing. In addition, by suppressing the temperature drop of the workpiece during additive manufacturing, poor addition of material to the workpiece is prevented or suppressed. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic perspective view showing a state before the first cutting step is performed. [Diagram 2] FIG. 2 is a schematic perspective view showing a state in which the first cutting step is performed. [Diagram 3] FIG. 3 is a schematic perspective view illustrating a state in which the first re-gripping step is being performed. [Figure 4] FIG. 4 is a schematic perspective view showing a state after the first re-gripping step has been performed. [Diagram 5] FIG. 5 is a schematic perspective view showing a state in which the preheating step is performed. [Figure 6] FIG. 6 is a schematic perspective view showing a state in which an additive manufacturing process is performed. [Figure 7] FIG. 7 is a schematic perspective view showing a state in which the second re-gripping step is being performed. [Figure 8] FIG. 8 is a schematic perspective view showing the second cutting step being performed. [Figure 9] FIG. 9 is a schematic perspective view showing an example of a workpiece. [Figure 10] FIG. 10 is a view showing a state in which a workpiece is gripped by a gripping member, as viewed along a first axis. [Figure 11] FIG. 11 is a cross-sectional view taken along line AA in FIG. [Figure 12] FIG. 12 is a schematic cross-sectional view illustrating a state in which the first re-gripping step is being performed. [Figure 13] FIG. 13 is a schematic cross-sectional view illustrating a state in which the first re-gripping step is being performed. [Figure 14] FIG. 14 is a schematic cross-sectional view illustrating a state in which the first re-gripping step is being performed. [Figure 15] FIG. 15 is a schematic cross-sectional view illustrating a state in which the first re-gripping step is being performed. [Figure 16] FIG. 16 is a schematic cross-sectional view showing a state in which the preheating step is performed. [Figure 17] FIG. 17 is a schematic cross-sectional view showing the additive manufacturing process being carried out. [Figure 18] FIG. 18 is a schematic cross-sectional view illustrating a state in which the second re-gripping step is being performed. [Figure 19] FIG. 19 is a schematic cross-sectional view illustrating a state in which the second re-gripping step is being performed. [Figure 20] FIG. 20 is a schematic cross-sectional view illustrating a state in which the second re-gripping step is being performed. [Figure 21] FIG. 21 is a schematic cross-sectional view illustrating a state in which the second re-gripping step is being performed. [Figure 22] FIG. 22 is a schematic cross-sectional view showing the second cutting step being performed. [Diagram 23] FIG. 23 is a schematic cross-sectional view showing a state in which the first cutting step is performed. [Figure 24]FIG. 24 is a schematic cross-sectional view showing the additive manufacturing process being carried out. [Diagram 25] FIG. 25 is a schematic cross-sectional view showing the second cutting step being performed. [Figure 26] FIG. 26 is a diagram illustrating a machine tool in the first embodiment. [Figure 27] FIG. 27 is a diagram illustrating a machine tool according to the first embodiment. [Figure 28] FIG. 28 is a diagram illustrating a machine tool according to the first embodiment. As shown in FIG. [Figure 29] FIG. 29 is a schematic cross-sectional view showing a modified example of the second supporting device. [Diagram 30] FIG. 30 is a flowchart showing an example of a workpiece machining method in an embodiment. [Diagram 31] FIG. 31 is a schematic perspective view illustrating a machining system in the second embodiment. [Diagram 32] FIG. 32 is a schematic perspective view illustrating a machining system in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, a workpiece machining method, a machine tool 1, a machining system 100, and a program 822 according to an embodiment will be described with reference to the drawings. In the following description of the embodiment, parts and members having the same functions are given the same reference numerals, and repeated description of parts and members given the same reference numerals will be omitted.

[0013] (First embodiment) A workpiece machining method, a machine tool 1, and a program 822 in the first embodiment will be described with reference to FIGS. 1 to 30. FIG. 1 is a schematic perspective view showing a state before the first cutting step is performed. FIG. 2 is a schematic perspective view showing a state in which the first cutting step is performed. FIG. 3 is a schematic perspective view showing a state in which the first re-gripping step is performed. FIG. 4 is a schematic perspective view showing a state after the first re-gripping step is executed. FIG. 5 is a schematic perspective view showing a state in which the pre-heating step is performed. FIG. 6 is a schematic perspective view showing a state in which the additive manufacturing step is performed. FIG. 7 is a schematic perspective view showing a state in which the second re-gripping step is performed. FIG. 8 is a schematic perspective view showing a state in which the second cutting step is performed. FIG. 9 is a schematic perspective view showing an example of the workpiece W. FIG. 10 is a view showing a state in which the workpiece W is gripped by the gripping member 20 as viewed along the first axis AX1. FIG. 11 is a cross-sectional view taken along the arrow AA in FIG. 10. 12 to 15 are schematic cross-sectional views showing a state where the first re-gripping step is being performed. FIG. 16 is a schematic cross-sectional view showing a state where the pre-heating step is being performed. FIG. 17 is a schematic cross-sectional view showing a state where the additive manufacturing step is being performed. FIG. 18 to 21 are schematic cross-sectional views showing a state where the second re-gripping step is being performed. FIG. 22 is a schematic cross-sectional view showing a state where the second cutting step is being performed. FIG. 23 is a schematic cross-sectional view showing a state where the first cutting step is being performed. FIG. 24 is a schematic cross-sectional view showing a state where the additive manufacturing step is being performed. FIG. 25 is a schematic cross-sectional view showing a state where the second cutting step is being performed. FIG. 26 to 28 are diagrams showing a machine tool in the first embodiment. FIG. 29 is a schematic cross-sectional view showing a modified example of the second support device 3. FIG. 30 is a flowchart showing an example of a workpiece machining method in the embodiment.

[0014] As illustrated in Figures 1 and 2, in a first step ST1, the workpiece W gripped by the gripping member 20 is cut. The first step ST1 is a cutting process (hereinafter, referred to as the "first cutting process"). Figure 1 shows a state before the first cutting process is performed, and Figure 2 shows a state during the first cutting process.

[0015] 1 and 2, in order to make it easier to understand the contact portion between the gripping member 20 and the workpiece W, the part of the outline of the gripping member 20 that is located behind other parts (in other words, the part of the outline of the gripping member 20 that is hidden by other parts) is shown by a dashed line. Also, in order to make it easier to understand the contact portion between the gripping member 20 and the workpiece W, the part of the outline of the workpiece W that is located behind other parts (in other words, the part of the outline of the workpiece W that is hidden by other parts) is shown by a dashed line. The same applies to Figs. 4 to 6 and 8.

[0016] The first cutting process (first step ST1) is performed in a first state in which the total contact area between the gripping member 20 and the workpiece W is a first area. In the example shown in Fig. 1 and Fig. 2, the first area is the sum of the total area of ​​the parts hatched with oblique lines and the total area of ​​the parts hatched with dots.

[0017] As illustrated in Figures 2 to 4, in a second step ST2, the workpiece W is re-gripped by the gripping members 20. The second step ST2 is a re-gripping process (hereinafter referred to as the "first re-gripping process"). Figure 2 shows a state before the first re-gripping process is executed, Figure 3 shows a state during which the first re-gripping process is executed, and Figure 4 shows a state after the first re-gripping process has been executed.

[0018] 2 and 4, in the first re-gripping process (second step ST2), the gripping member 20 re-gripped the workpiece W so that the state is changed from a first state (see FIG. 2) in which the total contact area between the gripping member 20 and the workpiece W is a first area to a second state (see FIG. 4) in which the total contact area between the gripping member 20 and the workpiece W is a second area. In the example shown in FIG. 4, the second area is the total area of ​​the parts hatched with diagonal lines.

[0019] 5, in a third step ST3, the workpiece W is preheated. The third step ST3 is a preheating step. The details of the preheating step will be described later.

[0020] 6, in a fourth step ST4, additive manufacturing is performed on the preheated workpiece W gripped by the gripping member 20. The fourth step ST4 is an additive manufacturing process.

[0021] The additive manufacturing process is carried out in a second state in which the total contact area between the gripping member 20 and the workpiece W is the second area described above. In the example shown in Fig. 6, the second area is the sum of the areas hatched with oblique lines. The second area is smaller than the first area described above.

[0022] As illustrated in Fig. 6 to Fig. 8, in a fifth step ST5, the workpiece W is re-gripped by the gripping members 20. The fifth step ST5 is a re-gripping process (hereinafter referred to as the "second re-gripping process"). Fig. 6 shows a state before the second re-gripping process is executed, Fig. 7 shows a state during which the second re-gripping process is executed, and Fig. 8 shows a state after the second re-gripping process has been executed.

[0023] 8, in a sixth step ST6, the workpiece W gripped by the gripping members 20 is cut. The sixth step ST6 is a cutting step (hereinafter, referred to as a "second cutting step").

[0024] The second cutting process (sixth step ST6) is performed in a first state in which the total contact area between the gripping member 20 and the workpiece W is a first area. In the example shown in FIG. 8, the first area is the sum of the total area of ​​the parts hatched with oblique lines and the total area of ​​the parts hatched with dots. The first area is larger than the above-mentioned second area.

[0025] The step of the gripping member 20 re-gripping the workpiece W may be performed after the step of cutting the workpiece W and before the step of performing additive manufacturing on the workpiece W. For example, in the example shown in Fig. 2 to Fig. 6, a first re-gripping step in which the gripping member 20 re-gripping the workpiece W is performed after a first cutting step of cutting the workpiece W (see Fig. 2) and before a step of performing additive manufacturing on the workpiece W (see Fig. 6).

[0026] Alternatively, or additionally, the step of the gripping member 20 re-gripping the workpiece W may be performed before the step of cutting the workpiece W and after the step of performing additive manufacturing on the workpiece W. For example, in the example described in Figs. 6 to 8, the second re-gripping step in which the gripping member 20 re-gripping the workpiece W is performed before the second cutting step of cutting the workpiece W (see Fig. 8) and after the step of performing additive manufacturing on the workpiece W (see Fig. 6).

