JP7522686B2 - Machine tool and method for applying paste lubricant - Google Patents

Description

This specification discloses a machine tool equipped with a tool holding device and a method for applying a paste lubricant to a tool or workpiece.

Conventionally, it has been proposed to automate the machining of workpieces using machine tools, so that machining can continue unmanned in situations where it is difficult to secure personnel, such as at night. When machining a workpiece, it is necessary to supply lubricant to the machining area in order to reduce machining friction. When automating the machining of a workpiece, it is naturally necessary to automate the supply of this lubricant as well. Patent Document 1 discloses a technology for automatically supplying liquid lubricant.

JP 2018-34232 A Japanese Utility Model Application Publication No. 5-24249

One possible way to use such a lubricant is to use water-soluble cutting fluid. However, when performing high-precision tapping or large-diameter tapping that places a high processing load on the workpiece, water-soluble cutting fluid does not provide sufficient lubrication, resulting in reduced processing accuracy.

Instead of water-soluble cutting fluid, it is possible to use an oil-based cutting fluid. However, because oil-based cutting fluid is a flammable liquid, manual supervision is required when using oil-based cutting fluid. As a result, unmanned machining of workpieces is not possible when oil-based cutting fluid is used, and machining efficiency cannot be sufficiently improved.

As a result, some have proposed using a paste-type lubricant instead of a liquid lubricant. Paste-type lubricants have high lubricant performance, making it possible to perform high-precision tapping and large-diameter tapping that places a high processing load. Furthermore, paste-type lubricants are non-flammable, so no manual supervision is required.

Patent Document 2 proposes a technology for automatically applying such a paste-like lubricant to a tool. Specifically, Patent Document 2 discloses an apparatus that includes an oil supply nozzle that can move linearly and a supply mechanism that supplies paste-like lubricant from the base side of the oil supply nozzle, and supplies paste-like lubricant to a tool by supplying the paste-like lubricant from the base side of the oil supply nozzle while the tool is inserted into the tip opening of the oil supply nozzle. This technology makes it possible to supply paste-like lubricant to a tool unmannedly. As a result, it becomes possible to automate processing, and processing efficiency can be further improved.

However, in the case of the technology of Patent Document 2, it was necessary to provide a large and expensive supply mechanism to supply the paste lubricant. This supply mechanism cannot be used for anything other than supplying the paste lubricant, so if the machine tool is to perform other tasks, a separate mechanism must be installed. As a result, the technology of Patent Document 2 leads to increased costs and size of the entire machine tool.

Therefore, this specification discloses a machine tool that can improve machining efficiency while suppressing size increase, and a method for applying a paste lubricant.

The machine tool disclosed in this specification is characterized by comprising: a tool holding device arranged in a machining chamber and having one or more tool mounting parts to which a tool is attached; a storage container filled with a paste-like lubricant and having a portion open; a robot arranged in the machining chamber and holding the storage container so that its position and attitude can be changed; and a controller that drives at least one of the robot and the tool holding device to change the position and attitude of the storage container relative to the held member, which is the tool or applicator attached to one of the one or more tool mounting parts, so that the held member enters the storage container through the opening and comes into contact with the paste-like lubricant.

In this case, the held member is the tool, and the controller may drive the tool holding device so that the tool with the paste lubricant attached thereto is used to machine a workpiece after the tool is inserted into the storage container.

The held member may be the applicator, and the controller may drive the tool holding device after the applicator enters the storage container so that the applicator with the paste lubricant attached thereto comes into contact with the portion of the workpiece to be machined.

The controller may also change the location of entry of the held member each time it enters, so that the held member does not enter the same location in the same storage container more than twice.

The robot may also be a multi-joint robot having two or more links connected via joints and having three or more degrees of freedom overall.

The robot may also perform at least one of tool replacement, workpiece replacement, and sensing of the machining state during periods when the paste lubricant is not being applied.

