Workpiece processing system, workpiece processing method, and workpiece processing program

Abstract

This invention provides a workpiece machining method that allows for a constant peripheral speed of the workpiece relative to the machining head with a simple configuration. [Solution] The workpiece processing system 1 comprises a machine tool 2, a robot 3 having a processing head 34, a first memory 104 for storing a first program that defines the operation of the machine tool 2, a second memory 114 for storing a second program that defines the operation of the robot 3, a machine tool control processor 109 that reads and executes the first program to control the rotational movement of the workpiece W so that the peripheral speed of the workpiece W relative to the processing head 34 remains constant, and a robot control processor 119 that reads and executes the second program to control the robot 3 so that the processing head 34 moves along the processing surface WS of the workpiece W at a feed rate F that keeps the peripheral speed V of the workpiece W relative to the processing head 34 constant.

Description

Technical Field

[0001] The present disclosure relates to a workpiece processing system, a workpiece processing method, and a workpiece processing program for processing a workpiece using a machine tool and a robot.

Background Art

[0002] Patent Document 1 discloses a polishing system including a polishing device that rotates a polishing body by a drive machine, a robot that holds a workpiece and presses it against the outer peripheral surface of the polishing body for polishing, and a rotational speed adjustment means that increases or decreases the rotational speed of the drive machine so that the peripheral speed of the outer peripheral surface of the polishing body is within a certain range. Patent Document 2 discloses a method of uniformly adhering a substance to the surface of a rotating body using a robot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Patent Document 1 describes a robot control device that controls a robot and a sequencer that controls a polishing device, respectively. During processing, the robot control device and the sequencer exchange information via electrical signals as needed, and based on the information obtained, they control the device so that the peripheral speed of the outer surface of the polished body is maintained within a certain range. Patent Document 2 describes calculating the position of the nozzle from a relational formula at each set time step and outputting the calculated nozzle position information as an electrical signal as needed. The technology described in Patent Document 1 has drawbacks, such as difficulty in maintaining processing accuracy and complexity of control, due to the time lag caused by the exchange of electrical signals between the robot control device and the sequencer. The technology described in Patent Document 2 also has drawbacks, such as complexity of control, because it requires complex calculations at each time step.

[0005] This disclosure aims to solve the above problems and provides a workpiece machining method, a workpiece machining system, and a workpiece machining program that can keep the peripheral speed of the workpiece relative to the machining head constant with a simple configuration. [Means for solving the problem]

[0006] A workpiece processing system according to a first aspect of the present disclosure comprises: a machine tool having a spindle for rotating a workpiece; a robot having a processing head for processing the workpiece; a first memory for storing a first program for defining the operation of the machine tool; a second memory for storing a second program for defining the operation of the robot; a machine tool control processor that controls the rotational movement of the workpiece by the spindle by reading and executing the first program from the first memory so that the peripheral speed of the workpiece relative to the processing head remains constant; and a robot control processor that controls the robot to process the workpiece by reading and executing the second program from the second memory so that the processing head moves along the processing surface of the workpiece at a moving speed that maintains a constant peripheral speed of the workpiece relative to the processing head.

[0007] According to the first embodiment described above, for example, a first program defining the operation of a machine tool is stored in a first memory, a second program defining the operation of a robot is stored in a second memory, and when a workpiece is being machined, the machine tool control processor reads and executes the first program, and the robot control processor reads and executes the second program. This makes it possible to achieve constant peripheral speed control, which keeps the peripheral speed of the workpiece constant relative to the machining head, while the machine tool and robot operate independently according to their respective programs.

[0008] A workpiece processing system according to the second embodiment is preferably further characterized in the workpiece processing system according to the first embodiment. That is, in the workpiece processing system according to the second embodiment, the first program is a program that defines the rotational speed of the workpiece over time, and the second program is a program that defines the moving position and moving speed of the processing head over time.

[0009] According to the second embodiment described above, the rotational speed of the workpiece changes over time according to the first program, and the movement position and movement speed of the machining head change over time according to the second program, thereby making the peripheral speed of the workpiece relative to the machining head constant.

[0010] A workpiece processing system according to a third embodiment is preferably a workpiece processing system according to a first or second embodiment that further includes the following features: In the workpiece processing system according to a third embodiment, at least one of the first program and the second program includes a command to adjust the timing of at least one operation of the machine tool and the robot such that the peripheral speed of the workpiece becomes the reference peripheral speed when the processing head starts processing the workpiece.

[0011] According to the third embodiment described above, at least one of the first program and the second program can maintain a constant peripheral speed of the workpiece from the time the workpiece is processed, by issuing a command to adjust the timing of at least one operation of the machine tool and the robot.

[0012] A workpiece processing system according to the fourth embodiment is preferably a workpiece processing system according to any of the first to third embodiments, further comprising the following features: In the workpiece processing system according to the fourth embodiment, the robot control processor controls the robot such that the rotational pitch, which is the amount of movement of the processing head per revolution of the workpiece, remains constant when the processing head is moved along the processing surface of the workpiece.

[0013] According to the fourth embodiment described above, the robot is controlled so that the rotation pitch remains constant, thereby maintaining the peripheral speed of the workpiece relative to the machining head within a predetermined range.

[0014] A workpiece processing system according to the fifth embodiment is preferably a workpiece processing system according to the fourth embodiment that further includes the following features. That is, in the workpiece processing system according to the fourth embodiment, the workpiece has a conical surface as its processing surface, the outer diameter of which changes continuously from one side to the other in the axial direction of the spindle, and the machine tool control processor and the robot control processor maintain the peripheral speed and rotational pitch constant by changing the rotational speed of the workpiece and the moving speed of the processing head in accordance with the movement of the processing head on the conical surface in the axial direction.

[0015] According to the fifth embodiment described above, the peripheral speed of the workpiece relative to the machining head can be kept constant by changing the rotational speed of the workpiece and the moving speed of the machining head in accordance with the movement of the machining head along the conical surface of the workpiece. This makes it possible to maintain the machining accuracy of the conical surface of the workpiece.

[0016] A workpiece processing system according to the sixth embodiment preferably further comprises the following features in addition to the workpiece processing system according to the fourth embodiment. That is, in the workpiece processing system according to the sixth embodiment, the workpiece has at least one of the workpiece end face and the workpiece step face formed perpendicular to the center line of the spindle as the processing surface, and the machine tool control processor and the robot control processor maintain the peripheral speed and rotational pitch constant by changing the rotational speed of the workpiece and the moving speed of the processing head in accordance with the movement of the processing head on the processing surface in the radial direction of the spindle.

[0017] According to the sixth embodiment described above, the peripheral speed of the workpiece relative to the machining head can be kept constant by changing the rotational speed of the workpiece and the movement speed of the machining head in accordance with the radial movement of the machining head along the machining surface perpendicular to the spindle of the workpiece. This makes it possible to maintain the machining accuracy of the machined surface of the workpiece.