[0027] In the example described in Figures 1 to 8, the workpiece processing method includes a first cutting process (Figure 2: first step ST1), a first re-gripping process (Figure 3: second step ST2), an additive manufacturing process (Figure 6: fourth step ST4), a second re-gripping process (Figure 7: fifth step ST5), and a second cutting process (Figure 8: sixth step ST6).

[0028] Alternatively, in the first embodiment, the first cutting step (FIG. 2: first step ST1) and the first re-gripping step (FIG. 3: second step ST2) may be omitted. Alternatively, in the first embodiment, the second re-gripping step (FIG. 7: fifth step ST5) and the second cutting step (FIG. 8: sixth step ST6) may be omitted.

[0029] In other words, in the first embodiment, the cutting process may be performed both before and after the additive manufacturing process, or the cutting process may be performed only either before or after the additive manufacturing process.

[0030] The workpiece machining method in the first embodiment includes a step of gripping the workpiece W again with the gripping member 20 so that the state is changed between a first state in which the total contact area between the gripping member 20 and the workpiece W is a first area and a second state in which the total contact area between the gripping member 20 and the workpiece W is a second area smaller than the first area. In the first embodiment, the step of cutting the workpiece W is performed in a first state in which the total contact area between the gripping member 20 and the workpiece W is a relatively large first area. Thus, the load acting on the workpiece W during cutting is stably supported by the gripping member 20. Also, in the first embodiment, the step of performing additive manufacturing on the preheated workpiece W is performed in a second state in which the total contact area between the gripping member 20 and the workpiece W is a relatively small second area. Thus, during additive manufacturing, the heat accumulated in the workpiece W is suppressed from being dissipated to the gripping member 20 through the contact area between the workpiece W and the gripping member 20, and the temperature drop of the workpiece W is suppressed.

[0031] There is a trade-off between stable gripping of the workpiece W by the gripping member 20 and suppression of heat dissipation from the workpiece W to the gripping member 20. In the first embodiment, the gripping member 20 re-grabs the workpiece W, so that the former (stable gripping) is emphasized during cutting processing, and the latter (suppression of heat dissipation) is emphasized during additive manufacturing. In this way, stable gripping of the workpiece W during cutting processing and suppression of heat dissipation from the workpiece W during additive manufacturing are both achieved.

[0032] In addition, by suppressing the decrease in temperature of the workpiece W during additive manufacturing, poor application of material to the workpiece W (more specifically, cracking of the material applied to the workpiece W) is prevented or suppressed.

[0033] (Optional configuration) Next, optional additional configurations that can be adopted in the first embodiment (or the second embodiment described later) will be described with reference to FIGS.

[0034] (Work W) 9, the workpiece W has a side surface S1 and an end surface E (more specifically, a first end surface E1 and a second end surface E2). The shape of the workpiece W may be any shape as long as it can be gripped by the gripping member 20. In the examples shown in FIGS. 1, 2, 4 to 6, and 8, the side surface S1 of the workpiece W is gripped by the gripping member 20 (in other words, the surface gripped by the gripping member 20 is the side surface S1 of the workpiece W).

[0035] In the above-mentioned first state (more specifically, the state in which the gripping member 20 grips the workpiece W during cutting), the total contact area between the gripping member 20 and the side surface S1 of the workpiece W is defined as the "third area." In the examples shown in Fig. 2 and Fig. 8, the third area is the total area of ​​the parts hatched with oblique lines.

[0036] In the above-mentioned second state (more specifically, the state in which the workpiece W is gripped by the gripping member 20 during workpiece preheating or additive manufacturing), the total contact area between the gripping member 20 and the side surface S1 of the workpiece W is defined as the "fourth area." In the examples shown in Figs. 4 to 6, the fourth area is the total area of ​​the parts hatched with oblique lines.

[0037] The fourth area (see, for example, the hatched areas in Figs. 4 to 6) is smaller than the third area (see, for example, the hatched areas in Figs. 2 and 8). Thus, heat dissipation from the side surface S1 of the workpiece W to the gripping member 20 during workpiece preheating or additive manufacturing is suppressed. In addition, in the example shown in Figs. 4 to 6, the end surface E (more specifically, the first end surface E1) of the workpiece W and the gripping member 20 are separated during workpiece preheating or additive manufacturing (in other words, during the process of preheating the workpiece W or the process of additive manufacturing the preheated workpiece W). Thus, heat dissipation from the workpiece W to the gripping member 20 is further effectively suppressed.

[0038] The third area (see, for example, the hatched areas in Figs. 2 and 8) is larger than the fourth area (see, for example, the hatched areas in Figs. 4 to 6). Therefore, the side surface S1 of the workpiece W is strongly gripped by the gripping member 20 during cutting. In the example shown in Figs. 2 and 8, the first end surface E1 of the workpiece W and the gripping member 20 are in contact with each other during cutting (in other words, when the process of cutting the workpiece W is performed). In this case, for example, when the second end surface E2 of the workpiece W (in other words, the end surface opposite to the first end surface E1) is cut, the gripping member 20 can stably support the load acting on the workpiece W (see Fig. 25 if necessary). Alternatively, the first end surface E1 of the workpiece W and the gripping member 20 may be spaced apart from each other during cutting.

[0039] In this specification, when the workpiece W is gripped by the gripping member 20 in a first state in which the total contact area between the gripping member 20 and the workpiece W is a first area, the area of ​​the workpiece W that is gripped by the gripping member 20 is referred to as a "first gripping target area RG1." Also, when the workpiece W is gripped by the gripping member 20 in a second state in which the total contact area between the gripping member 20 and the workpiece W is a second area, the area of ​​the workpiece W that is gripped by the gripping member 20 is referred to as a "second gripping target area RG2." In the examples shown in Figs. 2 and 8, the parts hatched with diagonal lines correspond to the first gripping target area RG1, and in the examples shown in Figs. 4 to 6, the parts hatched with diagonal lines correspond to the second gripping target area RG2. In the examples shown in Figures 2, 4 to 6, and 8, the first grasp target region RG1 includes the second grasp target region RG2, and the second grasp target region RG2 is formed by a portion of the first grasp target region RG1.

[0040] (Gripping member 20) In the example shown in FIG. 11, the gripping member 20 (and the workpiece W gripped by the gripping member 20) is rotatable around a first axis AX1.

[0041] In the example shown in Fig. 11, the gripping member 20 has a plurality of gripping pieces 21 including a first gripping piece 21a and a second gripping piece 21b. Each of the plurality of gripping pieces 21 may be a chuck jaw or may be another type of gripping piece. In the example shown in Fig. 11, each of the plurality of gripping pieces 21 is a chuck jaw.

[0042] As illustrated in Fig. 10, the multiple gripping pieces 21 may include a third gripping piece 21c in addition to the first gripping piece 21a and the second gripping piece 21b. In the example illustrated in Fig. 10, the multiple gripping pieces 21 (more specifically, the multiple chuck jaws) are arranged around the first axis AX1 at equal angular intervals.

[0043] 11, the first gripping piece 21a has a first side surface 211a that can contact the side surface S1 of the workpiece W. Additionally, the first gripping piece 21a may have a first bottom surface 213a that can contact the first end surface E1 of the workpiece W. In the example shown in FIG. 11, the first side surface 211a is a surface extending along the first axis AX1, and the first bottom surface 213a is a surface perpendicular to the first axis AX1.

[0044] 11, the second gripping piece 21b has a second side surface 211b that can contact the side surface S1 of the workpiece W. Additionally, the second gripping piece 21b may have a second bottom surface 213b that can contact the first end surface E1 of the workpiece W. In the example shown in FIG. 11, the second side surface 211b is a surface extending along the first axis AX1, and the second bottom surface 213b is a surface perpendicular to the first axis AX1.

[0045] 1, the shape of the second gripping piece 21b is substantially the same as the shape of the first gripping piece 21a, and the shape of the third gripping piece 21c is substantially the same as the shape of the first gripping piece 21a.

[0046] In the example shown in Fig. 1, the multiple gripping pieces 21 grip the outer circumferential surface of the workpiece W. Alternatively, as illustrated in Fig. 23 to Fig. 25, the multiple gripping pieces 21 may grip the inner circumferential surface of the workpiece W. In the example shown in Fig. 23 to Fig. 25, the workpiece W is a cylindrical workpiece.

[0047] The gripping allowance of the workpiece W by the first gripping piece 21a in the above-mentioned first state (or cutting mode M1 described below) is defined as a first gripping allowance L1, and the gripping allowance of the workpiece W by the first gripping piece 21a in the above-mentioned second state (or additive manufacturing mode M2 ​​or preheating mode M4 described below) is defined as a second gripping allowance L2. In the examples shown in Figs. 11, 16, 17, and 22 to 25, the second gripping allowance L2 is smaller than the first gripping allowance L1.

[0048] The gripping allowance of the workpiece W by the second gripping piece 21b in the above-mentioned first state (or cutting mode M1 described below) is defined as a third gripping allowance L3, and the gripping allowance of the workpiece W by the second gripping piece 21b in the above-mentioned second state (or additive manufacturing mode M2 ​​or preheating mode M4 described below) is defined as a fourth gripping allowance L4. In the examples shown in Figs. 11, 16, 17, and 22 to 25, the fourth gripping allowance L4 is smaller than the third gripping allowance L3.

[0049] Since the second gripping margin L2 and the fourth gripping margin L4 are relatively small during additive manufacturing (or during workpiece preheating), heat dissipation from the side surface S1 of the workpiece W to the gripping member 20 is suppressed during workpiece preheating or additive manufacturing.

[0050] Furthermore, since the first gripping margin L1 and the third gripping margin L3 during cutting are relatively large, the side surface S1 of the workpiece W is strongly gripped by the gripping members 20 during cutting.

[0051] In the examples shown in Figures 11, 22, 23, and 25, the first gripping gap L1 is equal to the contact length in the direction along the first axis AX1 between the first gripping piece 21a and the workpiece W in the first state, and the third gripping gap L3 is equal to the contact length in the direction along the first axis AX1 between the second gripping piece 21b and the workpiece W in the first state.