The tool holding device may be a tool rest or a spindle head, and the applicator may include at least one of a brush, a roller, a paint brush, a spatula, and a sponge.

The method of applying a paste-type lubricant disclosed in this specification is characterized in that a held member, which is a tool or applicator, is attached to one of one or more tool mounting portions of a tool holding device arranged in a processing chamber, a storage container filled with a paste-type lubricant and having a portion open is attached to a robot arranged in the processing chamber, and at least one of the robot and the tool holding device is driven to change the relative position and attitude of the storage container with respect to the held member, thereby causing the held member to enter the storage container through the opening and bringing the paste-type lubricant into contact with the held member.

The technology disclosed in this specification allows the paste lubricant to be automatically applied to a tool or applicator. As a result, processing using the paste lubricant can be performed even in an environment where no one is present. As a result, automatic processing in an unmanned environment is possible, and processing efficiency can be further improved. In addition, since the robot can be used for purposes other than applying the paste lubricant, there is no need to provide multiple mechanisms in the machine tool, and the size of the machine tool can be suppressed.

FIG. 2 is a schematic front view of the machine tool. FIG. 1 is an image diagram showing how a paste lubricant is applied to a tool. 11 is an image diagram showing another manner in which the paste lubricant is applied to a tool. FIG. FIG. FIG. 13 is an image diagram showing how a paste lubricant is applied to a brush. 1 is an image diagram showing how a paste lubricant is applied to a processing target portion of a workpiece using a brush. 1 is an image diagram showing how a paste lubricant is applied to a processing target portion of a workpiece using a roller. 1 is an image diagram showing a state in which a paste-like lubricant is applied to a processing target portion of a workpiece using a spatula. FIG. 11 is a schematic front view of another machine tool.

The configuration of the machine tool 10 will be described below with reference to the drawings. FIG. 1 is a schematic front view of the machine tool 10. In the following description, the direction parallel to the rotation axis of the workpiece 56 is called the Z axis, and the direction parallel to the movement direction of the tool rest 20 that is perpendicular to the Z axis is called the X axis. In this example, the X axis is an axis in the rear-upward direction that moves upward as it moves rearward when viewed from the front of the machine tool 10.

This machine tool 10 is a lathe that processes a material by applying a tool 50 held by a tool rest 20 to a rotating workpiece 56. More specifically, this machine tool 10 is a turning center that is NC controlled and has a turret 22 that holds multiple tools 50.

The machining chamber 12 of the machine tool 10 is surrounded by a cover 14. The cover 14 is provided with a door (not shown), and the operator opens and closes the door to access the machining chamber 12 as necessary.

The machine tool 10 is equipped with a headstock 16 that rotatably holds one end of a workpiece 56, and a tool rest 20 that holds a tool 50. The headstock 16 is a table that has a spindle that rotates the workpiece 56. The headstock 16 is provided with a chuck 18 and collet that detachably holds the workpiece 56, so that the held workpiece 56 can be replaced as appropriate. The chuck 18 rotates together with the workpiece 56 about a rotation axis that extends horizontally (Z-axis direction).

The tool rest 20 is a tool holding device that holds the tool 50. The tool rest 20 is movable in the Z-axis, i.e., in a direction parallel to the axis of rotation of the workpiece 56. The mounting surface of the tool rest 20 is inclined in a direction parallel to the X-axis, and the tool rest 20 can also move in the X-axis direction by moving along this mounting surface. In other words, the tool rest 20 can move forward and backward in both the axial and radial directions of the workpiece 56.

