Processing machine

Abstract

To provide a processing machine which can feed a spindle straight and can stably perform punching and milling.SOLUTION: A processing machine 10 includes: a robot 11 having a connection surface 11a; an X guide 29 disposed on the connection surface 11a and extending in an X direction parallel to the connection surface 11a; an X slider 31 which is guided by the X guide 29 and reciprocates in the X direction; a processing unit 40 disposed at the X slider 31, the processing unit 40 having a Z slider 45 which reciprocates in a Z direction perpendicular to the X direction, and a spindle 59 to which a tool 1 may be attached, the spindle 59 rotatably disposed at the Z slider 45 and extending in the Z direction.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a processing machine.

Background Art

[0002] The screw processing device disclosed in Japanese Patent Application Laid-Open No. 2009-248279 (hereinafter, Patent Document 1) includes a robot having a robot arm disposed at its tip, a lifting mechanism supported by the tip of the robot arm via a flange, a rotating mechanism supported by the lifting mechanism, a support portion disposed at the tip of the rotating mechanism, a tap supported by the support portion, a sensor disposed on the upper surface of the robot for detecting the inclination of the robot arm, an arithmetic device for calculating information obtained from the sensor, and a control box for operating the lifting mechanism and the rotating mechanism based on the information obtained from the arithmetic device.

[0003] Further, the industrial robot disclosed in Japanese Patent No. 5656268 (hereinafter, Patent Document 2) includes a first arm, a second arm, a first frame extending in a first direction, a first movable body movably supported in the extending direction of the first frame, a second frame extending in a second direction which is a direction orthogonal to the first direction with respect to the first movable body, a second movable body reciprocally movably supported in the second direction, and a processing tool disposed on the second movable body and disposed in a direction orthogonal to the first direction and the second direction.

Summary of the Invention

Problems to be Solved by the Invention

[0004] Articulated robots cannot draw a straight trajectory. Therefore, stable processing may not be possible. The screw processing device of Patent Document 1 cannot perform milling. The processing machine of Patent Document 2 cannot perform drilling. An object of the present invention is to provide a processing machine capable of feeding a spindle linearly and stably performing hole drilling and milling.

Means for Solving the Problems

[0005] A first aspect of the present invention is A robot having a connection surface, an X guide disposed on the connection surface and extending in the X direction parallel to the connection surface, an X slider guided by the X guide and reciprocating in the X direction, a processing unit disposed on the X slider, a Z slider reciprocating in the Z direction perpendicular to the X direction, a spindle to which a tool can be attached, rotatably disposed on the Z slider and extending in the Z direction, and having a processing unit, and a processing machine having.

[0006] The robot may have an arm. The connection surface may be disposed at the tip of the arm. The connection surface is, for example, a flange. The robot is, for example, a vertical articulated robot or a parallel link robot. The Y-axis stroke may be half or less of the X-axis stroke.

[0007] The coolant supply device may be disposed on the base on which the robot is installed or on the first axis of the robot. The coolant is, for example, compressed air, oil mist, or mist coolant. The nozzle is disposed on the ram or the Z slider. The nozzle may be connected to the tip of the ram or the Z slider.

[0008] The processing unit may have a Z cylinder. The Z cylinder expands and contracts along the Z direction. The Z cylinder pushes out the ram or the Z slider in the tip direction. The Z cylinder is, for example, a fluid cylinder, particularly an air cylinder.

[0009] The processing machine may have an X frame that supports the X guide. The processing machine may have an X drive device that is disposed on the X frame and moves the X slider. The processing unit may have a processing unit body.

[0010] The processing machine may have a Y frame that supports a Y guide. The processing machine may have a Y-axis drive device that is arranged on the Y frame and moves a Y slider. The Y frame may have ribs. The ribs extend in the XY direction and connect the Y frame and the X slider. The Y stroke of the Y slider is smaller than the X stroke of the X slider. The Y stroke is preferably 50% or less, more preferably 30% or less of the X stroke.

[0011] The processing machine may have a W frame that supports a W guide. The processing machine may have a W-axis drive device that is arranged on the W frame and moves a W slider. The W direction is parallel to the Z direction. The W guide extends in the W direction. The W slider reciprocates in the W direction.

[0012] During processing, the processing machine may have a first support that supports the X frame and the X guide. The first support may have the X frame, a coupling that connects to the X guide, and a mechanical stopper. During drilling, the processing machine may have a second support that supports the body of the processing unit and the Z guide. The first support and the second support are, for example, arranged on the floor surface. The first support and the second support may be robots.

