Machine tool and workpiece machining method

Abstract

This machine tool comprises: a workpiece support apparatus that has a table for supporting a workpiece; a machining apparatus that has a machining head capable of supporting a first rotary tool for machining the workpiece supported on the table, and a plurality of linear motion devices that three-dimensionally move the machining head; and a first robot that has a laser head for irradiating the workpiece supported on the table with a laser and an articulated arm for changing the position and orientation of the laser head, and that machines the workpiece with the laser.

Description

Machine tool, and workpiece processing method

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

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

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

[0004] Further, 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 processing units that move on the tracks of the platform.

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

[0006] An object of the present invention is to provide a machine tool and a workpiece processing method capable of realizing improvement in processing efficiency, suppression of expansion of installation space, and maintenance of processing accuracy.

[0007] Embodiments of the present invention relate to the following machine tool and workpiece processing method.

[0008] (1) A machine tool comprising: a work support device having a table for supporting a workpiece; 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 moving the processing head in three dimensions; a laser head for irradiating the workpiece supported by the table with a laser, and a first robot having a multi-joint arm for changing the position and orientation of the laser head, and processing the workpiece with the laser. (2) A workpiece processing method comprising: a step of directly or indirectly attaching a workpiece to the table of the work support device; a first processing step of processing the workpiece supported by the table with a laser emitted from a laser head supported by a multi-joint arm of the first robot; and a second processing step of processing the workpiece supported by the table using a first rotary tool supported by a processing head that is movable in three dimensions, wherein the first processing step includes moving the laser head using the multi-joint arm, and the second processing step includes moving the processing head using a plurality of linear motion devices.

[0009] The present invention provides a machine tool and a workpiece processing method that can achieve improved processing efficiency, reduced installation space requirements, and maintained processing accuracy.

[0010] Figure 1 is a schematic perspective view of the machine tool in the first embodiment. Figure 2 is a schematic perspective view of the machine tool in the first embodiment. Figure 3 is a schematic perspective view of the machine tool in the first embodiment. Figure 4 is a schematic plan view of the machine tool in the first embodiment. Figure 5 is a schematic cross-sectional view showing the state in which the tip of the laser head is inserted into the recess of the protector. Figure 6 is a schematic cross-sectional view showing the state in which the recess of the protector is covered by the cover. Figure 7 is a schematic cross-sectional view showing the state in which the tip of the laser head is inserted into the recess of the protector in a modified example. Figure 8 is a schematic cross-sectional view showing the state in which the protector is in the storage position in a modified example. Figure 9 is a schematic plan view of the machine tool in the first embodiment. Figure 10 is a schematic front view showing an enlarged portion of the movable wall. Figure 11 is a schematic plan view of the machine tool in a first modified example of the first embodiment. Figure 12 is a schematic plan view illustrating the machine tool in the first embodiment. Figure 13 is a schematic plan view illustrating the machine tool in the first embodiment. Figure 14 is a schematic plan view illustrating the machine tool in the first embodiment. Figure 15 is a schematic plan view illustrating the machine tool in a second modified example of the first embodiment. Figure 16 is a schematic side view illustrating a portion of the processing head. Figure 17 is a schematic perspective view illustrating an example of the first robot and support base. Figure 18 is a schematic perspective view illustrating an enlarged example of a laser head attached to a multi-joint arm. Figure 19 is a schematic plan view illustrating the machine tool in the first embodiment. Figure 20 is an enlarged view of the area enclosed by the dashed-dotted rectangle RC in Figure 19. Figure 21 is a schematic plan view illustrating an enlarged portion of the machine tool in the first embodiment. Figure 22 is a schematic perspective view illustrating the cutting mode in operation. Figure 23 is a schematic perspective view illustrating the laser marking mode in operation. Figure 24 is a schematic perspective view showing a machine tool in the second embodiment. Figure 25 is a schematic plan view showing a machine tool in the second embodiment. Figure 26 is a schematic perspective view showing a workpiece supported on the table.Figure 27 is a schematic plan view illustrating a machine tool in the second embodiment. Figure 28 is a schematic perspective view illustrating an example of a second robot and support base. Figure 29 is a schematic perspective view illustrating an enlarged example of a tool support device attached to a second articulated arm. Figure 30 is a schematic side view illustrating a machining head in a modified example. Figure 31 is a schematic plan view illustrating a machine tool in the second embodiment. Figure 32 is a schematic plan view illustrating a machine tool system in the second embodiment. Figure 33 is a schematic diagram illustrating how at least one tool changer can replace a first rotary tool supported on the machining head with another first rotary tool. Figure 34 is a schematic diagram illustrating how at least one tool changer can replace a second rotary tool supported on the tool support device of a second robot with another second rotary tool. Figure 35 is a schematic diagram illustrating how a control device can control multiple controlled devices. Figure 36 is a schematic perspective view illustrating the execution of the first machining mode. Figure 37 is a schematic perspective view showing the first machining mode being executed. Figure 38 is a schematic perspective view showing the state after the rotation mode has been executed. Figure 39 is a schematic perspective view showing the second and third machining modes being executed. Figure 40 is a schematic perspective view showing the second and third machining modes being executed. Figure 41 is a schematic plan view showing a machine tool in a first modified example of the second embodiment. Figure 42 is a schematic plan view showing a machine tool in a first modified example of the second embodiment. Figure 43 is a flowchart showing an example of a workpiece machining method in the third embodiment. Figure 44 is a flowchart showing another example of a workpiece machining method in the third embodiment. Figure 45 is a schematic plan view showing an example of the arrangement relationship between the machining device and at least one robot. Figure 46 is a schematic plan view showing an example of the arrangement relationship between the machining device and at least one robot.

[0011] The machine tool 1 and the workpiece processing method in the embodiment will be described below with reference to the drawings. In the following description of the embodiment, parts and components having the same function will be denoted by the same reference numeral, and repeated descriptions of parts and components denoted by the same reference numeral will be omitted.

[0012] (Definition of Terms) In the example shown in Figure 1, the machining head 30 of the machining apparatus 3 is capable of supporting a rotary tool. In this specification, the rotary tool supported by the machining head 30 is collectively referred to as the first rotary tool.

[0013] In the example shown in Figure 24, the second articulated arm 60 of the second robot 6 is capable of supporting a rotary tool. In this specification, the rotary tool supported by the second articulated arm 60 is collectively referred to as the second rotary tool.

[0014] In this specification, even if the term "substantial" is not explicitly stated, "parallel" shall include substantially parallel. Achieving strict mathematical parallelism is difficult due to tolerances, manufacturing errors, wear, play between components, etc. Therefore, in this specification, the term "parallel" without the explicit statement of "substantial" shall be interpreted as "substantially parallel."

[0015] In this specification, even if the term "substantial" is not explicitly stated, "perpendicular" shall include substantially perpendicular. Due to tolerances, manufacturing errors, wear, play between components, etc., it is difficult to achieve exact mathematical perpendicularity. Therefore, in this specification, the term "perpendicular" without the explicit statement of "substantial" shall be interpreted as "substantial perpendicular."

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

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

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

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

[0020] The processing apparatus 3 comprises a processing head 30 and a plurality of linear motion devices 4. The processing head 30 is capable of supporting a first rotary tool T1 for processing a workpiece W supported by a table 21.

[0021] Multiple linear motion devices 4 move the machining head 30 in three dimensions. More specifically, the multiple linear motion devices 4 move the machining head 30 in directions parallel to each of three different axes.

[0022] In the example shown in Figure 2, the first robot 5 includes a laser head 173 that irradiates a workpiece W supported by a table 21 with a laser. The first robot 5 also includes a multi-joint arm 50 that changes the position and orientation of the laser head 173. The first robot 5 can also be described as a multi-joint robot. The first robot 5 processes the workpiece W with a laser.

[0023] In the machine tool 1A of the first embodiment, a workpiece W supported by the table 21 can be processed using a first rotary tool T1 supported by the processing device 3 and a laser head 173 supported by the first robot 5. Therefore, there is no need to move the workpiece between the table of the machine tool that processes the workpiece with the first rotary tool T1 and the table of the laser processing machine. Thus, the processing efficiency of the workpiece W is improved.

[0024] Furthermore, in the machine tool 1A of the first embodiment, both the processing device 3 and the first robot 5 are positioned in a location where the workpiece W supported by the table 21 can be processed. Therefore, the expansion of the installation space for the machine tool 1A is suppressed.

[0025] In the first embodiment, the processing apparatus 3 includes a plurality of linear motion devices 4 that move the processing head 30 in three dimensions. Therefore, the processing apparatus 3 can perform high-precision processing compared to the case where the processing head 30 is supported by a robot. For example, the processing apparatus 3 may be responsible for processing that requires high precision, and the first robot 5 may be responsible for processing that requires relatively low precision. Alternatively, the processing apparatus 3 may be responsible for surface cutting of the workpiece W, and the first robot 5 may be responsible for laser cutting or laser marking of the workpiece W. Processing to form multiple holes in the workpiece W may be performed by both the processing apparatus 3 and the first robot 5.

[0026] (Optional Additional Configurations) Next, with reference to Figures 1 to 23, optional additional configurations that can be adopted in the first embodiment (or the second or third embodiment described later) will be explained.

