Metal processing device

Abstract

To provide a machine tool which can implement improvement of efficiency of machining, suppression of enlargement of an installation space, and maintaining of machining accuracy.SOLUTION: The machine tool includes: a workpiece support device having a table supporting a workpiece; a first machining device having a machining head capable of supporting a first rotary tool machining the workpiece and a plurality of linear motion devices three-dimensionally moving the machining head; a first robot machining the workpiece using a second rotary tool; a second robot machining the workpiece using a third rotary tool; walls defining a machining chamber; and a door for opening and closing a workpiece passage opening formed in the walls. The workpiece support device includes a first drive device that turns the table around the first axis. In a plan view, the workpiece support device is disposed between the first machining device and the workpiece passage opening, and the workpiece passage opening, the first robot, the first processing device, and the second robot are disposed around the workpiece support device.SELECTED DRAWING: Figure 19

Description

Technical Field

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

Background Art

[0002] In order to improve production efficiency, it is known to use a machine tool having a plurality of machining heads.

[0003] As a related technology, Patent Document 1 discloses a machining center. The machining center described in Patent Document 1 has a first machining head and a second machining head.

[0004] Also, Patent Document 2 discloses a machining system. 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 tracks of the platform.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] An object of the present invention is to provide a machine tool capable of achieving improved machining efficiency, suppressing an increase in installation space, and maintaining machining accuracy.

Means for Solving the Problems

[0007] In some embodiments, a machine tool includes a work support device having a table for supporting a work, a machining head capable of supporting a first rotating tool for machining the work supported by the table, and a first machining device having a plurality of linear motion devices for three-dimensionally moving the machining head; a first robot having an articulated arm for changing the position and orientation of a second rotating tool, and machining the work supported by the table using the second rotating tool; a second robot having a second articulated arm for changing the position and orientation of a third rotating tool, and machining the work supported by the table using the third rotating tool; a wall defining a machining chamber; and a door for opening and closing a work passage formed in the wall. The work support device has a first driving device for rotating the table about a first axis. In a plan view, the work support device is disposed between the first machining device and the work passage. In a plan view, the work passage, the first robot, the first machining device, and the second robot are disposed around the work support device.

Advantages of the Invention

[0008] According to the present invention, it is possible to provide a machine tool capable of realizing improved machining efficiency, suppressing an increase in installation space, and maintaining machining accuracy.

Brief Description of the Drawings

[0009]

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MODE FOR CARRYING OUT THE INVENTION

[0010] Hereinafter, with reference to the drawings, the machine tool 1 and the workpiece processing method in the embodiment will be described. In the following description of the embodiment, parts and members having the same function are denoted by the same reference numerals, and repeated descriptions of the parts and members denoted by the same reference numerals are omitted.

[0011] (Definition of Terms) In the example described in FIG. 1, the machining head 30 of the first machining device 3 can support a rotary tool. In this specification, the rotary tools supported by the machining head 30 are collectively referred to as the first rotary tools. Further, the plurality of rotary tools sequentially supported by the machining head 30 are referred to as the first group of rotary tools.

[0012] In the example described in FIG. 1, the articulated arm 50 of the first robot 5 can support a rotary tool. In this specification, the rotary tools supported by the articulated arm 50 are collectively referred to as the second rotary tools. Further, the plurality of rotary tools sequentially supported by the articulated arm 50 are referred to as the second group of rotary tools.

[0013] In the example described in FIG. 17, the second articulated arm 60 of the second robot 6 can support a rotary tool. In this specification, the rotary tools supported by the second articulated arm 60 are collectively referred to as the third rotary tools. Further, the plurality of rotary tools sequentially supported by the second articulated arm 60 are referred to as the third group of rotary tools.

[0014] In this specification, even if not specified as "substantially", "parallel" shall include substantial parallelism. Due to tolerances, manufacturing errors, wear, play between members, etc., it is difficult to achieve exact mathematical parallelism. Therefore, in this specification, all terms of "parallel" without the description of "substantially" shall be read as "substantially parallel".

[0015] In this specification, even if not specified as "substantially", "perpendicular" shall include substantial perpendicularity. Due to tolerances, manufacturing errors, wear, play between members, etc., it is difficult to achieve exact mathematical perpendicularity. Therefore, in this specification, all terms of "perpendicular" without the description of "substantially" shall be read as "substantially perpendicular".

[0016] (Definition of directions) In this specification, the direction from the first processing device 3 towards the workpiece support device 2 in a plan view (more specifically, the direction from the first processing device 3 towards the table device 20 in a plan view) is defined as the first direction DR1. As illustrated in FIG. 17, in this specification, the direction from the first support base 25a towards the second support base 25b is defined as the second direction DR2. In the example shown in FIG. 17, the second direction DR2 is perpendicular to the first direction DR1.

[0017] (First Embodiment) With reference to FIGS. 1 to 16, the machine tool 1A and the workpiece processing method in the first embodiment will be described. FIGS. 1 to 3 are schematic perspective views schematically showing the machine tool 1A in the first embodiment. FIGS. 4 to 7 are schematic plan views schematically showing the machine tool 1A in the first embodiment. FIG. 8 is a schematic plan view schematically showing the machine tool 1A in the first modification of the first embodiment. FIG. 9 is a schematic side view schematically showing a part of the machining head 30. FIG. 10 is a schematic perspective view schematically showing an example of the first robot 5 and the support base 13a. FIG. 11 is an enlarged schematic perspective view showing an example of the tool support device 53 attached to the articulated arm 50. FIG. 12 is a schematic plan view schematically showing the machine tool 1A in the first embodiment. FIG. 13 is a schematic plan view schematically showing the machine tool 1A in the second modification of the first embodiment. FIG. 14 is a flowchart showing an example of the workpiece processing method in the first embodiment. FIG. 15 is a flowchart showing another example of the workpiece processing method in the first embodiment. FIG. 16 is a schematic plan view schematically showing the machine tool 1A in the first embodiment.

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

[0019] As illustrated in FIG. 2, the work support device 2 has a table 21 that supports the work W. More specifically, the work support device 2 has a table 21 that directly or indirectly supports the work W. In the example shown in FIG. 2, the table 21 supports the work W via the jig J. Alternatively, the table 21 may directly support the work W.

[0020] The first processing device 3 has a processing head 30 and a plurality of linear motion devices 4. The processing head 30 can support a first rotary tool T1 for processing the work W supported by the table 21.

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

[0022] In the example shown in FIG. 2, the first robot 5 processes the work W supported by the table 21 using a second rotary tool T2. The first robot 5 has an articulated arm 50 that changes the position and orientation of the second rotary tool T2. The first robot 5 can also be said to be an articulated robot.

[0023] In the examples shown in FIGS. 2 and 3, the work support device 2 has a first drive device 23 (e.g., a motor) that rotates the table 21 around the first axis AX1. The first drive device 23 preferably can rotate the table 21 360 degrees around the first axis AX1.

[0024] In the machine tool 1A in the first embodiment, the work W supported by the table 21 can be processed using a plurality of tools including the first rotary tool T1 supported by the first processing device 3 and the second rotary tool T2 supported by the first robot 5. Thus, the processing efficiency of the work W is improved.

[0025] Also, in the machine tool 1A according to the first embodiment, both the first processing device 3 and the first robot 5 are arranged at positions where the work W supported by the table 21 can be processed. Therefore, an increase in the installation space of the machine tool 1A is suppressed.

[0026] In the first embodiment, the first processing device 3 has a plurality of linear motion devices 4 that move the processing head 30 three-dimensionally. Therefore, the first processing device 3 can perform highly accurate processing as compared with the first robot 5 having the articulated arm 50. For example, processing that requires high accuracy can be assigned to the first processing device 3, and processing that requires relatively low accuracy can be shared between both the first processing device 3 and the first robot 5.

[0027] In the first embodiment, as illustrated in FIGS. 2 and 3, the work support device 2 has a first drive device 23 that rotates the table 21 around the first axis AX1. For this reason, using the first rotary tool T1 supported by the processing head 30, both the first main surface Wa (more specifically, the front surface of the work W) and the second main surface Wb (more specifically, the back surface of the work W) of the work W can be processed.

[0028] As illustrated in FIG. 2, assume a case where the workpiece W has a first main surface Wa, a second main surface Wb, a first side surface Wc (e.g., the left side surface), and a second side surface Wd (e.g., the right side surface). In the example described in FIG. 2, when the first processing device 3 processes the first main surface Wa of the workpiece W, the first robot 5 can process the first side surface Wc of the workpiece W (refer to FIG. 40 if necessary). Further, after the table 21 is rotated from the state shown in FIG. 2 to the state shown in FIG. 3, the first processing device 3 can process the second main surface Wb located on the opposite side of the first main surface Wa. Further, after the table 21 is rotated from the state shown in FIG. 2 to the state shown in FIG. 3, the first robot 5 can process the second side surface Wd located on the opposite side of the first side surface Wc. In the examples described in FIGS. 2 and 3 (or in the examples described in FIGS. 40 and 41), the machine tool 1A can sequentially execute simultaneous processing of the workpiece W supported by the table 21 by the first processing device 3 and the first robot 5, rotating the table 21 supporting the workpiece W by a predetermined angle (the predetermined angle is, for example, 45 degrees, 90 degrees, 180 degrees, etc.) around the first axis AX1, and again performing simultaneous processing of the workpiece W supported by the table 21 by the first processing device 3 and the first robot 5.

[0029] (Optional additional configuration) Subsequently, with reference to FIGS. 1 to 16, an optional additional configuration applicable in the first embodiment (or the second embodiment described later) will be described.

[0030] (Workpiece W) In the first embodiment or the second embodiment, the workpiece W processed 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 processed by the machine tool 1 may be an aluminum workpiece. The workpiece W processed by the machine tool 1 may be an aluminum casting part.

[0031] The workpiece W machined by the machine tool 1 may be an automotive part or other workpiece. The workpiece W may be a part of an automotive body frame. 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 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.

[0032] (Workpiece support device 2) In the example shown in FIG. 1, the workpiece support device 2 includes a table 21, a block 22 that rotatably supports the table 21 about the first axis AX1, and a first drive device 23 that rotates the table 21 about the first axis AX1. Note that each of the table 21 and the block 22 may be constituted by one part or may be constituted by an assembly of a plurality of parts. In the example shown in FIG. 1, the first axis AX1 is substantially perpendicular to the horizontal plane. Alternatively, the first axis AX1 may be inclined with respect to the horizontal plane. Further alternatively, the first axis AX1 may be substantially parallel to the horizontal plane.

[0033] In the example shown in FIG. 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 support device 2) has the table device 20, and the table device 20 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 rotatably supports the table 21.

[0034] As illustrated in FIG. 1, the machine tool 1A may have a guide rail 24 that supports the table device 20 so as to be movable in the first direction DR1.

[0035] In the example described in FIG. 1, the machine tool 1A has a third drive device 18 (for example, a motor) that moves 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.

[0036] In the example described in FIG. 4, 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. The receiving position P1 is a position where the table device 20 (more specifically, the table 21) receives the workpiece W carried in from the outside of 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 first machining device 3. The receiving position P1 is on the first direction DR1 side of the advancing position P2.

[0037] In the example described in FIG. 5, the table device 20 is movable in a direction parallel to the first direction DR1 at least between the advancing position P2 and the retracting position P3. The advancing position P2 is a position where the workpiece W supported by the table 21 can be machined using the first machining device 3. The retracting position P3 is a position where the workpiece W supported by the table 21 can be rotated about the first axis AX1 without interfering with the first machining device 3 (or the movable wall 11b described later) (see FIG. 6). The retracting position P3 is on the first direction DR1 side of the advancing position P2.

[0038] When the table device 20 is movable to the retracting position P3, the table 21 can be rotated about the first axis AX1 with a large workpiece W supported by the table 21.

[0039] Alternatively, or additionally, as illustrated in FIG. 8, the machine tool 1A may include a fourth driving device 19d (e.g., a motor) that moves the first processing device 3 in a direction parallel to the first direction DR1. The fourth driving device 19d moves the entire first 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 first processing device 3 or a structure including the column 38c that supports the processing head 30.

[0040] In the example shown in FIG. 8, the first processing device 3 is movable in a direction parallel to the first direction DR1 between the advanced position P4 and the retracted position P5. The advanced position P4 is a position where the workpiece W supported by the table 21 can be processed using the first processing device 3. The retracted position P5 is a position where the workpiece W supported by the table 21 can be rotated about the first axis AX1 without interfering with the first processing device 3 (or the movable wall 11b described later).

[0041] When the first processing device 3 can be moved to the retracted position P5, the table 21 can be rotated about the first axis AX1 with a large workpiece W supported by the table 21.

[0042] (Processing head 30) As illustrated in FIG. 9, the processing head 30 includes a spindle 31, a support 32, and a bearing 33.

[0043] The spindle 31 can hold the first rotary tool T1. The spindle 31 is rotatable about the first rotation axis AD1.

[0044] The support 32 rotatably supports the spindle 31 about the first rotation axis AD1 via the bearing 33.

[0045] The first processing device 3 (more specifically, the processing head 30) has a first rotation driving device 34. The first rotation driving device 34 rotates the first rotation tool T1 around the first rotation axis AD1. More specifically, the first rotation driving device 34 rotates the spindle 31 around the first rotation axis AD1, thereby rotating the first rotation tool T1 held by the spindle 31 around the first rotation axis AD1.

[0046] In the example shown in FIG. 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, the chips generated when the first rotation tool T1 rotating around the first rotation axis AD1 contacts the workpiece W are easily discharged downward.

[0047] In the example shown in FIG. 1, the first axis AX1 (in other words, the turning axis of the table 21) is disposed substantially perpendicular to the direction parallel to the first rotation axis AD1. In this case, by turning the table 21 around the first axis, the processing target surface of the workpiece W can be directed toward the first rotation tool T1. More specifically, by turning the table 21 to each indexing position around the first axis AX1, each processing target surface of the workpiece W parallel to the first axis AX1 can be made to face the first rotation axis AD1.

[0048] Note that 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 FIG. 17 if necessary). Also in this case, by turning the table 21 to each indexing position around the first axis AX1, each processing target surface of the workpiece W parallel to the first axis AX1 can be made to face the first rotation axis AD1. In addition, when the table 21 is tiltable around a second axis AX2 different from the first axis AX1 (see FIG. 17 if necessary), by combining the turning of the table 21 around the first axis AX1 and the tilting of the table 21 around the second axis AX2, any processing target surface of the workpiece W can be made to face the first rotation axis AD1.

[0049] (First Robot 5) In the example described in FIG. 10, the first robot 5 has an articulated arm 50, and the articulated arm 50 has at least six rotational axes (RX1, RX2, RX3, RX4, RX5, RX6). More specifically, the articulated arm 50 includes a first portion 51a that can rotate about a first rotational axis RX1 with respect to the support base 13a, a second portion 51b that can tilt about a first tilting axis RX2 with respect to the first portion 51a, a third portion 51c that can tilt about a second tilting axis RX3 with respect to the second portion 51b, a fourth portion 51d that can rotate about a second rotational axis RX4 with respect to the third portion 51c, a fifth portion 51e that can tilt about a third tilting axis RX5 with respect to the fourth portion 51d, and a sixth portion 51f that can rotate about a third rotational axis RX6 with respect to the fifth portion 51e. In the example described in FIG. 10, the articulated arm 50 has at least three tilting axes and at least three rotational axes.

[0050] In the example described in FIG. 10, a wrist 52 is disposed at the tip of the articulated arm 50. In other words, the first robot 5 has a wrist 52 disposed at the tip of the articulated arm 50. In the example described in FIG. 10, the wrist 52 is constituted by the above-described sixth portion 51f. The first robot 5 can freely change the position and orientation of the wrist 52.

[0051] The first robot 5 has a plurality of arm driving devices (for example, a plurality of motors MT) that move a plurality of joints of the articulated arm 50.

[0052] In the example described in FIG. 10, the first robot 5 has a tool support device 53 attached to the articulated arm 50 (more specifically, the wrist 52). The tool support device 53 can support the second rotary tool T2.

[0053] The tool support device 53 has a second rotation driving device 54 (more specifically, a motor) that rotates the second rotary tool T2 about a second rotation axis AD2.

[0054] In the example described in FIG. 11, the tool support device 53 includes a fixed portion 56 attached to the articulated arm 50 (more specifically, the wrist 52), and a movable portion 57 that is linearly relatively movable with respect to the fixed portion 56 in a direction parallel to the second rotation axis AD2. The fixed portion 56 may have a linear guide 56r that guides the movement of the movable portion 57 in a direction parallel to the second rotation axis AD2. The second rotary tool T2 is attached to a spindle disposed on the movable portion 57.

[0055] In the example described in FIG. 11, the tool support device 53 has a tool moving device (hereinafter referred to as the "tool linear motion device 55") that moves the second rotary tool T2 in a direction parallel to the second rotation axis AD2. The tool linear motion device 55 has a motor, an electric cylinder, or the like as a drive source. Also, in the example described in FIG. 11, the tool linear motion device 55 has a linear guide 56r that guides the movement of the movable portion 57 of the tool support device 53 with respect to the fixed portion 56 of the tool support device 53. The tool linear motion device 55 may include a ball screw, a rack and pinion, or the like.

