Machine tool and workpiece processing method

Abstract

A machine tool according to the present invention comprises: a workpiece support device having a table which supports a workpiece; a first processing device having a processing head which is capable of supporting a first rotating tool for processing the workpiece supported by the table, and a plurality of linear motion devices which three-dimensionally move the processing head; and a first robot having a multi-joint arm which changes the position and the orientation of a second rotating tool, and using the second rotating tool to process the workpiece supported by the table. The workpiece support device has a first drive device that turns the table about a first axis.

Description

Machine tool and workpiece machining method

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

[0002] To improve production efficiency, it is known to use a machine tool having multiple machining heads.

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

[0004] Furthermore, 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 track of the platform.

[0005] JP 2000-296429 A JP 2023-134393 A

[0006] An object of the present invention is to provide a machine tool and a workpiece machining method that can improve machining efficiency, prevent expansion of installation space, and maintain machining accuracy.

[0007] In some embodiments, the machine tool includes a workpiece support device having a table for supporting a 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, and a first robot having an articulated arm for changing the position and orientation of a second rotary tool, and for processing the workpiece supported by the table using the second rotary tool. The workpiece support device has a first drive device for rotating the table about a first axis.

[0008] In some embodiments, a workpiece machining method includes the steps of: attaching a workpiece directly or indirectly to a table of a workpiece support device; a first machining step of machining the workpiece supported by the table using a first group of rotary tools sequentially supported by a machining head of a first machining device; a second machining step of machining the workpiece supported by the table using a second group of rotary tools sequentially supported by an articulated arm of a first robot; and a step of rotating the table supporting the workpiece about a first axis. The first machining step includes moving the machining head using multiple linear motion devices. After a portion of the first machining step and a portion of the second machining step are performed simultaneously, the table supporting the workpiece is rotated about the first axis. After the table supporting the workpiece is rotated about the first axis, a portion of the first machining step and a portion of the second machining step are performed simultaneously.

[0009] The present invention can provide a machine tool and a workpiece machining method that can improve machining efficiency, prevent expansion of installation space, and maintain machining accuracy.

[0010] FIG. 1 is a schematic perspective view showing a machine tool according to a first embodiment. FIG. 2 is a schematic perspective view showing a machine tool according to the first embodiment. FIG. 3 is a schematic perspective view showing a machine tool according to the first embodiment. FIG. 4 is a schematic plan view showing a machine tool according to the first embodiment. FIG. 5 is a schematic plan view showing a machine tool according to the first embodiment. FIG. 6 is a schematic plan view showing a machine tool according to the first embodiment. FIG. 7 is a schematic plan view showing a machine tool according to the first embodiment. FIG. 8 is a schematic plan view showing a machine tool according to a first modified example of the first embodiment. FIG. 9 is a schematic side view showing a part of a machining head. FIG. 10 is a schematic perspective view showing an example of a first robot and a support base. FIG. 11 is a schematic perspective view showing an enlarged example of a tool support device attached to an articulated arm. FIG. 12 is a schematic plan view showing a machine tool according to the first embodiment. FIG. 13 is a schematic plan view schematically showing a machine tool in a second modified example of the first embodiment. FIG. 14 is a flowchart showing an example of a workpiece machining method in the first embodiment. FIG. 15 is a flowchart showing another example of a workpiece machining method in the first embodiment. FIG. 16 is a schematic plan view schematically showing a machine tool in the first embodiment. FIG. 17 is a schematic perspective view schematically showing a machine tool in the second embodiment. FIG. 18 is a schematic side view schematically showing a machining head in a modified example. FIG. 19 is a schematic plan view schematically showing a machine tool in the second embodiment. FIG. 20 is a schematic perspective view schematically showing an example of a second robot and a support table. FIG. 21 is a schematic perspective view showing an enlarged example of a second tool support device attached to the second articulated arm. FIG. 22 is a schematic plan view schematically showing a machine tool system in the second embodiment. FIG. 23 is a schematic plan view schematically showing a machine tool in the second embodiment. 24 is a diagram schematically illustrating a state in which at least one tool changer can change a first rotary tool supported by a machining head with another first rotary tool, and FIG. 25 is a diagram schematically illustrating a state in which at least one tool changer can change a second rotary tool supported by a tool support device of a first robot with another second rotary tool.FIG. 26 is a diagram schematically showing a state in which at least one tool changer is capable of replacing a third rotary tool supported by a second tool support device of a second robot with another third rotary tool. FIG. 27 is a schematic perspective view schematically showing a machine tool in a second embodiment. FIG. 28 is a schematic perspective view schematically showing a machine tool in a second embodiment. FIG. 29 is a diagram schematically showing a state in which a control device can control a plurality of control target devices. FIG. 30 is a schematic perspective view showing, on an enlarged scale, a state in which one step of a workpiece machining method is being performed. FIG. 31 is a schematic perspective view showing, on an enlarged scale, a state in which one step of a workpiece machining method is being performed. FIG. 32 is a schematic perspective view showing, on an enlarged scale, a state in which one step of a workpiece machining method is being performed. FIG. 33 is a schematic perspective view showing, on an enlarged scale, a state in which one step of a workpiece machining method is being performed. FIG. 34 is a schematic perspective view showing, on an enlarged scale, a state in which one step of a workpiece machining method is being performed. FIG. 35 is a schematic perspective view showing, on an enlarged scale, a state in which one step of a workpiece machining method is being performed. FIG. 36 is a schematic perspective view showing, on an enlarged scale, a state in which one step of a workpiece machining method is being performed. FIG. 37 is a flowchart showing an example of a workpiece machining method in the second embodiment. FIG. 38 is a flowchart showing another example of a workpiece machining method in the second embodiment. FIG. 39 is a schematic front view showing an enlarged portion of the movable wall. FIG. 40 is a schematic plan view showing an example of an arrangement relationship between the first machining device and the first robot. FIG. 41 is a schematic plan view showing an example of an arrangement relationship between the first machining device and the first robot. FIG. 42 is a schematic plan view showing an example of an arrangement relationship between the first machining device, the first robot, and the second robot. FIG. 43 is a schematic plan view showing an example of an arrangement relationship between the first machining device, the first robot, and the second robot. FIG. 44 is a schematic plan view showing an example of an arrangement relationship between the first machining device and the first robot.

[0011] Hereinafter, a machine tool 1 and a workpiece machining method according to an embodiment will be described with reference to the drawings. In the following description of the embodiment, parts and members having the same functions are given the same reference numerals, and repeated description of parts and members given the same reference numerals will be omitted.

[0012] 1 , the machining head 30 of the first machining device 3 is capable of supporting a rotary tool. In this specification, the rotary tools supported by the machining head 30 are collectively referred to as a first rotary tool. Furthermore, a plurality of rotary tools sequentially supported by the machining head 30 are referred to as a first group of rotary tools.

[0013] 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 a second rotary tool. Furthermore, the plurality of rotary tools sequentially supported by the articulated arm 50 are referred to as a second group of rotary tools.

[0014] 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 a third rotary tool. Furthermore, the plurality of rotary tools sequentially supported by the second articulated arm 60 are referred to as a third group of rotary tools.

[0015] In this specification, "parallel" includes "substantially parallel" even if the term "substantially" is not explicitly stated. It is difficult to achieve strict mathematical parallelism due to tolerances, manufacturing errors, wear, play between components, etc. Therefore, in this specification, all uses of the term "parallel" without the term "substantially" can be read as "substantially parallel."

[0016] In this specification, "vertical" includes substantially vertical even when the term "substantially" is not explicitly stated. It is difficult to achieve strict mathematical verticality due to tolerances, manufacturing errors, wear, play between parts, etc. Therefore, in this specification, all uses of the term "vertical" without the term "substantially" can be read as "substantially vertical."

[0017] (Definition of Direction) In this specification, the direction from the first processing device 3 toward the workpiece support device 2 in a plan view (more specifically, the direction from the first processing device 3 toward the table device 20 in a plan view) is defined as a first direction DR1. As exemplified in Figure 17, in this specification, the direction from the first support table 25a toward the second support table 25b is defined as a second direction DR2. In the example shown in Figure 17, the second direction DR2 is perpendicular to the first direction DR1.

[0018] First Embodiment A machine tool 1A and a workpiece machining method according to a first embodiment will be described with reference to FIGS. 1 to 16 . FIGS. 1 to 3 are schematic perspective views illustrating the machine tool 1A according to the first embodiment. FIGS. 4 to 7 are schematic plan views illustrating the machine tool 1A according to the first embodiment. FIG. 8 is a schematic plan view illustrating a machine tool 1A according to a first modified example of the first embodiment. FIG. 9 is a schematic side view illustrating a portion of the machining head 30. FIG. 10 is a schematic perspective view illustrating an example of a first robot 5 and a support base 13a. FIG. 11 is a schematic perspective view illustrating an enlarged example of a tool support device 53 attached to an articulated arm 50. FIG. 12 is a schematic plan view illustrating the machine tool 1A according to the first embodiment. FIG. 13 is a schematic plan view illustrating the machine tool 1A according to a second modified example of the first embodiment. FIG. 14 is a flowchart illustrating an example of a workpiece machining method according to the first embodiment. FIG. 15 is a flowchart illustrating another example of a workpiece machining method according to the first embodiment. FIG. 16 is a schematic plan view showing a machine tool 1A according to the first embodiment.

[0019] As illustrated in FIG. 1 , a machine tool 1A in the first embodiment includes a workpiece supporting device 2 , a first processing device 3 , and a first robot 5 .

[0020] As illustrated in Fig. 2, the workpiece support device 2 has a table 21 that supports the workpiece W. More specifically, the workpiece support device 2 has the table 21 that directly or indirectly supports the workpiece W. In the example illustrated in Fig. 2, the table 21 supports the workpiece W via a jig J. Alternatively, the table 21 may support the workpiece W directly.

[0021] The first machining device 3 has a machining head 30 and a plurality of linear motion devices 4. The machining head 30 is capable of supporting a first rotary tool T1 that machines a workpiece W supported by a table 21.

[0022] The linear motion devices 4 three-dimensionally move the machining head 30. More specifically, the linear motion devices 4 move the machining head 30 in directions parallel to each of three different axes.

[0023] 2 , the first robot 5 uses a second rotary tool T2 to machine a workpiece W supported by a table 21. 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.

[0024] 2 and 3, the workpiece supporting device 2 has a first driving device 23 (e.g., a motor) that rotates the table 21 about the first axis AX1. The first driving device 23 is preferably capable of rotating the table 21 360 degrees about the first axis AX1.

[0025] In the machine tool 1A in the first embodiment, the workpiece W supported by the table 21 can be machined 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. This improves the machining efficiency of the workpiece W.

[0026] Furthermore, in the machine tool 1A in the first embodiment, both the first processing device 3 and the first robot 5 are disposed at positions where they can process the workpiece W supported by the table 21. This prevents the installation space for the machine tool 1A from increasing.

[0027] 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 processing with higher accuracy compared to 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 lower accuracy can be assigned to both the first processing device 3 and the first robot 5.

[0028] 2 and 3 , the workpiece support device 2 has a first drive device 23 that rotates the table 21 about a first axis AX1. Therefore, the first rotary tool T1 supported by the machining head 30 can be used to machine both the first main surface Wa of the workpiece W (more specifically, the front surface of the workpiece W) and the second main surface Wb of the workpiece W (more specifically, the back surface of the workpiece W).

[0029] As illustrated in FIG. 2 , assume that the workpiece W has a first main surface Wa, a second main surface Wb, a first side surface Wec (e.g., a left side surface), and a second side surface Wd (e.g., a right side surface). In the example illustrated in FIG. 2 , while 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 Wec of the workpiece W (see FIG. 40 if necessary). Furthermore, after the table 21 is rotated from the state illustrated in FIG. 2 to the state illustrated 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. Furthermore, after the table 21 is rotated from the state illustrated in FIG. 2 to the state illustrated in FIG. 3 , the first robot 5 can process the second side surface Wd located on the opposite side of the first side surface Wec. In the example shown in Figures 2 and 3 (or in the example shown in Figures 40 and 41), the machine tool 1A is capable of sequentially simultaneously machining a workpiece W supported on the table 21 by the first processing device 3 and the first robot 5, rotating the table 21 supporting the workpiece W around the first axis AX1 by a predetermined angle (the predetermined angle is, for example, 45 degrees, 90 degrees, 180 degrees, etc.), and again simultaneously machining a workpiece W supported on the table 21 by the first processing device 3 and the first robot 5.

[0030] (Optional Additional Configuration) Next, optional additional configurations that can be employed in the first embodiment (or the second embodiment described later) will be described with reference to FIGS.

[0031] (Workpiece W) In the first or second embodiment, the workpiece W machined by the machine tool 1 is, for example, a metal workpiece. When the workpiece W is a metal workpiece, the term "machine tool" in this specification can be read as "metal processing device." The workpiece W machined by the machine tool 1 may be an aluminum workpiece. The workpiece W machined by the machine tool 1 may be an aluminum cast part.

[0032] The workpiece W machined by the machine tool 1 may be an automobile part or other workpiece. The workpiece W may be a part of an automobile 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 of the workpiece W and the second side surface Wd of the workpiece W) may be, for example, 1000 mm or more, or 1500 mm or more. When the workpiece W is a large workpiece, the depth of the workpiece W (more specifically, the maximum value of the distance between the first main surface Wa and the second main surface Wb) may be, for example, 300 mm or more, or 500 mm or more.

[0033] (Workpiece Support Device 2) In the example shown in FIG. 1 , the workpiece support device 2 has a table 21, a block 22 that supports the table 21 so that it is rotatable about a 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 formed by a single component, or may be formed by an assembly of multiple components. In the example shown in FIG. 1 , the first axis AX1 is substantially perpendicular to a horizontal plane. Alternatively, the first axis AX1 may be inclined with respect to the horizontal plane. Furthermore, alternatively, the first axis AX1 may be substantially parallel to the horizontal plane.

[0034] 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, which has 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 rotates the table 21.

[0035] As illustrated in FIG. 1, the machine tool 1A may have guide rails 24 that support the table device 20 so that the table device 20 is movable in the first direction DR1.

[0036] 1 , machine tool 1A has a third drive device 18 (e.g., a motor) that moves table device 20, which includes table 21 and first drive device 23, in a direction parallel to first direction DR1. Third drive device 18 moves table device 20 along guide rails 24.

[0037] 4, the table device 20 is movable in a direction parallel to the first direction DR1 at least between a receiving position P1 and an advancing position P2. The receiving position P1 is a position where the table device 20 (more specifically, the table 21) receives the workpiece W carried in from outside the machine tool 1A. The advancing position P2 is a position where the workpiece W supported by the table 21 can be machined using the first machining device 3. The receiving position P1 is located closer to the first direction DR1 than the advancing position P2.

[0038] In the example shown in Fig. 5, the table device 20 is movable in a direction parallel to the first direction DR1 at least between an advance position P2 and a retract position P3. The advance position P2 is a position where the workpiece W supported by the table 21 can be machined using the first processing device 3. The retract 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 processing device 3 (or the movable wall 11b described below) (see Fig. 6). The retract position P3 is located closer to the first direction DR1 than the advance position P2.

[0039] When the table device 20 can be moved to the retracted position P3, the table 21 can be rotated around the first axis AX1 while a large workpiece W is supported on the table 21.

[0040] Alternatively, or additionally, as illustrated in Fig. 8, the machine tool 1A may include a fourth drive device 19d (e.g., a motor) that moves the first processing device 3 in a direction parallel to the first direction DR1. The fourth drive 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.

[0041] 8 , the first processing device 3 is movable in a direction parallel to the first direction DR1 between an advance position P4 and a retract position P5. The advance position P4 is a position where the first processing device 3 can be used to process the workpiece W supported by the table 21. The retract 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 below).