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

[0028] The workpiece W processed by the machine tool 1 may be an automobile part or any other workpiece. The workpiece W may be part of the body frame of an automobile. The workpiece W processed by the machine tool 1 may be a small workpiece or a large workpiece. As illustrated in Figure 2, if 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. If the workpiece W is a large workpiece, the width of the workpiece W (more specifically, the maximum distance between the first side surface Wc and the second side surface Wd of the workpiece W) may be, for example, 1000 mm or more, or 1500 mm or more. If the workpiece W is a large workpiece, the depth of the workpiece W (more specifically, the maximum distance between the first main surface Wa and the second main surface Wb) may be, for example, 300 mm or more, or 500 mm or more.

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

[0030] As illustrated in Figure 5, when the tip 173a of the laser head 173 is received in the recess 141, the optical components 174 (e.g., lens 174n) and / or the laser output port 173e of the laser head 173 are protected. More specifically, when the tip 173a of the laser head 173 is received in the recess 141, the protector 14 isolates the optical components 174 (more specifically, lens 174n) and the laser output port 173e of the laser head 173 from the processing atmosphere. In this way, when the tip 173a of the laser head 173 is received in the recess 141, chips and / or coolant are prevented from adhering to the optical components 174 (more specifically, lens 174n) and the laser output port 173e of the laser head 173.

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

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

[0033] As illustrated in Figure 6, the machine tool 1A may be equipped with a cover 151 that covers the recess 141. The cover 151 covers the recess 141 when the protector 14 is not in use (more specifically, when the tip 173a of the laser head 173 is not inserted into the recess 141). By covering the recess 141, the cover 151 prevents dirt from adhering to the recess 141 when the protector 14 is not in use.

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

[0035] (Coolant liquid supply device 91) In the example shown in Figure 4, the machine tool 1A is equipped with a coolant liquid supply device 91 that supplies coolant liquid to the workpiece W supported by the table 21.

[0036] When the machine tool 1A is equipped with a coolant supply device 91, excessive temperature rise of the first rotating tool T1 due to frictional heat is suppressed, and the lubrication characteristics between the workpiece W and the first rotating tool T1 are improved. Furthermore, chips are prevented from remaining 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 machining device 3.

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

[0038] Laser processing and coolant are incompatible. For example, if coolant adheres to the optical components of the laser head 173 and the laser is emitted, the optical components may be damaged. In the example shown in Figure 4, the machine tool 1A is equipped with the protector 14 described above, which prevents coolant from adhering to the optical components of the laser head 173.

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

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

[0041] In the example shown in Figure 9, the machine tool 1A is equipped with a wall 11 that defines a machining chamber CB, and a machining head 30 and a multi-joint arm 50 of the first robot 5 are arranged in the machining chamber CB. In the example shown in Figure 9, a part of the wall 11 (more specifically, a movable wall 11b which 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 arranged.

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

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

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

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

[0046] In the example shown in FIG. 9, in a plan view, a work support device 2 (more specifically, a table device 20 including the table 21 and a first drive device 23 described later) is arranged between the processing device 3 and the work passage opening OP. Therefore, when the work W is carried in or out, the processing device 3 does not get in the way. For example, when the work W is carried in or out, it is suppressed that the work W collides with the processing device 3, and it is suppressed that the processing device 3 is damaged due to such a collision.

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

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

[0049] In the example shown in FIG. 9, the processing device 3 and the first robot 5 are located in regions that are approximately 90 degrees different from each other around the work support device 2 in a plan view.

[0050] In the example shown in FIG. 9, the wall 11 that defines the processing chamber CB includes a first wall 11-1, a second wall 11-2 that faces the first wall 11-1, a third wall 11-3 that connects one side portion of the first wall 11-1 and one side portion of the second wall 11-2, and a fourth wall 11-4 that faces the third wall 11-3. The processing head 30 of the processing device 3 is arranged in the vicinity of the first wall 11-1, the work passage opening OP is formed in the second wall 11-2, and the first robot 5 is arranged in the vicinity of the third wall 11-3.

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

[0052] (Work support device 2) As illustrated in FIGS. 2 and 3, the work support device 2 may include a first drive device 23 (for example, a motor) that rotates a table 21 around a first axis AX1. The first drive device 23 may be capable of rotating the table 21 360 degrees around the first axis AX1.

[0053] If the workpiece support device 2 is equipped with a first drive device 23, the processing device 3 can process both the first main surface Wa (more specifically, the front surface of the workpiece W) and the second main surface Wb (more specifically, the back surface of the workpiece W) of the workpiece W using at least one first rotary tool T1. In addition, the first robot 5 can process both the first main surface Wa (more specifically, the front surface of the workpiece W) and the second main surface Wb (more specifically, the back surface of the workpiece W) of the workpiece W with a laser.

[0054] In the example shown in Figure 1, the work support device 2 comprises a table 21, a block 22 that supports the table 21 so as to be rotatable around a first axis AX1, and a first drive device 23 that rotates the table 21 around the first axis AX1. Note that each of the table 21 and the block 22 may be composed of a single part or an assembly of multiple parts. In the example shown in Figure 1, the first axis AX1 is substantially perpendicular to the horizontal plane. Alternatively, the first axis AX1 may be inclined with respect to the horizontal plane. Even more alternatively, the first axis AX1 may be substantially parallel to the horizontal plane. If the table 21 is tiltable, the angle between the first axis AX1 and the horizontal plane may change in accordance with the tilt of the table 21.

[0055] In the example shown in Figure 1, the table 21 and the first drive unit 23 are included in the table device 20. In other words, the machine tool 1A (more specifically, the workpiece support device 2) includes a table device 20, which includes a table 21 and a first drive unit 23 that rotates the table 21 around the first axis AX1. Additionally, the table device 20 may include a block 22 that pivotably supports the table 21.

[0056] As illustrated in Figure 1, the machine tool 1A may include a guide rail 24 that supports the table device 20 so that it can move in a first direction DR1.

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

[0058] In the example shown in Figure 12, the table device 20 is movable in a direction parallel to the first direction DR1, at least between the receiving position P1 and the advancing position P2. The receiving position P1 is the position where the table device 20 (more specifically, the table 21) receives the workpiece W that is brought in from outside the machine tool 1A. The advancing position P2 is the position where the workpiece W supported by the table 21 can be processed using the processing device 3. The receiving position P1 is located closer to the first direction DR1 than the advancing position P2.

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

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

[0061] Alternatively, or additionally, as illustrated in Figure 15, the machine tool 1A may include a fourth drive unit 19d (e.g., a motor) for moving the machining apparatus 3 in a direction parallel to the first direction DR1. The fourth drive unit 19d moves the entire machining apparatus 3, or the structure including the column 38c supporting the machining head 30, in a direction parallel to the first direction DR1. The machine tool 1A may also include a guide rail 19r extending in a direction parallel to the first direction DR1. The guide rail 19r guides the movement of the entire machining apparatus 3, or the structure including the column 38c supporting the machining head 30.

[0062] In the example shown in Figure 15, the processing device 3 is movable in a direction parallel to the first direction DR1 between an advanced position P4 and a retracted position P5. The advanced position P4 is the position in which the workpiece W supported by the table 21 can be processed using the processing device 3. The retracted position P5 is the position in which the workpiece W supported by the table 21 can be rotated around the first axis AX1 without interfering with the processing device 3.

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

[0064] The spindle 31 is capable of holding the first rotating tool T1. The spindle 31 is rotatable around the first rotation axis AD1.

[0065] The support 32 supports the spindle 31 so that it can rotate around the first rotation axis AD1 via the bearing 33.

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

[0067] In the example shown in Figure 1, the first rotation axis AD1 is not parallel to the vertical, and more specifically, the first rotation axis AD1 is substantially perpendicular to the vertical. In this case, the chips generated by the contact between the first rotating tool T1, which rotates around the first rotation axis AD1, and the workpiece W are easily discharged downward.

[0068] In the example shown in Figure 1, the first axis AX1 (in other words, the pivot axis of the table 21) is positioned substantially perpendicular to the direction parallel to the first rotation axis AD1. In this case, by rotating the table 21 supporting the workpiece W around the first axis AX1, the surface of the workpiece W to be machined can be directed toward the first rotary tool T1. More specifically, by rotating the table 21 to each indexing position around the first axis AX1, each surface of the workpiece W parallel to the first axis AX1 to be machined can be brought directly toward the first rotation axis AD1.

[0069] Furthermore, 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 Figures 39 and 40 if necessary). In this case as well, by rotating the table 21 to each indexing position around the first axis AX1, each surface of the workpiece W that is to be machined parallel to the first axis AX1 can be made to face the first rotation axis AD1. In addition, if the table 21 is tiltable around a second axis AX2 different from the first axis AX1 (see Figures 39 and 40 if necessary), by combining the rotation of the table 21 around the first axis AX1 and the tilting of the table 21 around the second axis AX2, any surface of the workpiece W that is to be machined can be made to face the first rotation axis AD1.

[0070] (First Robot 5) In the example shown in Figure 17, the first robot 5 includes an articulated arm 50, which has at least six rotation axes (RX1, RX2, RX3, RX4, RX5, RX6). More specifically, the articulated arm 50 includes a first part 51a that can rotate around a first pivot axis RX1 with respect to a support base 13a, a second part 51b that can tilt around a first tilt axis RX2 with respect to the first part 51a, a third part 51c that can tilt around a second tilt axis RX3 with respect to the second part 51b, a fourth part 51d that can rotate around a second pivot axis RX4 with respect to the third part 51c, a fifth part 51e that can tilt around a third tilt axis RX5 with respect to the fourth part 51d, and a sixth part 51f that can rotate around a third pivot axis RX6 with respect to the fifth part 51e. In the example shown in Figure 17, the articulated arm 50 has at least three tilting axes and at least three pivoting axes.

