DE102018104199A1 - Machine tool with working space, set-up station and robot arm and method for their operation - Google Patents

Abstract

The invention relates to a machine tool (10) and a method for its operation. The machine tool (10) has a working space (13) with at least one tool spindle (16) and a clamping device (15) for a workpiece (14). In the working space (13), a workpiece (14) can be processed during a main time. Separated by a partition (26) of the working space (13) is immediately adjacent a set-up (25) with a workpiece holder (28) is present. By means of a workpiece changing device (33), workpieces (14) can be transported between the working space (13) and the set-up station (25). At the set-up station (25), a robot arm (40) is arranged, which can process a workpiece present at the set-up station (25) during the main time. The working space (13), the set-up station (25) and the robot arm (40) are preferably enclosed by a common outer machine outer wall (27). The robot arm (40) and machine axes (19) in the working space (13) are controlled by a common control device (18) of the machine tool (10).

Description

The invention relates to a machine tool with a plurality of machine axes and a method for their operation. The machine tool has a working space which is set up to machine a workpiece. In the working space, a clamping device for clamping the workpiece during machining and a tool spindle for receiving a machining tool is arranged. The tool spindle and the clamping device can be moved and positioned relative to one another by means of one and in particular a plurality of machine axes. The workpiece can preferably be processed on several sides.

Such machine tools are known in different configurations. There are machining centers that can automatically change the machining tool and the workpiece in order to perform highly accurate and complex workpiece machining in one clamping of the workpiece in the workspace.

It is also known to subject the workpieces before and / or after processing in the working space of the machine tool further processing operations. For this purpose, in addition to the machine tool separate processing cells can be arranged and connected by means of a suitable transfer device with the machine tool. Depending on the machining task can be in this way simpler processing steps, which require, for example, less accurate processing, outsource in simpler processing or robot cells, so that the machining of the workpiece is kept free by the machine tool for such processing steps, due to their requirement, in particular to the accuracy or Abtragsvolumen that require machining in the machine tool. Some manufacturers offer such additional robotic cells as e.g. the company Cellro B.V.

The cost of such additional processing cells is relatively high. The cells must be connected separately to the power and media supplies necessary for processing, e.g. Compressed air, hydraulics, cooling water and electrical energy. In addition, such additional machining or robot cells, with a corresponding part transfer for transporting the workpieces, in many cases hinder the accessibility to a machine tool, since such additional machining cells are usually placed directly in front of the machine tool. Also, the required safety equipment with regard to safety at work must be provided for the additional processing cell, such as a protective covering and securing the energy and media supply. It should be added that the footprint for the machine tool and the additional processing cell is usually large and therefore causes additional costs in the realization of a factory.

Based on this, it can be regarded as an object of the present invention to improve the efficiency of a machine tool with little effort.

This object is achieved by a machine tool having the features of claim 1 and a method having the features of claim 15.

The machine tool has a working space which is set up to machine a workpiece. In the working space, a clamping device for clamping the workpiece during its machining and a tool spindle for receiving a machining tool are arranged. The tool spindle can also be set up for an automatic change of the machining tool. The machine tool has several machine axes. By means of one or more of the existing machine axes, the clamping device and the tool spindle can be moved and positioned relative to each other. Thus, also the machining tool and the clamped workpiece can be moved relative to each other to perform the desired machining of the workpiece. Preferably, the workpiece can be machined by the machine tool from several sides, for example from three, four or five sides. Several tool spindles can also be arranged in the working space, so that the workpiece can be machined simultaneously or successively by means of machining tools of the various tool spindles.

The machine tool also has a set-up station, which is separated from the working space by a partition wall. The partition or at least a portion of the partition can be opened to transfer a workpiece between the set-up and the work space and then closed again. The dividing wall is, so to speak, a common wall of the set-up station and the work space and limits the setup station (towards the work area) on one side and the work space on the opposite side (towards the setup station).

The set-up station is provided and set up in particular for preparing the workpiece for processing in the working space. At the set-up a workpiece holder for holding the workpiece is arranged. A workpiece changing device is present, between the set-up and the working space is arranged and adapted to be able to change or transport a workpiece between the set-up station and the work space. Preferably, the workpiece changing device can be set up to take over a workpiece to be machined in the work space from the workpiece holder of the set-up station and to transfer it to the clamping device in the working space. The workpiece changing device can also be set up to take over a workpiece machined in the working space from the clamping device in the working space and to transport it out of the working space, for example back to the set-up station.

The setup station is assigned a robot arm. The robot arm is movable in several degrees of freedom and for this purpose has corresponding translational and / or rotational axes which connect individual members of the robot arm with each other.