[0042] When the first processing device 3 can be moved to the retracted position P5, the table 21 can be rotated around the first axis AX1 while a large workpiece W is supported on the table 21.

[0043] (Processing Head 30 ) As illustrated in FIG. 9 , the processing head 30 includes a spindle 31 , a support 32 , and a bearing 33 .

[0044] The spindle 31 is capable of holding a first rotary tool T1 and is rotatable about a first rotation axis AD1.

[0045] The support 32 supports the spindle 31 via a bearing 33 so that the spindle 31 is rotatable about the first rotation axis AD1.

[0046] The first processing device 3 (more specifically, the processing head 30) has a first rotation drive device 34. The first rotation drive device 34 rotates the first rotating tool T1 about a first rotation axis AD1. More specifically, the first rotation drive device 34 rotates the spindle 31 about the first rotation axis AD1, thereby rotating the first rotating tool T1 held by the spindle 31 about the first rotation axis AD1.

[0047] 1 , the first rotation axis AD1 is not parallel to the vertical direction, more specifically, the first rotation axis AD1 is substantially perpendicular to the vertical direction. In this case, chips generated when the first rotating tool T1 rotating around the first rotation axis AD1 comes into contact with the workpiece W are likely to be discharged downward.

[0048] 1 , the first axis AX1 (in other words, the rotation axis of the table 21) is disposed substantially perpendicular to the direction parallel to the first rotation axis AD1. In this case, by rotating the table 21 supporting the workpiece W about the first axis, the surface to be machined of the workpiece W can be directed toward the first rotary tool T1. More specifically, by rotating the table 21 to each index position about the first axis AX1, each surface to be machined of the workpiece W parallel to the first axis AX1 can be directly faced with the first rotation axis AD1.

[0049] 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). In this case, too, by rotating the table 21 to each index position about the first axis AX1, each surface to be machined of the workpiece W that is parallel to the first axis AX1 can be made to face the first rotation axis AD1. In addition, if the table 21 is tiltable about a second axis AX2 that is different from the first axis AX1 (see FIG. 17 if necessary), by combining the rotation of the table 21 about the first axis AX1 and the tilting of the table 21 about the second axis AX2, any surface to be machined of the workpiece W can be made to face the first rotation axis AD1.

[0050] 10 , the first robot 5 has a multi-joint arm 50, which has at least six rotation axes (RX1, RX2, RX3, RX4, RX5, and RX6). More specifically, the multi-joint arm 50 has a first portion 51a that can rotate about a first rotation axis RX1 relative to the support base 13a, a second portion 51b that can tilt about a first tilting axis RX2 relative to the first portion 51a, a third portion 51c that can tilt about a second tilting axis RX3 relative to the second portion 51b, a fourth portion 51d that can rotate about the second rotation axis RX4 relative to the third portion 51c, a fifth portion 51e that can tilt about a third tilting axis RX5 relative to the fourth portion 51d, and a sixth portion 51f that can rotate about a third rotation axis RX6 relative to the fifth portion 51e. In the example shown in FIG. 10, the articulated arm 50 has at least three tilt axes and at least three rotation axes.

[0051] In the example shown in Fig. 10 , the wrist 52 is disposed at the tip of the articulated arm 50. In other words, the first robot 5 has the wrist 52 disposed at the tip of the articulated arm 50. In the example shown in Fig. 10 , the wrist 52 is configured by the sixth portion 51f described above. The first robot 5 can freely change the position and orientation of the wrist 52.

[0052] The first robot 5 has a plurality of arm driving devices (for example, a plurality of motors MT) that move the multiple joints of the articulated arm 50 .

[0053] 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 is capable of supporting a second rotary tool T2.

[0054] The tool support device 53 has a second rotation drive device 54 (more specifically, a motor) that rotates the second rotary tool T2 around the second rotation axis AD2.

[0055] 11 , the tool support device 53 includes a fixed part 56 attached to the articulated arm 50 (more specifically, the wrist 52) ​​and a movable part 57 that is linearly movable relative to the fixed part 56 in a direction parallel to the second rotation axis AD2. The fixed part 56 may include a linear guide 56r that guides the movement of the movable part 57 in the direction parallel to the second rotation axis AD2. The second rotary tool T2 is attached to a spindle disposed on the movable part 57.

[0056] 11 , the tool support device 53 includes a tool moving device (hereinafter referred to as a "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 includes a motor, an electric cylinder, or the like as a drive source. In the example shown in FIG. 11 , the tool linear motion device 55 also includes a linear guide 56r that guides the movement of the movable part 57 of the tool support device 53 relative to the fixed part 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.

[0057] When the tool support device 53 has the second rotation drive device 54 and the tool linear motion device 55, the second rotating tool T2 can be moved in a direction parallel to the second rotation axis AD2 while rotating about the second rotation axis AD2. Therefore, after the second rotating tool T2 comes into contact with the workpiece W, the hole HL can be formed in the workpiece W using the second rotating tool T2 without changing the position of the wrist 52. This maintains the accuracy of the machining for forming the hole in the workpiece W. In other words, although a decrease in machining accuracy due to the presence of multiple joints in the first robot 5 is unavoidable, an excessive decrease in machining accuracy is prevented because the hole is formed in the workpiece W with the angle of the multiple joints fixed.

[0058] In the example shown in Fig. 1 , the machine tool 1A has a support base 13a that supports the first robot 5. In the example shown in Fig. 1 , the height of an upper surface 131a of the support base 13a is higher than the height of the upper surface of the table 21. Furthermore, 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 shown 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.

[0059] (Machining chamber CB, coolant liquid supply device 91) In the example shown in Fig. 12, the machine tool 1A includes a machining chamber CB defined by a wall 11, and a coolant liquid supply device 91. In Fig. 12, the machining chamber CB is hatched with dots to make it easier to see.

[0060] 12, the machine tool 1A has a wall 11 that defines a machining chamber CB, and the machining head 30 and the articulated arm 50 of the first robot 5 are disposed in the machining chamber CB. In the example shown in Fig. 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 separates the machining chamber CB from a second chamber CD in which all or most of the multiple linear motion devices 4 that move the machining head 30 in three dimensions are disposed.

[0061] 12, the wall 11 defining the machining chamber CB has a fixed wall 11a and a movable wall 11b. The movable wall 11b moves in accordance with the movement of the machining head 30.

[0062] As illustrated in Figure 39, the movable wall 11b may include a first movable wall 11b-1 that expands and contracts in accordance with the movement of the processing head 30 in a direction parallel to the vertical direction, and a second movable wall 11b-2 that expands and contracts in accordance with the movement of the processing head 30 in a direction parallel to the horizontal plane.

[0063] The coolant supply device 91 supplies coolant toward the workpiece W supported by the table 21. The coolant supply device 91 preferably has an injection nozzle 91n that injects coolant. In the example shown in FIG. 12 , the injection nozzle 91n is disposed in the machining head 30. Alternatively, or additionally, the first robot 5 may have the injection nozzle 91n. Furthermore, the injection nozzle 91n may be disposed on the ceiling or the like of the machine tool 1A.

[0064] If 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 rotary tool are improved. Furthermore, chips are prevented from accumulating on the workpiece W. If coolant can be supplied to the workpiece W, it is also possible to perform heavy cutting of a metal workpiece W using the first machining device 3.

[0065] Generally, the articulated arm of a robot is not disposed in a machining chamber where coolant splashes. In contrast, in the example shown in Fig. 12, the articulated arm 50 of the first robot 5 is disposed in the machining chamber CB where coolant splashes. If the articulated arm 50 is incompatible with the coolant, a portion of the articulated arm 50 (for example, a joint portion of the articulated arm 50) or substantially the entire articulated arm 50 may be covered with a flexible cover.

[0066] 12, the workpiece passage opening OP is blocked by the door 12. This prevents the coolant liquid supplied toward the workpiece W from leaking out of the machine tool 1A through the workpiece passage opening OP.

[0067] (Workpiece Passage Opening OP, Door 12) In the example shown in Fig. 4, a workpiece passage opening OP through which the workpiece W passes is formed in the wall 11 that defines the machining chamber CB. In the example shown in Fig. 4, the workpiece passage opening OP is formed in the fixed wall 11a.

[0068] 4, the machine tool 1A includes a wall 11 that defines a machining chamber CB, and a door 12 that opens and closes a workpiece passage opening OP formed in the wall 11. When the door 12 is in the open position, a workpiece W can be carried into the machining chamber CB from outside the machine tool 1A. Also, when the door 12 is in the open position, the workpiece W can be carried out from the table 21 of the workpiece support device 2 to outside the machine tool 1A. The door 12 may be a single-swing door, a double-swing door, or any other type of door.

[0069] 4 , in a plan view, the workpiece support device 2 (more specifically, the table device 20) is disposed between the first processing device 3 and the workpiece passage opening OP. Therefore, the first processing device 3 does not get in the way when the workpiece W is carried in or out. For example, when the workpiece W is carried in or out, the workpiece W is prevented from colliding with the first processing device 3, and damage to the first processing device 3 due to the collision is prevented.

[0070] 12 , in a plan view, the work passage opening OP, the first robot 5, and the first processing device 3 are arranged in this order counterclockwise around the work support device 2 (more specifically, the table device 20). Alternatively, in a plan view, the work passage opening OP, the first robot 5, and the first processing device 3 may be arranged in this order clockwise around the work support device 2 (more specifically, the table device 20). 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 at the center, the size of the machine tool 1A can be made compact in a plan view.

[0071] 12 , the first processing device 3 and the first robot 5 are located in areas that are approximately 90 degrees apart in plan view, centered on the workpiece support device 2. In this case, when the first main surface Wa or the second main surface Wb of the workpiece W is processed using the first processing device 3, it is easy to process the side surface of the workpiece W using the first robot 5.

[0072] 12, the wall 11 defining the machining chamber CB includes a first wall 11-1 (for example, the first wall 11-1 that is the above-mentioned movable wall 11b), a second wall 11-2 that faces the first wall 11-1, a third wall 11-3 that connects one side of the first wall 11-1 with one side of the second wall 11-2, and a fourth wall 11-4 that faces the third wall 11-3. The machining head 30 of the first machining device 3 is disposed near the first wall 11-1, a workpiece passage opening OP is formed in the second wall 11-2, and the first robot 5 is disposed near the third wall 11-3.

[0073] 13, the first processing device 3 and the first robot 5 may be arranged to sandwich the workpiece support device 2 in a plan view. In other words, the workpiece support device 2 may be arranged between the first processing device 3 and the first robot 5 in a plan view. In the example shown in FIG. 13, the table device 20 may be movable in a direction toward the workpiece passage opening OP.

[0074] (Control device 7) In the example shown in Fig. 4, the machine tool 1A has a control device 7. The control device 7 may be configured by one computer or by multiple computers. For example, the machine tool 1A may have a first computer that controls the first processing device 3 and the workpiece support device 2, and a second computer that controls the first robot 5. In this case, the first computer and the second computer communicate with each other and function together as the control device 7 of the machine tool 1A.

[0075] The control device 7 controls the workpiece supporting device 2, the first processing device 3, and the first robot 5. Additionally, the control device 7 may control a third driving device 18 that moves the table device 20 in a direction parallel to the first direction DR1 and / or a fourth driving device 19d (see FIG. 8 if necessary) that moves the first processing device 3 in a direction parallel to the first direction DR1.

[0076] 4, the control device 7 has 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 (e.g., a rotation 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).The control device 7 also transmits the generated control commands to a plurality of devices to be controlled (e.g., the workpiece 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.).

[0077] (Division of Machining between First Processing Device 3 and First Robot 5) In the example shown in FIG. 2, the first processing device 3 can perform surface machining (e.g., milling) on ​​the workpiece W using a first rotary tool T1-1 supported by the processing head 30. The first processing device 3 is capable of high-precision machining, and therefore can be suitably responsible for surface machining of the workpiece W. The first rotary tool T1-1 shown in FIG. 2 may be a milling tool. When the surface machining of the workpiece W is performed only by the first processing device 3, the accuracy of all surface machining is maintained at a high level. In other words, it is preferable that the control device 7 executing the machining program have the first processing device 3 be responsible for all surface machining of the workpiece W.

[0078] 3 , each of the first processing device 3 and the first robot 5 can perform processing to form a hole HL in the workpiece W. In this specification, processing to form a hole in the workpiece W includes both processing to drill a hole in the workpiece W (in other words, drilling) and processing to form a screw in the hole in the workpiece W (in other words, tapping).

[0079] 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 the processing head 30. In the example shown in Fig. 3, the first rotary tool T1-2 is, for example, a drill or a tapping tool. Furthermore, the first robot 5 can form a hole in the workpiece W using a second rotary tool T2-2 supported by the articulated arm 50. In the example shown in Fig. 3, the second rotary tool T2-2 is, for example, a drill or a tapping tool.

[0080] Assume that there are many holes to be formed in the workpiece W. In the example shown in FIG. 3 , the machining of forming the plurality of holes HL in the workpiece W is shared and performed by both the first machining device 3 and the first robot 5. Thus, the formation of a large number of holes in the workpiece W is performed efficiently and in a shorter time. In other words, it is preferable that the control device 7 executing the machining program assigns the first machining device 3 to perform a part of the machining of forming the plurality of holes in the workpiece W, and the first robot 5 to perform another part of the machining of forming the plurality of holes in the workpiece W.

[0081] (Workpiece machining method) Next, a description will be given of a workpiece machining method according to the first embodiment. The workpiece machining method according to the first embodiment may be performed using the machine tool 1A according to the first embodiment, or may be performed using another machine tool 1A.

[0082] In a first step ST1, the workpiece W is attached directly or indirectly to the table 21 of the workpiece supporting 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 supporting device 2 via a jig J. The jig J may have a chuck J1 (e.g., 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.

[0083] In the second step ST2, it is determined whether or not the posture of the workpiece W needs to be changed (see FIG. 14 ). The second step ST2 is a first determination step. The first determination step is performed by the control device 7. More specifically, the control device 7 determines whether or not the posture of the workpiece W needs to be changed based on the machining program stored in the memory 72.

[0084] In the first judgment process (second step ST2), if the control device 7 determines that a change in the posture of the workpiece W is necessary, the workpiece W is rotated around the first axis AX1 (more specifically, the table 21 supporting the workpiece W is rotated around the first axis AX1).

[0085] For example, in the first judgment step (second step ST2), if the control device 7 determines that it is necessary to rotate the workpiece W at least about the first axis AX1, the table 21 supporting the workpiece W is rotated about the first axis AX1 (rotation step: third step ST3). The rotation step (in other words, rotating the table 21 supporting the workpiece W about the first axis AX1) is performed using the first drive device 23 of the workpiece support device 2. In other words, in the rotation step (third step ST3), the first drive device 23 rotates the table 21 supporting the workpiece W about the first axis AX1.

[0086] 15, the turning step (third step ST3) may be performed in combination with a moving step of moving the table device 20. More specifically, when the control device 7 determines that both linear movement of the workpiece W and turning of the workpiece W are necessary, the table device 20 is moved linearly and the table 21 is turned around the first axis AX1.

[0087] For example, if it is determined that both linear movement of the workpiece W and rotation of the workpiece W are necessary, after the first step ST1 (mounting process) is performed, the table device 20 is moved linearly 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 an orientation of the workpiece W suitable for the initial stage of workpiece processing.

[0088] On the other hand, if it is determined that only linear movement of the workpiece W is required, after the first step ST1 (mounting process) is performed, the table device 20 is moved linearly from the receiving position P1 to the advancing position P2, and the rotation angle of the table 21 around the first axis AX1 is maintained.

[0089] If the control device 7 determines that changing the posture of the workpiece W is not necessary (second step ST2: No), or if changing the posture of the workpiece W has been completed (completion of third step ST3), proceed to fourth step ST4 and fifth step ST5.