Advantages of the Invention

[0013] According to the processing machine of the present invention, the spindle can be fed linearly, and drilling and milling can be performed stably.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Best Mode for Carrying Out the Invention

[0015] <Embodiment 1> As shown in FIG. 1, the processing machine 10 of this embodiment includes a robot 11 and an end effector 15. The end effector 15 includes an X linear motion unit 20 and a processing unit 40. As also shown in FIG. 3, the processing machine 10 may include a coolant supply device 75, a nozzle 79, a bracket 78, a supply hose (coolant pipe) 76, an air source (actuating fluid source) 84, and a support 87.

[0016] FIG. 2 is a cross-sectional view taken along line II-II of FIG. 3. As shown in FIG. 2, the robot 11 has a connection surface 11a and an arm 11b. The robot 11 is, for example, a vertically articulated robot. The connection surface 11a is disposed at the tip of the arm 11b. Hereinafter, one direction along the connection surface 11a is defined as the X direction. A direction perpendicular to the connection surface 11a is defined as the Y direction, and the direction toward the arm 11b is defined as positive. A direction perpendicular to the X direction and the Y direction is defined as the Z direction, and the upper side of FIG. 3 is defined as positive. For convenience, the -Y direction is defined as upward. The +Z direction is defined as the base end or the rear, and the -Z direction is defined as the tip or the front.

[0017] As shown in FIGS. 2 and 3, the X linear motion unit 20 includes an X frame 21, an X guide 29, an X slider 31, an X drive device 22, a fixed cover 33, and a slide cover 34. The X frame 21 is box-shaped and is disposed on the connection surface 11a. The X frame 21 is open upward. The X frame 21 extends in the X direction.

[0018] The X guide 29 includes a guide rail 29a and a guide block 29b. The guide rail 29a extends along the X axis and is disposed above the X frame 21. The guide block 29b reciprocates in the X direction on the guide rail 29a. The X slider 31 includes a slider 31a and a nut block 31b. The slider 31a is connected to the guide block 29b. The nut block 31b is connected below the X slider 31.

[0019] The X driving device 22 is, for example, a ball screw - servo motor mechanism. The X driving device 22 has an X feed screw 23, a bearing 24, a pulley 25, and an X motor 27 (see FIG. 3). The X motor 27 is arranged on the front side of the paper surface in FIG. 3 and is represented by a two - dot chain line. The X driving device 22 may have an X cylinder 36. The X feed screw 23 has a screw shaft 23a and a nut 23b. The X feed screw 23 extends in the X direction. The screw shaft 23a is supported by the X frame 21 via the bearing 24. The nut 23b is connected to the nut block 31b. The pulley 25 is connected to the screw shaft 23a. The pulley 25 is connected to the X motor 27 by a belt 26. Note that the X motor 27 may be directly connected to the screw shaft 23a. The X motor 27 may be connected to the screw shaft 23a via a coupling (not shown).

[0020] The X cylinder 36 is arranged on the X frame 21. The X cylinder 36 is an air cylinder. The X cylinder 36 is a single - acting cylinder or a double - acting cylinder. The X cylinder 36 has a cylinder body 36a, a piston 36b, and a piston rod 36c. The cylinder body 36a is connected to the X frame 21. The piston 36b reciprocates inside the cylinder body 36a. The piston rod 36c connects the piston 36b and the X slider 31. When the X slider 31 moves in the +X direction, the X cylinder 36 biases the X slider 31 in the +X direction. When the X slider 31 moves in the -X direction, the X cylinder 36 biases the X slider 31 in the -X direction.

[0021] The air source (actuating fluid source) 84 is connected to the X cylinder 36. The air source 84 is, for example, a compressor, a fluid direction valve, a pressure regulating valve, or a combination thereof.

[0022] The fixed cover 33 is fixed to the X-frame 21. The fixed cover 33 is box-shaped and covers most of the X-drive device 22 and the X-guide 29. As shown in FIG. 2, the fixed cover 33 has an opening 33a upward. The X-slider 31 penetrates the opening 33a. The slide cover 34 is connected to the X-slider 31 and covers the opening 33a. The slide cover 34 cooperates with the fixed cover 33 to cover the X linear motion unit 20. For example, the slide cover 34 slides on the fixed cover 33. A scraper may be arranged between the slide cover 34 and the fixed cover 33.

