Machine tool and workpiece machining method

Abstract

The present invention provides a machine tool and a workpiece machining method that can realize efficient machining, suppress an increase in installation space, and maintain machining accuracy. [Solution] The machine tool includes a work support device having a table that supports a workpiece, a machining head capable of supporting a first rotating tool that processes the workpiece supported by the table, and a machining device having a plurality of linear motion devices that move the machining head in three dimensions, a laser head that irradiates a laser on the workpiece supported by the table, and a first robot that has a multi-joint arm that changes the position and orientation of the laser head and processes the workpiece with a laser.

Description

[Technical field]

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

[0002] To improve production efficiency, it is known to use machine tools equipped with multiple heads.

[0003] As a related technique, a machining center is disclosed in Patent Document 1. The machining center described in Patent Document 1 includes a first machining head and a second machining head.

[0004] Furthermore, a machining system is disclosed in Patent Document 2. The machining system described in Patent Document 2 includes a platform formed by connecting a plurality of track modules, and a plurality of machining units that move on the track of the platform. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2000-296429 A [Patent Document 2] JP 2023-134393 A Summary of the Invention [Problem to be solved by the invention]

[0006] An object of the present invention is to provide a machine tool and a workpiece machining method that can realize efficient machining, suppress an increase in installation space, and maintain machining accuracy. [Means for solving the problem]

[0007] An embodiment of the present invention relates to a machine tool and a workpiece machining method described below.

[0008] (1) a work support device having a table for supporting a work; a machining device having a machining head capable of supporting a first rotary tool for machining the workpiece supported by the table, and a plurality of linear motion devices for three-dimensionally moving the machining head; a first robot having a laser head that irradiates a laser beam onto the workpiece supported by the table, and a multi-joint arm that changes the position and orientation of the laser head, and that processes the workpiece with the laser; Equipped Machine tools. (2) A second robot has a second articulated arm that changes the position and orientation of a second rotary tool and processes the workpiece supported by the table using the second rotary tool. The machine tool described in (1) above. (3) In a plan view, the processing device, the first robot, and the second robot are disposed around the workpiece support device. The machine tool described in (2) above. (4) A wall defining a processing room; A door for opening and closing a work passage opening formed in the wall; Equipped with In a plan view, the work support device is disposed between the processing device and the work passage opening, In a plan view, the work passage opening, the first robot, and the processing device are disposed around the work support device. A machine tool according to any one of (1) to (3) above. (5) a protector for protecting a tip of the laser head; The protector includes a recess for receiving the tip. A machine tool according to any one of (1) to (4) above. (6) A coolant supply device is provided for supplying a coolant to the workpiece supported by the table, Before the laser is emitted from the laser head, the tip of the laser head is removed from the recess. The machine tool described in (5) above. (7) a shutter separating a first area in which the first robot is disposed from a second area in which the table is disposed; a shutter drive device for opening and closing the shutter; Equipped A machine tool according to any one of (1) to (6) above. (8) The workpiece support device includes a first drive device that rotates the table around a first axis. A machine tool according to any one of (1) to (7) above. (9) A control device that controls the first robot and the first drive device, When a first machining cycle is defined as a cycle in which the table supporting the workpiece is rotated about the first axis, and then the workpiece supported by the table is machined by the laser emitted from the laser head supported by the articulated arm, the control device repeatedly executes the first machining cycle two or more times. The machine tool described in (8) above. (10) The workpiece supporting device includes a second driving device that tilts the table around a second axis different from the first axis. A machine tool according to (8) or (9) above. (11) When a direction from the processing device toward the work support device is defined as a first direction in a plan view, a third drive device is provided which moves the work support device in a direction parallel to the first direction. A machine tool according to any one of (1) to (10) above. (12) A control device for controlling the processing device and the first robot, The control device includes: a first processing mode in which the first robot is controlled to process the workpiece supported on the table with the laser emitted from the laser head supported on the articulated arm; a second machining mode in which the machining device is controlled to machine the workpiece supported on the table with the first rotary tool supported on the machining head; It is possible to execute The first processing mode is a first hole forming mode in which a hole is formed in the workpiece by the laser emitted from the laser head; a trimming mode in which burrs are removed from the workpiece by the laser emitted from the laser head; A cut-out mode in which a part of the workpiece is cut out from the workpiece by the laser emitted from the laser head; and A laser marking mode in which at least one of characters, symbols, and bar codes is engraved on the surface of the workpiece by the laser emitted from the laser head. At least one of The second processing mode is A surface machining mode in which the workpiece is surface-machined by the first rotating tool; and a second hole forming mode in which a hole is formed in the workpiece by the first rotating tool; Contains at least one of A machine tool according to any one of (1) to (8) above. (13) mounting the workpiece, directly or indirectly, on a table of a workpiece support device; a first processing step of processing the work supported by the table with a laser emitted from a laser head supported by a multi-joint arm of a first robot; a second machining step of machining the work supported by the table using a first rotary tool supported by a machining head that is three-dimensionally movable; Equipped with The first processing step includes moving the laser head using the articulated arm, The second machining step includes moving the machining head using a plurality of linear motion devices. Workpiece machining method. (14) After the first processing step is performed, the second processing step is performed. The workpiece machining method according to (13) above. (15) A part of the first processing step and a part of the second processing step are carried out simultaneously. The workpiece machining method according to (13) above. Effect of the Invention

[0009] The present invention makes it possible to provide a machine tool and a workpiece machining method that can realize efficient machining, prevent an increase in installation space, and maintain machining accuracy. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic perspective view showing a machine tool according to a first embodiment. [Diagram 2] FIG. 2 is a schematic perspective view showing a machine tool in the first embodiment. [Diagram 3] FIG. 3 is a schematic perspective view illustrating a machine tool in the first embodiment. [Figure 4] FIG. 4 is a schematic plan view illustrating the machine tool in the first embodiment. [Diagram 5] FIG. 5 is a schematic cross-sectional view showing a state in which the tip of the laser head is inserted into the recess of the protector. [Figure 6] FIG. 6 is a schematic cross-sectional view showing a state in which the recess of the protector is covered with the cover. [Figure 7] FIG. 7 is a schematic cross-sectional view showing a state in which the tip of a laser head is inserted into a recess of a protector in a modified example. [Figure 8] FIG. 8 is a schematic cross-sectional view showing a state in which a protector in a modified example is located at a retracted position. [Figure 9] FIG. 9 is a schematic plan view illustrating the machine tool in the first embodiment. [Figure 10] FIG. 10 is a schematic front view showing an enlarged portion of the movable wall. [Figure 11] FIG. 11 is a schematic plan view illustrating a machine tool in a first modified example of the first embodiment. [Figure 12] FIG. 12 is a schematic plan view illustrating the machine tool in the first embodiment. [Figure 13] FIG. 13 is a schematic plan view illustrating the machine tool in the first embodiment. [Figure 14] FIG. 14 is a schematic plan view illustrating the machine tool in the first embodiment. [Figure 15] FIG. 15 is a schematic plan view illustrating a machine tool in a second modified example of the first embodiment. [Figure 16] FIG. 16 is a schematic side view showing a part of the processing head. [Figure 17] FIG. 17 is a schematic perspective view illustrating an example of the first robot and the support base. [Figure 18] FIG. 18 is a schematic perspective view showing an enlarged example of a laser head attached to an articulated arm. [Figure 19] FIG. 19 is a schematic plan view illustrating the machine tool in the first embodiment. [Figure 20] FIG. 20 is an enlarged view of the area enclosed by a dashed-dotted rectangle RC in FIG. [Figure 21] FIG. 21 is a schematic plan view showing an enlarged portion of the machine tool in the first embodiment. [Figure 22] FIG. 22 is a schematic perspective view showing a state in which the cut-out mode is being executed. [Figure 23] FIG. 23 is a schematic perspective view showing a state in which the laser marking mode is being executed. [Figure 24] FIG. 24 is a schematic perspective view illustrating a machine tool according to the second embodiment. [Diagram 25] FIG. 25 is a schematic plan view illustrating a machine tool according to the second embodiment. [Figure 26] FIG. 26 is a schematic perspective view showing a state in which the workpiece is supported on the table. [Figure 27]FIG. 27 is a schematic plan view illustrating a machine tool in the second embodiment. [Figure 28] FIG. 28 is a schematic perspective view illustrating an example of the second robot and the support base. [Figure 29] FIG. 29 is a schematic perspective view showing an enlarged example of a tool support device attached to a second articulated arm. [Diagram 30] FIG. 30 is a schematic side view showing a machining head in a modified example. [Diagram 31] FIG. 31 is a schematic plan view illustrating a machine tool in the second embodiment. [Diagram 32] FIG. 32 is a schematic plan view illustrating a machine tool system according to the second embodiment. [Diagram 33] FIG. 33 is a diagram illustrating a state in which at least one tool changer is capable of changing a first rotating tool supported by a machining head to another first rotating tool. [Diagram 34] FIG. 34 is a diagram illustrating a state in which at least one tool changer is capable of replacing a second rotating tool supported by the tool support device of the second robot with another second rotating tool. [Diagram 35] FIG. 35 is a diagram showing a schematic diagram of a state in which a control device is capable of controlling a plurality of control target devices. [Diagram 36] FIG. 36 is a schematic perspective view showing a state in which the first processing mode is being executed. [Figure 37] FIG. 37 is a schematic perspective view showing a state in which the first processing mode is being executed. [Figure 38] FIG. 38 is a schematic perspective view showing a state after the swing mode has been executed. [Figure 39] FIG. 39 is a schematic perspective view showing a state in which the second processing mode and the third processing mode are being executed. [Diagram 40] FIG. 40 is a schematic perspective view showing a state in which the second processing mode and the third processing mode are being executed. [Diagram 41]FIG. 41 is a schematic plan view illustrating a machine tool in a first modified example of the second embodiment. [Diagram 42] FIG. 42 is a schematic plan view illustrating a machine tool in a first modified example of the second embodiment. [Diagram 43] FIG. 43 is a flowchart showing an example of a workpiece machining method in the third embodiment. [Diagram 44] FIG. 44 is a flowchart showing another example of the workpiece machining method in the third embodiment. [Diagram 45] FIG. 45 is a schematic plan view showing an example of the arrangement relationship between a processing device and at least one robot. [Diagram 46] FIG. 46 is a schematic plan view showing an example of the arrangement relationship between a processing device and at least one robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, a machine tool 1 and a workpiece machining method 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.

[0012] (Definition of terms) 1, the machining head 30 of the machining device 3 is capable of supporting a rotating tool. In this specification, the rotating tools supported by the machining head 30 are collectively referred to as a first rotating tool.

[0013] 24, the second articulated arm 60 of the second robot 6 is capable of supporting a rotating tool. In this specification, the rotating tools supported by the second articulated arm 60 are collectively referred to as a second rotating tool.

[0014] In this specification, even if the word "substantially" is not specified, "parallel" includes substantially parallel. It is difficult to achieve strict mathematical parallelism due to tolerances, manufacturing errors, wear, play between members, etc. Therefore, in this specification, all the terms "parallel" without the description of "substantially" can be read as "substantially parallel."

[0015] In this specification, even if the word "substantially" is not specified, "vertical" includes substantially vertical. It is difficult to achieve a strict mathematical vertical due to tolerances, manufacturing errors, wear, play between members, etc. Therefore, in this specification, all the terms "vertical" without the description of "substantially" can be read as "substantially vertical."

[0016] (Direction definition) In this specification, the direction from the processing device 3 toward the workpiece supporting device 2 in a plan view (more specifically, the direction from the processing device 3 toward the table device 20 in a plan view) is defined as a first direction DR1. As illustrated in Fig. 24, in this specification, the direction from the first support stand 25a toward the second support stand 25b is defined as a second direction DR2. In the example illustrated in Fig. 24, the second direction DR2 is perpendicular to the first direction DR1.

[0017] (First embodiment) A machine tool 1A in the first embodiment will be described with reference to Figs. 1 to 23. Figs. 1 to 3 are schematic perspective views showing the machine tool 1A in the first embodiment. Fig. 4 is a schematic plan view showing the machine tool 1A in the first embodiment. Fig. 5 is a schematic cross-sectional view showing a state in which the tip 173a of the laser head 173 is inserted into the recess 141 of the protector 14. Fig. 6 is a schematic cross-sectional view showing a state in which the recess 141 of the protector 14 is covered by the cover 151. Fig. 7 is a schematic cross-sectional view showing a state in which the tip 173a of the laser head 173 is inserted into the recess 141 of the protector 14 in the modified example. Fig. 8 is a schematic cross-sectional view showing a state in which the protector 14 in the modified example is located at the storage position F2. Fig. 9 is a schematic plan view showing the machine tool 1A in the first embodiment. Fig. 10 is a schematic front view showing an enlarged view of a part of the movable wall 11b. FIG. 11 is a schematic plan view showing a machine tool 1A in a first modified example of the first embodiment. FIGS. 12 to 14 are schematic plan views showing a machine tool 1A in the first embodiment. FIG. 15 is a schematic plan view showing a machine tool 1A in a second modified example of the first embodiment. FIG. 16 is a schematic side view showing a part of the processing head 30. FIG. 17 is a schematic perspective view showing an example of the first robot 5 and the support base 13a. FIG. 18 is a schematic perspective view showing an enlarged example of the laser head 173 attached to the articulated arm 50. FIG. 19 is a schematic plan view showing a machine tool 1A in the first embodiment. FIG. 20 is an enlarged view of an area surrounded by a dashed rectangle RC in FIG. 19. FIG. 21 is a schematic plan view showing an enlarged part of the machine tool 1A in the first embodiment. FIG. 22 is a schematic perspective view showing a state in which the cutout mode M1-3 is executed. FIG. 23 is a schematic perspective view showing a state in which the laser marking mode M1-4 is being executed.

[0018] As illustrated in FIG. 1, a machine tool 1A in the first embodiment includes a workpiece supporting device 2, a processing device 3, and a first robot 5. The workpiece supporting device 2 is a workpiece supporting device.

[0019] As illustrated in Fig. 2, the workpiece supporting device 2 includes a table 21 that supports the workpiece W. More specifically, the workpiece supporting device 2 includes the table 21 that directly or indirectly supports the workpiece W. In the example illustrated in Fig. 2, the table 21 supports the workpiece W via a jig J. Alternatively, the table 21 may directly support the workpiece W.

[0020] The machining device 3 includes a machining head 30 and a plurality of linear motion devices 4. The machining head 30 is capable of supporting a first rotating tool T1 for machining a workpiece W supported by a table 21.

[0021] The multiple linear motion devices 4 three-dimensionally move the processing head 30. More specifically, the multiple linear motion devices 4 move the processing head 30 in directions parallel to each of three different axes.

[0022] 2, the first robot 5 includes a laser head 173 that irradiates a laser onto a workpiece W supported by a table 21. The first robot 5 also includes an articulated arm 50 that changes the position and orientation of the laser head 173. The first robot 5 can also be said to be an articulated robot. The first robot 5 processes the workpiece W with a laser.

[0023] In the machine tool 1A in the first embodiment, the workpiece W supported by the table 21 can be machined using the first rotating tool T1 supported by the processing device 3 and the laser head 173 supported by the first robot 5. Therefore, it is not necessary to move the workpiece between the table of the machine tool that processes the workpiece with the first rotating tool T1 and the table of the laser processing machine. This improves the efficiency of processing the workpiece W.

[0024] Furthermore, in the machine tool 1A in the first embodiment, both the processing device 3 and the first robot 5 are disposed at positions where they can process the workpiece W supported by the table 21. This prevents the installation space for the machine tool 1A from increasing.