[0052] In the examples shown in Figures 16, 17, and 24, the second gripping gap L2 is equal to the contact length in the direction along the first axis AX1 between the first gripping piece 21a and the workpiece W in the second state, and the fourth gripping gap L4 is equal to the contact length in the direction along the first axis AX1 between the second gripping piece 21b and the workpiece W in the second state.

[0053] (1st cutting process) In the example shown in FIG. 11, the first cutting step (first step ST1) includes cutting the side surface S1 of the workpiece W. The first cutting step (first step ST1) may include cutting the outer peripheral surface of the workpiece W as illustrated in FIG. 11, or may include cutting the inner peripheral surface of the workpiece W as illustrated in FIG. 23. Alternatively, or additionally, the first cutting step (first step ST1) may include cutting the second end surface E2 of the workpiece W. In the example shown in FIG. 11 or FIG. 23, the first cutting step (first step ST1) includes turning the workpiece W. In other words, the first cutting step (first step ST1) includes turning the workpiece W rotating around the first axis AX1 using a turning tool T1. Alternatively, or additionally, the first cutting step (first step ST1) may include cutting the workpiece W using a mill tool T2. The first cutting process (first step ST1) may include milling the workpiece W using the milling tool T2, or may include drilling a hole in the workpiece W using the milling tool T2.

[0054] In the examples shown in FIGS. 11 and 23, the first cutting process (first step ST1) is performed in a state in which the first gripping target region RG1 of the workpiece W is gripped by the gripping members 20.

[0055] (2nd cutting process) In the example shown in FIG. 22, the second cutting step (sixth step ST6) includes cutting the side surface S1 of the workpiece W. The second cutting step (sixth step ST6) may include cutting the outer peripheral surface of the workpiece W, or may include cutting the inner peripheral surface of the workpiece W. Alternatively, or additionally, as illustrated in FIG. 25, the second cutting step (sixth step ST6) may include cutting the second end surface E2 of the workpiece W. In the example shown in FIG. 22 and FIG. 25, the second cutting step (sixth step ST6) includes cutting the workpiece W using a mill tool T2. Alternatively, or additionally, the second cutting step (sixth step ST6) may include turning the workpiece W using a turning tool T1.

[0056] The second cutting step may include cutting the original portion Wa of the workpiece W, as illustrated in Fig. 25. Alternatively, or additionally, the second cutting step may include cutting an additional portion Wb that has been added to the original portion Wa of the workpiece by performing an additive manufacturing process, as illustrated in Fig. 22.

[0057] In the example shown in FIGS. 22 and 25, the second cutting step (sixth step ST6) is performed in a state in which the first gripping target region RG1 of the workpiece W is gripped by the gripping members 20.

[0058] (First re-gripping process) In the example described in Figures 12 to 15, the first re-gripping process (second step ST2) includes: (1) a step of transferring the workpiece W from the gripping member 20 to the second support device 3, as illustrated in Figures 12 to 14; and (2) a step of transferring the workpiece W from the second support device 3 to the gripping member 20, as illustrated in Figure 15.

[0059] More specifically, the first re-gripping step (second step ST2) includes the steps of: (1) supporting the workpiece W by the second support device 3 (more specifically, gripping the workpiece W by the second support device 3) as illustrated in FIG. 13; (2) releasing the grip of the workpiece W by the gripping member 20 as illustrated in FIG. 13; and (3) changing the grip target area to be gripped by the gripping member 20 from the first grip target area RG1 to the second grip target area RG2 as illustrated in FIG. 14. 15, (3) gripping the second gripping target region RG2 of the work W with the gripping member 20, as illustrated in FIG. 15; and (4) releasing support of the work W by the second support device 3, as illustrated in FIG. 15, (5) releasing grip of the work W by the second support device 3, as illustrated in FIG. 15, (6) moving the work W relative to the gripping member 20 (more specifically, moving the work W relative to the gripping member 20 in a direction along the first axis AX1) so as to change the gripping position of the work W.

[0060] (Second re-gripping process) In the example described in Figures 18 to 21, the second re-gripping process (fifth step ST5) includes: (1) a step of transferring the workpiece W from the gripping member 20 to the second support device 3, as illustrated in Figures 18 and 19; and (2) a step of transferring the workpiece W from the second support device 3 to the gripping member 20, as illustrated in Figures 20 and 21.

[0061] More specifically, the second re-gripping step (fifth step ST5) includes the steps of: (1) supporting the workpiece W by the second support device 3 as illustrated in FIG. 19 (more specifically, gripping the workpiece W by the second support device 3); (2) releasing the grip of the workpiece W by the gripping member 20 as illustrated in FIG. 19; and (3) changing the grip target area to be gripped by the gripping member 20 from the second grip target area RG2 to the first grip target area RG1 as illustrated in FIG. 20. 21 , (3) gripping the first gripping target region RG1 of the work W with the gripping member 20, as illustrated in FIG. 21 ; and (4) releasing support of the work W by the second support device 3, as illustrated in FIG. 21 , (5) releasing grip of the work W by the second support device 3, as illustrated in FIG. 21 .

[0062] 12 to 15 or 18 to 21, the second support device 3 is used only for re-gripping the workpiece W. Alternatively, after the workpiece W is transferred from the gripping member 20 to the second support device 3, the workpiece W supported by the second support device 3 may be machined using a cutting tool T or the like. In other words, during the re-gripping process (second step ST2 or fifth step ST5), the workpiece W supported by the second support device 3 may be machined using a cutting tool T or the like.

[0063] (Preheating process) The preheating process is a process of preheating the workpiece W to which the material D will be added in the additive manufacturing process. Therefore, the preheating process is performed before the process of performing additive manufacturing on the workpiece W.

[0064] In the example shown in FIG. 5 or FIG. 16, the preheating step (third step ST3) includes preheating the workpiece W gripped by the gripping member 20 in the second state in which the total contact area between the gripping member 20 and the workpiece W is the above-mentioned second area, using the preheating device 51. In this case, it is not necessary to change the gripping state of the workpiece W by the gripping member 20 between the preheating step (third step ST3) and the additive manufacturing step (fourth step ST4). More specifically, both the preheating step and the additive manufacturing step are performed in a state in which the second gripping target region RG2 of the workpiece W is gripped by the gripping member 20. Therefore, the additive manufacturing step can be performed promptly after the preheating step is performed.

[0065] Also, because the total contact area between the gripping member 20 and the workpiece W is the relatively small second area, the amount of heat dissipated from the workpiece W to the gripping member 20 during the preheating process is small. Therefore, less energy is required to preheat the workpiece W. Furthermore, because the amount of heat dissipated from the workpiece W to the gripping member 20 during the preheating process is small, the maximum temperature of the workpiece W reached by the preheating process can be increased. In addition, the time required to preheat the workpiece W can be shortened, improving the processing efficiency of the workpiece W.

[0066] 5 or 16, the preheating step (third step ST3) includes raising the temperature of the workpiece W by irradiating the workpiece W with a laser B. Alternatively, or additionally, the preheating step (third step ST3) may include raising the temperature of the workpiece W by passing an induced current through the workpiece W, may include raising the temperature of the workpiece W by radiating a flame toward the workpiece W, or may include raising the temperature of the workpiece W using a heater.

[0067] When the preheating step (third step ST3) is performed by irradiating the laser B, the laser B may be irradiated to the workpiece W such that the spot diameter of the laser B on the workpiece surface in the preheating step is larger than the spot diameter of the laser B on the workpiece surface in the additive manufacturing step (fourth step ST4). Since the spot diameter of the laser B during preheating is relatively large, local melting of the workpiece W during preheating is prevented or suppressed.

[0068] 16 and 17, the gripping member 20 that grips the workpiece W when the preheating step (third step ST3) is performed is the same as the gripping member 20 that grips the workpiece W when the additive manufacturing step (fourth step ST4) is performed. Alternatively, the preheating step (third step ST3) may be performed independently of the gripping member 20 that grips the workpiece W during additive manufacturing. In other words, the workpiece W that has been preheated by any means at any location may be gripped by the gripping member 20 after preheating is completed.

[0069] (Additive Manufacturing) 17, the additive manufacturing process (fourth step ST4) includes supplying a material D (e.g., a metal material) toward the workpiece W and irradiating the material D with a laser B. When the material D is irradiated with the laser B, the material D melts, and the molten material adheres to the workpiece W. In this manner, the material D is added to the workpiece W.

[0070] In the example described in Figures 16 and 17, the preheating process (third step ST3) and the additive manufacturing process (fourth step ST4) are each performed in a state in which the second gripping target region RG2 of the workpiece W is gripped by the gripping member 20.

[0071] (Machine tool 1) 26 , the machine tool 1 in the first embodiment includes a first support device 2, a second support device 3, a first head 4, an additive manufacturing device 5, a first mover device 6, a second mover device 7, and a control device 8. Additionally, the machine tool 1 may include a preheating device 51.

[0072] 26, the first support device 2 includes a gripping member 20 that grips the workpiece W and supports the workpiece W. The first support device 2 is, for example, a lathe-type workpiece support device. In the example shown in FIG. 11, the first support device 2 has a rotation drive device 26 that rotates the gripping member 20 (more specifically, the multiple gripping pieces 21) around the first axis AX1.

[0073] In the example shown in Fig. 11, the first support device 2 has a chuck body 22 that supports the multiple gripping pieces 21, and a gripping piece drive device 23 that moves the first gripping piece 21a relative to the second gripping piece 21b. In the example shown in Fig. 11, the gripping piece drive device 23 can simultaneously move the multiple gripping pieces 21 in a direction toward the first axis AX1. In addition, the gripping piece drive device 23 can simultaneously move the multiple gripping pieces 21 in a direction away from the first axis AX1.

[0074] 11, the first support device 2 has a housing 24 that supports the chuck body 22 rotatably around the first axis AX1. The first support device 2 may have a moving device 25 that moves the housing 24. The moving device 25 can move the housing 24, for example, in a direction parallel to the first axis AX1.

[0075] The second support device 3 is capable of supporting the workpiece W. In the example shown in FIG. 26, the second support device 3 is a lathe-type workpiece support device. Alternatively, as illustrated in FIG. 29, the second support device 3 may be a robot hand-type workpiece support device. In other words, the second support device 3 may have a plurality of arms 39 and a gripping member attached to at least one of the plurality of arms 39.