The machine tool also has a control device. The control device is set up to control the work process of the workpiece machining in the work space during a main time. The main time is the length of time during which a workpiece is machined in the work space using the at least one tool spindle. The robot arm is set up to process a workpiece held at the set-up station in the workpiece holder during this main time. Preferably, during each main time at least temporarily, a workpiece is present at the set-up station and held in the workpiece holder, which can be processed by means of the robot arm.

The machine tool already has all the connections for the required supply of electrical energy and any media, so that the supply of the set-up of the machine tool can be achieved very easily without much effort. Also, for example, a cooling unit for cooling of facilities and / or the workpiece can be used for both the work space and the set-up. In addition, the footprint of the machine tool by the additional robot arm does not increase or only slightly. As a result, already existing machine tools can be retrofitted. The small footprint also allows a cost savings compared to additional separate processing cells in the realization of a fabrication.

At least part of the implemented functions of the control device of the machine tool is also used for the control and / or monitoring of the workflow at the set-up station. Thus, the control device can have superordinate functions-in particular safety functions which relate to work safety-which are also used for the operation of the robot arm and need not be implemented separately.

Preferably, the control device provides at least one safety function for the operation of the machine tool and in particular the workpiece machining in the working space to protect operators from injury and to avoid damage to the material. For example, as a possible safety function, the control device can interrogate at least one sensor signal which indicates whether a door, a service flap or another opening in a machine outer wall surrounding the machine tool is open or closed. Only when these openings are closed, a machining of the workpiece or a movement of a machine axis is made possible. Such openings may be locked by the controller during machining of the workpiece or movement of a machine axis to prevent opening.

Another example of a safety function is to ensure the freedom of collision of the movable devices and parts, in particular a loading or workpiece transfer unit and the movable by machine axes devices, such as the clamping device, the at least one tool spindle and the workpiece changing device. For this purpose, the control device can interrogate one or more position values and / or sensor signals from monitoring sensors (for example proximity sensors, limit switches, etc.).

The control device can therefore use one or more such safety functions or other higher-level control systems and / or controls both for the work process in the work space and at the set-up station, in particular for ensuring occupational safety.

The controller may also provide position setpoints and / or trajectories for the positioning or alignment or movement of the robotic arm or members of the robotic arm, respectively. The execution of the movement can be carried out by a subordinate and separate robot control, which controls the individual rotary or translator Roboterachsantriebe. Alternatively, the complete motion control of the robot may be performed by the controller of the machine tool. The robot arm may be considered as one or more other machine axes that are controlled by the common control device.

In addition to machining the workpiece, the robot arm can also be set up or operated to clean the set-up station and, in particular, the workpiece holder.

• - Material abtragende und/oder umformende Bearbeitungen, wie Entgraten, Bohren, Gewindeschneiden, Prägen, usw.
• - das Markieren des Werkstücks, beispielsweise mittels eines Lasers,
• - das Reinigen des Werkstücks mit Druckluft oder einem Reinigungsfluid bzw. einer Flüssigkeit, oder durch Absaugen, beispielsweise von Spänen oder Pulver vom Laserauftragsschweißen
• - das Messen oder Prüfen von Dimensionen am Werkstück,.
• - das Montieren von wenigstens einem Zusatzteil am Werkstück und/oder das Zusammenbauen mehrerer Werkstückkomponenten,
• - das Auftragen von insbesondere metallischem Material oder nichtmetallischem Material wie etwa Kunststoffmaterial auf das Werkstück durch ein additives Herstellungsverfahren (generatives Fertigungsverfahren) wie z.B. Lasersintern, Laserschmelzen, Lichtbogen-Auftragsschweißen bzw. Laserschweißen, Elektronenstrahlschmelzen, Metall-Pulver-Auftragsverfahren oder ein anderes geeignetes Pulverbettverfahren, Freiraumverfahren oder Flüssigmaterialverfahren.
• - Konservierung von Werkstücken durch Auftrag von Konservierungsstoffen

The machining of the workpiece by the robot arm includes, but is not limited to, material-removing machining steps. The processing can include one or more of the following activities or processing steps:

• - Material-removing and / or forming operations, such as deburring, drilling, tapping, embossing, etc.
• the marking of the workpiece, for example by means of a laser,
• - The cleaning of the workpiece with compressed air or a cleaning fluid or a liquid, or by suction, for example, chips or powder from laser deposition welding
• - Measuring or checking dimensions on the workpiece.
• the mounting of at least one additional part on the workpiece and / or the assembling of several workpiece components,
• the application of in particular metallic or non-metallic material such as plastic material to the workpiece by an additive manufacturing process such as laser sintering, laser melting, arc welding, electron beam melting, metal powder coating or other suitable powder bed process, Free space method or liquid material method.
• - Preservation of workpieces by applying preservatives

The robotic arm may perform one or more of these processing steps in any combination and order during peak time. It is possible to process the same workpiece several times both at the set-up station and in the work space. For example, material applied by an additive manufacturing process can subsequently be processed to produce very precise surfaces or edges in the work space and then conveyed back to the set-up station, where it can be re-processed, for example, material applied again.