[0025] In the first embodiment, the processing device 3 includes a plurality of linear motion devices 4 that move the processing head 30 three-dimensionally. Therefore, the processing device 3 can perform processing with higher accuracy than when the processing head 30 is supported by a robot. For example, the processing device 3 may be in charge of processing requiring high accuracy, and the first robot 5 may be in charge of processing requiring relatively low accuracy. In addition, the processing device 3 may be in charge of surface cutting of the workpiece W, and the first robot 5 may be in charge of laser cutting or laser marking of the workpiece W. Processing for forming a plurality of holes in the workpiece W may be performed by both the processing device 3 and the first robot 5.

[0026] (Optional configuration) Next, optional additional configurations that can be adopted in the first embodiment (or the second or third embodiment described later) will be described with reference to FIGS.

[0027] (Work W) In the first, second, or third embodiment, the workpiece W machined by the machine tool 1 is, for example, a metal workpiece. When the workpiece W is a metal workpiece, the term "machine tool" in this specification can be read as "metal processing device." The workpiece W machined by the machine tool 1 may be an aluminum workpiece. The workpiece W machined by the machine tool 1 may be an aluminum cast part.

[0028] The workpiece W machined by the machine tool 1 may be an automobile part or other workpiece. The workpiece W may be a part of the body frame of an automobile. The workpiece W machined by the machine tool 1 may be a small workpiece or a large workpiece. As illustrated in FIG. 2, when the workpiece W is a large workpiece, the height of the workpiece W (more specifically, the distance from the bottom surface to the top surface We of the workpiece W) may be, for example, 1000 mm or more, or 1500 mm or more. When the workpiece W is a large workpiece, the width of the workpiece W (more specifically, the maximum value of the distance between the first side surface Wc of the workpiece W and the second side surface Wd of the workpiece W) may be, for example, 1000 mm or more, or 1500 mm or more. When the workpiece W is a large workpiece, the depth of the workpiece W (more specifically, the maximum value of the distance between the first main surface Wa and the second main surface Wb) may be, for example, 300 mm or more, or 500 mm or more.

[0029] (Protector 14) In the example shown in Fig. 4, the machine tool 1A includes a protector 14 that protects a tip portion 173a of a laser head 173. The protector 14 includes a recess 141 that receives the tip portion 173a of the laser head 173. In the example shown in Fig. 4, the protector 14 (more specifically, the recess 141) is provided in the machining chamber CB. The protector 14 (more specifically, the recess 141) may be fixed in position with respect to the machining chamber CB, or may be movably supported by a support member 156 (see Fig. 7) that is fixed in position with respect to the machining chamber CB.

[0030] As illustrated in FIG. 5, when the tip 173a of the laser head 173 is received in the recess 141, the optical component 174 (e.g., the lens 174n) disposed inside the laser head 173 and / or the laser emission port 173e of the laser head 173 are protected. More specifically, when the tip 173a of the laser head 173 is received in the recess 141, the protector 14 isolates the optical component 174 (more specifically, the lens 174n) disposed inside the laser head 173 and the laser emission port 173e of the laser head 173 from the processing atmosphere. In this way, when the tip 173a of the laser head 173 is received in the recess 141, the optical component 174 (more specifically, the lens 174n) disposed inside the laser head 173 and the laser emission port 173e of the laser head 173 are prevented from being adhered to by cutting chips and / or coolant liquid.

[0031] For example, during cutting of the workpiece W by the processing device 3, the tip 173a of the laser head 173 is disposed inside the recess 141. In this manner, chips and / or coolant are prevented from adhering to the optical component 174 and the laser emission port 173e during cutting of the workpiece W by the processing device 3. On the other hand, before a laser is emitted from the laser head 173, the tip 173a of the laser head 173 is removed from the recess 141.

[0032] In the example shown in FIG. 5, the protector 14 includes a wall 143 that defines the recess 141. The laser head 173 may include a flange 173f that abuts against the wall 143. In the example shown in FIG. 5, the flange 173f can close the opening 141a of the recess 141. In this case, the recess 141 and the flange 173f prevent chips and / or coolant from adhering to the optical component 174 (more specifically, the lens 174n) disposed inside the laser head 173 and / or the laser emission port 173e of the laser head 173.

[0033] 6, the machine tool 1A may include a cover 151 that covers the recess 141. The cover 151 covers the recess 141 when the protector 14 is not in use (more specifically, when the tip 173a of the laser head 173 is not inserted in the recess 141). By covering the recess 141, the cover 151 prevents the recess 141 from becoming dirty when the protector 14 is not in use.

[0034] As illustrated in FIG. 7 and FIG. 8, the machine tool 1A may include a moving device 16 that moves the protector 14 between an advanced position F1 (see FIG. 7) and a stored position F2 (see FIG. 8). In the example illustrated in FIG. 7 and FIG. 8, the machine tool 1A includes a support member 156 that movably supports the protector 14. In the example illustrated in FIG. 7, when the protector 14 is located at the advanced position F1, the cover 151 opens the recess 141. After the cover 151 opens the recess 141, the tip 173a of the laser head 173 is inserted into the recess 141. In the example illustrated in FIG. 8, when the protector 14 is located at the stored position F2, the cover 151 covers the recess 141. Also, in the example illustrated in FIG. 8, when the protector 14 is located at the stored position F2, the protector 14 is stored inside the support member 156. In the example shown in FIG. 7 and FIG. 8, the moving device 16 for moving the protector 14 may be omitted, and a driving device for opening and closing the cover 151 may be provided.

[0035] (Coolant supply device 91) In the example shown in FIG. 4, the machine tool 1A includes a coolant supplying device 91 that supplies coolant toward the workpiece W supported by the table 21.

[0036] When the machine tool 1A is equipped with the coolant supplying device 91, an excessive temperature rise of the first rotating tool T1 caused by frictional heat is suppressed, and the lubrication characteristics between the workpiece W and the first rotating tool T1 are improved. Furthermore, chips are prevented from accumulating on the workpiece W. When the coolant can be supplied to the workpiece W, it is also possible to perform heavy cutting of the metal workpiece W using the machining device 3.

[0037] The coolant supplying device 91 preferably includes a nozzle 91n that discharges coolant. In the example shown in Fig. 4, the nozzle 91n is disposed in the machining head 30. Alternatively or additionally, the nozzle 91n that discharges coolant may be disposed on a ceiling or the like of the machine tool 1A. Alternatively or additionally, the nozzle 91n that discharges coolant may be disposed on the second robot 6 (see Fig. 31).

[0038] Laser processing and coolant are incompatible. For example, if a laser is emitted with coolant adhering to the optical components of the laser head 173, the optical components may be damaged. In the example shown in FIG. 4, the machine tool 1A includes the above-mentioned protector 14, so that the adhesion of coolant to the optical components of the laser head 173 is prevented.

[0039] The joint portion of the articulated arm 50, or substantially the entirety of the articulated arm 50, may be covered with a flexible cover. In this case, adhesion of the coolant to the joint portion of the articulated arm 50 is prevented.

[0040] (Processing room CB) In the example shown in Fig. 9, the machine tool 1A includes a machining chamber CB defined by a wall 11. In Fig. 9, the machining chamber CB is hatched with dots to make it easier to see.

[0041] 9, the machine tool 1A includes a wall 11 that defines a machining chamber CB, and the machining head 30 and the articulated arm 50 of the first robot 5 are disposed in the machining chamber CB. In the example shown in Fig. 9, a part of the wall 11 (more specifically, a movable wall 11b that is a part of the wall 11) is a partition wall that separates the machining chamber CB from a second chamber CD in which all or most of the multiple linear motion devices 4 that move the machining head 30 three-dimensionally are disposed.

[0042] 9, the wall 11 defining the processing chamber CB includes a fixed wall 11a and a movable wall 11b. The movable wall 11b moves in accordance with the movement of the processing head 30.

[0043] As illustrated in Figure 10, the movable wall 11b may include a first movable wall 11b-1 that expands and contracts in response to the movement of the processing head 30 in a direction parallel to the vertical direction, and a second movable wall 11b-2 that expands and contracts in response to the movement of the processing head 30 in a direction parallel to the horizontal plane.

[0044] (Work passage OP, door 12) In the example shown in Fig. 9, a workpiece passing opening OP through which the workpiece W passes is formed in a wall 11 that defines the machining chamber CB. In the example shown in Fig. 9, the workpiece passing opening OP is formed in a fixed wall 11a.

[0045] In the example shown in Fig. 9, the machine tool 1A includes a wall 11 that defines a machining chamber CB, and a door 12 that opens and closes a workpiece passage opening OP formed in the wall 11. When the door 12 is in the open position, the workpiece W can be carried into the machining chamber CB from outside the machine tool 1A. Also, when the door 12 is in the open position, the workpiece W (more specifically, a machined workpiece) can be carried out from the table 21 of the workpiece support device 2 to outside the machine tool 1A. The door 12 may be a single-wing door, a double-wing door, or another type of door.

[0046] In the example shown in Fig. 9, in a plan view, the workpiece supporting device 2 (more specifically, the table device 20 including a table 21 and a first driving device 23 described later) is disposed between the processing device 3 and the workpiece passage opening OP. Therefore, the processing device 3 does not get in the way when the workpiece W is loaded or unloaded. For example, the workpiece W is prevented from colliding with the processing device 3 when the workpiece W is loaded or unloaded, and damage to the processing device 3 due to the collision is prevented.

[0047] In the example shown in FIG. 9, a work passage opening OP, a first robot 5, and a processing device 3 are arranged around a work supporting device 2 (more specifically, a table device 20) in a plan view.

[0048] 9, the work passage opening OP, the first robot 5, and the processing device 3 are arranged in this order counterclockwise around the work supporting device 2 in a plan view. Alternatively, the work passage opening OP, the first robot 5, and the processing device 3 may be arranged in this order clockwise around the work supporting device 2 in a plan view. When the work passage opening OP, the first robot 5, and the processing device 3 are arranged around the work supporting device 2 with the work supporting device 2 at the center, the size of the machine tool 1A in a plan view can be made compact.

[0049] In the example shown in FIG. 9, the processing device 3 and the first robot 5 are located in areas that are mutually different by approximately 90 degrees with the workpiece supporting device 2 at the center in a plan view.

[0050] 9, the walls 11 defining the machining chamber CB include a first wall 11-1, a second wall 11-2 facing the first wall 11-1, a third wall 11-3 connecting one side of the first wall 11-1 and one side of the second wall 11-2, and a fourth wall 11-4 facing the third wall 11-3. The machining head 30 of the machining device 3 is disposed near the first wall 11-1, a workpiece passage opening OP is formed in the second wall 11-2, and the first robot 5 is disposed near the third wall 11-3.

[0051] Alternatively, as illustrated in Fig. 11, the processing device 3 and the first robot 5 may be arranged to sandwich the workpiece supporting device 2 in a plan view. In other words, the workpiece supporting device 2 may be arranged between the processing device 3 and the first robot 5 in a plan view. In the example illustrated in Fig. 11, the table device 20 may be movable in a direction toward the workpiece passage opening OP.

[0052] (Work support device 2) 2 and 3, the workpiece supporting device 2 may include a first driving device 23 (e.g., a motor) that rotates the table 21 about the first axis AX1. The first driving device 23 may be capable of rotating the table 21 360 degrees about the first axis AX1.

[0053] When the workpiece supporting device 2 includes the first driving device 23, the processing device 3 can use at least one first rotating tool T1 to process both the first main surface Wa of the workpiece W (more specifically, the front surface of the workpiece W) and the second main surface Wb of the workpiece W (more specifically, the back surface of the workpiece W). In addition, the first robot 5 can process both the first main surface Wa of the workpiece W (more specifically, the front surface of the workpiece W) and the second main surface Wb of the workpiece W (more specifically, the back surface of the workpiece W) with a laser.

[0054] In the example shown in FIG. 1, the workpiece supporting device 2 includes a table 21, a block 22 that supports the table 21 so as to be rotatable about a first axis AX1, and a first driving device 23 that rotates the table 21 about the first axis AX1. Each of the table 21 and the block 22 may be formed of one part, or may be formed by an assembly of a plurality of parts. In the example shown in FIG. 1, the first axis AX1 is substantially perpendicular to a horizontal plane. Alternatively, the first axis AX1 may be inclined with respect to the horizontal plane. Furthermore, alternatively, the first axis AX1 may be substantially parallel to the horizontal plane. When the table 21 is tiltable, the angle between the first axis AX1 and the horizontal plane may change according to the tilting of the table 21.

[0055] 1, the table 21 and the first drive device 23 are included in the table device 20. In other words, the machine tool 1A (more specifically, the workpiece supporting device 2) includes the table device 20, which includes the table 21 and the first drive device 23 that rotates the table 21 about the first axis AX1. Additionally, the table device 20 may include a block 22 that supports the table 21 so that the table 21 is rotatable.

[0056] As illustrated in FIG. 1, the machine tool 1A may be provided with a guide rail 24 that supports the table device 20 so as to be movable in a first direction DR1.

[0057] 1, the machine tool 1A includes a third drive device 18 (e.g., a motor) that moves the workpiece supporting device 2 (more specifically, the table device 20 including the table 21 and the first drive device 23) in a direction parallel to the first direction DR1. The third drive device 18 moves the table device 20 along the guide rail 24.

[0058] 12, the table device 20 is movable in a direction parallel to the first direction DR1 at least between a receiving position P1 and an advancing position P2. The receiving position P1 is a position where the table device 20 (more specifically, the table 21) receives the workpiece W brought in from outside the machine tool 1A. The advancing position P2 is a position where the workpiece W supported by the table 21 can be machined using the machining device 3. The receiving position P1 is located on the first direction DR1 side of the advancing position P2.

[0059] 12 and 13, the table device 20 is movable in a direction parallel to the first direction DR1 at least between a receiving position P1 (see FIG. 12) and a rotatable position P3 (see FIG. 13). The rotatable position P3 is a position where the workpiece W supported by the table 21 can be rotated around the first axis AX1 without interfering with the processing device 3 (more specifically, the processing device 3 and the door 12). The receiving position P1 is located closer to the first direction DR1 than the rotatable position P3.

[0060] When the table device 20 is movable to the rotatable position P3, the table 21 can be rotated around the first axis AX1 with a large workpiece W supported on the table 21 (see Figures 13 and 14).

[0061] Alternatively or additionally, as illustrated in FIG. 15, the machine tool 1A may include a fourth drive device 19d (e.g., a motor) that moves the processing device 3 in a direction parallel to the first direction DR1. The fourth drive device 19d moves the entire processing device 3 or a structure including the column 38c that supports the processing head 30 in a direction parallel to the first direction DR1. The machine tool 1A may include a guide rail 19r that extends in a direction parallel to the first direction DR1. The guide rail 19r guides the movement of the entire processing device 3 or a structure including the column 38c that supports the processing head 30.

[0062] 15, the processing device 3 is movable in a direction parallel to the first direction DR1 between an advance position P4 and a retreat position P5. The advance position P4 is a position where the processing device 3 can be used to process the workpiece W supported by the table 21. The retreat position P5 is a position where the workpiece W supported by the table 21 can be rotated around the first axis AX1 without interfering with the processing device 3.

[0063] (Processing head 30) As illustrated in FIG. 16, the processing head 30 includes a spindle 31 , a support 32 , and a bearing 33 .

[0064] The spindle 31 is capable of holding a first rotating tool T1. The spindle 31 is capable of rotating about a first rotation axis AD1.

[0065] The support 32 supports the spindle 31 via a bearing 33 so as to be rotatable about a first rotation axis AD1.

[0066] The processing device 3 (more specifically, the processing head 30) includes a first rotation drive device 34. The first rotation drive device 34 rotates the first rotating tool T1 about a first rotation axis AD1. More specifically, the first rotation drive device 34 rotates the spindle 31 about the first rotation axis AD1, thereby rotating the first rotating tool T1 held by the spindle 31 about the first rotation axis AD1.