[0076] In the example shown in Fig. 26, the second support device 3 has a second gripping member 30 that grips the workpiece W. The second gripping member 30 may include a plurality of gripping pieces 31. Each gripping piece 31 may be a chuck jaw or may be another type of gripping piece. In the example shown in Fig. 26, each of the plurality of gripping pieces 31 is a chuck jaw.

[0077] The second support device 3 may have a second rotation drive device 36 that rotates the second gripping member 30 (more specifically, the multiple gripping pieces 31) about a second axis AX2. In the example shown in Fig. 26, the second axis AX2 is coaxial with the first axis AX1.

[0078] 12, the second support device 3 has a second chuck body 32 that supports a plurality of gripping pieces 31, and a second gripping piece drive device 33 that moves one gripping piece 31 relative to the other gripping pieces 31. In the example shown in Fig. 12, the second gripping piece drive device 33 can simultaneously move the plurality of gripping pieces 31 in a direction toward the second axis AX2. Also, the second gripping piece drive device 33 can simultaneously move the plurality of gripping pieces 31 in a direction away from the second axis AX2.

[0079] 12, the second support device 3 has a second housing 34 that supports the second chuck body 32 rotatably around the second axis AX2. The second support device 3 may have a moving device 35 that moves the second housing 34. The moving device 35 can move the second housing 34, for example, in a direction parallel to the second axis AX2 (or a direction parallel to the first axis AX1).

[0080] 11, the first head 4 supports a cutting tool T that cuts a workpiece W. As illustrated in FIG. 22, the first head 4 may have a motor 46 that rotates the cutting tool T around a central axis of the cutting tool T. More specifically, the first head 4 may have a rotating body 41 that holds the cutting tool T, a frame 43 that rotatably supports the rotating body 41, and a motor 46 that rotates the rotating body 41 relative to the frame 43.

[0081] The first head 4 may be a turret. In this case, the first head 4 may be a turret head capable of supporting both the turning tool T1 and the milling tool T2.

[0082] 17, the additive manufacturing apparatus 5 has a material supplying device 55 that supplies a material D to be added to the workpiece W, and a laser irradiating device 50. The laser irradiating device 50 has a second head 52 that emits a laser B. In other words, the second head 52 is provided with a laser emission port 52a.

[0083] The material supplying device 55 may be a device that supplies a wire (e.g., a metal wire) toward the workpiece W. In this case, the wire is melted by being irradiated with the laser B, and a molten material formed by the melting adheres to the workpiece W. Alternatively, the material supplying device 55 may be a device that supplies a powder (e.g., a metal powder) toward the workpiece W. In this case, the powder is melted by being irradiated with the laser B, and a molten material formed by the melting adheres to the workpiece W.

[0084] 26, the first moving device 6 moves the first head 4 relative to the gripping member 20 of the first supporting device 2 (more specifically, the workpiece W gripped by the gripping member 20). The first moving device 6 includes a first head moving device 60 that moves the first head 4. Additionally, the first moving device 6 may include a device that moves the gripping member 20 (for example, a rotation drive device 26 that rotates the gripping member 20 about the first axis AX1).

[0085] 26, the first head moving device 60 includes a first driving device 61 that moves the first head 4 in a direction parallel to the first axis AX1, and a second driving device 62 that moves the first head 4 in a direction perpendicular to the first axis AX1 (e.g., the vertical direction). The first head moving device 60 may include a device that can move the first head 4 three-dimensionally.

[0086] 26, the second moving device 7 moves the second head 52 relative to the gripping member 20 of the first supporting device 2 (more specifically, the workpiece W gripped by the gripping member 20). The second moving device 7 includes a second head moving device 70 that moves the second head 52. Additionally, the second moving device 7 may include a device that moves the gripping member 20 (for example, a rotation drive device 26 that rotates the gripping member 20 about the first axis AX1).

[0087] 26, the second head moving device 70 includes a third driving device 71 that moves the second head 52 in a direction parallel to the first axis AX1, and a fourth driving device 72 that moves the first head 4 in a direction perpendicular to the first axis AX1 (e.g., the vertical direction). The second head moving device 70 may include a device that can move the second head 52 three-dimensionally.

[0088] The second mobile device 7 may be a device completely separate from the first mobile device 6. Alternatively, a part of the second mobile device 7 and a part of the first mobile device 6 may be shared.

[0089] As illustrated in Fig. 16, the machine tool 1 may be equipped with a preheating device 51 that preheats the workpiece W. In the example described in Fig. 16, the preheating device 51 includes a laser irradiation device 50 that raises the temperature of the workpiece W by irradiating the workpiece W with a laser B. In the example described in Fig. 16, the laser irradiation device 50 functions as the preheating device 51 that preheats the workpiece W, and also functions as a device that melts the material D to be added to the workpiece W (in other words, a part of the additive manufacturing device 5).

[0090] Alternatively or additionally, the preheating device 51 may include a high-frequency induction heating device that raises the temperature of the workpiece W by passing an induction current through the workpiece W. Alternatively or additionally, the preheating device 51 may include a heater such as a ceramic heater. Alternatively or additionally, the preheating device 51 may include a gas burner that radiates a flame toward the workpiece W.

[0091] The control device 8 controls the first support device 2, the second support device 3, the additive manufacturing device 5, the first mover device 6, and the second mover device 7. Additionally, the control device 8 may control the motor 46 that rotates the cutting tool T and / or the pre-heating device 51.

[0092] (Control device 8) The control device 8 will be described in more detail. As illustrated in Fig. 11, the control device 8 includes a hardware processor 80 (hereinafter, simply referred to as "processor 80"), a memory 82, a communication circuit 84, and an input device 86 (for example, a display 862 with a touch panel). The processor 80, the memory 82, the communication circuit 84, and the input device 86 are connected to each other via a bus 88.

[0093] The memory 82 is a storage medium readable by the processor 80 of the control device 8. The memory 82 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, or a flash memory, a magnetic disk, or another type of memory.

[0094] The memory 82 stores data 826 (e.g., data necessary for the control device 8 to execute each of the cutting mode M1 described below, the additive manufacturing mode M2 ​​described below, the re-gripping mode M3 described below, and the pre-heating mode M4 described below) and programs 822 (e.g., a machining program 822a, an arithmetic program 822b, etc.).

[0095] The data 826 stored in the memory 82 may include machine origin data 826a indicating a machine origin G0 of the machine tool, and program origin data 826b specifying the position of a program origin F in the machining program 822a. An example of the position of the machine origin G0 and an example of the position of the program origin F are shown in Fig. 26.

[0096] The data 826 stored in the memory 82 may include workpiece data 826c indicating the shape of the workpiece W.

[0097] The data 826 stored in the memory 82 may include first control data 826d required for executing the cutting mode M1. The data required for executing the cutting mode M1 may include first movement path data specifying a movement path of the cutting tool T. Additionally, the data required for executing the cutting mode M1 may include data specifying a rotation angle of the chuck body 22 about the first axis AX1 and / or data specifying a rotation speed of the chuck body 22 about the first axis AX1.

[0098] The data 826 stored in the memory 82 may include second control data 826e required for executing the additive manufacturing mode M2. The second control data 826e required for executing the additive manufacturing mode M2 ​​may include a first laser output parameter pa (e.g., power, pulse frequency, duty ratio, focal length, etc.). The second control data 826e required for executing the additive manufacturing mode M2 ​​may include second movement path data specifying a movement path of the second head 52, may include data specifying a rotation angle of the chuck body 22 about the first axis AX1, or may include data specifying a rotation speed of the chuck body 22 about the first axis AX1.

[0099] The data 826 stored in the memory 82 may include third control data 826f required for executing the re-grasping mode M3. The third control data 826f required for executing the re-grasping mode M3 may include data df indicating the difference DF between the first gripping allowance L1 and the second gripping allowance L2. The data df indicating the difference DF between the first gripping allowance L1 and the second gripping allowance L2 may be input by an operator via the input device 86, and the input data df may be stored in the memory 82. Alternatively, the control device 8 may calculate the difference DF between the first gripping allowance L1 and the second gripping allowance L2 based on the first gripping allowance L1 and the second gripping allowance L2, and the data df indicating the calculated difference DF may be stored in the memory 82.

[0100] The first gripping allowance L1 may be stored in the memory 82. For example, the control device 8 may derive the first gripping allowance L1 based on shape data of the first gripping piece 21a, and the derived first gripping allowance L1 may be stored in the memory 82. Alternatively, the first gripping allowance L1 may be input by an operator via the input device 86, and the input first gripping allowance L1 may be stored in the memory 82.

[0101] The second gripping distance L2 may be stored in the memory 82. For example, the second gripping distance L2 may be input by an operator via the input device 86, and the input second gripping distance L2 may be stored in the memory 82.

[0102] The data 826 stored in the memory 82 may include fourth control data 826g required for executing the preheating mode M4. The fourth control data 826g required for executing the preheating mode M4 may include threshold data (e.g., a first temperature TH1 described later, a first threshold TH2 described later, a first time TH3 described later, etc.) for determining whether preheating of the workpiece W is completed. The fourth control data 826g required for executing the preheating mode M4 may also include a second laser output parameter pb (e.g., power, pulse frequency, duty ratio, focal length, etc.). It is preferable that the second laser output parameter pb is set so that the workpiece W is not melted by irradiation with the laser B. The fourth control data 826g required for executing the preheating mode M4 may include second movement path data specifying the movement path of the second head 52 and / or data specifying the rotation speed around the first axis AX1 of the chuck body 22.

[0103] The input device 86 is not limited to the touch panel display 862. For example, the control device 8 may include an input device 86 such as a button, a switch, a lever, a pointing device, or a keyboard, and a display that displays data input to the input device 86 or other information. In addition, a plurality of computers may cooperate to function as the control device 8. In addition, the memory 82 may be distributed and arranged in a plurality of locations. For example, a part of the memory 82 may be included in cloud storage.