For additive manufacturing, the robot arm can use a laser welding head as a machining tool. The laser welding head and any additional units for the additive manufacturing process, for example a laser source and a material supply, are arranged at the set-up station, preferably as close as possible to the workpiece holder in order to perform the supply lines between the additional units and the laser head as short as possible. At the set-up station, the parts of the machine tool which may come into contact with material during additive production may be made of stainless steel or other suitable materials or with other suitable surface coatings. Optionally, transparent elements in a wall surrounding the set-up station are suitable for use with the laser (e.g., using a laser-shield). To cool the laser, a cooling unit may be required. This cooling unit can cool both the laser at the set-up station, as well as machine facilities of the working space. For removal of welding powder or slag disposal or disposal of excess material in the additive manufacturing can - if technically possible or reasonable - the same disposal facility can be used as for the chip and coolant removal in the work area.

Additive manufacturing at the set-up station can simplify the production of workpiece variants based on the same base body. For example, the same cast body can be used as the base body for several or all variants of the workpiece. Depending on the variant to be carried out, material can be applied at the suitable places by means of the robot arm at the set-up station in order to produce the different workpiece variants. It is understood that in addition to the material application, another processing - at the set-up station and / or in the work space - can take place in order to produce the desired workpiece variant from the base body.

Additive manufacturing processes at the set-up station can also be used to create specific workpiece surface properties, such as to create functional protective layers and / or slip layers and / or backing layers on workpiece surfaces.

It is preferred if the workpiece holder is rotatable about an axis of rotation, which is preferably aligned vertically. As a result, for example, a circular application of material on the clamped workpiece during additive manufacturing can be achieved. The relative movement between the welding head and the workpiece can be performed by the rotatable workpiece holder.

In one embodiment of the machine tool, the robot arm is set up to receive a measuring tool or has a measuring tool at its free end. The control device can be configured to control the robot arm with the measuring tool in order to determine the position and / or orientation of the workpiece arranged in the workpiece holder at the set-up station in a coordinate system of the robot arm determine. This measurement can be carried out in order subsequently to be able to carry out further machining of the workpiece at the set-up station with the required accuracy. The measurement can also be set up to recognize different types of workpieces.

It is advantageous if the workpiece changing device is set up to simultaneously transport a workpiece to be machined from the set-up station into the working space and an already machined workpiece from the working space to the set-up station. For example, the workpiece changing device can have two workpiece changing stations for one workpiece and can be mounted so as to be pivotable about a pivot axis extending between the working chamber and the set-up station. It is also possible that at least part of the partition wall between the set-up station and the working space is connected to the workpiece changing device and is arranged, for example, in a radial plane of the pivot axis of the pivotable workpiece changing device.

In a preferred embodiment, the workpieces are mounted or tensioned on a respective pallet. When machining the workpieces at the set-up station and in the work space, the workpiece remains in the same position on the respectively associated pallet. The pallet is set up for the transport and / or holding or clamping of the workpieces.

The workpiece changing device can be designed as a so-called pallet changer. The workpiece changing device may have at least one and preferably two pallet grippers. The pallet grippers are adapted to attack the transport of the workpieces on the pallet.

The workpiece holder at the set-up station and the clamping device are designed differently in one embodiment. In particular, the clamping device can be movable in at least one degree of freedom in which the workpiece holder is immovable and / or the workpiece holder can be moved in at least one degree of freedom in which the clamping device is immovable. The storage and positioning accuracy of the workpiece by means of the clamping device may be greater than by means of the workpiece holder. Thereby, the mobility and / or execution of the workpiece holder can be limited to the accuracy required for processing by the robot arm, which reduces the cost of the workpiece holder compared to the highly accurate storage and positioning of the workpiece by means of the clamping device in the working space. But it is also possible to perform the storage and positioning accuracy of the workpiece by means of the workpiece holder also very precise. Then, with the aid of particularly precise robots, it is also possible to carry out machining operations with high accuracy on the set-up station.

It is preferred if the robot arm is arranged on a base adjacent to the machine bed of the machine tool on a base. As a result, the robot arm can be decoupled from the machine bed. If the robot arm performs machining of the workpiece at the set-up station during the main time, vibrations may occur due to accelerations in the movement of the robot arm. The vibrations are introduced via the base into the ground and not directly into the machine bed. This can ensure that the accuracy of the workpiece machining in the working space is not impaired by the at least one machine spindle due to vibration initiation due to the robot movement.

It is advantageous if the number of degrees of freedom of the robot arm for the movement of its free end is higher than the number of degrees of freedom in the working space, with which the tool spindle, and thus the machining tool, is movable and positionable relative to the workpiece. This makes it possible to perform workpiece machining on the set-up, which can not be performed due to the less movable tool spindle in the workspace. For example, the workpiece can be machined on one or more sides that are not accessible by the tool spindle.