[0056] When the tool support device 53 has the second rotation drive device 54 and the tool linear motion device 55, the second rotary tool T2 can be moved in a direction parallel to the second rotation axis AD2 while rotating the second rotary tool T2 around the second rotation axis AD2. Therefore, after the second rotary tool T2 contacts the workpiece W, a hole HL can be formed in the workpiece W using the second rotary tool T2 without changing the position of the wrist 52. Therefore, the accuracy of the process of forming a hole in the workpiece W is maintained. In other words, although a decrease in processing accuracy due to the presence of articulated joints in the first robot 5 is inevitable, since the process of forming a hole in the workpiece W is performed with the articulated joints fixed at an angle, an excessive decrease in processing accuracy is prevented.

[0057] In the example described in FIG. 1, the machine tool 1A has a support base 13a that supports the first robot 5. In the example described in FIG. 1, the height of the upper surface 131a of the support base 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 base 13a is higher than the height of the uppermost end of the table device 20. In the example described in FIG. 1, the support base 13a is immovable relative to the base 10 of the machine tool 1A. Alternatively, the support base 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.

[0058] (Machining chamber CB, coolant supply device 91) In the example described in FIG. 12, the machine tool 1A includes a machining chamber CB defined by a wall 11 and a coolant supply device 91. In FIG. 12, in order to make the machining chamber CB easily visible, dot hatching is added to the machining chamber CB.

[0059] In the example described in FIG. 12, the machine tool 1A has a wall 11 that defines the machining chamber CB, and a machining head 30 and an articulated arm 50 of the first robot 5 are arranged in the machining chamber CB. In the example described in FIG. 12, 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 partitions the machining chamber CB and a second chamber CD in which all or most of a plurality of linear motion devices 4 that three-dimensionally move the machining head 30 are arranged.

[0060] In the example described in FIG. 12, the wall 11 that defines the machining chamber CB has a fixed wall 11a and a movable wall 11b. The movable wall 11b moves following the movement of the machining head 30.

[0061] As illustrated in FIG. 39, the movable wall 11b may include a first movable wall 11b-1 that expands and contracts following the movement of the machining head 30 in a direction parallel to the vertical direction, and a second movable wall 11b-2 that expands and contracts following the movement of the machining head 30 in a direction parallel to the horizontal plane.

[0062] The coolant supply device 91 supplies coolant liquid toward the workpiece W supported by the table 21. The coolant supply device 91 preferably has an injection nozzle 91n for injecting the coolant liquid. In the example described in FIG. 12, the injection nozzle 91n is arranged on the machining head 30. Alternatively, or additionally, the first robot 5 may have the injection nozzle 91n. Further, the injection nozzle 91n may be arranged on the ceiling portion or the like of the machine tool 1A.

[0063] When the machine tool 1A has the coolant supply device 91, excessive temperature rise of the tool due to frictional heat is suppressed, and the lubrication characteristics between the workpiece W and the rotating tool are improved. Further, chips are prevented from remaining on the workpiece W. When it is possible to supply the coolant liquid to the workpiece W, it is also possible to perform heavy cutting on the metal workpiece W using the first processing device 3.

[0064] Generally, the articulated arm of the robot is not arranged in the machining chamber where the coolant liquid scatters. On the other hand, in the example described in FIG. 12, the articulated arm 50 of the first robot 5 is arranged in the machining chamber CB where the coolant liquid scatters. When the compatibility between the articulated arm 50 and the coolant liquid is poor, a part of the articulated arm 50 (for example, the joint portion of the articulated arm 50) or substantially the entire articulated arm 50 may be covered with a flexible cover.

[0065] In the example described in FIG. 12, the workpiece passage port OP is blocked by the door 12. Therefore, the coolant liquid supplied toward the workpiece W is prevented from leaking to the outside of the machine tool 1A through the workpiece passage port OP.

[0066] (Workpiece passage port OP, door 12) In the example described in FIG. 4, a workpiece passage port OP through which the workpiece W passes is formed in the wall 11 defining the machining chamber CB. In the example described in FIG. 4, the workpiece passage port OP is formed in the fixed wall 11a.

[0067] In the example shown in FIG. 4, the machine tool 1A includes a wall 11 that defines the machining chamber CB, and a door 12 that opens and closes a work passage opening OP formed in the wall 11. When the door 12 is in the open position, the work W can be carried into the machining chamber CB from the outside of the machine tool 1A. Also, when the door 12 is in the open position, the work W can be carried out from the table 21 of the work support device 2 to the outside of the machine tool 1A. The door 12 may be a single-opening door, a double-opening door, or any other type of door.

[0068] In the example shown in FIG. 4, in a plan view, a work support device 2 (more specifically, a table device 20) is arranged between the first processing device 3 and the work passage opening OP. Therefore, when the work W is carried in or out, the first processing device 3 does not get in the way. For example, when the work W is carried in or out, it is possible to suppress the work W from colliding with the first processing device 3 and suppress damage to the first processing device 3 caused by such a collision.

[0069] In the example shown in FIG. 12, in a plan view, around the work support device 2 (more specifically, the table device 20), in a counterclockwise direction, the work passage opening OP, the first robot 5, and the first processing device 3 are arranged in this order. Alternatively, in a plan view, around the work support device 2 (more specifically, the table device 20), in a clockwise direction, the work passage opening OP, the first robot 5, and the first processing device 3 may be arranged in this order. When the work passage opening OP, the first robot 5, and the first processing device 3 are arranged around the work support device 2 with the work support device 2 as the center, the size of the machine tool 1A in a plan view can be made compact.

[0070] In the example shown in FIG. 12, the first processing device 3 and the first robot 5 are located in regions that are approximately 90 degrees different from each other around the work support device 2 in a plan view. In this case, when the first main surface Wa or the second main surface Wb of the work W is machined using the first processing device 3, it is easy to machine the side surface of the work W using the first robot 5.

[0071] In the example described in FIG. 12, the wall 11 defining the processing chamber CB includes a first wall 11-1 (for example, the first wall 11-1 which is the movable wall 11b described above), a second wall 11-2 facing the first wall 11-1, a third wall 11-3 connecting one side portion of the first wall 11-1 and one side portion of the second wall 11-2, and a fourth wall 11-4 facing the third wall 11-3. The processing head 30 of the first processing device 3 is disposed in the vicinity of the first wall 11-1, a work passage opening OP is formed in the second wall 11-2, and the first robot 5 is disposed in the vicinity of the third wall 11-3.

[0072] Alternatively, as illustrated in FIG. 13, in a plan view, the first processing device 3 and the first robot 5 may be arranged so as to sandwich the work support device 2. In other words, in a plan view, the work support device 2 may be arranged between the first processing device 3 and the first robot 5. In the example described in FIG. 13, the table device 20 may be movable in a direction toward the work passage opening OP.

[0073] (Control device 7) In the example described in FIG. 4, the machine tool 1A has a control device 7. The control device 7 may be constituted by one computer or may be constituted by a plurality of computers. For example, the machine tool 1A may have a first computer for controlling the first processing device 3 and the work support device 2 and a second computer for controlling 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 cooperate to function as the control device 7 of the machine tool 1A.

[0074] The control device 7 controls the work support device 2, the first processing device 3, and the first robot 5. Additionally, the control device 7 may control a third drive device 18 that moves the table device 20 in a direction parallel to the first direction DR1 and / or a fourth drive device 19d (refer to FIG. 8 if necessary) that moves the first processing device 3 in a direction parallel to the first direction DR1.

[0075] In the example shown in FIG. 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. When the machining program is executed by the processor 70, the control device 7 generates a plurality of control commands (for example, a turning command E1, a movement command E3, a first rotation command E4, a first operation command E5, a second rotation command E6, a tool movement command E7, a table movement command E11, a machining device movement command E12, etc., which will be described later). Further, the control device 7 transmits the generated plurality of control commands to a plurality of controlled devices (for example, the work support device 2, the first machining device 3, the first robot 5, the third drive device 18, the fourth drive device 19d shown in FIG. 8, etc.).

[0076] (Division of machining between the first machining device 3 and the first robot 5) In the example shown in FIG. 2, the first machining device 3 can perform surface machining (for example, milling) on the work W using the first rotary tool T1-1 supported by the machining head 30. Since the first machining device 3 can perform high-precision machining, it can suitably be in charge of the surface machining of the work W. The first rotary tool T1-1 shown in FIG. 2 may be a milling tool. When the surface machining of the work W is performed only by the first machining device 3, the accuracy of all the surface machining is maintained at a high level. In other words, it is preferable that the control device 7 that executes the machining program assigns all of the surface machining of the work W to the first machining device 3.

[0077] In the example shown in FIG. 3, each of the first machining device 3 and the first robot 5 can perform machining to form a hole HL in the work W. In this specification, the machining to form a hole in the work W includes both machining to drill a hole in the work W (in other words, drilling) and machining to form a screw in the hole portion of the work W (in other words, tapping).

[0078] In the example shown in FIG. 3, the first processing device 3 can form a hole in the workpiece W using a first rotary tool T1-2 supported by a processing head 30. In the example shown in FIG. 3, the first rotary tool T1-2 is, for example, a drill or a tap tool. Also, the first robot 5 can form a hole in the workpiece W using a second rotary tool T2-2 supported by an articulated arm 50. In the example shown in FIG. 3, the second rotary tool T2-2 is, for example, a drill or a tap tool.

[0079] Assume that the number of holes to be formed in the workpiece W is large. In the example shown in FIG. 3, the process of forming a plurality of holes HL in the workpiece W is shared by both the first processing device 3 and the first robot 5. Therefore, forming a large number of holes in the workpiece W can be performed efficiently and in a shorter time. In other words, it is preferable that the control device 7 that executes the machining program assigns a part of the process of forming a plurality of holes in the workpiece W to the first processing device 3 and assigns another part of the process of forming a plurality of holes in the workpiece W to the first robot 5.

[0080] (Workpiece processing method) Subsequently, the workpiece processing method in the first embodiment will be described. The workpiece processing method in the first embodiment may be performed using the machine tool 1A in the first embodiment, or may be performed using another machine tool 1A.

[0081] In the first step ST1, the workpiece W is directly or indirectly attached to the table 21 of the workpiece support device 2. The first step ST1 is an attachment process. In the example shown in FIG. 4, in the first step ST1, the workpiece W is attached to the table 21 of the workpiece support device 2 via a jig J. The jig J may have a chuck J1 (for example, a hydraulic chuck or an electric chuck) that fixes the workpiece W to the jig J. In the example shown in FIG. 4, the jig J is fixed to the table 21, and the workpiece W is fixed to the jig J.

[0082] In the second step ST2, it is determined whether or not it is necessary to change the posture of the workpiece W (see FIG. 14). The second step ST2 is the 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 stored in the memory 72.

[0083] In the first determination step (second step ST2), when the control device 7 determines that it is necessary to change the posture of the workpiece W, the rotation of the workpiece W around the first axis AX1 (more specifically, rotating the table 21 that supports the workpiece W around the first axis AX1) is executed.

[0084] For example, in the first determination step (second step ST2), when the control device 7 determines that at least the rotation of the workpiece W around the first axis AX1 is necessary, the table 21 that supports the workpiece W is rotated around the first axis AX1 (rotation step: third step ST3). The rotation step (in other words, rotating the table 21 that supports the workpiece W around the first axis AX1) is performed using the first drive device 23 included in the workpiece support device 2. In other words, in the rotation step (third step ST3), the first drive device 23 rotates the table 21 that supports the workpiece W around the first axis AX1.

[0085] As illustrated in FIG. 15, the rotation step (third step ST3) may be executed in combination with the 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 rotation of the workpiece W are necessary, the table device 20 is linearly moved and the table 21 is rotated around the first axis AX1.

[0086] For example, when it is determined that both a linear movement of the workpiece W and a rotation of the workpiece W are necessary, after the execution of the first step ST1 (mounting step), the table device 20 is linearly moved from the receiving position P1 to the advancing position P2, and the orientation of the workpiece W is changed from the orientation of the workpiece W at the receiving position P1 to the orientation of the workpiece W suitable for the initial stage of workpiece processing.

[0087] On the other hand, when it is determined that only a linear movement of the workpiece W is necessary, after the execution of the first step ST1 (mounting step), the table device 20 is linearly moved from the receiving position P1 to the advancing position P2, and the rotation angle around the first axis AX1 of the table 21 is maintained.

[0088] When the control device 7 determines that changing the posture of the workpiece W is unnecessary (second step ST2: No), or when changing the posture of the workpiece W is completed (completion of the third step ST3), the process proceeds to the fourth step ST4 and the fifth step ST5.

[0089] In the fourth step ST4, the workpiece W supported by the table 21 is processed using the first group of rotary tools (T1-1, T1-2) sequentially supported by the machining head 30. The fourth step ST4 is the first machining step.

[0090] In the example described in FIGS. 2 and 3, the first group of rotary tools includes a first rotary tool T1-1 (for example, a milling tool) and another first rotary tool T1-2 (for example, a drill or a tap tool). Replacing the first rotary tool T1-1 supported by the machining head 30 with another first rotary tool T1-1 is performed, for example, using the first tool changer 80a (refer to FIG. 24 if necessary).

[0091] In the examples described in FIGS. 2 and 3, the first machining step (fourth step ST4) includes moving the machining head 30 using a plurality of linear motion devices 4 while any one of the first group of rotary tools is in contact with the workpiece W supported by the table 21. When machining of the workpiece W is performed by moving the machining head 30 using a plurality of linear motion devices 4, the machining of the workpiece W can be performed with high precision.

[0092] Incidentally, when the workpiece W is being machined using the first group of rotary tools (in other words, when any one of the first group of rotary tools is in contact with the workpiece W), it is preferable that the angular position of the table 21 around the first axis AX1 is fixed.

[0093] In the fifth step ST5, the workpiece W supported by the table 21 is machined using the second group of rotary tools (T2-1, T2-2) sequentially supported by the articulated arm 50. The fifth step ST5 is the second machining step. When the workpiece W is being machined using the second group of rotary tools (in other words, when any one of the second group of rotary tools is in contact with the workpiece W), it is preferable that the angular position of the table 21 around the first axis AX1 is fixed.

[0094] In the examples described in FIGS. 2 and 3, the second group of rotary tools includes a second rotary tool T2-1 (for example, a first drill) and another second rotary tool T2-2 (for example, a second drill or a tap tool). The replacement of the second rotary tool T2-1 supported by the articulated arm 50 with another second rotary tool T2-2 is performed using, for example, a first tool changer or a second tool changer different from the first tool changer.

[0095] As illustrated in FIG. 11, the second machining step (fifth step ST5) may include moving a second rotary tool T2 attached to the articulated arm 50 and rotating about the second rotation axis AD2 in a direction parallel to the second rotation axis AD2 using the tool linear motion device 55. When the second rotary tool T2 is moved using the tool linear motion device 55, the second rotary tool T2 can be moved with high precision.

[0096] A part of the first machining step (fourth step ST4) and a part of the second machining step (fifth step ST5) may be executed simultaneously. A part of the first machining step (fourth step ST4) may be executed when the second machining step is not being performed. Also, a part of the second machining step (fifth step ST5) may be executed when the first machining step is not being performed.

[0097] In the sixth step ST6, it is determined whether or not the machining of the workpiece W has been completed. The sixth step ST6 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 machining of the workpiece W has been completed based on the machining program stored in the memory 72.

[0098] In the second determination step (sixth step ST6), when the control device 7 determines that the machining of the workpiece W has not been completed (sixth step ST6: No), the process returns to the second step ST2.

[0099] For example, after a part of the first machining step (fourth step ST4) and a part of the second machining step (fifth step ST5) are executed, in the second step ST2, the control device 7 determines whether or not it is necessary to change the posture of the workpiece W (more specifically, it is determined whether or not it is necessary to rotate the workpiece W about the first axis AX1). More specifically, the control device 7 determines whether or not it is necessary to rotate the workpiece W about the first axis AX1 based on the machining program stored in the memory 72.

[0100] In the first determination step (second step ST2), when the control device 7 determines that it is necessary to rotate the workpiece W around the first axis AX1 (second step ST2: Yes), in the third step ST3, the workpiece W is rotated around the first axis AX1 (rotation step).

[0101] The rotation step includes rotating the table 21 that supports the workpiece W around the first axis AX1. In the examples described in FIGS. 2 and 3, the step of rotating the table 21 that supports the workpiece W around the first axis AX1 is performed using the first drive device 23 included in the workpiece support device 2. In other words, in the third step ST3, the first drive device 23 rotates the table 21 that supports the workpiece W around the first axis AX1.

[0102] Note that immediately before the rotation of the table 21 that supports the workpiece W around the first axis AX1, one of the table 21 and the first processing device 3 is linearly moved in a direction away from the other of the table 21 and the first processing device 3, and immediately after the rotation of the table 21 that supports the workpiece W around the first axis AX1, one of the table 21 and the first processing device 3 may be linearly moved in a direction approaching the other of the table 21 and the first processing device 3. By moving one of the table 21 and the first processing device 3 in a direction away from the other of the table 21 and the first processing device 3, interference between the table 21 and the workpiece W and the first processing device 3 is prevented during the rotation of the table 21.