[0067] 1, the first rotation axis AD1 is not parallel to the vertical direction, more specifically, the first rotation axis AD1 is substantially perpendicular to the vertical direction. In this case, chips generated by the first rotating tool T1 rotating around the first rotation axis AD1 coming into contact with the workpiece W are likely to be discharged downward.

[0068] 1, the first axis AX1 (in other words, the rotation axis of the table 21) is disposed substantially perpendicular to the direction parallel to the first rotation axis AD1. In this case, by rotating the table 21 supporting the workpiece W about the first axis AX1, the surface to be machined of the workpiece W can be directed toward the first rotating tool T1. More specifically, by rotating the table 21 to each index position about the first axis AX1, each surface to be machined of the workpiece W parallel to the first axis AX1 can be directly faced to the first rotation axis AD1.

[0069] The table 21 may be tiltable so that the first axis AX1 is substantially perpendicular to the direction parallel to the first rotation axis AD1 (see FIGS. 39 and 40, if necessary). In this case, too, each surface to be machined of the workpiece W, which is parallel to the first axis AX1, can be directly faced to the first rotation axis AD1 by rotating the table 21 to each index position about the first axis AX1. In addition, when the table 21 is tiltable about a second axis AX2 different from the first axis AX1 (see FIGS. 39 and 40, if necessary), any surface to be machined of the workpiece W can be directly faced to the first rotation axis AD1 by combining the rotation of the table 21 about the first axis AX1 and the tilt of the table 21 about the second axis AX2.

[0070] (First Robot 5) 17, the first robot 5 includes a multi-joint arm 50, which has at least six rotation axes (RX1, RX2, RX3, RX4, RX5, RX6). More specifically, the multi-joint arm 50 includes a first portion 51a rotatable around a first rotation axis RX1 relative to the support base 13a, a second portion 51b tiltable around a first tilt axis RX2 relative to the first portion 51a, a third portion 51c tiltable around a second tilt axis RX3 relative to the second portion 51b, a fourth portion 51d rotatable around a second rotation axis RX4 relative to the third portion 51c, a fifth portion 51e tiltable around a third tilt axis RX5 relative to the fourth portion 51d, and a sixth portion 51f rotatable around a third rotation axis RX6 relative to the fifth portion 51e. In the example shown in FIG. 17, the articulated arm 50 has at least three tilt axes and at least three rotation axes.

[0071] 17, a laser head 173 is disposed at the tip of the articulated arm 50. In other words, the first robot 5 includes the laser head 173 disposed at the tip of the articulated arm 50. The articulated arm 50 can freely change the position and orientation of the laser head 173. As illustrated in FIG. 18, the laser head 173 emits a laser LB toward the workpiece W.

[0072] 17, the laser head 173 is attached to the articulated arm 50 via the wrist 52. The wrist 52 is formed by the above-mentioned sixth portion 51f.

[0073] In the example shown in FIG. 17, the first robot 5 includes a plurality of arm driving devices 59 (eg, a plurality of motors MT) that move a plurality of joints of the articulated arm 50.

[0074] In the example shown in FIG. 1, the machine tool 1A includes a support table 13a that supports the first robot 5. In the example shown in FIG. 1, the height of an upper surface 131a of the support table 13a is higher than the height of the upper surface of the table 21. Also, the height of the upper surface 131a of the support table 13a is higher than the height of the uppermost end of the table device 20. In the example shown in FIG. 1, the support table 13a is immovable relative to the base 10 of the machine tool 1A. Alternatively, the support table 13a may be movable relative to the base 10 of the machine tool 1A. In other words, the entire first robot 5 may be movable relative to the base 10.

[0075] In the example shown in FIG. 4, the machine tool 1A includes a laser irradiation device 17. The laser irradiation device 17 includes a laser head 173 and a laser light source 176. The laser head 173 constitutes a part of the first robot 5. In other words, the first robot 5 includes the laser head 173. In the example shown in FIG. 18, the laser irradiation device 17 includes a component 178 (e.g., an optical fiber 178f) that transmits a laser from the laser light source 176 to the laser head 173.

[0076] In the example shown in FIG. 19, the machine tool 1 (more specifically, the laser irradiation device 17) includes a gas supply device 177. The gas supply device 177 supplies gas (e.g., nitrogen gas, oxygen gas, or air) to the laser head 173 so that the gas is discharged from the laser emission port 173e to the outside of the laser head 173. In the example shown in FIG. 5, a gas flow path 173p that supplies the gas supplied from the gas supply device 177 toward the laser emission port 173e is provided in the laser head 173. When the laser is emitted from the laser emission port 173e, the gas is discharged from the laser emission port 173e toward the workpiece W. In this way, the dross generated by the laser processing is blown away by the gas. In addition, the gas suppresses the dross generated by the laser processing from adhering to the laser emission port 173e of the laser head. The gas supply device 177 may supply gas to the laser head 173 in order to prevent chips or coolant from entering the laser head 173 through the laser emission port 173e. For example, when cutting processing by the processing device 3 and laser processing by the first robot 5 are performed simultaneously, gas may be released from the laser emission port 173e.

[0077] (Control device 7) In the example shown in FIG. 4, the machine tool 1A includes a control device 7. The control device 7 may be configured by one computer or may be configured by multiple computers. For example, the machine tool 1A may include a first computer that controls the processing device 3 and the workpiece support device 2, and a second computer that controls the first robot 5. In this case, the first computer and the second computer communicate with each other, and the first computer and the second computer work together to function as the control device 7 of the machine tool 1A.

[0078] The control device 7 controls the processing device 3 and the first robot 5. The control device 7 may control the workpiece supporting device 2 (more specifically, the first driving device 23). The control device 7 may also control the third driving device 18 that moves the table device 20 in a direction parallel to the first direction DR1 and / or the fourth driving device 19d (see FIG. 15, if necessary) that moves the processing device 3 in a direction parallel to the first direction DR1.

[0079] 4, the control device 7 includes a memory 72 that stores a machining program and data, and a processor 70 that executes the machining program stored in the memory 72. The machining program is executed by the processor 70, causing the control device 7 to generate a plurality of control commands. The control device 7 also transmits the generated control commands to a plurality of devices to be controlled (e.g., the machining device 3, the first robot 5, the workpiece support device 2, the third driving device 18, the fourth driving device 19d shown in FIG. 15, etc.).

[0080] (First processing mode M1) The control device 7 is capable of controlling the first robot 5 to execute a first processing mode M1 in which a workpiece W supported on the table 21 is processed with a laser emitted from a laser head 173 supported on the articulated arm 50.

[0081] As illustrated in FIGS. 19 and 20, the first machining mode M1 may include a first hole forming mode M1-1 in which a hole HL1 is formed in the workpiece W by a laser emitted from the laser head 173.

[0082] More specifically, when the first hole forming mode M1-1 is executed, the control device 7 sends a first group of control commands to at least the first robot 5 and the laser irradiation device 17 (e.g., the laser light source 176) so that a hole HL1 is formed in the workpiece W by the laser emitted from the laser head 173.

[0083] When the first hole forming mode M1-1 is executed, the laser head 173 may form a hole HL1 in a portion of the workpiece W that is difficult to access by a rotary tool by irradiating the laser to the portion. For example, the laser head 173 may form a hole HL1 in a deep portion of the workpiece W by irradiating the laser to the deep portion.

[0084] As illustrated in FIG. 21, the first machining mode M1 may include a trimming mode M1-2 in which a laser emitted from the laser head 173 is used to remove burrs Bu (more specifically, casting burrs, sprue burrs, etc.) from the workpiece W.

[0085] More specifically, when the trimming mode M1-2 is executed, the control device 7 sends a second group of control commands to at least the first robot 5 and the laser irradiation device 17 (e.g., the laser light source 176) so that burrs Bu (more specifically, casting burrs, sprue burrs, etc.) are removed from the workpiece W by the laser emitted from the laser head 173.

[0086] As illustrated in FIG. 22, the first machining mode M1 may include a cut-out mode M1-3 in which a portion Wk of the workpiece W is cut out by a laser LB emitted from the laser head 173.

[0087] More specifically, when the cut-out mode M1-3 is executed, the control device 7 sends a third group of control commands to at least the first robot 5 and the laser irradiation device 17 (e.g., the laser light source 176) so that the laser emitted from the laser head 173 moves along a closed orbit OB on the workpiece W.

[0088] The portion Wk of the workpiece W cut out from the workpiece W by executing the cut-out mode M1-3 may have a character shape or a logo shape.

[0089] 23, the first processing mode M1 may include a laser marking mode M1-4 in which at least one of a character, a symbol, and a barcode is engraved on the surface of the workpiece W by a laser emitted from the laser head 173. More specifically, the laser marking mode M1-4 includes forming, on the surface of the workpiece W, a depression Dp indicating at least one of a character Dp-1, a symbol, and a barcode by a laser.

[0090] More specifically, when the laser marking mode M1-4 is executed, the control device 7 transmits a fourth group of control commands to at least the first robot 5 and the laser irradiation device 17 (e.g., the laser light source 176) so that at least one of characters, symbols, and barcodes is engraved on the surface of the workpiece W by the laser emitted from the laser head 173. Note that in this specification, the barcode includes a one-dimensional barcode and a two-dimensional barcode (in other words, a QR code (registered trademark)).

[0091] (Second machining mode M2) The control device 7 controls the machining device 3 to thereby execute a second machining mode M2 ​​in which the workpiece W supported on the table 21 is machined by the first rotating tool T1 supported by the machining head 30.

[0092] As illustrated in FIG. 4 (or FIG. 40), the second machining mode M2 ​​may include a surface machining mode M2-1 in which the surface of the workpiece W is machined by the first rotating tool T1.

[0093] More specifically, when the surface machining mode M2-1 is executed, the control device 7 sends a fifth group of control commands to at least the multiple linear motion devices 4 and the first rotational drive device 34 (see Figure 16) so that the surface machining tool T1-1 (e.g., a milling tool such as a face mill) supported by the machining head 30 rotates around the first rotation axis AD1 and moves in a direction substantially perpendicular to the first rotation axis AD1.

[0094] In the example shown in FIG. 4, the machining device 3 can perform surface machining (e.g., milling) on ​​the workpiece W using a first rotating tool T1 (more specifically, a surface machining tool T1-1) supported by the machining head 30. The machining device 3 is capable of high-precision machining and can therefore be suitably responsible for surface machining of the workpiece W. The control device 7 executing the machining program may cause the machining device 3 to be responsible for all surface machining of the workpiece W.

[0095] As illustrated in FIG. 2 (or FIG. 39), the second machining mode M2 ​​may include a second hole forming mode M2-2 in which a hole HL2 is formed in the workpiece W by the first rotating tool T1.

[0096] More specifically, when the second hole forming mode M2-2 is executed, the control device 7 transmits a sixth group of control commands to at least the multiple linear motion devices 4 and the first rotation drive device 34 (see FIG. 16) so that the hole forming tool T1-2 supported by the machining head 30 rotates around the first rotation axis AD1 and moves along the first rotation axis AD1. In this specification, forming a hole in the workpiece W includes both drilling a hole in the workpiece W and forming a screw in the hole in the workpiece W. Therefore, the first rotating tool T1 (more specifically, the hole forming tool T1-2) supported by the machining head 30 when the second hole forming mode M2-2 is executed may be a drill or a tapping tool.

[0097] (Rotation mode M4) As illustrated in Figures 13 and 14, the control device 7 may be capable of executing a rotation mode M4 in which the table 21 is rotated around the first axis AX1 by controlling the work support device 2 (more specifically, the first drive device 23).

[0098] Since the control device 7 can execute the turning mode M4, the machine tool 1 can change the orientation of the workpiece W relative to the first robot 5 and the processing device 3. In this way, each of the first robot 5 and the processing device 3 can easily process the first main surface Wa of the workpiece W (e.g., the front surface of the workpiece W), as well as the first side surface Wc of the workpiece W (e.g., the right side surface of the workpiece W), the second main surface Wb of the workpiece W (e.g., the back surface of the workpiece W), and the second side surface Wd of the workpiece W (e.g., the left side surface of the workpiece W).

[0099] Second Embodiment A machine tool 1B in the second embodiment will be described with reference to Figs. 24 to 42. Fig. 24 is a schematic perspective view showing the machine tool 1B in the second embodiment. Fig. 25 is a schematic plan view showing the machine tool 1B in the second embodiment. Fig. 26 is a schematic perspective view showing a state in which the workpiece W is supported on the table 21. Fig. 27 is a schematic plan view showing the machine tool 1B in the second embodiment. Fig. 28 is a schematic perspective view showing an example of the second robot 6 and the support base 13b. Fig. 29 is a schematic perspective view showing an enlarged example of the tool support device 63 attached to the second articulated arm 60. Fig. 30 is a schematic side view showing the machining head 30 in a modified example. Fig. 31 is a schematic plan view showing the machine tool 1B in the second embodiment. Fig. 32 is a schematic plan view showing the machine tool system 100 in the second embodiment. FIG. 33 is a diagram showing a state where at least one tool exchange device 8 can exchange the first rotating tool T1 supported by the machining head 30 with another first rotating tool. FIG. 34 is a diagram showing a state where at least one tool exchange device 8 can exchange the second rotating tool T2 supported by the tool support device 63 of the second robot 6 with another second rotating tool. FIG. 35 is a diagram showing a state where the control device 7 can control a plurality of control target devices. FIGS. 36 and 37 are schematic perspective views showing a state where the first machining mode M1 is executed. FIG. 38 is a schematic perspective view showing a state after the swing mode M4 is executed. FIGS. 39 and 40 are schematic perspective views showing a state where the second machining mode M2 ​​and the third machining mode M3 are executed. FIGS. 41 and 42 are schematic plan views showing a machine tool 1B in a first modified example of the second embodiment.

[0100] 24, in the second embodiment, the workpiece supporting device 2 includes a second driving device 26 that tilts the table 21 about a second axis AX2. Alternatively, or additionally, the machine tool 1B in the second embodiment includes a second robot 6.

[0101] 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.

[0102] As illustrated in FIG. 24, the machine tool 1B in the second embodiment includes (1) a work support device 2 having a table 21 that supports a workpiece, (2) a machining head 30 capable of supporting a first rotating tool T1 that machines the workpiece supported by the table 21, and a machining device 3 having a plurality of linear motion devices 4 that move the machining head 30 in three dimensions, and (3) a first robot 5 having a laser head 173 that irradiates a laser on the workpiece supported by the table 21 and a multi-joint arm 50 that changes the position and orientation of the laser head 173, and that machines the workpiece with a laser.

[0103] Therefore, the machine tool 1B in the second embodiment has the same effects as the machine tool 1A in the first embodiment.

[0104] (Optional configuration) Next, optional additional configurations that can be adopted in the second embodiment (or the first embodiment described above or the third embodiment described below) will be described with reference to FIGS.

[0105] (Second Robot 6) In the example shown in Fig. 24, the machine tool 1 includes a second robot 6. The second robot 6 uses a second rotating tool T2 to machine a workpiece supported by a table 21. The second robot 6 includes a second articulated arm 60 that changes the position and orientation of the second rotating tool T2. The second robot 6 can also be said to be a second articulated robot.

[0106] 25, the machine tool 1 can machine the workpiece W supported by the table 21 using the first rotating tool T1 supported by the processing device 3, the laser head 173 supported by the first robot 5, and the second rotating tool T2 supported by the second robot 6. This further improves the efficiency of machining the workpiece W.

[0107] 25, the processing device 3, the first robot 5, and the second robot 6 are disposed at positions where they can process the workpiece W supported by the table 21. This prevents the installation space for the machine tool 1 from increasing.

[0108] 25, in a plan view, the processing device 3, the first robot 5, and the second robot 6 are arranged around the workpiece support device 2 (more specifically, the table device 20). In this case, the size of the machine tool 1 in a plan view can be made compact.