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

[0072] In the example shown in Figure 17, the laser head 173 is attached to the articulated arm 50 via a link 52. The link 52 is composed of the sixth section 51f described above.

[0073] In the example shown in Figure 17, the first robot 5 is equipped with multiple arm drive devices 59 (for example, multiple motors MT) that move multiple joints of the articulated arm 50.

[0074] In the example shown in Figure 1, the machine tool 1A includes a support base 13a that supports the first robot 5. In the example shown in Figure 1, the height of the upper surface 131a of the support base 13a is higher than the height of the upper surface of the table 21. Also, the height of the upper surface 131a of the support base 13a is higher than the height of the uppermost end of the table device 20. In the example shown in Figure 1, the support base 13a is not movable 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.

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

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

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

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

[0079] In the example shown in Figure 4, the control device 7 includes a memory 72 for storing machining programs and data, and a processor 70 for executing the machining programs stored in the memory 72. As the machining programs are executed by the processor 70, the control device 7 generates a plurality of control commands. The control device 7 also transmits the generated plurality of control commands to a plurality of controlled devices (for example, the machining device 3, the first robot 5, the workpiece support device 2, the third drive device 18, the fourth drive device 19d shown in Figure 15, etc.).

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

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

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

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

[0084] As illustrated in Figure 21, the first processing mode M1 may include a trimming mode M1-2 in which burrs Bu (more specifically, casting burrs, sprue burrs, etc.) are removed from the workpiece W by a laser emitted from the laser head 173.

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

[0086] As illustrated in Figure 22, the first processing mode M1 may include a cutting mode M1-3 in which a laser LB emitted from the laser head 173 cuts out a portion Wk of the workpiece W.

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

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

[0089] As illustrated in Figure 23, the first processing mode M1 may include a laser marking mode M1-4 in which a laser emitted from the laser head 173 imprints at least one of characters, symbols, and barcodes on the surface of the workpiece W. More specifically, the laser marking mode M1-4 includes forming a recess Dp on the surface of the workpiece W with a laser, indicating at least one of characters Dp-1, symbols, and barcodes.

[0090] More specifically, when laser marking mode M1-4 is performed, the control device 7 transmits a fourth group of control commands to at least the first robot 5 and the laser irradiation device 17 (e.g., laser light source 176) so that at least one of letters, symbols, and barcodes is imprinted on the surface of the workpiece W by the laser emitted from the laser head 173. In this specification, barcodes include one-dimensional barcodes and two-dimensional barcodes (in other words, QR codes®).

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

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

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

[0094] In the example shown in Figure 4, the machining apparatus 3 can perform surface machining (e.g., milling) on ​​the workpiece W using a first rotary tool T1 (more specifically, a surface machining tool T1-1) supported by the machining head 30. Since the machining apparatus 3 is capable of high-precision machining, it can suitably handle the surface machining of the workpiece W. The control device 7, which executes the machining program, may also assign the machining apparatus 3 to handle all of the surface machining of the workpiece W.

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

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

[0097] (Swivel Mode M4) As illustrated in Figures 13 and 14, the control device 7 may also perform a swivel mode M4 in which the table 21 is swiveled around the first axis AX1 by controlling the work support device 2 (more specifically, the first drive device 23).

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

[0099] (Second Embodiment) The machine tool 1B in the second embodiment will be described with reference to Figures 24 to 42. Figure 24 is a schematic perspective view showing the machine tool 1B in the second embodiment. Figure 25 is a schematic plan view showing the machine tool 1B in the second embodiment. Figure 26 is a schematic perspective view showing the state in which the workpiece W is supported on the table 21. Figure 27 is a schematic plan view showing the machine tool 1B in the second embodiment. Figure 28 is a schematic perspective view showing an example of the second robot 6 and support base 13b. Figure 29 is a schematic perspective view showing an enlarged example of a tool support device 63 attached to the second articulated arm 60. Figure 30 is a schematic side view showing a modified machining head 30. Figure 31 is a schematic plan view showing the machine tool 1B in the second embodiment. Figure 32 is a schematic plan view showing the machine tool system 100 in the second embodiment. Figure 33 schematically shows how at least one tool changer 8 can replace a first rotary tool T1 supported on the machining head 30 with another first rotary tool. Figure 34 schematically shows how at least one tool changer 8 can replace a second rotary tool T2 supported on the tool support device 63 of the second robot 6 with another second rotary tool. Figure 35 schematically shows how the control device 7 can control multiple controlled devices. Figures 36 and 37 are schematic perspective views showing the first machining mode M1 being executed. Figure 38 is a schematic perspective view showing the state after the rotation mode M4 has been executed. Figures 39 and 40 are schematic perspective views showing the second machining mode M2 ​​and the third machining mode M3 being executed. Figures 41 and 42 are schematic plan views schematically showing a machine tool 1B in a first modified example of the second embodiment.

[0100] As illustrated in Figure 24, in the second embodiment, the workpiece support device 2 includes a second drive device 26 that tilts the table 21 around the second axis AX2. Alternatively, or additionally, the machine tool 1B in the second embodiment includes a second robot 6.

[0101] The second embodiment will primarily describe the differences from the first embodiment. On the other hand, the second embodiment will omit repetitive explanations of matters already described in the first embodiment. Therefore, it goes without saying that even if not explicitly explained in the second embodiment, matters already described in the first embodiment can be applied to the second embodiment. Conversely, all matters described in the second embodiment are applicable to the first embodiment.

[0102] As illustrated in Figure 24, the machine tool 1B in the second embodiment comprises: (1) a work support device 2 having a table 21 for supporting a workpiece; (2) a processing device 3 having a processing head 30 capable of supporting a first rotary tool T1 for processing the workpiece supported by the table 21, and a plurality of linear motion devices 4 for moving the processing head 30 in three dimensions; and (3) a first robot 5 having a laser head 173 for irradiating a workpiece supported by the table 21 with a laser, and a multi-joint arm 50 for changing the position and orientation of the laser head 173, and for processing the workpiece with a laser.

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

[0104] (Optional Additional Configurations) Next, with reference to Figures 1 to 42, optional additional configurations that can be adopted in the second embodiment (or the first embodiment described above or the third embodiment described later) will be explained.

[0105] (Second Robot 6) In the example shown in Figure 24, the machine tool 1 includes a second robot 6. The second robot 6 processes a workpiece supported by the table 21 using a second rotary tool T2. The second robot 6 includes a second articulated arm 60 that changes the position and orientation of the second rotary tool T2. The second robot 6 can also be described as a second articulated robot.

[0106] In the example shown in Figure 25, the machine tool 1 can process a workpiece W supported by the table 21 using a first rotary tool T1 supported by the processing device 3, a laser head 173 supported by the first robot 5, and a second rotary tool T2 supported by the second robot 6. This further improves the processing efficiency of the workpiece W.

[0107] In the example shown in Figure 25, the processing device 3, the first robot 5, and the second robot 6 are positioned in a location where the workpiece W supported by the table 21 can be processed. Therefore, the expansion of the installation space for the machine tool 1 is suppressed.

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

[0109] The processing device 3 is equipped with multiple linear motion devices 4 that move the processing head 30 in three dimensions. Therefore, the processing device 3 can perform high-precision processing compared to the second robot 6 which has a second articulated arm 60. For example, the processing device 3 can be assigned to cutting processes that require high precision, while cutting processes with relatively lower precision requirements can be divided between the processing device 3 and the second robot 6.

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

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

[0112] In the examples shown in Figures 25 and 27, the machine tool 1 is capable of sequentially performing the following actions: simultaneously cutting a workpiece W supported on the table 21 by the processing device 3 and the second robot 6; rotating the table 21 supporting the workpiece W 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 cutting the workpiece W supported on the table 21 by the processing device 3 and the second robot 6.

[0113] In the example shown in Figure 25, the workpiece support device 2 is positioned between the processing device 3 and the workpiece passage opening OP in a plan view. Therefore, the processing device 3 does not get in the way when loading or unloading the workpiece W.

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

[0115] As illustrated in Figure 25, the workpiece passage opening OP, the first robot 5, the processing device 3, and the second robot 6 may be arranged around the workpiece support device 2 in the following order, counterclockwise (or clockwise).

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

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

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

[0119] Alternatively, in the example shown in Figure 25, the positions of the processing device 3 and the first robot 5 may be swapped. Alternatively, in the example shown in Figure 25, the positions of the processing device 3 and the second robot 6 may be swapped.

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

[0121] In the example shown in Figure 28, the wristband 62 is positioned at the tip of the second articulated arm 60. In other words, the second robot 6 includes a wristband 62 positioned at the tip of the second articulated arm 60. In the example shown in Figure 28, the wristband 62 is composed of the sixth part 61f described above. The second articulated arm 60 can freely change the position and orientation of the wristband 62.

[0122] The second robot 6 is equipped with multiple arm drive devices 69 (for example, multiple motors MT) that move multiple joints of the second articulated arm 60.

[0123] In the example shown in Figure 28, the second robot 6 includes a tool support device 63 attached to the second articulated arm 60 (more specifically, the listing 62). The tool support device 63 is capable of supporting the second rotary tool T2.

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

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

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

[0127] If the tool support device 63 includes a second rotary drive device 64 and a tool linear motion device 65, the second rotary tool T2 can be rotated around the second rotation axis AD2 while simultaneously being moved in a direction parallel to the second rotation axis AD2. Therefore, after the second rotary tool T2 contacts the workpiece W, a hole HL3 can be formed in the workpiece W using the second rotary tool T2 without changing the position of the wrist 62. Thus, the accuracy of the hole formation process in the workpiece W is maintained. In other words, although a decrease in machining accuracy due to the presence of multiple joints in the second robot 6 is unavoidable, since the hole formation process in the workpiece W is performed with the angle of the multiple joints fixed, an excessive decrease in machining accuracy is prevented.