[0023] As shown in FIG. 1, the support 87 has a support block 88 and one or more connecting parts 89. The support block 88 is fixed to, for example, the floor surface. The support block 88 may be supported by a robot arm different from the arm 11b. The connecting part 89 is, for example, a coupler or a mechanical stopper. The connecting part 89 is arranged on the support block 88. The connecting part 89 is connected to the X-frame 21.

[0024] As shown in FIG. 3, the processing unit 40 has a body 41, a Z-guide 43, a Z-slider 45, a ram 47, a main bearing 60, a main shaft 59, a propeller shaft 61, bearings 50, 62, a main shaft driven pulley 63, a main shaft motor 65, a main shaft drive pulley 66, belts 52, 67, a Z feed screw 49, a Z driven pulley 51, a Z motor 53, a Z drive pulley 55, a unit cover 69, and a pulley cover 71. The processing unit 40 may have a Z cylinder 83. Note that the Z motor 53 may be directly connected to the screw shaft 49a. The Z motor 53 is connected to the screw shaft 49a via a coupling (not shown).

[0025] The body 41 is arranged on the X-slider 31. The body 41 has a motor bracket 41c, a bearing bracket 41b, and an opening 41d. The body 41 is box-shaped. The opening 41d is arranged above the body 41. The bearing bracket 41b has a ram guide hole 41a. The body 41 may be integrally formed with the X-slider 31.

[0026] The Z guide 43 has a guide rail 43a and a guide block 43b. The guide rail 43a extends in the Z direction and is disposed on the upper surface of the body 41. The guide block 43b is connected below the Z slider 45.

[0027] The base end portion of the ram 47 is connected to the Z slider 45. The ram 47 extends in the Z direction. The ram 47 is a hollow straight cylindrical shape. The tip end portion of the ram 47 is guided by the ram guide hole 41a. The main shaft 59 is supported by a main bearing 60 inside the ram 47. The main shaft 59 has a relief hole 59a and a spline hole 59b. The relief hole 59a opens at the rear end of the main shaft 59 and extends toward the tip end portion. The spline hole 59b is disposed at the rear end portion of the relief hole 59a. A tool 1 is attached to the tip end portion (front end portion) of the main shaft 59.

[0028] The propeller shaft 61 has a spline shaft 61b. The spline shaft 61b is disposed from the tip end to the central portion of the propeller shaft 61. The base end portion 61a of the propeller shaft 61 is supported by the motor bracket 41c via a bearing 62. The propeller shaft 61 penetrates the Z slider 45 and is inserted into the relief hole 59a inside the main shaft 59. The spline shaft 61b meshes with the spline hole 59b. A part of the propeller shaft 61 protrudes from the rear surface of the motor bracket 41c. The main shaft driven pulley 63 is connected to the rear end portion of the propeller shaft 61.

[0029] The main shaft motor 65 is disposed on the front surface of the motor bracket 41c. The output shaft 65a of the main shaft motor 65 protrudes from the rear surface of the motor bracket 41c. The main shaft drive pulley 66 is connected to the output shaft 65a. The main shaft drive pulley 66 and the main shaft driven pulley 63 are connected by an endless belt 67.

[0030] The Z feed screw 49 has a screw shaft 49a and a nut 49b. The screw shaft 49a is supported by a bearing bracket 41b and a motor bracket 41c via a bearing 50. The nut 49b is connected to the upper end of the Z slider 45. The rear end of the screw shaft 49a protrudes rearward of the motor bracket 41c. The Z driven pulley 51 is connected to the rear end of the screw shaft 49a.

[0031] The Z motor 53 is disposed on the front surface of the motor bracket 41c. The output shaft 53a of the Z motor 53 protrudes from the rear surface of the motor bracket 41c. The Z drive pulley 55 is connected to the output shaft 53a. The Z drive pulley 55 and the Z driven pulley 51 are connected by an endless belt 52.

[0032] The unit cover 69 is disposed on the body 41 and covers the opening 41d. The unit cover 69 covers the Z guide 43, the ram 47, the Z slider 45, the Z feed screw 49, and the bearings 50 and 62. The unit cover 69 may cover the spindle motor 65 and the Z motor 53. The pulley cover 71 is disposed on the body 41 and covers the pulleys 63, 51, 55, 66 and the belts 52, 67.

[0033] The coolant supply device 75 supplies, for example, mist coolant and compressed air. The coolant supply device 75 is disposed at an installation portion (not shown) of the robot 11. Note that the coolant supply device 75 may be disposed on the first axis of the robot 11 which is an articulated robot. The bracket 78 is disposed on the ram 47. Preferably, the bracket 78 is disposed at the tip of the ram 47. Note that the bracket 78 may be disposed on the Z slider 45. The bracket 78 may be omitted. The nozzle 79 is disposed on the bracket 78 or the ram 47. The nozzle 79 injects coolant toward the tool 1. The supply hose 76 connects the coolant supply device 75 and the nozzle 79.