A turret 22 capable of holding a plurality of tools 50 is provided on the end face of the tool rest 20. The turret 22 is polygonal when viewed in the Z-axis direction and can rotate around an axis parallel to the Z-axis. A plurality of tool mounting portions 24 to which the tools 50 are attached are provided on the peripheral surface of the turret 22. The form of the tool mounting portion 24 is not particularly limited, but for example, the tool mounting portion 24 may be a hole into which the tool 50 or a part of the tool holder is inserted. Then, by rotating the turret 22, the tool 50 used for processing can be changed. The tool 50 held by the turret 22 may be a turning tool (also called a "bit") used for turning, or a turning tool (also called an "end mill") used for turning. The tool 50 may also be a tool used for thread cutting (also called a "tap"), a drill used for hole drilling, or the like. Such a tool 50 is attached to the turret 22 directly or via a tool holder. In addition, tools 50 that need to rotate during machining, such as turning tools, taps, and drills, can in principle only be attached to specific tool attachment parts 24. The rotational force of a motor built into the tool rest 20 is transmitted to the tools attached to these specific tool attachment parts 24.

The tool 50 held by the turret 22 moves in a direction parallel to the Z-axis by moving the tool rest 20 in a direction parallel to the Z-axis. In addition, by moving the tool rest 20 in a direction parallel to the X-axis, the tool 50 held by the turret 22 moves in a direction parallel to the X-axis. And by moving the tool rest 20 in a direction parallel to the X-axis, the amount of cutting into the material by the tool 50 can be changed, etc.

The machining chamber 12 also includes an on-board robot 30 and an automatic end effector changer 38. The on-board robot 30 is a robot provided inside the machining chamber 12. Here, a "robot" refers to a motion mechanism that operates according to a program about two or more axes, has a certain degree of autonomy, and performs a specified task.

The in-machine robot 30 is not particularly limited in its form as long as it can hold the storage container 40 described later. Therefore, the in-machine robot 30 may be a gantry robot having three translatory joints, a polar coordinate robot having two rotary joints and one translatory joint, whose axes form a polar coordinate system, or a parallel link robot having links forming a closed loop structure. In this example, a multi-joint robot having a plurality of links 32 connected via joints 34 is used as the in-machine robot 30. This in-machine robot 30 has at least three degrees of freedom or more, and the position and attitude of its tip can be freely changed. In FIG. 1, the in-machine robot 30 is installed on the side of the processing room 12, but the installation location and configuration of the in-machine robot 30 may be changed as appropriate as long as the in-machine robot 30 can access the tool 50 held by the tool rest 20. For example, the in-machine robot 30 may be installed on the ceiling of the processing room 12 or on the tool rest 20.

An end effector 36 is attached to the on-board robot 30. The end effector 36 is a mechanism that is attached to the on-board robot 30 so that the on-board robot 30 can perform a specified task. The end effector 36 is detachably attached to the tip of the on-board robot 30. For example, the on-board robot 30 is provided with a latch (not shown) that maintains the attached state of the end effector 36, and the end effector 36 can be removed from the on-board robot 30 by releasing this latch. In addition, multiple types of end effectors 36 are prepared in advance, and the end effector 36 attached to the on-board robot 30 can be changed depending on the type of task performed by the on-board robot 30.

The processing chamber 12 is provided with an auto end effector changer 38 that automatically replaces the end effector 36 attached to the on-machine robot 30. When the on-machine robot 30 performs a predetermined release operation, the auto end effector changer 38 receives the end effector 36 that was attached to the on-machine robot 30, and when the on-machine robot 30 performs a predetermined attachment operation, the auto end effector changer 38 attaches the stored end effector 36 to the on-machine robot 30. The configuration of the auto end effector changer 38 is not particularly limited. Therefore, the auto end effector changer 38 may have the same configuration as an auto tool changer.

The automatic end effector changer 38 may also have multiple engagement parts that engage and hold the end effector 36. In this case, when the end effector 36 currently attached is removed from the on-board robot 30, the on-board robot 30 changes its posture to engage the attached end effector 36 with the engagement part. The on-board robot 30 then releases the latch to release the connection between the on-board robot 30 and the end effector 36. Finally, when the on-board robot 30 moves, the end effector 36 remains in the automatic end effector changer 38 while still engaged with the engagement part, and the two are separated. On the other hand, when a new end effector 36 is attached to the on-board robot 30, the on-board robot 30 moves to a position where it can be connected to one of the end effectors 36 engaged with the automatic end effector changer 38, and latches it. Then, the on-board robot 30 moves in a direction in which it can release the engagement between the end effector 36 and the engagement part.