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

[0129] (Second drive device 26) In the example shown in Figure 24, the work support device 2 includes a second drive device 26 (for example, a motor) that tilts the table 21 around the second axis AX2. In the example shown in Figure 24, the second drive device 26 tilts the table 21 supported by the block 22 around the second axis AX2 by tilting the block 22 around the second axis AX2. In the example shown in Figure 24, the second axis AX2 is a different axis from the first axis AX1. More specifically, the second axis AX2 is perpendicular to the first axis AX1. The second axis AX2 may be substantially parallel to the horizontal plane.

[0130] If the workpiece support device 2 has a tilting axis (in other words, if the table 21 is tiltable around the second axis AX2), the inclined surface WS of the workpiece W (see Figure 26 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. In this case, it is not necessarily required that the precision machining of the inclined surface WS of the workpiece W be handled by a machine tool other than the machine tool 1. By reducing the number of machine tools, the installation space for machine tools in the workplace can be reduced. More specifically, the inclined surface WS of the workpiece W is the surface inclined with respect to the first axis AX1, or the surface inclined with respect to the upper surface of the table 21.

[0131] Furthermore, if the workpiece support device 2 has a tilting axis (in other words, if the table 21 is tiltable around the second axis AX2), the laser head 173 supported by the articulated arm 50 and / or the second rotary tool T2 supported by the second articulated arm 60 can easily approach the top surface We of the workpiece W (see Figure 26 if necessary). It is also possible to machine the top surface We of the workpiece W using the first rotary tool T1 supported by the machining head 30.

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

[0133] In the example shown in Figure 24, it is preferable that the second drive unit 26 can tilt the table 21 in a stepless manner around the second axis AX2. In other words, it is preferable that the machine tool 1 can adjust the inclination angle of the table 21 in a stepless manner. The second drive unit 26 may also be able to maintain the angle between the horizontal plane and the upper surface of the table 21 at any angle of at least 0 degrees and 90 degrees or less.

[0134] Since the second articulated arm 60 can change the orientation of the second rotary tool T2 to any desired orientation, there is no need to tilt the workpiece W in machining using the second robot 6. On the other hand, since the movement of the machining head 30 is, in principle, performed using multiple linear motion devices 4, it is not possible to change the orientation of the machining head 30 relative to the workpiece W. Of course, as illustrated in Figure 30, the machine tool 1B in the second embodiment (or the machine tool 1A in the first embodiment) may be equipped with a tilting drive device 35 that tilts the machining head 30 around the tilting axis AT. However, there are limits to tilting around the tilting axis AT using the tilting drive device 35. Also, at least two tilting axes are required to change the orientation of the machining head 30 to any desired orientation. In the second embodiment, the machine tool 1B (or in the first embodiment, the machine tool 1A) may be equipped with a tilting drive device that tilts the machining head 30 around each of the two tilting axes. However, as tilting axes are provided on the machining head 30, the accuracy of the machining performed using the machining device 3 may decrease.

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

[0136] In the example shown in Figure 24, the support base 25 includes a first support base 25a that supports the first end portion 22a of the block 22 so as to be tiltable around the second axis AX2, and a second support base 25b that supports the second end portion 22b of the block 22 so as to be tiltable.

[0137] In the example shown in Figure 24, the block 22 includes 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, with the central portion 22c recessed relative to the first end 22a and the second end 22b. In the example shown in Figure 24, with the top surface of the table 21 positioned parallel to the horizontal plane, the table 21 is positioned directly above the central portion 22c. In the example shown in Figure 24, with the top surface of the table 21 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 its 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 Figure 24, but is arbitrary.

[0139] In addition to the table device 20, the work support device 2 may also include 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 be equipped with 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 Figure 24, the first direction DR1 is substantially parallel to the horizontal plane and substantially perpendicular to the second axis AX2.

[0141] The machine tool 1 may be equipped with a fourth drive device 19d (see Figure 15 if necessary) in addition to the third drive device 18, or in place of the third drive device 18, which moves the processing device 3 in a direction parallel to the first direction DR1. The third drive device 18 and the fourth drive device 19d have already been described in the first embodiment, so a repeated explanation of their configurations will be omitted.

[0142] In the example shown in Figure 31, the table device 20 is movable in a direction parallel to the first direction DR1, at least between the receiving position P1 and the extending position P2 (or the pivotable position P3). The receiving position P1, the extending position P2, and the pivotable position P3 have already been described in the first embodiment, so a repetitive explanation of these positions will be omitted.

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

[0144] (Processing head 30) The processing head 30 has already been described in the first embodiment, so a repeated explanation of the processing head 30 will be omitted (see, for example, Figure 16 for details on the processing head 30).

[0145] (First Robot 5) The first robot 5 has already been described in the first embodiment, so a repetitive explanation of the first robot 5 will be omitted.

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

[0147] The third robot 101 loads workpieces W from outside the machine tool 1 into the machining chamber CB, and / or loads workpieces from the table 21 to outside the machining chamber CB (i.e., loads processed workpieces). In the example shown in Figure 32, a wall 11 (more specifically, a fixed wall 11a) defining the machining chamber CB is placed between the third robot 101 and the first robot 5. Note that the number of robots for loading and unloading workpieces is not limited to one. In other words, the machine tool system 100 may have other robots for loading and unloading workpieces in addition to the third robot 101.

[0148] In the example shown in Figure 32, the third robot 101 transports the workpiece W from outside the machine tool 1 into the machining chamber CB of the machine tool 1 via the workpiece passage opening OP. More specifically, the third robot 101 transports the workpiece W from outside the machine tool 1 into the machining chamber CB of the machine tool 1 via 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 positioned at the receiving position P1, the table device 20 can smoothly receive the workpiece W from the third robot 101.

[0149] In the example shown in Figure 32, the third robot 101 includes a third articulated arm 102, which can traverse a workpiece passage opening OP. The third robot 101 also includes a gripping body 103 capable of gripping a workpiece W or a jig J. The gripping body 103 is attached, for example, to the tip of the third articulated arm 102.

[0150] (Processing Chamber CB) In the example shown in Figure 25, the machine tool 1 includes a wall 11 that defines the processing chamber CB. In the example shown in Figure 25, the processing chamber CB contains a processing head 30, the articulated arm 50 of the first robot 5, and the second articulated arm 60 of the second robot 6.

[0151] In the example shown in Figure 25, a workpiece passage opening OP is formed in the wall 11 that defines the processing chamber CB, through which the workpiece W passes. The machine tool 1 is also equipped with a door 12 that opens and closes the workpiece passage opening OP formed in the wall 11.

[0152] In the example shown in Figure 25, the wall 11 defining the processing chamber CB includes a first wall 11-1 (for example, a movable wall 11b) and a second wall 11-2 facing the first wall 11-1. The wall 11 may also include a third wall 11-3 and a fourth wall 11-4 facing the third wall 11-3. The first wall 11-1, the second wall 11-2, the third wall 11-3, the fourth wall 11-4, and the movable wall 11b have already been described in the first embodiment, so a repetitive explanation of these walls will be omitted.

[0153] (Coolant supply device 91) In the example shown in Figure 31, the machine tool 1 is equipped with a coolant supply device 91 that supplies coolant to the workpiece W supported by the table 21. The coolant supply device 91 has already been described in the first embodiment, so a repeated explanation of the coolant supply device 91 will be omitted.

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

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

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

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

[0158] In the example shown in Figure 24, the machine tool 1 includes a base 10, which supports the third movable body 38 so that it can move in a direction parallel to the X-axis.

[0159] (Multiple Linear Motion Devices 4) In the example shown in Figure 24, the machine tool 1 (more specifically, the machining device 3) is equipped with multiple linear motion devices 4 that move the machining head 30 in three dimensions. 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.

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

[0161] The second linear motion device 44 includes a drive device 45 (for example, a motor) that moves the second mobile body 37 in a direction parallel to the Z-axis. Preferably, the second linear motion device 44 includes a second linear guide 46 that guides the movement of the second mobile body 37 in a direction parallel to the Z-axis. In the example shown in Figure 24, the second linear guide 46 is located on the third mobile body 38.

[0162] The third linear motion device 47 includes a drive device 48 (for example, a motor) that moves the third mobile body 38 in a direction parallel to the X-axis. Preferably, the third linear motion device 47 includes a third linear guide 49 that guides the movement of the third mobile body 38 in a direction parallel to the X-axis. In the example shown in Figure 24, the third linear guide 49 supports the third mobile body 38 so that it can move. The third linear guide 49 is also located on the base 10 of the machine tool 1.

[0163] (Tool changer 8) The machine tool 1 preferably includes at least one tool changer 8. The at least one tool changer 8 is positioned at any location on the machine tool 1. The at least one tool changer 8 is capable of changing a first rotary tool T1 supported on the machining head 30 for another first rotary tool. The at least one tool changer 8 is capable of changing a second rotary tool T2 supported on the second articulated arm 60 of the second robot 6 for another second rotary tool.

[0164] In the example shown in Figure 33, at least one tool changer 8 includes a first tool changer 80a. The first tool changer 80a changes a first rotary tool T1 (e.g., a surface machining tool T1-1) supported on the machining head 30 for another first rotary tool (e.g., a hole forming tool T1-2). In the example shown in Figure 33, the first tool changer 80a changes a first rotary tool T1 (e.g., a surface machining tool T1-1) supported on the machining head 30 for another first rotary tool (e.g., a hole forming tool T1-2) taken from at least one tool stocker 93. The hole forming tool T1-2 may be a drill T1-2a or a tap tool T1-2b.