The tool holder of the robot arm can in one embodiment have a standard interface for interchangeable tools. For example, the standard interface for accommodating tools with a hollow shaft taper (HSK) can be set up.

At the set-up station, a tool magazine with several tools for the robot arm is preferably arranged. The tools can be stored independently by the robot arm in the tool magazine or taken from the tool magazine. The tool magazine is preferably arranged immovably relative to the machine bed or the base of the robot arm. The tool magazine can be omitted if the robot arm performs only a certain activity and no tool change is necessary.

It is understood that more than one robotic arm can be assigned to a set-up station. It is also possible to assign the same tool magazine to several robot arms. alternative For each robot arm, a separate tool magazine can also be present.

It is preferred if the machine tool has a machine outer wall which surrounds both the working space and the set-up station. The outer wall of the machine thus also surrounds the robot arm so that occupational safety is ensured even at the set-up station. A separate enclosure of a processing cell, which is upstream or downstream of the machine tool, can be omitted.

It is also advantageous if a workpiece transport opening for the transport of workpieces to and / or from the set-up station is present in the machine outer wall. Advantageously, the workpiece transport opening may be the only opening that is set up for conveying workpieces into or out of the machine tool. Within the machine tool, the workpiece transfer takes place between the set-up station and the working space through the workpiece changing device. A direct supply or removal of workpieces from the outside into the working space or from the working space to the outside can be omitted.

It is also advantageous if the machine tool has a removal device for chips and / or coolant. This discharge device is designed such that chips and / or coolant can be derived from the machine tool as well as from the set-up station, in particular via a common shaft or channel. This achieves a very simple design and reduces costs compared to separate processing cells.

The machine tool can be operated as follows:

First of all, a workpiece to be machined is transported, for example, from the set-up station via the workpiece changing device or by another loading device (for example a portal conveyor) directly into the working space. Another workpiece is transported to the set-up station, for example, an already machined workpiece can be transported by means of the workpiece changing device from the working space back to the set-up. Preferably, a simultaneous workpiece change between the set-up and the work space can be done. Subsequently, the workpiece arranged and clamped in the working space is processed during a main time by means of the at least one tool spindle. During this main time, the workpiece present at the set-up station is processed by means of the robot arm. This other workpiece may be the previously machined workpiece in the workspace. It is also possible to remove the workpiece machined in the working space from the machine tool without further post-processing and to supply a workpiece still to be machined to the set-up station and to machine this workpiece to be machined during the main time at the set-up station.

• 1 in Draufsicht eine schematische, blockschaltbildähnliche Darstellung eines Ausführungsbeispiels einer Werkzeugmaschine mit einem Arbeitsraum, einem Rüstplatz und einem dem Rüstplatz zugeordneten Roboterarm und
• 2 und 3 die Werkzeugmaschine aus 1 in einer blockschaltbildähnlichen Seitenansicht, wobei unterschiedliche zeitliche Phasen veranschaulicht sind.

Advantageous embodiments of the machine tool and the method will become apparent from the dependent claims, the description and the drawings. Hereinafter, preferred embodiments of the invention will be explained in detail with reference to the accompanying drawings. Show it:

• 1 in plan view, a schematic, block diagram-like representation of an embodiment of a machine tool with a working space, a set-up and a robot arm associated with the set-up and
• 2 and 3 the machine tool off 1 in a block diagram similar side view, wherein different temporal phases are illustrated.

In the 1 to 3 is an embodiment of a machine tool 10 each strongly schematized illustrated in the manner of a block diagram. The machine tool 10 has a machine bed 11 For putting up on a subsoil 12 , For example, is provided and set up in a factory hall. Above the machine bed 11 there is a workroom 13 for machining workpieces 14 , In the workroom 13 is for clamping the workpiece 14 during its processing, a clamping device 15 available. In the workroom 13 There is also at least one tool spindle 16 , which is used to hold a machining tool 17 for machining the workpiece 14 in the workroom 13 is set up. Optionally, a work space tool magazine 20 and depending on the mobility of the tool spindle 16 using different tools, using an optional tool changer 17 into the tool spindle 16 be changed and replaced, depending on the required machining of the workpiece 14 ,

The machine tool 10 also has several of a control device 18 controllable machine axes 19 on. The machine axes 19 the machine tool are each as translational or rotary machine axes 19 executed. The number of machine axes 19 may depend on the configuration of the machine tool 10 vary. Some of the machine axes 19 are in the workroom 13 arranged and adapted to the tensioning device 15 and the at least one tool spindle 16 in the workroom 13 to move and / or align relative to each other. In particular, the axle assembly with the at least one machine axis 19 both for movement of the clamping device 15 relative to the machine bed 11 , as well as the movement of the tool spindle 16 relative to the machine bed 11 set up. The exact axle arrangement depends on the design of the machine tool 10 from.