[0109] The processing device 3 includes a plurality of linear motion devices 4 that move the processing head 30 three-dimensionally. Therefore, the processing device 3 can perform processing with higher accuracy compared to the second robot 6 having the second articulated arm 60. For example, cutting processing requiring high accuracy can be performed by the processing device 3, and cutting processing requiring relatively low accuracy can be shared between the processing device 3 and the second robot 6.

[0110] As illustrated in Fig. 26, it is assumed that the workpiece W includes a first main surface Wa, a second main surface Wb, a first side surface Wc (e.g., a right side surface), and a second side surface Wd (e.g., a left side surface). In the example described in Fig. 25, when the processing device 3 processes the first main surface Wa of the workpiece W, the second robot 6 can process the first side surface Wc of the workpiece W.

[0111] After the table 21 has been rotated, the processing device 3 can process the second main surface Wb located on the opposite side to the first main surface Wa (see FIG. 27). Also, after the table 21 has been rotated, the second robot 6 can process the second side surface Wd located on the opposite side to the first side surface Wc.

[0112] In the example described in Figures 25 and 27, the machine tool 1 is capable of sequentially simultaneously cutting a workpiece W supported on the table 21 by the processing device 3 and the second robot 6, rotating the table 21 supporting the workpiece W about the first axis AX1 by a predetermined angle (the predetermined angle is, for example, 45 degrees, 90 degrees, 180 degrees, etc.), and again simultaneously cutting the workpiece W supported on the table 21 by the processing device 3 and the second robot 6.

[0113] 25, the workpiece supporting device 2 is disposed between the processing device 3 and the workpiece passage opening OP in a plan view. Therefore, the processing device 3 does not get in the way when the workpiece W is carried in or out.

[0114] In the example shown in FIG. 25, the work passage opening OP, the first robot 5, the processing device 3, and the second robot 6 are arranged around the work support device 2 (more specifically, the table device 20). More specifically, in a plan view, the work passage opening OP, the first robot 5, the processing device 3, and the second robot 6 are arranged around the work support device 2 with the work support device 2 at the center. In this case, it is easy to carry the work W into the work support device 2 through the work passage opening OP. In addition, each of the laser head 173 of the first robot 5, the first rotating tool T1 supported by the processing device 3, and the second rotating tool T2 supported by the second robot 6 can easily approach the work W supported on the table 21.

[0115] As illustrated in FIG. 25, a work passage opening OP, a first robot 5, a processing device 3, and a second robot 6 may be arranged in this order around the work supporting device 2 in a counterclockwise (or clockwise) direction.

[0116] In the example shown in Fig. 25, the processing device 3 and the first robot 5 are located in areas that differ from each other by approximately 90 degrees with the workpiece support device 2 at the center in a plan view. In the example shown in Fig. 25, the processing device 3 and the second robot 6 are located in areas that differ from each other by approximately 90 degrees with the workpiece support device 2 at the center in a plan view.

[0117] In the example shown in FIG. 25, in a plan view, a work support device 2 (e.g., a table device 20, or a guide rail 24 that movably supports the table device 20) is disposed between the first robot 5 and the second robot 6.

[0118] In the example shown in Figure 25, the processing head 30 of the processing device 3 is positioned near the first wall 11-1, the first robot 5 is positioned near the third wall 11-3, and the second robot 6 is positioned near the fourth wall 11-4.

[0119] Alternatively, in the example shown in Fig. 25, the position of the processing device 3 and the position of the first robot 5 may be interchanged. Alternatively, in the example shown in Fig. 25, the position of the processing device 3 and the position of the second robot 6 may be interchanged.

[0120] 28, the second robot 6 includes a second articulated arm 60, which has at least six rotation axes (RT1, RT2, RT3, RT4, RT5, RT6). More specifically, the second articulated arm 60 includes a first portion 61a that can rotate around a first rotation axis RT1 relative to the support base 13b, a second portion 61b that can tilt around a first tilt axis RT2 relative to the first portion 61a, a third portion 61c that can tilt around a second tilt axis RT3 relative to the second portion 61b, a fourth portion 61d that can rotate around a second rotation axis RT4 relative to the third portion 61c, a fifth portion 61e that can tilt around a third tilt axis RT5 relative to the fourth portion 61d, and a sixth portion 61f that can rotate around a third rotation axis RT6 relative to the fifth portion 61e. In the example shown in FIG. 28, the second articulated arm 60 has at least three tilt axes and at least three rotation axes.

[0121] In the example shown in Fig. 28, the wrist 62 is disposed at the tip of the second multi-joint arm 60. In other words, the second robot 6 includes the wrist 62 disposed at the tip of the second multi-joint arm 60. In the example shown in Fig. 28, the wrist 62 is configured by the sixth portion 61f described above. The second multi-joint arm 60 can freely change the position and orientation of the wrist 62.

[0122] The second robot 6 includes a plurality of arm driving devices 69 (eg, a plurality of motors MT) that move a plurality of joints of the second articulated arm 60.

[0123] 28, the second robot 6 includes a tool support device 63 attached to the second articulated arm 60 (more specifically, the wrist 62). The tool support device 63 is capable of supporting a second rotating tool T2.

[0124] The tool support device 63 includes a second rotation drive device 64 (more specifically, a motor) that rotates the second rotating tool T2 about the second rotation axis AD2.

[0125] 29, the tool support device 63 includes a fixed part 66 attached to the second articulated arm 60 (more specifically, the wrist 62) and a movable part 67 that is linearly movable relative to the fixed part 66 in a direction parallel to the second rotation axis AD2. The fixed part 66 may include a linear guide 66r that guides the movement of the movable part 67 in the direction parallel to the second rotation axis AD2. The second rotating tool T2 is attached to a spindle arranged on the movable part 67.

[0126] In the example shown in Fig. 29, the tool support device 63 includes a tool moving device (hereinafter referred to as a "tool linear motion device 65") that moves the second rotating tool T2 in a direction parallel to the second rotation axis AD2. The tool linear motion device 65 includes a motor, an electric cylinder, or the like as a drive source. In the example shown in Fig. 29, the tool linear motion device 65 includes a linear guide 66r that guides the movement of the movable part 67 of the tool support device 63 relative to the fixed part 66 of the tool support device 63. The tool linear motion device 65 may include a ball screw, a rack and pinion, or the like.

[0127] When the tool support device 63 includes the second rotation drive device 64 and the tool linear motion device 65, the second rotating tool T2 can be moved in a direction parallel to the second rotation axis AD2 while rotating the second rotating tool T2 around the second rotation axis AD2. Therefore, after the second rotating tool T2 comes into contact with the workpiece W, the hole HL3 can be formed in the workpiece W using the second rotating tool T2 without changing the position of the wrist 62. Therefore, the accuracy of the machining for forming the hole in the workpiece W is maintained. In other words, although a decrease in machining accuracy due to the presence of multiple joints in the second robot 6 is unavoidable, an excessive decrease in machining accuracy is prevented because the machining for forming the hole in the workpiece W is performed with the multiple joints fixed in angle.

[0128] In the example shown in FIG. 24, the machine tool 1 includes a support base 13b that supports the second robot 6. In the example shown in FIG. 24, the height of the upper surface 131b of the support base 13b is higher than the height of the upper surface of the table 21. Also, the height of the upper surface 131b of the support base 13b is higher than the height of the uppermost end of the table device 20. In the example shown in FIG. 24, the support base 13b is immovable relative to the base 10 of the machine tool 1. Alternatively, the support base 13b may be movable relative to the base 10 of the machine tool 1. In other words, the entire second robot 6 may be movable relative to the base 10.

[0129] (Second driving device 26) In the example shown in FIG. 24, the workpiece supporting device 2 includes a second driving device 26 (e.g., a motor) that tilts the table 21 about the second axis AX2. In the example shown in FIG. 24, the second driving device 26 tilts the block 22 about the second axis AX2, thereby tilting the table 21 supported by the block 22 about the second axis AX2. In the example shown in FIG. 24, the second axis AX2 is an axis different from the first axis AX1. More specifically, the second axis AX2 is perpendicular to the first axis AX1. The second axis AX2 may be substantially parallel to a horizontal plane.

[0130] When the workpiece support device 2 has a tilt axis (in other words, when the table 21 can tilt around the second axis AX2), the inclined surface WS of the workpiece W (see FIG. 26, if necessary) can be arranged perpendicular to the first rotation axis AD1 of the first rotating tool T1. Therefore, high-precision machining using the machining head 30 can be applied to the inclined surface WS of the workpiece W. In this case, it is not necessary to assign precision machining of the inclined surface WS of the workpiece W to a machine tool other than the machine tool 1. By reducing the number of machine tools, the installation space for the machine tools in the business establishment can be reduced. The inclined surface WS of the workpiece W is, more specifically, a surface inclined with respect to the first axis AX1 or a surface inclined with respect to the upper surface of the table 21.

[0131] Furthermore, when the workpiece supporting device 2 has a tilting axis (in other words, when the table 21 can tilt around the second axis AX2), the laser head 173 supported by the articulated arm 50 and / or the second rotating tool T2 supported by the second articulated arm 60 can easily approach the top surface We of the workpiece W (see FIG. 26, if necessary). Furthermore, it is also possible to process the top surface We of the workpiece W using the first rotating tool T1 supported by the processing head 30.

[0132] The work support device 2 (more specifically, the second drive device 26) can tilt the table 21 around the second axis AX2 so that the posture of the work W is changed from a first posture in which the inclined surface WS of the work W is inclined with respect to the horizontal plane to a second posture in which the inclined surface WS of the work W is substantially perpendicular to the horizontal plane.

[0133] 24, it is preferable that the second drive device 26 is capable of steplessly tilting the table 21 about the second axis AX2. In other words, it is preferable that the machine tool 1 is capable of steplessly adjusting the tilt angle of the table 21. The second drive device 26 may be capable of maintaining the angle between the horizontal plane and the upper surface of the table 21 at any angle between 0 degrees and 90 degrees.

[0134] Since the second articulated arm 60 can change the orientation of the second rotating tool T2 to any orientation, there is no need to tilt the workpiece W in machining using the second robot 6. On the other hand, the movement of the machining head 30 is, in principle, performed using a plurality of linear motion devices 4, so the orientation of the machining head 30 cannot be changed with respect to the workpiece W. Of course, as illustrated in FIG. 30, the machine tool 1B in the second embodiment (or the machine tool 1A in the first embodiment) may be provided with a tilt drive device 35 that tilts the machining head 30 around the tilt axis AT. However, there is a limit to the tilting around the tilt axis AT using the tilt drive device 35. In addition, at least two tilt axes are required to change the orientation of the machining head 30 to any orientation. The machine tool 1B in the second embodiment (or the machine tool 1A in the first embodiment) may be provided with a tilting drive device that tilts the machining head 30 around each of the two tilting axes, but as the machining head 30 is provided with more tilting axes, there is a risk that the accuracy of machining performed using the machining device 3 will decrease.

[0135] (Work support device 2) In the example shown in FIG. 24, the workpiece support device 2 includes a table device 20. The table device 20 includes a table 21, a block 22 that supports the table 21 so as to be rotatable around a first axis AX1, a first drive device 23 that rotates the table 21 around the first axis AX1, and a support base 25 that supports the block 22 so as to be tiltable around a second axis AX2. The table device 20 may include a second drive device 26 that tilts the table 21 around the second axis AX2. In the example shown in FIG. 24, the first drive device 23 is mounted on the block 22, and the first drive device 23 can tilt together with the block 22 around the second axis AX2. In other words, the orientation of the first axis AX1 also changes with the tilt of the table 21 around the second axis AX2. Alternatively, the second drive unit 26 may be mounted on the block 22 that tiltably supports the table 21, and the second drive unit 26 may be configured to be rotatable around the first axis AX1 together with the block 22. In other words, the orientation of the second axis AX2 may be configured to change with the rotation of the table 21 around the first axis AX1.

[0136] In the example shown in FIG. 24, the support base 25 includes a first support base 25a that supports the first end 22a of the block 22 so that it can tilt around the second axis AX2, and a second support base 25b that supports the second end 22b of the block 22 so that it can tilt.

[0137] In the example shown in FIG. 24, the block 22 includes a first end 22a tiltably supported by a first support stand 25a, a second end 22b tiltably supported by a second support stand 25b, and a central portion 22c between the first end 22a and the second end 22b. The block 22 also has a concave shape in which the central portion 22c is recessed relative to the first end 22a and the second end 22b. In the example shown in FIG. 24, the table 21 is disposed directly above the central portion 22c when the upper surface of the table 21 is disposed parallel to the horizontal plane. In the example shown in FIG. 24, when the upper surface of the table 21 is disposed parallel to the horizontal plane, the height of the upper surface of the table 21 is lower than the height of the second axis AX2.

[0138] The block 22 supporting the table 21 has an elongated shape with the second direction DR2 as a longitudinal direction when viewed in a direction parallel to the first axis AX1. Note that the shape of the block 22 is not limited to the shape shown in FIG. 24 and may be any shape.

[0139] In addition to the table device 20, the workpiece supporting device 2 may be equipped with a guide rail 24 that guides the movement of the table device 20 in a direction parallel to the first direction DR1.

[0140] (Third driving device 18) The machine tool 1 may include a third drive device 18 that moves the table device 20 in a direction parallel to the first direction DR1. In the example shown in Fig. 24, the first direction DR1 is substantially parallel to the horizontal plane and substantially perpendicular to the second axis AX2.

[0141] The machine tool 1 may include a fourth drive unit 19d (see FIG. 15, if necessary) that moves the machining device 3 in a direction parallel to the first direction DR1 in addition to or instead of the third drive unit 18. The third drive unit 18 and the fourth drive unit 19d have been described in the first embodiment, so repeated description of their configurations will be omitted.

[0142] 31, the table device 20 is movable in a direction parallel to the first direction DR1 at least between the receiving position P1 and the advancing position P2 (or the rotatable position P3). The receiving position P1, the advancing position P2, and the rotatable position P3 have been described in the first embodiment, so repeated description of these positions will be omitted.

[0143] 31, the receiving position P1 is set near a work passage opening OP formed in the wall 11. The receiving position P1 is, for example, an end position in the first direction DR1 within the movable range of the table device 20. The advance position P2 is, for example, an end position in the opposite direction to the first direction DR1 within the movable range of the table device 20, or a position close to the end position in the opposite direction to the first direction DR1.

[0144] (Processing head 30) The processing head 30 has already been described in the first embodiment, and therefore a repeated description of the processing head 30 will be omitted (for the processing head 30, see, for example, FIG. 16).

[0145] (First Robot 5) The first robot 5 has already been described in the first embodiment, and therefore a repeated description of the first robot 5 will be omitted.

[0146] (Third Robot 101) As illustrated in FIG. 32, the machine tool system 100 in the second embodiment includes a machine tool 1 (for example, the machine tool 1A in the first embodiment, or the machine tool 1B in the second embodiment) and a third robot 101 arranged outside the machine tool 1.

[0147] The third robot 101 carries in the workpiece W from outside the machine tool 1 into the machining chamber CB, and / or carries out the workpiece from the table 21 to outside the machining chamber CB (i.e., carries out the machined workpiece). In the example shown in FIG. 32, a wall 11 (more specifically, a fixed wall 11a) that defines the machining chamber CB is disposed between the third robot 101 and the first robot 5. Note that the number of robots for carrying in and out the workpiece is not limited to one. In other words, the machine tool system 100 may include, in addition to the third robot 101, another robot for carrying in and out the workpiece.

