Abstract: A gripper device includes a plurality of gripper claws, a plurality of linear motion units, each of which is disposed on corresponding one of the plurality of gripper claws, a synchronization mechanism configured to synchronize movement of the plurality of linear motion units, a first cylinder configured to apply a driving force thereof to the linear motion unit or the synchronization mechanism, a second cylinder having a shorter stroke and a greater driving force as compared to those of the first cylinder, and a transmission mechanism having a clutch which is configured to establish or release mechanical connection between the second cylinder and the synchronization mechanism.

Abstract: A hydraulic system includes: a first hydraulic cylinder including a first volume chamber and a second volume chamber; a second hydraulic cylinder including a third volume chamber and a fourth volume chamber a first connection pipe that allows the first volume chamber and the third volume chamber to communicate with each other; a second connection pipe that allows the second volume chamber and the fourth volume chamber to communicate with each other; and a correction mechanism that corrects a position of the first piston by causing the first piston to advance or retreat in a state where the second piston is stationary, in which the correction mechanism includes a brake that regulates a movement of the second piston and, a bypass pipe that allows the first connection pipe and the second connection pipe to communicate with each other; and a valve that opens and closes the bypass pipe.

Abstract: A gripper device includes: an air cylinder having a piston rod; a rotary output mechanism which includes a screw shaft and a nut and which is configured to convert rectilinear motion of the piston rod into rotary motion; a plurality of linear motion units each having a gripper claw coupled thereto; and a rectilinear output mechanism which is configured to convert the rotary motion output from the rotary output mechanism into rectilinear motion and transmit the rectilinear motion to the plurality of linear motion units, and which includes a pinion gear and a rack gear. The nut is located at an inner diameter side of the pinion gear, and rectilinear stroke of the linear motion units is greater than rectilinear stroke of the piston rod.

Abstract: A machine tool includes a lower tool post for holding a cutting tool, a tool main spindle for holding a cutting tool, a storage unit capable of storing the cutting tool, an exchange mechanism for exchanging the cutting tools between the tool main spindle and the storage unit, an inside robot for exchanging the cutting tools between the lower tool post and the tool main spindle, and a controller. The controller performs control such that the cutting tools are exchanged between the lower tool post and the storage unit via the inside robot, the tool main spindle, and the exchange mechanism.

Abstract: A machine tool includes a headstock that holds a workpiece, a tool post that is movable in a first axis direction parallel to a workpiece rotation axis and in a second axis direction orthogonal to the first axis and holds a tool, an in-machine robot, an opening for communicating the inside and the outside of a working chamber, and a door that opens and closes the opening. The robot includes a root joint fixed in the working chamber and a link unit positioned on a distal end side of the root joint. The root joint is a linear-motion joint extendable in a direction orthogonal to the workpiece rotation axis, and is a linear-motion joint extendable between the length for causing the entire link unit to be positioned inside the working chamber and the length for causing the entire link unit to be positioned outside the working chamber.

Abstract: A machine tool is disclosed. The machine tool includes a robot which is compact and which enables easy use of different end effectors for respective purposes. An internal robot includes a plurality of joints that are composed of a base joint and parallel joints, and a plurality of links. The distal end is split into two or more branches, each having a tool changer. An end effector is detachably attachable to each of the tool changers. Rotation of the base joint causes a change between a first tool-following position and a second tool-following position, so that different end effectors are used for respective purposes by using an end effector attached to a tool changer in the first tool-following position and using an end effector attached to another tool changer in the second tool-following position.

Abstract: A cooling liquid feeder for feeding a cooling liquid into a cooling liquid hole defined in a tool includes a first connector disposed on a turret which retains the tool, a first flow channel for directing the cooling liquid from the first connector to the cooling liquid hole, a robot installed in a machining chamber and equipped with an end effector, a second connector disposed on the end effector and configured to be detachably attached to the first connector in a liquid tight manner, and a second flow channel for directing the cooling liquid from a source of the cooling liquid to the second connector, in which the robot is actuated to attach the second connector to the first connector for feeding the cooling liquid into the cooling liquid hole.

Abstract: A machine tool is disclosed which can suppress resonance of an in-machine robot even when vibration occurs during machining of a workpiece. Vibration of the in-machine robot is detected by a vibration sensor of the in-machine robot. When the vibration of the in-machine robot becomes greater than or equal to a threshold during machining of the workpiece, a controller changes a natural frequency of the in-machine robot by exchanging an end effector of the in-machine robot or by changing an orientation of the in-machine robot, to thereby suppress resonance of the in-machine robot.

Abstract: A gripper device includes a plurality of gripper claws, a plurality of linear motion units, each of which is disposed on corresponding one of the plurality of gripper claws, a synchronization mechanism configured to synchronize movement of the plurality of linear motion units, a first cylinder configured to apply a driving force thereof to the linear motion unit or the synchronization mechanism, a second cylinder having a shorter stroke and a greater driving force as compared to those of the first cylinder, and a transmission mechanism having a clutch which is configured to establish or release mechanical connection between the second cylinder and the synchronization mechanism.

