Abstract: The machine tool includes a tool post linearly movable along a direction parallel to an X axis and a direction parallel to a Z axis, a workpiece spindle which retains a workpiece in a condition rotatable about an axis parallel to the Z axis, and an in-machine robot which is installed in a machining chamber and has joints. The joints of the in-machine robot include a base joint rotatable about an axis parallel to the Z axis, and three parallel joints rotatable about an axis orthogonal to the axis of rotation of the base joint, the parallel joints being located on a distal end side of the base joint and successively arranged from the base joint. The axis of rotation of the base joint is displaced from that of the workpiece spindle.

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 machine tool that cuts a workpiece by a rotary tool includes a tool spindle device that holds the rotary tool in a manner to allow self-rotation with a predefined tool rotational axis Rt as a center, one or more in-machine robots, and a connecting mechanism that attaches the in-machine robot on the tool spindle device so that the in-machine robot moves independently from the rotary tool at a periphery of the tool spindle device with the tool rotational axis Rt as a center.

Abstract: A robot unit includes a robot body which is an arm-type robot having a plurality of arms coupled via joints, and in which one or more connecting portions are provided on a surface of at least one of the arms, and one or more auxiliary parts which are attachable and detachable to and from the arms via the connecting portions and which control or support movement of at least one of the joints.

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 power/signal transmission structure includes: a movable body which has an electrical device, and at least a part of which moves in a processing chamber of a machine tool; a robot provided in the processing chamber; a first connector which relays at least one of power and signals, and which is provided in the movable body 48 and is electrically connected to the electrical device; and a second connector which relays at least one of power and signals, and which is provided in the robot, and is electrically connectable to and disconnectable from the first connector as the robot is driven, wherein at least one of power and signals is transmitted from outside to inside or from inside to outside of the electrical device through the first connector and the second connector.

Abstract: A machine tool that processes a workpiece with a tool includes a holding device that holds a workpiece or a tool used in processing the workpiece, a first connector attached to the holding device, a transmission line that transmits at least one of fluid, powder, electricity, and light, and including a second connector connectable to the first connector, a storage unit that stores and protects the transmission line, and a transmission line transport mechanism that transports a tip end of the transmission line and switches the transmission line between an expanded state and a recovered state. The transmission line is pulled out from the storage unit and connected to the holding device via the second connector in the expanded state, while being recovered by the storage unit in the recovered state.

Abstract: A machine tool includes a workpiece spindle device which rotates a workpiece, a tool post which can move a tool in a first axis direction (X-axis direction) which is a radial direction of the workpiece and a second axis direction (Z-axis direction) which is an axial direction of the workpiece, and an articulated robot including a plurality of arms, a plurality of joints, and end effectors. The plurality of joints connect the plurality of arms in a rotatable manner around an axis parallel to a third axis (Y-axis) orthogonal to the first axis and the second axis, and the end effectors move in a plane parallel to a movement plane of the tool.

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 which removal-machines a workpiece by means of a tool includes a retaining device (a workpiece spindle and a tailstock) that retains the workpiece, a support device (an in-machine robot) that supports the workpiece, in order to suppress deflection of the workpiece retained by the retaining device, and a control device that controls driving of the support device by force control having a force as a control target. Specifically, a supporting force by the support device and a machining force by a tool are measured, and the driving of the support device is controlled so that the supporting force is equal to the machining force.

Abstract: The machine tool includes a tool post linearly movable along a direction parallel to an X axis and a direction parallel to a Z axis, a workpiece spindle which retains a workpiece in a condition rotatable about an axis parallel to the Z axis, and an in-machine robot which is installed in a machining chamber and has joints. The joints of the in-machine robot include a base joint rotatable about an axis parallel to the Z axis, and three parallel joints rotatable about an axis orthogonal to the axis of rotation of the base joint, the parallel joints being located on a distal end side of the base joint and successively arranged from the base joint. The axis of rotation of the base joint is displaced from that of the workpiece spindle.

Abstract: A machine tool that machines a workpiece by a tool includes a workpiece spindle device that holds the workpiece in a rotatable manner with a predefined workpiece rotational axis Rw as a center, one or more in-machine robots, and a connecting mechanism that attaches the one or more robots on the machine tool so that the one or more robots move independently from the workpiece, with the workpiece rotational axis Rw serving as a center.

Abstract: A machine tool for cutting swarf entangled with a tool. A chuck is attached to a spindle of the machine tool, and grips a workpiece. The chuck is constituted by a first sub chuck and a second sub chuck detachably attached to the first sub chuck. The second sub chuck provided with a cutting tool is attached to the first sub chuck, and the cutting tool is caused to perform an opening/closing operation using a drive force of an opening/closing drive mechanism for gripping/releasing the workpiece, thereby cutting swarf entangled with a turning tool into fragments.

Abstract: A machine tool including a tool holding unit and a workpiece holding unit includes: a clamper to which a part of a sub-tool, which is a separate tool from a main tool held by the tool holding unit alone, can be detachably connected; an attachment/detachment unit to which another part of the sub-tool can be detachably connected; a tool spindle that moves the clamper; an in-machine robot that moves the attachment/detachment unit; and a controller that controls driving of the tool spindle and the in-machine robot, to execute machining of a workpiece by the sub-tool.

Abstract: Provided is a bearing lubrication structure for a rotation unit having a bearing that is of a grease lubrication type in which the bearing is provided at both sides thereof with a seal structure, wherein the grease lubrication performance is improved. The bearing is provided on both sides thereof with fixed-side seal portions, and rotating side seal portions that are opposed thereto, respectively. The fixed-side seal portion is provided with a shield. The distance from the inner periphery of the shield to the axis of the rotary shaft varies depending on the location of a point on the inner periphery. The shield, which is one of the two shields, and the shield, which is the other one, are arranged so as not to have plane symmetry.

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 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 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: There is provided a robot for machine tool which can work with a large power and torque when necessary while not attaching a large-size motor to the robot and while having a thin arm, as well as a machine tool having the robot. An in-machine robot of a machine tool includes an input shaft, a transfer shaft, a bevel gear, and an end effector. The input shaft is connected to a tool of the machine tool, and a driving force of the tool is transferred to the end effector. The end effector is a hand or the like, and a workpiece is gripped or rotated with the hand using the driving force of the tool. A plurality of the input shafts are provided, and a suitable input shaft is connected to the tool as appropriate.