[0103] For example, in the first determination step (second step ST2), when the control device 7 determines that at least a linear movement of the workpiece W and a turning of the workpiece W around the first axis AX1 are necessary, as illustrated in FIGS. 5 to 7, (1) the table device 20 is moved from the advanced position P2 to the retracted position P3 (see FIG. 5), (2) with the table device 20 positioned at the retracted position P3, the table 21 that supports the workpiece W is turned around the first axis AX1 (see FIG. 6), and (3) the table device 20 is returned from the retracted position P3 to the advanced position P2 (see FIG. 7) may be executed. When the workpiece W to be processed is a small workpiece, only the turning step (third step ST3) is executed, and the movement of the table device 20 is unnecessary.

[0104] After the posture of the workpiece is changed (more specifically, after the turning step is executed), the first processing step (fourth step ST4) and the fifth processing step (fifth step ST5) are executed again.

[0105] After the execution of the first processing step (fourth step ST4) and the second processing step (fifth step ST5), in the sixth step ST6, it is determined whether the processing of the workpiece W is completed.

[0106] In the second determination step (sixth step ST6), when the control device 7 determines that the processing of the workpiece W is completed (sixth step ST6: Yes), as illustrated in FIG. 16, the workpiece W is moved to the removal position P6 (seventh step ST7). The seventh step ST7 is a workpiece movement step to the removal position.

[0107] In the example shown in FIG. 16, the workpiece movement step to the removal position (seventh step ST7) includes moving the table device 20 from the advanced position P2 to the removal position P6. The removal position P6 may be the same position as the receiving position P1 (see FIG. 4) or a position different from the receiving position P1.

[0108] The work transfer process to the external position (seventh step ST7) may include changing the orientation of the work W. In the example described in FIG. 16, the work transfer process to the external position (seventh step ST7) includes rotating the work W about the first axis AX1. In the example described in FIG. 16, at a position between the advancing position P2 and the external position P6 (more specifically, at the retracted position P3), the table 21 that supports the work W is rotated about the first axis AX1.

[0109] In the eighth step ST8, the work W is removed from the table 21. The eighth step ST8 is a removal process. The removal process (eighth step ST8) may include moving the door 12 from the closed position to the open position and moving the work W out of the processing chamber CB across the work passage opening OP.

[0110] In the work processing method according to the first embodiment, as illustrated in FIGS. 2, 5, and 6, after a part of the first processing step (fourth step ST4) and a part of the second processing step (fifth step ST5) are executed simultaneously, the table 21 that supports the work W is rotated about the first axis AX1. In other words, a part of the process of machining the work W supported by the table 21 using the first group of rotating tools sequentially supported by the machining head 30 and a part of the process of machining the work W supported by the table 21 using the second group of rotating tools sequentially supported by the articulated arm 50 are executed simultaneously before the execution of one rotation step (in other words, the step of rotating the table 21 that supports the work W).

[0111] Also, in the workpiece processing method according to the first embodiment, as illustrated in FIGS. 6, 7, and 3, after the table 21 supporting the workpiece W is rotated about the first axis AX1, a part of the first processing step (the fourth step ST4) and a part of the second processing step (the fifth step ST5) are executed simultaneously. In other words, a part of the step of processing the workpiece W supported by the table 21 using the first group of rotary tools sequentially supported by the machining head 30 and a part of the step of processing the workpiece W supported by the table 21 using the second group of rotary tools sequentially supported by the articulated arm 50 are executed simultaneously after the execution of the above-described one rotation step (in other words, the step of rotating the table 21 supporting the workpiece W).

[0112] By executing a part of the first processing step and a part of the second processing step simultaneously before and after one rotation step, the processing of the workpiece W is performed more efficiently and in a shorter time.

[0113] When defining the processing cycle as rotating the table 21 supporting the workpiece W about the first axis AX1 and then processing the workpiece W supported by the table 21 using the first group of rotary tools sequentially supported by the machining head 30, the workpiece processing method according to the first embodiment may include repeatedly executing the processing cycle "N" or more times. Note that "N" is, for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, ···.

[0114] In some of the above-described plurality of processing cycles, a part of the step of processing the workpiece W supported by the table 21 using the first group of rotary tools sequentially supported by the machining head 30 and a part of the step of processing the workpiece W supported by the table 21 using the second group of rotary tools sequentially supported by the articulated arm 50 may be executed simultaneously.

[0115] By executing the above machining cycle a plurality of times for one workpiece W, a workpiece W with a complex shape can be easily machined. Also, in some of the above plurality of machining cycles, by simultaneously executing a part of the machining using the machining head 30 and a part of the machining using the articulated arm 50, the machining efficiency of the workpiece W is improved.

[0116] In the example shown in FIG. 2, the first group of rotary tools sequentially supported by the machining head 30 includes a surface machining tool (for example, a milling tool), and the second group of rotary tools sequentially supported by the articulated arm 50 includes a hole forming tool (for example, a drill or a tap tool). In the workpiece machining method according to the first embodiment, surface machining of the workpiece W by a surface machining tool (for example, a milling tool) supported by the machining head 30 and hole forming machining of the workpiece W by a hole forming tool (for example, a drill or a tap tool) supported by the articulated arm 50 may be simultaneously executed.

[0117] (Second Embodiment) Referring to FIGS. 17 to 38, the machine tool 1B and the workpiece machining method in the second embodiment will be described. FIG. 17 is a schematic perspective view schematically showing the machine tool 1B in the second embodiment. FIG. 18 is a schematic side view schematically showing the machining head 30 in a modified example. FIG. 19 is a schematic plan view schematically showing the machine tool 1B in the second embodiment. FIG. 20 is a schematic perspective view schematically showing an example of the second robot 6 and the support base 13b. FIG. 21 is an enlarged schematic perspective view showing an example of the second tool support device 63 attached to the second articulated arm 60. FIG. 22 is a schematic plan view schematically showing the machine tool system 100 in the second embodiment. FIG. 23 is a schematic plan view schematically showing the machine tool 1B in the second embodiment. FIG. 24 is a view schematically showing a state where at least one tool changer 8 can replace the first rotary tool T1 supported by the machining head 30 with another first rotary tool. FIG. 25 is a view schematically showing a state where at least one tool changer 8 can replace the second rotary tool T2 supported by the tool support device 53 of the first robot with another second rotary tool. FIG. 26 is a view schematically showing a state where at least one tool changer 8 can replace the third rotary tool T3 supported by the second tool support device 63 of the second robot with another third rotary tool. FIGS. 27 and 28 are schematic perspective views schematically showing the machine tool 1B in the second embodiment. FIG. 29 is a view schematically showing a state where the control device 7 can control a plurality of controlled devices. Each of FIGS. 30 to 36 is an enlarged schematic perspective view showing a state where one step of the workpiece machining method is being executed. FIG. 37 is a flowchart showing an example of the workpiece machining method in the second embodiment. FIG. 38 is a flowchart showing another example of the workpiece machining method in the second embodiment.

[0118] As illustrated in FIG. 17, in the second embodiment, the workpiece support device 2 has a second drive device 26 that tilts the table 21 about the second axis AX2. Alternatively, or additionally, the machine tool 1B in the second embodiment includes a second robot 6.

[0119] In the second embodiment, the description will focus on the differences from the first embodiment. On the other hand, in the second embodiment, repeated explanations of matters already described in the first embodiment will be omitted. Therefore, in the second embodiment, even if not explicitly described, it goes without saying that the matters already described in the first embodiment can be applied to the second embodiment. Conversely, all matters described in the second embodiment are applicable to the first embodiment.

[0120] In the example shown in FIG. 17, the machine tool 1B in the second embodiment includes: (1) a work support device 2 having a table 21 for supporting a work; (2) a machining head 30 capable of supporting a first rotary tool T1 for machining the work supported by the table 21, and a first machining device 3 having a plurality of linear motion devices 4 for three-dimensionally moving the machining head 30; and (3) a first robot 5 having an articulated arm 50 for changing the position and orientation of a second rotary tool T2, and machining the work supported by the table 21 using the second rotary tool T2. Further, the work support device 2 has a first drive device 23 for rotating the table 21 around a first axis AX1.

[0121] Therefore, the machine tool 1B in the second embodiment exhibits the same effects as the machine tool 1A in the first embodiment.

[0122] (Optional additional configuration) Subsequently, with reference to FIGS. 1 to 38, optional additional configurations that can be adopted in the second embodiment (or the first embodiment described above) will be described.

[0123] (Second drive device 26) In the example shown in FIG. 17, the work support device 2 has a second drive device 26 (for example, a motor) that tilts the table 21 about the second axis AX2. In the example shown in FIG. 17, the second drive device 26 tilts the table 21 supported by the block 22 about the second axis AX2 by tilting the block 22 about the second axis AX2. In the example shown in FIG. 17, 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 the horizontal plane.

[0124] When the work support device 2 has a tilting axis (in other words, when the table 21 is tiltable about the second axis AX2), the inclined surface WS of the work W (see FIG. 33 if necessary) can be arranged perpendicular to the first rotation axis AD1 of the first rotary tool T1. Therefore, high-precision machining using the machining head 30 can be applied to the inclined surface WS of the work W. Therefore, it is not always necessary to assign the precision machining of the inclined surface WS of the work W to a machine tool different from the machine tool 1. By reducing the number of machine tools, the installation space of the machine tools in the workplace can be reduced. The inclined surface WS of the work W is more specifically a surface inclined with respect to the first axis AX or a surface inclined with respect to the upper surface of the table 21.

[0125] In the examples shown in FIGS. 31 to 33, the work support device 2 (more specifically, the second drive device 26) changes the posture of the inclined surface WS of the work W from a posture inclined with respect to the first rotation axis AD1 of the first rotary tool T1 (more specifically, a posture in which the inclined surface WS of the work W is inclined with respect to the horizontal plane, as illustrated in FIG. 31) to a posture in which the inclined surface WS of the work W is substantially perpendicular to the first rotation axis AD1 of the first rotary tool T1 (more specifically, a posture in which the inclined surface WS of the work W is substantially perpendicular to the horizontal plane, as illustrated in FIG. 33). The table 21 can be tilted about the second axis AX2.

[0126] More specifically, the control device 7 executes the machining program stored in the memory 72, so that the inclined surface WS of the workpiece W is changed from a posture inclined with respect to the first rotation axis AD1 of the first rotary tool T1 to a posture substantially perpendicular to the first rotation axis AD1 of the first rotary tool T1. A tilting command E2 (refer to FIG. 29 if necessary) is transmitted to the second drive device 26 so that the posture of the inclined surface WS of the workpiece W is changed. The second drive device 26 that receives the tilting command E2 tilts the table 21 around the second axis AX2 so that the inclined surface WS of the workpiece W is changed to a posture substantially perpendicular to the first rotation axis AD1 of the first rotary tool T1.

[0127] In the example shown in FIG. 33, the machine tool 1 is configured such that after the inclined surface WS of the workpiece W is changed to a posture substantially perpendicular to the first rotation axis AD1, the inclined surface WS of the workpiece W can be machined by the first rotary tool T1 supported by the machining head 30.

[0128] More specifically, after the inclined surface WS of the workpiece W is changed to a posture substantially perpendicular to the first rotation axis AD1, the control device 7 executes the machining program stored in the memory 72, so that the hole forming tool T1-5 (for example, a tap tool or a drilling tool) in a rotating state around the first rotation axis AD1 moves linearly along the first rotation axis AD1. A first movement command E3-1 (refer to FIG. 29 if necessary) is transmitted to the first linear motion device 41, which is one of the plurality of linear motion devices 4. The first linear motion device 41 that receives the first movement command E3-1 linearly moves the hole forming tool T1-5 in a rotating state around the first rotation axis AD1 along the first rotation axis AD1 so that a hole HL is formed in the inclined surface WS of the workpiece W. In this way, the hole HL can be formed in the inclined surface WS of the workpiece W with high precision.

[0129] Alternatively, after the inclined surface WS of the workpiece W is repositioned to a posture substantially perpendicular to the first rotation axis AD1, the control device 7 executes the machining program stored in the memory 72, so that the surface machining tool T1-6 (e.g., a milling tool) in a rotating state around the first rotation axis AD1 faces the inclined surface WS for surface machining, and the control device 7 may send a movement command E3 (see FIG. 29 if necessary) to the plurality of linear motion devices 4. The plurality of linear motion devices 4 that receive the movement command E3 move the surface machining tool in a rotating state around the first rotation axis AD1 in a direction perpendicular to the first rotation axis AD1 so that the inclined surface WS of the workpiece W is surface machined. In this way, the surface machining of the inclined surface WS of the workpiece W is performed with high precision.

[0130] When the workpiece support device 2 has a tilting axis (in other words, when the table 21 is tiltable around the second axis AX2), as illustrated in FIG. 28, the top surface We of the workpiece W can be inclined with respect to the horizontal plane. In this case, it is not necessary to approach the second rotary tool T2 (or the third rotary tool T3 supported by the second articulated arm 60) vertically downward with respect to the top surface We of the workpiece W. Therefore, the size of the articulated arm 50 of the first robot 5 (or the size of the second articulated arm 60 of the second robot 6) can be reduced. Therefore, a plurality of surfaces of the workpiece W including the top surface We can be efficiently machined without increasing the size of the first robot 5 (or the second robot 6).

[0131] In the example illustrated in FIG. 17, the second drive device 26 is preferably capable of tilting the table 21 in a stepless manner around the second axis AX2. In other words, the machine tool 1 preferably can adjust the tilt angle of the table 21 in a stepless manner. The second drive device 26 may be capable of maintaining the angle formed between the horizontal plane and the upper surface of the table 21 at an arbitrary angle of at least 0 degrees or more and 90 degrees or less.

[0132] Since the multi-joint arm 50 can change the orientation of the second rotating tool T2 to any orientation, there is no need to tilt the workpiece W in the machining using the first robot 5. On the other hand, since the movement of the machining head 30 is generally performed using a plurality of linear motion devices 4, the orientation of the machining head 30 cannot be changed with respect to the workpiece W. Of course, as illustrated in FIG. 18, the machine tool 1B in the second embodiment (or the machine tool 1A in the first embodiment) may include a tilting drive device 35 that tilts the machining head 30 around the tilting axis AT. However, there are also limitations to the tilting around the tilting axis AT using the tilting drive device 35. Further, in order to change the posture of the machining head 30 to an arbitrary orientation, at least two tilting axes are required. The machine tool 1B in the second embodiment (or the machine tool 1A in the first embodiment) may have a tilting drive device that tilts the machining head 30 around each of the two tilting axes. However, as the tilting axis is provided on the machining head 30, the accuracy of the machining performed using the first machining device 3 may decrease.

[0133] (Workpiece support device 2) In the example shown in FIG. 17, the workpiece support device 2 has a table device 20. The table device 20 includes a table 21, a block 22 that rotatably supports the table 21 around the first axis AX1, a first drive device 23 that rotates the table 21 around the first axis AX1, a support base 25 that tiltably supports the block 22 around the second axis AX2. The table device 20 may have a second drive device 26 that tilts the table 21 around the second axis AX2. In the example shown in FIG. 17, the first drive device 23 is mounted on the block 22, and the first drive device 23 can tilt around the second axis AX2 together with the block 22. In other words, as the table 21 tilts around the second axis AX2, the orientation of the first axis AX1 also changes. Alternatively, the second drive device 26 may be mounted on the block 22 that tiltably supports the table 21, and the second drive device 26 may be configured to be rotatable around the first axis AX1 together with the block 22. In other words, as the table 21 rotates around the first axis AX1, the orientation of the second axis AX2 may be configured to change.

[0134] In the example described in FIG. 17, the support base 25 includes a first support base 25a that tiltably supports the first end portion 22a of the block 22 about the second axis AX2, and a second support base 25b that tiltably supports the second end portion 22b of the block 22.

[0135] In the example described in FIG. 17, the table 21 has a substantially circular shape with a part of a circle cut out in plan view. The shape of the table 21 is not limited to the example described in FIG. 17. The shape of the table 21 may be, for example, a polygonal shape.

[0136] In the example described in FIG. 17, the block 22 has a first end portion 22a tiltably supported by the first support base 25a, a second end portion 22b tiltably supported by the second support base 25b, and a central portion 22c between the first end portion 22a and the second end portion 22b. Further, the block 22 has a concave shape in which the central portion 22c is recessed with respect to the first end portion 22a and the second end portion 22b. In the example described in FIG. 17, the table 21 is disposed directly above the central portion 22c in a state where the upper surface of the table 21 is arranged parallel to the horizontal plane. In the example described in FIG. 17, in a state where the upper surface of the table 21 is arranged 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.

[0137] The block 22 that supports the table 21 has an elongated shape with the second direction DR2 as the 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. 17 and is arbitrary.