[0165] In the example shown in Figure 33, the first tool changing device 80a includes a first gripping portion 82a capable of gripping the first rotating tool and a second gripping portion 83a capable of gripping other first rotating tools.

[0166] As illustrated in Figure 33, the first tool changing device 80a may include a tool changing arm 81a, an arm rotating device 84a for rotating the tool changing arm 81a, and an arm moving device 85a for moving the tool changing arm 81a linearly.

[0167] Alternatively, the machining head 30 may be configured to access the tool stocker 93 and directly replace the first rotary tool T1 supported by the machining head 30 with another first rotary tool. In this case, the tool changing device for changing tools on the machining head 30 is omitted.

[0168] In the example shown in Figure 34, at least one tool changer 8 includes a second tool changer 80b. The second tool changer 80b changes a second rotary tool T2 (e.g., a drill T2-1) supported on the second articulated arm 60 via a tool support device 63 for another second rotary tool (e.g., a tap tool T2-2). As illustrated in Figure 34, the second tool changer 80b may change the second rotary tool T2 (e.g., a drill T2-1) supported on the second articulated arm 60 via a tool support device 63 for another second rotary tool (e.g., a tap tool T2-2) taken from at least one tool stocker 93. In the example shown in Figure 34, each second rotary tool T2 is a tool that cannot be attached to the machining head 30 of the machining apparatus 3, and in the example shown in Figure 33, each first rotary tool T1 is a tool that cannot be attached to the tool support device 63 of the second robot 6.

[0169] Alternatively, the tool support device 63 may be configured to access the tool stocker 93 and directly replace the second rotary tool T2 supported by the tool support device 63 with another second rotary tool. In this case, the tool changer that performs tool changes to the tool support device 63 is omitted.

[0170] (Machining of workpiece W supported by a non-tilting table 21) As illustrated in Figure 39, in this specification, "table 21 is in a non-tilting state" means that the first axis AX1 is substantially perpendicular to the horizontal plane. However, if the table 21 is a table that does not pivot around the first axis AX1, in this specification, "table 21 is in a non-tilting state" means that the top surface of the table is substantially parallel to the horizontal plane.

[0171] In the example shown in Figure 39, the processing device 3 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 a non-tilting state, the processing device 3 and the second robot 6 can simultaneously process the workpiece W supported by the table 21.

[0172] (Machining of workpiece W supported by a tilted table 21) As illustrated in Figure 40, in this specification, "table 21 is in a tilted state" means that the first axis AX1 is not parallel to the vertical direction. However, if the table 21 is a table that does not pivot around the first axis AX1, then in this specification, "table 21 is in a tilted state" means that the upper surface of the table is inclined with respect to the horizontal plane.

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

[0174] In the examples shown in Figures 39 and 40, the processing device 3 and the second robot 6 can simultaneously process the workpiece W supported by the table 21, both 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. Therefore, workpieces with complex shapes can be processed efficiently.

[0175] (Control device 7) In the example shown in Figure 35, the control device 7 controls the work support device 2, the processing device 3, the first robot 5, and the laser irradiation device 17. If the machine tool 1 is equipped with a second robot 6, the control device 7 controls the second robot 6. If the machine tool 1 is equipped with at least one tool changer 8, the control device 7 controls the at least one tool changer 8. If the machine tool 1 is equipped with a third drive device 18 that moves the table device 20 in a direction parallel to the first direction DR1, the control device 7 controls the third drive device 18. Furthermore, if the machine tool 1 is equipped with a fourth drive device 19d (see Figure 15) that moves the processing device 3 in a direction parallel to the first direction DR1, the control device 7 controls the fourth drive device 19d. Similar to the first embodiment, the control device 7 may be composed of one computer or multiple computers. For example, the machine tool 1 may include a first computer that controls the 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. Alternatively, these computers may cooperate to function as a control device 7 for the machine tool 1.

[0176] As illustrated in Figure 35, the control device 7 comprises a hardware processor 70 (hereinafter simply referred to as "processor 70"), a memory 72, a communication circuit 74, and an input device 76 (for example, a touch panel display 762). The processor 70, the memory 72, the communication circuit 74, and the input device 76 are connected to each other via a bus 78. Data necessary for machining the workpiece W (for example, work data 726 including shape data 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 a touch panel display 762. For example, the control device 7 may include an input device 76 such as a button, switch, lever, pointing device, or keyboard, and a display that displays the data or other information input to the input device 76.

[0177] The control device 7 generates multiple control commands by executing the machining program 722 stored in the memory 72. The communication circuit 74 transmits the multiple control commands generated by the control device 7 to multiple controlled devices (for example, the workpiece support device 2, the machining device 3, the first robot 5, the laser irradiation device 17, the second robot 6, at least one tool changer 8, the third drive device 18, the fourth drive device 19d shown in Figure 15, etc.). In this way, the control device 7 can control multiple controlled devices.

[0178] In the example shown in Figure 35, the control device 7 may transmit a first operation command E1 to a plurality of arm drive devices 59 (for example, a plurality of motors MT) of the first robot 5. The plurality of arm drive devices 59 that receive the first operation command E1 from the control device 7 operate a plurality of joints of the articulated arm 50.

[0179] In the example shown in Figure 35, the control device 7 may transmit an ejection command E2 to the laser irradiation device 17. Upon receiving the ejection command E2 from the control device 7, the laser irradiation device 17 emits a laser from the laser emission port 173e of the laser head 173.

[0180] In the example shown in Figure 35, the control device 7 may transmit a movement command E3 to a plurality of linear motion devices 4 of the machining apparatus 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 (for example, a direction parallel to the first rotation axis AD1). The control device 7 transmits a second movement command E3-2 to the second linear motion device 44, and the second linear motion device 44 that receives the second movement command E3-2 moves the machining head 30 in a direction parallel to the Z-axis (for example, a direction parallel to the vertical direction). Furthermore, the control device 7 transmits a third movement command E3-3 to the third linear motion device 47, and the third linear motion device 47, 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).

[0181] In the example shown in Figure 35, the control device 7 may transmit a first rotation command E4 to the first rotation drive device 34 of the processing device 3. Upon receiving the first rotation command E4 from the control device 7, the first rotation drive device 34 rotates the first rotary tool T1 around the first rotation axis AD1.

[0182] In the example shown in Figure 35, the control device 7 may transmit a second operation command E5 to a plurality of arm drive devices 69 (for example, a plurality of motors MT) of the second robot 6. The plurality of arm drive devices 69 that receive the second operation command E5 from the control device 7 operate the plurality of joints of the second articulated arm 60.

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

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

[0185] In the example shown in Figure 35, the control device 7 may transmit a rotation command E8 to the first drive unit 23 of the work support device 2. Upon receiving the rotation command E8 from the control device 7, the first drive unit 23 rotates the table 21 around the first axis AX1.

[0186] In the example shown in Figure 35, the control device 7 may transmit a tilt command E9 to the second drive unit 26 of the work support device 2. Upon receiving the tilt command E9 from the control device 7, the second drive unit 26 tilts the table 21 around the second axis AX2.

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

[0188] In the example shown in Figure 35, the control device 7 may transmit a tool change command E12 to at least one tool changer 8. The at least one tool changer 8 that receives the tool change command E12 from the control device 7 may replace the first rotary tool T1 supported by the machining head 30 with another first rotary tool. The at least one tool changer 8 that receives the tool change command E12 from the control device 7 may replace the second rotary tool T2 supported by the second articulated arm 60 with another second rotary tool.

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

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

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

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

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

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

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

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

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

[0198] During the execution of the second processing mode M2, the tip 173a of the laser head 173 may be inserted into the recess 141 of the protector 14. In this case, during the execution of the second processing mode M2, the optical components 174 (e.g., lens 174n) located inside the laser head 173, and / or the laser output port 173e of the laser head 173 are protected by the protector 14.

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

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

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

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

[0203] More specifically, the control device 7 may be capable of executing a third machining mode M3 which includes, at least, transmitting a second motion command E5 to a plurality of arm drive devices 69 of the second robot 6, transmitting a second rotation command E6 to the second rotation drive device 64 of the tool support device 63, and transmitting a tool movement command E7 to the tool linear motion device 65 of the tool support device 63, so that the workpiece W supported on the table 21 is machined by a second rotary tool T2 supported by a second articulated arm 60. In the third machining mode M3, the position and orientation of the second rotary tool T2 are changed using the second articulated arm 60 before the second rotary tool T2 makes 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.

[0204] As illustrated in Figures 39 to 41, it is preferable that at least a portion of the second processing mode M2 ​​and at least a portion of the third processing mode M3 are executed simultaneously. By executing the second processing mode M2 ​​and the third processing mode M3 simultaneously, the time required to process the workpiece W can be shortened.

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

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

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

[0208] (Swivel Mode M4) The control device 7 may execute a swivel mode M4 in which the table 21 is swiveled around the first axis AX1 by controlling the work support device 2 (more specifically, the first drive device 23). More specifically, the control device 7 may execute a swivel mode M4 which includes transmitting a swivel command E8 to the first drive device 23 of the work support device 2 so that the workpiece W supported on the table 21 is swiveled around the first axis AX1. Figure 38 shows the state after the swivel mode M4 has been executed.