In any case, the on-board robot 30 of this example is capable of automatically changing the type of end effector 36 to be attached. The machine tool 10 has, as the end effector 36, at least an end effector 36 to which a storage container 40 is fixed, or an end effector 36 capable of holding a storage container 40. An end effector 36 capable of holding a storage container 40 is, for example, a holding mechanism that holds an object. In this case, the end effector 36 may be a hand device that grasps an object with a pair of members, a suction chuck that suction-holds an object, or a magnetic chuck that holds an object using magnetic force or the like.

The machine tool 10 may further have another type of end effector 36. For example, the machine tool 10 may have a sensor that senses information about an object as one of the end effectors 36. In this case, the end effector 36 may be, for example, a contact sensor that detects whether or not an object has been contacted, a distance sensor that detects the distance to the object, a vibration sensor that detects vibrations of the object, a pressure sensor that detects pressure applied from the object, a sensor that detects the temperature of the object, etc.

In another embodiment, the machine tool 10 may have, as the end effector 36, a device that outputs a fluid to assist in machining the workpiece 56. In this case, the end effector 36 may be a device that releases air to blow away chips, or a liquid lubricant (e.g., water-based cutting fluid or oil-based cutting fluid) to the tool 50 or the workpiece 56. The machine tool 10 may have, as the end effector 36, a device that releases energy or material for workpiece molding. In this case, the end effector 36 may be, for example, a device that releases a laser or an arc, or a device that releases material for additive manufacturing. In yet another embodiment, the machine tool 10 may have, as the end effector 36, a camera that captures an image of an object.

By making the end effector 36 attached to the on-board robot 30 interchangeable, the on-board robot 30 can perform a variety of tasks. That is, according to this example, a single on-board robot 30 can hold and transport a workpiece 56 or a tool 50, sense the condition of the target object, and perform processing. As a result, the amount of work done by the operator can be reduced while avoiding an increase in size of the machine tool 10, and automation of processing can be further promoted.

To further facilitate automation of processing, the on-board robot 30 in this example can hold a storage container 40. That is, the on-board robot 30 can be equipped with an end effector 36 to which the storage container 40 is fixed, or an end effector 36 that is a holding device capable of holding the storage container 40. When the on-board robot 30 is equipped with a holding device, a mounting table for the storage container 40 may also be provided in the processing chamber 12. In this case, the on-board robot 30 holds the storage container placed on the mounting table with the holding device (i.e., the end effector 36) as necessary.

Figure 4 is a perspective view of the storage container 40. The storage container 40 is a box-shaped container filled with a paste-like lubricant 42 and part of it (the top surface of the storage container 40 in the example of Figure 4) is open. The paste-like lubricant 42 is a lubricant that is in a paste form at room temperature and changes to a liquid form when heated during processing. This paste-like lubricant 42 has excellent lubricating properties, and when applied to the tool 50 or the workpiece 56, it reduces friction between the tool 50 and the workpiece 56 and protects the tool 50. The paste-like lubricant 42 is useful in general turning processing, but is particularly useful in processing that tends to increase frictional resistance, such as tapping processing and drilling processing. Here, the oil-based cutting fluid also has excellent lubricating properties, similar to the paste-like lubricant 42. However, since the oil-based cutting fluid is a flammable liquid, human supervision is required during use. On the other hand, the paste-like lubricant 42 is non-flammable, so it can be used in an environment where no human supervision is present.