[0090] In a fourth step ST4, the workpiece W supported by the table 21 is machined using a first group of rotary tools (T1-1, T1-2) supported in sequence by the machining head 30. The fourth step ST4 is a first machining process.

[0091] 2 and 3, the first group of rotary tools includes a first rotary tool T1-1 (e.g., a milling tool) and another first rotary tool T1-2 (e.g., a drill or a tap tool). The first rotary tool T1-1 supported by the machining head 30 is replaced with another first rotary tool T1-1 by using, for example, a first tool changer 80a (see FIG. 24 if necessary).

[0092] 2 and 3 , the first machining step (fourth step ST4) includes moving the machining head 30 using the multiple linear motion devices 4 while any of the rotary tools in the first group 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 multiple linear motion devices 4, the workpiece W can be machined with high precision.

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

[0095] 2 and 3, the second group of rotary tools includes a second rotary tool T2-1 (e.g., a first drill) and another second rotary tool T2-2 (e.g., a second drill or a tap tool). Replacing the second rotary tool T2-1 supported by the articulated arm 50 with the other second rotary tool T2-2 is performed by using, for example, the first tool changer or a second tool changer different from the first tool changer.

[0096] 11 , the second machining step (fifth step ST5) may include a step in which the tool support device 53 attached to the articulated arm 50 moves the second rotary tool T2, which rotates around the second rotation axis AD2, in a direction parallel to the second rotation axis AD2 using the tool linear motion device 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.

[0097] A part of the first processing step (fourth step ST4) and a part of the second processing step (fifth step ST5) may be performed simultaneously. A part of the first processing step (fourth step ST4) may be performed when the second processing step is not being performed. Also, a part of the second processing step (fifth step ST5) may be performed when the first processing step is not being performed.

[0098] In a 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.

[0099] In the second determination step (sixth step ST6), if the control device 7 determines that the processing of the workpiece W has not been completed (sixth step ST6: No), the process returns to the second step ST2.

[0100] For example, after a part of the first machining step (fourth step ST4) and a part of the second machining step (fifth step ST5) have been executed, the control device 7 determines in the second step ST2 whether or not it is necessary to change the posture of the workpiece W (more specifically, it determines 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.

[0101] In the first judgment process (second step ST2), if 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 process).

[0102] The turning step includes turning the table 21 supporting the workpiece W about the first axis AX1. In the example shown in Figures 2 and 3, the step of turning the table 21 supporting the workpiece W about the first axis AX1 is performed using the first drive device 23 of the workpiece support device 2. In other words, in the third step ST3, the first drive device 23 turns the table 21 supporting the workpiece W about the first axis AX1.

[0103] It is also possible that immediately before the table 21 supporting the workpiece W turns about the first axis AX1, one of the table 21 and the first processing device 3 is moved linearly in a direction away from the other of the table 21 and the first processing device 3, and immediately after the table 21 supporting the workpiece W turns about the first axis AX1, one of the table 21 and the first processing device 3 is moved linearly 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, the table 21 and the workpiece W are prevented from interfering with the first processing device 3 when the table 21 turns.

[0104] For example, if the control device 7 determines in the first determination step (second step ST2) that at least linear movement of the workpiece W and rotation of the workpiece W about the first axis AX1 are necessary, then, as illustrated in Figures 5 to 7, (1) the table device 20 may be moved from the advanced position P2 to the retracted position P3 (see Figure 5), (2) the table 21 supporting the workpiece W may be rotated about the first axis AX1 while the table device 20 is in the retracted position P3 (see Figure 6), and (3) the table device 20 may be returned from the retracted position P3 to the advanced position P2 (see Figure 7). Note that if the workpiece W to be machined is a small workpiece, only the rotation step (third step ST3) is executed, and movement of the table device 20 is not necessary.

[0105] After the posture of the workpiece is changed (more specifically, after the turning process is performed), the first machining process (fourth step ST4) and the fifth machining process (fifth step ST5) are performed again.

[0106] After the first machining step (fourth step ST4) and the second machining step (fifth step ST5) are performed, it is determined in a sixth step ST6 whether machining of the workpiece W has been completed.

[0107] In the second determination step (sixth step ST6), if the control device 7 determines that the processing of the workpiece W has been completed (sixth step ST6: Yes), the workpiece W is moved to a removal position P6 (seventh step ST7), as illustrated in Fig. 16. The seventh step ST7 is a step of moving the workpiece to the removal position.

[0108] 16, the process of moving the workpiece to the removal position (seventh step ST7) includes moving the table device 20 from the advance 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 may be a position different from the receiving position P1.

[0109] The process of moving the workpiece W to the removal position (seventh step ST7) may include changing the orientation of the workpiece W. In the example shown in Fig. 16, the process of moving the workpiece W to the removal position (seventh step ST7) includes rotating the workpiece W about the first axis AX1. In the example shown in Fig. 16, the table 21 supporting the workpiece W is rotated about the first axis AX1 at a position between the advance position P2 and the removal position P6 (more specifically, at the retract position P3).

[0110] In eighth step ST8, the workpiece 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 workpiece W from the processing chamber CB to the outside of the processing chamber CB so as to cross the workpiece passage opening OP.

[0111] 2, 5, and 6, in the workpiece machining method of the first embodiment, a part of the first machining step (fourth step ST4) and a part of the second machining step (fifth step ST5) are performed simultaneously, and then the table 21 supporting the workpiece W is rotated about the first axis AX1. In other words, a part of the process of machining 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 process of machining the workpiece W supported by the table 21 using the second group of rotary tools sequentially supported by the articulated arm 50 are performed simultaneously before the execution of one rotating step (in other words, a step of rotating the table 21 supporting the workpiece W).

[0112] 6, 7, and 3, in the workpiece machining method of the first embodiment, after the table 21 supporting the workpiece W is rotated about the first axis AX1, a part of the first machining step (fourth step ST4) and a part of the second machining step (fifth step ST5) are executed simultaneously. In other words, a part of the step of machining 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 machining 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-mentioned one rotating step (in other words, a step of rotating the table 21 supporting the workpiece W).

[0113] By simultaneously executing a part of the first machining process and a part of the second machining process before and after one turning process, the workpiece W can be machined efficiently and in a shorter time.

[0114] When a machining cycle is defined as rotating the table 21 supporting the workpiece W around the first axis AX1, 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 workpiece machining method in the first embodiment may include repeatedly executing the machining cycle "N" times or more, where "N" is, for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, ...

[0115] In some of the above-mentioned multiple machining cycles, a part of the process of machining the workpiece W supported by the table 21 using a first group of rotary tools supported in sequence by the machining head 30 and a part of the process of machining the workpiece W supported by the table 21 using a second group of rotary tools supported in sequence by the articulated arm 50 may be executed simultaneously.

[0116] A workpiece W having a complex shape can be easily machined by performing the above-described machining cycle multiple times on one workpiece W. In addition, in some of the above-described multiple machining cycles, a part of the machining using the machining head 30 and a part of the machining using the articulated arm 50 are simultaneously performed, thereby improving the machining efficiency of the workpiece W.

[0117] 2 , a first group of rotary tools sequentially supported by the machining head 30 includes a surface machining tool (e.g., a milling tool), and a second group of rotary tools sequentially supported by the articulated arm 50 includes a hole forming tool (e.g., a drill or a tap tool). In the workpiece machining method of the first embodiment, surface machining of the workpiece W by the surface machining tool (e.g., a milling tool) supported by the machining head 30 and machining to form a hole in the workpiece W by the hole forming tool (e.g., a drill or a tap tool) supported by the articulated arm 50 may be performed simultaneously.

[0118] Second Embodiment A machine tool 1B and a workpiece machining method according to a second embodiment will be described with reference to FIGS. 17 to 38 . FIG. 17 is a schematic perspective view showing the machine tool 1B according to the second embodiment. FIG. 18 is a schematic side view showing a machining head 30 according to a modified example. FIG. 19 is a schematic plan view showing the machine tool 1B according to the second embodiment. FIG. 20 is a schematic perspective view showing an example of a second robot 6 and a support base 13b. FIG. 21 is a schematic perspective view showing an enlarged example of a second tool support device 63 attached to a second articulated arm 60. FIG. 22 is a schematic plan view showing the machine tool system 100 according to the second embodiment. FIG. 23 is a schematic plan view showing the machine tool 1B according to the second embodiment. FIG. 24 is a diagram showing a state in which at least one tool changer 8 can change a first rotary tool T1 supported by the machining head 30 for another first rotary tool. FIG. 25 is a diagram schematically showing a state in which at least one tool changer 8 can change 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 diagram schematically showing a state in which at least one tool changer 8 can change 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 typically showing a machine tool 1B according to the second embodiment. FIG. 29 is a diagram typically showing a state in which the control device 7 can control a plurality of control target devices. FIGS. 30 to 36 are each a schematic perspective view showing, in enlarged form, a state in which one step of the workpiece machining method is being performed. FIG. 37 is a flowchart showing an example of the workpiece machining method according to the second embodiment. FIG. 38 is a flowchart showing another example of the workpiece machining method according to the second embodiment.

[0119] 17 , in the second embodiment, the workpiece supporting device 2 has a second driving 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.

[0120] In the second embodiment, differences from the first embodiment will be mainly described. On the other hand, in the second embodiment, repeated descriptions of matters already described in the first embodiment will be omitted. Therefore, it goes without saying that matters already described in the first embodiment can be applied to the second embodiment even if they are not explicitly described in the second embodiment. Conversely, all matters described in the second embodiment can be applied to the first embodiment.

[0121] 17 , a machine tool 1B in the second embodiment includes: (1) a workpiece supporting device 2 having a table 21 that supports a workpiece, (2) a first processing device 3 having a processing head 30 that can support a first rotary tool T1 that processes the workpiece supported by the table 21 and a plurality of linear motion devices 4 that move the processing head 30 three-dimensionally, and (3) a first robot 5 that has an articulated arm 50 that changes the position and orientation of the second rotary tool T2 and uses the second rotary tool T2 to process the workpiece supported by the table 21. The workpiece supporting device 2 also includes a first drive device 23 that rotates the table 21 about a first axis AX1.

[0122] Therefore, the machine tool 1B in the second embodiment has the same effects as the machine tool 1A in the first embodiment.

[0123] (Optional Additional Configuration) Next, optional additional configurations that can be employed in the second embodiment (or the above-described first embodiment) will be described with reference to FIGS.

[0124] (Second drive device 26) In the example shown in Fig. 17, the workpiece support device 2 has a second drive device 26 (e.g., 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 block 22 about the second axis AX2, thereby tilting the table 21 supported by the block 22 about the second axis AX2. In the example shown in Fig. 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 a horizontal plane.

[0125] When the workpiece support device 2 has a tilting axis (in other words, when the table 21 can tilt about the second axis AX2), the inclined surface WS of the workpiece W (see FIG. 33 if necessary) can be positioned 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 workpiece W. Therefore, it is not necessary to assign precision machining of the inclined surface WS of the workpiece W to a machine tool other than the machine tool 1. Reducing the number of machine tools allows for a reduction in the installation space for machine tools at a business facility. The inclined surface WS of the workpiece W, more specifically, is a surface inclined with respect to the first axis AX or a surface inclined with respect to the upper surface of the table 21.

[0126] In the example described in Figures 31 to 33, the work support device 2 (more specifically, the second drive device 26) can tilt the table 21 around the second axis AX2 so that the inclined surface WS of the workpiece W is changed from an attitude in which it is inclined with respect to the first rotation axis AD1 of the first rotating tool T1 (more specifically, an attitude in which the inclined surface WS of the workpiece W is inclined with respect to the horizontal plane, as illustrated in Figure 31) to an attitude in which the inclined surface WS of the workpiece W is substantially perpendicular to the first rotation axis AD1 of the first rotating tool T1 (more specifically, an attitude in which the inclined surface WS of the workpiece W is substantially perpendicular to the horizontal plane, as illustrated in Figure 33).

[0127] More specifically, the control device 7 executes the machining program stored in the memory 72 to transmit a tilt command E2 (see FIG. 29 if necessary) to the second driving device 26 so as to change the position of the inclined surface WS of the workpiece W from an attitude inclined with respect to the first rotation axis AD1 of the first rotating tool T1 to an attitude in which the inclined surface WS of the workpiece W is substantially perpendicular to the first rotation axis AD1 of the first rotating tool T1. The second driving device 26 receiving the tilt command E2 tilts the table 21 about the second axis AX2 so as to change the position of the inclined surface WS of the workpiece W to an attitude in which the inclined surface WS of the workpiece W is substantially perpendicular to the first rotation axis AD1 of the first rotating tool T1.

[0128] In the example shown in Figure 33, the machine tool 1 is configured so that after the inclined surface WS of the workpiece W is changed to a position substantially perpendicular to the first rotation axis AD1, the inclined surface WS of the workpiece W can be machined using the first rotating tool T1 supported by the machining head 30.

[0129] More specifically, after the inclined surface WS of the workpiece W is changed to a position substantially perpendicular to the first rotation axis AD1, the control device 7 executes a machining program stored in the memory 72 to send a first movement command E3-1 (see FIG. 29 if necessary) to the first linear motion device 41, which is one of the multiple linear motion devices 4, so that the hole forming tool T1-5 (e.g., a tapping tool or a drilling tool) rotating around the first rotation axis AD1 moves linearly along the first rotation axis AD1. Upon receiving the first movement command E3-1, the first linear motion device 41 moves the hole forming tool T1-5 rotating around the first rotation axis AD1 linearly along the first rotation axis AD1 so that the hole HL is formed in the inclined surface WS of the workpiece W. In this way, the hole HL can be formed with high precision in the inclined surface WS of the workpiece W.

[0130] Alternatively, after the inclined surface WS of the workpiece W has been changed to a position substantially perpendicular to the first rotation axis AD1, the control device 7 may execute a machining program stored in the memory 72 to send a movement command E3 (see FIG. 29 if necessary) to the multiple linear motion devices 4 so that the facing tool T1-6 (e.g., a milling tool) rotating about the first rotation axis AD1 faces the inclined surface WS. The multiple linear motion devices 4 that receive the movement command E3 move the facing tool rotating about 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 faced. In this way, the facing of the inclined surface WS of the workpiece W is performed with high precision.

[0131] When the workpiece support device 2 has a tilting axis (in other words, when the table 21 is tiltable about the second axis AX2), the top surface We of the workpiece W can be tilted with respect to the horizontal plane, as illustrated in FIG. 28 . In this case, it is not necessary to have the second rotary tool T2 supported by the articulated arm 50 (or the third rotary tool T3 supported by the second articulated arm 60) approach the top surface We of the workpiece W vertically downward. This allows 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) to be reduced. This allows for efficient machining of multiple surfaces of the workpiece W, including the top surface We, without increasing the size of the first robot 5 (or the second robot 6).

[0132] 17 , the second drive device 26 is preferably capable of continuously tilting the table 21 about the second axis AX2. In other words, the machine tool 1 is preferably capable of continuously adjusting the tilt angle of the table 21. The second drive device 26 may be capable of maintaining the angle between the horizontal plane and the upper surface of the table 21 at any angle between 0 degrees and 90 degrees.

[0133] Because the articulated arm 50 can change the orientation of the second rotary tool T2 to any desired orientation, there is no need to tilt the workpiece W during machining using the first robot 5. On the other hand, because the machining head 30 is generally moved using multiple linear motion devices 4, the orientation of the machining head 30 relative to the workpiece W cannot be changed. 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 be equipped with a tilt drive device 35 that tilts the machining head 30 about the tilt axis AT. However, there are limitations to tilting about the tilt axis AT using the tilt drive device 35. Furthermore, at least two tilt axes are required to change the orientation of the machining head 30 to any desired orientation. 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, but as the number of tilting axes provided in the machining head 30 increases, the accuracy of machining performed using the first machining device 3 may decrease.