[0034] The Z-cylinder 83 is disposed in the body 41. The Z-cylinder 83 is an air cylinder. The Z-cylinder 83 is a single-acting cylinder that biases the Z-slider 45 in the -Z direction. The Z-cylinder 83 has a cylinder body 83a, a piston 83b, and a piston rod 83c. The cylinder body 83a is connected to the X-frame 21. The piston 83b reciprocates within the cylinder body 83a. The piston rod 83c connects the piston 83b and the Z-slider 45. The Z-cylinder 83 is connected to an air source 84.

[0035] The processing machine 10 may have a support 91 (see FIG. 2). The support 91 is connected to the body 41 and supports the body 41. The support 91 is substantially equal to the support 87.

[0036] A method of using the processing machine 10 will be described. First, the robot 11 positions the X-linear motion unit 20 at a predetermined processing position (not shown). The support 87 may be connected to the X-linear motion unit 20. During processing, the robot 11 holds the X-linear motion unit 20 at the processing position.

[0037] When drilling a hole, the following operations are performed. The X drive device 22 positions the X-slider 31 at a predetermined hole-opening position (not shown). At this time, the support 91 may be connected to the body 41 and support the body 41. Then, the spindle motor 65 rotates the spindle 59. While holding the X-slider 31 at the hole-opening position, the Z motor 53 feeds out the ram 47 and retracts the ram 47 after reaching a predetermined depth.

[0038] When performing milling, the following operations are performed. The X drive device 22 positions the X-slider 31 at a predetermined processing start position (not shown). Then, the spindle motor 65 rotates the spindle 59. Next, the Z motor 53 feeds out the ram 47 to a predetermined height. Next, the X drive device 22 feeds the X-slider 31 in the X direction, and the tool 1 mills the workpiece. When the X-slider 31 reaches a predetermined processing end position, the Z motor 53 retracts the ram 47.

[0039] The processing machine of Patent Document 2 has a processing point separated from the tip of the robot arm, and sufficient rigidity cannot be ensured. On the other hand, according to the processing machine 10 of the present embodiment, the center of gravity of the end effector 15 can be close to the connection surface 11a of the robot 11. Also, the tip of the spindle 59 can be close to the connection surface 11a. During processing, cutting resistance and cutting vibration act on the spindle 59. By bringing the tip of the spindle 59 close to the connection surface 11a of the robot 11, the load on the robot 11 is reduced. Therefore, the rigidity of the entire processing machine 10 is improved.

[0040] When the processing machine 10 has the support 87, the X linear movement unit 20 is supported by the support 87. At this time, the support 87 receives all or part of the cutting resistance and cutting vibration acting on the spindle 59. Therefore, the load on the robot 11 during processing can be reduced. Therefore, the rigidity of the entire processing machine 10 is improved.

[0041] The Z cylinder 83 pushes the Z slider 45 forward. The Z motor 53 receives the cutting resistance during drilling. The Z cylinder 83 reduces the cutting resistance acting on the Z motor 53. Also, when the Z cylinder 83 is a compressible fluid cylinder, the Z cylinder 83 absorbs cutting vibration. Thereby, the output torque of the Z motor 53 can be reduced. And the Z motor 53 can be miniaturized.

[0042] The X cylinder 36 pushes the X slider 31 left and right. The X motor 27 receives the cutting resistance during milling. The X cylinder 36 reduces the cutting resistance acting on the X motor 27. Also, when the X cylinder 36 is a compressible fluid cylinder, the X cylinder 36 absorbs cutting vibration. Thereby, the output torque of the X motor 27 can be reduced. And the X motor 27 can be miniaturized.

[0043] When having the Z cylinder 83 and the X cylinder 36, by miniaturizing the Z motor 53 and the X motor 27, the mass and inertia of the end effector 15 can be reduced.

[0044] <Embodiment 2> As shown in FIGS. 4 and 5, the processing machine 100 of this embodiment includes a robot 11 and an end effector 115. The end effector 115 includes an X linear motion unit 20, a Y linear motion unit 120, and a processing unit 40. FIG. 5 is a cross-sectional view of the X linear motion unit 20 and the Y linear motion unit 120 cut along a plane passing through the centers of the X feed screw 23 and the Y feed screw 123.