[0104] The control device 8 generates a control command by the processor 80 executing the program 822 (more specifically, the machining program 822a and the arithmetic program 822b) stored in the memory 82. Note that the execution of the machining program 822a by the control device 8 includes the processor 80 of the control device 8 executing the machining program 822a via the arithmetic program 822b.

[0105] The control device 8, which executes the program 822 (more specifically, the machining program 822a), generates a control command (for example, a first movement command Q1 described later, a second movement command Q2 described later, a third movement command Q3 described later, etc.) based on the machining program 822a and the relative position of the machine origin G0 with respect to the program origin F. The communication circuit 84 transmits the control command to the controlled device (more specifically, the first support device 2, the second support device 3, the additive manufacturing device 5, the first movement device 6, the second movement device 7, the preheating device 51, etc.). In this way, the processor 80 executes the program 822, whereby the control device 8 can control the first support device 2, the second support device 3, the additive manufacturing device 5, the first movement device 6, the second movement device 7, the preheating device 51, etc.

[0106] The following describes the cutting mode M1, additive manufacturing mode M2, re-gripping mode M3, and pre-heating mode M4 that can be executed by the control device 8. The control device 8 may be capable of executing modes other than the cutting mode M1, additive manufacturing mode M2, re-gripping mode M3, and pre-heating mode M4.

[0107] (Cutting mode M1) 11, 22, 23, or 25, the control device 8 can execute a cutting mode M1. The cutting mode M1 includes transmitting a first movement command Q1 from the control device 8 to at least the first movement device 6 so that the workpiece W held by the holding member 20 is cut by the cutting tool T.

[0108] More specifically, the control device 8 executes the cutting mode M1 by the processor 80 executing the program 822 including the machining program 822a. As illustrated in Fig. 11, 22, 23, or 25, the control device 8 executing the cutting mode M1 transmits a first movement command Q1 to the first moving device 6 for moving the first head 4 relative to the workpiece W held by the gripping member 20. In the example illustrated in Fig. 11, 22, 23, or 25, the first moving device 6 (more specifically, the first head moving device 60) receiving the first movement command Q1 moves the first head 4 so that the cutting tool T comes into contact with the workpiece W held by the gripping member 20.

[0109] Additionally, as illustrated in Fig. 11 or 23, the control device 8 executing the cutting mode M1 may transmit a first movement command Q1 (more specifically, a first rotation command R1) for rotating the gripping member 20 to the rotation drive device 26. The rotation drive device 26 receiving the first movement command Q1 (more specifically, the first rotation command R1) rotates the gripping member 20 and the workpiece W gripped by the gripping member 20 around the first axis AX1. In this manner, the workpiece W is turned by the cutting tool T (more specifically, the turning tool T1).

[0110] 22 or 25, the control device 8 executing the cutting mode M1 may transmit a second rotation command R2 for rotating the cutting tool T to the motor 46. The motor 46 receiving the second rotation command R2 rotates the cutting tool T about the central axis of the cutting tool T. In this manner, the workpiece W is cut by the cutting tool T (more specifically, the mill tool T2).

[0111] When the cutting tool T held by the first head 4 is a gear cutting tool that forms gear teeth, the control device 8 executing the cutting mode M1 may transmit a first rotation command R1 for rotating the gripping member 20 to the rotation drive device 26, and transmit a second rotation command R2 for rotating the cutting tool T to the motor 46. In this way, gear teeth are formed on the workpiece W by the cutting tool T (more specifically, the gear cutting tool).

[0112] (Additive manufacturing mode M2) 17 or 24, the control device 8 can execute an additive manufacturing mode M2. The additive manufacturing mode M2 ​​is a mode that includes transmitting an additive manufacturing command U1 from the control device 8 to the additive manufacturing device 5 so that material D is added to the preheated workpiece W, and transmitting a second move command Q2 from the control device 8 to the second mover device 7.

[0113] More specifically, the control device 8 executes the additive manufacturing mode M2 ​​by the processor 80 executing the program 822 including the processing program 822a. As illustrated in FIG. 17 or 24, the control device 8 executing the additive manufacturing mode M2 ​​transmits a second movement command Q2 for moving the second head 52 relative to the workpiece W gripped by the gripping member 20 to the second movement device 7 (e.g., the second head movement device 70 and / or the rotation drive device 26), and transmits an additive manufacturing command U1 to the additive manufacturing device 5. The additive manufacturing command U1 may include the above-mentioned first laser output parameter pa.

[0114] The second mover device 7, which receives the second move command Q2, moves the second head 52 relative to the workpiece W gripped by the gripping member 20. Furthermore, the additive manufacturing device 5, which receives the additive manufacturing command U1, supplies material D (e.g., wire or powder) toward the workpiece W and emits a laser B (more specifically, a laser B with an output corresponding to the first laser output parameter pa) toward the material D. In this way, the material D is melted by the laser B emitted from the second head 52, and the molten material adheres to the workpiece W. Furthermore, the second head 52 moves relative to the workpiece W, so that the material added to the workpiece W has a desired shape.

[0115] (Re-grasp mode M3) The control device 8 can execute a re-gripping mode M3. The re-gripping mode M3 is a mode that includes transmitting a plurality of commands P to at least the first support device 2 and the second support device 3 so that the workpiece W is re-gripped by the gripping member 20. The plurality of commands P include, for example, a support command P1, a grip release command P2, a position change command P3, a grip command P4, a support release command P5, and the like, which will be described later.

[0116] When the processor 80 executes the program 822 including the machining program 822a, the control device 8 executes the re-gripping mode M3.

[0117] First, the control device 8 executing the re-gripping mode M3 transmits a support command P1 to the second support device 3. The second support device 3 receiving the support command P1 (more specifically, a grip command) supports the workpiece W using the second gripping member 30 or the like.

[0118] More specifically, the second support device 3, upon receiving the support command P1, moves the second chuck body 32 supporting the second gripping member 30 so that the second gripping member 30 faces the workpiece W (see arrow AR1 in FIG. 12 or FIG. 18). In addition, the second support device 3, upon receiving the support command P1, moves the second gripping member 30 relative to the second chuck body 32 so that the second gripping member 30 grips the workpiece W (see arrow AR2 in FIG. 13 or FIG. 19). In this way, the workpiece W is gripped by the second gripping member 30. The movement of the second gripping member 30 is performed, for example, using the second gripping piece drive device 33.

[0119] Secondly, the control device 8 executing the re-gripping mode M3 transmits a grip release command P2 to the first support device 2. The first support device 2 receiving the grip release command P2 releases the grip of the workpiece W by the gripping members 20.

[0120] More specifically, the first support device 2 receiving the grip release command P2 moves the gripping members 20 so that the grip of the workpiece W by the gripping members 20 is released (see arrow AR3 in FIG. 13 or FIG. 19). The movement of the gripping members 20 is performed, for example, by using the grip piece drive device 23. FIG. 13 shows a state after the grip of the workpiece W by the gripping members 20 is released.

[0121] Third, the control device 8 executing the re-gripping mode M3 transmits a position change command P3 to at least one of the first support device 2 and the second support device 3. In response to receiving the position change command P3, at least one of the first support device 2 and the second support device 3 moves the workpiece W relative to the gripping member 20 so that the gripping target area of ​​the workpiece W to be gripped by the gripping member 20 is changed between the first gripping target area RG1 and the second gripping target area RG2. More specifically, in response to receiving the position change command P3, at least one of the first support device 2 and the second support device 3 moves the workpiece W relative to the gripping member 20 in a direction along the first axis AX1.

[0122] 14, the second support device 3 receiving the position change command P3 moves the workpiece W relative to the gripping member 20 in the direction along the first axis AX1 so as to reduce the area of ​​the grip target region of the workpiece W to be gripped by the gripping member 20 (more specifically, so that the grip target region of the workpiece W to be gripped by the gripping member 20 is changed from the first grip target region RG1 to the second grip target region RG2) (see arrow AR4). Note that the first support device 2 (more specifically, the movement device 25 of the first support device 2) may move the workpiece W relative to the gripping member 20 in the direction along the first axis AX1 instead of the second support device 3 (more specifically, the movement device 35 of the second support device 3).

[0123] 20, the second support device 3 receiving the position change command P3 moves the workpiece W relative to the gripping member 20 in the direction along the first axis AX1 so as to increase the area of ​​the grip target region of the workpiece W to be gripped by the gripping member 20 (more specifically, so that the grip target region of the workpiece W to be gripped by the gripping member 20 is changed from the second grip target region RG2 to the first grip target region RG1) (see arrow AR5). Instead of the second support device 3 (more specifically, the movement device 35 of the second support device 3), the first support device 2 (more specifically, the movement device 25 of the first support device 2) may move the workpiece W relative to the gripping member 20 in the direction along the first axis AX1.

[0124] Fourthly, the control device 8 executing the re-gripping mode M3 transmits a gripping command P4 to the first support device 2. The first support device 2 receiving the gripping command P4 grips the workpiece W with the gripping members 20.

[0125] More specifically, the first support device 2 receiving the gripping command P4 moves the gripping member 20 relative to the chuck body 22 so that the gripping member 20 grips the workpiece W (see arrow AR6 in FIG. 15 or FIG. 21). In this way, the gripping member 20 grips the workpiece W. The movement of the gripping member 20 is performed using, for example, a gripping piece driving device 23.

[0126] Fifth, the control device 8 executing the re-gripping mode M3 transmits a support release command P5 (more specifically, a grip release command) to the second support device 3. The second support device 3 receiving the support release command P5 releases the support of the workpiece W by the second support device 3 (more specifically, releases the grip of the workpiece W by the second gripping member 30).

[0127] More specifically, the second support device 3 receiving the support release command P5 moves the second gripping member 30 so that the grip of the workpiece W by the second gripping member 30 is released (see arrow AR7 in FIG. 15 or FIG. 21). In this way, support of the workpiece W by the second support device 3 is released. FIG. 15 and FIG. 21 show a state after support of the workpiece W by the second support device 3 (more specifically, grip of the workpiece W by the second gripping member 30) has been released.

[0128] The total contact area between the gripping member 20 and the workpiece W in the above-mentioned cutting mode M1 is defined as a first area, and the total contact area between the gripping member 20 and the workpiece W in the above-mentioned additive manufacturing mode M2 ​​is defined as a second area.