[0209] The rotation mode M4 may include moving the table device 20 from the advance position P2 (or the receiving position P1) to the rotationable position P3, and rotating the table 21 supporting the workpiece W around the first axis AX1 while the table device 20 is in the rotationable position P3. In this case, the control device 7 transmits a table movement command E10 to the third drive unit 18 and a rotation command E8 to the first drive unit 23 of the workpiece support device 2 so that the table device 20 moves from the advance position P2 (or the receiving position P1) to the rotationable position P3 and the workpiece W rotates around the first axis AX1. Note that if the workpiece W to be processed is a small workpiece, it is not necessarily required to move the table device 20 between the advance position P2 (or the receiving position P1) and the rotationable position P3 when executing rotation mode M4.

[0210] If the table 21 is in a tilted state, the control device 7 may execute the rotation mode M4 after the state of the table 21 is changed from the tilted state to the non-tilted state. Alternatively, if rotating the tilted table 21 around the first axis AX1 does not cause interference between the workpiece W and the surrounding structure, the tilted table 21 may be rotated around the first axis AX1 in rotation mode M4.

[0211] Because the control device 7 is capable of executing the rotation mode M4, the machine tool 1 can change the orientation of the workpiece W relative to the processing device 3 and the first robot 5. In this way, the processing device 3 and the first robot 5 can easily process not only the first main surface Wa (e.g., the front of the workpiece W) of the workpiece W, but also the first side surface Wc (e.g., the right side of the workpiece W), the second main surface Wb (e.g., the back of the workpiece W), and the second side surface Wd (e.g., the left side of the workpiece W) of the workpiece W.

[0212] (Tilt Mode M5) The control device 7 may execute a tilt mode M5 in which the table 21 is tilted around the second axis AX2 by controlling the work support device 2 (more specifically, the second drive device 26). More specifically, the control device 7 may execute a tilt mode M5 which includes transmitting a tilt command E9 to the second drive device 26 of the work support device 2 so that the workpiece W supported on the table 21 is tilted around the second axis AX2. Figure 40 shows how the second machining mode M2 ​​(or third machining mode M3) is executed after the tilt mode M5 is executed.

[0213] Because the control device 7 is capable of executing the tilting mode M5, the machine tool 1 can change the orientation of the workpiece W relative to the processing device 3. In this way, the processing device 3 can easily process workpieces W with complex shapes (see Figures 39 and 40).

[0214] (First tool change mode M6) As illustrated in Figure 33, the control device 7 may perform a first tool change mode M6 in which the first rotary tool T1 supported on the machining head 30 is changed to another first rotary tool by controlling the tool change device 80 (more specifically, the first tool change device 80a).

[0215] More specifically, the control device 7 can execute a first tool change mode M6, which includes transmitting a first tool change command E12-1 to a first tool changer 80a so that the first rotary tool T1 supported by the machining head 30 is replaced with another first rotary tool.

[0216] Because the control device 7 is capable of executing the first tool change mode M6, the processing device 3 can perform multiple types of processing (for example, surface machining, drilling, tapping, friction stir welding, etc.) on a single workpiece W.

[0217] (Second tool change mode M7) As illustrated in Figure 34, the control device 7 may perform a second tool change mode M7 in which the second rotary tool T2 supported by the second articulated arm 60 is changed to another second rotary tool by controlling the tool change device 80 (more specifically, the second tool change device 80b).

[0218] More specifically, the control device 7 can perform a second tool change mode M7, which includes transmitting a second tool change command E12-2 to a second tool changer 80b so that the second rotary tool T2 supported by the second articulated arm 60 is replaced with another second rotary tool.

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

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

[0221] For example, if we define the first machining cycle as the rotation of the table 21 supporting the workpiece W around the first axis AX1, and then machining the workpiece W supported by the table 21 with a laser emitted from a laser head 173 supported by a multi-joint arm 50, the control device 7 (more specifically, the control device 7 that controls the first robot 5 and the first drive device 23) is configured to execute the first machining cycle two or more times by running a machining program 722 stored in memory 72. In this way, multiple surfaces of the workpiece W (for example, the first main surface Wa and the second main surface Wb) can be efficiently machined with the laser emitted from the laser head 173.

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

[0223] (Third Embodiment) The workpiece processing method in the third embodiment will be described with reference to Figures 1 to 44. Figure 43 is a flowchart showing an example of the workpiece processing method in the third embodiment. Figure 44 is a flowchart showing another example of the workpiece processing method in the third embodiment.

[0224] The third embodiment will primarily describe the differences from the first and second embodiments. On the other hand, in the third embodiment, repetitive explanations of matters already described in the first or second embodiment will be omitted. Therefore, it goes without saying that even if not explicitly explained in the third embodiment, matters already described in the first or second embodiment can be applied to the third embodiment. Conversely, matters described in the third embodiment are applicable to the first and second embodiments, respectively.

[0225] The workpiece machining method in the third embodiment may be performed using machine tool 1A in the first embodiment, machine tool 1B in the second embodiment, or other machine tools. Since machine tools 1A and 1B have already been described in the first or second embodiment, a repetitive explanation of machine tools 1A and 1B will be omitted.

[0226] The workpiece processing method in the third embodiment comprises: (1) a step of attaching the workpiece W directly or indirectly to the table 21 of the workpiece support device 2 (see, for example, Figure 12 or Figure 32); (2) a first processing step of processing the workpiece W supported by the table 21 with a laser emitted from a laser head 173 supported by a multi-joint arm 50 of the first robot 5 (see, for example, Figure 19 or Figure 36); and (3) a second processing step of processing the workpiece W supported by the table 21 using a first rotary tool supported by a three-dimensionally movable processing head 30 (see, for example, Figure 4 or Figure 39).

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

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

[0229] (Optional Additional Configurations) Next, with reference to Figures 1 to 44, optional additional configurations that can be adopted in the third embodiment (or the first or second embodiment described above) will be explained.

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

[0231] If the first machining process is performed prior to the second machining process, the chips generated by the second machining process, or the coolant used during the second machining process, will not have any adverse effects on the laser head 173, or such adverse effects will be reduced.

[0232] Alternatively, the first machining process may be performed after the second machining process. If coolant is used during the second machining process, it is preferable that any mist-like coolant floating in the machining chamber CB is removed from the machining chamber CB prior to the first machining process. From this viewpoint, the machine tool 1 may be equipped with a mist removal device 99 (see Figure 32) for removing any mist-like coolant floating in the machining chamber CB. The mist removal device 99 may include a mist suction device 99a for sucking up the mist-like coolant, or it may include a blower for blowing away the mist-like coolant.

[0233] Furthermore, the second processing step may be performed after the first processing step, and the first processing step may be performed a second time after the second processing step. If coolant is used when the second processing step is performed, it is preferable that the mist-like coolant floating in the processing chamber CB is removed from the processing chamber CB using a mist removal device 99 (for example, a mist suction device 99a) prior to the execution of the first processing step a second time.

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

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

[0236] An example of a workpiece processing method in the third embodiment will be described in more detail.

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

[0238] In the example shown in Figure 2, during the mounting process (first step ST1), the workpiece W is attached to the table 21 of the workpiece support device 2 via a jig J. In the example shown in Figure 2, the jig J is fixed to the table 21, and the workpiece W is fixed to the jig J. The jig J may include a chuck (for example, a hydraulic chuck or an electric chuck) for fixing the workpiece W to the jig J.

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

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

[0241] The first posture change step (third step ST3) may be performed in combination with a movement step that moves the table device 20. For example, if the control device 7 determines that both linear movement of the workpiece W and rotation of the workpiece W around the first axis AX1 are required, the table device 20 is moved linearly and the table 21 is rotated around the first axis AX1.

[0242] If the control device 7 determines that changing the orientation of the workpiece W is unnecessary (second step ST2: No), or if the orientation change of the workpiece W has been completed, the process proceeds to the fourth step ST4. In the fourth step ST4, the workpiece W, supported by the table 21, is processed by a laser emitted from a laser head 173 supported by the articulated arm 50 of the first robot 5. The fourth step ST4 is the first processing step.

[0243] The first processing step (fourth step ST4) includes at least one substep. As illustrated in Figure 20, the first processing step (fourth step ST4) may include, as one substep, forming a hole HL1 in the workpiece W with a laser emitted from the laser head 173. As illustrated in Figure 21, the first processing step (fourth step ST4) may include, as one substep, removing burrs Bu from the workpiece W with a laser emitted from the laser head 173. As illustrated in Figure 22, the first processing step (fourth step ST4) may include, as one substep, cutting out a portion Wk of the workpiece W with a laser emitted from the laser head 173. As illustrated in Figure 23, the first processing step (fourth step ST4) may include, as one substep, imprinting at least one of letters, symbols, and barcodes on the surface of the workpiece W with a laser emitted from the laser head 173.

[0244] If the first processing step (fourth step ST4) includes multiple substeps, the order in which the substeps are executed is arbitrary.

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

[0246] In the second decision step (fifth step ST5), if the control device 7 determines that the laser processing of the workpiece W by the first robot 5 is complete (fifth step ST5: Yes), the process proceeds to the sixth step ST6. If the control device 7 determines that the laser processing of the workpiece W by the first robot 5 is not complete (fifth step ST5: No), the process returns to the second step ST2 (first decision step).