Abstract: A machine tool includes a headstock that holds a workpiece, a tool post that is movable in a first axis direction parallel to a workpiece rotation axis and in a second axis direction orthogonal to the first axis and holds a tool, an in-machine robot, an opening for communicating the inside and the outside of a working chamber, and a door that opens and closes the opening. The robot includes a root joint fixed in the working chamber and a link unit positioned on a distal end side of the root joint. The root joint is a linear-motion joint extendable in a direction orthogonal to the workpiece rotation axis, and is a linear-motion joint extendable between the length for causing the entire link unit to be positioned inside the working chamber and the length for causing the entire link unit to be positioned outside the working chamber.

Abstract: A machine tool includes a workpiece spindle that retains a workpiece or a tool, a spindle motor that rotates the workpiece spindle, an in-machine robot that is provided inside the machine tool and that is an articulated robot having one or more joints, and a plurality of gears that connect or disconnect a root joint which is placed, among the one or more joints, closest to a base end, and the spindle motor to or from each other.

Abstract: A robot unit includes a robot main body that is an arm-type robot including multiple links connected to one another via at least one joint, and one or more protective housings that cover and protect at least a portion of a circumferential surface of one or more of the multiple links. One or more fastening portions that attach and detach the protective housing are provided on a circumferential surface of the one or more of the multiple links.

Abstract: A disclosed system enables easy installation and removal of an in-machine robot for use in a machine tool and further enables easy replacement of a robot with another robot to suit an intended purpose. A machine tool system includes a machine tool with a cover that covers a machining space, and a robot unit on which an articulated robot is mounted. A portion of the cover of the machine tool has an opening to allow insertion of the articulated robot of the robot unit into the machining space through the opening. The articulated robot of the robot unit is inserted through the opening, and the opening is closed by a lid of the robot unit.

Abstract: A machine tool is disclosed. The machine tool includes a robot which is compact and which enables easy use of different end effectors for respective purposes. An internal robot includes a plurality of joints that are composed of a base joint and parallel joints, and a plurality of links. The distal end is split into two or more branches, each having a tool changer. An end effector is detachably attachable to each of the tool changers. Rotation of the base joint causes a change between a first tool-following position and a second tool-following position, so that different end effectors are used for respective purposes by using an end effector attached to a tool changer in the first tool-following position and using an end effector attached to another tool changer in the second tool-following position.

Abstract: A machine tool which removal-machines a workpiece by a tool includes an in-machine robot provided in a machining chamber, and a cleaning mechanism that cleans the in-machine robot by removing an adhering substance adhering to the in-machine robot. When the in-machine robot is cleaned, the in-machine robot moves relative to the cleaning mechanism and positions in proximity to the cleaning mechanism.

Abstract: A machine tool includes a main shaft unit; a polishing head for processing a workpiece; and an unnecessary byproduct leakage preventing unit for preventing leakage of abrasive resulting from processing at or around a part of the workpiece, the part being processed, and wherein the unnecessary byproduct leakage preventing unit includes a cover provided separately from the polishing head, the cover having a structure that is open in three directions and that has walls in another three directions such that a protection space where to hold a part of the workpiece is defined, the cover for receiving the abrasive, and a movement mechanism for moving the cover so as to stay apart from the workpiece while the workpiece is not being processed and so as to have a part of the workpiece held in the protection space while the workpiece is being processed.

Abstract: A machine tool includes: a turret configured to hold a tool through a clamp mechanism; a workpiece main spindle device configured to rotatably hold a workpiece; a switching unit configured to change a clamp state of the clamp mechanism by using rotation torque of the workpiece main spindle device; and an in-machine robot configured to move the switching unit. The clamp mechanism includes a torque input hole to which rotation torque is applied to change the clamp state. The switching unit includes an input shaft coupled with the workpiece main spindle device, an output shaft coupled with the torque input hole of the clamp mechanism and configured to output torque to the torque input hole, and a transmission mechanism configured to transfer, to the output shaft, the rotation torque of the workpiece main spindle device input through the input shaft.

Abstract: A machine tool includes a lower tool post for holding a cutting tool, a tool main spindle for holding a cutting tool, a storage unit capable of storing the cutting tool, an exchange mechanism for exchanging the cutting tools between the tool main spindle and the storage unit, an inside robot for exchanging the cutting tools between the lower tool post and the tool main spindle, and a controller. The controller performs control such that the cutting tools are exchanged between the lower tool post and the storage unit via the inside robot, the tool main spindle, and the exchange mechanism.

Abstract: A machine tool is provided which can execute various works while suppressing increase in cost or size. The machine tool includes a tool spindle device which is a movable member which can move with respect to a mounting surface of the machine tool, and one or more serial-manipulator-type robots attached on the tool spindle device, which can move with the tool spindle device, and which have two or more degrees of freedom, and the robot includes two or more end effectors provided at positions different from each other with one or more joints therebetween.

Abstract: A machine tool stores numerous end effectors without a need to newly provide an end effector storage internally or externally to the machine tool. A temporary base for the end effector is disposed inside the machine tool. The end effector is passed from an internally-mounted robot to a tool post via the temporary base. A tool of the machine tool can be exchanged by attaching the end effector to the tool post.