[0148] 32, the third robot 101 carries the workpiece W into the machining chamber CB of the machine tool 1 from outside the machine tool 1 through the workpiece passing opening OP. More specifically, the third robot 101 carries the workpiece W into the machining chamber CB of the machine tool 1 from outside the machine tool 1 through the workpiece passing opening OP, and the table device 20 (more specifically, the table 21) receives the workpiece W from the third robot 101. When the table device 20 is located at the receiving position P1, the table device 20 can smoothly receive the workpiece W from the third robot 101.

[0149] 32, the third robot 101 includes a third multi-joint arm 102, and the third multi-joint arm 102 can cross a workpiece passage opening OP. The third robot 101 also includes a gripper 103 capable of gripping a workpiece W or a jig J. The gripper 103 is attached to, for example, a tip end of the third multi-joint arm 102.

[0150] (Processing room CB) In the example depicted in Fig. 25, the machine tool 1 includes a wall 11 that defines a machining chamber CB. In the example depicted in Fig. 25, a machining head 30, an articulated arm 50 of a first robot 5, and a second articulated arm 60 of a second robot 6 are disposed in the machining chamber CB.

[0151] 25, a workpiece passage opening OP through which the workpiece W passes is formed in a wall 11 that defines the machining chamber CB. The machine tool 1 also includes a door 12 that opens and closes the workpiece passage opening OP formed in the wall 11.

[0152] 25, the wall 11 defining the processing chamber CB includes a first wall 11-1 (e.g., a movable wall 11b) and a second wall 11-2 facing the first wall 11-1. The wall 11 may include a third wall 11-3 and a fourth wall 11-4 facing the third wall 11-3. The first wall 11-1, the second wall 11-2, the third wall 11-3, the fourth wall 11-4, and the movable wall 11b have been described in the first embodiment, and therefore repeated description of these walls will be omitted.

[0153] (Coolant supply device 91) 31, the machine tool 1 is provided with a coolant supplying device 91 that supplies coolant toward the workpiece W supported by the table 21. The coolant supplying device 91 has been described in the first embodiment, and therefore a repeated description of the coolant supplying device 91 will be omitted.

[0154] (Moving body of processing device 3) 24, the processing device 3 includes a moving body that three-dimensionally moves the processing head 30. More specifically, the processing device 3 includes a first moving body 36, a second moving body 37, and a third moving body 38.

[0155] The first moving body 36 is movable together with the machining head 30 in a direction parallel to the Y axis. In the example shown in FIG. 24, the first moving body 36 supports the machining head 30 and is movable in a direction parallel to the Y axis. In the example shown in FIG. 24, the Y axis is, for example, substantially parallel to a first rotation axis AD1 which is a rotation axis of the first rotating tool T1. The Y axis may also be substantially parallel to a first direction DR1.

[0156] The second moving body 37 is movable in a direction parallel to the Z axis together with the machining head 30. In the example shown in Fig. 24, the second moving body 37 supports the machining head 30 via the first moving body 36 and is movable in a direction parallel to the Z axis. In the example shown in Fig. 24, the Z axis is substantially parallel to the vertical direction.

[0157] The third moving body 38 is movable together with the machining head 30 in a direction parallel to the X-axis. In the example shown in FIG. 24, the third moving body 38 supports the machining head 30 via the first moving body 36 and the second moving body 37, and is movable in a direction parallel to the X-axis. The third moving body 38 is, for example, a column 38c that movably supports the second moving body 37. In the example shown in FIG. 24, the X-axis is substantially parallel to the horizontal plane. Also, the X-axis is substantially perpendicular to the Y-axis.

[0158] In the example shown in FIG. 24, the machine tool 1 includes a base 10, and the base 10 supports a third movable body 38 so as to be movable in a direction parallel to the X-axis.

[0159] (Multiple linear motion devices 4) In the example shown in FIG. 24, the machine tool 1 (more specifically, the machining device 3) includes a plurality of linear motion devices 4 that move the machining head 30 three-dimensionally. The plurality of linear motion devices 4 include a first linear motion device 41, a second linear motion device 44, and a third linear motion device 47. The first linear motion device 41 moves the machining head 30 in a direction parallel to the Y-axis. The second linear motion device 44 moves the machining head 30 in a direction parallel to the Z-axis. The third linear motion device 47 moves the machining head 30 in a direction parallel to the X-axis.

[0160] The first linear motion device 41 includes a drive device 42 (e.g., a motor) that moves the first moving body 36 in a direction parallel to the Y axis. The first linear motion device 41 preferably includes a first linear guide 43 that guides the movement of the first moving body 36 in the direction parallel to the Y axis. In the example shown in FIG. 24, the first linear guide 43 is disposed on the second moving body 37.

[0161] The second linear motion device 44 includes a drive device 45 (e.g., a motor) that moves the second moving body 37 in a direction parallel to the Z axis. The second linear motion device 44 preferably includes a second linear guide 46 that guides the movement of the second moving body 37 in the direction parallel to the Z axis. In the example shown in FIG. 24, the second linear guide 46 is disposed on the third moving body 38.

[0162] The third linear motion device 47 includes a drive device 48 (e.g., a motor) that moves the third moving body 38 in a direction parallel to the X-axis. The third linear motion device 47 preferably includes a third linear guide 49 that guides the movement of the third moving body 38 in the direction parallel to the X-axis. In the example shown in FIG. 24, the third linear guide 49 movably supports the third moving body 38. Furthermore, the third linear guide 49 is disposed on the base 10 of the machine tool 1.

[0163] (Tool changer 8) The machine tool 1 preferably includes at least one tool changer 8. The at least one tool changer 8 is disposed at an arbitrary position of the machine tool 1. The at least one tool changer 8 is capable of changing a first rotating tool T1 supported by the machining head 30 to another first rotating tool. The at least one tool changer 8 is capable of changing a second rotating tool T2 supported by the second articulated arm 60 of the second robot 6 to another second rotating tool.

[0164] In the example described in FIG. 33, at least one tool exchange device 8 includes a first tool exchange device 80a. The first tool exchange device 80a exchanges a first rotating tool T1 (for example, a facing tool T1-1) supported by the machining head 30 with another first rotating tool (for example, a hole forming tool T1-2). In the example described in FIG. 33, the first tool exchange device 80a exchanges a first rotating tool T1 (for example, a facing tool T1-1) supported by the machining head 30 with another first rotating tool (for example, a hole forming tool T1-2) taken out from at least one tool stocker 93. The hole forming tool T1-2 may be a drill T1-2a or a tap tool T1-2b.

[0165] In the example shown in FIG. 33, a first tool changer 80a includes a first gripping part 82a capable of gripping a first rotating tool, and a second gripping part 83a capable of gripping another first rotating tool.

[0166] As illustrated in FIG. 33, the first tool change device 80a may include a tool change arm 81a, an arm rotation device 84a that rotates the tool change arm 81a, and an arm moving device 85a that linearly moves the tool change arm 81a.

[0167] The machining head 30 may be configured to access the tool stocker 93 and directly replace the first rotating tool T1 supported by the machining head 30 with another first rotating tool. In this case, a tool exchange device that exchanges tools for the machining head 30 is omitted.

[0168] In the example shown in FIG. 34, at least one tool exchange device 8 includes a second tool exchange device 80b. The second tool exchange device 80b exchanges the second rotating tool T2 (e.g., drill T2-1) supported by the second articulated arm 60 via the tool support device 63 with another second rotating tool (e.g., tapping tool T2-2). As illustrated in FIG. 34, the second tool exchange device 80b may exchange the second rotating tool T2 (e.g., drill T2-1) supported by the second articulated arm 60 via the tool support device 63 with another second rotating tool (e.g., tapping tool T2-2) taken out from at least one tool stocker 93. In the example shown in FIG. 34, each second rotating tool T2 is a tool that cannot be attached to the machining head 30 of the machining device 3, and in the example shown in FIG. 33, each first rotating tool T1 is a tool that cannot be attached to the tool support device 63 of the second robot 6.

[0169] Alternatively, the tool support device 63 may be configured to access the tool stocker 93 and directly replace the second rotating tool T2 supported by the tool support device 63 with another second rotating tool. In this case, a tool changer for changing tools for the tool support device 63 is omitted.

[0170] (Machining of workpiece W supported by table 21 in non-tilting state) 39, in this specification, "table 21 is in a non-tilting state" refers to a state in which the first axis AX1 is substantially perpendicular to the horizontal plane. If table 21 is a table that does not rotate around the first axis AX1, in this specification, "table 21 is in a non-tilting state" refers to a state in which the top surface of the table is substantially parallel to the horizontal plane.

[0171] 39, the processing device 3 and the second robot 6 can simultaneously process the workpiece W supported by the table 21 in a non-tilting state. In other words, when the table 21 supporting the workpiece W is in a non-tilting state, the processing device 3 and the second robot 6 can simultaneously process the workpiece W supported by the table 21.

[0172] (Machining of workpiece W supported by tilted table 21) 40, in this specification, "table 21 is in a tilted state" refers to a state in which the first axis AX1 is not parallel to the vertical direction. If table 21 is a table that does not rotate around the first axis AX1, in this specification, "table 21 is in a tilted state" refers to a state in which the top surface of the table is inclined with respect to the horizontal plane.

[0173] 40, the processing device 3 and the second robot 6 can simultaneously process the workpiece W supported by the tilted table 21. In other words, when the table 21 supporting the workpiece W is in a tilted state, the processing device 3 and the second robot 6 can simultaneously process the workpiece W supported by the table 21.

[0174] 39 and 40, in both cases where the table 21 supporting the workpiece W is in a non-tilted state and where the table 21 supporting the workpiece W is in a tilted state, the processing device 3 and the second robot 6 can simultaneously process the workpiece W supported by the table 21. Therefore, the workpiece W having a complex shape can be efficiently processed.

[0175] (Control device 7) In the example shown in FIG. 35, the control device 7 controls the workpiece support device 2, the processing device 3, the first robot 5, and the laser irradiation device 17. When the machine tool 1 includes the second robot 6, the control device 7 controls the second robot 6. When the machine tool 1 includes at least one tool exchange device 8, the control device 7 controls the at least one tool exchange device 8. When the machine tool 1 includes a third drive device 18 that moves the table device 20 in a direction parallel to the first direction DR1, the control device 7 controls the third drive device 18. When the machine tool 1 includes a fourth drive device 19d (see FIG. 15) that moves the processing device 3 in a direction parallel to the first direction DR1, the control device 7 controls the fourth drive device 19d. As in the first embodiment, the control device 7 may be configured by one computer or may be configured by multiple computers. For example, the machine tool 1 may include a first computer that controls the processing device 3 and the workpiece supporting device 2, a second computer that controls the first robot 5, and a third computer that controls the second robot 6. Furthermore, these computers may work together to function as a control device 7 for the machine tool 1.

[0176] As illustrated in FIG. 35, the control device 7 includes a hardware processor 70 (hereinafter, simply referred to as the "processor 70"), a memory 72, a communication circuit 74, and an input device 76 (for example, a display 762 with a touch panel). The processor 70, the memory 72, the communication circuit 74, and the input device 76 are connected to each other via a bus 78. Data required for machining the workpiece W (for example, workpiece data 726 including shape data of the workpiece W and machining position data of the workpiece W) may be input to the control device 7 via the input device 76, or may be input to the control device 7 from another computer via the communication circuit 74. The input device 76 is not limited to the display 762 with a touch panel. For example, the control device 7 may include an input device 76 such as a button, a switch, a lever, a pointing device, a keyboard, or the like, and a display that displays the data input to the input device 76 or other information.

[0177] The control device 7 generates a plurality of control commands by executing the machining program 722 stored in the memory 72. Furthermore, the communication circuit 74 transmits the plurality of control commands generated by the control device 7 to a plurality of control target devices (e.g., the workpiece supporting device 2, the machining device 3, the first robot 5, the laser irradiation device 17, the second robot 6, at least one tool exchange device 8, the third driving device 18, the fourth driving device 19d shown in FIG. 15, etc.). In this way, the control device 7 can control a plurality of control target devices.

[0178] 35, the control device 7 may transmit a first operation command E1 to a plurality of arm driving devices 59 (e.g., a plurality of motors MT) of the first robot 5. The arm driving devices 59 receiving the first operation command E1 from the control device 7 operate a plurality of joints of the articulated arm 50.

[0179] 35, the control device 7 may transmit an emission command E2 to the laser irradiation device 17. The laser irradiation device 17 that receives the emission command E2 from the control device 7 emits a laser from the laser emission port 173e of the laser head 173.

[0180] In the example shown in FIG. 35, the control device 7 may transmit a movement command E3 to a plurality of linear motion devices 4 of the processing device 3. The plurality of linear motion devices 4 that receive the movement command E3 from the control device 7 move the processing head 30. More specifically, the control device 7 transmits a first movement command E3-1 to the first linear motion device 41, and the first linear motion device 41 that receives the first movement command E3-1 moves the processing head 30 in a direction parallel to the Y axis (for example, a direction parallel to the first rotation axis AD1). The control device 7 transmits a second movement command E3-2 to the second linear motion device 44, and the second linear motion device 44 that receives the second movement command E3-2 moves the processing head 30 in a direction parallel to the Z axis (for example, a direction parallel to the vertical direction). In addition, the control device 7 sends a third movement command E3-3 to the third linear motion device 47, and the third linear motion device 47, upon receiving the third movement command E3-3, moves the machining head 30 in a direction parallel to the X-axis (e.g., a direction perpendicular to both the Y-axis and the Z-axis).

[0181] 35, the control device 7 may transmit a first rotation command E4 to the first rotation drive device 34 of the processing device 3. The first rotation drive device 34 receiving the first rotation command E4 from the control device 7 rotates the first rotating tool T1 around the first rotation axis AD1.

[0182] 35, the control device 7 may transmit a second operation command E5 to a plurality of arm driving devices 69 (e.g., a plurality of motors MT) of the second robot 6. The arm driving devices 69 receiving the second operation command E5 from the control device 7 operate a plurality of joints of the second articulated arm 60.

[0183] 35, the control device 7 may transmit a second rotation command E6 to the second rotation drive device 64 of the tool support device 63. The second rotation drive device 64 receiving the second rotation command E6 from the control device 7 rotates the second rotating tool T2 around the second rotation axis AD2.

[0184] 35, the control device 7 may transmit a tool movement command E7 to the tool linear motion device 65 of the tool support device 63. The tool linear motion device 65 receiving the tool movement command E7 from the control device 7 moves the second rotating tool T2 in a direction parallel to the second rotation axis AD2.

[0185] 35, the control device 7 may transmit a rotation command E8 to the first driving device 23 of the work supporting device 2. The first driving device 23 receiving the rotation command E8 from the control device 7 rotates the table 21 around the first axis AX1.

[0186] 35, the control device 7 may transmit a tilt command E9 to the second driving device 26 of the work supporting device 2. The second driving device 26 receiving the tilt command E9 from the control device 7 tilts the table 21 around the second axis AX2.

[0187] In the example shown in FIG. 35, the control device 7 may transmit a table movement command E10 to the third drive device 18. The third drive device 18, which receives the table movement command E10 from the control device 7, moves the table device 20 in a direction parallel to the first direction DR1. Alternatively, or additionally, the control device 7 may transmit a processing device movement command E11 to the fourth drive device 19d. The fourth drive device 19d, which receives the processing device movement command E11 from the control device 7, moves the processing device 3 in a direction parallel to the first direction DR1.

[0188] 35, the control device 7 may transmit a tool change command E12 to at least one tool change device 8. The at least one tool change device 8 receiving the tool change command E12 from the control device 7 may change the first rotating tool T1 supported by the machining head 30 to another first rotating tool. The at least one tool change device 8 receiving the tool change command E12 from the control device 7 may change the second rotating tool T2 supported by the second articulated arm 60 to another second rotating tool.