[0134] (Workpiece Support Device 2) In the example shown in FIG. 17 , the workpiece support device 2 includes a table device 20. The table device 20 includes a table 21, a block 22 that supports the table 21 so that it can rotate about a first axis AX1, a first drive device 23 that rotates the table 21 about the first axis AX1, and a support base 25 that supports the block 22 so that it can tilt about a second axis AX2. The table device 20 may also include a second drive device 26 that tilts the table 21 about 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 together with the block 22 about the second axis AX2. In other words, as the table 21 tilts about the second axis AX2, the orientation of the first axis AX1 also changes. Alternatively, the second drive unit 26 may be mounted on the block 22 that tiltably supports the table 21, and the second drive unit 26 may be configured to be rotatable around the first axis AX1 together with the block 22. In other words, the orientation of the second axis AX2 may be configured to change as the table 21 rotates around the first axis AX1.

[0135] In the example shown in Figure 17, the support base 25 includes a first support base 25a that supports the first end 22a of the block 22 so that it can tilt around the second axis AX2, and a second support base 25b that supports the second end 22b of the block 22 so that it can tilt.

[0136] 17, the table 21 has a substantially circular shape with a portion of the circle cut out in a plan view. The shape of the table 21 is not limited to the example shown in Fig. 17. The shape of the table 21 may be, for example, a polygonal shape.

[0137] 17 , the block 22 has a first end 22a tiltably supported by a first support base 25a, a second end 22b tiltably supported by a second support base 25b, and a central portion 22c between the first end 22a and the second end 22b. The block 22 also has a concave shape in which the central portion 22c is recessed relative to the first end 22a and the second end 22b. In the example shown in FIG. 17 , when the top surface of the table 21 is positioned parallel to the horizontal plane, the table 21 is positioned directly above the central portion 22c. In the example shown in FIG. 17 , when the top surface of the table 21 is positioned parallel to the horizontal plane, the height of the top surface of the table 21 is lower than the height of the second axis AX2.

[0138] The block 22 supporting the table 21 has an elongated shape with the second direction DR2 as 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 may be any shape.

[0139] In addition to the table device 20, the workpiece supporting 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.

[0140] (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 shown in Fig. 17, the first direction DR1 is substantially parallel to the horizontal plane and substantially perpendicular to the second axis AX2.

[0141] The machine tool 1 may include a fourth drive unit 19d (see FIG. 8 if necessary) that moves the first processing device 3 in a direction parallel to the first direction DR1 in addition to or instead of the third drive unit 18. The third drive unit 18 and the fourth drive unit 19d have already been described in the first embodiment, so repeated description of their configurations will be omitted.

[0142] 19, the table device 20 is movable in a direction parallel to the first direction DR1 at least between a receiving position P1 and an advancing position P2. The receiving position P1 and the advancing position P2 have already been described in the first embodiment, so a repeated description of these positions will be omitted.

[0143] 19, the table device 20 is movable in a direction parallel to the first direction DR1 at least between an advanced position P2 and a retracted position P3. The advanced position P2 and the retracted position P3 have already been described in the first embodiment, so a repeated description of these positions will be omitted.

[0144] In the example shown in FIG. 19 , the receiving position P1 is set near a workpiece passage opening OP formed in the wall 11. The receiving position P1 is, for example, an end position in the first direction DR1 within the movable range of the table device 20. The advance position P2 is, for example, an end position in the opposite direction to the first direction DR1 within the movable range of the table device 20, or a position close to the end position in the opposite direction to the first direction DR1. Although FIG. 19 shows one advance position P2, there may be multiple advance positions P2. For example, the advance position P2 when a workpiece W supported on a tilted table 21 is machined by the first machining device 3 may be set closer to the first direction DR1 than the advance position P2 when a workpiece W supported on a non-tilted table 21 is machined by the first machining device 3. In other words, the position of the table device 20 when a workpiece W supported on a tilted table 21 is processed by the first processing device 3 may be set toward the first direction DR1 compared to the position of the table device 20 when the workpiece W supported on a non-tilted table 21 is processed by the first processing device 3 (see the position of the table device 20 in each of Figures 27 and 28).

[0145] The retracted position P3 is, for example, a predetermined position between an end position in the first direction DR1 of the movable range of the table device 20 and an end position in the opposite direction to the first direction DR1 of the movable range of the table device 20. Alternatively, the retracted position P3 may be the same position as the receiving position P1.

[0146] (Machining head 30) The machining head 30 has already been described in the first embodiment, so a repeated description of the machining head 30 will be omitted (for the machining head 30, see, 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 rotating tool T1 (in other words, the rotation axis of the spindle 31 of the machining head 30) is substantially perpendicular to the second axis AX2.

[0147] (First robot 5) The first robot 5 has already been described in the first embodiment, so a repeated description of the first robot 5 will be omitted (for the first robot 5, see, for example, Figures 10 and 11).

[0148] 17 , the machine tool 1 includes a second robot 6. The second robot 6 uses a third rotary tool T3 to machine a workpiece supported by the table 21. The second robot 6 has a second articulated arm 60 that changes the position and orientation of the third rotary tool T3. It can also be said that the second robot 6 is a second articulated robot.

[0149] 17 , in a plan view, a workpiece support device 2 (e.g., a table device 20, or a guide rail 24 that movably supports the table device 20) is disposed between the first robot 5 and the second robot 6. 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 machine the workpiece W from both sides thereof simultaneously.

[0150] 20 , the second robot 6 has a second articulated arm 60, which has at least six rotation axes (RT1, RT2, RT3, RT4, RT5, and RT6). More specifically, the second articulated arm 60 has a first portion 61a that is rotatable about a first rotation axis RT1 relative to the support base 13b, a second portion 61b that is tiltable about a first tilt axis RT2 relative to the first portion 61a, a third portion 61c that is tiltable about a second tilt axis RT3 relative to the second portion 61b, a fourth portion 61d that is rotatable about a second rotation axis RT4 relative to the third portion 61c, a fifth portion 61e that is tiltable about a third tilt axis RT5 relative to the fourth portion 61d, and a sixth portion 61f that is rotatable about a third rotation axis RT6 relative 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 rotation axes.

[0151] 20 , the second wrist 62 is disposed at the tip of the second articulated arm 60. In other words, the second robot 6 has the second wrist 62 disposed at the tip of the second articulated arm 60. In the example shown in FIG. 20 , the second wrist 62 is configured by the sixth portion 61f described above. The second robot 6 can freely change the position and orientation of the second wrist 62.

[0152] The second robot 6 has a plurality of arm driving devices (for example, a plurality of motors MT) that move the plurality of joints of the second articulated arm 60 .

[0153] 20, the second robot 6 has a second tool support device 63 attached to the second articulated arm 60 (more specifically, the second wrist 62). The second tool support device 63 is capable of supporting a third rotary tool T3.

[0154] 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 a third rotation axis AD3.

[0155] 21 , the second tool support device 63 includes a fixed part 66 attached to the second articulated arm 60 (more specifically, the second wrist 62) and a movable part 67 that is linearly movable relative to the fixed part 66 in a direction parallel to the third rotation axis AD3. The fixed part 66 may include a linear guide 66r that guides the movement of the movable part 67 in the direction parallel to the third rotation axis AD3. The third rotating tool T3 is attached to a spindle disposed on the movable part 67.

[0156] 21 , the second tool support device 63 has a tool moving device (hereinafter referred to as a "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 a motor, an electric cylinder, or the like as a drive source. In the example shown in FIG. 21 , the second tool linear motion device 65 has a linear guide 66r that guides movement of the movable part 67 of the second tool support device 63 relative to the fixed part 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.

[0157] When the second tool support device 63 has the third rotation drive device 64 and the second tool linear motion device 65, the third rotating tool T3 can be moved in a direction parallel to the third rotation axis AD3 while rotating about the third rotation axis AD3. Therefore, after the third rotating tool T3 comes into contact with the workpiece W, the hole HL can be formed in the workpiece W using the third rotating tool T3 without changing the position of the second wrist 62. This maintains the accuracy of the machining for forming the hole in the workpiece W. In other words, although a decrease in machining accuracy due to the presence of multiple joints in the second robot 6 is unavoidable, an excessive decrease in machining accuracy is prevented because the hole is formed in the workpiece W with the angle of the multiple joints fixed.

[0158] 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 an upper surface 131b of the support base 13b is higher than the height of the upper surface of the table 21. Furthermore, 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.

[0159] (Third robot 101) As illustrated in Figure 22, the machine tool system 100 in the second embodiment comprises a machine tool 1 (for example, the machine tool 1A in the first embodiment or the machine tool 1B in the second embodiment) and a third robot 101 arranged outside the machine tool 1.

[0160] The third robot 101 carries in a workpiece W from outside the machine tool 1 into the machining chamber CB and / or carries out a workpiece from the table 21 to outside the machining chamber CB (i.e., carries out a 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 arranged between the third robot 101 and the first robot 5. Note that the number of robots for carrying in and out a workpiece is not limited to one. In other words, the machine tool system 100 may have another robot for carrying in and out a workpiece in addition to the third robot 101.

[0161] 22 , the third robot 101 carries the workpiece W from outside the machine tool 1 into the machining chamber CB of the machine tool 1 through the workpiece passage opening OP. More specifically, the third robot 101 carries the workpiece W from outside the machine tool 1 into the machining chamber CB of 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.

[0162] 22 , the third robot 101 has a third articulated arm 102, which can move across the workpiece passage opening OP. The third robot 101 also has a gripper 103 that can grip the workpiece W. The gripper 103 is attached to the tip of the third articulated arm 102, for example.

[0163] (Processing chamber CB) In the example shown in Fig. 23, the machine tool 1 has a wall 11 that defines a processing chamber CB. In the example shown in Fig. 23, the processing chamber CB is equipped with a processing head 30, an articulated arm 50 of the first robot 5, and a second articulated arm 60 of the second robot 6. In the example shown in Fig. 23, the wall 11 includes a first wall 11-1 and a second wall 11-2.

[0164] 23, the first wall 11-1 separates the machining chamber CB from the second chamber CD in which all or most of the linear motion devices 4 that three-dimensionally move the machining head 30 are disposed. The first wall 11-1 also includes a movable wall 11b.

[0165] A workpiece passage opening OP is formed in the second wall 11-2. In the example shown in Fig. 23, the second wall 11-2 is disposed opposite the first wall 11-1.

[0166] In the example shown in Figure 23, the wall 11 defining the processing chamber CB has a third wall 11-3 connecting one side of the first wall 11-1 and one side of the second wall 11-2, and a fourth wall 11-4 opposite the third wall 11-3.

[0167] 23, the wall 11 defining the processing chamber CB includes a movable wall 11b that moves in accordance with the movement of the processing head 30. As illustrated in Fig. 39, the movable wall 11b may include a first movable wall 11b-1 that expands and contracts in accordance with the movement of the processing head 30 in a direction parallel to the vertical direction, and a second movable wall 11b-2 that expands and contracts in accordance with the movement of the processing head 30 in a direction parallel to the horizontal plane.

[0168] 23, the machine tool 1 is provided with a coolant supplying device 91 that supplies coolant toward the workpiece W supported by the table 21. The coolant supplying device 91 has already been described in the first embodiment, and therefore a repeated description of the coolant supplying device 91 will be omitted.

[0169] 23 , a workpiece passage opening OP through which the workpiece W passes is formed in a wall 11 that defines the machining chamber CB. The machine tool 1 also includes a door 12 that opens and closes the workpiece passage opening OP formed in the wall 11.

[0170] 23, the workpiece supporting device 2 is disposed between the first processing device 3 and the workpiece passage opening OP in a plan view. Therefore, the first processing device 3 does not get in the way when the workpiece W is carried in or out.

[0171] 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 arranged around the work support device 2 (more specifically, the table device 20). More specifically, in a plan view, the work passage opening OP, the first robot 5, the first processing device 3, and the second robot 6 are arranged around the work support device 2, with the work support device 2 at the center. In this case, the size of the machine tool 1 can be made compact in a plan view.

[0172] As illustrated in Figure 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 around the work support device 2 in a counterclockwise (or clockwise) direction.

[0173] 23 , the first processing device 3 and the first robot 5 are located in areas that are approximately 90 degrees apart from each other around the workpiece support device 2 in a plan view, and the first processing device 3 and the second robot 6 are located in areas that are approximately 90 degrees apart from each other around the workpiece support device 2 in a plan view. In this case, when the first main surface Wa or the second main surface Wb of the workpiece 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 workpiece W.

[0174] In the example shown in Figure 23, the processing head 30 of the first processing device 3 is positioned near the first wall 11-1, the first robot 5 is positioned near the third wall 11-3, and the second robot 6 is positioned near the fourth wall 11-4.

[0175] Alternatively, in the example shown in Fig. 23, the positions of the first processing device 3 and the first robot 5 may be interchanged. Alternatively, in the example shown in Fig. 23, the positions of the first processing device 3 and the second robot 6 may be interchanged.

[0176] 17 , the first processing device 3 has a movable body that three-dimensionally moves the processing head 30. More specifically, the first processing device 3 has a first movable body 36, a second movable body 37, and a third movable body 38.

[0177] The first movable body 36 is movable together with the machining head 30 in a direction parallel to the Y axis. In the example shown in Fig. 17, the first movable body 36 supports the machining head 30 and is movable in a direction parallel to the Y axis. In the example shown in Fig. 17, the Y axis is, for example, substantially parallel to a first rotation axis AD1, which is the rotation axis of the first rotary tool T1. The Y axis may also be substantially parallel to the first direction DR1.

[0178] The second movable body 37 is movable in a direction parallel to the Z axis together with the machining head 30. In the example shown in Fig. 17 , the second movable body 37 supports the machining head 30 via the first movable body 36 and is movable in a direction parallel to the Z axis. In the example shown in Fig. 17 , the Z axis is substantially parallel to the vertical direction.

[0179] The third movable body 38 is movable together with the machining head 30 in a direction parallel to the X-axis. In the example shown in Fig. 17 , the third movable body 38 supports the machining head 30 via the first movable body 36 and the second movable body 37, and is movable in a direction parallel to the X-axis. The third movable body 38 is, for example, a column 38c that movably supports the second movable body 37. In the example shown in Fig. 17 , the X-axis is substantially parallel to the horizontal plane. Furthermore, the X-axis is substantially perpendicular to the Y-axis.

[0180] In the example shown in FIG. 17, the machine tool 1 has a base 10, and the base 10 supports a third movable body 38 so that the third movable body 38 is movable in a direction parallel to the X-axis.

[0181] (Multiple Linear Motion Devices 4) In the example shown in FIG. 17 , the machine tool 1 (more specifically, the first machining device 3) has multiple linear motion devices 4 that move the machining head 30 three-dimensionally. The multiple linear motion devices 4 include a first linear motion device 41, a second linear motion device 44, and a third linear motion device 47. The first linear motion device 41 moves the machining head 30 in a direction parallel to the Y-axis. The second linear motion device 44 moves the machining head 30 in a direction parallel to the Z-axis. The third linear motion device 47 moves the machining head 30 in a direction parallel to the X-axis.

[0182] The first linear motion device 41 has a drive device 42 (e.g., a motor) that moves the first movable 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 movable body 36 in the direction parallel to the Y axis. In the example shown in Fig. 17, the first linear guide 43 is disposed on the second movable body 37.

[0183] 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 the direction parallel to the Z axis. In the example shown in Fig. 17, the second linear guide 46 is disposed on the third moving body 38.

[0184] The third linear motion device 47 has a drive device 48 (e.g., a motor) that moves the third movable 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 movable body 38 in the direction parallel to the X-axis. In the example shown in Fig. 17, the third linear guide 49 movably supports the third movable body 38. The third linear guide 49 is also disposed on the base 10 of the machine tool 1.