[0018] A workpiece processing system according to the seventh embodiment is preferably a workpiece processing system according to any of the first to sixth embodiments, further comprising the following features: the workpiece processing system according to the sixth embodiment further comprises an input unit for inputting parameters including the shape of the workpiece, a reference peripheral speed which is a target value of the peripheral speed of the workpiece relative to the processing head, and a reference rotation pitch which is a target value of the amount of movement of the processing head per revolution of the workpiece, and a program creation computer that creates the first program and the second program based on the parameters input to the input unit.

[0019] According to the seventh embodiment described above, by inputting specifications, it becomes possible to create a first program and a second program in which the machine tool and robot operate independently while the peripheral speed of the workpiece relative to the machining head remains constant.

[0020] The workpiece processing system according to the eighth embodiment is preferably a workpiece processing system according to any of the first to seventh embodiments, further comprising the following features: In the workpiece processing system according to the eighth embodiment, the processing head is an AM processing head that supplies a metal material to the processing surface of the workpiece while irradiating the processing surface with a heat source, melting the metal material on the processing surface and depositing it on the processing surface.

[0021] According to the eighth embodiment described above, since the machining head is an AM machining head, it becomes possible to perform metal additive manufacturing, which involves layering metal onto the machined surface of the workpiece to create the object. Furthermore, by controlling the peripheral speed of the machining head relative to the workpiece to a constant value during machining, the metal layering after manufacturing can be made uniform.

[0022] A ninth aspect of the present disclosure is a workpiece machining method for machining a workpiece using a machine tool having a spindle for rotating a workpiece and a robot having a machining head for machining the workpiece, comprising: creating a first program that defines the operation of the machine tool; creating a second program that defines the operation of the robot; controlling the rotational movement of the workpiece by the spindle so that the peripheral speed of the workpiece relative to the machining head remains constant by reading and executing the created first program; and controlling the robot so that the machining head moves along the machining surface of the workpiece at a moving speed that maintains a constant peripheral speed of the workpiece relative to the machining head by reading and executing the created second program, thereby machining the workpiece.

[0023] According to the ninth embodiment described above, by executing the first program to operate the machine tool and executing the second program to operate the robot, it becomes possible to process the workpiece by operating the machine tool and the robot independently. Furthermore, by creating the first and second programs so that the peripheral speed of the workpiece relative to the machining head remains constant, constant peripheral speed control, which ensures a constant peripheral speed of the workpiece relative to the machining head, can be achieved with a simple configuration.

[0024] The work processing method according to the tenth aspect preferably further has the following characteristics in the work processing method according to the ninth aspect. That is, in the work processing method according to the tenth aspect, processing the work includes controlling the robot so that a rotation pitch, which is the amount of movement of the processing head per rotation of the work, becomes constant when moving the processing head along the processing surface of the work.

[0025] According to the tenth aspect described above, by controlling the robot so that the rotation pitch becomes constant, the peripheral speed of the work with respect to the processing head can be maintained within a predetermined range.

[0026] The work processing method according to the eleventh aspect preferably further has the following characteristics in the work processing method according to the ninth or tenth aspect. That is, prior to creating the first program and the second program, the work processing method according to the eleventh aspect further includes inputting specifications including the shape of the work, a reference peripheral speed that is a target value of the peripheral speed of the work with respect to the processing head, and a reference rotation pitch that is a target value of the amount of movement of the processing head per rotation of the work. In creating the first program, based on the input specifications, the rotational speed of the work is defined for each time so that the peripheral speed of the work with respect to the processing head becomes constant at the reference peripheral speed. In creating the second program, based on the input specifications, the movement position and movement speed of the processing head are defined for each time so that the rotation pitch becomes constant at the reference rotation pitch.

[0027] According to the eleventh aspect described above, by creating the first program and the second program based on the input specifications, operating the machine tool according to the first program, and operating the robot according to the second program, it becomes possible to process the work so that the peripheral speed of the work with respect to the processing head becomes constant at the reference peripheral speed. <0​​A twelfth aspect of the present disclosure is a workpiece machining program for machining a workpiece using a machine tool having a spindle for rotating a workpiece and a robot having a machining head for machining the workpiece, wherein the program enables a computer to perform the following functions: a function to create a first program that defines the operation of the machine tool based on input parameters; a function to create a second program that defines the operation of the robot based on the parameters; a function to control the rotational movement of the workpiece by the spindle so that the peripheral speed of the workpiece relative to the machining head remains constant by reading and executing the created first program; and a function to control the robot so that the machining head moves along the machining surface of the workpiece at a moving speed that maintains a constant peripheral speed of the workpiece relative to the machining head by reading and executing the created second program, thereby machining the workpiece.

[0029] According to the twelfth embodiment described above, by operating the machine tool according to the first program and the robot according to the second program, it becomes possible to process the workpiece by operating the machine tool and the robot independently. Furthermore, by creating the first and second programs so that the peripheral speed of the workpiece relative to the machining head remains constant, constant peripheral speed control, in which the peripheral speed of the workpiece relative to the machining head remains constant, can be achieved with a simple configuration. [Effects of the Invention]

[0030] According to this disclosure, a workpiece machining system, a workpiece machining method, and a workpiece machining program can be provided that can maintain a constant peripheral speed of the workpiece relative to the machining head with a simple configuration. [Brief explanation of the drawing]

[0031] [Figure 1] This is a perspective view showing the overall structure of a workpiece processing system, which is one embodiment of the present disclosure. [Figure 2] This is a magnified view of the workpiece machining section of a workpiece machining system. [Figure 3] This is a magnified view of the tip of the machining head. [Figure 4] This is a block diagram illustrating the control functions of a workpiece machining system. [Figure 5] This figure shows the position of the machining head over time, the feed rate of the machining head at each position, and the rotational speed of the workpiece at each position. [Figure 6] This graph shows the relationship between the workpiece diameter, rotational speed, and feed rate. [Figure 7] This graph shows the relationship between the workpiece diameter, rotational pitch, and peripheral speed. [Figure 8] This is a flowchart illustrating the control operations of machine tool control systems and robot control systems. [Figure 9] This is a flowchart illustrating the control operations related to workpiece machining by machine tools and robots. [Figure 10] This figure shows the shape of the workpiece corresponding to the second embodiment. [Modes for carrying out the invention]

[0032] Embodiments of this disclosure will be described in detail below with reference to the drawings. However, descriptions that are unnecessarily detailed may be omitted. For example, detailed descriptions of already well-known matters or redundant descriptions of substantially identical configurations may be omitted. The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand this disclosure and are not intended to limit the subject matter described in the claims.

[0033] [First Embodiment] Figure 1 is a perspective view showing the overall structure of a workpiece processing system 1, which is one embodiment of the present disclosure. Figure 2 is an enlarged view of the workpiece processing section of the workpiece processing system 1 in Figure 1.