[0189] For example, the control device 7 transmits a first tool change command E12-1 to the first tool change device 80a, and the first tool change device 80a receiving the first tool change command E12-1 replaces the first rotating tool T1 supported by the machining head 30 with another first rotating tool. The control device 7 transmits a second tool change command E12-2 to the second tool change device 80b, and the second tool change device 80b receiving the second tool change command E12-2 replaces the second rotating tool T2 supported by the second articulated arm 60 with another second rotating tool.

[0190] (First processing mode M1) As illustrated in Figure 19 or Figure 36, the control device 7 can control the first robot 5 to execute a first processing mode M1 in which a workpiece W supported on a table 21 is processed with a laser emitted from a laser head 173 supported on a multi-joint arm 50.

[0191] More specifically, the control device 7 can execute a first processing mode M1 including transmitting a first operation command E1 to the arm driving devices 59 of the first robot 5 and transmitting an emission command E2 to the laser irradiation device 17 so that the workpiece W supported on the table 21 is processed by a laser emitted from a laser head 173 supported on the articulated arm 50. In the first processing mode M1, the position and orientation of the laser head 173 are changed using the articulated arm 50 before the laser is irradiated onto the workpiece W. Therefore, as illustrated in FIG. 36 and FIG. 37, the position and orientation of the laser head 173 can be freely set in response to the shape, size, orientation, posture, and the like of the workpiece W. For example, the articulated arm 50 can process the inclined surface WS of the workpiece W, which is inclined with respect to the vertical plane, by using the laser by setting the direction of the laser emitted from the laser head 173 in a direction inclined with respect to the vertical plane (see FIG. 36). Furthermore, the articulated arm 50 can process a surface WV of the workpiece W perpendicular to the vertical plane by setting the direction of the laser emitted from the laser head 173 perpendicular to the vertical plane (see FIG. 37).

[0192] As illustrated in Fig. 37, the first processing mode M1 may include the first hole forming mode M1-1 described in the first embodiment. The first processing mode M1 may include the trimming mode M1-2 (see Fig. 21) described in the first embodiment. As illustrated in Fig. 36, the first processing mode M1 may include the cut-out mode M1-3 described in the first embodiment. Alternatively, or additionally, the first processing mode M1 may include the laser marking mode M1-4 (see Fig. 23) described in the first embodiment.

[0193] (Second machining mode M2) As illustrated in Figure 4 or Figure 25, the control device 7 can control the machining device 3 to execute a second machining mode M2 ​​in which a workpiece W supported on the table 21 is machined by a first rotating tool T1 supported by the machining head 30.

[0194] More specifically, the control device 7 can execute a second machining mode M2 ​​including transmitting a movement command E3 to the multiple linear motion devices 4 and transmitting a first rotation command E4 to the first rotary drive device 34 so that the workpiece W supported on the table 21 is machined by the first rotating tool T1 supported on the machining head 30. In the second machining mode M2, the movement of the first rotating tool T1 rotating around the first rotation axis AD1 is performed using the multiple linear motion devices 4, so that the workpiece W can be machined with high precision.

[0195] As illustrated in Fig. 4 (or as illustrated in Fig. 40), the second machining mode M2 ​​may include the surface machining mode M2-1 described in the first embodiment. The control device 7 executing the surface machining mode M2-1 executes sending a movement command E3 to the multiple linear motion devices 4 and sending a first rotation command E4 to the first rotation drive device 34 so that the surface machining tool T1-1 rotating around the first rotation axis AD1 moves in a direction substantially perpendicular to the first rotation axis AD1 while in contact with the workpiece W supported by the table 21. In this way, the surface machining of the workpiece W is performed with high accuracy.

[0196] As illustrated in FIG. 2 (or as illustrated in FIG. 39), the second machining mode M2 ​​may include the second hole forming mode M2-2 described in the first embodiment. The control device 7 executing the second hole forming mode M2-2 executes the following operations: sending a movement command E3 to the first linear motion device 41 and sending a first rotation command E4 to the first rotary drive device 34 so that the hole forming tool T1-2 rotating around the first rotation axis AD1 moves in a direction along the first rotation axis AD1 while in contact with the workpiece W supported by the table 21. The first linear motion device 41 receiving the movement command E3 moves the hole forming tool T1-2 linearly along the first rotation axis AD1. In this way, a hole is formed in the workpiece W with high accuracy.

[0197] When the second machining mode M2 ​​is executed, the control device 7 may use the coolant supply device 91 to supply coolant toward the workpiece W supported by the table 21.

[0198] When the second processing mode M2 ​​is performed, the tip portion 173a of the laser head 173 may be inserted into the recess 141 of the protector 14. In this case, when the second processing mode M2 ​​is performed, the optical components 174 (e.g., the lens 174n) arranged inside the laser head 173 and / or the laser emission port 173e of the laser head 173 are protected by the protector 14.

[0199] Alternatively, or additionally, when the second machining mode M2 ​​is executed, the area in which the first robot 5 is disposed (hereinafter referred to as the "first area RG1") may be isolated from the area in which the table 21 of the workpiece supporting device 2 is disposed (hereinafter referred to as the "second area RG2") by a shutter 95. In the example shown in FIG. 41, the machine tool 1 includes a shutter 95 that separates the first area RG1 in which the first robot 5 is disposed from the second area RG2 in which the table 21 of the workpiece supporting device 2 is disposed. The machine tool 1 also includes a shutter drive device 96 that opens and closes the shutter 95.

[0200] In the example shown in FIG. 41 and FIG. 42, the shutter driving device 96 moves the shutter 95 between a closed position K2 and an open position K1. When the shutter 95 is in the open position K1, the articulated arm 50 of the first robot 5 can move the laser head 173 into the second region RG2 so that the workpiece W is machined by the laser emitted from the laser head 173 (see FIG. 42). When the shutter 95 is in the closed position K2, the shutter 95 isolates the first region RG1 from the second region RG2 (see FIG. 41). In this way, when the cutting process of the workpiece W is performed using the processing device 3 or the second robot 6, the laser head 173 is protected by the shutter 95. More specifically, the shutter 95 prevents chips and / or coolant from adhering to the laser head 173.

[0201] From the viewpoint of protecting the laser head 173 (for example, the lens 174n arranged inside the laser head 173), it is preferable that the first processing mode M1 and the second processing mode M2 ​​are executed at timings that do not overlap with each other. Alternatively, when the processing in the first processing mode M1 is dry cutting, at least a part of the first processing mode M1 and at least a part of the second processing mode M2 ​​may be executed simultaneously.

[0202] (Third machining mode M3) As illustrated in Figure 39 or Figure 41, the control device 7 may be capable of controlling the second robot 6 to execute a third machining mode M3 in which a workpiece W supported on the table 21 is machined by a second rotating tool T2 supported on a second articulated arm 60.

[0203] More specifically, the control device 7 may be capable of executing a third machining mode M3 including at least transmitting a second operation command E5 to the arm driving devices 69 of the second robot 6, transmitting a second rotation command E6 to the second rotation driving device 64 of the tool support device 63, and transmitting a tool movement command E7 to the tool linear motion device 65 of the tool support device 63 so that the workpiece W supported on the table 21 is machined by the second rotating tool T2 supported on the second articulated arm 60. In the third machining mode M3, the position and orientation of the second rotating tool T2 are changed using the second articulated arm 60 at a stage before the second rotating tool T2 comes into contact with the workpiece W. Therefore, the position and orientation of the second rotating tool T2 can be freely set in accordance with the shape, size, orientation, posture, and the like of the workpiece W.

[0204] 39 to 41, it is preferable that at least a part of the second machining mode M2 ​​and at least a part of the third machining mode M3 are executed simultaneously. By executing the second machining mode M2 ​​and the third machining mode M3 simultaneously, the time required to machine the workpiece W can be shortened.

[0205] When the third machining mode M3 is executed, the control device 7 may use the coolant supply device 91 to supply coolant toward the workpiece W supported by the table 21.

[0206] 25, when the third machining mode M3 is executed, the tip portion 173a of the laser head 173 may be inserted into the recess 141 of the protector 14. Alternatively, or additionally, as illustrated in Fig. 41, when the third machining mode M3 is executed, the first region RG1 in which the first robot 5 is disposed may be isolated by a shutter 95 from the second region RG2 in which the table 21 of the workpiece supporting device 2 is disposed.

[0207] From the viewpoint of protecting the laser head 173 (for example, the lens 174n arranged inside the laser head 173), it is preferable that the first processing mode M1 and the third processing mode M3 are executed at timings that do not overlap with each other. Alternatively, when the processing in the third processing mode M3 is dry cutting, at least a part of the first processing mode M1 and at least a part of the third processing mode M3 may be executed simultaneously.

[0208] (Rotation mode M4) The control device 7 may be capable of executing a rotation mode M4 in which the table 21 is rotated about the first axis AX1 by controlling the workpiece supporting device 2 (more specifically, the first driving device 23). More specifically, the control device 7 is capable of executing the rotation mode M4, which includes transmitting a rotation command E8 to the first driving device 23 of the workpiece supporting device 2 so that the workpiece W supported on the table 21 is rotated about the first axis AX1. Fig. 38 shows a state after the rotation mode M4 has been executed.

[0209] The turning mode M4 may include moving the table device 20 from the advance position P2 (or the reception position P1) to the turnable position P3, and turning the table 21 supporting the workpiece W around the first axis AX1 while the table device 20 is at the turnable position P3. In this case, the control device 7 executes sending a table movement command E10 to the third drive device 18 and sending a turn command E8 to the first drive device 23 of the workpiece support device 2 so that the table device 20 moves from the advance position P2 (or the reception position P1) to the turnable position P3 and the workpiece W turns around the first axis AX1. Note that, if the workpiece W to be machined is a small workpiece, it is not necessarily necessary to move the table device 20 between the advance position P2 (or the reception position P1) and the turnable position P3 when executing the turning mode M4.

[0210] When the table 21 is in a tilted state, the control device 7 may execute the turning mode M4 after the state of the table 21 is changed from the tilted state to a non-tilted state. Alternatively, when the table 21 in the tilted state is turned around the first axis AX1 and no interference occurs between the workpiece W and the surrounding structures, the table 21 in the tilted state may be turned around the first axis AX1 in the turning mode M4.

[0211] Since the control device 7 can execute the turning mode M4, the machine tool 1 can change the orientation of the workpiece W relative to the processing device 3 and the first robot 5. In this way, each of the processing device 3 and the first robot 5 can easily process the first main surface Wa of the workpiece W (e.g., the front surface of the workpiece W), as well as the first side surface Wc of the workpiece W (e.g., the right side surface of the workpiece W), the second main surface Wb of the workpiece W (e.g., the back surface of the workpiece W), and the second side surface Wd of the workpiece W (e.g., the left side surface of the workpiece W).

[0212] (Tilt mode M5) The control device 7 may be capable of executing a tilt mode M5 in which the table 21 is tilted about the second axis AX2 by controlling the workpiece supporting device 2 (more specifically, the second driving device 26). More specifically, the control device 7 may be capable of executing the tilt mode M5 including transmitting a tilt command E9 to the second driving device 26 of the workpiece supporting device 2 so that the workpiece W supported by the table 21 is tilted about the second axis AX2. FIG. 40 shows how the second machining mode M2 ​​(or the third machining mode M3) is executed after the tilt mode M5 is executed.

[0213] Since the control device 7 can execute the tilt mode M5, the machine tool 1 can change the attitude of the workpiece W with respect to the machining device 3. In this way, the machining device 3 can easily machine a workpiece W having a complex shape (see FIGS. 39 and 40).

[0214] (First tool change mode M6) As illustrated in FIG. 33, the control device 7 may be capable of executing a first tool change mode M6 in which the first rotating tool T1 supported by the machining head 30 is replaced with another first rotating tool by controlling the tool change device 80 (more specifically, the first tool change device 80a).

[0215] More specifically, the control device 7 is capable of executing a first tool change mode M6, which includes sending a first tool change command E12-1 to the first tool change device 80a so that the first rotating tool T1 supported by the machining head 30 is replaced with another first rotating tool.

[0216] Since the control device 7 is capable of executing the first tool change mode M6, the machining device 3 can perform multiple types of machining (e.g., facing, drilling, tapping, friction stir welding, etc.) on one workpiece W.

[0217] (Second tool change mode M7) As illustrated in FIG. 34, the control device 7 may be capable of executing a second tool change mode M7 in which the second rotating tool T2 supported by the second articulated arm 60 is replaced with another second rotating tool by controlling the tool change device 80 (more specifically, the second tool change device 80b).

[0218] More specifically, the control device 7 is capable of executing a second tool change mode M7 which includes sending a second tool change command E12-2 to the second tool change device 80b so that the second rotating tool T2 supported by the second articulated arm 60 is replaced with another second rotating tool.

[0219] The control device 7 is capable of executing the second tool change mode M7, so that the second robot 6 can perform a plurality of types of machining (for example, drilling, tapping, etc.) on one workpiece W.

[0220] When a first machining cycle is defined as at least one of rotating the table 21 supporting the workpiece W about the first axis AX1 and tilting the table 21 supporting the workpiece W about the second axis AX2, and then machining the workpiece W supported by the table 21 with a laser emitted from the laser head 173 supported by the articulated arm 50, the control device 7 may be configured to repeatedly execute the first machining cycle "N1" times or more by executing the machining program 722 stored in the memory 72. Note that "N1" is, for example, 2, 3, 4, 5, 6, 7, 8, 9, 10, . . .

[0221] For example, when a first machining cycle is defined as a process in which the table 21 supporting the workpiece W is rotated about the first axis AX1, and then the workpiece W supported by the table 21 is machined by a laser emitted from a laser head 173 supported by an articulated arm 50, the control device 7 (more specifically, the control device 7 that controls the first robot 5 and the first driving device 23) is configured to repeatedly execute the first machining cycle two or more times by executing the machining program 722 stored in the memory 72. In this way, a plurality of surfaces of the workpiece W (for example, the first main surface Wa and the second main surface Wb) can be efficiently machined by the laser emitted from the laser head 173.

[0222] When a second machining cycle is defined as at least one of rotating the table 21 supporting the workpiece W about the first axis AX1 and tilting the table 21 supporting the workpiece W about the second axis AX2, and then machining the workpiece W supported by the table 21 using at least one first rotating tool T1 supported by the machining head 30, the control device 7 may be configured to repeatedly execute the second machining cycle "N2" times or more by executing the machining program 722 stored in the memory 72. Here, "N2" is, for example, 2, 3, 4, 5, 6, 7, 8, 9, 10, . . .

[0223] (Third embodiment) A workpiece machining method according to the third embodiment will be described with reference to Fig. 1 to Fig. 44. Fig. 43 is a flow chart showing an example of the workpiece machining method according to the third embodiment. Fig. 44 is a flow chart showing another example of the workpiece machining method according to the third embodiment.

[0224] In the third embodiment, the differences from the first and second embodiments will be mainly described. On the other hand, in the third embodiment, repeated descriptions of matters already described in the first or second embodiment will be omitted. Therefore, it goes without saying that the matters already described in the first or second embodiment can be applied to the third embodiment even if they are not explicitly described in the third embodiment. Conversely, the matters described in the third embodiment can be applied to each of the first and second embodiments.

[0225] The workpiece machining method in the third embodiment may be performed using the machine tool 1A in the first embodiment, the machine tool 1B in the second embodiment, or another machine tool. The machine tools 1A and 1B have already been described in the first and second embodiments, so repeated description of the machine tools 1A and 1B will be omitted.

[0226] The workpiece machining method in the third embodiment includes: (1) a step of directly or indirectly attaching the workpiece W to the table 21 of the workpiece support device 2 (see, for example, FIG. 12 or FIG. 32); (2) a first machining step of machining the workpiece W supported by the table 21 using a laser emitted from a laser head 173 supported by the articulated arm 50 of the first robot 5 (see, for example, FIG. 19 or FIG. 36); and (3) a second machining step of machining the workpiece W supported by the table 21 using a first rotating tool supported by a machining head 30 that is movable in three dimensions (see, for example, FIG. 4 or FIG. 39).