The machine tool 10 In the embodiment also has a set-up 25 on. The setup station 25 is from the workroom 13 through a partition 26 separated. The setup station 25 as well as the work space 13 the machine tool 10 are by a surrounding machine outer wall 27 enclosed.

At the set-up station 25 is a workpiece holder 28 for holding a workpiece 14 at the set-up station 25 arranged.

In the embodiment, the workpieces 14 each on a pallet 29 attached and shared with the pallet 29 or using the pallet 29 transported and at the set-up station 25 in the workpiece holder 28 held and in the clamping device 15 in the workroom 13 curious; excited. At the set-up station 25 becomes a workpiece 14 for working in the workroom 13 provided.

The machine tool 10 has a workpiece changing device 33 on that between the set-up 25 and the workroom 13 is arranged and in the embodiment partially in the working space 13 and partly in the preparation station 25 protrudes. The workpiece changing device 33 is in the preferred embodiment in the region of the partition 26 arranged. By means of the workpiece changing device 33 can be a workpiece 14 from the set-up station 25 in the workroom 13 into and / or from the workroom 13 to the preparation station 25 be transported. The workpiece changing device 33 is, for example, designed such that one at the set-up 25 existing workpiece 14 from the workpiece holder 28 taken over and into the workroom 13 can be transported and / or that a machined workpiece 14 from the clamping device 15 taken and from the workroom 13 back to the preparation station 25 can be transported.

In the illustrated embodiment, the workpiece changer has 33 two pallet grippers 34 , wherein in the starting position a pallet gripper 34 at the set-up station 25 and the other pallet gripper 34 in the workroom 13 immediately adjacent to the partition 26 are arranged. The pallet gripper 34 are set to a palette 29 with the workpiece arranged thereon 14 take. The workpiece changing device 33 is according to the example about a pivot axis S pivotable parallel to or in the plane of the partition 26 is arranged. The pallet gripper 34 are with respect to the plane in which the pivot axis S extends, arranged on opposite sides. By a pivoting movement about the pivot axis S can the pallet gripper 34 exchange their seats so that the previously at the set-up 25 arranged pallet gripper 34 then in the workroom 13 is arranged and vice versa. If one or both pallet grabs 34 a pallet 29 with a workpiece 14 take over ( 3 ), in this way can be a workpiece transfer between the set-up 25 and the workroom 13 respectively. At the same time a workpiece to be machined from the set-up station 25 in the workroom 13 and an already machined workpiece from the workspace 13 back to the preparation station 25 be transported. About one or more machine axes 19 at the set-up station 25 and one or more machine axes 19 in the workroom 13 can the workpiece holder 28 or the clamping device 15 be moved so that the pallet 29 with the workpiece 14 on the assigned pallet gripper 34 arranged or from the associated pallet gripper 34 can be removed. According to the example, the workpiece changing device 33 only about the pivot axis S rotatable and otherwise not rotatory or translationally movable executed. It is understood that the pallet gripper 34 Clamping means for non-positive and / or positive retention of the respective pallet 29 can have.

By means of at least one machine axis 19 is the workpiece holder 28 around a rotation axis D rotatable. This makes it possible in the workpiece holder 28 arranged workpiece 14 turning around the axis of rotation D to drive and thereby process, as will be explained in more detail below. The axis of rotation can be oriented vertically, for example.

A partition wall section 26a the partition 26 is according to the example with the workpiece changing device 33 connected. During the rotation of the workpiece changing device 33 around the pivot axis S the partition wall section rotates 26a With. This will create a kind of revolving door in the partition 26 formed, leaving a pallet 29 with a workpiece 14 between the preparation station 25 and the workroom 13 can be promoted.

The control device 18 controls next to the machine axes 19 also the movement of the workpiece changing device 33 ,

In the machine outer wall 27 is, for example, a workpiece transport opening 35 available. Through the workpiece transport opening 35 can a palette 29 with a workpiece 14 to the preparation station 25 be fed and one at the set-up 25 arranged workpiece 14 from the machine tool 10 be conveyed out, which is schematically in 2 illustrated by the double arrow. The workroom 13 Thus, apart from the partition wall section 26a be formed without further openings for the workpiece transfer.

The workpiece transport opening 35 is preferably closed by a door, flap or the like. During machining, the workpiece transport opening 35 closed. In the embodiment illustrated here, the workpiece transport opening 35 be arranged such that a linear transport of the workpieces 14 through the workpiece transport opening 35 to the workpiece holder 28 and from the workpiece holder 28 to the workpiece changing device 33 is possible.

Alternatively, workpieces 14 also via a portal support from above to the preparation station 25 to or from the preparation station 25 be promoted away. In this variant, often only the workpieces 14 without a pallet 29 promoted. The workpiece 14 is then from the portal conveyor on the pallet 29 filed or removed from this.