[0045] The Y linear motion unit 120 includes a Y frame 121, a Y guide 129, a Y slider 131, a Y drive device 122, a fixed cover 133, and a slide cover 134. The Y linear motion unit 120 extends in the Y direction. The Y frame 121 is connected to the X slider 31. The Y frame 121 and the X slider 31 may be integrally formed. The Y frame 121 may have ribs 121a. The ribs 121a extend in the XY direction and connect the Y frame 121 and the X slider 31.

[0046] The Y guide 129 extends in the Y direction and is disposed on the Y frame 121. The Y slider 131 is disposed on the Y guide 129 and reciprocates in the Y direction. The Y drive device 122 includes a Y feed screw 123, a bearing 124, a pulley 125, a Y motor (not shown), and an endless belt 126. The Y drive device 122 may have a Y cylinder (not shown). The Y feed screw 123 is supported by the Y frame 121 via the bearing 124. The Y feed screw 123 is connected to the Y slider 131. The pulley 125 is connected to the Y motor via the endless belt 126. The Y motor drives the Y slider 131 in the Y direction. The Y cylinder is, for example, an air cylinder. The Y cylinder may be a double-acting cylinder. When the Y slider 131 moves in the -Y direction, the Y cylinder biases the Y slider 131 in the -Y direction. When the Y slider 131 moves in the +Y direction, the Y cylinder biases the Y slider 131 in the +Y direction.

[0047] In addition, the Y linear motion unit 120 is substantially the same as the X linear motion unit 20. Preferably, the Y stroke 4 of the Y linear motion unit 120 is smaller than the X stroke 3 of the X linear motion unit 20. The Y stroke 4 is preferably 50% or less, more preferably 30% or less of the X stroke 3. Note that the slide cover 134 and the cover of the X linear motion unit 20 are freely designed so as to avoid interference. For example, it may penetrate the slide cover 34 between the slide cover 34 and the X slider 31. The slide cover 34 may have a bent portion 34a. Note that the Y motor (not shown) may be directly connected to the Y feed screw 123. The Y motor (not shown) may be connected to the Y feed screw 123 via a coupling (not shown).

[0048] The processing unit 40 is connected to the Y slider 131. The body 41 may be integrally formed with the Y slider 131.

[0049] According to the processing machine 100 of the present embodiment, the main shaft 59 can be moved in the XYZ directions while being held without moving the position of the arm 11b of the robot 11. Therefore, it is possible to stably perform milling processing with a width wider than the diameter of the tool 1 and milling processing of an L-shaped surface drawn on the XY plane.

[0050] Since the Y stroke 4 is smaller than the X stroke 3, the processing point and the connection surface 11a can be brought closer. Therefore, the rigidity of the entire processing machine 10 is improved.

[0051] <Embodiment 3>

[0052] As shown in FIG. 6, the processing machine 200 of the present embodiment includes a robot 11 and an end effector 215. The end effector 215 includes an X linear motion unit 20, a W linear motion unit 220, and a processing unit 40. The W direction is parallel to the Z direction. FIG. 6 is a cross-sectional view of the X linear motion unit 20 and the W linear motion unit 220 cut along the YZ plane passing through the W feed screw 223.

[0053] The W linear motion unit 220 has a W frame 221, a W guide 229, a W slider 231, a W drive device 222, a fixed cover 233, and a slide cover 234. The W linear motion unit 220 extends in the W direction. The W frame 221 is connected to the X slider 31. The W frame 221 extends in the W direction. The W frame 221 and the X slider 31 may be integrally formed.

[0054] The W guide 229 extends in the W direction and is arranged on the W frame 221. The W guide 229 is, for example, a linear guide. The W slider 231 is arranged on the W guide 229 and reciprocates in the W direction.

[0055] The W drive device 222 has a W feed screw 223, a bearing 224, a pulley 225, an endless belt 226, and a W motor (not shown). The W drive device 222 may have a W cylinder (not shown). The W feed screw 223 is supported by the W frame 221 via the bearing 224. The W feed screw 223 is connected to the W slider 231. The pulley 225 is connected to the W feed screw 223. The W motor drives the W feed screw 223 via the endless belt 226 and the pulley 225. The W motor may be directly connected to the W feed screw 223. The W motor may be connected to the W feed screw 223 via a coupling (not shown). The W motor drives the W slider 231 in the W direction. The W cylinder is arranged on the W frame 221 and biases the W slider 231 in the -W direction. The W cylinder is, for example, an air cylinder. For example, the W cylinder is a single-acting cylinder.