[0227] The first processing step includes moving the laser head 173 using the articulated arm 50. The second processing step includes moving the processing head 30 using a plurality of linear motion devices 4.

[0228] The workpiece machining method in the third embodiment has the same effects as the workpiece machining method in the first embodiment or the workpiece machining method in the second embodiment.

[0229] (Optional configuration) Next, optional additional configurations that can be adopted in the third embodiment (or the above-described first or second embodiment) will be described with reference to FIGS.

[0230] As illustrated in Figures 37 to 39, after the first machining step (see Figure 37), the second machining step (see Figure 39) may be performed. More specifically, after the first machining step (see Figure 37), the table 21 supporting the workpiece W may be rotated about the first axis AX1 (see Figure 38), and after the table 21 supporting the workpiece W is rotated about the first axis AX1, the second machining step (see Figure 39) may be performed.

[0231] When the first machining process is performed prior to the second machining process, the chips generated by the execution of the second machining process or the coolant liquid used during the execution of the second machining process do not have any adverse effect on the laser head 173, or such adverse effect is reduced.

[0232] Alternatively, the first machining step may be performed after the second machining step is performed. When coolant is used during the second machining step, it is preferable that the mist of coolant floating in the machining chamber CB is removed from the machining chamber CB prior to the first machining step. From this viewpoint, the machine tool 1 may be provided with a mist removal device 99 (see FIG. 32) that removes the mist of coolant floating in the machining chamber CB from the machining chamber CB. The mist removal device 99 may include a mist suction device 99a that sucks in the mist of coolant, or may be provided with a blower that blows away the mist of coolant.

[0233] Also, the second machining process may be performed after the first machining process, and the second machining process may be performed after the second machining process. If coolant is used when the second machining process is performed, it is preferable that the mist of coolant floating in the machining chamber CB is removed from the machining chamber CB using a mist remover 99 (for example, a mist suction device 99a) prior to the second execution of the first machining process.

[0234] Alternatively, a part of the first machining process and a part of the second machining process may be performed simultaneously. For example, when the machining in the second machining process is dry cutting, a part of the first machining process and a part of the second machining process may be performed simultaneously. When a part of the first machining process and a part of the second machining process are performed simultaneously, the time required to machine the workpiece W can be shortened.

[0235] As illustrated in Figures 39 and 40, the workpiece machining method in the third embodiment may include a third machining step of machining the workpiece W supported by the table 21 using a second rotating tool T2 supported by the second articulated arm 60. As illustrated in Figures 39 and 40, a part of the second machining step and a part of the third machining step may be performed simultaneously. When a part of the second machining step and a part of the third machining step are performed simultaneously, the time required to machine the workpiece W can be shortened.

[0236] An example of the workpiece machining method according to the third embodiment will now be described in more detail.

[0237] In a first step ST1, the workpiece W is directly or indirectly attached to the table 21 of the workpiece supporting device 2. The first step ST1 is an attachment process.

[0238] 2, in the mounting process (first step ST1), the workpiece W is mounted on the table 21 of the workpiece supporting device 2 via a jig J. In the example depicted in FIG. 2, the jig J is fixed to the table 21, and the workpiece W is fixed to the jig J. The jig J may include a chuck (e.g., a hydraulic chuck or an electric chuck) that fixes the workpiece W to the jig J.

[0239] In the second step ST2, it is determined whether or not it is necessary to change the posture of the workpiece W (see FIG. 43). The second step ST2 is a first determination step. The first determination step is performed by the control device 7. More specifically, the control device 7 determines whether or not it is necessary to change the posture of the workpiece W based on the machining program 722 stored in the memory 72.

[0240] In the first judgment step (second step ST2), if the control device 7 determines that it is necessary to change the posture of the workpiece W (second step ST2: Yes), the posture of the workpiece W is changed in the third step ST3 (more specifically, as illustrated in Figs. 13 and 14, the table 21 supporting the workpiece W is rotated around the first axis AX1). The third step ST3 is a first posture change step.

[0241] The first attitude changing step (third step ST3) may be executed in combination with a moving step of moving the table device 20. For example, when the control device 7 determines that both linear movement of the workpiece W and rotation of the workpiece W about the first axis AX1 are required, the table device 20 is moved linearly and the table 21 is rotated about the first axis AX1.

[0242] If the control device 7 determines that changing the posture of the workpiece W is not necessary (second step ST2: No), or if changing the posture of the workpiece W is completed, the process proceeds to a fourth step ST4. In the fourth step ST4, the workpiece W supported by the table 21 is processed by a laser emitted from a laser head 173 supported by the articulated arm 50 of the first robot 5. The fourth step ST4 is a first processing step.

[0243] The first processing step (fourth step ST4) includes at least one sub-step. As illustrated in FIG. 20, the first processing step (fourth step ST4) may include, as one sub-step, forming a hole HL1 in the workpiece W by a laser emitted from the laser head 173. As illustrated in FIG. 21, the first processing step (fourth step ST4) may include, as one sub-step, removing a burr Bu from the workpiece W by a laser emitted from the laser head 173. As illustrated in FIG. 22, the first processing step (fourth step ST4) may include, as one sub-step, cutting out a part Wk of the workpiece W from the workpiece W by a laser emitted from the laser head 173. As illustrated in FIG. 23, the first processing step (fourth step ST4) may include, as one sub-step, engraving at least one of a character, a symbol, and a barcode on the surface of the workpiece W by a laser emitted from the laser head 173.

[0244] When the first processing step (fourth step ST4) includes a plurality of sub-steps, the order in which the sub-steps are executed is arbitrary.

[0245] In a fifth step ST5, it is determined whether or not the laser processing of the workpiece W by the first robot 5 has been completed. The fifth step ST5 is a second determination step. The second determination step is performed by the control device 7. More specifically, the control device 7 determines whether or not the laser processing of the workpiece W by the first robot 5 has been completed based on the processing program 722 stored in the memory 72.

[0246] In the second judgment step (fifth step ST5), if the control device 7 judges that the laser processing of the workpiece W by the first robot 5 has been completed (fifth step ST5: Yes), proceed to the sixth step ST6. If the control device 7 judges that the laser processing of the workpiece W by the first robot 5 has not been completed (fifth step ST5: No), return to the second step ST2 (first judgment step).

[0247] The second step ST2 to the fifth step ST5 are repeatedly executed until the control device 7 determines that the laser processing of the workpiece W by the first robot 5 is completed. For example, in the example shown in FIG. 36 and FIG. 37, the workpiece processing method includes: (1) processing the first surface (e.g., the first main surface Wa) of the workpiece W supported by the table 21 with a laser emitted from the laser head 173 supported by the articulated arm 50 (fourth step ST4); (2) changing the posture of the workpiece W when the control device 7 determines that the laser processing of the workpiece W by the first robot 5 is not completed (fifth step ST5: No) and the control device 7 determines that the posture of the workpiece W needs to be changed (second step ST2: Yes); and (3) processing the second surface (e.g., the second main surface Wb) of the workpiece W supported by the table 21 with a laser emitted from the laser head 173 supported by the articulated arm 50 (fourth step ST4).

[0248] In a sixth step ST6, it is determined whether or not it is necessary to change the posture of the workpiece W (see FIG. 43). The sixth step ST6 is a third determination step. The third determination step is performed by the control device 7. More specifically, the control device 7 determines whether or not it is necessary to change the posture of the workpiece W based on the machining program stored in the memory 72.

[0249] If the control device 7 determines in the third judgment step (sixth step ST6) that it is necessary to change the posture of the workpiece W, the posture of the workpiece W is changed in the seventh step ST7 (more specifically, at least one of rotating the table 21 supporting the workpiece W about the first axis AX1 and tilting the table 21 supporting the workpiece W about the second axis AX2 is performed). The seventh step ST7 is a second posture changing step.

[0250] For example, in the third judgment process (sixth step ST6), if the control device 7 determines that it is necessary to rotate the workpiece W at least around the first axis AX1, the table 21 supporting the workpiece W is rotated around the first axis AX1 (rotation process).

[0251] For example, in the third judgment process (sixth step ST6), if the control device 7 determines that it is necessary to tilt the workpiece W at least around the second axis AX2, the table 21 supporting the workpiece W is tilted around the second axis AX2 (tilting process).

[0252] The second posture change step may be executed in combination with a movement step of moving the table device 20. More specifically, when the control device 7 determines that both the linear movement of the workpiece W and the change in posture of the workpiece W are necessary, the table device 20 is moved linearly and the table 21 is turned or tilted.

[0253] If the control device 7 determines that it is not necessary to change the posture of the workpiece W (sixth step ST6: No), or if the posture change of the workpiece W has been completed, the process proceeds to an eighth step ST8.

[0254] In an eighth step ST8, the workpiece W supported by the table 21 is machined using at least one first rotating tool T1 supported by the machining head 30. The eighth step ST8 is a second machining process. The number of locations to be machined on the workpiece W that are machined by the at least one first rotating tool T1 may be 10 or more, 20 or more, or 30 or more.

[0255] In the example shown in FIG. 39, at least one first rotating tool T1 supported by the processing head 30 includes a hole forming tool T1-2 (e.g., a drill or a tapping tool). Alternatively, or additionally, at least one first rotating tool T1 supported by the processing head 30 may include a surface machining tool T1-1 (see FIG. 33, if necessary) and / or a friction stir welding tool T1-3 (see FIG. 33, if necessary). The first rotating tool T1 (e.g., the hole forming tool T1-2) supported by the processing head 30 is replaced with another first rotating tool (e.g., the surface machining tool T1-1 or the friction stir welding tool T1-3) by using, for example, a first tool changer 80a (see FIG. 33).

[0256] The first machining step (eighth step ST8) includes moving the machining head 30 using the multiple linear motion devices 4 while the first rotating tool T1 is in contact with the workpiece W supported by the table 21. When the machining of the workpiece W is performed by moving the machining head 30 using the multiple linear motion devices 4, the machining of the workpiece W can be performed with high precision.

[0257] In a ninth step ST9, it is determined whether or not the processing of the workpiece W by the processing device 3 (more specifically, cutting processing) has been completed. The ninth step ST9 is a fourth judgment step. The fourth judgment step is performed by the control device 7. More specifically, the control device 7 determines whether or not the processing of the workpiece W by the processing device 3 (more specifically, cutting processing) has been completed based on the processing program 722 stored in the memory 72.

[0258] In the fourth judgment step (ninth step ST9), if the control device 7 judges that the processing of the workpiece W by the processing device 3 has been completed (ninth step ST9: Yes), the process proceeds to tenth step ST10. If the control device 7 judges that the processing of the workpiece W by the processing device 3 has not been completed (ninth step ST9: No), the process returns to the sixth step ST6 (third judgment step).

[0259] The sixth step ST6 to the ninth step ST9 are repeatedly executed by the control device 7 until it is determined that the machining of the workpiece W by the machining device 3 has been completed. For example, in the example described in Figures 39 and 40, the workpiece machining method includes: (1) machining a first surface (e.g., first main surface Wa) of the workpiece W supported by the table 21 with at least one first rotating tool T1 (e.g., hole forming tool T1-2) supported by the machining head 30 (eighth step ST8); (2) changing the posture of the workpiece W (seventh step ST7) when the control device 7 determines that cutting of the workpiece W by the machining device 3 has not been completed (ninth step ST9: No) and the control device 7 determines that a change in posture of the workpiece W is necessary (sixth step ST6: Yes); and (3) machining a second surface (e.g., second main surface Wb) of the workpiece W supported by the table 21 with at least one first rotating tool T1 (e.g., face machining tool T1-1) supported by the machining head 30 (eighth step ST8).

[0260] In a tenth step ST10, the workpiece W is removed from the table 21. The tenth step ST10 is a removal step. The removal step (tenth step ST10) may include moving the door 12 from the closed position to the open position, and moving the workpiece W from the processing chamber CB to the outside of the processing chamber CB so as to cross the workpiece passage opening OP.

[0261] Immediately before the removal step (tenth step ST10) is performed, the table device 20 may be moved in a direction approaching the workpiece passage opening OP. The movement is performed using the third drive device 18. When the table device 20 is moved in a direction approaching the workpiece passage opening OP, it is easy to remove the workpiece W from the table 21 in the removal step.

[0262] (Variations in workpiece machining methods) A modified example of the workpiece machining method will be described with reference to Fig. 1 to Fig. 42 and Fig. 44. The first step ST1 to the eighth step ST8 are similar to the first step ST1 to the eighth step ST8 described above, and therefore repeated explanations of these steps will be omitted.

[0263] In a ninth step ST109, the workpiece W supported by the table 21 is machined using at least one second rotating tool T2 supported by the second articulated arm 60. The ninth step ST9 is a third machining process. The number of locations of the workpiece W to be machined by the at least one second rotating tool T2 may be 10 or more, 20 or more, or 30 or more.

[0264] In the example shown in FIG. 39, at least one second rotating tool T2 supported by the second articulated arm 60 includes a drill T2-1. Alternatively, or additionally, at least one second rotating tool T2 supported by the second articulated arm 60 may include a tapping tool T2-2 (see FIG. 34, if necessary) and / or a friction stir welding tool. The second rotating tool T2 (e.g., drill T2-1) supported by the processing head 30 is replaced with another second rotating tool (e.g., tapping tool T2-2 or a friction stir welding tool) by using, for example, a second tool changer 80b (see FIG. 34).

[0265] 29, the third machining step (ninth step ST109) may include a step in which the tool support device 63 attached to the articulated arm 50 moves the second rotating tool T2, which rotates around the second rotation axis AD2, in a direction parallel to the second rotation axis AD2 using the tool linear motion device 65. When the movement of the second rotating tool T2 is performed using the tool linear motion device 65, the second rotating tool T2 can be moved with high precision.

[0266] As illustrated in Fig. 39, a part of the second processing step (eighth step ST8) and a part of the third processing step (ninth step ST109) may be performed simultaneously. A part of the second processing step (eighth step ST8) may be performed when the third processing step is not being performed. Also, a part of the third processing step (ninth step ST109) may be performed when the second processing step is not being performed.

[0267] In a tenth step ST110, it is determined whether or not the processing of the workpiece W by the processing device 3 and the second robot 6 (more specifically, cutting processing) has been completed. The tenth step ST110 is a fourth judgment step. The fourth judgment step is performed by the control device 7. More specifically, the control device 7 determines whether or not the processing of the workpiece W by the processing device 3 and the second robot 6 (more specifically, cutting processing) has been completed based on the processing program 722 stored in the memory 72.

[0268] In the fourth judgment step (tenth step ST110), if the control device 7 judges that the processing of the workpiece W by the processing device 3 and the second robot 6 has been completed (tenth step ST110: Yes), proceed to an eleventh step ST111. If the control device 7 judges that the processing of the workpiece W by the processing device 3 and the second robot 6 has not been completed (tenth step ST110: No), return to the sixth step ST6 (third judgment step).

[0269] The sixth step ST6 to the tenth step ST110 are repeatedly executed until the control device 7 determines that the machining of the workpiece W by the machining device 3 and the second robot 6 is completed. For example, in the example shown in FIG. 39 and FIG. 40, the workpiece machining method includes (1) machining a first surface (e.g., first main surface Wa) of the workpiece W supported by the table 21 with at least one first rotating tool T1 (e.g., hole forming tool T1-2) supported by the machining head 30 (eighth step ST8), (2) machining a third surface (e.g., first side surface Wc) of the workpiece W supported by the table 21 with at least one second rotating tool T2 (e.g., drill T2-1) supported by the second articulated arm 60 (ninth step ST109), and (3) determining that the machining of the workpiece W by the machining device 3 and the second robot 6 is not completed by the control device 7 (tenth step ST110). : No), and if the control device 7 determines that a change in the posture of the workpiece W is necessary (sixth step ST6: Yes), changing the posture of the workpiece W (seventh step ST7); (4) machining the second surface (e.g., the second main surface Wb) of the workpiece W supported by the table 21 with at least one first rotating tool T1 (e.g., surface machining tool T1-1) supported by the machining head 30 (eighth step ST8); and (5) machining the fourth surface (e.g., the second side surface Wd) of the workpiece W supported by the table 21 with at least one second rotating tool T2 (e.g., tapping tool T2-2) supported by the second articulated arm 60 (ninth step ST109).