[0247] Steps 2 through 5 (ST2 to ST5) are repeatedly performed until the control device 7 determines that the laser processing of the workpiece W by the first robot 5 is complete. For example, in the example shown in Figures 36 and 37, the workpiece processing method includes: (1) processing the first surface (e.g., first main surface Wa) of the workpiece W supported by the table 21 with a laser emitted from a laser head 173 supported by a multi-joint arm 50 (Step 4 ST4); (2) changing the posture of the workpiece W in accordance with the control device 7 determining that the laser processing of the workpiece W by the first robot 5 is not complete (Step 5 ST5: No) and that a change in the posture of the workpiece W is necessary (Step 2 ST2: Yes) (Step 3 ST3); and (3) processing the second surface (e.g., second main surface Wb) of the workpiece W supported by the table 21 with a laser emitted from a laser head 173 supported by a multi-joint arm 50 (Step 4 ST4).

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

[0249] In the third decision step (sixth step ST6), if the control device 7 determines that it is necessary to change the posture of the workpiece W, the posture of the workpiece W is changed in the seventh step ST7 (more specifically, at least one of the following is performed: rotating the table 21 supporting the workpiece W around the first axis AX1, or tilting the table 21 supporting the workpiece W around the second axis AX2). The seventh step ST7 is the second posture change step.

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

[0251] For example, in the third decision step (sixth step ST6), if the control device 7 determines that tilting of the workpiece W around the second axis AX2 is necessary, the table 21 supporting the workpiece W is tilted around the second axis AX2 (tilting step).

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

[0253] If the control device 7 determines that changing the orientation of the workpiece W is unnecessary (6th step ST6: No.), or if the orientation change of the workpiece W has been completed, the process proceeds to the 8th step ST8.

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

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

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

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

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

[0259] Steps 6 through 9, from step ST6 to step ST9, are repeatedly executed by the control device 7 until it determines that the processing of the workpiece W by the processing device 3 is complete. For example, in the example shown in Figures 39 and 40, the workpiece machining method includes (1) machining the first surface (e.g., first main surface Wa) of the workpiece W supported by the table 21 with at least one first rotary tool T1 (e.g., hole forming tool T1-2) supported by the machining head 30 (8th step ST8), (2) changing the orientation of the workpiece W (7th step ST7) in accordance with the control device 7 determining that the cutting of the workpiece W by the machining device 3 is not complete (9th step ST9: No) and that the control device 7 determines that a change in the orientation of the workpiece W is necessary (6th step ST6: Yes), and (3) machining the second surface (e.g., second main surface Wb) of the workpiece W supported by the table 21 with at least one first rotary tool T1 (e.g., surface machining tool T1-1) supported by the machining head 30 (8th step ST8).

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

[0261] Immediately before the removal process (10th step ST10) is performed, the table device 20 may be moved in a direction toward the workpiece passage opening OP. This movement is performed using the third drive device 18. When the table device 20 is moved toward the workpiece passage opening OP, it is easier to remove the workpiece W from the table 21 during the removal process.

[0262] (Modified Workpiece Processing Method) Modified workpiece processing methods will be described with reference to Figures 1 to 42 and Figure 44. Steps 1 to 8 are the same as steps 1 to 8 described above, so a repetitive explanation of these steps will be omitted.

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

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

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

[0266] As illustrated in Figure 39, a portion of the second processing step (8th step ST8) and a portion of the third processing step (9th step ST109) may be performed simultaneously. A portion of the second processing step (8th step ST8) may be performed when the third processing step is not being performed. Similarly, a portion of the third processing step (9th step ST109) may be performed when the second processing step is not being performed.

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

[0268] In the fourth decision step (10th step ST110), if the control device 7 determines that the processing of the workpiece W by the processing device 3 and the second robot 6 is complete (10th step ST110: Yes), the process proceeds to the 11th step ST111. If the control device 7 determines that the processing of the workpiece W by the processing device 3 and the second robot 6 is not complete (10th step ST110: No), the process returns to the 6th step ST6 (3rd decision step).

[0269] Steps 6 through 10 (ST110) are repeatedly executed by the control device 7 until it determines that the machining of the workpiece W by the machining device 3 and the second robot 6 is complete. For example, in the example shown in Figures 39 and 40, the workpiece machining method is: (1) machining the first surface (e.g., first main surface Wa) of the workpiece W supported by the table 21 with at least one first rotary tool T1 (e.g., hole forming tool T1-2) supported by the machining head 30 (Step 8 ST8); (2) machining the third surface (e.g., first side surface Wc) of the workpiece W supported by the table 21 with at least one second rotary tool T2 (e.g., drill T2-1) supported by the second articulated arm 60 (Step 9 ST109); and (3) when the control device 7 determines that the machining of the workpiece W by the machining device 3 and the second robot 6 is not complete (Step 10 ST110) (6) No), and depending on whether the control device 7 determines that it is necessary to change the posture of the workpiece W (6th step ST6: Yes), the posture of the workpiece W is changed (7th step ST7), (4) the second surface of the workpiece W supported by the table 21 (e.g., the second main surface Wb) is machined by at least one first rotary tool T1 (e.g., a surface machining tool T1-1) supported by the machining head 30 (8th step ST8), and (5) the fourth surface of the workpiece W supported by the table 21 (e.g., the second side surface Wd) is machined by at least one second rotary tool T2 (e.g., a tapping tool T2-2) supported by the second articulated arm 60 (9th step ST109).

[0270] In the 11th step ST111, the workpiece W is removed from the table 21. The 11th step ST111 is a removal process. The removal process (11th step ST111) may include moving the door 12 from the closed position to the open position and moving the workpiece W from the processing chamber CB to the outside of the processing chamber CB so as to cross the workpiece passage opening OP.

[0271] Immediately before the removal process (11th step ST111) is performed, the table device 20 may be moved in a direction toward the workpiece passage opening OP. This movement is performed using the third drive device 18. When the table device 20 is moved toward the workpiece passage opening OP, it is easier to remove the workpiece W from the table 21 during the removal process.

[0272] The present invention is not limited to the embodiments or modifications described above, 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, the various technologies used in each embodiment or modification can be applied to other embodiments or other modifications, as long as no technical inconsistencies arise. In addition, any optional additional configurations in each embodiment or modification can be omitted as appropriate.

[0273] In the examples shown in Figures 45 and 46, the workpiece support device 2 can index the table 21 to each of a plurality of different indexing angle positions (Q1, Q2) around the first axis AX1. For example, the workpiece support device 2 can index the table 21 to a first indexing angle position Q1 around the first axis AX1, and can also index the table 21 to a second indexing angle position Q2 around the first axis AX1. In the examples shown in Figures 45 and 46, the second indexing angle position Q2 is 90 degrees different from the first indexing angle position Q1 around the first axis AX1. Alternatively, the second indexing angle position Q2 may be a position that is different from the first indexing angle position Q1 by an arbitrary predetermined angle around the first axis AX1. The workpiece support device 2 may be able to index the table 21 to at least a plurality of indexing angle positions that are 90 degrees apart around the first axis AX1. The workpiece support device 2 may be capable of indexing the table 21 to each of a plurality of indexing angle positions that differ by at least 45 degrees around the first axis AX1.

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

[0275] In the example shown in Figures 45 and 46, in a plan view, the first robot 5, the processing device 3, and the workpiece passage opening OP are arranged at three different angular positions around the workpiece support device 2, respectively. In this case, the loading and unloading of workpieces W into and out of the processing chamber CB can be easily performed. Furthermore, the expansion of the installation space for the machine tool 1 is suppressed. In addition, the condition of the first rotating tool T1 and the laser head 173 can be easily checked by looking inside the machine through the workpiece passage opening OP. It is preferable that the door 12 is provided with a window 121 that allows the inside of the processing chamber CB to be viewed from outside the processing chamber CB. In this case, the condition of the first rotating tool T1 and the laser head 173 can be easily checked by looking inside the machine through the window 121.

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

[0277] Furthermore, in a plan view, the first robot 5, the second robot 6, the processing device 3, and the workpiece passage OP are positioned at four different angular positions around the workpiece support device 2, respectively, making it easy to load and unload workpieces W into and out of the processing chamber CB. In addition, the installation space required for the machine tool 1 is kept to a minimum. Moreover, by viewing the inside of the machine through the workpiece passage OP or window 121, the status of the first rotary tool T1, the second rotary tool T2, and the laser head 173 can be easily checked.

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

[0279] As illustrated in Figure 45, in a plan view, the direction from the first center C1 toward the center C2 of the workpiece passage opening OP (more specifically, the area center of the workpiece passage opening OP in a plan view) is defined as the 12 o'clock direction DT12. The processing apparatus 3 is positioned, for example, in a plan view, at least one of the following ray lines: DT5 extending from the first center C1 toward the 5 o'clock direction, DT6 extending from the first center C1 toward the 6 o'clock direction, and DT7 extending from the first center C1 toward the 7 o'clock direction. The first robot 5 is positioned, for example, in a plan view, at a location that coincides with at least one of the following: DT2 extending from the first center C1 in the 2 o'clock direction, DT3 extending from the first center C1 in the 3 o'clock direction, DT4 extending from the first center C1 in the 4 o'clock direction, DT8 extending from the first center C1 in the 8 o'clock direction, DT9 extending from the first center C1 in the 9 o'clock direction, and DT10 extending from the first center C1 in the 10 o'clock direction. One of the first robot 5 and the second robot 6 may be positioned so as to coincide with at least one of the following in a plan view: DT8 extending from the first center C1 in the 8 o'clock direction, DT9 extending from the first center C1 in the 9 o'clock direction, and DT10 extending from the first center C1 in the 10 o'clock direction. The other of the first robot 5 and the second robot 6 may be positioned so as to coincide with at least one of the following: DT2 extending from the first center C1 in the 2 o'clock direction, DT3 extending from the first center C1 in the 3 o'clock direction, and DT4 extending from the first center C1 in the 4 o'clock direction.