[0185] (Tool changer 8) The machine tool 1 preferably includes at least one tool changer 8. The at least one tool changer 8 is arranged at any position on the machine tool 1. The at least one tool changer 8 is capable of changing the first rotary tool T1 held in the machining head 30 with another first rotary tool. The at least one tool changer 8 is capable of changing the second rotary tool T2 supported by the articulated arm 50 of the first robot 5 with another second rotary tool. In a case where the machine tool 1 includes the second robot 6, the at least one tool changer 8 is capable of changing the third rotary tool T3 supported by the second articulated arm 60 of the second robot 6 with another third rotary tool.

[0186] 24, the at least one tool changer 8 includes a first tool changer 80a. The first tool changer 80a changes the first rotary tool T1-1 held in the machining head 30 to another first rotary tool T1-2. In the example shown in FIG. 24, the first tool changer 80a changes the first rotary tool T1-1 held in the machining head 30 to another first rotary tool T1-2 taken out from at least one tool stocker 93.

[0187] In the example shown in FIG. 24, the first tool changer 80a has a first gripping portion 82a capable of gripping a first rotary tool T1-1 and a second gripping portion 83a capable of gripping another first rotary tool T1-2.

[0188] As illustrated in FIG. 24, the first tool change device 80a may have a tool change arm 81a, an arm rotation device 84a that rotates the tool change arm 81a, and an arm movement device 85a that linearly moves the tool change arm 81a.

[0189] The machining head 30 may be configured to access the tool stocker 93 and directly replace the first rotary tool T1 held in the machining head 30 with another first rotary tool. In this case, a tool changer for changing tools for the machining head 30 is omitted.

[0190] 25 , the at least one tool changer 8 includes a second tool changer 80b. The second tool changer 80b changes the second rotating tool T2-1 supported on the articulated arm 50 via the tool support device 53 to another second rotating tool T2-2. As illustrated in FIG. 25 , the second tool changer 80b may change the second rotating tool T2-1 supported on the articulated arm 50 via the tool support device 53 to another second rotating tool T2-2 taken out from at least one tool stocker 93. In the example illustrated 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 illustrated 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.

[0191] Alternatively, the tool support device 53 may be configured to access the tool stocker 93 and directly replace the second rotating tool T2 supported by the tool support device 53 with another second rotating tool. In this case, a tool changer for changing tools for the tool support device 53 is omitted.

[0192] 26 , the at least one tool changer 8 changes the third rotating tool T3-1 supported by the second articulated arm 60 via the second tool support device 63 to another third rotating tool T3-2. As illustrated in FIG. 26 , the at least one tool changer 8 may change the third rotating tool T3-1 supported by the second articulated arm 60 via the second tool support device 63 to another third rotating tool T3-2 taken out from at least one tool stocker 93. In the example illustrated 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 illustrated 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.

[0193] The second tool support device 63 may be configured to access the tool stocker 93 and directly replace the third rotating tool T3 supported by the second tool support device 63 with another third rotating tool. In this case, a tool changer for changing tools for the second tool support device 63 is omitted.

[0194] 17, in this specification, "the table 21 is in a non-tilting state" means a state in which the first axis AX1 is substantially perpendicular to the horizontal plane. Note that, 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 non-tilting state" means a state in which the top surface of the table is substantially parallel to the horizontal plane.

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

[0196] 27 , the first processing device 3, the first robot 5, and the second robot 6 can simultaneously process the workpiece W supported by the non-tilting table 21. In other words, when the table 21 supporting the workpiece W is in the non-tilting 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.

[0197] 28, in this specification, "the table 21 is in a tilted state" means a state in which the first axis AX1 is not parallel to the vertical direction. Note that, 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" means a state in which the top surface of the table is inclined with respect to the horizontal plane.

[0198] 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 supporting 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.

[0199] 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 supporting 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.

[0200] 27 and 28 , when the table 21 supporting the workpiece W is in a non-tilting state and when the table 21 supporting the workpiece W is in a tilting 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.

[0201] (Controller 7) In the example shown in FIG. 19 , the controller 7 controls the workpiece support device 2, the first processing device 3, and the first robot 5. If the machine tool 1 has a second robot 6, the controller 7 controls the second robot 6. If the machine tool 1 has at least one tool changer 8, the controller 7 controls the at least one tool changer 8. If 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 controller 7 controls the third drive device 18. Furthermore, if 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 controller 7 controls the fourth drive device 19d. As in the first embodiment, the controller 7 may be configured by one computer or multiple 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. Furthermore, these computers may work together to function as the control device 7 of the machine tool 1.

[0202] As illustrated in FIG. 29 , the control device 7 includes a hardware processor 70 (hereinafter simply referred to as the “processor 70”), a memory 72, a communication circuit 74, and an input device 76 (e.g., a touch-panel display 762). The processor 70, the memory 72, the communication circuit 74, and the input device 76 are connected to one another via a bus 78. Data necessary for machining the workpiece W (e.g., workpiece data 726 including shape data of the workpiece W and machining position data of the workpiece W) may be input to the control device 7 via the input device 76, or may be input to the control device 7 from another computer via the communication circuit 74. Note that the input device 76 is not limited to the touch-panel display 762. For example, the control device 7 may include an input device 76 such as a button, a switch, a lever, a pointing device, or a keyboard, and a display that displays the data input to the input device 76 or other information.

[0203] The control device 7 generates a plurality of control commands by executing the machining program 722 stored in the memory 72. Furthermore, the communication circuit 74 transmits the plurality of control commands generated by the control device 7 to a plurality of control target devices (e.g., the workpiece support device 2, the first machining 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.). In this way, the control device 7 can control a plurality of control target devices.

[0204] 29 , the control device 7 may transmit a rotation command E1 to the first driving device 23 of the workpiece supporting device 2. The first driving device 23 that receives the rotation command E1 from the control device 7 rotates the table 21 around the first axis AX1.

[0205] 29 , the control device 7 may transmit a tilt command E2 to the second drive device 26 of the workpiece supporting device 2. The second drive device 26 that receives the tilt command E2 from the control device 7 tilts the table 21 around the second axis AX2.

[0206] 29 , the control device 7 may transmit a movement command E3 to the plurality of linear motion devices 4 of the first machining device 3. The plurality of linear motion devices 4 that receive the movement command E3 from the control device 7 move the machining 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 machining head 30 in a direction parallel to the Y axis (e.g., 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 machining head 30 in a direction parallel to the Z axis (e.g., a direction parallel to the vertical direction). In addition, the control device 7 sends a third movement command E3-3 to the third linear motion device 47, and the third linear motion device 47, upon receiving the third movement command E3-3, moves the machining head 30 in a direction parallel to the X axis (for example, a direction perpendicular to both the Y axis and the Z axis).

[0207] 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 rotating tool T1 around the first rotation axis AD1.

[0208] 29 , the control device 7 may transmit a first operation command E5 to a plurality of arm driving devices 59 (e.g., a plurality of motors MT) of the first robot 5. The arm driving devices 59 that receive the first operation command E5 from the control device 7 operate a plurality of joints of the articulated arm 50.

[0209] 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, which receives the second rotation command E6 from the control device 7, rotates the second rotating tool T2 around the second rotation axis AD2.

[0210] 29 , the control device 7 may transmit a tool movement command E7 to the tool linear motion device 55 of the tool support device 53. The tool linear motion device 55 that receives the tool movement command E7 from the control device 7 moves the second rotating tool T2 in a direction parallel to the second rotation axis AD2.

[0211] 29 , the control device 7 may transmit a second operation command E8 to a plurality of arm driving devices 69 (e.g., a plurality of motors MT) of the second robot 6. The arm driving devices 69 that receive the second operation command E8 from the control device 7 operate a plurality of joints of the second articulated arm 60.

[0212] 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 rotating tool T3 around the third rotation axis AD3.

[0213] 29 , the control device 7 may transmit a second tool movement command E10 to the second tool linear motion device 65 of the second tool support device 63. The second tool linear motion device 65, which receives the second tool movement command E10 from the control device 7, moves the third rotating tool T3 in a direction parallel to the third rotation axis AD3.

[0214] 29 , the control device 7 may send a table movement command E11 to the third drive device 18. The third drive device 18, which 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 send a processing device movement command E12 to the fourth drive device 19d. The fourth drive device 19d, which 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.

[0215] 29 , the control device 7 may transmit a tool change command E13 to at least one tool change device 8. The at least one tool change device 8 that receives the tool change command E13 from the control device 7 may change the first rotary tool T1 held in the machining head 30 with another first rotary tool. The at least one tool change device 8 that receives the tool change command E13 from the control device 7 may change the second rotary tool T2 supported by the articulated arm 50 with another second rotary tool. The at least one tool change device 8 that receives the tool change command E13 from the control device 7 may change the third rotary tool T3 supported by the second articulated arm 60 with another third rotary tool.

[0216] For example, the control device 7 transmits a first tool change command E13-1 to the first tool change device 80a, and the first tool change device 80a, upon receiving the first tool change command E13-1, replaces the first rotary tool T1 held in the machining head 30 with another first rotary tool. Furthermore, the control device 7 transmits a second tool change command E13-2 to the second tool change device 80b, and the second tool change device 80b, upon receiving the second tool change command E13-2, replaces the second rotary tool T2 supported by the articulated arm 50 with another second rotary tool.

[0217] (First Machining Mode M1) The control device 7 is capable of executing a first machining mode M1 that includes transmitting a movement command E3 to the plurality of linear motion devices 4 and transmitting a first rotation command E4 to the first rotation drive device 34 so that the workpiece W supported on the table 21 is machined by the first rotary tool T1 supported on the machining head 30. In the first machining mode M1, the movement of the first rotary tool T1 that rotates around the first rotation axis AD1 is performed using the plurality of linear motion devices 4, so that the workpiece W can be machined with high precision.

[0218] When the first rotary tool T1 supported by the machining head 30 is a facing tool (for example, a milling tool), the control device 7 transmits movement commands 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 facing tool, rotating around the first rotation axis AD1, moves in a direction substantially perpendicular to the first rotation axis AD1 while in contact with the workpiece W supported by the table 21. In this way, the facing of the workpiece W is performed with high precision.

[0219] When the first rotary tool T1 supported by the machining head 30 is a drilling tool (e.g., a drill), the control device 7 transmits 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 drilling tool rotating about the first rotation axis AD1 moves in a direction substantially parallel to the first rotation axis AD1 while in contact with the workpiece W supported by the table 21. The first linear motion device 41, upon receiving the first movement command E3-1, linearly moves the drilling tool in a direction substantially parallel to the first rotation axis AD1. In this way, the workpiece W is drilled with high precision.

[0220] When the first rotary tool T1 supported by the machining head 30 is a tap tool, the control device 7 transmits 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 tap tool rotating about the first rotation axis AD1 moves in a direction substantially parallel to the first rotation axis AD1 while the tap tool is in contact with the workpiece W supported by the table 21. Upon receiving the first movement command E3-1, the first linear motion device 41 linearly moves the tap 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.

[0221] (Second Machining Mode M2) The control device 7 is capable of executing a second machining mode M2 ​​that includes transmitting a first operation command E5 to the multiple arm driving devices 59 of the first robot 5, transmitting a second rotation command E6 to the second rotation driving device 54 of the tool support device 53, and transmitting a tool movement command E7 to the tool linear motion device 55 of the tool support device 53, so that the workpiece W supported on the table 21 is machined by the second rotary tool T2 supported by the articulated arm 50. In the second machining mode M2, the position and orientation of the second rotary tool T2 are changed using the articulated arm 50 before the second rotary tool T2 comes into contact with the workpiece W. Therefore, the position and orientation of the second rotary tool T2 can be freely set in accordance with the shape, size, orientation, posture, etc. of the workpiece W.

[0222] When the second rotary tool T2 supported by the articulated arm 50 is a drilling tool (e.g., a drill), the control device 7 transmits 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 drilling tool rotating about the second rotation axis AD2 moves in a direction substantially parallel to the second rotation axis AD2 while in contact with the workpiece W supported by the table 21. The tool linear motion device 55, upon receiving the tool movement command E7, linearly moves the drilling tool in a direction substantially parallel to the second rotation axis AD2. In this way, the workpiece W is drilled with high precision.

[0223] When the second rotary tool T2 supported by the articulated arm 50 is a tap tool, the control device 7 transmits 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 tap tool rotating about the second rotation axis AD2 moves in a direction substantially parallel to the second rotation axis AD2 while in contact with the workpiece W supported by the table 21. Upon receiving the tool movement command E7, the tool linear motion device 55 linearly moves the tap 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.

[0224] (Third Machining Mode M3) The control device 7 is capable of executing a third machining mode M3 that includes at least transmitting a second operation command E8 to the multiple arm driving devices 69 of the second robot 6, transmitting a third rotation command E9 to the third rotation driving device 64 of the second tool support device 63, and transmitting a second tool movement command E10 to the second tool linear motion device 65 of the second tool support device 63, so that the workpiece W supported on the table 21 is machined by the third rotary tool T3 supported by the second articulated arm 60. In the third machining mode M3, the position and orientation of the third rotary tool T3 are changed using the second articulated arm 60 before the third rotary tool T3 comes into contact with the workpiece W. Therefore, the position and orientation of the third rotary tool T3 can be freely set in accordance with the shape, size, orientation, posture, etc. of the workpiece W.

[0225] When the third rotary tool T3 supported by the second articulated arm 60 is a drilling tool (e.g., a drill), the control device 7 transmits a third rotation command E9 to the third rotation drive device 64 and a second tool movement command E10 to the second tool linear motion device 65 so that the drilling tool, rotating about the third rotation axis AD3, moves in a direction substantially parallel to the third rotation axis AD3 while in contact with the workpiece W supported by the table 21. The second tool linear motion device 65, upon receiving the second tool movement command E10, linearly moves the drilling tool in a direction substantially parallel to the third rotation axis AD3. In this way, the workpiece W is drilled with high precision.

[0226] When the third rotary tool T3 supported by the second articulated arm 60 is a tap tool, the control device 7 transmits a third rotation command E9 to the third rotation drive device 64 and a second tool movement command E10 to the second tool linear motion device 65 so that the tap tool rotating about the third rotation axis AD3 moves in a direction substantially parallel to the third rotation axis AD3 while in contact with the workpiece W supported by the table 21. Upon receiving the second tool movement command E10, the second tool linear motion device 65 linearly moves the tap tool in a direction substantially parallel to the third rotation axis AD3. In this way, a screw hole is formed in the workpiece W with high precision.

[0227] (Turning Mode M4) The control device 7 can execute a turning mode M4, which includes sending a turning command E1 to the first driving device 23 of the workpiece support device 2 so that the workpiece W supported on the table 21 is turned about 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 supporting the workpiece W about the first axis AX1 while the table device 20 is 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 executes sending a table movement command E11 to the third driving device 18 and sending a turning command E1 to the first driving device 23 of the workpiece support device 2 so that the table device 20 moves from the advanced position P2 to the retracted position P3, the workpiece W turns about the first axis AX1, and the table device 20 moves from the retracted position P3 to the advanced position P2. If the workpiece W to be machined is a small workpiece, there is no need to move the table device 20 between the advanced position P2 and the retracted position P3 when the turning mode M4 is executed.

[0228] When the table 21 is in a tilting state, the control device 7 may execute the swivel mode M4 after the state of the table 21 is changed from the tilting state to a non-tilting state. Alternatively, when the tilting table 21 is rotated about the first axis AX1 without causing interference between the workpiece W and surrounding structures, the tilting table 21 may be rotated about the first axis AX1 in the swivel mode M4.

[0229] Since the control device 7 can execute the turning mode M4, the machine tool 1 can change the orientation of the workpiece W with respect to the first machining device 3. In this way, the first machining device 3 can easily machine not only the first main surface Wa of the workpiece W (e.g., the front surface of the workpiece W), but also the first side surface We of the workpiece W (e.g., the left side surface of the workpiece W), the second main surface Wb of the workpiece W (e.g., the back surface of the workpiece W), and the second side surface Wd of the workpiece W (e.g., the right side surface of the workpiece W).