[0129] 12 to 15, the re-gripping mode M3 includes changing the total contact area between the gripping member 20 and the workpiece W from a first area to a second area smaller than the first area. Since the total contact area between the gripping member 20 and the workpiece W in the additive manufacturing mode M2 ​​is the relatively small second area, a decrease in temperature of the workpiece W during additive manufacturing is suppressed.

[0130] 18 to 21, the re-gripping mode M3 includes changing the total contact area between the gripping member 20 and the workpiece W from the second area to a first area larger than the second area. Since the total contact area between the gripping member 20 and the workpiece W in the cutting mode M1 is the relatively large first area, the load acting on the workpiece W during cutting is stably supported.

[0131] The total contact area between the gripping member 20 and the side surface S1 of the workpiece W in the above-mentioned cutting mode M1 is defined as a third area, and the total contact area between the gripping member 20 and the side surface S1 of the workpiece W in the above-mentioned additive manufacturing mode M2 ​​is defined as a fourth area. In the example described in FIG. 12 to FIG. 15, the re-gripping mode M3 includes changing the total contact area between the gripping member 20 and the side surface S1 of the workpiece W from the third area to a fourth area smaller than the third area. In the example described in FIG. 18 to FIG. 21, the re-gripping mode M3 includes changing the total contact area between the gripping member 20 and the side surface S1 of the workpiece W from the fourth area to a third area larger than the fourth area.

[0132] The re-gripping mode M3 may include changing the gripping amount of the workpiece W by the first gripping piece 21a by the difference DF between the first gripping amount L1 and the second gripping amount L2 (see FIG. 14 or FIG. 19). The re-gripping mode M3 may also include changing the gripping amount of the workpiece W by the second gripping piece 21b by the difference DF between the third gripping amount L3 and the fourth gripping amount L4 (see FIG. 14 or FIG. 19).

[0133] 12 to 15, the re-gripping mode M3 includes changing the gripping allowance of the workpiece W by the first gripping piece 21a (more specifically, the contact length between the first gripping piece 21a and the workpiece W in the direction along the first axis AX1) from the first gripping allowance L1 to a second gripping allowance L2 that is smaller than the first gripping allowance L1. Also, in the example shown in FIGS. 18 to 21, the re-gripping mode M3 includes changing the gripping allowance of the workpiece W by the first gripping piece 21a (more specifically, the contact length between the first gripping piece 21a and the workpiece W in the direction along the first axis AX1) from the second gripping allowance L2 to the first gripping allowance L1 that is larger than the second gripping allowance L2.

[0134] (Preheat mode M4) 16, the control device 8 may be capable of executing a preheating mode M4. The preheating mode M4 is a mode executed immediately before the additive manufacturing mode M2. The preheating mode M4 is a mode that includes transmitting a preheating command V1 from the control device 8 to at least the preheating device 51 so that the temperature of the workpiece W is raised. Additionally, the preheating mode M4 may include transmitting a third movement command Q3 from the control device 8 to the second movement device 7.

[0135] More specifically, the control device 8 executes the preheating mode M4 by the processor 80 executing the program 822 including the machining program 822a. As illustrated in Fig. 16, the control device 8 executing the preheating mode M4 transmits a preheating command V1 to the preheating device 51. The preheating device 51 receiving the preheating command V1 adds energy to the workpiece W to raise the temperature of the workpiece W.

[0136] The preheating device 51 may include the laser irradiation device 50. In the example shown in Fig. 16, the control device 8 executing the preheating mode M4 transmits a preheating command V1 to the laser irradiation device 50 and transmits a third movement command Q3 to the second moving device 7 (e.g., the second head moving device 70 and / or the rotation driving device 26). The preheating command V1 may include the above-mentioned second laser output parameter pb.

[0137] The laser irradiation device 50, which receives the preheating command V1, emits a laser B (more specifically, a laser B with an output corresponding to the second laser output parameter pb) toward the workpiece W. Furthermore, the second movement device 7, which receives the third movement command Q3, moves the second head 52 relative to the workpiece W held by the holding member 20. In this way, the workpiece W is preheated by the laser B emitted from the second head 52. Furthermore, by moving the second head 52, which emits the laser B, relative to the workpiece W, irradiation of the laser B is prevented from concentrating on a specific area of ​​the workpiece W.

[0138] As illustrated in FIG. 16, the machine tool 1 may have a temperature sensor 56 such as an infrared temperature sensor. The temperature sensor 56 detects the temperature of the workpiece W. The temperature sensor 56 transmits signal data DA indicating the temperature of the workpiece W to the control device 8. The control device 8 may cause the preheating device 51 to continue preheating the workpiece W until the temperature of the workpiece W reaches a first temperature TH1 set in advance based on the signal data DA received from the temperature sensor 56, and transmit a preheating end command to the preheating device 51 in response to the temperature of the workpiece W reaching the first temperature TH1 set in advance (first example). For example, the control device 8 may cause the laser irradiation device 50 to emit a laser B toward the workpiece W until the temperature of the workpiece W reaches the first temperature TH1 set in advance based on the signal data DA received from the temperature sensor 56, and transmit an emission end command to the laser irradiation device 50 in response to the temperature of the workpiece W reaching the first temperature TH1 set in advance (second example).

[0139] Alternatively, the control device 8 may cause the preheating device 51 to continue preheating the workpiece W until the temperature rise of the workpiece W from the temperature of the workpiece W at the timing when the preheating mode M4 is started (in other words, a value obtained by subtracting the temperature of the workpiece W at the timing when the preheating mode M4 is started from the current temperature of the workpiece W) reaches a first threshold value TH2 set in advance based on the signal data DA received from the temperature sensor 56, and transmit a preheating end command to the preheating device 51 in response to the temperature rise reaching the first threshold value TH2 (third example). For example, the control device 8 may cause the laser irradiation device 50 to emit the laser B toward the workpiece W until the temperature rise reaches the first threshold value TH2 set in advance based on the signal data DA received from the temperature sensor 56, and transmit an emission end command to the laser irradiation device 50 in response to the temperature rise reaching the first threshold value TH2 (fourth example).

[0140] Alternatively, or additionally, the machine tool 1 may have a timer 89. The timer 89 may be configured by hardware, or the control device 8 itself may function as a timer by executing the program 822. The timer 89 counts the elapsed time from when the control device 8 starts transmitting the preheating command V1 to the preheating device 51. The control device 8 may cause the preheating device 51 to continue preheating the workpiece W until the elapsed time counted by the timer 89 reaches a preset first time TH3, and transmit a preheating end command to the preheating device 51 in response to the elapsed time reaching the first time TH3 (fifth example). For example, the control device 8 may cause the laser irradiation device 50 to emit the laser B toward the workpiece W until the elapsed time counted by the timer 89 reaches a preset first time TH3, and transmit an emission end command to the laser irradiation device 50 in response to the elapsed time reaching the first time TH3 (sixth example).

[0141] In each of the above-mentioned first, third, and fifth examples, the preheating device 51 that receives the preheating command V1 adds energy to the workpiece W to raise the temperature of the workpiece W. Also, the preheating device 51 that receives the preheating end command ends the addition of energy to the workpiece W and stops raising the temperature of the workpiece W. Also, in each of the above-mentioned second, fourth, and sixth examples, the laser irradiation device 50 that receives the preheating command V1 irradiates the workpiece W with the laser B to raise the temperature of the workpiece W. Also, the laser irradiation device 50 that receives the injection end command ends the irradiation of the workpiece W with the laser B and stops raising the temperature of the workpiece W.

[0142] (Automatic correction of program origin) As illustrated in FIG. 11, the memory 82 stores at least a machining program 822a and program origin data 826b that specifies the position of a program origin F in the machining program 822a.

[0143] The control device 8 is configured to generate control commands (e.g., the above-mentioned first movement command Q1, second movement command Q2, third movement command Q3, etc.) to be transmitted to the controlled equipment based on the machining program 822a and the relative position of the machine origin G0 with respect to the program origin F, and to transmit the generated control commands to the controlled equipment.

[0144] The control device 8 may be configured to automatically correct the program origin F before and after re-gripping mode M3 by the amount of relative movement of the workpiece W with respect to the gripping member 20 that accompanies execution of re-gripping mode M3 (more specifically, by the difference DF between the first gripping allowance L1 and the second gripping allowance L2).

[0145] For example, the above-mentioned control command includes a first control command transmitted to the controlled device before execution of the re-grasping mode M3, and a second control command transmitted to the controlled device after execution of the re-grasping mode M3. In this case, the control device 8 compares the position of the program origin used to generate the second control command with the position of the program origin used to generate the first control command, and automatically corrects the above-mentioned relative movement amount (more specifically, by the above-mentioned difference DF). Note that the control device 8 may derive the above-mentioned relative movement amount in any manner. For example, the above-mentioned relative movement amount may be calculated by subtracting the second gripping allowance L2 from the first gripping allowance L1.

[0146] The program origin F is automatically corrected before and after the re-gripping mode M3, thereby preventing or suppressing a decrease in machining accuracy caused by the execution of the re-gripping mode M3. In addition, since the program origin F is automatically corrected, the operator does not have to bear the workload of correcting the program origin.

[0147] As illustrated in Figures 11 to 17, it is assumed that the cutting mode M1 is executed before the re-gripping mode M3 is executed, and the additive manufacturing mode M2 ​​is executed after the re-gripping mode M3 is executed.

[0148] In this case, as illustrated in Fig. 11, the first control command transmitted to the controlled device before execution of the grip re-mode M3 includes a first movement command Q1 transmitted to the first movement device 6. Also, as illustrated in Fig. 16 or 17, the second control command transmitted to the controlled device after execution of the grip re-mode M3 includes a second movement command Q2 transmitted to the second movement device 7 and / or a third movement command Q3 transmitted to the second movement device 7.

[0149] In the example described in Figures 26 and 27, the control device 8 automatically corrects the position of the program origin F2 (see Figure 27) used to generate the second movement command Q2 (or the third movement command Q3) in a direction away from the chuck body 22 by the amount of relative movement of the workpiece W with respect to the gripping member 20 associated with execution of re-gripping mode M3, by comparing it with the position of the program origin F1 (see Figure 26) used to generate the first movement command Q1.