At the set-up station 25 is inside the machine exterior wall 27 a robot arm 40 arranged. The robot arm is with one end on a pedestal 41 arranged. In the embodiment, the base is 41 on the ground 12 , This is advantageous if, due to the mass, the forces and the accelerations when moving the robot arm 40 Vibrations in the machine tool 10 or the machine bed 11 could be coupled. Should due to the execution and the control of the movement of the robot arm 40 such a coupling of vibrations in the machine bed 11 could be uncritical, the robot arm 40 also on the machine bed 11 or another part of the machine tool 10 be attached.

Starting from the pedestal 41 extends the robot arm 40 to a free end 42 out. At the free end 42 points the robot arm 40 a tool holder 43 for different tools 44 on. The tool holder 43 may be a standard interface, such as a configured for receiving hollow shaft cones (HSK) tool holder 43 ,

Between the tool holder 43 and the pedestal 41 points the robot arm 40 several links 45 on, each with two adjacent links 45 are rotatably or pivotally connected to each other. The robot arm 40 has several robot axes R each one degree of freedom in the movement or positioning of the free end 42 and therefore one in the tool holder 43 held tool 44 in the room and, for example, at the set-up station 25 represent. At the in 1 exemplified robotic arm 40 are six robot axes R present, each having a pivot axis for the movement of the respective member 45 relative to the adjacent limb 45 or the pedestal 41 form. The movement and positioning of the limbs 45 around the robot axes R is executed by appropriately controllable robot axis drives. The free end 42 can therefore relative to the socket 41 moved, positioned and aligned in space.

In one embodiment, the number of degrees of freedom in which the free end 42 of the robot arm 40 is movable or positionable to be greater than the number of degrees of freedom with which the at least one tool spindle 16 , and thus the editing tool 17 , relative to the workpiece 14 is movable and positionable.

The robot arm 40 can during the main time, ie while processing a workpiece 14 through the at least one tool spindle 16 in the workroom 13 , one at the set-up station in the workpiece holder 28 arranged workpiece 14 to edit. Machining means a machining and / or non-machining, testing or measurement or other activity that is the robot arm 40 using a tool 44 on the workpiece 14 can perform. For example, the robot arm 40 at least one dimension of the workpiece 14 measure a workpiece 14 mark, for example by means of a laser, a workpiece 14 clean, for example by means of a fluid such as compressed air or a rinsing liquid, or a workpiece 14 machining, for example by drilling or milling or the like.

By means of a tool for additive production, for example a laser welding head 51 , the robot arm can 40 also material on the workpiece 14 Apply and with the workpiece 14 cohesively connect. For this purpose, the tool 44 appropriate material, in particular metallic material or plastic material, are supplied. At the setup station is a laser source 52 as well as a material supply 53 for feeding the material to be applied to the laser welding head 51 available. The laser source 52 and the material supply 53 are preferably close to the workpiece holder 28 arranged to run the supply lines as short as possible.

Is the robot arm 40 at the set-up station 25 for additive application of material to the workpiece 14 set up, the number of variants of a base part, such as a casting, can be reduced. It is possible to cast a casting identical for several variants of the workpiece and / or to shape or produce by other methods and to produce distinctive characteristics of the variants at least by the additive application of material. As a result, tool costs, in particular for the casting tool, can be saved.

The robot arm 40 For example, it may be configured to have one or more burrs on the workpiece 14 removed from a previous step. The robot arm 40 Optionally, it can also be set up for the setup station 25 or to clean parts thereof, such as the workpiece holder 28 or the workpiece 14 , As a result, chips or coolant residues can be removed in order to arrange the workpiece as exactly as possible 14 in the workpiece holder 28 to enable.

At the set-up station 25 can be inside the machine exterior wall 27 a tool magazine 46 with several tools 44 for the robot arm 40 be arranged. The tool magazine 46 is preferably immovable at the set-up station 25 arranged. The robot arm 40 is set up to be a tool 44 from the tool magazine 46 to record or a in the tool holder 43 arranged tool 44 in the tool magazine 46 store. This makes it possible to perform different operations during the main time at the set-up station 25 perform. Depending on the task to be performed, the robot arm may have the appropriate tool 44 For example, a blowing nozzle or a rinsing nozzle for cleaning, a laser tool for marking a workpiece, a rotary tool that can be used for material removal, a measuring or testing tool, etc.