[0034] The workpiece processing system 1 is a hybrid composite processing machine capable of performing additive and subtractive processing on a workpiece W. The additive processing is, for example, metal additive manufacturing, which involves layering or adding metal material to the processed surface of the workpiece W to create a shape. Metal additive manufacturing is also called AM (Additive Manufacturing). Examples of AM processing include multi-laser metal additive manufacturing, laser metal additive manufacturing, and wire arc metal additive manufacturing. In multi-laser metal additive manufacturing, multiple laser beams are irradiated from the tip of the processing head, and the metal powder ejected from the tip of the head is melted to create the shape. In laser metal additive manufacturing, one laser beam is irradiated from the tip of the processing head, and the metal powder ejected from the tip of the head is melted to create the shape. In wire arc metal additive manufacturing, a metal wire is melted by arc discharge and deposited on the processed surface of the workpiece W. The subtractive processing may be, for example, cutting or grinding.

[0035] The workpiece processing system 1 comprises a machine tool 2 and a robot 3.

[0036] The machine tool 2 can process the workpiece W in cooperation with the robot 3, or it can process the workpiece W on its own. For example, when performing the above-mentioned additional processing, the machine tool 2 and the robot 3 work together to process the workpiece W. When performing the above-mentioned removal processing, the machine tool 2 processes the workpiece W on its own.

[0037] The machine tool 2 comprises a main body 21, a workpiece holding section 22, a cutting mechanism 23, and a display 24.

[0038] The main body 21 includes a drive motor for rotating the workpiece W, and a moving mechanism for moving the cutting mechanism 23.

[0039] The workpiece holding section 22 has, for example, a cylindrical shape and rotates around the center line CL while gripping the workpiece W. The workpiece holding section 22 functions as the spindle of the machine tool 2 that rotates the workpiece W. The workpiece holding section 22 includes a plurality of radially movable members. The workpiece holding section 22 can hold the workpiece W by moving the plurality of members radially inward while the workpiece W is placed in the workpiece W housing space formed in the center of the workpiece holding section 22.

[0040] The cutting mechanism 23 has, for example, a cutting blade 23a at its tip. The cutting mechanism 23 is movable by a moving mechanism (not shown). When cutting the workpiece W, the cutting mechanism 23 moves the cutting blade 23a along the machined surface of the workpiece W, as shown by the dashed line, while the workpiece W is rotating. The cutting mechanism 23 may also be used, for example, to cut the surface of the metal additive manufacturing as a finishing process after metal additive manufacturing. The machine tool 2 may be equipped with a grinding mechanism for grinding the workpiece W instead of, or in addition to, the cutting mechanism 23.

[0041] The display 24 may, for example, display the operating status of the machine tool 2. The machine tool 2 operates according to a pre-created program. The display 24 may, for example, display the contents of the program's commands.

[0042] Robot 3 is equipped with a machining head 34 for machining workpiece W, and machines workpiece W by moving the machining head 34 along the machining surface of workpiece W. Robot 3 comprises a base 31, a base 32, a robot arm 33, and a machining head 34.

[0043] The base 31 supports the base portion 32. The base portion 32 extends upward from the base 31. The base portion 32 may be rotatable about an axis perpendicular to the base 31. The robot arm 33 is connected to the tip of the base portion 32. The robot arm 33 may be composed of multiple arm members, each of which may be rotatable.

[0044] The machining head 34 in this embodiment is fixed to the tip of the robot arm 33. The machining head 34 in this embodiment is an AM machining head capable of performing the above-mentioned metal additive manufacturing process.

[0045] Figure 3 is an enlarged view of the tip of the processing head 34. The tip of the processing head 34 is equipped with a laser irradiation unit 34a and a metal powder ejection unit 34b.

[0046] During the processing of the workpiece W, a laser LS, which is a heat source, is irradiated from the laser irradiation unit 34a toward the processing surface WS of the workpiece W. Furthermore, metal powder PW is sprayed from the metal powder spray unit 34b toward the processing surface WS, thereby supplying metal powder PW to the processing surface WS. As metal powder PW is supplied to the processing surface WS of the workpiece W and the laser LS is irradiated toward the processing surface WS, a molten pool MP is formed on the processing surface WS where the metal powder PW is molten. When the molten metal powder PW cools and solidifies, a fabricated section MD is formed on the processing surface WS by the accumulation of metal powder PW.

[0047] During metal additive manufacturing, robot 3 moves the tip of the processing head 34 along the processing surface WS of the workpiece W at a preset feed rate F (movement speed). Simultaneously, robot 3 sprays metal powder PW from the metal powder spraying section 34b of the processing head 34 toward the processing surface WS and irradiates the processing surface WS with a laser LS to melt the metal powder PW on the processing surface WS. Furthermore, during metal additive manufacturing, machine tool 2 rotates the workpiece W in accordance with the movement of robot 3. As a result, metal additive manufacturing is formed across the entire processing surface WS of the workpiece W.

[0048] When performing the above-described metal additive manufacturing process on a workpiece W having a conical surface (tapered surface) as the machining surface WS, where the outer diameter continuously changes from one side to the other along the center line CL, the rotational speed on the machining surface WS of the workpiece W increases with the diameter of the workpiece W. Therefore, if the rotational speed N of the workpiece W is constant during machining, the peripheral speed V of the machining head 34 relative to the workpiece W changes according to the machining surface WS. In this case, the thickness of the metal layer after machining becomes uneven. To make the thickness of the metal layer after machining uniform, it is necessary to appropriately adjust the rotational speed N of the machine tool 2 and the feed rate F (movement speed) of the robot 3 according to the machining surface WS of the workpiece W so that the peripheral speed V of the machining head 34 relative to the workpiece W remains constant.

[0049] On the other hand, in the workpiece processing system 1, there is a machine tool control system 100 that controls the operation of the machine tool 2 and a robot control system 110 that controls the operation of the robot 3. In this case, it is conceivable to process the workpiece W by synchronizing the operation of the machine tool 2 and the operation of the robot 3, but synchronizing the machine tool 2 and the robot 3 is technically difficult.

[0050] When machining a workpiece by synchronizing a machine tool and a robot, the machine tool control system and the robot control system continuously transmit information about their respective operating statuses to the other control system. For example, when the machine tool control system receives information about the robot's operating status from the robot control system, it controls the operation of the machine tool based on that information and transmits information about the machine tool's operating status to the robot control system. Then, when the robot control system receives information about the machine tool's operating status from the machine tool control system, it controls the operation of the robot based on that information and transmits information about the robot's operating status to the machine tool control system. In this way, during workpiece machining, the operation of the machine tool and the robot are controlled by the alternating exchange of signals containing their respective operating statuses between the machine tool control system and the robot control system. However, a time lag occurs when signals are exchanged between the machine tool control system and the robot control system. If this time lag causes a discrepancy between the operation of the machine tool and the operation of the robot, the thickness of the metal laminate after machining may become uneven. Alternatively, control that takes the above time lag into account may be required, making the control during workpiece W machining very complex.

[0051] In this embodiment, the machine tool 2 and the robot 3 are operated independently without synchronization, thereby controlling the peripheral speed V of the workpiece W relative to the machining head 34 to remain constant with a simple configuration.