At room temperature, the paste-like lubricant 42 has a viscosity that does not allow it to flow due to gravity. Therefore, even if the position of the storage container 40 filled with the paste-like lubricant 42 is changed and the opening of the storage container 40 is turned to the side or downward, the paste-like lubricant 42 will not drip from the opening. On the other hand, since the paste-like lubricant 42 is in a paste form, when a tool 50 or a brush 52 (described later) enters the storage container 40, it flows and deforms according to the shape of the tool 50, etc., allowing the tool 50, etc. to enter. The reason why the on-board robot 30 holds such paste-like lubricant 42 will be described later.

The controller 26 controls the operation of each part of the machine tool 10 in response to instructions from the operator. The controller 26 is physically a computer having a processor 26a and a memory 26b. This "computer" also includes a microcontroller in which a computer system is incorporated into a single integrated circuit. The controller 26 may also include, for example, a numerical control device that calculates the positions of the tool 50 and the workpiece 56 at any time. Here, the processor 26a refers to a processor in a broad sense, and includes a general-purpose processor (e.g., CPU: Central Processing Unit, etc.) and a dedicated processor (e.g., GPU: Graphics Processing Unit, ASIC: Application Specific Integrated Circuit, FPGA: Field Programmable Gate Array, programmable logic device, etc.). Furthermore, the processor 26a does not have to be a single one, and may have multiple processors 26a located at physically separate locations. The memory 26b does not have to be a single physical element, and may be composed of multiple memories located at physically separate locations. The memory 26b may also include at least one of a semiconductor memory (e.g., RAM, ROM, solid state drive, etc.) and a magnetic disk (e.g., hard disk drive, etc.).

The controller 26 controls the movement of the headstock 16 and the tool rest 20, for example, when the workpiece 56 is machined by the tool 50. In addition, the controller 26 in this example further drives the in-machine robot 30 and the tool rest 20 as necessary to apply the paste lubricant 42 to the tool 50 held by the tool rest 20. The process of applying this paste lubricant 42 will be described in detail below.

As described above, the paste lubricant 42 has excellent lubricating properties and is therefore often used in processes where reduced friction is highly required, such as high-precision tapping and large-diameter tapping. Conventionally, such paste lubricant 42 has been applied manually by an operator to the tool 50 and workpiece 56. However, to further improve machining efficiency, it is necessary to realize unmanned machining in which the machine tool 10 continues machining unmanned according to a pre-registered program during times when there are few people (e.g., at night). To realize such unmanned machining, it is necessary to apply the paste lubricant 42 automatically, without relying on humans.

Therefore, in this example, the application process of the paste lubricant 42 is automated. FIG. 2 is an image diagram showing the application of the paste lubricant 42 to the tool 50. In the example of FIG. 2, a tap is attached as the tool 50 to one of the tool attachment parts 24 of the turret 22 in a position in which its axial direction is horizontal. When applying the paste lubricant 42 to such a tool 50, the controller 26 changes the position of the in-machine robot 30 to face the opening of the storage container 40 toward the tool 50. In the example of FIG. 2, since an opening is provided on the upper surface of the storage container 40, the in-machine robot 30 changes its position so that the upper surface is approximately perpendicular to the axis of the tool 50. Since the paste lubricant 42 has a viscosity that does not flow due to gravity, even if the in-machine robot 30 assumes such a position, the paste lubricant 42 does not drip.

Then, in this state, at least one of the on-board robot 30 and the tool rest 20 is driven so that the tool 50 enters the interior of the storage container 40 through the opening. The controller 26 moves the on-board robot 30 and the tool rest 20 relative to each other until the entire portion of the tool 50 to be coated is covered in the paste lubricant 42.

When the entire area to be coated is covered with the paste-like lubricant 42, the controller 26 again drives either the in-machine robot 30 or the tool rest 20 to move the tool 50 outside the storage container 40. At this time, some of the paste-like lubricant 42 moves with the tool 50 while still adhering to the tool 50. As a result, the tool 50 removed from the storage container 40 is coated with the paste-like lubricant 42. When this state is reached, the in-machine robot 30 retreats to a position that does not interfere with machining. The controller 26 then drives the headstock 16 and the tool rest 20 to start machining the workpiece 56 with the tool 50.