The robot arm 40 and the workflow in the workspace 13 be through the common control device 18 controlled. The entire machine tool 10 including the robot arm 40 be about a common supply 47 supplied with electrical energy and optionally other required fluids, such as coolant and / or lubricant and / or compressed air and / or hydraulic fluid. Because the supply 47 for the machine tool 10 and the machining of the workpiece 14 in the workroom 13 Anyway, the supply can be 47 with little effort at the same time for the set-up 25 and in particular the workpiece holder 28 and the robot arm 40 be used. The of the machine tool 10 required footprint is compared to an embodiment of the machine tool 10 without robotic arm 40 only slightly enlarged. The efficiency of the machine tool 10 In contrast, is significantly increased because during the main time at the set-up 25 Work steps through the robot arm 40 can be made, for their implementation is not necessarily a highly accurate and powerful tool spindle 16 is required. This can be the valuable main time for the work on the workpiece 14 reserved, which require high accuracy and / or a high removal rate. Less complex tasks with lower accuracy requirements, such as deburring, cleaning, cutting threads, etc., can be done during the main time in parallel with the machining of a workpiece 14 in the workroom 13 on another workpiece 14 at the set-up station 25 be executed.

At least one of the tools 44 for the robot arm 40 can as a measuring tool 44a be executed. The robot arm 40 can the measuring tool 44a and after arranging a palette 29 with a workpiece 14 in the workpiece holder 28 can the robot arm 40 one or more places on the pallet 29 and / or the workpiece 14 Contact or contactless measure the position and / or orientation of the workpiece 14 in a coordinate system of the robot arm 40 capture. Following this, a machining of the workpiece 14 at the set-up station 25 respectively. This can improve the accuracy of machining a workpiece 14 at the set-up station 25 by means of the robot arm 40 increase.

As it is highly schematized in the 2 and 3 is illustrated, the machine tool 10 a discharge facility 48 with a discharge channel 49 for chips and / or coolant residues. The discharge device 48 is designed to handle both chips and / or coolant at the set-up station 25 , as well as in the workroom 13 take. Thus, a uniform, common removal of material residues or coolant residues is available. If dusts and / or gases are generated during processing, they can be used both at the set-up station 25 , as well as the workroom 13 a common suction device 50 be assigned to extract such dusts or gases.

At least part of the in the control device 18 implemented functions F can be used to control and / or monitor the operation of the robot arm 40 be used. This applies in particular to safety functions for the production of safety at the set-up station. For example, the control device 18 be adapted to a sensor signal U at least one sensor 55 to interrogate a state of the machine tool 10 characterized. For example, the sensor 55 a flap or door on the workpiece transport opening 35 be assigned and their state by means of the sensor signal U to the controller 18 to transfer. When the workpiece transport opening is open 25 may be moving the robotic arm 40 and / or the workpiece holder 28 and editing the workpiece 14 by means of the tool 44 of the robot arm 40 stopped or stopped. During the machining of the workpiece 14 at the set-up station 25 or the movement of the workpiece holder 28 or the robot arm 40 For example, a door or flap on the workpiece transport opening 35 by the control device 18 be locked. Analogous to this, other access openings in the machine outer wall 27 covered area, ie the workspace 13 and the setup station 25 be monitored and secured.

The at least one parent function F can also be a function to ensure collision freedom. Such a function F is anyway for the means of at least one machine axis 19 movable machine parts present and can also be used for the movement of the workpiece holder 28 or the movement of the robot arm 40 be used.

In addition, the control device 18 a parent function F provide the motion coordinates and / or trajectory to move the tool 44 by means of the robot arm 40 and / or the speed of movement and / or the orientation of the tool 44 pretend. The control of the robot axis drives for moving the individual links 45 can also be from the controller 18 be taken, the control of the individual robot axis drives also by a separate robot control unit 56 can take place, so to speak, a subordinate control or regulation of the robot arm 40 performs.

The invention relates to a machine tool 10 and a method of operation thereof. The machine tool 10 has a workspace 13 with at least one tool spindle 16 and a tensioning device 15 for a workpiece 14 on. In the workroom 13 can be a workpiece 14 to be worked on during a main time. Separated by a partition 26 from the workroom 13 is immediately adjacent to a preparation station 25 with a workpiece holder 28 available. About a workpiece change device 33 can workpieces 14 between the workspace 13 and the setup station 25 be transported. At the set-up station 25 is a robotic arm 40 arranged during the main time one at the set-up 25 can edit existing workpiece. The workroom 13 , the set-up place 25 and the robotic arm 40 are preferably from a common outer machine outer wall 27 enclosed. The robot arm 40 as well as machine axes 19 in the workroom 13 be through a common control device 18 the machine tool 10 controlled.