[0052] Figure 4 is a block diagram illustrating the control functions of the workpiece processing system 1. In Figure 4, for convenience, the machine tool 2 and robot 3 are positioned separately, but in reality, the machine tool 2 and robot 3 are positioned as shown in Figure 1.

[0053] The machine tool control system 100 shown in Figure 4 controls the operation of the machine tool 2. The robot control system 110 controls the operation of the robot 3.

[0054] The machine tool control system 100 includes a machine tool control hardware processor 102 (hereinafter simply referred to as "machine tool control processor 102"), a first memory 104, a machine tool communication circuit 106, a machine tool input device 108 (for example, a touch panel display 108), and a first program creation computer 109. The machine tool control processor 102, the first memory 104, the machine tool communication circuit 106, the machine tool input device 108, and the first program creation computer 109 are connected to each other via a bus 105. The machine tool input device 108 may be wirelessly connected to the machine tool control processor 102, etc. Data necessary for machining the workpiece W (for example, work data including shape data and machining position data of the workpiece W) may be input to the machine tool control system 100 via the machine tool input device 108, or may be input to the machine tool control system 100 from another computer via the machine tool communication circuit 106. The machine tool input device 108 is not limited to a touch panel display 108. For example, the machine tool input device 108 may include an input device such as a button, switch, lever, or pointing device, and a display (e.g., a display 24) that displays data or other information input to the input device. Alternatively, the display 24 may be configured as a touch panel, and the display 24 may be used as the machine tool input device 108.

[0055] The machine tool control processor 102 generates multiple control commands by executing a machining program stored in the first memory 104. The machine tool communication circuit 106 transmits the multiple control commands generated by the machine tool control processor 102 to multiple controlled devices (for example, the workpiece holding unit 22 and the cutting mechanism 23). In this way, the machine tool control system 100 can control multiple controlled devices.

[0056] The robot control system 110 comprises a robot control hardware processor 112 (hereinafter simply referred to as "robot control processor 112"), a second memory 114, a robot communication circuit 116, a robot input device 118 (for example, a touch panel display 118), and a second program creation computer 119. The robot control processor 112, the second memory 114, the robot communication circuit 116, the robot input device 118, and the second program creation computer 119 are connected to each other via a bus 115. The robot input device 118 may be wirelessly connected to the robot control processor 112, etc. Data necessary for controlling the robot 3 may be input to the robot control system 110 via the robot input device 118, or it may be input to the robot control system 110 from another computer via the robot communication circuit 116. Note that, similar to the machine tool input device 108, the robot input device 118 is not limited to a touch panel display 118.

[0057] The robot control processor 112 generates multiple control commands by executing a machining program stored in the second memory 114. The robot communication circuit 116 transmits the multiple control commands generated by the robot control processor 112 to multiple controlled devices (for example, the robot arm 33 and the machining head 34). In this way, the robot control system 110 can control multiple controlled devices.

[0058] The first program creation computer 109 (program creation computer) may be built into the machine tool control processor 102, or it may be configured separately from the machine tool control processor 102. The first program creation computer 109 may also be provided by the robot control system 110.

[0059] The first program creation computer 109 creates a first program that defines the operation of the machine tool 2 based on various parameters input, for example, from the robot input device 118. The first program is a program that defines the rotational speed N (rev / min) of the workpiece W at each time interval during the machining of the workpiece W.

[0060] The above parameters include the shape of the workpiece W, the reference peripheral speed Vs which is the target value of the peripheral speed V (m / min) of the workpiece W relative to the machining head 34, and the reference rotational pitch Frs (mm / rev) which is the target value of the amount of movement of the machining head 34 per revolution of the workpiece W (i.e., rotational pitch Fr). The above parameters may also include the rate of change α of the diameter D of the workpiece W, which serves as a threshold for determining when changing the rotational speed N of the workpiece W. Furthermore, if the workpiece W has a conical surface (tapered surface) as the machining surface WS, the above parameters may also include the inclination angle of the cone. The shape of the workpiece W, which is one of the parameters, may also include the position (coordinates) of the machining start point and the position (coordinates) of the machining end point of the workpiece W.

[0061] When various parameters are input to the first program creation computer 109, it calculates, based on these parameters, the rotational speed N of the workpiece W at each time interval such that the peripheral speed V (m / min) of the workpiece W relative to the machining head 34 remains constant at the reference peripheral speed Vs. The calculated rotational speed N of the workpiece W at each time interval becomes the first program.

[0062] The first program created by the first program creation computer 109 is stored in the first memory 104, which is a storage medium. The first memory 104 is, for example, a storage device built into the machine tool control system 100. In addition to being a storage device built into the machine tool control system 100, the first memory 104 may also be an external storage device connected to the machine tool control system 100.

[0063] The machine tool control processor 102 reads a first program from the first memory 104 and executes it, thereby controlling the rotational movement of the workpiece holding unit 22 of the machine tool 2, i.e., the rotational speed N of the workpiece W, so that the peripheral speed V of the workpiece W relative to the machining head 34 remains constant at the reference peripheral speed Vs.

[0064] The second program creation computer 119 (program creation computer) may be built into the robot control processor 112, or it may be configured separately from the robot control processor 112. The second program creation computer 119 may also be provided by the machine tool control system 100.

[0065] The second program creation computer 119 creates a second program that defines the operation of the robot 3 based on various parameters input, for example, from the robot input device 118. The second program defines the movement position (movement coordinates) and feed rate F (movement speed) of the machining head 34 for each period of time. The feed rate F corresponds to the feed rate of the machining head in this disclosure.

[0066] When various parameters are input to the second program creation computer 119, it calculates the time-based movement position P and feed rate F (mm / min) of the machining head 34 such that the rotational pitch Fr (mm / rev), which is the amount of movement of the machining head 34 per revolution of the workpiece W, remains constant. The calculated time-based movement position P and feed rate F of the machining head 34 become the second program.

[0067] The second program created by the second program creation computer 119 is stored in the second memory 114, which is a storage medium. The second memory 114 is, for example, a storage device built into the robot control system 110. In addition to being a storage device built into the robot control system 110, the second memory 114 may also be an external storage device connected to the robot control system 110.

[0068] The robot control processor 112 reads and executes a second program from the second memory 114, thereby controlling the movement of the robot 3 so that the machining head 34 moves along the machining surface WS of the workpiece W at a feed rate F that keeps the peripheral speed V of the workpiece W constant.

[0069] The following describes the machining of a workpiece W, which has a conical surface as the machining surface WS, in more detail. In this embodiment, metal additive manufacturing is performed as an example of machining the workpiece W. In metal additive manufacturing, metal powder PW, which is a metal material, is ejected from the machining head 34 toward the machining surface WS, while a laser LS is irradiated toward the machining surface WS. The ejection control for ejecting the metal powder PW and the laser control for irradiating with the laser LS may be performed, for example, by an ejection control processor (not shown) and a laser control processor (not shown) provided in the robot control system 110. The above ejection control and laser control are performed independently of the rotation control of the workpiece W by the machine tool 2 and the movement control of the machining head 34 by the robot 3. The control modes related to the ejection control and laser control are omitted.