[0150] The program origin F is automatically corrected from the position indicated by "F1" in FIG. 26 to the position indicated by "F2" in FIG. 27 before and after the re-gripping mode M3, thereby preventing or suppressing a decrease in machining accuracy caused by the execution of the re-gripping mode M3.

[0151] As illustrated in Figures 16 to 22, it is assumed that the additive manufacturing mode M2 ​​is executed before the re-gripping mode M3 is executed, and the cutting mode M1 is executed after the re-gripping mode M3 is executed.

[0152] 16 or 17, the first control command transmitted to the controlled device before execution of the grip re-mode M3 includes a second movement command Q2 transmitted to the second movement device 7 and / or a third movement command Q3 transmitted to the second movement device 7. In addition, as illustrated in FIG. 22, the second control command transmitted to the controlled device after execution of the grip re-mode M3 includes a first movement command Q1 transmitted to the first movement device 6.

[0153] In the example described in Figures 27 and 28, the control device 8 automatically corrects the position of the program origin F3 (see Figure 28) used to generate the first movement command Q1 in a direction toward the chuck body 22 by the amount of relative movement of the workpiece W with respect to the gripping member 20 associated with execution of re-gripping mode M3, by comparing it with the position of the program origin F2 (see Figure 27) used to generate the second movement command Q2 (or the third movement command Q3).

[0154] The program origin F is automatically corrected from the position indicated by "F2" in FIG. 27 to the position indicated by "F3" in FIG. 28 before and after the re-grippling mode M3, thereby preventing or suppressing a decrease in machining accuracy caused by the execution of the re-grippling mode M3.

[0155] Second embodiment A workpiece machining method and a machining system 100 according to the second embodiment will be described with reference to Figures 1 to 32. Figures 31 and 32 are schematic perspective views that typically show the machining system 100 according to the second embodiment.

[0156] In the second embodiment, differences from the first embodiment will be mainly described. On the other hand, in the second embodiment, repeated descriptions of matters already described in the first embodiment will be omitted. Therefore, it goes without saying that matters already described in the first embodiment can be applied to the second embodiment even if they are not explicitly described in the second embodiment. Conversely, all matters described in the second embodiment can be applied to the first embodiment.

[0157] The second embodiment differs from the first embodiment in that the second support device 3 is provided outside the machine tool 1. The second embodiment also differs from the first embodiment in that the first support device 2 is a table-type work support device. In other respects, the second embodiment is similar to the first embodiment.

[0158] As illustrated in FIG. 31, the processing system 100 in the second embodiment includes (1) a first support device 2 having a gripping member 20 that grips the workpiece W, (2) a second support device 3 capable of supporting the workpiece W, (3) a first head 4 that supports a cutting tool T that cuts the workpiece W, (4) an additive manufacturing device 5 having a material supply device 55 that supplies material to be added to the workpiece W and a laser irradiation device 50 that emits a laser from the second head 52, (5) a first moving device 6 that moves the first head 4 relative to the gripping member 20, (6) a second moving device 7 that moves the second head 52 relative to the gripping member 20, and (7) a control device 8 that controls the first support device 2, the second support device 3, the additive manufacturing device 5, the first moving device 6, and the second moving device 7.

[0159] 31, the control device 8 can execute a cutting mode M1 including at least sending a first movement command to the first mover device 6 so that the workpiece W held by the gripping member 20 is cut by the cutting tool T. Also, as illustrated in FIG 32, the control device 8 can execute an additive manufacturing mode M2 ​​including at least sending an additive manufacturing command to the additive manufacturing device 5 and sending a second movement command to the second mover device 7 so that material is added to the preheated workpiece W.

[0160] The control device 8 can also execute a re-gripping mode M3, which includes transmitting a plurality of commands to at least the first support device 2 and the second support device 3, so that the workpiece W is re-gripped by the gripping member 20. The re-gripping mode M3 includes, for example, (1) transmitting a support command from the control device 8 to the second support device 3, so that the second support device 3 (more specifically, the second gripping member 30) supports the workpiece W, (2) transmitting a grip release command from the control device 8 to the first support device 2, so that the workpiece W is transferred from the gripping member 20 to the second support device 3 (more specifically, the second gripping member 30), and (3) transmitting a grip release command from the control device 8 to the first support device 2, so that the gripping target area of ​​the workpiece to be gripped by the gripping member 20 is the first gripping target area RG1 and the second gripping target area RG2. The steps include (1) transmitting a position change command from the control device 8 to at least one of the first support device 2 and the second support device 3 so that the position of the workpiece W is changed between the gripping target area RG2 and the gripping member 20; (2) transmitting a gripping command from the control device 8 to the first support device 2 so that the workpiece W is re-gripped by the gripping member 20; and (3) transmitting a support release command from the control device 8 to the second support device 3 so that the workpiece W is transferred from the second support device 3 (more specifically, the second gripping member 30) to the gripping member 20.

[0161] When the total contact area between the gripping member 20 and the workpiece W in the above-mentioned cutting mode M1 is defined as a first area, and the total contact area between the gripping member 20 and the workpiece W in the additive manufacturing mode M2 ​​is defined as a second area, the re-gripping mode M3 includes changing the total contact area between the gripping member 20 and the workpiece W between the first area and a second area. Also, the second area is smaller than the first area.

[0162] Therefore, the machining system 100 in the second embodiment has the same effects as the machine tool 1 in the first embodiment.

[0163] The workpiece machining method in the second embodiment is similar to the workpiece machining method in the first embodiment, so a repeated description of the workpiece machining method will be omitted.

[0164] (Optional configuration) Next, an optional additional configuration that can be adopted in the second embodiment (or the above-described first embodiment) will be described with reference to FIG. 31 and FIG.

[0165] (1st support device 2) The first supporting device 2 includes a gripping member 20 that grips the workpiece W, and supports the workpiece W. In the example shown in Fig. 31, the gripping member 20 has a plurality of gripping pieces 21 including a first gripping piece 21a and a second gripping piece 21b.

[0166] The first support device 2 has a chuck body 22 that supports the multiple gripping pieces 21, and a gripping piece drive device 23 that moves the first gripping piece 21a relative to the second gripping piece 21b. In the example shown in Fig. 31, the first gripping piece 21a is a movable piece that is movable with respect to the chuck body 22, and the second gripping piece 21b is a fixed piece that is immovable with respect to the chuck body 22. The fixed piece may be formed integrally with the chuck body 22.

[0167] 31, the first support device 2 has a table 27 that supports the chuck body 22, and a rotation drive device 26 that rotates the multiple gripping pieces 21, the chuck body 22, and the table 27 about a first axis AX1. The first support device 2 may have a tilting device 28 that tilts the multiple gripping pieces 21, the chuck body 22, and the table 27 about an axis AX3 perpendicular to the first axis AX1.

[0168] (Second support device 3) 31 , the second supporting device 3 is capable of supporting the workpiece W. More specifically, the second supporting device 3 includes a second gripping member 30 capable of gripping the workpiece W. In addition, the second gripping member 30 has a plurality of gripping pieces 31.

[0169] In the example shown in Fig. 31, the second support device 3 has a second gripping piece drive device 33 that moves one gripping piece 31 relative to the other gripping pieces 31. In the example shown in Fig. 31, the second support device 3 can move the second gripping member 30 (more specifically, the multiple gripping pieces 31) three-dimensionally. The second support device 3 may be a robot hand type work support device, or may be another type of work support device.

[0170] (Head moving device 65 and another head moving device 66) The processing system 100 may have a head moving device 65 that moves both the first head 4 and the second head 52, and another head moving device 66 that moves the second head 52 relatively to the first head 4. In this case, the head moving device 65 and the other head moving device 66 function as parts of the first moving device 6 and also function as parts of the second moving device 7.

[0171] (Program 822) Next, the program 822 in the embodiment will be described. The program 822 in the embodiment is a program for causing the machine tool 1 or the machining system 100 (more specifically, the control device 8 of the machine tool 1 or the machining system 100) to execute at least the cutting process (first step ST1 and / or sixth step ST6), the additive manufacturing process (fourth step ST4), and the re-gripping process (second step ST2 and / or fifth step ST5) of the above-mentioned workpiece machining method.

[0172] More specifically, the program 822 in the embodiment is a program for causing the machine tool 1 or the machining system 100 (more specifically, the control device 8 of the machine tool 1 or the machining system 100) to execute a workpiece machining method including: (1) a step of cutting the workpiece W gripped by the gripping member 20 in a first state in which the total contact area between the gripping member 20 and the workpiece W is a first area (first step ST1 and / or sixth step ST6); (2) a step of performing additive manufacturing on the pre-heated workpiece W gripped by the gripping member 20 in a second state in which the total contact area between the gripping member 20 and the workpiece W is a second area smaller than the first area (fourth step ST4); and (3) a step of the gripping member 20 re-gripping the workpiece W so that the state is changed between the first state and the second state (second step ST2 and / or fifth step ST5).

[0173] The process of cutting the workpiece W held by the holding member 20 may be performed before the process of additive manufacturing on the preheated workpiece W, or after the process of additive manufacturing on the preheated workpiece W, or before or after the process of additive manufacturing on the preheated workpiece W.

[0174] In addition, prior to a process of performing additive manufacturing on the workpiece W, a process of preheating the workpiece W gripped by the gripping member 20 in a second state in which the total contact area between the gripping member 20 and the workpiece W is a second area smaller than the first area may be performed.