[0056] The fixed cover 233 is arranged on the W frame 221. The slide cover 234 is connected to the W slider 231. The fixed cover 233 and the slide cover 234 cooperate to cover the W guide 229 and the W drive device 222. In addition, the W linear motion unit 220 is substantially the same as the X linear motion unit 20.

[0057] The processing unit 40 is connected to the W slider 231. The body 41 may be integrally formed with the W slider 231. Note that the X linear motion unit 20 may be omitted. In this case, the W frame 221 is directly connected to the connection surface 11a.

[0058] In the processing machine 10 of Embodiment 1 shown in FIG. 3 and the processing machine 100 of Embodiment 2 shown in FIG. 5, the entire processing unit 40 cannot be moved in the -Z direction with respect to the connection surface 11a of the robot 11. And the front end surface of the body 41 of the processing unit 40 and the front end surfaces of the X linear motion unit 20 and the Y linear motion unit 120 are close to each other. Therefore, the protruding amount of the ram 47 with respect to the X linear motion unit 20 and the Y linear motion unit 120 approximates the Z stroke 6 of the processing unit 40. And the front surfaces of the X linear motion unit 20 and the Y linear motion unit 120 extend around the base end portion of the ram 47.

[0059] On the other hand, as shown in FIG. 6, according to the processing machine 200 of the present embodiment, the W linear motion unit 220 can project the W slider 231 and the processing unit 40 in the tip direction (-W direction) of the spindle 59. Further, the processing unit 40 can extend the ram 47. Therefore, the ram 47 can project with respect to the X linear motion unit 20 by an amount that combines the W stroke 5 of the W linear motion unit 220 and the Z stroke 6 (see FIG. 3). The XY cross section of the processing unit 40 is smaller than the XY cross section of the entire end effector 215. For example, the XY cross section of the processing unit 40 is less than or equal to half of the XY cross section of the entire end effector 215. Further, the cross section of the ram 47 is considerably smaller than the XY cross section of the processing unit 40. For example, the cross section of the ram 47 is 5 to 10% of the XY cross section of the processing unit 40. Therefore, according to the processing machine 200, the tool 1 can be inserted into and processed even in a narrow portion of the workpiece.

[0060] The present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present invention. All technical matters included in the technical idea described in the claims are the subject of the present invention. The above embodiments show preferred examples, but those skilled in the art can realize various alternative examples, modified examples, deformed examples, or improved examples from the content disclosed in this specification, and these are included in the technical scope described in the appended claims.

Explanation of Reference Numerals

[0061] 10, 100, 200 Machine tools 11 Robot 11a Connection surface 29 X guide 31 X slider 40 Processing unit 45 Z slider 59 Spindle

Claims

1. A robot having a connection surface, an X guide disposed on the connection surface and extending in the X direction parallel to the connection surface, an X slider guided by the X guide and reciprocating in the X direction, a machining unit disposed on the X slider, a Z slider reciprocating in the Z direction perpendicular to the X direction, a spindle capable of mounting a tool, rotatably disposed on the Z slider and extending in the Z direction, a machining unit having the above, a machining machine having the above.

2. The robot is a vertical articulated robot, The machining machine according to Claim 1.

3. a Y guide disposed on the X slider and extending in the Y direction perpendicular to the X direction and the Z direction, a Y slider guided by the Y guide and reciprocating in the Y direction, further having, The machining unit is disposed on the Y slider, The machining machine according to Claim 1 or 2.

4. a coolant supply device for supplying coolant, a nozzle disposed on the Z slider, reciprocating in the Z direction integrally with the spindle, and ejecting the coolant toward the tool, a coolant pipe connecting the coolant supply device and the nozzle, further having, the machining machine according to any one of Claims 1 to 3.

5. The machining unit, a body having a ram guide hole, a ram disposed on the Z slider and penetrating the ram guide hole, having, The spindle is disposed on the ram, The machining machine according to any one of Claims 1 to 4.

6. The machining unit, a body, a Z cylinder, a cylinder body disposed on the body, a piston reciprocating in the Z direction within the cylinder body and connected to the Z slider, a Z cylinder having the above, having, the machining machine according to any one of Claims 1 to 5.

7. a W guide disposed on the X slider and extending in the W direction parallel to the Z direction, a W slider guided by the W guide and reciprocating in the W direction, further having, The machining unit is disposed on the W slider, The machining machine according to Claim 1 or 2.

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