[0070] For machining workpiece W, various parameters such as the shape of workpiece W, the reference peripheral speed Vs of workpiece W, the reference rotational pitch Frs, and the rate of change α of the diameter D of workpiece W are input.

[0071] By inputting the shape of the workpiece W, the movement position P (movement coordinates) of the machining head 34 during machining of the workpiece W can be determined. The movement position P will be the trajectory along the machining surface WS of the workpiece W. When setting the movement position P of the machining head 34, for example, the starting position of machining the workpiece W may be used as the reference position (zero point) to set the coordinates. Alternatively, the center point of the end face of the workpiece W may be used as the reference position to set the coordinates. Alternatively, a predetermined position (absolute position) stored in advance may be used as the reference position to set the coordinates.

[0072] Figure 5 shows the time-dependent movement position P(i) of the machining head 34 relative to the workpiece W, the feed rate F(i) at each movement position P(i), and the rotational speed N(i) of the workpiece W at each movement position P(i). The subscript (i) above is a number assigned to each time period. The subscript (i) may be omitted as appropriate when there is no particular need to distinguish between them. The subscript (i) increases with the passage of time. Movement position P(1) corresponds to the machining start position. Movement position P(N) corresponds to the machining end position. During machining of the workpiece W, the machining head 34 moves along the machining surface WS from the small diameter side to the large diameter side (from the right side of the paper to the left side of the paper).

[0073] As shown in Figure 5, the workpiece W has a conical surface whose outer diameter continuously increases from one side to the other along the center line CL. Therefore, as the moving position P(i) moves in the axial direction of the workpiece W (Z direction in Figure 5), the radial coordinate of the workpiece W (X direction in Figure 5) increases. The feed rate F(i) and rotational speed N(i) at each moving position P(i) can be calculated, for example, as follows. Specifically, the feed rate F(i) and rotational speed N(i) at each moving position P(i) can be calculated, for example, from the relationship between equations (1) and (2) below.

[0074] V = πDN / 1000 ... (1) Fr = F / N ... (2)

[0075] The diameter D of the workpiece W shown in equation (1) changes depending on the moving position P(i). The peripheral speed V in equation (1) is the reference peripheral speed Vs entered as a parameter. The rotational pitch Fr in equation (2) is the reference rotational pitch Frs entered as a parameter. The reference peripheral speed Vs and reference rotational pitch Frs are preferably determined experimentally, for example, and set to values ​​such that the metal lamination built up on the machined surface WS after processing is uniform or nearly uniform.

[0076] Figure 6 is a graph showing the relationship between the diameter D of the workpiece W, the rotational speed N(i), and the feed rate F(i), calculated from equations (1) and (2). The upper part of Figure 6 shows the relationship between the diameter D of the workpiece W and the rotational speed N(i). The lower part of Figure 6 shows the relationship between the diameter D of the workpiece W and the feed rate F(i).

[0077] As shown in the upper part of Figure 6, the rotational speed N(i) decreases in steps as the diameter D of the workpiece W increases. As shown in the lower part of Figure 6, the feed rate F(i) decreases in steps as the diameter D of the workpiece W increases.

[0078] As shown in Figure 6, the rotational speed N(i) and feed rate F(i) change in steps because they are changed according to the rate of change α of the diameter D of the workpiece W. The rate of change α is the threshold for deciding whether to change the rotational speed N(i) and feed rate F(i). Specifically, the rotational speed N(i) and feed rate F(i) are changed each time the diameter D changes by the rate of change α. For example, if the rate of change α is set to 5% (=1.05), the rotational speed N(i) and feed rate F(i) are changed each time the diameter D changes by 5%. Note that the rotational speed N(i) and feed rate F(i) satisfy the relationship in equation (2), so the rotational speed N(i) and feed rate F(i) change in steps in conjunction with each other.

[0079] As the rate of change α decreases, the rotational speed N and feed rate F are changed more frequently, resulting in smaller step sizes for rotational speed N(i) and feed rate F(i) in Figure 6. In other words, the smaller the rate of change α, the closer the rotational speed N(i) and feed rate F(i) approach the continuous curve shown by the dashed line. The rate of change α can be determined experimentally, for example, and should be set to a value such that the metal laminations built up on the machined surface WS after processing are uniform or nearly uniform.

[0080] Figure 7 is a graph showing the relationship between the diameter D of the workpiece W, the rotational pitch Fr, and the peripheral speed V. The upper part of Figure 7 shows the relationship between the diameter D of the workpiece W and the peripheral speed V. The lower part of Figure 7 shows the relationship between the diameter D of the workpiece W and the rotational pitch Fr.

[0081] As shown in the upper part of FIG. 7, the peripheral speed V changes in a sawtooth wave shape. From the relationship of Equation (1), the peripheral speed V continuously increases as the diameter D continuously increases. Also, when the diameter D changes by the change rate α, the rotational speed N(i) decreases, so the peripheral speed V decreases to the reference peripheral speed Vs. Therefore, the peripheral speed V changes in a sawtooth wave shape between the reference peripheral speed Vs and the upper limit peripheral speed α×Vs which is α times (for example, 1.05 times) the reference peripheral speed Vs. Thus, in this embodiment, a pseudo-constant peripheral speed control in which the peripheral speed V is maintained within a predetermined range (Vs < V < α×Vs) is realized. Note that the smaller the change rate α, the smaller the fluctuation of the peripheral speed V, and it approaches a complete constant peripheral speed control in which the peripheral speed V is constant.

[0082] As shown in the lower part of FIG. 7, the rotation pitch Fr is constantly controlled at the reference rotation pitch Frs by satisfying the relationship of Equation (2).

[0083] The first program creation computer 109 calculates the rotational speed N of the work W for each time based on Equation (1) and Equation (2), and creates the calculation result as the first program. The first program may define the rotational speed N(i) and the rotation maintenance time Tm(i) of the work W for each time, for example, with the time point when the first program starts as the reference time point (zero time point). The rotation maintenance time Tm(i) is the time for maintaining the rotational speed N(i). In other words, the rotation maintenance time Tm(i) is the time required for the diameter D to change by the change rate α. When the rotation maintenance time Tm(i) elapses in the state of the rotational speed N(i), then, it is maintained at the rotational speed N(i + 1) for the rotation maintenance time Tm(i + 1). Or, the first program may sequentially define the rotational speed N(i) for each elapsed time, for example, with the time point when the first program starts as the reference time point.

[0084] [[ID=十四]]When the first program creation computer #109 creates the first program, it stores the first program in the first memory #104.

[0085] The second program generation computer 119 calculates the time-based movement position P(i) and feed rate F(i) of the machining head 34 based on equations (1) and (2), and creates the calculation results as a second program. The second program may, for example, define the movement position P(i) and feed rate F(i) of the machining head 34 with the time when the second program starts as the reference time (zero time).

[0086] When the second program creation computer 119 creates a second program, it stores the second program in the second memory 114.