[0230] (Tilt mode M5) The control device 7 can execute tilt mode M5, which includes sending a tilt command E2 to the second drive 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.

[0231] Since the control device 7 can execute the tilting mode M5, the machine tool 1 can change the attitude of the workpiece W relative to the first processing device 3. In this way, the first processing device 3 can easily process a workpiece W having a complex shape (see FIG. 28 ). Furthermore, the first processing device 3 can also process the top surface We of the workpiece W while the workpiece W is tilted.

[0232] 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 the first robot 5 to correct the position and orientation of the wrist 52 in response to the second drive device 26 changing the orientation of the workpiece W about the second axis AX2. For example, the control device 7 transmits a first operation command E5 to the multiple arm drive devices 59 of the first robot 5 so that the position and orientation of the wrist 52 are corrected in accordance with the tilting of the table 21 about the second axis AX2. The multiple arm drive devices 59 that receive the first operation command E5 correct the position and orientation of the wrist 52 in accordance with the tilting of the table 21 about the second axis AX2.

[0233] The position and orientation of the wrist 52 are corrected in accordance with the change in the posture of the workpiece W, thereby preventing unintended interference between the workpiece W and the first robot 5. Furthermore, after the posture of the workpiece W has been changed, the first robot 5 can quickly resume processing the workpiece W.

[0234] Alternatively, or additionally, the control device 7 may send a command to the first robot 5 to correct the position and orientation of the wrist 52 in response to the first drive device 23 rotating the table 21 around the first axis AX1.

[0235] 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 orientation of the workpiece W about the second axis AX2. For example, the control device 7 transmits a second operation command E8 to the multiple arm drive devices 69 of the second robot 6 so that the position and orientation of the second wrist 62 are corrected in accordance with the tilting of the table 21 about the second axis AX2. The multiple arm drive devices 69 that receive the second operation command E8 correct the position and orientation of the second wrist 62 in accordance with the tilting of the table 21 about the second axis AX2.

[0236] The position and orientation of the second wrist 62 are corrected in accordance with the change in the posture of the workpiece W, thereby preventing unintended interference between the workpiece W and the second robot 6. Furthermore, after the posture of the workpiece W has been changed, the second robot 6 can quickly resume processing the workpiece W.

[0237] Alternatively, or additionally, the control device 7 may send a command to the second robot 6 to correct the position and orientation of the second list 62 in response to the first drive device 23 rotating the table 21 around the first axis AX1.

[0238] (First tool change mode M6) The control device 7 is capable of executing a first tool change mode M6, which includes sending a first tool change command E13-1 to the first tool change device 80a so that the first rotating tool T1 held in the machining head 30 is replaced with another first rotating tool.

[0239] Because the control device 7 is capable of executing the first tool change mode M6, the first machining device 3 can perform multiple types of machining (e.g., surface machining, drilling, tapping, friction stir welding, etc.) on a single workpiece W.

[0240] (Second tool change mode M7) The control device 7 can execute a second tool change mode M7, which includes sending a second tool change command E13-2 to the second tool change device 80b so that the second rotating tool T2 supported by the articulated arm 50 is replaced with another second rotating tool.

[0241] The control device 7 is capable of executing the second tool change mode M7, so that the first robot 5 can perform multiple types of machining (for example, drilling, tapping, etc.) on one workpiece W.

[0242] (Third tool change mode M8) The control device 7 can execute a third tool change mode M8, which includes sending a third tool change command E13-3 to the second tool change device 80b or a tool change device other than the second tool change device 80b, so that the third rotating tool T3 supported by the second articulated arm 60 is replaced with another third rotating tool.

[0243] The control device 7 is capable of executing the third tool change mode M8, so that the second robot 6 can perform multiple types of machining (for example, drilling, tapping, etc.) on one workpiece W.

[0244] When a machining cycle is defined as at least one of rotating the table 21 supporting the workpiece W about the first axis AX1 and tilting the table 21 supporting the workpiece W about the second axis AX2, and then machining the workpiece W supported by the table 21 using the first group of rotary tools supported in sequence by the machining head 30, the control device 7 is configured to repeatedly execute the machining cycle "N" times or more by executing the machining program 722 stored in the memory 72. Note that "N" is, for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, ...

[0245] 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 the machining program 722 stored in the memory 72. The first machining cycle may include the control device 7 simultaneously executing a portion of the first machining mode M1 and a portion of the second machining mode M2. The first machining cycle may also include the control device 7 simultaneously executing a portion of the first machining mode M1, a portion of the second machining mode M2, and a portion of the third machining mode M3. The second machining cycle may also include the control device 7 simultaneously executing a portion of the first machining mode M1 and a portion of the second machining mode M2. The second machining cycle may also include the control device 7 simultaneously executing a portion of the first machining mode M1, a portion of the second machining mode M2, and a portion of the third machining mode M3.

[0246] During the execution of the first machining cycle and / or the second machining cycle, the control device 7 may perform the following: (1) machining the workpiece W with the first rotating tool T1 held in the machining head 30 by sending a first group of control commands to the first machining device 3; (2) replacing the first rotating tool T1 held in the machining head 30 with another first rotating tool by sending a first tool change command E13-1 to at least one tool change device 8 (e.g., the first tool change device 80a); and (3) machining the workpiece W with the other first rotating tool held in the machining head 30 by sending a second group of control commands to the first machining device 3.

[0247] During the execution of the first machining cycle and / or the second machining cycle, the control device 7 may perform the following: (1) machining the workpiece W with the second rotating tool T2 supported on the articulated arm 50 by sending a third group of control commands to the first robot 5; (2) replacing the second rotating tool T2 supported on the articulated arm 50 with another second rotating tool by sending a second tool change command E13-2 to at least one tool change device 8 (e.g., the second tool change device 80b); and (3) machining the workpiece W with the other second rotating tool supported on the articulated arm 50 by sending a fourth group of control commands to the first robot 5.

[0248] During the execution of the first machining cycle and / or the second machining cycle, the control device 7 may perform the following: (1) machining the workpiece W using the third rotating tool T3 supported by the second articulated arm 60 by sending a fifth group of control commands to the second robot 6; (2) replacing the third rotating tool T3 supported by the second articulated arm 60 with another third rotating tool by sending a third tool change command E13-3 to at least one tool change device 8; and (3) machining the workpiece W using the other third rotating tool supported by the second articulated arm 60 by sending a sixth group of control commands to the second robot 6.

[0249] The control device 7 executes a combination of the first machining mode M1, the second machining mode M2, at least one of the rotation mode M4 and the tilting mode M5, the first tool change mode M6, and the second tool change mode M7, thereby enabling workpieces with complex shapes to be machined efficiently using multiple types of tools.

[0250] Furthermore, by the control device 7 executing a combination of the first machining mode M1, the second machining mode M2, the third machining mode M3, at least one of the rotation 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, it is possible to machine workpieces with complex shapes more efficiently using multiple types of tools.

[0251] (Division of Machining Among First Machining Device 3, First Robot 5, and Second Robot 6) The control device 7 executing the machining program 722 stored in the memory 72 may send a control command to the first machining device 3 so that all of the surface machining of the workpiece W is performed by the first machining device 3. Furthermore, the control device 7 executing the machining program 722 stored in the memory 72 may send a control command to each of the first machining device 3, the first robot 5, and the second robot 6 so that a part of the machining to form the plurality of holes HL in the workpiece W is performed by the first machining device 3, another part of the machining to form the plurality of holes HL in the workpiece W is performed by the first robot 5, and yet another part of the machining to form the plurality of holes HL in the workpiece W is performed by the second robot 6.

[0252] (Workpiece machining method) Next, a description will be given of a workpiece machining method according to the second embodiment. The workpiece machining method according to the second embodiment may be performed using the machine tool 1A according to the first embodiment, the machine tool 1B according to the second embodiment, or another machine tool.

[0253] In a 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. The attachment process (first step ST101) is the same as the attachment process (first step ST1) in the first embodiment, and therefore a repeated description of the attachment process (first step ST101) will be omitted.

[0254] In a second step ST102, it is determined whether or not the posture of the workpiece W needs to be changed (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 the posture of the workpiece W needs to be changed based on the machining program 722 stored in the memory 72.

[0255] In the first judgment process (second step ST102), if the control device 7 determines that a change in the posture of the workpiece W is necessary, at least one of rotating the workpiece W around the first axis AX1 and tilting the workpiece W around the second axis AX2 is performed (more specifically, at least one of rotating the table 21 supporting the workpiece W around the first axis AX1 and tilting the table 21 supporting the workpiece W around the second axis AX2).

[0256] For example, in the first judgment process (second step ST102), if the control device 7 determines that it is necessary to rotate the workpiece W at least around the first axis AX1, the table 21 supporting the workpiece W is rotated around the first axis AX1 (rotation process: third step ST103).

[0257] For example, if the control device 7 determines in the first determination step (second step ST102) that tilting of the workpiece W at least about the second axis AX2 is necessary, the table 21 supporting the workpiece W is tilted about the second axis AX2 (tilting step: fourth step ST104). Hereinafter, the turning step (third step ST103) and the tilting step (fourth step ST104) will be collectively referred to as the posture changing step.

[0258] The posture changing step may be performed in combination with a movement step of moving the table device 20 (see FIG. 38 ). More specifically, when the control device 7 determines that both linear movement of the workpiece W and a change in posture of the workpiece W are necessary, the table device 20 is moved linearly and the table 21 is turned or tilted.

[0259] For example, if it is determined that both linear movement of the workpiece W and a change in the posture of the workpiece W are necessary, after the first step ST101 (mounting process) is performed, the table device 20 is moved linearly 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 machining. On the other hand, if it is determined that only linear movement of the workpiece W is necessary, after the first step ST101 (mounting process) is performed, the table device 20 is moved linearly from the receiving position P1 to the advancing position P2, and the posture of the workpiece W is maintained.

[0260] If the control device 7 determines that changing the posture of the workpiece W is not necessary (second step ST102: No), or if changing the posture of the workpiece W has been completed, proceed to the fifth step ST105, the sixth step ST106, and / or the seventh step ST107.

[0261] In a fifth step ST105, the workpiece W supported by the table 21 is machined using a first group of rotary tools (T1-3, T1-4, T1-5, T1-6) supported in sequence by the machining head 30. The fifth step ST105 is a first machining process. The number of locations on the workpiece W to be machined by the first group of rotary tools may be 10 or more, 20 or more, or 30 or more.

[0262] In the examples shown 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 facing tool T1-6 (e.g., a milling tool). The first group of rotary tools sequentially supported by the machining head 30 may also 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 facing tool T1-6 or the friction stir welding tool T1-7) is performed, for example, using a first tool changer 80a (see FIG. 24). The first group of rotary tools may also include a plurality of the same type of tools having different tool diameters. For example, the first group of rotary tools may include a first drill having a tool diameter of a first size and a second drill having a tool diameter of a second size.

[0263] The first machining step (fifth step ST105) includes moving the machining head 30 using the multiple linear motion devices 4 while any of the rotary tools in the first group 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 multiple linear motion devices 4, the workpiece W can be machined with high precision.

[0264] When the workpiece W is being machined using the first group of rotary tools (in other words, when the workpiece W is in contact with any of the first group of rotary tools), it is preferable that the angular position of the table 21 around the first axis AX1 is fixed and the angular position of the table 21 around the second axis AX2 is fixed.

[0265] In a sixth step ST106, the workpiece W supported by the table 21 is machined using a second group of rotary tools (T2-3, T2-4, T2-5) supported in sequence by the articulated arm 50. The sixth step ST106 is a second machining step. The number of locations on the workpiece W to be machined by the second group of rotary tools may be 10 or more, 20 or more, or 30 or more.

[0266] 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 (e.g., a drill) and a tapping tool T2-4. Replacing the second rotary tool T2 (e.g., the drilling tool T2-3) supported by the articulated arm 50 with another second rotary tool (e.g., the tapping tool T2-4) is performed, for example, using the second tool changer 80b (see FIG. 25 ). The second group of rotary tools may include a plurality of tools of the same type but with different tool diameters. For example, the second group of rotary tools may include a third drill having a tool diameter of a third size and a fourth drill having a tool diameter of a fourth size.

[0267] 11 , the second machining step (sixth step ST106) may include a step in which the tool support device 53 attached to the articulated arm 50 moves the second rotary tool T2, which rotates around the second rotation axis AD2, in a direction parallel to the second rotation axis AD2 using the tool linear motion device 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.

[0268] When the workpiece W is being machined using the second group of rotary tools (in other words, when the workpiece W is in contact with any of the second group of rotary tools), it is preferable that the angular position of the table 21 around the first axis AX1 is fixed and the angular position of the table 21 around the second axis AX2 is fixed.

[0269] A part of the first processing step (fifth step ST105) and a part of the second processing step (sixth step ST106) may be performed simultaneously. A part of the first processing step (fifth step ST105) may be performed when the second processing step is not being performed. Also, a part of the second processing step (sixth step ST106) may be performed when the first processing step is not being performed.

[0270] In seventh step ST107, the workpiece W supported by the table 21 is machined using a third group of rotary tools (T3-3, T3-4, T3-5) supported in sequence by the second articulated arm 60. The seventh step ST107 is a third machining step. The number of locations on the workpiece W to be machined by the third group of rotary tools may be 10 or more, 20 or more, or 30 or more. Note that if the machine tool 1 does not have a second robot 6, the third machining step (seventh step ST107) is omitted.

[0271] 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 (e.g., a drill) and a tapping tool T3-4. The third rotary tool T3 (e.g., the drilling tool T3-3) supported by the second articulated arm 60 can be replaced with another third rotary tool (e.g., the tapping tool T3-4) 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 having different tool diameters. For example, the third group of rotary tools may include a fifth drill having a fifth tool diameter and a sixth drill having a sixth tool diameter.

[0272] 21 , the third machining process (seventh step ST107) may include the second tool support device 63 attached to the second articulated arm 60 moving the third rotating tool T3, which rotates around the third rotation axis AD3, in a direction parallel to the third rotation axis AD3 using the second tool linear motion device 65. When the third rotating tool T3 is moved using the second tool linear motion device 65, the third rotating tool T3 can be moved with high precision.

[0273] When the workpiece W is being machined using the rotary tools of the third group (in other words, when the workpiece W is in contact with any of the rotary tools of the third group), it is preferable that the angular position of the table 21 around the first axis AX1 is fixed and the angular position of the table 21 around the second axis AX2 is fixed.

[0274] A part of the first processing step (fifth step ST105) and a part of the third processing step (seventh step ST107) may be performed simultaneously. A part of the first processing step (fifth step ST105) may be performed when the third processing step is not being performed. Also, a part of the third processing step (seventh step ST107) may be performed when the first processing step is not being performed.

[0275] 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 performed simultaneously.

[0276] In eighth step ST108, it is determined whether or not the machining of the workpiece W has been completed. 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 the machining program 722 stored in the memory 72.

[0277] In the second determination step (eighth step ST108), if the control device 7 determines that the processing of the workpiece W has not been completed (eighth step ST108: No), the process returns to the second step ST102.

[0278] For example, after a part of the first machining process and a part of the second machining process have been executed (or after a part of the first machining process, a part of the second machining process, and a part of the third machining process have been executed), the control device 7 determines in the second step ST102 whether or not it is necessary to change the posture of the workpiece W. 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.

[0279] For example, in the first determination step (second step ST102), if the control device 7 determines that it is necessary to rotate the workpiece W at least about the first axis AX1, the table 21 supporting the workpiece W is rotated about the first axis AX1 (rotation step: third step ST103). The rotation step (in other words, rotating the table 21 supporting the workpiece W about the first axis AX1) is performed using the first drive device 23 of the workpiece support device 2. In other words, in the rotation step (third step ST103), the first drive device 23 rotates the table 21 supporting the workpiece W about the first axis AX1.