LIST OF REFERENCE NUMBERS

10

machine tool

11

machine bed

12

underground

13

working space

14

workpiece

15

tensioning device

16

tool spindle

17

processing tool

18

control device

19

machine axis

20

Workspace tool magazine

25

setup station

26

partition wall

26a

partition section

27

Machines outer wall

28

Workpiece holder

29

palette

33

Workpiece changing device

34

pallet gripper

35

Workpiece transport opening

40

robot arm

41

base

42

free end of the robot arm

43

tool holder

44

Tool

44a

measuring tool

45

member

46

tool magazine

47

care

48

discharge device

49

discharge channel

50

suction

51

Laser welding head

52

laser source

53

material supply

55

sensor

56

Robot control unit

D

axis of rotation

F

parent function

R

robot axis

S

swivel axis

U

sensor signal

Claims (18)

Machine tool (10) with a plurality of machine axes (19), with a working space (13) arranged for machining a workpiece (14), in which a clamping device (15) for clamping the workpiece (14) during machining and a tool spindle (16) for receiving a machining tool (17) are arranged wherein the tool spindle (16) and the tensioning device (15) are movable relative to one another by means of one or more of the machine axes (19), with a control device (18) which is set up to control the work process of the workpiece machining in the working space (13) during a main time, with a set-up station (25) which is separated from the working space (13) by a dividing wall (26), wherein at the set-up station (25) a workpiece holder (28) for holding the workpiece (14) is arranged, with a workpiece changing device (33) which is arranged between the set-up station (25) and the working space (13) and is adapted to change a workpiece (14) between the set-up station (25) and the working space (13); with a the robot setup (25) associated in several degrees of freedom movable robot arm (40) at its free end (42) has a tool holder (43), and which is adapted, during the main time at the set-up station (25) in the workpiece holder (28) workpiece (14) to be processed, wherein at least a part of the functions implemented in the control device (18) is also used for the control and / or monitoring of the workflow at the set-up station (25). Machine tool after Claim 1 , characterized in that the workpiece changing device (33) is adapted to transport a machined workpiece (14) located in the working space (13) out of the working space (13). Machine tool after Claim 2 , characterized in that the workpiece changing device (33) is adapted to transport the machined workpiece located in the working space (13) back to the set-up station (25) and at the same time a prepared workpiece (14) from the setup station in the working space (13) transport. Machine tool according to one of the preceding claims, characterized in that at least one partition wall section (26a) of the partition wall (26) is connected to the workpiece changing device (33). Machine tool according to one of the preceding claims, characterized in that the workpieces (14) are each mounted on a pallet (29), and that the workpiece changing device (33) has at least one pallet gripper (34) which is adapted to transport the workpieces (14) to attack the pallet (29). Machine tool according to one of the preceding claims, characterized in that the robot arm (40) on a base (41) adjacent to the machine bed (11) on a substrate (12) is arranged. Machine tool according to one of the preceding claims, characterized in that the number of degrees of freedom in which the free end (42) of the robot arm (40) is movable, is greater than the number of degrees of freedom in which clamped in the clamping device (15) Workpiece (14) and the at least one tool spindle (16) in the working space are movable relative to each other. Machine tool according to one of the preceding claims, characterized in that the tool holder (28) of the robot arm (40) has a standard interface for interchangeable tools (44). Machine tool according to one of the preceding claims, characterized in that at the set-up station (25) a tool magazine (46) with a plurality of tools (44) for the robot arm (40) is arranged. Machine tool according to one of the preceding claims, characterized in that a machine outer wall (27) surrounds the working space (13) and the set-up station (25). Machine tool after Claim 10 , characterized in that in the machine outer wall (27) a workpiece transport opening (35) for the transport of workpieces (14) to and / or from the set-up station (25) is present. Machine tool after Claim 10 or 11 , characterized in that the working space (13) has an opening or is open at its top to allow the transport of workpieces (14) directly into or directly from the working space (13). Machine tool according to one of the preceding claims, characterized in that the robot arm (40) comprises or can receive a measuring tool (44a). Machine tool after Claim 13 , characterized in that the control device (18) is set up to control the robot arm (40) with the measuring tool (44a) in order to determine the position and / or orientation of the workpiece (29) arranged in the workpiece holder (28). 14) in a coordinate system of the robot arm (40). Machine tool according to one of the preceding claims, characterized in that the set-up station (25) and the working space (13) have a common discharge device (48) for chips and / or coolant. Method for operating a machine tool (10) according to one of the preceding claims, comprising the following steps: Transporting a workpiece (14) from the set-up station (25) into the working space (13) and transporting another workpiece (14) to the set-up station (25), Machining the workpiece (14) in the working space (13) during a main time, - Processing of the set-up (25) arranged workpiece (14) during the main time by the robot arm (40). Method according to Claim 16 characterized in that material is applied to a workpiece (14) held in the workpiece holder (28) by an additive manufacturing process using the robotic arm (40) at the set - up station (25), the workpiece (14) being previously and / or subsequently im Workspace (13) has been or will be. Method according to Claim 17 , characterized in that for producing a predetermined workpiece variant from a group of possible workpiece variants, first a base body is produced as a workpiece (14), which is used for several or all workpiece variants, and in that on the set-up station (25) in the workpiece holder (28 ) is applied by the additive manufacturing process to produce the selected, predetermined workpiece variant.

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