[0175] The program 822 in the embodiment includes: (1) a step of cutting the workpiece W gripped by the gripping member 20 in a first state in which the total contact area between the gripping member 20 and the workpiece W is a first area (first step ST1); (2) a step of the gripping member 20 gripping the workpiece W again so that the state is changed from the first state to a second state in which the total contact area between the gripping member 20 and the workpiece W is a second area smaller than the first area (second step ST2); (3) a step of preheating the workpiece W gripped by the gripping member 20 in the second state (third step ST3); and (4) a step of preheating the workpiece W gripped by the gripping member 20 in the second state (third step ST4). The program may also be a program for causing the machine tool 1 or the machining system 100 (more specifically, the control device 8 of the machine tool 1 or the machining system 100) to execute a workpiece machining method including the steps of: (4) performing additive manufacturing on the preheated workpiece W gripped by the gripping member 20 in the second state (fourth step ST4); (5) causing the gripping member 20 to re-grasp the workpiece W so that the state is changed from the second state to the above-mentioned first state (fifth step ST5); and (6) cutting the workpiece W gripped by the gripping member 20 in the first state (sixth step ST6).

[0176] The present invention is not limited to the above-mentioned embodiments or modifications, and it is clear that each embodiment or modification can be appropriately modified or changed within the scope of the technical idea of ​​the present invention. In addition, various techniques used in each embodiment or modification can be applied to other embodiments or other modifications as long as no technical contradiction occurs. Furthermore, any additional configuration in each embodiment or modification can be omitted as appropriate.

[0177] For example, in the first embodiment, a lathe-type machine tool is described, and in the second embodiment, a machining center-type processing system is described. Alternatively, the machine tool (or processing system) in the embodiments may be another type of machine tool (or processing system). In addition, in the embodiments, there is no limitation on the type of gripping member (e.g., the number of gripping pieces, the shape of the gripping pieces, etc.). [Explanation of symbols]

[0178] 1: Machine tool 2 :First support device 3:Second support device 4: First head 5: Additive manufacturing equipment 6 :1st moving device 7:Second moving device 8: Control device 20: Gripping member 21: Grip piece 21a: 1st gripping piece 21b: Second gripping piece 21c: 3rd grip piece 22: Chuck body 23: Grip piece drive device 24: Housing 25: Mobile device 26: Rotation drive device 27: Table 28:Tilt device 30: Second gripping member 31: Grip piece 32: Second chuck body 33: Second gripping piece driving device 34: Second housing 35: Mobile device 36: Second rotary drive device 39: Arm 41: Rotating body 43: Frame 46: Motor 50: Laser irradiation device 51: Preheating device 52: 2nd head 52a: Laser exit port 55: Material supply device 56: Temperature sensor 60: First head moving device 61: First drive unit 62: Second drive unit 65: Head moving device 66: Other head moving devices 70: Second head moving device 71: 3rd drive unit 72: 4th drive unit 80: Hardware processor 82: Memory 84: Communication circuit 86: Input device 88: Bus 89: Timer 100: Processing system 211a :1st side 211b :Second side 213a: 1st bottom surface 213b: 2nd bottom surface 822: Program 822a: Machining program 822b: Calculation program 826: Data 826a: Machine origin data 826b: Program origin data 826c: Work data 826d: First control data 826e: Second control data 826f: Third control data 826g: 4th control data 862: Display with touch panel AX1: 1st axis AX2: 2nd axis AX3: Axis perpendicular to the first axis B: Laser D: Material DA: Signal data DF: Difference between the first and second gripping distances E: End face E1: 1st end surface E2: 2nd end face F, F1, F2, F3: Program origin G0: Machine origin L1: First gripping distance L2: Second gripping distance L3: 3rd gripping distance L4: 4th grip M1: Cutting mode M2: Additive manufacturing mode M3: Re-grab mode M4: Preheat mode P: Directive P1: Support command P2: Grip release command P3: Position change command P4: Grip command P5: Support release command Q1: 1st movement command Q2: 2nd movement command Q3: 3rd movement command R1: First rotation command R2: Second rotation command RG1: 1st grip target area RG2: 2nd gripping target area S1: Side T: Cutting tool T1: Turning tools T2: Milling tools U1: Additive Manufacturing Directive V1: Preheat command W: Work Wa: Original part of the work Wb: Additional part of the work df: Data showing the difference between the first gripping allowance and the second gripping allowance L2 pa: first laser output parameter pb: second laser output parameter

Claims

1. cutting the workpiece gripped by the gripping member in a first state in which a total contact area between the gripping member and the workpiece is a first area; performing additive manufacturing on the preheated workpiece gripped by the gripping member in a second state in which the total contact area between the gripping member and the workpiece is a second area; re-gripping the workpiece with the gripping members so as to change between the first state and the second state. Equipped with The second area is smaller than the first area. Workpiece processing method.

2. In the first state, a total contact area between the gripping member and a side surface of the workpiece is a third area; In the second state, the total contact area between the gripping member and the side surface of the workpiece is a fourth area; The fourth area is smaller than the third area. The workpiece machining method according to claim 1 .

3. In the first state, a first end surface of the workpiece and the gripping member are in contact with each other, In the second state, the first end surface of the workpiece and the gripping member are spaced apart from each other. The workpiece machining method according to claim 2.

4. The gripping member has a plurality of gripping pieces including a first gripping piece and a second gripping piece, When the gripping amount of the workpiece by the first gripping piece in the first state is defined as a first gripping amount, and the gripping amount of the workpiece by the first gripping piece in the second state is defined as a second gripping amount, the second gripping amount is smaller than the first gripping amount. The workpiece machining method according to claim 1 .

5. The method further includes a step of preheating the workpiece gripped by the gripping member in the second state in which the total contact area between the gripping member and the workpiece is the second area, The step of preheating the workpiece is performed prior to the step of performing additive manufacturing on the workpiece. The workpiece machining method according to claim 1 .

6. The step of preheating the workpiece includes raising the temperature of the workpiece by irradiating the workpiece with a laser. The workpiece machining method according to claim 5.

7. The step of gripping the workpiece again by the gripping member is performed after the step of cutting the workpiece gripped by the gripping member and before the step of performing additive manufacturing on the preheated workpiece gripped by the gripping member. The workpiece machining method according to claim 1 .

8. The step of gripping the workpiece again by the gripping member is performed before the step of cutting the workpiece gripped by the gripping member and after the step of performing additive manufacturing on the preheated workpiece gripped by the gripping member. The workpiece machining method according to claim 1 .

9. The step of the gripping member re-grasping the workpiece includes: transferring the workpiece from the gripping member to a second supporting device; transferring the workpiece from the second support device to the gripping member; Equipped with A method for machining a workpiece according to any one of claims 1 to 8.

10. A first support device having a gripping member that grips a workpiece; A second support device capable of supporting the workpiece; A first head supporting a cutting tool for cutting the workpiece; An additive manufacturing apparatus having a material supplying device that supplies a material to be added to the workpiece and a laser irradiation device that emits a laser from a second head; a first moving device that moves the first head relative to the gripping member; a second moving device that moves the second head relative to the gripping member; a control device that controls the first support device, the second support device, the additive manufacturing device, the first mover device, and the second mover device; Equipped with The control device includes: a cutting mode including transmitting a first movement command to at least the first movement device so that the workpiece gripped by the gripping member is cut by the cutting tool; an additive manufacturing mode including at least sending an additive manufacturing command to the additive manufacturing device and sending a second movement command to the second movement device so that the material is added to the preheated workpiece; a re-gripping mode including sending a plurality of commands to at least the first support device and the second support device so that the workpiece is re-gripped by the gripping member; It is possible to execute When a total contact area between the gripping member and the workpiece in the cutting mode is defined as a first area, and a total contact area between the gripping member and the workpiece in the additive manufacturing mode is defined as a second area, the re-gripping mode includes changing the total contact area between the gripping member and the workpiece between the first area and the second area; The second area is smaller than the first area. Machine tools.

11. The gripping member has a plurality of gripping pieces including a first gripping piece and a second gripping piece, When the gripping amount of the workpiece by the first gripping piece in the cutting mode is defined as a first gripping amount, and the gripping amount of the workpiece by the first gripping piece in the additive manufacturing mode is defined as a second gripping amount, the re-gripping mode includes changing the gripping amount of the workpiece by the first gripping piece by a difference between the first gripping amount and the second gripping amount. The machine tool according to claim 10.

12. the control device is configured to generate a control command to be transmitted to a controlled device based on a machining program and a relative position of a machine origin with respect to a program origin, and to transmit the generated control command to the controlled device; The control command is A first control command transmitted to the controlled device before the execution of the re-grasp mode; a second control command to be transmitted to the controlled device after the re-grasping mode is executed; and Including, The control device compares the position of the program origin used to generate the second control command with the position of the program origin used to generate the first control command, and automatically corrects the position by an amount of relative movement of the workpiece with respect to the gripping member associated with execution of the re-gripping mode. The machine tool according to claim 10 or 11.

13. A first support device having a gripping member that grips a workpiece; A second support device capable of supporting the workpiece; A first head supporting a cutting tool for cutting the workpiece; An additive manufacturing apparatus having a material supplying device that supplies a material to be added to the workpiece and a laser irradiation device that emits a laser from a second head; a first moving device that moves the first head relative to the gripping member; a second moving device that moves the second head relative to the gripping member; a control device that controls the first support device, the second support device, the additive manufacturing device, the first mover device, and the second mover device; Equipped with The control device includes: a cutting mode including transmitting a first movement command to at least the first movement device so that the workpiece gripped by the gripping member is cut by the cutting tool; an additive manufacturing mode including at least sending an additive manufacturing command to the additive manufacturing device and sending a second movement command to the second movement device so that the material is added to the preheated workpiece; a re-gripping mode including sending a plurality of commands to at least the first support device and the second support device so that the workpiece is re-gripped by the gripping member; It is possible to execute When a total contact area between the gripping member and the workpiece in the cutting mode is defined as a first area, and a total contact area between the gripping member and the workpiece in the additive manufacturing mode is defined as a second area, the re-gripping mode includes changing the total contact area between the gripping member and the workpiece between the first area and the second area; The second area is smaller than the first area. Processing system.

14. cutting the workpiece gripped by the gripping member in a first state in which a total contact area between the gripping member and the workpiece is a first area; performing additive manufacturing on the preheated workpiece gripped by the gripping member in a second state in which the total contact area between the gripping member and the workpiece is a second area smaller than the first area; re-gripping the workpiece with the gripping members so as to change between the first state and the second state. A program for causing a machine tool or a machining system to execute a workpiece machining method comprising the steps of:

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