[0280] For example, in the first determination step (second step ST102), if the control device 7 determines that tilting of the workpiece W at least about the second axis AX2 is necessary, the table 21 supporting the workpiece W is tilted about the second axis AX2 (tilting step: fourth step ST104). The tilting step (in other words, tilting the table 21 supporting the workpiece W about the second axis AX2) is performed using the second drive device 26 of the workpiece support device 2. In other words, in the tilting step (fourth step ST104), the second drive device 26 tilts the table 21 supporting the workpiece W about the second axis AX2.

[0281] Both the turning process (third step ST103) and the tilting process (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 necessary, 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 (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, part of the turning of the table 21 and part of the tilting of the table 21 may be executed simultaneously.

[0282] The turning step (third step ST103) may be performed in combination with a moving step of moving the table device 20. The tilting step (fourth step ST104) may be performed in combination with a moving step of moving the table device 20. Furthermore, the turning and tilting steps (third step ST103 and fourth step ST104) may be performed in combination with a moving step of moving the table device 20.

[0283] More specifically, if the control device 7 determines in the first determination step (second step ST102) that both linear movement of the workpiece W and a change in the posture of the workpiece W are necessary, at least one of rotation of the workpiece W about the first axis AX1 and tilting of the workpiece W about the second axis AX2 is performed in combination with linear movement of the table device 20. The linear movement of the table device 20 is performed using the third drive device 18.

[0284] For example, in the first judgment process (second step ST102), if the control device 7 determines that at least linear movement of the workpiece W and rotation of the workpiece W around the first axis AX1 are necessary, the following operations are performed: (1) moving the table device 20 linearly in the first direction DR1 toward the retracted position P3 (see Figure 5), (2) while the table device 20 is positioned at the retracted position P3, rotating the table 21 supporting the workpiece W around the first axis AX1 (see Figure 6), and (3) moving the table device 20 linearly in the direction opposite to the first direction DR1 toward the advanced position P2.

[0285] For example, in the first judgment process (second step ST102), if the control device 7 determines that at least linear movement of the workpiece W and tilting of the workpiece W around the second axis AX2 are necessary, (1) the table device 20 is moved linearly in a direction parallel to the first direction DR1, and (2) the table 21 supporting the workpiece W is tilted around the second axis AX2.

[0286] It is also possible that immediately before the table 21 supporting the workpiece W turns about the first axis AX1, one of the table 21 and the first processing device 3 is moved linearly in a direction away from the other of the table 21 and the first processing device 3, and immediately after the table 21 supporting the workpiece W turns about the first axis AX1, one of the table 21 and the first processing device 3 is moved linearly 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, the table 21 and the workpiece W are prevented from interfering with the first processing device 3 when the table 21 turns.

[0287] The above-mentioned turning step (third step ST103) may include turning the tilted table 21 about the first axis AX1. Alternatively, the above-mentioned turning step (third step ST103) may include turning the non-tilted table 21 about the first axis AX1 after the state of the table 21 is changed from the tilted state to the non-tilted state.

[0288] In the above-mentioned tilting process (fourth step ST104), the control device 7 may send a command to the first robot 5 to correct the position and orientation of the list 52 in response to the second drive device 26 changing the posture of the workpiece W around the second axis AX2.

[0289] In the above-mentioned tilting process (fourth step ST104), tilting the table 21 supporting the workpiece W around the second axis AX2 may be performed with the table device 20 positioned at the retracted position P3 (see Figure 19), or may be performed with the table device 20 positioned at the advanced position P2 (see Figure 19).

[0290] 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 executed again.

[0291] In the eighth step ST108, it is determined again whether or not the processing of the workpiece W has been completed (second determination step). In the second determination step (eighth step ST108), if the control device 7 determines that the processing of the workpiece W has not been completed (eighth step ST108: No), the process returns to the second step ST102.

[0292] On the other hand, if the control device 7 determines in the second determination step (eighth step ST108) that the processing of the workpiece W has been completed (eighth step ST108: Yes), the workpiece W is moved to a removal position P6 (see FIG. 16 if necessary) (ninth step ST109). The ninth step ST109 is a step of moving the workpiece to the removal position.

[0293] The process of moving the workpiece to the removal position (ninth step ST109) includes moving the table device 20 from the advance position P2 to the removal position P6 (see FIG. 16, if necessary). The removal position P6 may be the same as the receiving position P1 (see FIG. 19), or may be a position different from the receiving position P1.

[0294] The process of moving the workpiece W to the removal position (ninth step ST109) may include changing the posture of the workpiece W.

[0295] In tenth step ST110, the workpiece W is removed from the table 21. Tenth step ST110 is a removal process. The removal process (tenth step ST110) may include moving the door 12 from the closed position to the open position, and moving the workpiece W from the processing chamber CB to the outside of the processing chamber CB so as to cross the workpiece passage opening OP.

[0296] 30 and 32 , in the workpiece machining method of the second embodiment, after a part of the first machining step (fifth step ST105) and a part of the second machining step (sixth step ST106) are performed simultaneously, the table 21 supporting the workpiece W is tilted about the second axis AX2. In other words, a part of the process of machining the workpiece W supported by the table 21 using a first group of rotary tools sequentially supported by the machining head 30 and a part of the process of machining the workpiece W supported by the table 21 using a second group of rotary tools sequentially supported by the articulated arm 50 are performed simultaneously before the execution of one tilting step (in other words, a step of tilting the table 21 supporting the workpiece W about the second axis AX2).

[0297] 32 and 34, in the workpiece machining method of the second embodiment, after the table 21 supporting the workpiece W is tilted about the second axis AX2, a part of the first machining step (fifth step ST105) and a part of the second machining step (sixth step ST106) are executed simultaneously. In other words, a part of the step of machining 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 machining 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-mentioned single tilting step (in other words, a step of tilting the table 21 supporting the workpiece W about the second axis AX2).

[0298] By simultaneously executing a part of the first machining step (fifth step ST105) and a part of the second machining step (sixth step ST106) before and after one tilting step, the machining of the workpiece W is performed efficiently and in a shorter time. As illustrated in Figures 30, 32, and 34, 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 simultaneously executed before and after one tilting step.

[0299] As illustrated in Figures 34 and 36, (1) part of the first machining process (fifth step ST105), part of the second machining process (sixth step ST106), and part of the third machining process (seventh step ST107) may be performed simultaneously, (2) then the table 21 may be rotated around the first axis AX1 and tilted around the second axis AX2, and (3) further thereafter, part of the first machining process (fifth step ST105), part of the second machining process (sixth step ST106), and part of the third machining process (seventh step ST107) may be performed simultaneously.

[0300] When a machining cycle is defined as at least one of rotating the table 21 supporting the workpiece W about the first axis AX1 and tilting the table 21 supporting the workpiece W about the second axis AX2, and then machining the workpiece W supported by the table 21 using the first group of rotary tools supported in sequence by the machining head 30, the workpiece machining method in the second embodiment may include repeatedly executing the machining cycle "N" times or more, where "N" is, for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, ...

[0301] For example, the workpiece 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.

[0302] The first machining cycle may include simultaneously machining the workpiece 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 workpiece W supported by the table 21 with the first group of rotary tools sequentially supported by the machining head 30, the 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] The second machining cycle may include simultaneously machining the workpiece 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 workpiece 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.

[0304] At least one of the first machining cycle and the second machining cycle may include machining a workpiece W with a first rotating tool T1 held in the machining head 30, replacing the first rotating tool T1 held in the machining head 30 with another first rotating tool, and machining a workpiece W with the other first rotating tool held in the machining head 30.

[0305] At least one of the first machining cycle and the second machining cycle may include machining a workpiece W with a second rotary tool T2 supported by the articulated arm 50, replacing the second rotary tool T2 supported by the articulated arm 50 with another second rotary tool, and machining a workpiece W with the other second rotary tool supported by the articulated arm 50.

[0306] At least one of the first machining cycle and the second machining cycle may include machining a workpiece W with a third rotary tool T3 supported by the second multi-joint arm 60, replacing the third rotary tool T3 supported by the second multi-joint arm 60 with another third rotary tool, and machining a workpiece W with the other third rotary tool supported by the second multi-joint arm 60.

[0307] 30 , the machine tool 1 can simultaneously machine the first main surface Wa of the workpiece W with the first rotary tool T1 supported by the machining head 30, and machine the first side surface We of the workpiece W with the second rotary tool T2 supported by the articulated arm 50. More specifically, the control device 7 executes the machining program 722 stored in the memory 72, and thereby 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 with the first rotary tool T1 and the machining of the first side surface We of the workpiece W with the second rotary tool T2 supported by the articulated arm 50 are simultaneously performed.

[0308] 33 and 34 , when the table 21 is in a tilted state, the machine tool 1 can simultaneously machine the workpiece W with the first rotary tool T1 supported by the machining head 30 and the second rotary tool T2 supported by the articulated arm 50. More specifically, the control device 7 executes a machining program 722 stored in the memory 72, thereby transmitting 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 with 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 , when the table 21 is in a tilted state, the machine tool 1 may be able to machine the inclined surface WS of the workpiece W with the first rotary tool T1 supported by the machining head 30 (for example, may be able to perform machining to form a hole in the inclined surface WS of the workpiece W). As illustrated in Figure 34, when the table 21 is in a tilted state, the machine tool 1 may be capable of machining the top surface We of the workpiece W using a first rotating tool T1 supported by the machining head 30 (for example, may be capable of surface machining the top surface We of the workpiece W).

[0309] 34 or 36, the machine tool 1 can simultaneously perform surface machining of the workpiece W with a first rotary tool T1 (more specifically, a surface machining tool T1-6) supported by the machining head 30, and processing to form a hole HL in the workpiece W with a second rotary tool T2 (e.g., a tap tool T2-4 or a drill tool T2-5) supported by the articulated arm 50. Additionally, processing to form a hole HL in the workpiece W with a third rotary tool T3 supported by the second articulated arm 60 may also be simultaneously performed.

[0310] More specifically, the control device 7 executes the machining program 722 stored in the memory 72, and sends control commands to the first machining device 3, the first robot 5 and the second robot 6 so that the workpiece W supported by the table 21 is simultaneously machined by the surface machining tool T1-6 supported by the machining head 30, the tapping tool T2-4 or the drilling tool T2-5 supported by the multi-joint arm 50, and the tapping tool T3-4 or the drilling tool T3-5 supported by the second multi-joint arm 60.

[0311] Alternatively, the control device 7 may execute a processing program 722 stored in the memory 72, and send control commands to the first processing device 3 and the first robot 5 so that the workpiece W supported by the table 21 is simultaneously processed by a friction stir welding tool T1-7 (see Figure 24) supported by the processing head 30 and a tapping tool T2-4 or a drilling tool T2-5 supported by the articulated arm 50.

[0312] In the example shown in Figure 34 or Figure 36, the machine tool 1 can simultaneously machine three different surfaces of the workpiece W using a first rotary tool T1 supported by the machining head 30, a second rotary tool T2 supported by the articulated arm 50, and a third rotary tool T3 supported by the second articulated arm 60.

[0313] More specifically, the control device 7 executes the machining program 722 stored in the memory 72, and sends control commands to the first machining device 3, the first robot 5, and the second robot 6 so that three different surfaces of the workpiece W supported by the table 21 are 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.

[0314] The present invention is not limited to the above-described embodiments or modifications, and it is clear that each embodiment or modification can be appropriately modified or changed within the scope of the technical concept of the present invention. Furthermore, various techniques used in each embodiment or modification can be applied to other embodiments or modifications as long as no technical contradiction occurs. Furthermore, optional additional configurations in each embodiment or modification can be omitted as appropriate.

[0315] 40 and 41 (or the examples shown in FIGS. 42 and 43 ), the workpiece support device 2 can index the table 21 to each of a plurality of different index angle positions (Q1, Q2) about the first axis AX1. For example, the workpiece support device 2 can index the table 21 to a first index angle position Q1 about the first axis AX1, and can index the table 21 to a second index angle position Q2 about the first axis AX1. In the examples shown in FIGS. 40 and 41 (or the examples shown in FIGS. 42 and 43 ), the second index angle position Q2 is a position that differs from the first index angle position Q1 by 90 degrees about the first axis AX1. Alternatively, the second index angle position Q2 may be a position that differs from the first index angle position Q1 by any predetermined angle about the first axis AX1. Furthermore, the workpiece support device 2 may be capable of at least indexing the table 21 to each of a plurality of index angle positions that differ by 90 degrees around the first axis AX1. The workpiece support device 2 may be capable of at least indexing the table 21 to each of a plurality of index angle positions that differ by 45 degrees around the first axis AX1.

[0316] In the example shown in Figures 40 and 41, the machine tool 1 is capable of (1) simultaneously machining the workpiece W supported by the table 21 using two rotary tools supported by the first machining device 3 and the first robot 5, respectively; (2) after the workpiece W has been machined using the two rotary tools, rotating the table 21 supporting the workpiece W by a predetermined angle (e.g., 90 degrees or 180 degrees) around the first axis AX1; and (3) after the table 21 has been rotated by the predetermined angle around the first axis AX1, simultaneously machining the workpiece W supported by the table 21 using the two rotary tools or two other rotary tools newly supported by the first machining device 3 and the first robot 5, respectively, through tool replacement.

[0317] In the example shown in Figures 42 and 43, the machine tool 1 is capable of (1) simultaneously machining the workpiece W supported by the table 21 using three rotary tools supported by the first machining device 3, the first robot 5, and the second robot 6, respectively; (2) after the workpiece W has been machined using the three rotary tools, rotating the table 21 supporting the workpiece W by a predetermined angle (e.g., 90 degrees or 180 degrees) around the first axis AX1; and (3) after the table 21 has been rotated by the predetermined angle around the first axis AX1, simultaneously machining the workpiece W supported by the table 21 using the three rotary tools or three other rotary tools newly supported by the first machining device 3, the first robot 5, and the second robot 6, respectively, through tool replacement.

[0318] 42 , the machine tool 1 is capable of simultaneously machining a first main surface Wa of a workpiece W supported by the table 21, a first side surface We of the workpiece W, and a 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. In the example shown in FIG. 43 , the machine tool 1 is capable of simultaneously machining a first main surface Wa of a workpiece W supported by the table 21, a second main surface Wb of the workpiece W, and a side surface (e.g., 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.

[0319] In the example shown in FIGS. 40 and 41 (or the example shown in FIGS. 42 and 43 ), the first robot 5 and the first processing device 3 are disposed at two different angular positions around the workpiece support device 2 in a plan view. In this case, the first processing device 3 and the first robot 5 can easily process the workpiece W simultaneously without interfering with each other. This improves processing efficiency and suppresses the need for an increased installation space for the machine tool 1. In the example shown in FIGS. 40 and 41 (or the example shown in FIGS. 42 and 43 ), the processing head 30 and the articulated arm 50 can approach the workpiece W supported on the table 21 from angles that are approximately 90 degrees apart in a plan view. This further effectively suppresses interference between the first processing device 3 and the first robot 5.

[0320] In the examples shown in FIGS. 40 and 41 (or the examples shown in FIGS. 42 and 43 ), the first robot 5, the first machining device 3, and the workpiece passage opening OP are arranged at three different angular positions around the workpiece support device 2 in a plan view. In this case, the workpiece W can be easily loaded and unloaded into the machining chamber CB. Furthermore, the installation space of the machine tool 1 is prevented from increasing. Furthermore, by viewing the interior of the machine through the workpiece passage opening OP, the status of multiple tools, including the first rotary tool T1 and the second rotary tool T2, can be easily confirmed. Preferably, the door 12 has a window 121 that allows the interior of the machining chamber CB to be viewed from outside the machining chamber CB. In this case, by viewing the interior of the machine through the window 121, the status of multiple tools, including the first rotary tool T1 and the second rotary tool T2, can be easily confirmed.

[0321] In the example shown in FIGS. 42 and 43 , the first robot 5, the second robot 6, the first processing device 3, and the workpiece passage opening OP are arranged at four different angular positions around the workpiece support device 2 in a plan view. In this case, the first processing device 3, the first robot 5, and the second robot 6 can easily simultaneously process the workpiece W without interfering with each other. This further improves processing efficiency and suppresses the expansion of the installation space of the machine tool 1. In the example shown in FIGS. 42 and 43 , the processing head 30 and the articulated arm 50 can approach the workpiece W supported on the table 21 from angles that differ by approximately 90 degrees in a plan view. Furthermore, the processing head 30 and the second articulated arm 60 can approach the workpiece W supported on the table 21 from angles that differ by approximately 90 degrees in a plan view. This further effectively suppresses interference between the first processing device 3, the first robot 5, and the second robot 6.

[0322] Furthermore, since the first robot 5, the second robot 6, the first processing device 3, and the workpiece passage opening OP are arranged at four different angular positions around the workpiece support device 2 in a plan view, the workpiece W can be easily loaded and unloaded into the processing chamber CB. This also prevents the installation space of the machine tool 1 from increasing. Furthermore, by looking inside the machine through the workpiece passage opening OP or the window 121, the status of multiple tools including the first rotating tool T1, the second rotating tool T2, and the third rotating tool T3 can be easily confirmed.

[0323] 42 and 43, in a plan view, the workpiece support device 2 is disposed between the first robot 5 and the second robot 6. In this case, it becomes easy to simultaneously machine the workpiece W by the first robot 5 and the second robot 6 without causing interference between the first robot 5 and the second robot 6. This improves machining efficiency and prevents the installation space for the machine tool 1 from becoming too large.

[0324] 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 unit 20. As illustrated in FIG. 44 , the direction in which the table unit 20 is guided by the linear guide LG is defined as a third direction DR3. Also, as illustrated in FIG. 44 , a region formed by virtually extending the region occupied by the table unit 20 in a direction parallel to the third direction DR3 is defined as a virtual region RG. In FIG. 44 , the virtual region RG is hatched with dots to make it easier to understand. In the example shown in FIG. 44 , the first machining device 3 is disposed at a position overlapping the virtual region RG in a plan view. Furthermore, a workpiece passage opening OP formed in the wall 11 that defines the machining chamber CB is disposed at a position overlapping the virtual region RG in a plan view. Furthermore, the first robot 5 is disposed on one side of the virtual region RG in a plan view. Furthermore, the second robot 6 is disposed on the other side of the virtual area RG in a plan view. In other words, the virtual area RG passes between the first robot 5 and the second robot 6 in a plan view. In the example shown in FIG. 44 , the support base 13 a that supports the first robot 5 is disposed outside the virtual area RG in a plan view. Furthermore, the support base 13 b that supports the second robot 6 is disposed outside the virtual area RG in a plan view. In the example shown in FIG. 44 , the first robot 5 is disposed in a position facing the linear guide LG in a plan view. Furthermore, the second robot 6 is disposed in a position facing the linear guide LG in a plan view.

[0325] 44 , the area center of the table 21 when the table 21 is located closest to the first processing device 3 (more specifically, the area center of the top surface of the table 21 when the table 21 is located closest to the first processing device 3) is defined as the first center C1. Note that the table 21 may be a table that is movable in a direction away from the first processing device 3, or may be a table that does not move in a direction away from the first processing device 3.

[0326] 44 , the direction from the first center C1 toward the center C2 of the workpiece passage opening OP (more specifically, the areal center of the workpiece passage opening OP in a planar view) is defined as the 12 o'clock direction DT12. The first processing device 3 is disposed, for example, in a planar view, at a position overlapping with at least one of a half line DT5 extending from the first center C1 in the 5 o'clock direction, a half line DT6 extending from the first center C1 in the 6 o'clock direction, and a half line DT7 extending from the first center C1 in the 7 o'clock direction. For example, in a planar view, the first robot 5 is positioned so as to overlap with at least one of the following: a half line DT2 extending from the first center C1 in the 2 o'clock direction; a half line DT3 extending from the first center C1 in the 3 o'clock direction; a half line DT4 extending from the first center C1 in the 4 o'clock direction; a half line DT8 extending from the first center C1 in the 8 o'clock direction; a half line DT9 extending from the first center C1 in the 9 o'clock direction; and a half line DT10 extending from the first center C1 in the 10 o'clock direction. The first robot 5 may be positioned in a position where, in a planar view, it overlaps with at least one of the half line DT8 extending from the first center C1 in the 8 o'clock direction, the half line DT9 extending from the first center C1 in the 9 o'clock direction, and the half line DT10 extending from the first center C1 in the 10 o'clock direction, and the second robot 6 may be positioned in a position where it overlaps with at least one of the half line DT2 extending from the first center C1 in the 2 o'clock direction, the half line DT3 extending from the first center C1 in the 3 o'clock direction, and the half line DT4 extending from the first center C1 in the 4 o'clock direction.

[0327] 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.

[0328] In the first and second embodiments, the example in which the table 21 is rotatable around the first axis AX1 has been described.

[0329] Alternatively, in each of the machine tool 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.

[0330] In other words, each of the machine tool 1A in the first embodiment and the machine tool 1B in the second embodiment includes: (1) a workpiece supporting device 2 having a table 21 that supports a workpiece, (2) a first processing device 3 having a processing head 30 that can support a first rotary tool T1 that processes the workpiece supported by the table 21 and a plurality of linear motion devices 4 that three-dimensionally move the processing head 30, and (3) a first robot 5 that has an articulated arm 50 that changes the position and orientation of the second rotary tool T2 and uses the second rotary tool T2 to process the workpiece supported by the table 21. On the other hand, of the multiple configurations described in the first or second embodiment above, 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.

[0331] Furthermore, each of the workpiece machining method in the first embodiment and the workpiece machining method in the second embodiment includes the steps of (1) attaching the workpiece W directly or indirectly to the table 21 of the workpiece support device 2, (2) machining the workpiece 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) machining the workpiece 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, of the multiple steps described in the first or second embodiment, steps other than the above steps (1) to (3) may or may not be employed in the workpiece machining method in the first embodiment or the workpiece machining method in the second embodiment.

[0332] 1, 1A, 1B...machine tool, 2...workpiece support device, 3...first processing device, 4...linear motion device, 5...first robot, 6...second robot, 7...control device, 8...tool change device, 10...base, 11...wall, 11-1...first wall, 11-2...second wall, 11-3...third wall, 11-4...fourth wall, 11a...fixed wall, 11b...movable wall, 11b-1...first movable wall, 11b-2...second movable wall, 12...door, 13a, 13b...support base, 18...third drive device, 19d...fourth drive device, 19r...guide rail, 20...table device, 21...table, 22...block, 22a...first end, 22 b...second end, 22c...central portion, 23...first drive device, 24...guide rail, 25...support base, 25a...first support base, 25b...second support base, 26...second drive device, 30...machining head, 31...spindle, 32...support body, 33...bearing, 34...first rotation drive device, 35...tilt drive device, 36...first moving body, 37...second moving body, 38...third moving body, 38c...column, 41...first linear motion device, 42...drive device, 43...first linear guide, 44...second linear motion device, 45...drive device, 46...second linear guide, 47...third linear motion device, 48...drive device, 49...third linear guide 50...articulated arm, 51a...first part of articulated arm, 51b...second part of articulated arm, 51c...third part of articulated arm, 51d...fourth part of articulated arm, 51e...fifth part of articulated arm, 51f...sixth part of articulated arm, 52...wrist, 53...tool support device, 54...second rotation 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 second articulated arm, 61b...second part of second articulated arm, 61c...third part of second articulated arm, 61d...fourth portion of second articulated arm, 61e...fifth portion of second articulated arm, 61f...sixth portion of second articulated arm, 62...second wrist, 63...second tool support device, 64...third rotation drive device, 65...second tool linear motion device, 66...fixed portion, 66r...linear guide, 67...movable portion, 69...arm drive device, 70...hardware processor, 72...memory, 74...communication circuit, 76...input device, 78...bus, 80a...first tool change device, 80b...second tool change device, 81a...tool change arm, 82a...first gripper, 83a...second gripper, 84a...arm rotation device,85a...Arm moving device, 91...Coolant liquid 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 surface of support base, 722...Machining program, 726...Workpiece data, 762...Touch panel display, CB...Machining chamber, CD...Second chamber, E1 …Turning 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 finger 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 exchange command, E13- 1...first tool change command, E13-2...second tool change command, E13-3...third tool change command, HL...hole, J...jig, J1...chuck, LG...linear guide, MT...motor, OP...work passage port, T1, T1-1, T1-2...first rotating tool, T1-3...drilling tool, T1-4...tapping tool, T1-5...hole forming tool, T1-6...surface machining tool, T1-7...friction stir welding tool, T2, T2-1, T2-2...second rotary tool, T2-3...drilling tool, T2-4...tapping tool, T2-5...drilling tool, T3, T3-1, T3-2...third rotary tool, T3-3...drilling tool, T3-4...tapping tool, T3-5...drilling tool, W...workpiece, WS...inclined surface of workpiece, Wa...first main surface of workpiece, Wb...second main surface of workpiece, Wc...first side surface of workpiece, Wd...second side surface of workpiece, We...top surface of workpiece,

Claims

1. A machine tool comprising a work support device having a table for supporting a work, a machining head capable of supporting a first rotary tool for machining the work supported by the table, and a plurality of linear motion devices for three-dimensionally moving the machining head, and a first robot having an articulated arm for changing the position and orientation of a second rotary tool and machining the work supported by the table using the second rotary tool, wherein the work support device has a first drive device for rotating the table about a first axis.

2. The machine tool according to claim 1, wherein the work support device has a second drive device for tilting the table about a second axis different from the first axis.

3. The machine tool according to claim 1 or 2, wherein the first machining device has a first rotary drive device for rotating the first rotary tool about a first rotation axis, and the first axis is disposed substantially perpendicular to a direction parallel to the first rotation axis, or the table is tiltable so that the first axis is substantially perpendicular to a direction parallel to the first rotation axis.

4. The machine tool according to any one of claims 1 to 3, further comprising a coolant supply device for supplying coolant liquid toward the work supported by the table, a wall defining a machining chamber in which the machining head and the articulated arm are disposed.

5. The machine tool according to any one of claims 1 to 4, wherein the work support device is capable of indexing the table to each of a plurality of different indexing angular positions about the first axis, and the first robot and the first machining device are respectively disposed at two different angular positions around the work support device in a plan view.

6. The machine tool according to any one of claims 1 to 3, further comprising a wall defining a machining chamber and a door for opening and closing a work passage opening formed in the wall, wherein the work support device is disposed between the first machining device and the work passage opening in a plan view, and the work passage opening, the first robot, and the first machining device are disposed around the work support device in a plan view.

7. The work support device is capable of indexing the table to each of a plurality of different indexing angular positions around the first axis, and in a plan view, the first robot, the first processing device, and the work passage opening are respectively arranged at three different angular positions around the work support device. The machine tool according to claim 6.

8. 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, and in a plan view, the work passage opening, the first robot, the first processing device, and the second robot are arranged around the work support device. The machine tool according to claim 6.

9. In a plan view, the work support device is arranged between the first robot and the second robot. The machine tool according to claim 8.

10. When defining the direction from the first processing device toward the work support device as a first direction in a plan view, a third drive device for moving a table device including the table and the first drive device in a direction parallel to the first direction is provided. The machine tool according to any one of claims 1 to 9.

11. The table device is movable in a direction parallel to the first direction at least between a forward position and a retracted position. The forward position is a position where the work supported by the table can be machined using the first processing device, and the retracted position is a position where the work supported by the table can be rotated around the first axis without interfering with the first processing device. The machine tool according to claim 10.

12. When defining the direction from the first processing device toward the work support device as a first direction in a plan view, a fourth drive device for moving the first processing device in a direction parallel to the first direction is provided. The machine tool according to any one of claims 1 to 9.

13. The first processing device is movable in a direction parallel to the first direction between an advanced position and a retracted position. The advanced position is a position where the workpiece supported by the table can be processed using the first processing device. The retracted position is a position where the workpiece supported by the table can be rotated about the first axis without interference with the first processing device. The machine tool according to claim 12.

14. The surface machining of the workpiece is performed only by the first processing device, and the machining for forming a plurality of holes in the workpiece is shared and performed by both the first processing device and the first robot. The machine tool according to any one of claims 1 to 13.

15. It is possible to simultaneously execute the surface machining of the workpiece by the first rotary tool supported by the machining head and the machining for forming a hole in the workpiece by the second rotary tool supported by the articulated arm. The machine tool according to any one of claims 1 to 13.

16. The machine tool further includes a control device for controlling the first robot. The first robot has a wrist disposed at the tip of the articulated arm. The control device transmits a command to correct the position and orientation of the wrist to the first robot in response to the second drive device changing the posture of the workpiece about the second axis. The machine tool according to claim 2.

17. The machine tool further includes a control device for controlling the second drive device. The control device is configured to transmit a tilting command to the second drive device so that, by executing a machining program stored in a memory, the inclined surface of the workpiece changes from a posture inclined with respect to the first rotation axis, which is the rotation axis of the first rotary tool, to a posture in which the inclined surface of the workpiece is substantially perpendicular to the first rotation axis. The machine tool according to claim 2.

18. 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 includes a rotary drive device for rotating the second rotary tool about a rotation axis and a tool moving device for moving the second rotary tool in a direction parallel to the rotation axis. The machine tool according to any one of claims 1 to 17.

19. A linear guide is provided for movably supporting a table device including the table and the first driving device. When a direction in which the table device is guided by the linear guide is defined as a third direction, and a region formed by virtually extending in a direction parallel to the third direction a region occupied by the table device is defined as a virtual region, the first processing device is arranged at a position overlapping the virtual region in a plan view. The first robot is arranged at a side portion of the virtual region in a plan view. The machine tool according to any one of claims 1 to 9.

20. A wall defining a machining chamber and a door for opening and closing a workpiece passage opening formed in the wall are provided. When a center of the area of the table when the table is at a position closest to the first processing device is defined as a first center, and a direction from the first center to the center of the workpiece passage opening in a plan view is defined as a 12 o'clock direction, the first processing device is arranged 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 arranged 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. The machine tool according to any one of claims 1 to 3.

21. A step of directly or indirectly attaching a workpiece to a table of a workpiece support device; a first machining step of machining the workpiece supported by the table using a first group of rotary tools sequentially supported by a machining head of a first machining device; a second machining step of machining the workpiece supported by the table using a second group of rotary tools sequentially supported by an articulated arm of a first robot; and a step of pivoting the table supporting the workpiece about a first axis, wherein the first machining step includes moving the machining head using a plurality of linear motion devices, after a part of the first machining step and a part of the second machining step are simultaneously executed, the table supporting the workpiece is pivoted about the first axis, and after the table supporting the workpiece is pivoted about the first axis, a part of the first machining step and a part of the second machining step are simultaneously executed. A workpiece machining method.

22. After a part of the first machining step and a part of the second machining step are simultaneously executed, the table supporting the workpiece is tilted about a second axis, and after the table supporting the workpiece is tilted about the second axis, a part of the first machining step and a part of the second machining step are simultaneously executed. The workpiece machining method according to claim 21.

23. A step of linearly moving one of the table and the first machining device in a direction away from the other of the table and the first machining device immediately before the pivoting of the table supporting the workpiece about the first axis; and a step of linearly moving one of the table and the first machining device in a direction approaching the other of the table and the first machining device immediately after the pivoting of the table supporting the workpiece about the first axis. The workpiece machining method according to claim 21 or 22, further comprising.

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