[0270] In an eleventh step ST111, the workpiece W is removed from the table 21. The eleventh step ST111 is a removal step. The removal step (eleventh step ST111) may include moving the door 12 from the closed position to the open position, and moving the workpiece W from the processing chamber CB to the outside of the processing chamber CB so as to cross the workpiece passage opening OP.

[0271] Immediately before the removal step (eleventh step ST111) is performed, the table device 20 may be moved in a direction approaching the workpiece passage opening OP. The movement is performed using the third drive device 18. When the table device 20 is moved in a direction approaching the workpiece passage opening OP, it is easy to remove the workpiece W from the table 21 in the removal step.

[0272] 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.

[0273] In the example shown in FIG. 45 and FIG. 46, the workpiece supporting device 2 can index the table 21 to each of a plurality of different index angle positions (Q1, Q2) around the first axis AX1. For example, the workpiece supporting device 2 can index the table 21 to a first index angle position Q1 around the first axis AX1, and can index the table 21 to a second index angle position Q2 around the first axis AX1. In the example shown in FIG. 45 and FIG. 46, the second index angle position Q2 is a position that differs from the first index angle position Q1 by 90 degrees around the first axis AX1. Alternatively, the second index angle position Q2 may be a position that differs from the first index angle position Q1 by any predetermined angle around the first axis AX1. The workpiece supporting device 2 may be capable of indexing the table 21 to each of a plurality of index angle positions that differ at least by 90 degrees around the first axis AX1. The workpiece supporting device 2 may be capable of indexing the table 21 to each of a plurality of index angle positions that differ at least in increments of 45 degrees around the first axis AX1.

[0274] 45 and 46, the first robot 5 and the processing device 3 are disposed at two different angular positions around the workpiece support device 2 in a plan view. In the example shown in Fig. 45 and 46, the processing head 30 and the articulated arm 50 can approach the workpiece W supported on the table 21 from angles that differ by approximately 90 degrees in a plan view. Therefore, interference between the processing device 3 and the first robot 5 is effectively suppressed.

[0275] In the example shown in FIG. 45 and FIG. 46, the first robot 5, the processing device 3, and the workpiece passage opening OP are arranged at three different angular positions around the workpiece support device 2 in a plan view. In this case, the workpiece W can be easily loaded and unloaded into the machining chamber CB. In addition, the expansion of the installation space of the machine tool 1 is suppressed. Furthermore, by looking inside the machine through the workpiece passage opening OP, the state of the first rotating tool T1 and the laser head 173 can be easily confirmed. Note that it is preferable that the door 12 is provided with a window 121 through which the inside of the machining chamber CB can be viewed from outside the machining chamber CB. In this case, by looking inside the machine through the window 121, the state of the first rotating tool T1 and the laser head 173 can be easily confirmed.

[0276] In the example shown in FIG. 45 and FIG. 46, the first robot 5, the second robot 6, the processing device 3, and the workpiece passage opening OP are arranged at four different angular positions around the workpiece support device 2 in a plan view. In this case, it is easy to simultaneously cut the workpiece W by the processing device 3 and the second robot 6 without causing the processing device 3 and the second robot 6 to interfere with each other. In the example shown in FIG. 45 and FIG. 46, the processing head 30 and the multi-joint arm 50 can approach the workpiece W supported on the table 21 from angles that differ by approximately 90 degrees in a plan view. In addition, the processing head 30 and the second multi-joint arm 60 can approach the workpiece W supported on the table 21 from angles that differ by approximately 90 degrees in a plan view. Therefore, interference between the processing device 3, the first robot 5, and the second robot 6 is effectively suppressed.

[0277] In addition, since the first robot 5, the second robot 6, the processing device 3, and the workpiece passage opening OP are arranged at four different angular positions around the workpiece supporting device 2 in a plan view, the workpiece W can be easily carried in and out of the processing chamber CB. Also, an increase in the installation space of the machine tool 1 is suppressed. Furthermore, by looking inside the machine through the workpiece passage opening OP or the window 121, the states of the first rotating tool T1, the second rotating tool T2, and the laser head 173 can be easily confirmed.

[0278] 45, the area center of the table 21 when the table 21 is located closest to the processing device 3 (more specifically, the area center of the upper surface of the table 21 when the table 21 is located closest to the processing device 3) is defined as the first center C1. Note that the table 21 may be a table that is movable in a direction away from the processing device 3, or a table that does not move in a direction away from the processing device 3.

[0279] 45, a direction from the first center C1 toward the center C2 of the workpiece passing opening OP in a plan view (more specifically, the areal center of the workpiece passing opening OP in a plan view) is defined as a 12 o'clock direction DT12. The processing device 3 is disposed at a position overlapping at least one of a half line DT5 extending from the first center C1 in the 5 o'clock direction, a half line DT6 extending from the first center C1 in the 6 o'clock direction, and a half line DT7 extending from the first center C1 in the 7 o'clock direction, for example, in a plan view. The first robot 5 is positioned, for example, in a planar view, at a position overlapping at least one of the following: a half line DT2 extending from the first center C1 in the 2 o'clock direction, a half line DT3 extending from the first center C1 in the 3 o'clock direction, a half line DT4 extending from the first center C1 in the 4 o'clock direction, a half line DT8 extending from the first center C1 in the 8 o'clock direction, a half line DT9 extending from the first center C1 in the 9 o'clock direction, and a half line DT10 extending from the first center C1 in the 10 o'clock direction. One of the first robot 5 and the second robot 6 may be positioned in a position overlapping, in a planar view, at least one of the half line DT8 extending from the first center C1 in the 8 o'clock direction, the half line DT9 extending from the first center C1 in the 9 o'clock direction, and the half line DT10 extending from the first center C1 in the 10 o'clock direction, and the other of the first robot 5 and the second robot 6 may be positioned in a position overlapping at least one of the half line DT2 extending from the first center C1 in the 2 o'clock direction, the half line DT3 extending from the first center C1 in the 3 o'clock direction, and the half line DT4 extending from the first center C1 in the 4 o'clock direction.

[0280] 1 and 24, the first rotation axis AD1, which is the rotation axis of the first rotating tool T1 supported by the machining head 30, is substantially parallel to the horizontal plane. Alternatively, the first rotation axis AD1 may be substantially parallel to the vertical direction, or may be inclined with respect to both the horizontal plane and the vertical direction. [Explanation of symbols]

[0281] 1, 1A, 1B...machine tool, 2...workpiece support device, 3...machining device, 4...linear motion device, 5...first robot, 6...second robot, 7...control device, 8...tool change device, 10...base, 11...wall, 11-1...first wall, 11-2...second wall, 11-3...third wall, 11-4...fourth wall, 11a...fixed wall, 11b...movable wall, 11b-1...first movable wall, 11b-2...second movable wall, 12...door, 13a...support base, 13b...support base, 14...protector, 16...moving device, 17...laser irradiation device, 18...third drive device, 19d...fourth drive device, 19r...guide rail, 20...table device, 21...table, 22...block, 22a...first end, 22b...second end, 22c...central portion, 23...first drive device, 24...guide rail, 25...support base, 25a...first support base, 25b...second support base, 26...second drive device, 30...machining head, 31...spindle, 32...support body, 33...bearing, 34...first rotation drive device, 35...tilt drive device, 36...first moving body, 37...second moving body, 38...third moving body, 38c...column, 41...first linear motion device, 42...drive device, 43...first linear guide, 44...second linear motion device, 45...drive device, 46...second linear guide d, 47...third linear motion device, 48...driving device, 49...third linear guide, 50...articulated arm, 51a...first part, 51b...second part, 51c...third part, 51d...fourth part, 51e...fifth part, 51f...sixth part, 52...wrist, 59...arm driving device, 60...second articulated arm, 61a...first part, 61b...second part, 61c...third part, 61d...fourth part, 61e...fifth part, 61f...sixth part, 62...wrist, 63...tool support device, 64...second rotary driving device, 65...tool linear motion device, 66...fixed part, 66r...linear guide, 67...movable part, 69...arm arm drive device, 70...processor, 72...memory, 74...communication circuit, 76...input device, 78...bus, 80...tool exchange device, 80a...first tool exchange device, 80b...second tool exchange device, 81a...tool exchange arm, 82a...first gripper, 83a...second gripper, 84a...arm rotation device, 85a...arm movement device, 91...coolant liquid supply device, 91n...nozzle, 93...tool stocker, 95...shutter, 96...shutter drive device, 99...mist removal device, 99a...mist suction device, 100...machine tool system, 101...third robot, 102...third articulated arm,103...gripping body, 121...window, 131a...upper surface, 131b...upper surface, 141...recess, 141a...opening, 143...wall, 151...cover, 156...support member, 173...laser head, 173a...tip, 173e...laser emission port, 173f...flange, 173p...gas flow path, 174...optical component, 174n...lens, 176...laser light source, 177...gas supply device, 178...component for transmitting laser to laser head, 178f...optical fiber, 722...machining program, 726...work data, 762...display with touch panel, AD1...first rotating axis, AD2...second 2 rotation axes, AT...tilt axis, AX1...first axis, AX2...second axis, Bu...burr, C1...first center, C2...center of workpiece passage opening, CB...machining chamber, CD...second chamber, DR1...first direction, DR2...second direction, DT12...12 o'clock direction, DT2, DT3, DT4, DT5, DT6, DT7, DT8, DT9, DT10...half line, Dp...dent, Dp-1...character, E1...first operation command, E2...injection command, E3...movement command, E3-1...first movement command, E3-2...second movement command, E3-3...third movement command, E4...first rotation command, E5...second operation command, E6...second rotation command, E7... Tool movement command, E8...rotation command, E9...tilt command, E10...table movement command, E11...machining device movement command, E12...tool change command, E12-1...first tool change command, E12-2...second tool change command, F1...advance position, F2...storage position, HL1, HL2, HL3...hole, J...jig, K1...open position, K2...close position, LB...laser, M1...first machining mode, M1-1...first hole formation mode, M1-2...trimming mode, M1-3...cut-out mode, M1-4...laser marking mode, M2...second machining mode, M2-1...surface machining mode, M2-2...second hole shape forming mode, M3...third machining mode, M4...turning mode, M5...tilting mode, M6...first tool change mode, M7...second tool change mode, MT...motor, OB...closed orbit, OP...workpiece passage opening, P1...receiving position, P2...advance position, P3...rotation possible position, P4...advance position, P5...retract position, Q1...first index angle position, Q2...second index angle position, RG1...first region, RG2...second region, RT1...first rotation axis, RT2...first tilt axis, RT3...second tilt axis, RT4...second rotation axis, RT5...third tilt axis, RT6...third rotation axis, RX1...first rotation axis, RX2...first tilt axis,RX3...second tilt axis, RX4...second swivel axis, RX5...third tilt axis, RX6...third swivel axis, T1...first rotating tool, T1-1...surface machining tool, T1-2...hole forming tool, T1-2a...drill, T1-2b...tapping tool, T1-3...friction stir welding tool, T2...second rotating tool, T2-1...drill, T2-2...tapping tool, W...workpiece, WS...inclined surface, WV...surface perpendicular to the vertical surface, Wa...first main surface, Wb...second main surface, Wc...first side surface, Wd...second side surface, We...top surface, Wk...part of the workpiece,

Claims

1. A workpiece supporting device having a table for supporting a workpiece; a machining device having a machining head capable of supporting a first rotary tool for machining the workpiece supported by the table, and a plurality of linear motion devices for three-dimensionally moving the machining head; a first robot having a laser head that irradiates a laser onto the workpiece supported by the table and a multi-joint arm that changes a position and a direction of the laser head, and processes the workpiece with the laser; a second robot having a second articulated arm that changes a position and an orientation of a second rotary tool, and that processes the workpiece supported by the table using the second rotary tool; Equipped Machine tools.

2. In a plan view, the processing device, the first robot, and the second robot are disposed around the workpiece supporting device. The machine tool according to claim 1.

3. A wall defining a processing chamber; A door for opening and closing a work passage opening formed in the wall; Equipped with In a plan view, the work support device is disposed between the processing device and the work passage opening, In a plan view, the work passage opening, the first robot, and the processing device are disposed around the work support device. The machine tool according to claim 1.

4. a protector for protecting a tip of the laser head; The protector includes a recess for receiving the tip. A machine tool according to any one of claims 1 to 3.

5. a coolant supply device for supplying a coolant liquid toward the workpiece supported by the table, Before the laser is emitted from the laser head, the tip of the laser head is removed from the recess. The machine tool according to claim 4.

6. a shutter separating a first area in which the first robot is disposed from a second area in which the table is disposed; a shutter drive device for opening and closing the shutter; Equipped A machine tool according to any one of claims 1 to 3.

7. The workpiece supporting device includes a first driving device that rotates the table around a first axis. A machine tool according to any one of claims 1 to 3.

8. a control device that controls the first robot and the first driving device, When a first machining cycle is defined as a cycle in which the table supporting the workpiece is rotated about the first axis, and then the workpiece supported by the table is machined by the laser emitted from the laser head supported by the articulated arm, the control device repeatedly executes the first machining cycle two or more times. The machine tool according to claim 7.

9. The workpiece supporting device includes a second driving device that tilts the table about a second axis different from the first axis. The machine tool according to claim 7.

10. When a direction from the processing device toward the work support device is defined as a first direction in a plan view, a third drive device is provided to move the work support device in a direction parallel to the first direction. A machine tool according to any one of claims 1 to 3.

11. a control device for controlling the processing device and the first robot, The control device includes: a first processing mode in which the first robot is controlled to process the workpiece supported on the table with the laser emitted from the laser head supported on the articulated arm; a second machining mode in which the machining device is controlled to machine the workpiece supported on the table with the first rotary tool supported on the machining head; It is possible to execute The first processing mode is a first hole forming mode in which a hole is formed in the workpiece by the laser emitted from the laser head; a trimming mode in which burrs are removed from the workpiece by the laser emitted from the laser head; A cut-out mode in which a part of the workpiece is cut out from the workpiece by the laser emitted from the laser head; and A laser marking mode in which at least one of characters, symbols, and bar codes is engraved on the surface of the workpiece by the laser emitted from the laser head. and The second processing mode is A surface machining mode in which the workpiece is surface-machined by the first rotating tool; and a second hole forming mode in which a hole is formed in the workpiece by the first rotary tool; Contains at least one of A machine tool according to any one of claims 1 to 3.

12. Attaching a workpiece directly or indirectly to a table of a workpiece support device; a first processing step of processing the workpiece supported by the table with a laser emitted from a laser head supported by a multi-joint arm of a first robot; a second machining step of machining the work supported by the table using a first rotary tool supported by a machining head that is three-dimensionally movable; a third machining step of machining the workpiece supported by the table using a second rotary tool supported by a second articulated arm of a second robot; Equipped with The first processing step includes moving the laser head using the articulated arm, The second machining step includes moving the machining head using a plurality of linear motion devices, The second articulated arm is capable of changing a position and an orientation of the second rotary tool. Workpiece machining method.

13. After the first processing step is performed, the second processing step is performed. The workpiece machining method according to claim 12.

14. A part of the first processing step and a part of the second processing step are performed simultaneously. The workpiece machining method according to claim 12.

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