As is clear from the above explanation, according to this embodiment, the paste lubricant 42 can be automatically applied to the tool 50. As a result, processing using the paste lubricant 42 can be performed in an unmanned environment, and processing efficiency can be further improved.

In this example, the storage container 40 is held by the on-board robot 30, which has a high degree of freedom. Therefore, the attitude of the storage container 40 can be freely changed according to the attitude of the tool 50 held by the tool rest 20. As a result, the paste lubricant 42 can be applied to the tool 50 in various attitudes. That is, the controller 26 stores in advance the mounting attitude of the tool 50 to be applied, and changes the attitude of the storage container 40 and, in turn, the attitude of the on-board robot 30 according to the attitude of the tool 50. For example, as shown in FIG. 3, when the tool 50 is attached to the tool mounting portion 24 in a vertically downward attitude, the on-board robot 30 changes the attitude of its arm to make the opening of the storage container 40 face vertically upward. Then, in that state, the tool 50 is inserted into the storage container 40, and the paste lubricant 42 is applied to the tool 50.

The controller 26 also changes the entry point of the tool 50 into the storage container 40 each time it enters. This will be described with reference to FIG. 4. As mentioned repeatedly, the paste lubricant 42 has a viscosity that does not flow due to gravity. Therefore, a hole (hereinafter referred to as an "entrance hole 44") corresponding to the shape of the tool 50 is formed in the paste lubricant 42 at the point where the tool 50 is inserted. In a room temperature environment, this entry hole 44 does not collapse even over time and continues to remain as it is. If the tool 50 enters an entry hole 44 that has already been formed, the contact area between the tool 50 and the paste lubricant 42 decreases, and a sufficient amount of the paste lubricant 42 cannot be applied to the tool 50. Therefore, the controller 26 changes the entry point into the storage container 40 each time the tool 50 enters so that the tool 50 does not enter the entry hole 44.

For example, the controller 26 may divide the top surface of the paste lubricant 42 filled in the storage container 40 (i.e., the surface facing the opening) into multiple areas for management. In this case, each area is made sufficiently larger than the diameter of one tool 50. The controller 26 then stores the area into which the tool 50 has entered as a used area and the area into which the tool 50 has not entered as an unused area, and selects the entry point for a new tool 50 from among the unused areas. When the tool 50 has entered all areas and there are no unused areas left, the controller 26 replaces the storage container 40 held by the on-board robot 30 with a new one. In this way, by changing the entry point of the tool 50 into the storage container 40 each time it enters, an appropriate amount of the paste lubricant 42 can be repeatedly applied to the tool 50.

The controller 26 may also cause the on-machine robot 30 to perform at least one of other tasks, such as tool replacement, workpiece replacement, and sensing of the machining state, during periods when the tool 50 is not being applied with the paste lubricant 42. In addition, when the on-machine robot 30 is in operation to perform these tasks, the end effector 36 attached to the on-machine robot 30 may be replaced as necessary. In this way, by having the on-machine robot 30 used to apply the paste lubricant 42 also perform other tasks, it is possible to prevent the machine tool 10 from becoming larger while further promoting automation of machining.

In the explanation so far, the paste-like lubricant 42 is applied directly to the tool 50. However, the paste-like lubricant 42 may be applied to the part of the workpiece 56 to be machined, instead of to the tool 50. However, since it is difficult to apply the paste-like lubricant 42 directly from the storage container 40 to the part of the workpiece 56 to be machined, in this case, it is sufficient to apply it using an applicator 51. This will be explained with reference to Figures 5 and 6. Figures 5 and 6 are conceptual diagrams showing the application of the paste-like lubricant 42 to the part of the workpiece 56 to be machined, using a brush 52, which is the applicator 51.