[0087] When the first program is stored in the first memory 104 and the second program is stored in the second memory 114, and the machine tool 2 and robot 3 are in their respective initial states, machining of the workpiece W is executed. For example, when the machine tool 2 rotates at a preset initial rotational speed N(0) and the machining head 34 of the robot 3 moves to a preset initial position P(0), machining of the workpiece W is executed. The initial rotational speed N(0) of the machine tool 2 may be set to the same value as the machining start rotational speed N(1) defined at the time when machining of the workpiece W begins. The initial position P(0) of the machining head 34 may be set to a position near the workpiece W, specifically a position near the machining start position P(1) where machining of the workpiece W begins.

[0088] The machine tool control processor 102 determines that the first program is executable when the first program is stored in the first memory 104 and the rotational speed N of the machine tool 2 reaches the initial rotational speed N(0). At this time, the machine tool control processor 102 transmits a signal to the robot control processor 112 (robot control system 110) indicating that the first program is executable.

[0089] The robot control processor 112 determines that the second program is executable when the second program is stored in the second memory 114 and the machining head 34 moves to the initial position P(0). At this time, when the robot control processor 112 receives a signal from the machine tool control processor 102 indicating that the first program is executable, it issues a command to the machine tool control processor 102 to execute the first program. Simultaneously, the robot control processor 112 executes the second program. When the machine tool control processor 102 receives a command from the robot control processor 112 to execute the first program, it executes the first program.

[0090] As described above, once the first and second programs are ready to run, the machine tool 2 operates according to the first program and the robot 3 operates according to the second program, thereby machining the workpiece W. Here, at least one of the first and second programs may include a command to adjust the timing of the machine tool 2 and the robot 3's movements so that machining begins after the movement time required for the machining head 34 to move from the initial position P(0) to the machining start position P(1) has elapsed. The movement time can be determined in advance by experimentation or other means.

[0091] Furthermore, at least one of the first and second programs may include a command to adjust the timing of at least one operation of the machine tool 2 and the robot 3 so that the peripheral speed V becomes the reference peripheral speed Vs when the machining head 34 starts machining the workpiece W. In this embodiment, the robot control processor 112 executes the second program at the same time as issuing a command to the machine tool control processor 102 to start the first program. Therefore, a delay occurs equal to the time it takes for the robot control processor 112 to issue the command to the machine tool control processor 102 to start the first program. In other words, there is a possibility that the timing of the operation of the first and second programs will be off by the amount of the delay. To address this, for example, the second program may include a command to make the robot 3 wait for the amount of the delay, thereby appropriately adjusting the timing of the operation of the machine tool 2 and the robot 3. The delay can be determined in advance by experimentation or the like.

[0092] Figure 8 is a flowchart illustrating the control operations of the machine tool control system 100 and the robot control system 110. Specifically, Figure 8 is a flowchart illustrating the control operations up to the creation of the first program and the second program for machining the workpiece W. In Figure 8, an example of the control operations when various parameters are input to the robot 3 is shown.

[0093] First, let's explain the control operation of robot 3 shown on the right side of Figure 8. In step S10, various parameters are input from, for example, the robot input device 118 of robot 3. In step S11, the robot control system 110 creates a second program based on the input parameters. In step S12, the robot control system 110 stores (remembers) the created second program in the second memory 114.

[0094] Next, the control operation of the machine tool 2 will be explained. In step S20, various parameters are transferred from the robot control system 110. In step S21, the machine tool control system 100 creates a first program from the transferred parameters. In step S22, the machine tool control system 100 stores (remembers) the created first program in the first memory 104.

[0095] In Figure 8, various parameters are input to the robot control system 110, but these parameters may also be input from the machine tool input device 108 of the machine tool control system 100. In this case, the parameters may be transferred to the robot control system 110 after the first program has been created. Alternatively, in Figure 8, the parameters may be input to the machine tool control system 100 before step S11 is executed.

[0096] Figure 9 is a flowchart illustrating the control operations related to the machining of the workpiece W by the machine tool 2 and the robot 3. The flowchart in Figure 9 is executed after the first program is stored in the first memory 104 and the second program is stored in the second memory 114, based on the flowchart shown in Figure 8.

[0097] First, the control operation of robot 3 shown on the right side of Figure 9 will be explained. In step S30 shown on the right side of Figure 9, the robot control system 110 determines whether the workpiece W is in a state where it can be machined. For example, whether the workpiece W is in a state where it can be machined is determined based on whether or not the machining head 34 of robot 3 has moved to the initial position P(0). If the machining head 34 has not moved to the initial position P(0), the determination in step S30 is denied. At this time, the robot control system 110 moves the machining head 34 to the initial position P(0). When the machining head 34 reaches the initial position P(0), the determination in step S30 is affirmed. In step S31, the robot control system 110 determines whether or not it has received a signal from the machine tool 2 indicating that the workpiece W can be machined. If the signal has not been received, the determination in step S31 is denied. The robot control system 110 keeps robot 3 on standby while the determination in step S31 is denied. If the signal is received, the determination in step S31 is affirmed. At this point, in step S32, the robot control system 110 executes the second program and, at the same time, issues a command to the machine tool 2 to execute the first program. In step S33, the robot control system 110 moves the machining head 34 to the calculated movement position P at the calculated feed rate F according to the second program. Next, in step S34, the robot control system 110 determines whether the movement position P(i) of the workpiece W has reached the machining end position P(N). In other words, the robot control system 110 determines whether the execution of the second program has been completed. If the movement position P(i) has not reached the machining end position P(N), the determination in step S34 is denied. At this point, the robot control system 110 returns to step S33 and continues machining the workpiece W. If the movement position P(i) has reached the machining end position P(N), the determination in S34 is affirmed. At this point, the robot control system 110 terminates the machining of the workpiece W by the machining head 34.

[0098] Next, the control operation of the machine tool 2 shown on the left side of Figure 9 will be described. In step S40 shown on the left side of Figure 9, the machine tool control system 100 determines whether or not the workpiece W is in a state where it can be machined. For example, whether or not the workpiece W is in a state where it can be machined is determined based on whether or not the rotational speed N of the machine tool 2 has reached the initial rotational speed N(0). If the rotational speed N of the machine tool 2 has not reached the initial rotational speed N(0), the determination in step S40 is denied. In this case, the machine tool control system 100 controls the rotational speed N of the machine tool 2 to the initial rotational speed N(0). If the rotational speed N of the machine tool 2 has reached the initial rotational speed N(0), the determination in step S40 is affirmed. In step S41, the machine tool control system 100 transmits a signal to the robot control system 110 indicating that the workpiece W is ready for machining. In step S42, the machine tool control system 100 determines whether or not it has received a command from the robot control system 110 to execute the first program. If no command to execute the first program is received, the determination in step S42 is denied. In this case, the machine tool control system 100 keeps the machine tool 2 rotating at an initial rotational speed N(0) and waiting. If a command to execute the first program is received, the determination in step S42 is affirmed. If the determination in step S42 is affirmed, in step S43, the machine tool control system 100 executes the first program. In step S44, the machine tool control system 100 rotates the workpiece W for a time calculated at the calculated rotational speed N. Next, in step S45, the machine tool control system 100 determines whether the rotational speed N(i) has reached the rotational speed N(N) specified at the end of the first program. In other words, the machine tool control system 100 determines whether the execution of the first program is complete. If the rotational speed N(i) has not reached the rotational speed N(N), the determination in step S45 is denied. In this case, the machine tool control system 100 returns to step S44 and continues to rotate the workpiece W. When the rotational speed N(i) reaches rotational speed N(N), the determination in step S45 is affirmed. At this time, the machine tool control system 100 terminates the machining of the workpiece W.