[0138] In addition to the table device 20, the workpiece support device 2 may have a guide rail 24 that guides the movement of the table device 20 in a direction parallel to the first direction DR1.

[0139] (Third drive device 18) The machine tool 1 may have a third drive device 18 that moves the table device 20 in a direction parallel to the first direction DR1. In the example described in FIG. 17, the first direction DR1 is substantially parallel to the horizontal plane and substantially perpendicular to the second axis AX2.

[0140] In addition to, or instead of, the third drive device 18, the machine tool 1 may include a fourth drive device 19d (see FIG. 8 if necessary) that moves the first processing device 3 in a direction parallel to the first direction DR1. Since the third drive device 18 and the fourth drive device 19d have been described in the first embodiment, repeated descriptions of these configurations are omitted.

[0141] In the example described in FIG. 19, 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. Since the receiving position P1 and the advancing position P2 have been described in the first embodiment, repeated descriptions of these positions are omitted.

[0142] In the example described in FIG. 19, the table device 20 is movable in a direction parallel to the first direction DR1 at least between the advancing position P2 and the retracted position P3. Since the advancing position P2 and the retracted position P3 have been described in the first embodiment, repeated descriptions of these positions are omitted.

[0143] In the example shown in FIG. 19, the receiving position P1 is set near the 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 advancing position P2 is, for example, an end position in the direction opposite to the first direction DR1 within the movable range of the table device 20, or a position close to the end position in the direction opposite to the first direction DR1. In FIG. 19, one position is shown as the advancing position P2, but there may be a plurality of advancing positions P2. For example, the advancing position P2 when the work W supported by the tilting table 21 is processed by the first processing device 3 may be set on the first direction DR1 side as compared with the advancing position P2 when the work W supported by the non-tilting table 21 is processed by the first processing device 3. In other words, the position of the table device 20 when the work W supported by the tilting table 21 is processed by the first processing device 3 may be set on the first direction DR1 side as compared with the position of the table device 20 when the work W supported by the non-tilting table 21 is processed by the first processing device 3 (refer to the position of the table device 20 in each of FIGS. 27 and 28).

[0144] The retracting position P3 is, for example, a predetermined position between the end position in the first direction DR1 within the movable range of the table device 20 and the end position in the direction opposite to the first direction DR1 within the movable range of the table device 20. Alternatively, the retracting position P3 may be the same position as the receiving position P1.

[0145] (Processing head 30) Since the processing head 30 has been described in the first embodiment, a repetitive description of the processing head 30 will be omitted (for the processing head 30, refer to, for example, FIG. 9). In the example shown in FIG. 19, in a plan view, the first rotation axis AD1, which is the rotation axis of the first rotary tool T1 (in other words, the rotation axis of the spindle 31 of the processing head 30), is substantially perpendicular to the second axis AX2.

[0146] (First robot 5) Since the first robot 5 has been described in the first embodiment, repetitive explanations about the first robot 5 are omitted (for the first robot 5, see, for example, FIGS. 10 and 11).

[0147] (Second robot 6) In the example shown in FIG. 17, the machine tool 1 includes a second robot 6. The second robot 6 processes a workpiece supported by a table 21 using a third rotary tool T3. The second robot 6 has a second articulated arm 60 that changes the position and orientation of the third rotary tool T3. The second robot 6 can also be said to be a second articulated robot.

[0148] In the example shown in FIG. 17, in a plan view, a workpiece support device 2 (for example, 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. When the workpiece support device 2 is disposed between the first robot 5 and the second robot 6, the first robot 5 and the second robot 6 can process the workpiece W simultaneously from both sides of the workpiece W.

[0149] In the example shown in FIG. 20, the second robot 6 has a second articulated arm 60, and the second articulated arm 60 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 pivot about a first pivot axis RT1 with respect to a support base 13b, a second portion 61b that can tilt about a first tilt axis RT2 with respect to the first portion 61a, a third portion 61c that can tilt about a second tilt axis RT3 with respect to the second portion 61b, a fourth portion 61d that can pivot about a second pivot axis RT4 with respect to the third portion 61c, a fifth portion 61e that can tilt about a third tilt axis RT5 with respect to the fourth portion 61d, and a sixth portion 61f that can pivot about a third pivot axis RT6 with respect to the fifth portion 61e. In the example shown in FIG. 20, the second articulated arm 60 has at least three tilt axes and at least three pivot axes.

[0150] In the example shown in FIG. 20, a second list 62 is disposed at the tip of the second articulated arm 60. In other words, the second robot 6 has the second list 62 disposed at the tip of the second articulated arm 60. In the example shown in FIG. 20, the second list 62 is constituted by the above-described sixth portion 61f. The second robot 6 can freely change the position and orientation of the second list 62.

[0151] The second robot 6 has a plurality of arm driving devices (for example, a plurality of motors MT) that move a plurality of joints of the second articulated arm 60.

[0152] In the example shown in FIG. 20, the second robot 6 has a second tool support device 63 attached to the second articulated arm 60 (more specifically, the second list 62). The second tool support device 63 can support the third rotary tool T3.

[0153] The second tool support device 63 has a third rotation drive device 64 (more specifically, a motor) that rotates the third rotary tool T3 around the third rotation axis AD3.

[0154] In the example shown in FIG. 21, the second tool support device 63 has a fixed portion 66 attached to the second articulated arm 60 (more specifically, the second list 62), and a movable portion 67 that can linearly move relative to the fixed portion 66 in a direction parallel to the third rotation axis AD3. The fixed portion 66 may have a linear guide 66r that guides the movement of the movable portion 67 in a direction parallel to the third rotation axis AD3. The third rotary tool T3 is attached to a spindle disposed on the movable portion 67.

[0155] In the example shown in FIG. 21, the second tool support device 63 has a tool moving device (hereinafter referred to as the "second tool linear motion device 65") that moves the third rotary tool T3 in a direction parallel to the third rotation axis AD3. The second tool linear motion device 65 has, as a drive source, a motor, an electric cylinder, or the like. Further, in the example shown in FIG. 21, the second tool linear motion device 65 has a linear guide 66r that guides the movement of the movable portion 67 of the second tool support device 63 with respect to the fixed portion 66 of the second tool support device 63. The second tool linear motion device 65 may include a ball screw, a rack and pinion, or the like.

[0156] When the second tool support device 63 has the third rotation drive device 64 and the second tool linear motion device 65, the third rotary tool T3 can be rotated around the third rotation axis AD3 and moved in a direction parallel to the third rotation axis AD3. Therefore, after the third rotary tool T3 contacts the workpiece W, a hole HL can be formed in the workpiece W using the third rotary tool T3 without changing the position of the second list 62. Therefore, the accuracy of the process of forming a hole in the workpiece W is maintained. In other words, although a decrease in processing accuracy due to the presence of multiple joints in the second robot 6 is inevitable, since the process of forming a hole in the workpiece W is performed with the multiple joints fixed at an angle, an excessive decrease in processing accuracy is prevented.

[0157] In the example shown in FIG. 17, the machine tool 1 has a support base 13b that supports the second robot 6. In the example shown in FIG. 17, 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. 17, 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.

[0158] (The third robot 101) As illustrated in FIG. 22, 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 disposed outside the machine tool 1.

[0159] The third robot 101 carries the workpiece W into the machining chamber CB from outside the machine tool 1 and / or carries the workpiece out of the table 21 to the outside of the machining chamber CB (that is, carries out the machined workpiece). In the example shown in FIG. 22, 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 workpiece loading and unloading is not limited to one. In other words, in addition to the third robot 101, the machine tool system 100 may have other robots for workpiece loading and unloading.

[0160] In the example shown in FIG. 22, 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 passage 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 passage 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.

[0161] In the example shown in FIG. 22, the third robot 101 has a third articulated arm 102, and the third articulated arm 102 can cross the workpiece passage opening OP. The third robot 101 also has a gripper 103 capable of gripping the workpiece W. The gripper 103 is attached to, for example, the tip of the third articulated arm 102.

[0162] (Machining chamber CB) In the example shown in FIG. 23, the machine tool 1 includes a wall 11 that defines the machining chamber CB. In the example shown in FIG. 23, in the machining chamber CB, a machining head 30, an articulated arm 50 of the first robot 5, and a second articulated arm 60 of the second robot 6 are arranged. In the example shown in FIG. 23, the wall 11 includes a first wall 11-1 and a second wall 11-2.

[0163] In the example shown in FIG. 23, the first wall 11-1 separates the machining chamber CB from a second chamber CD in which all or most of a plurality of linear motion devices 4 for three-dimensionally moving the machining head 30 are arranged. Further, the first wall 11-1 includes a movable wall 11b.

[0164] A work passage opening OP is formed in the second wall 11-2. In the example shown in FIG. 23, the second wall 11-2 is arranged opposite to the first wall 11-1.

[0165] In the example shown in FIG. 23, the wall 11 that defines the machining chamber CB has a third wall 11-3 that connects one side portion of the first wall 11-1 and one side portion of the second wall 11-2, and a fourth wall 11-4 that faces the third wall 11-3.

[0166] In the example shown in FIG. 23, the wall 11 that defines the machining chamber CB includes a movable wall 11b that moves following the movement of the machining head 30. As illustrated in FIG. 39, the movable wall 11b may include a first movable wall 11b-1 that expands and contracts following the movement of the machining head 30 in a direction parallel to the vertical direction, and a second movable wall 11b-2 that expands and contracts following the movement of the machining head 30 in a direction parallel to the horizontal plane.

[0167] (Coolant supply device 91) In the example shown in FIG. 23, the machine tool 1 includes a coolant supply device 91 that supplies coolant toward a work W supported by a table 21. Since the coolant supply device 91 has been described in the first embodiment, repeated description of the coolant supply device 91 will be omitted.

[0168] (Work passage opening OP, door 12) In the example shown in FIG. 23, a work passage opening OP through which the work W passes is formed in the wall 11 that defines the processing chamber CB. Further, the machine tool 1 includes a door 12 that opens and closes the work passage opening OP formed in the wall 11.

[0169] In the example shown in FIG. 23, in a plan view, a work support device 2 is disposed between the first processing device 3 and the work passage opening OP. Therefore, when the work W is loaded or unloaded, the first processing device 3 does not get in the way.

[0170] In the example shown in FIG. 23, in a plan view, the work passage opening OP, the first robot 5, the first processing device 3, and the second robot 6 are disposed around the work support device 2 (more specifically, the table device 20). More specifically, in a plan view, with the work support device 2 as the center, the work passage opening OP, the first robot 5, the first processing device 3, and the second robot 6 are disposed around the work support device 2. In this case, the size of the machine tool 1 in a plan view can be made compact.

[0171] As illustrated in FIG. 23, the work passage opening OP, the first robot 5, the first processing device 3, and the second robot 6 may be arranged in this order counterclockwise (or clockwise) around the work support device 2.

[0172] In the example shown in FIG. 23, the first processing device 3 and the first robot 5 are located in regions that are approximately 90 degrees different from each other with the work support device 2 as the center in a plan view, and the first processing device 3 and the second robot 6 are located in regions that are approximately 90 degrees different from each other with the work support device 2 as the center in a plan view. In this case, when the first main surface Wa or the second main surface Wb of the work W is processed using the first processing device 3, the first robot 5 and the second robot 6 can easily process both side surfaces of the work W.

[0173] In the example shown in FIG. 23, the processing head 30 of the first processing device 3 is disposed near the first wall 11-1, the first robot 5 is disposed near the third wall 11-3, and the second robot 6 is disposed near the fourth wall 11-4.

[0174] Alternatively, in the example described in FIG. 23, the positions of the first processing device 3 and the first robot 5 may be interchanged with each other. Alternatively, in the example described in FIG. 23, the positions of the first processing device 3 and the second robot 6 may be interchanged with each other.

[0175] (Moving body of the first processing device 3) In the example described in FIG. 17, the first processing device 3 has a moving body that moves the processing head 30 three-dimensionally. More specifically, the first processing device 3 includes a first moving body 36, a second moving body 37, and a third moving body 38.

[0176] The first moving body 36 is movable in a direction parallel to the Y-axis together with the processing head 30. In the example described in FIG. 17, the first moving body 36 supports the processing head 30 and is movable in a direction parallel to the Y-axis. In the example described in FIG. 17, the Y-axis is substantially parallel to the first rotation axis AD1, which is, for example, the rotation axis of the first rotary tool T1. Also, the Y-axis may be substantially parallel to the first direction DR1.

[0177] The second moving body 37 is movable in a direction parallel to the Z-axis together with the processing head 30. In the example described in FIG. 17, the second moving body 37 supports the processing head 30 via the first moving body 36 and is movable in a direction parallel to the Z-axis. In the example described in FIG. 17, the Z-axis is substantially parallel to the vertical direction.

[0178] The third moving body 38 is movable in a direction parallel to the X-axis together with the processing head 30. In the example described in FIG. 17, the third moving body 38 supports the processing 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 described in FIG. 17, the X-axis is substantially parallel to the horizontal plane. Also, the X-axis is substantially perpendicular to the Y-axis.

[0179] In the example described in FIG. 17, the machine tool 1 has a base 10, and the base 10 supports the third moving body 38 so as to be movable in a direction parallel to the X axis.

[0180] (Multiple linear motion devices 4) In the example described in FIG. 17, the machine tool 1 (more specifically, the first processing device 3) has a plurality of linear motion devices 4 that move the processing 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 processing head 30 in a direction parallel to the Y axis. The second linear motion device 44 moves the processing head 30 in a direction parallel to the Z axis. The third linear motion device 47 moves the processing head 30 in a direction parallel to the X axis.

[0181] The first linear motion device 41 has 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 has a first linear guide 43 that guides the movement of the first moving body 36 in a direction parallel to the Y axis. In the example described in FIG. 17, the first linear guide 43 is arranged on the second moving body 37.

[0182] The second linear motion device 44 has 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 has a second linear guide 46 that guides the movement of the second moving body 37 in a direction parallel to the Z axis. In the example described in FIG. 17, the second linear guide 46 is arranged on the third moving body 38.

[0183] The third linear motion device 47 has 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 has a third linear guide 49 that guides the movement of the third moving body 38 in a direction parallel to the X axis. In the example described in FIG. 17, the third linear guide 49 supports the third moving body 38 so as to be movable. Also, the third linear guide 49 is arranged on the base 10 of the machine tool 1.

[0184] (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 can replace the first rotary tool T1 held by the machining head 30 with another first rotary tool. The at least one tool changer 8 can replace the second rotary tool T2 supported by the articulated arm 50 of the first robot 5 with another second rotary tool. When the machine tool 1 has the second robot 6, the at least one tool changer 8 can replace the third rotary tool T3 supported by the second articulated arm 60 of the second robot 6 with another third rotary tool.

[0185]

[0186]

[0187]

[0188]

[0189] In addition, the machining head 30 may be configured to access the tool stocker 93 and directly replace the first rotary tool T1 held by the machining head 30 with another first rotary tool. In this case, the tool changer for performing tool change on the machining head 30 is omitted.

[0189] In the example shown in FIG. 25, at least one tool changer 8 includes a second tool changer 80b. The second tool changer 80b exchanges a second rotating tool T2-1 supported by the articulated arm 50 via the tool support device 53 with another second rotating tool T2-2. As illustrated in FIG. 25, the second tool changer 80b may exchange the second rotating tool T2-1 supported by the articulated arm 50 via the tool support device 53 with another second rotating tool T2-2 taken out from at least one tool stocker 93. In the example described in FIG. 25, each second rotating tool T2 is a tool that cannot be attached to the machining head 30 of the first machining device 3, and in the example described in FIG. 24, each first rotating tool T1 is a tool that cannot be attached to the tool support device 53 of the first robot 5.

[0190] Note that the tool support device 53 may be configured to access the tool stocker 93 and the tool support device 53 directly exchanges the second rotating tool T2 supported by the tool support device 53 with another second rotating tool. In this case, the tool changer for performing tool exchange with respect to the tool support device 53 is omitted.

[0191] In the example shown in FIG. 26, at least one tool changer 8 exchanges a third rotating tool T3-1 supported by the second articulated arm 60 via the second tool support device 63 with another third rotating tool T3-2. As illustrated in FIG. 26, at least one tool changer 8 may exchange the third rotating tool T3-1 supported by the second articulated arm 60 via the second tool support device 63 with another third rotating tool T3-2 taken out from at least one tool stocker 93. In the example described in FIG. 26, each third rotating tool T3 is a tool that cannot be attached to the machining head 30 of the first machining device 3, and in the example described in FIG. 24, each first rotating tool T1 is a tool that cannot be attached to the second tool support device 63 of the second robot 6.

[0192] Note that the second tool support device 63 may be configured to access the tool stocker 93 and directly replace the third rotary tool T3 supported by the second tool support device 63 with another third rotary tool. In this case, the tool changer for performing tool change on the second tool support device 63 is omitted.

[0193] (Machining of the workpiece W supported by the non-tilting table 21) As illustrated in FIG. 17, in this specification, "the table 21 is in a non-tilting state" means a state where the first axis AX1 is substantially perpendicular to the horizontal plane. Note that when the table 21 is a table that does not rotate around the first axis AX1, in this specification, "the table 21 is in a non-tilting state" means a state where the upper surface of the table is substantially parallel to the horizontal plane.

[0194] In the example shown in FIG. 27, the first processing device 3 and the first robot 5 can simultaneously machine the workpiece W supported by the non-tilting table 21. In other words, when the table 21 supporting the workpiece W is in a non-tilting state, the first processing device 3 and the first robot 5 can simultaneously machine the workpiece W supported by the table 21.

[0195] In the example shown in FIG. 27, the first processing device 3, the first robot 5, and the second robot 6 can simultaneously machine the workpiece W supported by the non-tilting table 21. In other words, when the table 21 supporting the workpiece W is in a non-tilting state, the first processing device 3, the first robot 5, and the second robot 6 can simultaneously machine the workpiece W supported by the table 21.

[0196] (Machining of the workpiece W supported by the tilting table 21) As illustrated in FIG. 28, in this specification, "the table 21 is in a tilted state" shall mean a state where the first axis AX1 is non-parallel to the vertical direction. In the case where the table 21 is a table that does not rotate around the first axis AX1, in this specification, "the table 21 is in a tilted state" shall mean a state where the upper surface of the table is inclined with respect to the horizontal plane.

[0197] In the example described in FIG. 28, the first processing device 3 and the first robot 5 can simultaneously process the workpiece W supported by the tilted table 21. In other words, when the table 21 that supports the workpiece W is in a tilted state, the first processing device 3 and the first robot 5 can simultaneously process the workpiece W supported by the table 21.

[0198] In the example described in FIG. 28, the first processing device 3, the first robot 5, and the second robot 6 can simultaneously process the workpiece W supported by the tilted table 21. In other words, when the table 21 that supports the workpiece W is in a tilted state, the first processing device 3, the first robot 5, and the second robot 6 can simultaneously process the workpiece W supported by the table 21.

[0199] In the examples described in FIGS. 27 and 28, in each of the case where the table 21 that supports the workpiece W is in a non-tilted state and the case where the table 21 that supports the workpiece W is in a tilted state, the first processing device 3, the first robot 5, 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.

[0200] (Control device 7) In the example described in FIG. 19, the control device 7 controls the workpiece support device 2, the first processing device 3, and the first robot 5. When the machine tool 1 has the second robot 6, the control device 7 controls the second robot 6. When the machine tool 1 has at least one tool changer 8, the control device 7 controls the at least one tool changer 8. When the machine tool 1 has 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. Further, when the machine tool 1 has a fourth drive device 19d (see FIG. 8) that moves the first processing device 3 in a direction parallel to the first direction DR1, the control device 7 controls the fourth drive device 19d. Similar to the first embodiment, the control device 7 may be configured by one computer or may be configured by a plurality of computers. For example, the machine tool 1 may have a first computer that controls the first processing device 3 and the workpiece support device 2, a second computer that controls the first robot 5, and a third computer that controls the second robot 6. Further, these computers may cooperate to function as the control device 7 of the machine tool 1.

[0201] As illustrated in FIG. 29, the control device 7 includes a hardware processor 70 (hereinafter simply referred to as “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 necessary for processing the workpiece W (for example, workpiece data 726 including the shape data of the workpiece W and the 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. Note that 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, etc., and a display that displays data input to the input device 76 or other information.

[0202] By executing the processing program 722 stored in the memory 72, the control device 7 generates a plurality of control commands. Further, the communication circuit 74 transmits the plurality of control commands generated by the control device 7 to a plurality of controlled devices (for example, the work support device 2, the first processing device 3, the first robot 5, the second robot 6, at least one tool changer 8, the third drive device 18, the fourth drive device 19d shown in FIG. 8, etc.). Thus, the control device 7 can control a plurality of controlled devices.

[0203] In the example described in FIG. 29, the control device 7 may transmit a turning command E1 to the first drive device 23 of the work support device 2. The first drive device 23 that receives the turning command E1 from the control device 7 turns the table 21 around the first axis AX1.

[0204] In the example described in FIG. 29, the control device 7 may transmit a tilting command E2 to the second drive device 26 of the work support device 2. The second drive device 26 that receives the tilting command E2 from the control device 7 tilts the table 21 around the second axis AX2.

[0205] In the example described in FIG. 29, the control device 7 may transmit a movement command E3 to the plurality of linear motion devices 4 of the first 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). Further, the control device 7 transmits a third movement command E3-3 to the third linear motion device 47, and the third linear motion device 47 that receives the third movement command E3-3 moves the processing head 30 in a direction parallel to the X axis (for example, a direction perpendicular to both the Y axis and the Z axis).

[0206] In the example described in FIG. 29, the control device 7 may transmit a first rotation command E4 to the first rotation drive device 34 of the first processing device 3. The first rotation drive device 34 that receives the first rotation command E4 from the control device 7 rotates the first rotation tool T1 around the first rotation axis AD1.

[0207] In the example described in FIG. 29, the control device 7 may transmit a first operation command E5 to a plurality of arm drive devices 59 (for example, a plurality of motors MT) of the first robot 5. The plurality of arm drive devices 59 that receive the first operation command E5 from the control device 7 operate a plurality of joints of the articulated arm 50.

[0208] In the example described in FIG. 29, the control device 7 may transmit a second rotation command E6 to the second rotation drive device 54 of the tool support device 53. The second rotation drive device 54 that receives the second rotation command E6 from the control device 7 rotates the second rotation tool T2 around the second rotation axis AD2.

[0209] In the example described in FIG. 29, the control device 7 may transmit a tool movement command E7 to the tool linear movement device 55 of the tool support device 53. The tool linear movement device 55 that receives the tool movement command E7 from the control device 7 moves the second rotation tool T2 in a direction parallel to the second rotation axis AD2.

[0210] In the example described in FIG. 29, the control device 7 may transmit a second operation command E8 to a plurality of arm drive devices 69 (for example, a plurality of motors MT) of the second robot 6. The plurality of arm drive devices 69 that receive the second operation command E8 from the control device 7 operate a plurality of joints of the second articulated arm 60.

[0211] In the example described in FIG. 29, the control device 7 may transmit a third rotation command E9 to the third rotation drive device 64 of the second tool support device 63. The third rotation drive device 64 that receives the third rotation command E9 from the control device 7 rotates the third rotation tool T3 around the third rotation axis AD3.

[0212] In the example described in FIG. 29, the control device 7 may transmit a second tool movement command E10 to the second tool linear movement device 65 of the second tool support device 63. The second tool linear movement device 65 that receives the second tool movement command E10 from the control device 7 moves the third rotary tool T3 in a direction parallel to the third rotation axis AD3.

[0213] In the example described in FIG. 29, the control device 7 may transmit a table movement command E11 to the third drive device 18. The third drive device 18 that receives the table movement command E11 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 E12 to the fourth drive device 19d. The fourth drive device 19d that receives the processing device movement command E12 from the control device 7 moves the first processing device 3 in a direction parallel to the first direction DR1.

[0214] In the example described in FIG. 29, the control device 7 may transmit a tool change command E13 to at least one tool changer 8. The at least one tool changer 8 that receives the tool change command E13 from the control device 7 may replace the first rotary tool T1 held by the processing head 30 with another first rotary tool. The at least one tool changer 8 that receives the tool change command E13 from the control device 7 may replace the second rotary tool T2 supported by the articulated arm 50 with another second rotary tool. The at least one tool changer 8 that receives the tool change command E13 from the control device 7 may replace the third rotary tool T3 supported by the second articulated arm 60 with another third rotary tool.

[0215] For example, the control device 7 transmits a first tool change command E13-1 to the first tool changer 80a, and the first tool changer 80a that receives the first tool change command E13-1 replaces the first rotary tool T1 held by the processing head 30 with another first rotary tool. Further, the control device 7 transmits a second tool change command E13-2 to the second tool changer 80b, and the second tool changer 80b that receives the second tool change command E13-2 replaces the second rotary tool T2 supported by the articulated arm 50 with another second rotary tool.

[0216] (First machining mode M1) The control device 7 is capable of executing a first machining mode M1 including transmitting a movement command E3 to a plurality of linear motion devices 4 and transmitting a first rotation command E4 to a first rotation drive device 34 so that a workpiece W supported by a table 21 is machined by a first rotary tool T1 supported by a machining head 30. In the first machining mode M1, since the movement of the first rotary tool T1 rotating around the first rotation axis AD1 is performed using the plurality of linear motion devices 4, the workpiece W can be machined with high precision.

[0217] When the first rotary tool T1 supported by the machining head 30 is a surface machining tool (for example, a milling tool), the control device 7 transmits a movement command E3 to the plurality of linear motion devices 4 and transmits a first rotation command E4 to the first rotation drive device 34 so that the surface machining tool rotating around the first rotation axis AD1 moves in a direction substantially perpendicular to the first rotation axis AD1 while being in contact with the workpiece W supported by the table 21. Thus, the surface machining of the workpiece W is performed with high precision.

[0218] When the first rotary tool T1 supported by the machining head 30 is a hole drilling tool (for example, a drill), the control device 7 transmits a first movement command E3-1 to the first linear motion device 41 and transmits a first rotation command E4 to the first rotation drive device 34 so that the hole drilling tool rotating around the first rotation axis AD1 moves in a direction substantially parallel to the first rotation axis AD1 while being in contact with the workpiece W supported by the table 21. The first linear motion device 41 that receives the first movement command E3-1 linearly moves the hole drilling tool in a direction substantially parallel to the first rotation axis AD1. Thus, the machining of drilling a hole in the workpiece W is performed with high precision.

[0219] When the first rotating tool T1 supported by the machining head 30 is a tapping tool, in a state where the tapping tool rotating about the first rotation axis AD1 is in contact with the workpiece W supported by the table 21, the control device 7 sends a first movement command E3-1 to the first linear motion device 41 and a first rotation command E4 to the first rotation drive device 34 so that the tapping tool moves in a direction substantially parallel to the first rotation axis AD1. The first linear motion device 41 that receives the first movement command E3-1 linearly moves the tapping tool in a direction substantially parallel to the first rotation axis AD1. In this way, a screw hole is formed in the workpiece W with high precision.

[0220] (Second machining mode M2) The control device 7 can execute a second machining mode M2 including sending a first operation command E5 to a plurality of arm drive devices 59 of the first robot 5, sending a second rotation command E6 to the second rotation drive device 54 of the tool support device 53, and sending a tool movement command E7 to the tool linear motion device 55 of the tool support device 53 so that the workpiece W supported by the table 21 is machined by the second rotating tool T2 supported by the articulated arm 50. In the second machining mode M2, before the second rotating tool T2 contacts the workpiece W, the position and orientation of the second rotating tool T2 are changed using the articulated arm 50. Therefore, the position and orientation of the second rotating tool T2 can be freely set according to the shape, size, orientation, posture, etc. of the workpiece W.

[0221] When the second rotating tool T2 supported by the articulated arm 50 is a hole-opening tool (for example, a drill), in a state where the hole-opening tool rotating about the second rotation axis AD2 is in contact with the workpiece W supported by the table 21, the control device 7 sends a second rotation command E6 to the second rotation drive device 54 and a tool movement command E7 to the tool linear motion device 55 so that the hole-opening tool moves in a direction substantially parallel to the second rotation axis AD2. The tool linear motion device 55 that receives the tool movement command E7 linearly moves the hole-opening tool in a direction substantially parallel to the second rotation axis AD2. In this way, the machining of opening a hole in the workpiece W is performed with high precision.

[0222] When the second rotating tool T2 supported by the multi-joint arm 50 is a tapping tool, in a state where the tapping tool rotating around the second rotation axis AD2 is in contact with the workpiece W supported by the table 21, the control device 7 sends a second rotation command E6 to the second rotation drive device 54 and a tool movement command E7 to the tool linear movement device 55 so that the tapping tool moves in a direction substantially parallel to the second rotation axis AD2. The tool linear movement device 55 that receives the tool movement command E7 linearly moves the tapping tool in a direction substantially parallel to the second rotation axis AD2. In this way, a screw hole is formed in the workpiece W with high precision.

[0223] (Third processing mode M3) The control device 7 can execute a third processing mode M3 including at least sending a second operation command E8 to a plurality of arm drive devices 69 of the second robot 6, sending a third rotation command E9 to the third rotation drive device 64 of the second tool support device 63, and sending a second tool movement command E10 to the second tool linear movement device 65 of the second tool support device 63 so that the workpiece W supported by the table 21 is processed by the third rotating tool T3 supported by the second multi-joint arm 60. In the third processing mode M3, before the third rotating tool T3 contacts the workpiece W, the position and orientation of the third rotating tool T3 are changed using the second multi-joint arm 60. Therefore, the position and orientation of the third rotating tool T3 can be freely set according to the shape, size, orientation, posture, etc. of the workpiece W.

[0224] When the third rotating tool T3 supported by the second articulated arm 60 is a drilling tool (e.g., a drill), with the drilling tool rotating around the third rotation axis AD3 in contact with the workpiece W supported by the table 21, the control device 7 executes sending a third rotation command E9 to the third rotation drive device 64 and sending a second tool movement command E10 to the second tool linear motion device 65 so that the drilling tool moves in a direction substantially parallel to the third rotation axis AD3. The second tool linear motion device 65 that receives the second tool movement command E10 linearly moves the drilling tool in a direction substantially parallel to the third rotation axis AD3. Thus, the process of drilling a hole in the workpiece W is performed with high precision.

[0225] When the third rotating tool T3 supported by the second articulated arm 60 is a tapping tool, with the tapping tool rotating around the third rotation axis AD3 in contact with the workpiece W supported by the table 21, the control device 7 executes sending a third rotation command E9 to the third rotation drive device 64 and sending a second tool movement command E10 to the second tool linear motion device 65 so that the tapping tool moves in a direction substantially parallel to the third rotation axis AD3. The second tool linear motion device 65 that receives the second tool movement command E10 linearly moves the tapping tool in a direction substantially parallel to the third rotation axis AD3. Thus, a threaded hole is formed in the workpiece W with high precision.

[0226] (Swing mode M4) The control device 7 is capable of executing a turning mode M4 that includes transmitting a turning command E1 to the first drive device 23 of the work support device 2 so that the work W supported by the table 21 is turned around the first axis AX1. The turning mode M4 may include moving the table device 20 from the advanced position P2 to the retracted position P3, turning the table 21 that supports the work W around the first axis AX1 with the table device 20 in the retracted position P3, and returning the table device 20 from the retracted position P3 to the advanced position P2. In this case, the control device 7 transmits a table movement command E11 to the third drive device 18 and transmits a turning command E1 to the first drive device 23 of the work support device 2 so that the movement of the table device 20 from the advanced position P2 to the retracted position P3, the turning of the work W around the first axis AX1, and the movement of the table device 20 from the retracted position P3 to the advanced position P2 are performed. When the work W to be processed is a small work, it is not necessary to move the table device 20 between the advanced position P2 and the retracted position P3 when executing the turning mode M4.

[0227] When the table 21 is in the tilted state, after the state of the table 21 is changed from the tilted state to the non-tilted state, the control device 7 may execute the turning mode M4. Alternatively, when no interference occurs between the work W and the surrounding structures even when the tilted table 21 is turned around the first axis AX1, the tilted table 21 may be turned around the first axis AX1 in the turning mode M4.

[0228] Since the control device 7 is capable of executing the turning mode M4, the machine tool 1 can change the orientation of the work W with respect to the first processing device 3. In this way, the first processing device 3 can easily process the first side surface Wc (for example, the left side surface of the work W), the second main surface Wb (for example, the back surface of the work W), and the second side surface Wd (for example, the right side surface of the work W) of the work W in addition to the first main surface Wa (for example, the front surface of the work W) of the work W.

[0229] (Tilt mode M5) The control device 7 is capable of executing a tilting mode M5 that includes transmitting a tilting command E2 to the second driving device 26 of the work support device 2 so that the work W supported on the table 21 is tilted around the second axis AX2.

[0230] Since the control device 7 is capable of executing the tilting mode M5, the machine tool 1 can change the posture of the work W with respect to the first processing device 3. Thus, the first processing device 3 can easily process the work W having a complex shape (see FIG. 28). Further, the first processing device 3 can also process the top surface We of the work W in a state where the work W is tilted.

[0231] In the example shown in FIG. 10, the first robot 5 has a wrist 52 disposed at the tip of the articulated arm 50. The control device 7 may transmit a command to correct the position and orientation of the wrist 52 to the first robot 5 in response to the second driving device 26 changing the posture of the work W around the second axis AX2. For example, the control device 7 transmits a first operation command E5 to the plurality of arm driving devices 59 of the first robot 5 so that the position and orientation of the wrist 52 are corrected following the tilting of the table 21 around the second axis AX2. The plurality of arm driving devices 59 that receive the first operation command E5 correct the position and orientation of the wrist 52 following the tilting of the table 21 around the second axis AX2.

[0232] By correcting the position and orientation of the wrist 52 in response to the change in the posture of the work W, unintentional interference between the work W and the first robot 5 is prevented. Further, after the posture of the work W is changed, the first robot 5 can promptly resume processing of the work W.

[0233] Alternatively, or additionally, the control device 7 may transmit a command to correct the position and orientation of the wrist 52 to the first robot 5 in response to the first driving device 23 rotating the table 21 around the first axis AX1.

[0234] In the example described in FIG. 20, the second robot 6 has a second wrist 62 disposed at the tip of the second articulated arm 60. The control device 7 may transmit a command to the first robot 5 to correct the position and orientation of the second wrist 62 in response to the second drive device 26 changing the posture of the workpiece W around the second axis AX2. For example, the control device 7 transmits a second operation command E8 to a plurality of arm drive devices 69 of the second robot 6 so that the position and orientation of the second wrist 62 are corrected following the tilting of the table 21 around the second axis AX2. The plurality of arm drive devices 69 that receive the second operation command E8 correct the position and orientation of the second wrist 62 following the tilting of the table 21 around the second axis AX2.

[0235] In response to the change in the posture of the workpiece W, the position and orientation of the second wrist 62 are corrected, thereby preventing an unintended interference between the workpiece W and the second robot 6. Further, after the change in the posture of the workpiece W is made, the second robot 6 can promptly resume machining of the workpiece W.

[0236] Alternatively, or additionally, the control device 7 may transmit a command to the second robot 6 to correct the position and orientation of the second wrist 62 in response to the first drive device 23 rotating the table 21 around the first axis AX1.

[0237] (First Tool Change Mode M6) The control device 7 can execute a first tool change mode M6 including transmitting a first tool change command E13-1 to the first tool changer 80a so that the first rotary tool T1 held by the machining head 30 is changed to another first rotary tool.

[0238] Since the control device 7 can execute the first tool change mode M6, the first machining device 3 can perform a plurality of types of machining (for example, surface machining, hole drilling, tapping, friction stir welding, etc.) on one workpiece W.

[0239] (Second Tool Change Mode M7) The control device 7 is capable of executing a second tool change mode M7 that includes transmitting a second tool change command E13-2 to the second tool changer 80b so that the second rotary tool T2 supported by the multi-joint arm 50 is replaced with another second rotary tool.

[0240] Since the control device 7 is capable of executing the second tool change mode M7, the first robot 5 can perform a plurality of types of machining (for example, drilling, tapping, etc.) on one workpiece W.

[0241] (Third tool change mode M8) The control device 7 is capable of executing a third tool change mode M8 that includes transmitting a third tool change command E13-3 to the second tool changer 80b or a tool changer different from the second tool changer 80b so that the third rotary tool T3 supported by the second multi-joint arm 60 is replaced with another third rotary tool.

[0242] Since the control device 7 is capable of executing the third tool change mode M8, the second robot 6 can perform a plurality of types of machining (for example, drilling, tapping, etc.) on one workpiece W.

[0243] When defining a machining cycle as performing at least one of a rotation about the first axis AX1 of the table 21 that supports the workpiece W and a tilt about the second axis AX2 of the table 21 that supports the workpiece W, and then machining the workpiece W supported by the table 21 using a first group of rotary tools sequentially supported by the machining head 30, the control device 7 is configured to repeatedly execute the machining cycle "N" or more times by executing a machining program 722 stored in the memory 72. Note that "N" is, for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, ···.

[0244] For example, the control device 7 may be configured to execute a plurality of machining cycles including a first machining cycle and a second machining cycle by executing a machining program 722 stored in the memory 72. The first machining cycle may include the control device 7 simultaneously executing a part of the above-described first machining mode M1 and a part of the above-described second machining mode M2. Further, the first machining cycle may include the control device 7 simultaneously executing a part of the above-described first machining mode M1, a part of the above-described second machining mode M2, and a part of the above-described third machining mode M3. The second machining cycle may include the control device 7 simultaneously executing a part of the above-described first machining mode M1 and a part of the above-described second machining mode M2. Further, the second machining cycle may include the control device 7 simultaneously executing a part of the above-described first machining mode M1, a part of the above-described second machining mode M2, and a part of the above-described third machining mode M3.

[0245] During the execution of the first machining cycle and / or the second machining cycle, the control device 7 may perform: (1) machining the workpiece W with the first rotary tool T1 held by the machining head 30 by transmitting a first group of control commands to the first machining device 3; (2) exchanging the first rotary tool T1 held by the machining head 30 with another first rotary tool by transmitting a first tool change command E13-1 to at least one tool change device 8 (for example, the first tool change device 80a); and (3) machining the workpiece W with another first rotary tool held by the machining head 30 by transmitting a second group of control commands to the first machining device 3.

[0246] During the execution of the first processing cycle and / or the second processing cycle, the control device 7 may perform: (1) processing the workpiece W with the second rotary tool T2 supported by the articulated arm 50 by sending a third group of control commands to the first robot 5; (2) exchanging the second rotary tool T2 supported by the articulated arm 50 with another second rotary tool by sending a second tool change command E13-2 to at least one tool changer 8 (e.g., the second tool changer 80b); and (3) processing the workpiece W with another second rotary tool supported by the articulated arm 50 by sending a fourth group of control commands to the first robot 5.

[0247] During the execution of the first processing cycle and / or the second processing cycle, the control device 7 may perform: (1) processing the workpiece W with the third rotary tool T3 supported by the second articulated arm 60 by sending a fifth group of control commands to the second robot 6; (2) exchanging the third rotary tool T3 supported by the second articulated arm 60 with another third rotary tool by sending a third tool change command E13-3 to at least one tool changer 8; and (3) processing the workpiece W with another third rotary tool supported by the second articulated arm 60 by sending a sixth group of control commands to the second robot 6.

[0248] By combining the execution of the first processing mode M1, the second processing mode M2, at least one of the turning mode M4 and the tilting mode M5, the first tool change mode M6, and the second tool change mode M7 by the control device 7, a workpiece with a complex shape can be efficiently processed using a plurality of types of tools.

[0249] Furthermore, by combining the execution of the first processing mode M1, the second processing mode M2, the third processing mode M3, at least one of the turning mode M4 and the tilting mode M5, the first tool change mode M6, the second tool change mode M7, and the third tool change mode M8 by the control device 7, a workpiece with a complex shape can be processed more efficiently using a plurality of types of tools.

[0250] (Division of processing by the first processing device 3, the first robot 5, and the second robot 6) The control device 7 that executes the machining program 722 stored in the memory 72 may send a control command to the first processing device 3 so that all of the surface machining of the workpiece W is performed by the first processing device 3. Further, the control device 7 that executes the machining program 722 stored in the memory 72 may send a control command to each of the first processing device 3, the first robot 5, and the second robot 6 so that a part of the machining for forming a plurality of holes HL in the workpiece W is performed by the first processing device 3, another part of the machining for forming a plurality of holes HL in the workpiece W is performed by the first robot 5, and still another part of the machining for forming a plurality of holes HL in the workpiece W is performed by the second robot 6.

[0251] (Workpiece machining method) Subsequently, the workpiece machining method in the second embodiment will be described. The workpiece machining method in the second embodiment may be performed using the machine tool 1A in the first embodiment, may be performed using the machine tool 1B in the second embodiment, or may be performed using other machine tools.

[0252] In the first step ST101, the workpiece W is directly or indirectly attached to the table 21 of the workpiece support device 2. The first step ST101 is an attachment process. Since the attachment process (the first step ST101) is the same as the attachment process (the first step ST1) in the first embodiment, a repeated description of the attachment process (the first step ST101) will be omitted.

[0253] In the second step ST102, it is determined whether or not it is necessary to change the posture of the workpiece W (see FIG. 37). The second step ST102 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.

[0254] In the first determination step (second step ST102), if the control device 7 determines that it is necessary to change the posture of the workpiece W, at least one of the rotation of the workpiece W about the first axis AX1 and the tilt of the workpiece W about the second axis AX2 (more specifically, at least one of rotating the table 21 that supports the workpiece W about the first axis AX1 and tilting the table 21 that supports the workpiece W about the second axis AX2) is executed.

[0255] For example, in the first determination step (second step ST102), if the control device 7 determines that at least the rotation of the workpiece W about the first axis AX1 is necessary, the table 21 that supports the workpiece W is rotated about the first axis AX1 (rotation step: third step ST103).

[0256] For example, in the first determination step (second step ST102), if the control device 7 determines that at least the tilt of the workpiece W about the second axis AX2 is necessary, the table 21 that supports the workpiece W is tilted about the second axis AX2 (tilt step: fourth step ST104). Hereinafter, the rotation step (third step ST103) and the tilt step (fourth step ST104) are collectively referred to as the posture change step.

[0257] The posture change step may be executed in combination with the movement step of moving the table device 20 (see FIG. 38). More specifically, when the control device 7 determines that both the linear movement of the workpiece W and the posture change of the workpiece W are necessary, the table device 20 is linearly moved, and the table 21 is rotated or tilted.

[0258] For example, when it is determined that both a linear movement of the workpiece W and a change in the posture of the workpiece W are required, after the execution of the first step ST101 (mounting process), the table device 20 is linearly moved from the receiving position P1 to the advancing position P2, and the posture of the workpiece W is changed from the posture of the workpiece W at the receiving position P1 to a posture of the workpiece W suitable for the initial stage of workpiece processing. On the other hand, when it is determined that only a linear movement of the workpiece W is required, after the execution of the first step ST101 (mounting process), the table device 20 is linearly moved from the receiving position P1 to the advancing position P2, and the posture of the workpiece W is maintained.

[0259] When the control device 7 determines that a change in the posture of the workpiece W is not required (second step ST102: No), or when the change in the posture of the workpiece W is completed, the process proceeds to the fifth step ST105, the sixth step ST106, and / or the seventh step ST107.

[0260] In the fifth step ST105, the workpiece W supported by the table 21 is processed using the first group of rotary tools (T1-3, T1-4, T1-5, T1-6) sequentially supported by the machining head 30. The fifth step ST105 is the first machining process. The number of machining target locations of the workpiece W machined by the first group of rotary tools may be 10 or more, 20 or more, or 30 or more.

[0261] In the examples described in FIGS. 30, 31, and 34, the first group of rotary tools sequentially supported by the machining head 30 includes a drilling tool T1-3 (e.g., a drill), a tapping tool T1-4, and a surface machining tool T1-6 (e.g., a milling tool). The first group of rotary tools sequentially supported by the machining head 30 may include a friction stir welding tool T1-7 (see FIG. 24 if necessary). Replacing the first rotary tool T1 (e.g., the drilling tool T1-3, the tapping tool T1-4, or the hole forming tool T1-5) supported by the machining head 30 with another first rotary tool (e.g., the surface machining tool T1-6 or the friction stir welding tool T1-7) is performed, for example, using the first tool changer 80a (see FIG. 24). The first group of rotary tools may include a plurality of the same type of tools with different tool diameters. For example, the first group of rotary tools may include a first drill with a tool diameter of a first size and a second drill with a tool diameter of a second size.

[0262] The first machining step (the fifth step ST105) includes moving the machining head 30 using the plurality of linear motion devices 4 in a state where any one of the first group of rotary tools is in contact with the workpiece W supported by the table 21. When the workpiece W is machined by moving the machining head 30 using the plurality of linear motion devices 4, the workpiece W can be machined with high precision.

[0263] When the workpiece W is being machined using the first group of rotary tools (in other words, when any one of the first group of rotary tools is in contact with the workpiece W), it is preferable that the angular position of the table 21 about the first axis AX1 is fixed and the angular position of the table 21 about the second axis AX2 is fixed.

[0264] In the sixth step ST106, the work W supported by the table 21 is machined using a second group of rotary tools (T2-3, T2-4, T2-5) sequentially supported by the multi-joint arm 50. The sixth step ST106 is a second machining process. The machining target locations of the work W machined by the second group of rotary tools may be ten or more, twenty or more, or thirty or more locations.

[0265] In the example shown in FIGS. 33 and 34, the second group of rotary tools sequentially supported by the tool support device 53 of the first robot 5 includes a drilling tool T2-3 (for example, a drill) and a tapping tool T2-4. The replacement of the second rotary tool T2 (for example, the drilling tool T2-3) supported by the multi-joint arm 50 with another second rotary tool (for example, the tapping tool T2-4) is performed using, for example, the second tool changer 80b (see FIG. 25). The second group of rotary tools may include a plurality of tools of the same type having different tool diameters. For example, the second group of rotary tools may include a third drill having a third tool diameter and a fourth drill having a fourth tool diameter.

[0266] As illustrated in FIG. 11, the second machining process (the sixth step ST106) may include moving the second rotary tool T2 that rotates about the second rotation axis AD2 and is attached to the multi-joint arm 50 in a direction parallel to the second rotation axis AD2 using the tool linear motion device 55. When the movement of the second rotary tool T2 is performed using the tool linear motion device 55, the second rotary tool T2 can be moved with high precision.

[0267] When the work W is being machined using the second group of rotary tools (in other words, when any of the second group of rotary tools is in contact with the work W), it is preferable that the angular position of the table 21 about the first axis AX1 is fixed and the angular position of the table 21 about the second axis AX2 is fixed.

[0268] A part of the first processing step (the fifth step ST105) and a part of the second processing step (the sixth step ST106) may be executed simultaneously. A part of the first processing step (the fifth step ST105) may be executed when the second processing step is not being performed. Also, a part of the second processing step (the sixth step ST106) may be executed when the first processing step is not being performed.

[0269] In the seventh step ST107, the workpiece W supported by the table 21 is processed using a third group of rotary tools (T3-3, T3-4, T3-5) sequentially supported by the second articulated arm 60. The seventh step ST107 is the third processing step. The number of machining target locations of the workpiece W machined by the third group of rotary tools may be 10 or more, 20 or more, or 30 or more. Note that when the machine tool 1 does not have the second robot 6, the third processing step (the seventh step ST107) is omitted.

[0270] In the example shown in FIGS. 30 and 31, the third group of rotary tools sequentially supported by the second tool support device 63 of the second robot 6 includes a drilling tool T3-3 (for example, a drill) and a tapping tool T3-4. The replacement of the third rotary tool T3 (for example, the drilling tool T3-3) supported by the second articulated arm 60 with another third rotary tool (for example, the tapping tool T3-4) is performed using the second tool changer 80b (see FIG. 25), or a tool changer different from the second tool changer 80b. The third group of rotary tools may include a plurality of the same type of tools with different tool diameters. For example, the third group of rotary tools may include a fifth drill with a tool diameter of a fifth size and a sixth drill with a tool diameter of a sixth size.

[0271] As illustrated in FIG. 21, the third machining step (seventh step ST107) may include moving a third rotary tool T3 attached to the second articulated arm 60 and rotating about a third rotation axis AD3 in a direction parallel to the third rotation axis AD3 using a second tool linear motion device 65. When the third rotary tool T3 is moved using the second tool linear motion device 65, the third rotary tool T3 can be moved with high precision.

[0272] When the workpiece W is being machined using the rotary tools of the third group (in other words, when any of the rotary tools of the third group is in contact with the workpiece W), it is preferable that the angular position of the table 21 about the first axis AX1 is fixed and the angular position of the table 21 about the second axis AX2 is fixed.

[0273] A part of the first machining step (fifth step ST105) and a part of the third machining step (seventh step ST107) may be executed simultaneously. A part of the first machining step (fifth step ST105) may be executed when the third machining step is not being performed. Also, a part of the third machining step (seventh step ST107) may be executed when the first machining step is not being performed.

[0274] A part of the first machining step (fifth step ST105), a part of the second machining step (sixth step ST106), and a part of the third machining step (seventh step ST107) may be executed simultaneously.

[0275] In the eighth step ST108, it is determined whether or not the machining of the workpiece W has been completed. The eighth step ST108 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 machining of the workpiece W has been completed based on a machining program 722 stored in the memory 72.

[0276] In the second determination step (eighth step ST108), if the control device 7 determines that the machining of the workpiece W has not been completed (eighth step ST108: No), the process returns to the second step ST102.

[0277] For example, after a part of the above-described first machining step and a part of the above-described second machining step are executed (alternatively, after a part of the above-described first machining step, a part of the above-described second machining step, and a part of the above-described third machining step are executed), in the second step ST102, the control device 7 determines whether it is necessary to change the posture of the workpiece W. More specifically, the control device 7 determines whether it is necessary to change the posture of the workpiece W based on the machining program 722 stored in the memory 72.

[0278] For example, in the first determination step (second step ST102), if the control device 7 determines that at least the rotation of the workpiece W around the first axis AX1 is necessary, the table 21 that supports the workpiece W is rotated around the first axis AX1 (rotation step: third step ST103). The rotation step (in other words, rotating the table 21 that supports the workpiece W around the first axis AX1) is performed using the first drive device 23 included in the workpiece support device 2. In other words, in the rotation step (third step ST103), the first drive device 23 rotates the table 21 that supports the workpiece W around the first axis AX1.

[0279] For example, in the first determination step (second step ST102), if the control device 7 determines that at least the tilting of the workpiece W around the second axis AX2 is necessary, the table 21 that supports the workpiece W is tilted around the second axis AX2 (tilting step: fourth step ST104). The tilting step (in other words, tilting the table 21 that supports the workpiece W around the second axis AX2) is performed using the second drive device 26 included in the workpiece support device 2. In other words, in the tilting step (fourth step ST104), the second drive device 26 tilts the table 21 that supports the workpiece W around the second axis AX2.

[0280] Both the turning process (the third step ST103) and the tilting process (the fourth step ST104) may be executed (see FIGS. 34 and 35). More specifically, when the control device 7 determines that at least both the turning of the workpiece W about the first axis AX1 and the tilting of the workpiece W about the second axis AX2 are required, both the turning of the table 21 about the first axis AX1 and the tilting of the table 21 about the second axis AX2 are executed (the turning and tilting process). In the turning and tilting process, either the turning of the table 21 or the tilting of the table 21 may be executed first. Also, in the turning and tilting process, a part of the turning of the table 21 and a part of the tilting of the table 21 may be executed simultaneously.

[0281] The turning process (the third step ST103) may be executed in combination with the moving process of moving the table device 20. The tilting process (the fourth step ST104) may be executed in combination with the moving process of moving the table device 20. Also, the turning and tilting process (the third step ST103 and the fourth step ST104) may be executed in combination with the moving process of moving the table device 20.

[0282] More specifically, in the first determination step (the second step ST102), when the control device 7 determines that both the linear movement of the workpiece W and the posture change of the workpiece W are required, at least one of the turning of the workpiece W about the first axis AX1 and the tilting of the workpiece W about the second axis AX2 is combined with the linear movement of the table device 20 and executed. Note that the linear movement of the table device 20 is executed using the third drive device 18.

[0283] For example, in the first determination step (second step ST102), when the control device 7 determines that at least a linear movement of the workpiece W and a rotation of the workpiece W about the first axis AX1 are necessary, (1) the table device 20 is linearly moved in the first direction DR1 toward the retracted position P3 (see FIG. 5), (2) with the table device 20 positioned at the retracted position P3, the table 21 that supports the workpiece W is rotated about the first axis AX1 (see FIG. 6), and (3) the table device 20 is linearly moved in a direction opposite to the first direction DR1 toward the advanced position P2 are executed.

[0284] For example, in the first determination step (second step ST102), when the control device 7 determines that at least a linear movement of the workpiece W and a tilting of the workpiece W about the second axis AX2 are necessary, (1) the table device 20 is linearly moved in a direction parallel to the first direction DR1, and (2) the table 21 that supports the workpiece W is tilted about the second axis AX2 are executed.

[0285] Note that immediately before the rotation of the table 21 that supports the workpiece W about the first axis AX1, one of the table 21 and the first processing device 3 may be linearly moved in a direction away from the other of the table 21 and the first processing device 3, and immediately after the rotation of the table 21 that supports the workpiece W about the first axis AX1, one of the table 21 and the first processing device 3 may be linearly moved in a direction approaching the other of the table 21 and the first processing device 3. By moving one of the table 21 and the first processing device 3 in a direction away from the other, interference between the table 21 and the workpiece W and the first processing device 3 is prevented during the rotation of the table 21.

[0286] The above-mentioned turning process (third step ST103) may include turning the tilted table 21 around the first axis AX1. Alternatively, the above-mentioned turning process (third step ST103) may include turning the non-tilted table 21 around the first axis AX1 after the state of the table 21 is changed from the tilted state to the non-tilted state.

[0287] In the above-mentioned tilting process (fourth step ST104), the control device 7 may send a command to correct the position and orientation of the list 52 to the first robot 5 in response to the second drive device 26 changing the posture of the workpiece W around the second axis AX2.

[0288] In the above-mentioned tilting process (fourth step ST104), tilting the table 21 that supports the workpiece W around the second axis AX2 may be performed in a state where the table device 20 is located at the retracted position P3 (see FIG. 19), or may be performed in a state where the table device 20 is located at the advanced position P2 (see FIG. 19).

[0289] After the posture of the workpiece is changed, the first machining process (fifth step ST105), the second machining process (sixth step ST106), and / or the third machining process (seventh step ST107) are performed again.

[0290] In the eighth step ST108, it is determined again whether the machining of the workpiece W is completed (second determination step). In the second determination step (eighth step ST108), if the control device 7 determines that the machining of the workpiece W is not completed (eighth step ST108: No), the process returns to the second step ST102.

[0291] On the other hand, in the second determination step (eighth step ST108), if the control device 7 determines that the machining of the workpiece W is completed (eighth step ST108: Yes), the workpiece W is moved to the removal position P6 (see FIG. 16 if necessary) (ninth step ST109). The ninth step ST109 is a workpiece moving process to the removal position.

[0292] The work transfer process to the removal position (the 9th step ST109) includes moving the table device 20 from the advanced position P2 to the removal position P6 (refer to FIG. 16 if necessary). The removal position P6 may be the same position as the receiving position P1 (refer to FIG. 19), or may be a position different from the receiving position P1.

[0293] The work transfer process to the removal position (the 9th step ST109) may include changing the posture of the work W.

[0294] In the 10th step ST110, the work W is removed from the table 21. The 10th step ST110 is a removal process. The removal process (the 10th step ST110) may include moving the door 12 from the closed position to the open position, and moving the work W from the processing chamber CB to the outside of the processing chamber CB across the work passage opening OP.

[0295] In the work processing method according to the second embodiment, as illustrated in FIGS. 30 and 32, after a part of the first processing step (the 5th step ST105) and a part of the second processing step (the 6th step ST106) are simultaneously executed, the table 21 that supports the work W is tilted around the second axis AX2. In other words, a part of the process of processing the work W supported by the table 21 using the first group of rotating tools sequentially supported by the processing head 30 and a part of the process of processing the work W supported by the table 21 using the second group of rotating tools sequentially supported by the articulated arm 50 are simultaneously executed before the execution of one tilting process (in other words, the process of tilting the table 21 that supports the work W around the second axis AX2).

[0296] Also, in the workpiece processing method according to the second embodiment, as illustrated in FIGS. 32 and 34, after the table 21 that supports the workpiece W is tilted around the second axis AX2, a part of the first processing step (fifth step ST105) and a part of the second processing step (sixth step ST106) are executed simultaneously. In other words, a part of the step of processing the workpiece W supported by the table 21 using the first group of rotary tools sequentially supported by the processing head 30 and a part of the step of processing the workpiece W supported by the table 21 using the second group of rotary tools sequentially supported by the articulated arm 50 are executed simultaneously after the execution of the above-described one tilting step (in other words, the step of tilting the table 21 that supports the workpiece W around the second axis AX2).

[0297] By executing a part of the first processing step (fifth step ST105) and a part of the second processing step (sixth step ST106) simultaneously before and after one tilting step, the processing of the workpiece W is performed more efficiently and in a shorter time. As illustrated in FIGS. 30, 32, and 34, a part of the first processing step (fifth step ST105), a part of the second processing step (sixth step ST106), and a part of the third processing step (seventh step ST107) may be executed simultaneously before and after one tilting step.

[0298] As illustrated in FIGS. 34 and 36, (1) a part of the first processing step (fifth step ST105), a part of the second processing step (sixth step ST106), and a part of the third processing step (seventh step ST107) are executed simultaneously, (2) thereafter, the table 21 is rotated around the first axis AX1 and the table 21 is tilted around the second axis AX2, and (3) further thereafter, a part of the first processing step (fifth step ST105), a part of the second processing step (sixth step ST106), and a part of the third processing step (seventh step ST107) may be executed simultaneously.

[0299] Performing at least one of the rotation about the first axis AX1 of the table 21 that supports the work W and the tilting about the second axis AX2 of the table 21 that supports the work W, and then using a first group of rotary tools sequentially supported by the machining head 30 to machine the work W supported by the table 21, when defining this as a machining cycle, the work machining method in the second embodiment may include repeatedly executing the said machining cycle "N" times or more. Note that "N" is, for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, ···.

[0300] For example, the work machining method in the second embodiment may be configured to execute a plurality of machining cycles including a first machining cycle and a second machining cycle.

[0301] The first machining cycle may include simultaneously machining the work W supported by the table 21 with a first group of rotary tools sequentially supported by the machining head 30 and a second group of rotary tools sequentially supported by the articulated arm 50. Additionally, the first machining cycle may include simultaneously machining the said work W supported by the table 21 with a first group of rotary tools sequentially supported by the machining head 30, a second group of rotary tools sequentially supported by the articulated arm 50, and a third group of rotary tools sequentially supported by the second articulated arm 60.

[0302] The second machining cycle may include simultaneously machining the work W supported by the table 21 with a first group of rotary tools sequentially supported by the machining head 30 and a second group of rotary tools sequentially supported by the articulated arm 50. Additionally, the second machining cycle may include simultaneously machining the work W supported by the table 21 with a first group of rotary tools sequentially supported by the machining head 30, a second group of rotary tools sequentially supported by the articulated arm 50, and a third group of rotary tools sequentially supported by the second articulated arm 60.

[0303] At least one of the first machining cycle and the second machining cycle may include machining the workpiece W with the first rotating tool T1 held by the machining head 30, replacing the first rotating tool T1 held by the machining head 30 with another first rotating tool, and machining the workpiece W with another first rotating tool held by the machining head 30.

[0304] At least one of the first machining cycle and the second machining cycle may include machining the workpiece W with the second rotating tool T2 supported by the articulated arm 50, replacing the second rotating tool T2 supported by the articulated arm 50 with another second rotating tool, and machining the workpiece W with another second rotating tool supported by the articulated arm 50.

[0305] At least one of the first machining cycle and the second machining cycle may include machining the workpiece W with the third rotating tool T3 supported by the second articulated arm 60, replacing the third rotating tool T3 supported by the second articulated arm 60 with another third rotating tool, and machining the workpiece W with another third rotating tool supported by the second articulated arm 60.

[0306] (Variations of machining) In the example shown in FIG. 30, the machine tool 1 can simultaneously machine the first main surface Wa of the workpiece W with the first rotating tool T1 supported by the machining head 30 and machine the first side surface Wc of the workpiece W with the second rotating tool T2 supported by the articulated arm 50. More specifically, the control device 7 transmits control commands to the first machining device 3 and the first robot 5 so that the machining of the first main surface Wa of the workpiece W by the first rotating tool T1 and the machining of the first side surface Wc of the workpiece W by the second rotating tool T2 supported by the articulated arm 50 are simultaneously executed by executing the machining program 722 stored in the memory 72.

[0307] In the examples described in FIGS. 33 and 34, the machine tool 1 can simultaneously execute machining of the workpiece W by the first rotary tool T1 supported by the machining head 30 and machining of the workpiece W by the second rotary tool T2 supported by the articulated arm 50 when the table 21 is in a tilted state. More specifically, the control device 7 executes the machining program 722 stored in the memory 72, and the control device 7 transmits control commands to the first machining device 3 and the first robot 5 so that the workpiece W supported by the tilted table 21 is simultaneously machined by the first rotary tool T1 supported by the machining head 30 and the second rotary tool T2 supported by the articulated arm 50. As illustrated in FIG. 33, the machine tool 1 may be able to machine the inclined surface WS of the workpiece W by the first rotary tool T1 supported by the machining head 30 when the table 21 is in a tilted state (for example, it may be possible to execute machining for forming a hole in the inclined surface WS of the workpiece W). As illustrated in FIG. 34, the machine tool 1 may be able to machine the top surface We of the workpiece W by the first rotary tool T1 supported by the machining head 30 when the table 21 is in a tilted state (for example, it may be possible to perform surface machining on the top surface We of the workpiece W).

[0308] In the example described in FIG. 34 or FIG. 36, the machine tool 1 can simultaneously execute surface machining of the workpiece W by the first rotary tool T1 (more specifically, the surface machining tool T1-6) supported by the machining head 30 and machining for forming a hole HL in the workpiece W by the second rotary tool T2 (for example, the tap tool T2-4 or the drilling tool T2-5) supported by the articulated arm 50. Additionally, machining for forming a hole HL in the workpiece W by the third rotary tool T3 supported by the second articulated arm 60 may also be simultaneously executable.

[0309] More specifically, by executing the machining program 722 stored in the memory 72, the control device 7 causes the work W supported by the table 21 to be simultaneously machined by the surface machining tool T1-6 supported by the machining head 30, the tap tool T2-4 or the drilling tool T2-5 supported by the articulated arm 50, and the tap tool T3-4 or the drilling tool T3-5 supported by the second articulated arm 60. To this end, the control device 7 sends control commands to the first machining device 3, the first robot 5, and the second robot 6.

[0310] Alternatively, by executing the machining program 722 stored in the memory 72, the control device 7 causes the work W supported by the table 21 to be simultaneously machined by the friction stir welding tool T1-7 (see FIG. 24) supported by the machining head 30 and the tap tool T2-4 or the drilling tool T2-5 supported by the articulated arm 50. To this end, the control device 7 may send control commands to the first machining device 3 and the first robot 5.

[0311] In the example shown in FIG. 34 or FIG. 36, the machine tool 1 can simultaneously machine three different surfaces of the work W using the first rotary tool T1 supported by the machining head 30, the second rotary tool T2 supported by the articulated arm 50, and the third rotary tool T3 supported by the second articulated arm 60.

[0312] More specifically, by executing the machining program 722 stored in the memory 72, the control device 7 causes three different surfaces of the work W supported by the table 21 to be simultaneously machined by the first rotary tool T1 supported by the machining head 30, the second rotary tool T2 supported by the articulated arm 50, and the third rotary tool T3 supported by the second articulated arm 60. To this end, the control device 7 sends control commands to the first machining device 3, the first robot 5, and the second robot 6.

[0313] The present invention is not limited to the above-described embodiments or each modification, and it is obvious that each embodiment or each modification can be appropriately modified or changed within the scope of the technical idea of the present invention. Also, various techniques used in each embodiment or each modification are applicable to other embodiments or other modifications as long as no technical contradiction occurs. Furthermore, any additional configuration in each embodiment or each modification can be appropriately omitted.

[0314] In the examples described in FIGS. 40 and 41 (alternatively, in the examples described in FIGS. 42 and 43), the work support device 2 can index the table 21 to each of a plurality of different indexing angular positions (Q1, Q2) around the first axis AX1. For example, the work support device 2 can index the table 21 to a first indexing angular position Q1 around the first axis AX1 and can index the table 21 to a second indexing angular position Q2 around the first axis AX1. In the examples described in FIGS. 40 and 41 (alternatively, in the examples described in FIGS. 42 and 43), the second indexing angular position Q2 is a position that is 90 degrees different from the first indexing angular position Q1 around the first axis AX1. Alternatively, the second indexing angular position Q2 may be a position that is different from the first indexing angular position Q1 by any predetermined angle around the first axis AX1. Also, the work support device 2 may be able to index the table 21 to each of at least a plurality of indexing angular positions that are different by 90 degrees each around the first axis AX1. The work support device 2 may be able to index the table 21 to each of at least a plurality of indexing angular positions that are different by 45 degrees each around the first axis AX1.

[0315] In the examples described in FIGS. 40 and 41, the machine tool 1 can perform: (1) simultaneously machining a workpiece W supported by a table 21 using two rotary tools respectively supported by a first processing device 3 and a first robot 5; (2) after machining the workpiece W using the two rotary tools, rotating the table 21 that supports the workpiece W by a predetermined angle (e.g., 90 degrees or 180 degrees) about a first axis AX1; and (3) after the table 21 is rotated by a predetermined angle about the first axis AX1, simultaneously machining the workpiece W supported by the table 21 using the two rotary tools or, by tool change, using another two rotary tools newly supported by the first processing device 3 and the first robot 5 respectively.

[0316] In the examples described in FIGS. 42 and 43, the machine tool 1 can perform: (1) simultaneously machining a workpiece W supported by a table 21 using three rotary tools respectively supported by a first processing device 3, a first robot 5, and a second robot 6; (2) after machining the workpiece W using the three rotary tools, rotating the table 21 that supports the workpiece W by a predetermined angle (e.g., 90 degrees or 180 degrees) about a first axis AX1; and (3) after the table 21 is rotated by a predetermined angle about the first axis AX1, simultaneously machining the workpiece W supported by the table 21 using the three rotary tools or, by tool change, using another three rotary tools newly supported by the first processing device 3, the first robot 5, and the second robot 6 respectively.

[0317] In the example shown in FIG. 42, the machine tool 1 can simultaneously machine the first main surface Wa of the workpiece W supported by the table 21, the first side surface Wc of the workpiece W, and the second side surface Wd of the workpiece W, using three rotary tools respectively supported by the first processing device 3, the first robot 5, and the second robot 6. Further, in the example shown in FIG. 43, the machine tool 1 can simultaneously machine the first main surface Wa of the workpiece W supported by the table 21, the second main surface Wb of the workpiece W, and the side surface (for example, the second side surface Wd) of the workpiece W, using three rotary tools respectively supported by the first processing device 3, the first robot 5, and the second robot 6.

[0318] In the examples shown in FIGS. 40 and 41 (alternatively, in the examples shown in FIGS. 42 and 43), in a plan view, the first robot 5 and the first processing device 3 are respectively arranged at two different angular positions around the workpiece support device 2. In this case, it becomes easy to simultaneously machine the workpiece W by the first processing device 3 and the first robot 5 without interfering with each other. Thus, the processing efficiency is improved and an increase in the installation space of the machine tool 1 is suppressed. In the examples shown in FIGS. 40 and 41 (alternatively, in the examples shown in FIGS. 42 and 43), the processing head 30 and the articulated arm 50 can approach the workpiece W supported by the table 21 from angles that are approximately 90 degrees different in a plan view. Thus, interference between the first processing device 3 and the first robot 5 is more effectively suppressed.

[0319] In the examples described in FIGS. 40 and 41 (or in the examples described in FIGS. 42 and 43), in a plan view, the first robot 5, the first processing device 3, and the work passage opening OP are respectively arranged at three different angular positions around the work support device 2. In this case, the loading and unloading of the work W into and out of the processing chamber CB can be easily performed. Also, an increase in the installation space of the machine tool 1 is suppressed. Furthermore, by looking into the machine through the work passage opening OP, the states of a plurality of tools including the first rotary tool T1 and the second rotary tool T2 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 processing chamber CB can be visually recognized from outside the processing chamber CB. In this case, by looking into the machine through the window 121, the states of a plurality of tools including the first rotary tool T1 and the second rotary tool T2 can be easily confirmed.

[0320] In the examples described in FIGS. 42 and 43, in a plan view, the first robot 5, the second robot 6, the first processing device 3, and the work passage opening OP are respectively arranged at four different angular positions around the work support device 2. In this case, it becomes easy to simultaneously process the work W by the first processing device 3, the first robot 5, and the second robot 6 without interfering with each other. Therefore, the processing efficiency is further improved, and an increase in the installation space of the machine tool 1 is suppressed. In the examples described in FIGS. 42 and 43, the processing head 30 and the articulated arm 50 can approach the work W supported by the table 21 from angles that are approximately 90 degrees different in a plan view. Also, the processing head 30 and the second articulated arm 60 can approach the work W supported by the table 21 from angles that are approximately 90 degrees different in a plan view. Therefore, interference between the first processing device 3, the first robot 5, and the second robot 6 is more effectively suppressed.

[0321] In addition, in a plan view, the first robot 5, the second robot 6, the first processing device 3, and the work passage opening OP are respectively arranged at four different angular positions around the work support device 2. Therefore, the loading and unloading of the work W with respect to the processing chamber CB can be easily performed. In addition, an increase in the installation space of the machine tool 1 is suppressed. Furthermore, by looking inside the machine through the work passage opening OP or the window 121, the states of a plurality of tools including the first rotary tool T1, the second rotary tool T2, and the third rotary tool T3 can be easily confirmed.

[0322] In the examples described in FIGS. 42 and 43, in a plan view, the work support device 2 is arranged between the first robot 5 and the second robot 6. In this case, it becomes easy to simultaneously process the work W by the first robot 5 and the second robot 6 without interfering with each other. Therefore, the processing efficiency is improved, and an increase in the installation space of the machine tool 1 is suppressed.

[0323] In the example shown in FIG. 44, the machine tool 1 has a linear guide LG (more specifically, a guide rail 24) that movably supports the table device 20. As illustrated in FIG. 44, the direction in which the table device 20 is guided by the linear guide LG is defined as the third direction DR3. Also, as illustrated in FIG. 44, a virtual region RG is defined as a region formed by virtually extending in a direction parallel to the third direction DR3 the region occupied by the table device 20. In FIG. 44, in order to make it easier to grasp the virtual region RG, dot hatching is added to the virtual region RG. In the example described in FIG. 44, the first processing device 3 is arranged at a position overlapping the virtual region RG in a plan view. Also, the work passage opening OP formed in the wall 11 defining the processing chamber CB is arranged at a position overlapping the virtual region RG in a plan view. Also, the first robot 5 is arranged at one side portion of the virtual region RG in a plan view. Also, the second robot 6 is arranged at the other side portion of the virtual region RG in a plan view. In other words, in a plan view, the virtual region RG passes between the first robot 5 and the second robot 6. In the example described in FIG. 44, the support base 13a that supports the first robot 5 is arranged outside the virtual region RG in a plan view. Also, the support base 13b that supports the second robot 6 is arranged outside the virtual region RG in a plan view. In the example described in FIG. 44, the first robot 5 is arranged at a position facing the linear guide LG in a plan view. Also, the second robot 6 is arranged at a position facing the linear guide LG in a plan view.

[0324] As illustrated in FIG. 44, the area center of the table 21 when the table 21 is at the position closest to the first processing device 3 (more specifically, the area center of the upper surface of the table 21 when the table 21 is at the position closest to the first processing device 3) is defined as the first center C1. Note that the table 21 may be a table movable in a direction away from the first processing device 3 or may be a table that does not move in a direction away from the first processing device 3.

[0325] As illustrated in FIG. 44, in a plan view, the direction from the first center C1 to the center C2 of the work passage opening OP (more specifically, the area center of the work passage opening OP in a plan view) is defined as the 12 o'clock direction DT12. The first processing device 3 is disposed, for example, at a position overlapping at least one of a half line DT5 extending in the 5 o'clock direction from the first center C1, a half line DT6 extending in the 6 o'clock direction from the first center C1, and a half line DT7 extending in the 7 o'clock direction from the first center C1 in a plan view. The first robot 5 is disposed, for example, at a position overlapping at least one of a half line DT2 extending in the 2 o'clock direction from the first center C1, a half line DT3 extending in the 3 o'clock direction from the first center C1, a half line DT4 extending in the 4 o'clock direction from the first center C1, a half line DT8 extending in the 8 o'clock direction from the first center C1, a half line DT9 extending in the 9 o'clock direction from the first center C1, and a half line DT10 extending in the 10 o'clock direction from the first center C1 in a plan view. The first robot 5 may be disposed at a position overlapping at least one of a half line DT8 extending in the 8 o'clock direction from the first center C1, a half line DT9 extending in the 9 o'clock direction from the first center C1, and a half line DT10 extending in the 10 o'clock direction from the first center C1 in a plan view, and the second robot 6 may be disposed at a position overlapping at least one of a half line DT2 extending in the 2 o'clock direction from the first center C1, a half line DT3 extending in the 3 o'clock direction from the first center C1, and a half line DT4 extending in the 4 o'clock direction from the first center C1.

[0326] In the example described in FIGS. 1 and 17, the first rotation axis AD1, which is the rotation axis of the first rotary 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.

[0327] In the first and second embodiments, an example in which the table 21 is rotatable about the first axis AX1 has been described.

[0328] Alternatively, in each of the machine tools 1A in the first embodiment and the machine tool 1B in the second embodiment, the configuration in which the table 21 is rotatable about the first axis AX1 may be an optional additional configuration.

[0329] In other words, each of the machine tools 1A in the first embodiment and the machine tool 1B in the second embodiment includes: (1) a work support device 2 having a table 21 for supporting a work; (2) a machining head 30 capable of supporting a first rotary tool T1 for machining the work supported by the table 21, and a first machining device 3 having a plurality of linear motion devices 4 for three-dimensionally moving the machining head 30; and (3) a first robot 5 having an articulated arm 50 for changing the position and orientation of a second rotary tool T2, and machining the work supported by the table 21 using the second rotary tool T2. On the other hand, among the plurality of configurations described in the above-mentioned first embodiment or second embodiment, configurations other than the above (1) to (3) may or may not be adopted in the machine tool 1A in the first embodiment or the machine tool 1B in the second embodiment.

[0330] Also, each of the work machining methods in the first embodiment and the work machining method in the second embodiment includes: (1) a step of attaching a work W directly or indirectly to the table 21 of the work support device 2; (2) a step of machining the work W supported by the table 21 using a first group of rotary tools sequentially supported by the machining head 30 of the first machining device 3 (first machining step); and (3) a step of machining the work W supported by the table 21 using a second group of rotary tools sequentially supported by the articulated arm 50 of the first robot 5 (second machining step). On the other hand, among the plurality of steps described in the above-mentioned first embodiment or second embodiment, steps other than the above (1) to (3) may or may not be adopted in the work machining method in the first embodiment or the work machining method in the second embodiment.

Description of Reference Numerals

[0331] 1, 1A, 1B... machine tools, 2... workpiece support device, 3... first processing device, 4... linear motion device, 5... first robot, 6... second robot, 7... control device, 8... tool changer, 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, 13b... support stand, 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 part, 23... first drive device, 24... guide rail, 25... support stand, 25a... first support stand, 25b... second support stand, 26... second drive device, 30... processing head, 31... spindle, 32... support, 33... bearing, 34... first rotational drive device, 35... tilting 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, 47... third linear motion device, 48... drive device, 49... third linear guide, 50... articulated arm, 51a... first part of the articulated arm, 51b... second part of the articulated arm, 51c... third part of the articulated arm, 51d... fourth part of the articulated arm, 51e... fifth part of the articulated arm, 51f... sixth part of the articulated arm, 52... list, 53... tool support device, 54... second rotational drive device, 55... tool linear motion device, 56... fixed part, 56r... linear guide, 57... movable part, 59... arm drive device, 60... second articulated arm, 61a... first part of the second articulated arm, 61b... second part of the second articulated arm, 61c... third part of the second articulated arm, 61d... fourth part of the second articulated arm, 61e... fifth part of the second articulated arm, 61f... sixth part of the second articulated arm, 62... second list, 63... second tool support device, 64... third rotational drive device, 65... second tool linear motion device, 66... fixed part, 66r... linear guide, 67... movable part, 69... arm drive device, 70... hardware processor, 72... memory, 74... communication circuit, 76... input device, 78... bus, 80a... first tool changer, 80b... second tool changer, 81a... tool change arm, 82a... first gripping part, 83a... second gripping part, 84a... arm rotation device85a... Arm movement device, 91... Coolant supply device, 91n... Injection nozzle, 93... Tool stocker, 100... Machine tool system, 101... Third robot, 102... Third articulated arm, 103... Gripping body, 121... Window, 131a, 131b... Upper surfaces of the support base, 722... Processing program, 726... Work data, 762... Touch panel display, CB... Processing chamber, CD... Second chamber, E1... Swivel command, E2... Tilt command, E3... Movement command, E3-1... First movement command, E3-2... Second movement command, E3-3... Third movement command, E4... First rotation command, E5... First operation command, E6... Second rotation command, E7... Tool movement command, E8... Second operation command, E9... Third rotation command, E10... Second tool movement command, E11... Table movement command, E12... Processing device movement command, E13... Tool change command, E13-1... First tool change command, E13-2... Second tool change command, E13-3... Third tool change command, HL... Hole, J... Fixture, J1... Chuck, LG... Linear guide, MT... Motor, OP... Work passage, T1, T1-1, T1-2... First rotating tool, T1-3... Drilling tool, T1-4... Tap tool, T1-5... Hole forming tool, T1-6... Surface machining tool, T1-7... Friction stir welding tool, T2, T2-1, T2-2... Second rotating tool, T2-3... Drilling tool, T2-4... Tap tool, T2-5... Drilling tool, T3, T3-1, T3-2... Third rotating tool, T3-3... Drilling tool, T3-4... Tap tool, T3-5... Drilling tool, W... Workpiece, WS... Inclined surface of the workpiece, Wa... First main surface of the workpiece, Wb... Second main surface of the workpiece, Wc... First side surface of the workpiece, Wd... Second side surface of the workpiece, We... Top surface of the workpiece,

Claims

1. A work support device having a table for supporting a metal workpiece; a first processing device having a processing head capable of supporting a first rotary tool for processing the workpiece supported by the table, and a plurality of linear motion devices for three-dimensionally moving the processing head; a first robot having a multi-joint 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; a second robot having a second articulated arm that changes a position and an orientation of a third rotary tool, and that processes the workpiece supported by the table using the third rotary tool; a coolant supplying device for supplying a coolant toward the workpiece supported by the table; A wall defining a machining chamber into which the coolant liquid is splashed; A door for opening and closing a work passage opening formed in the wall; Equipped with the workpiece supporting device has a first driving device that rotates the table around a first axis, In a plan view, the workpiece supporting device is disposed between the first processing device and the workpiece passing opening, The processing head, the multi-joint arm, and the second multi-joint arm are disposed in the processing chamber, In a plan view, the work passage opening, the first robot, the first processing device, and the second robot are disposed around the work support device. Metal processing equipment.

2. The workpiece supporting device is disposed between the first robot and the second robot in a plan view.

2. The metal processing apparatus of claim 1.

3. The workpiece supporting device has a second driving device that tilts the table about a second axis different from the first axis.

3. The metal processing apparatus according to claim 1 or 2.

4. the first processing device has a first rotation drive device that rotates the first rotating tool around a first rotation axis, The first axis is disposed substantially perpendicular to a direction parallel to the first rotation axis, or the table can be tilted so that the first axis is substantially perpendicular to a direction parallel to the first rotation axis.

3. The metal processing apparatus according to claim 1 or 2.

5. The wall is A first wall that separates the processing chamber from a second chamber in which all or most of the plurality of linear motion devices are disposed; a second wall disposed opposite the first wall and in which the work passage opening is formed; Includes 3. The metal processing apparatus according to claim 1 or 2.

6. The workpiece supporting device can index the table to each of a plurality of different index angle positions around the first axis, The first robot and the first processing device are disposed at two different angular positions around the workpiece support device in a plan view.

3. The metal processing apparatus according to claim 1 or 2.

7. The workpiece supporting device can index the table to each of a plurality of different index angle positions around the first axis, The first robot, the first processing device, and the work passage opening are disposed at three different angular positions around the work support device in a plan view.

3. The metal processing apparatus according to claim 1 or 2.

8. When a direction from the first 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 a table device including the table and the first drive device in a direction parallel to the first direction.

3. The metal processing apparatus according to claim 1 or 2.

9. the table device is movable in a direction parallel to the first direction at least between an advanced position and a retracted position, the advance position is a position where the workpiece supported by the table can be processed by using the first processing device, The retracted position is a position where the work supported on the table can be rotated about the first axis without interfering with the first processing device.

9. The metal processing apparatus according to claim 8.

10. When a direction from the first processing device toward the work support device is defined as a first direction in a plan view, a fourth drive device is provided to move the first processing device in a direction parallel to the first direction.

3. The metal processing apparatus according to claim 1 or 2.

11. the first processing device is movable in a direction parallel to the first direction between an advanced position and a retracted position; the advance position is a position where the workpiece supported by the table can be processed by using the first processing device, The retracted position is a position where the work supported on the table can be rotated about the first axis without interfering with the first processing device.

11. The metal processing apparatus of claim 10.

12. The surface machining of the workpiece is performed only by the first machining device, The processing for forming a plurality of holes in the workpiece is shared between the first processing device and the first robot.

3. The metal processing apparatus according to claim 1 or 2.

13. A control device for controlling the first robot is further provided. the first robot has a wrist disposed at a tip end of the articulated arm, The control device transmits a command to the first robot to correct a position and an orientation of the wrist in response to the second driving device changing the attitude of the workpiece around the second axis.

4. The metal processing apparatus according to claim 3.

14. Further comprising a control device for controlling the second drive device, The control device is configured to execute a machining program stored in a memory, and thereby transmit a tilt command to the second drive device so that the inclined surface of the workpiece is changed from a position in which the inclined surface of the workpiece is inclined with respect to a first rotation axis, which is a rotation axis of the first rotating tool, to a position in which the inclined surface of the workpiece is substantially perpendicular to the first rotation axis.

4. The metal processing apparatus according to claim 3.

15. the first robot has a tool support device attached to the articulated arm and capable of supporting the second rotary tool, The tool support device is a rotation drive device that rotates the second rotating tool about a rotation axis; a tool moving device that moves the second rotating tool in a direction parallel to the rotation axis; have 3. The metal processing apparatus according to claim 1 or 2.

16. a linear guide that movably supports a table device including the table and the first drive device, When a direction in which the table device is guided by the linear guide is defined as a third direction, and an area formed by virtually extending an area occupied by the table device in a direction parallel to the third direction is defined as a virtual area, the first processing device is disposed at a position overlapping with the virtual area in a plan view, The first robot is disposed on one side of the virtual area in a plan view.

3. The metal processing apparatus according to claim 1 or 2.

17. When the area center of the table when the table is located closest to the first processing device is defined as a first center, and the direction from the first center toward the center of the work passage opening in a plan view is defined as a 12 o'clock direction, the first processing device is disposed at a position overlapping at least one of a half line extending from the first center in a 5 o'clock direction, a half line extending from the first center in a 6 o'clock direction, and a half line extending from the first center in a 7 o'clock direction in a plan view, The first robot is disposed at a position overlapping at least one of a half line extending from the first center in a 2 o'clock direction, a half line extending from the first center in a 3 o'clock direction, a half line extending from the first center in a 4 o'clock direction, a half line extending from the first center in an 8 o'clock direction, a half line extending from the first center in a 9 o'clock direction, and a half line extending from the first center in a 10 o'clock direction in a plan view.

3. The metal processing apparatus according to claim 1 or 2.

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