As shown in FIG. 5, in this case, the brush 52 is attached to the tool attachment portion 24 of the tool rest 20. This brush 52 is a roll brush with bristles planted around the entire circumference of the shaft. The controller 26 drives at least one of the in-machine robot 30 and the tool rest 20 so that the brush 52 enters the storage container 40. Then, when the brush 52 is buried inside the paste-like lubricant 42, the brush 52 is removed from the storage container 40. As a result, the brush 52 is in a state where the paste-like lubricant 42 is attached to it. When this state is reached, the controller 26 drives the tool rest 20 as shown in FIG. 6 to bring the brush 52 held by the tool rest 20 into contact with the processing target area. As a result, a portion of the paste-like lubricant 42 attached to the brush 52 is transferred to the processing target area, and the paste-like lubricant 42 is applied to the processing target area.

In this way, by using an applicator 51 such as a brush 52, the paste-like lubricant 42 can also be applied to the workpiece 56. In the above explanation, the brush 52 has been exemplified as the applicator 51, but the applicator 51 may have other forms as long as it can spread the paste-like lubricant 42. For example, the applicator 51 may be a roller that can rotate around a specified shaft. In this case, the roller may be a resin roller or a rubber roller that has enough elasticity to be able to elastically deform to match the shape of the area to be applied. Furthermore, the applicator 51 may have at least one of a brush, a spatula, and a sponge.

In the above description, the tool 50 and the applicator 51 (i.e., the "held member") attached to the tool attachment portion 24 are buried in the paste-like lubricant 42 filled in the storage container 40. However, for example, the tool 50 or the applicator 51 may be moved relative to the storage container 40 while maintaining a part of the tool 50 and the applicator 51 in contact with the surface of the paste-like lubricant 42. For example, as shown in FIG. 3, consider the case where the tool 50 is a turning tool having a blade 50a formed at its tip. In this case, the controller 26 may relatively move the tool 50 in a direction parallel to the surface of the paste-like lubricant 42 while the blade 50a is in contact with the surface of the paste-like lubricant 42. By such a movement, the surface of the paste-like lubricant 42 is scraped off by the blade 50a of the tool 50, and the scraped off paste-like lubricant 42 adheres to the blade 50a. As another embodiment, consider the case where a roller 53 is used as the applicator 51 as shown in FIG. 7. In this case, the controller 26 may move the roller 53 relative to the storage container 40 so that the roller 53 rolls on the surface of the paste lubricant 42. By moving in this manner, the paste lubricant 42 adheres to the outer circumferential surface of the roller 53.

In this way, by configuring the tool 50 and applicator 51 so that they are not buried in the paste-like lubricant 42, the formation of the entry hole 44 can be suppressed, and the frequency of replacing the storage container 40 can be reduced. In addition, in this case, by adjusting the contact pressure of the tool 50 or applicator 51 on the surface of the paste-like lubricant 42, the amount of paste-like lubricant 42 adhering to the tool 50 or applicator 51 can be adjusted.

Furthermore, when applying the paste-like lubricant 42 to the workpiece 56 using the applicator 51, not only the tool rest 20 but also the headstock 16 may be driven. For example, as shown in FIG. 8, consider a case where a spatula 54 is used as the applicator 51. In the example of FIG. 8, the inner surface of a hole formed at one end of the workpiece 56 is the part to be processed. In this case, the tip edge of the spatula 54 is inserted into the storage container 40, so that the paste-like lubricant 42 can be attached to the tip edge of the spatula 54. In other words, the spatula 54 only has the paste-like lubricant 42 attached to its one end. This is significantly different from a roll brush in which the paste-like lubricant 42 is attached over the entire range of 360 degrees. The tip edge of the spatula 54 is brought into contact with the part to be processed of the workpiece 56, i.e., the inner surface of the hole. In this state, if the headstock 16 is driven to rotate the workpiece 56, the paste-like lubricant 42 can be spread over the entire inner surface of the hole. In this way, by driving the headstock 16 to rotate the workpiece 56 while the applicator 51 with the paste-like lubricant 42 attached is in contact with the part to be machined, the paste-like lubricant 42 can be applied to various surfaces of the workpiece 56 using an applicator 51 that only adheres to one end, such as a spatula 54 or a brush.