[0280] In the examples shown in Figures 1 and 24, the first rotation axis AD1, which is the axis of rotation 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 it may be inclined with respect to both the horizontal and vertical planes.

[0281] 1, 1A, 1B... Machine tool, 2... Workpiece support device, 3... Processing device, 4... Linear motion device, 5... First robot, 6... Second robot, 7... Control device, 8... Tool changer, 10... Base, 11... Wall, 11-1... First wall, 11-2... Second wall, 11-3... Third wall, 11-4... Fourth wall, 11a... Fixed wall, 11b... Movable wall, 11b-1... First movable wall, 11b-2... Second movable wall, 12... Door, 13a... Support base, 13b... Support base, 14... Protector, 16... Moving device, 17... Laser irradiation device, 18... Third drive device, 19d... Fourth drive device, 19r... Guide rail, 20... Table Device, 21... Table, 22... Block, 22a... First end, 22b... Second end, 22c... Central part, 23... First drive unit, 24... Guide rail, 25... Support base, 25a... First support base, 25b... Second support base, 26... Second drive unit, 30... Machining head, 31... Spindle, 32... Support body, 33... Bearing, 34... First rotation drive unit, 35... Tilt drive unit, 36... First moving body, 37... Second moving body, 38... Third moving body, 38c... Column, 41... First linear motion unit, 42... Drive unit, 43... First linear guide, 44... Second linear motion unit, 45... Drive unit, 46... Second linear guide D, 47...Third linear motion device, 48...Drive device, 49...Third linear guide, 50...Articulated arm, 51a...First part, 51b...Second part, 51c...Third part, 51d...Fourth part, 51e...Fifth part, 51f...Sixth part, 52...Wrist, 59...Arm drive device, 60...Second articulated arm, 61a...First part, 61b...Second part, 61c...Third part, 61d...Fourth part, 61e...Fifth part, 61f...Sixth part, 62...Wrist, 63...Tool support device, 64...Second rotary drive device, 65...Tool linear motion device, 66...Fixed part, 66r...Linear guide, 67...Movable part, 69...A 70...Machine tool drive unit, 72...Processor, 74...Memory, 76...Input device, 78...Bus, 80...Tool changer, 80a...First tool changer, 80b...Second tool changer, 81a...Tool changer arm, 82a...First gripping part, 83a...Second gripping part, 84a...Arm rotation device, 85a...Arm movement device, 91...Coolant liquid supply device, 91n...Nozzle, 93...Tool stocker, 95...Shutter, 96...Shutter drive unit, 99...Mist removal device, 99a...Mist suction device, 100...Machine tool system, 101...Third robot, 102...Third articulated arm,103...Gripping body, 121...Window, 131a...Top surface, 131b...Top surface, 141...Recess, 141a...Opening, 143...Wall, 151...Cover, 156...Support member, 173...Laser head, 173a...Tip, 173e...Laser emitter, 173f...Flange, 173p...Gas flow path, 174...Optical component, 174n...Lens, 176...Laser light source, 177...Gas supply device, 178...Component that transmits laser to laser head, 178f...Optical fiber, 722...Processing program, 726...Work data, 762...Display with touch panel, AD1...First rotation axis, AD2...First 2 rotation axes, AT... tilt axis, AX1... first axis, AX2... second axis, Bu... burr, C1... first center, C2... center of workpiece passage opening, CB... machining chamber, CD... second chamber, DR1... first direction, DR2... second direction, DT12... 12 o'clock direction, DT2, DT3, DT4, DT5, DT6, DT7, DT8, DT9, DT10... half-line, Dp... recess, Dp-1... letter, E1... first motion command, E2... injection command, E3... movement command, E3-1... first movement command, E3-2... second movement command, E3-3... third movement command, E4... first rotation command, E5... second motion command, E6... second rotation command, E7... Tool movement command, E8... Swivel command, E9... Tilt command, E10... Table movement command, E11... Processing device movement command, E12... Tool change command, E12-1... First tool change command, E12-2... Second tool change command, F1... Extended position, F2... Stored position, HL1, HL2, HL3... Hole, J... Jig, K1... Open position, K2... Closed position, LB... Laser, M1... First processing mode, M1-1... First hole formation mode, M1-2... Trimming mode, M1-3... Cutout mode, M1-4... Laser marking mode, M2... Second processing mode, M2-1... Surface processing mode, M2-2... Second hole shape M3...Third machining mode, M4...Swivel mode, M5...Tilting mode, M6...First tool change mode, M7...Second tool change mode, MT...Motor, OB...Closed track, OP...Workpiece passage opening, P1...Receiving position, P2...Advancing position, P3...Swivelable position, P4...Advancing position, P5...Retracted position, Q1...First indexing angle position, Q2...Second indexing angle position, RG1...First region, RG2...Second region, RT1...First swivel axis, RT2...First tilting axis, RT3...Second tilting axis, RT4...Second swivel axis, RT5...Third tilting axis, RT6...Third swivel axis, RX1...First swivel axis, RX2...First tilting axis,RX3...Second tilting axis, RX4...Second pivoting axis, RX5...Third tilting axis, RX6...Third pivoting axis, T1...First rotary tool, T1-1...Surface machining tool, T1-2...Hole forming tool, T1-2a...Drill, T1-2b...Tap tool, T1-3...Friction stir welding tool, T2...Second rotary tool, T2-1...Drill, T2-2...Tap tool, W...Workpiece, WS...Inclined surface, WV...Surface perpendicular to the vertical plane, Wa...First main surface, Wb...Second main surface, Wc...First side surface, Wd...Second side surface, We...Top surface, Wk...Part of the workpiece

Claims

1. A machine tool comprising: a work support device having a table for supporting a workpiece; 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 moving the processing head in three dimensions; and a first robot having a laser head for irradiating the workpiece supported by the table with a laser, and a multi-joint arm for changing the position and orientation of the laser head, and for processing the workpiece with the laser.

2. The machine tool according to claim 1, further comprising a second robot having a second articulated arm for changing the position and orientation of a second rotary tool, and for machining the workpiece supported by the table using the second rotary tool.

3. The machine tool according to claim 2, wherein, in a plan view, the processing device, the first robot, and the second robot are arranged around the workpiece support device.

4. A machine tool according to any one of claims 1 to 3, comprising a wall defining a processing chamber and a door for opening and closing a workpiece passage opening formed in the wall, wherein in a plan view, the workpiece support device is positioned between the processing device and the workpiece passage opening, and in a plan view, the workpiece passage opening, the first robot, and the processing device are positioned around the workpiece support device.

5. The machine tool according to any one of claims 1 to 4, comprising a protector for protecting the tip of the laser head, wherein the protector comprises a recess for receiving the tip.

6. The machine tool according to claim 5, comprising a coolant supply device that supplies coolant to the workpiece supported by the table, wherein the tip of the laser head is removed from the recess before the laser is emitted from the laser head.

7. The machine tool according to any one of claims 1 to 6, comprising a shutter that separates a first area where the first robot is positioned from a second area where the table is positioned, and a shutter drive device that opens and closes the shutter.

8. The machine tool according to any one of claims 1 to 7, wherein the workpiece support device comprises a first drive device for rotating the table around a first axis.

9. The machine tool according to claim 8, comprising the first robot and a control device for controlling the first drive device, wherein the control device repeats the first machining cycle two or more times, when the first machining cycle is defined as rotating the table supporting the workpiece around a first axis, and then machining the workpiece supported by the table with the laser emitted from the laser head supported by the articulated arm.

10. The machine tool according to claim 8 or 9, wherein the workpiece support device comprises a second drive device that tilts the table around a second axis different from the first axis.

11. In a plan view, the machine tool according to any one of claims 1 to 10, comprising a third drive device for moving the work support device in a direction parallel to the first direction, where the direction from the processing device toward the work support device is defined as the first direction.

12. The processing apparatus and the first robot are equipped with a control device, the control device being capable of performing a first processing mode in which the workpiece supported on the table is processed by a laser emitted from the laser head supported by the articulated arm, and a second processing mode in which the workpiece supported on the table is processed by a first rotary tool supported by the processing head, the first processing mode including at least one of the following: a first hole forming mode in which a hole is formed in the workpiece by a laser emitted from the laser head, a trimming mode in which burrs are removed from the workpiece by a laser emitted from the laser head, a cutout mode in which a part of the workpiece is cut out from the workpiece by a laser emitted from the laser head, and a laser marking mode in which at least one of letters, symbols, and barcodes is engraved on the surface of the workpiece by a laser emitted from the laser head, the second processing mode including a surface processing mode in which the workpiece is surface processed by the first rotary tool, and The machine tool according to any one of claims 1 to 8, comprising at least one of a second hole-forming mode in which a hole is formed in the workpiece by the first rotating tool.

13. A workpiece processing method comprising: a step of directly or indirectly attaching a workpiece to a table of a workpiece support device; a first processing step of processing the workpiece supported by the table with a laser emitted from a laser head supported by a multi-joint arm of a first robot; and a second processing step of processing the workpiece supported by the table using a first rotary tool supported by a three-dimensionally movable processing head, wherein the first processing step includes moving the laser head using the multi-joint arm, and the second processing step includes moving the processing head using a plurality of linear motion devices.

14. The workpiece machining method according to claim 13, wherein the second machining step is performed after the first machining step is performed.

15. The workpiece machining method according to claim 13, wherein a part of the first machining process and a part of the second machining process are performed simultaneously.

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