[0099] As the workpiece W is machined according to the flowchart in Figure 9, the operation timing of the first program and the operation timing of the second program are synchronized. During the machining of the workpiece W, the machine tool 2 operates independently of the robot 3 according to the first program. Similarly, during the machining of the workpiece W, the robot 3 operates independently of the machine tool 2 according to the second program. Furthermore, since the first and second programs are created based on the same specifications so that the peripheral speed V of the workpiece W relative to the machining head 34 remains constant, the peripheral speed V of the workpiece W relative to the machining head 34 remains constant even if the machine tool 2 and the robot 3 operate independently. As a result, the metal lamination formed on the machined surface WS of the workpiece W can be made uniform or nearly uniform with a simple configuration, and machining accuracy can be ensured.

[0100] [Second Embodiment] Next, a second embodiment of the present disclosure will be described. In the first embodiment, the machining method was described using a workpiece W having a conical surface as the machining surface WS as an example, but the present disclosure is not limited to a workpiece W having a conical surface. For example, a workpiece W may have at least one of a workpiece end face WS1 (see Figure 10) and a workpiece step surface WS2 (see Figure 10) formed perpendicular to the center line CL as the machining surface.

[0101] Figure 10 shows an example of the shape of a workpiece W corresponding to the second embodiment. The workpiece W shown in Figure 10 has a workpiece end face WS1 and a workpiece step face WS2 perpendicular to the center line CL as machined surfaces. Even when machining such machined surfaces WS1 and WS2, if the radial position of the machining head 34 changes, the rotational speed on the machined surfaces WS1 and WS2 increases in proportion to the radial position of the machining head 34.

[0102] Even when machining surfaces WS1 and WS2 as in the first embodiment, a first program is created in which the rotational speed N of the workpiece W changes in accordance with the radial movement of the machining head 34 on the machining surface, based on various parameters. Similarly, a second program is created in which the feed rate F of the machining head 34 changes in accordance with the radial movement of the machining head 34 on the machining surface, based on various parameters. In the second embodiment, the various parameters are the same as in the first embodiment, except that there is no inclination angle. That is, in the second embodiment as well, the first and second programs are created based on equations (1) and (2) described above. As a result, the machine tool 2 operates according to the first program and the robot 3 operates according to the second program, thereby maintaining a constant peripheral speed V and rotational pitch Fr of the workpiece W relative to the machining head 34. As a result, the metal lamination formed on the machining surfaces WS1 and WS2 of the workpiece W becomes uniform, and machining accuracy is ensured. A detailed explanation is omitted as it is basically the same as in the first embodiment described above.

[0103] As described above, the first and second embodiments have been explained as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited to these embodiments and can be applied to embodiments that have been modified, replaced, added, or omitted. Furthermore, it is possible to combine the first and second embodiments to create new embodiments. Therefore, examples of modifications are given below.

[0104] [Differentiation] In the above embodiment, when processing of the workpiece W is started, the robot control system 110 outputs a command to the machine tool control system 100 to start the first program. However, the machine tool control system 100 may output a command to the robot control system 110 to start the second program.

[0105] In the above embodiment, the first program creation computer 109 of the machine tool control system 100 created the first program, and the second program creation computer 119 of the robot control system 110 created the second program. However, either the first program creation computer 109 or the second program creation computer 119 may create both the first and second programs.

[0106] In the above embodiment, the first program and the second program were created based on various parameters, but either the first program or the second program may be created based on various parameters. Specifically, one of the first program and the second program may be stored in the first memory 104 or the second memory 114 as a basic program in advance, and when various parameters are input, the other of the first program and the second program may be created taking the basic program into consideration in addition to the various parameters.

[0107] In the above embodiment, when the machine tool 2 and the robot 3 are ready for machining, the robot control processor 112 outputs a command to the machine tool control processor 102 to execute the first program. However, the machine tool control processor 102 may output a command to the robot control processor 112 to execute the second program.

[0108] In the above embodiment, the robot 3 determined that it could process the workpiece W and started processing the workpiece W when it received a signal from the machine tool 2 indicating that it could process the workpiece W. However, the disclosure is not limited to this. For example, the robot 3 may be equipped with a sensor that detects the movement position P of the processing head 34 of the robot 3 and a sensor that detects the rotational speed N of the machine tool 2. Processing of the workpiece W may be started when the processing head 34 receives a signal indicating that it is at its initial position P(0) and the rotational speed N receives a signal indicating that it is at its initial rotational speed N(0).

[0109] In the above embodiment, the workpiece W had a conical surface WS as the machined surface, in which the outer diameter continuously increases from one side to the other in the axial direction. However, the workpiece W may also have a conical surface as the machined surface, in which the outer diameter continuously decreases from one side to the other in the axial direction.

[0110] In the above embodiment, the machining method was described using a workpiece W having one conical surface as an example, but this disclosure is also applicable to workpieces having multiple conical surfaces. In this case, a first program and a second program may be created for each machining surface, and the workpiece may be machined. Alternatively, a first program and a second program that encompass all machining surfaces may be created, and all machining surfaces may be machined at once. Furthermore, this disclosure is also applicable to workpieces with shapes that combine a conical surface with a workpiece end face and a workpiece step surface.

[0111] In the above embodiment, metal powder PW was ejected from the metal powder ejection section 34b of the processing head 34, but instead of metal powder PW, metal wire may be supplied from the processing head 34. That is, the processing head 34 may be capable of performing laser wire type metal additive manufacturing. Furthermore, the processing head 34 may be capable of performing wire arc type metal additive manufacturing, in which the laser, which is the heat source, is replaced with an arc discharge. Moreover, this disclosure is not limited to AM processing heads. For example, the processing head may have a cutting blade for cutting and cut the processing surface. Alternatively, the processing head may have a grinding tool for grinding and grind the processing surface.

[0112] In the above embodiment, the rotational motion of the workpiece W was controlled by the machine tool control system 100 (machine tool control processor 102), and the operation of the robot 3 was controlled by the robot control system 110 (robot control processor 112), thereby controlling the peripheral speed V of the workpiece W relative to the machining head 34 to be constant. However, the peripheral speed V of the workpiece W relative to the machining head 34 may also be controlled by controlling either the rotational motion of the workpiece W or the operation of the robot 3. For example, the feed rate F of the machining head 34 of the robot 3 may be kept constant at a reference feed rate during machining, and the machine tool control processor 102 may change the rotational speed N of the workpiece W during machining according to a first program, thereby controlling the peripheral speed V of the workpiece W relative to the machining head 34 to be constant. Alternatively, the rotational speed N of the workpiece W may be kept constant at a reference rotational speed during machining, and the robot control processor 112 may change the feed rate F of the machining head 34 during machining according to a second program, thereby controlling the peripheral speed V of the workpiece W relative to the machining head 34 to be constant. In other words, the workpiece processing system only needs to include at least one of a machine tool control processor and a robot control processor. [Explanation of Symbols]

[0113] 1: Workpiece machining system 2: Machine tools 22: Workpiece holding section (spindle) 3: Robots 34: Machining head 102: Machine tool control processor 104: First Memory 109: First Program Creation Computer (Program Creation Computer) 112: Robot control processor 114: Second Memory 118: Robot input device (input section) 119: Second Program Creation Computer (Program Creation Computer) W: Work WS, WS1, WS2: Machining surface

Claims

1. A machine tool having a spindle that rotates the workpiece, A robot having a machining head for machining the aforementioned workpiece, A first memory for storing a first program that defines the operation of the machine tool, A second memory for storing a second program that defines the operation of the robot, The machine tool control processor controls the rotational movement of the workpiece by the spindle so that the peripheral speed of the workpiece relative to the machining head remains constant, by reading and executing the first program from the first memory, and the robot control processor controls the robot so that the machining head moves along the machining surface of the workpiece at a moving speed that maintains a constant peripheral speed of the workpiece relative to the machining head, by reading and executing the second program from the second memory, A workpiece machining system in which the robot control processor controls the robot so that the rotational pitch, which is the amount of movement of the machining head per revolution of the workpiece, remains constant when the machining head is moved along the machining surface of the workpiece.

2. The first program is a program that defines the rotational speed of the workpiece over time, The workpiece machining system according to claim 1, wherein the second program is a program that defines the movement position and movement speed of the machining head for each period of time.

3. The workpiece machining system according to claim 1 or 2, wherein at least one of the first program and the second program includes a command to adjust the timing of at least one operation of the machine tool and the robot such that the peripheral speed of the workpiece becomes the reference peripheral speed when the machining head starts machining the workpiece.

4. The workpiece has a conical surface as its machining surface, the outer diameter of which changes continuously from one side to the other in the axial direction of the spindle. The workpiece machining system according to claim 1, wherein the machine tool control processor and the robot control processor maintain the peripheral speed and rotational pitch constant by changing the rotational speed of the workpiece and the moving speed of the machining head in accordance with the movement of the machining head on the conical surface in the axial direction.

5. The workpiece has at least one of the workpiece end face and the workpiece step face, which are formed perpendicular to the center line of the main spindle, as the machined surface. The workpiece machining system according to claim 1, wherein the machine tool control processor and the robot control processor maintain constant peripheral speed and rotational pitch by changing the rotational speed of the workpiece and the moving speed of the machining head in accordance with the movement of the machining head on the machining surface in the radial direction of the spindle.

6. The machining head supplies metal material to the machining surface of the workpiece while simultaneously providing a heat source to the machining surface. The workpiece processing system according to claim 1 or 2, comprising an AM processing head that irradiates a light source and performs metal additive manufacturing by melting the metal material on the processing surface and depositing it onto the processing surface.

7. A machine tool having a spindle for rotating a workpiece, A robot having a machining head for machining the aforementioned workpiece, A first memory for storing a first program that defines the operation of the machine tool, A second memory for storing a second program that defines the operation of the robot, The machine tool control processor controls the rotational movement of the workpiece by the spindle so that the peripheral speed of the workpiece relative to the machining head remains constant by reading and executing the first program from the first memory, and the robot control processor controls the robot to machine the workpiece so that the machining head moves along the machining surface of the workpiece at a moving speed that maintains a constant peripheral speed of the workpiece relative to the machining head, by reading and executing the second program from the second memory. An input unit for inputting parameters including the shape of the workpiece, the reference peripheral speed which is the target value of the peripheral speed of the workpiece relative to the machining head, and the reference rotational pitch which is the target value of the amount of movement of the machining head per revolution of the workpiece, A workpiece processing system further comprising a program creation computer that creates the first program and the second program based on the specifications input to the input unit.

8. A workpiece machining method comprising a machine tool having a spindle for rotating the workpiece and a robot having a machining head for machining the workpiece, To create a first program that defines the operation of the machine tool, To create a second program that defines the operation of the robot, By reading and executing the created first program, the rotational movement of the workpiece by the spindle is controlled so that the peripheral speed of the workpiece relative to the machining head remains constant. The process includes reading and executing the created second program, thereby controlling the robot to process the workpiece so that the machining head moves along the machining surface of the workpiece at a moving speed that keeps the peripheral speed of the workpiece constant relative to the machining head, A workpiece machining method comprising machining the workpiece, which includes controlling the robot such that the rotational pitch, which is the amount of movement of the machining head per revolution of the workpiece, remains constant when the machining head is moved along the machining surface of the workpiece.

9. A workpiece machining method comprising machining a workpiece using a machine tool having a spindle for rotating the workpiece and a robot having a machining head for machining the workpiece, To create a first program that defines the operation of the machine tool, To create a second program that defines the operation of the robot, By reading and executing the created first program, the rotational movement of the workpiece by the spindle is controlled so that the peripheral speed of the workpiece relative to the machining head remains constant. The process includes reading and executing the created second program, thereby controlling the robot to process the workpiece so that the machining head moves along the machining surface of the workpiece at a moving speed that keeps the peripheral speed of the workpiece constant relative to the machining head, Prior to creating the first and second programs, the process further includes inputting parameters including the shape of the workpiece, a reference peripheral speed which is a target value for the peripheral speed of the workpiece relative to the machining head, and a reference rotational pitch which is a target value for the amount of movement of the machining head per revolution of the workpiece. In creating the first program, based on the input parameters, the rotational speed of the workpiece relative to the machining head is defined for each time period such that the peripheral speed of the workpiece remains constant at the reference peripheral speed. In creating the second program, a workpiece machining method is provided, in which the movement position and movement speed of the machining head are defined over time, based on the input parameters, such that the rotation pitch remains constant at the reference rotation pitch.

10. A workpiece machining program for machining a workpiece using a machine tool having a spindle for rotating the workpiece and a robot having a machining head for machining the workpiece, A function to create a first program that defines the operation of the machine tool based on the input parameters, A function to create a second program that defines the operation of the robot based on the aforementioned specifications, The function of controlling the rotational movement of the workpiece by the spindle so that the peripheral speed of the workpiece relative to the machining head remains constant by reading and executing the created first program, By reading and executing the created second program, the computer is given the function of controlling the robot so that the machining head moves along the machining surface of the workpiece at a moving speed at which the peripheral speed of the workpiece relative to the machining head remains constant, thereby machining the workpiece. The workpiece machining program includes a function to control the robot such that the rotational pitch, which is the amount of movement of the machining head per revolution of the workpiece, remains constant when the machining head is moved along the machining surface of the workpiece.

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