In the above description, the tool rest 20 has been used as an example of a tool holding device that holds the tool 50, but the tool holding device may be another device as long as it has one or more tool attachments 24. For example, as shown in FIG. 9, the machine tool 10 may have a spindle head 60 as a tool holding device. The spindle head 60 is a part that rotatably holds a tool 50 such as a drill, milling cutter, or grindstone. The tool 50 or applicator 51 may be attached to the spindle head 60, and the in-machine robot 30 and the spindle head 60 may be moved relative to each other in such a state that a part of the tool 50 or applicator 51 comes into contact with the paste lubricant 42. Note that the meanings of the terms "tool rest," "spindle head," and "spindle head" described in this specification all follow the meanings defined in the Japanese Industrial Standards (JIS) standard "JIS B0106 Machine Tool 10 - Parts and Machining Direction - Terminology."

10 Machine tool, 12 Machining chamber, 14 Cover, 16 Headstock, 18 Chuck, 20 Tool rest, 22 Turret, 24 Tool attachment, 26 Controller, 26a Processor, 26b Memory, 30 In-machine robot, 32 Link, 34 Joint, 36 End effector, 38 Auto end effector changer, 40 Storage container, 42 Paste lubricant, 44 Entry hole, 50 Tool, 50a Blade, 51 Applicator, 52 Brush, 53 Roller, 54 Spatula, 56 Workpiece, 60 Spindle head.

Claims (6)

a tool holding device disposed within the processing chamber and having one or more tool mounting portions to which a tool is attached;
a storage container filled with a paste-like lubricant and having a portion open;
a robot that is disposed within the processing chamber and that holds the storage container in a manner that allows the position and attitude of the storage container to be changed;
a controller that drives at least one of the robot and the tool holding device to change a relative position and attitude of the storage container with respect to the held member, the held member being an applicator attached to one of the one or more tool attachment portions, so that the held member enters the storage container through the opening and comes into contact with the paste-like lubricant;
Equipped with
The controller drives the tool holding device so that the applicator with the paste-like lubricant attached thereto comes into contact with a portion of a workpiece to be machined after the applicator enters the storage container.
A machine tool characterized by: 2. The machine tool according to claim 1 ,
The machine tool is characterized in that the controller changes the entry location of the held member each time the held member enters so that the held member does not enter the same location in the same storage container more than twice. 3. The machine tool according to claim 1 or 2 ,
The machine tool is characterized in that the robot is a multi-joint robot having two or more links connected via joints and having three or more degrees of freedom overall. A machine tool according to any one of claims 1 to 3 ,
The machine tool, wherein the robot performs at least one of tool change, workpiece change, and sensing of a machining state during a period when the robot is not applying the paste lubricant. A machine tool according to any one of claims 1 to 4 ,
The tool holding device is a tool rest or a spindle head,
The applicator includes at least one of a brush, a roller, a paintbrush, a spatula, and a sponge.
A machine tool characterized by: A held member, which is an applicator, is attached to one of one or more tool mounting portions of a tool holding device arranged in the processing chamber;
a storage container filled with a paste lubricant and having a portion open is attached to the robot disposed in the processing chamber;
at least one of the robot and the tool holding device is driven to change a position and an attitude of the storage container relative to the held member, thereby causing the held member to enter the storage container through the opening and bringing the paste lubricant into contact with the held member ;
After the applicator is inserted into the storage container, the tool holding device is driven so that the applicator with the paste-like lubricant attached thereto comes into contact with a portion of a workpiece to be machined.
1. A method for applying a paste lubricant comprising the steps of: