WO2025074599A1 - Machine tool - Google Patents

Abstract

In order to provide a machine tool provided with a compact unloading loader device in the machine, the present invention is provided with: a discharge device that is separated by a partition wall from a processing chamber in which processing of a workpiece gripped by a main shaft chuck is performed, and is disposed outside the processing chamber; and a loader device that conveys the processed workpiece from the main shaft chuck to the discharge device, the loader device having a robot hand that grips a workpiece in the main shaft chuck, a drive device that causes the robot hand to move between the processing chamber and the outside of the processing chamber and perform the operation of receiving a workpiece, and a door member that is formed integrally with the robot hand and closes an opening formed in the partition wall by movement from the processing chamber to outside the processing chamber.

Description

Machine Tools

The present invention relates to a machine tool equipped with a loader device for removing a machined workpiece from a machining chamber.

In machine tools such as NC lathes, a loader device is used to load and unload workpieces within the machine to automate machining. Some loader devices are designed to be placed outside the machine, but this increases the overall installation area of the machine. For this reason, a machine tool with a built-in loader device is disclosed in Patent Document 1 below. The first conventional example in this document is a vertical NC lathe with a built-in loader device, in which a spindle chuck is installed vertically upward in the machining chamber, and a turret device installed above it is configured to be able to move in the fore-and-aft direction of the machine body and up and down.

The loader device is located outside the machining chamber and is separated by a partition wall to prevent it from being affected by cutting chips or coolant during machining, and an opening and closing door is attached to the partition wall. The loader device is configured so that the loader arm can enter and exit the machining chamber when the opening and closing door is open. In other words, the L-shaped loader arm is equipped with a loader chuck at its tip that can grip the workpiece, and the loader chuck can enter and exit the machining chamber by moving up and down and swinging (oscillating).

Furthermore, the following Patent Document 2 discloses a compact loader device arranged adjacent to the spindle chuck and turret tool rest in the machining chamber. In the loader device of the second conventional example in the same document, a robot hand consisting of an extendable arm with a hand attached and a swivel motor is arranged outside the machining chamber. The robot hand is configured to move back and forth along a traverse guide parallel to the spindle so that it can enter and exit an opening formed in a partition above the spindle chuck. A slide shutter is provided at the opening, and the extendable arm waits outside the machining chamber while the workpiece is being machined. When machining is completed, the slide shutter opens and the extendable arm enters the machining chamber through the opening, receives the workpiece from the spindle chuck, and returns to a waiting position outside the machining chamber.

Furthermore, the following Patent Document 2 discloses a third conventional example that solves the problem that the workpiece discharge operation in the second example takes time because it passes through an opening in the partition and travels back and forth between a waiting position outside the machining chamber and inside the machining chamber, resulting in reduced productivity. In this third conventional example, a robot hand equipped with a workpiece hand at the end of an arm that rotates around a fulcrum axis is disposed in the machining chamber. Furthermore, an unloading conveyor protrudes into the machining chamber, and a protective case equipped with a sliding door that can be opened and closed by sliding is provided in that area. Thus, it is configured so that the unloading operation of the machined workpiece is performed within the machining chamber.

Japanese Patent Application Publication No. 4-82603 JP 2005-161420 A

First, in the first conventional example disclosed in Patent Document 1, a loader device outside the machining chamber is separated from the machining chamber by a partition wall, and the loader arm swings through a large opening and closing door formed in the partition wall. This swing motion moves the loader chuck between a standby state outside the machining chamber and a working state in which it has advanced into the machining chamber. However, this configuration does not allow for the placement of a spindle device, turret device, etc. on the side of the machining chamber where the loader device is located, and is therefore not applicable to opposed twin-spindle lathes such as those described in Patent Document 2.

In this regard, in the second and third conventional examples described in Patent Document 2, the loader device is compactly configured above the spindle device, etc. However, in the third conventional example, in which the robot hand is installed inside the machining chamber, the loader device is constantly exposed to coolant and cutting chips during machining, and is an obstacle to tool replacement and maintenance work performed by workers inside the machining chamber. On the other hand, the second conventional example is installed outside the machining chamber, so the same problems as in the third conventional example do not arise. However, in the second conventional example, when the robot hand moves through an opening formed in the partition, the slide shutter must be opened and closed each time, which is time-consuming and requires the opening and closing mechanism to be installed in a small space.

The present invention aims to solve this problem by providing a machine tool equipped with an on-board loader device for unloading.

In one embodiment of the present invention, the machine tool comprises an ejection device arranged outside the machining chamber separated by a partition from the machining chamber in which machining of a workpiece held by a spindle chuck is performed, and a loader device that transports the machined workpiece from the spindle chuck to the ejection device. The loader device has a robot hand that grasps the workpiece from the spindle chuck, a drive device that moves the robot hand between the machining chamber and outside the machining chamber and receives the workpiece, and a door member formed integrally with the robot hand that closes an opening formed in the partition by moving from the machining chamber to outside the machining chamber.

With the above configuration, when machining is performed on a workpiece held by the spindle chuck in the machining chamber, the robot hand moves into the machining chamber from outside the machining chamber to pick up the workpiece, then moves outside the machining chamber again to send the machined workpiece it is holding to the discharge device. The robot hand then returns from the machining chamber to outside the machining chamber through an opening formed in the partition, and at this time, a door member formed integrally with the robot hand closes the opening in the partition, thereby isolating the inside of the machining chamber from the outside.

FIG. 1 is a first cross-sectional perspective view showing an embodiment of a machine tool so that the internal structure of the machine body can be seen. FIG. 2 is a second cross-sectional perspective view showing an embodiment of a machine tool so that the internal structure of the machine body can be seen. FIG. 4 is a perspective view showing a part of a working state in a series of operations of the loader device. FIG. 4 is a perspective view showing a part of a working state in a series of operations of the loader device. 4A to 4C are perspective views showing a workpiece discharge and standby states of the loader device during a series of operations. 6 is a cross-sectional perspective view showing a part of the loader device from the opposite side to the direction shown in FIGS. 3 to 5. FIG.

One embodiment of the machine tool according to the present invention will be described below with reference to the drawings. Figures 1 and 2 are cross-sectional perspective views of the machine tool according to this embodiment, taken from the front of the machine body toward the rear at different positions so that the internal structure of the machine body can be seen in particular. The machine tool 1 according to this embodiment is a small NC lathe in which various machining devices for machining a workpiece are mounted on a forward-inclined slant-type bed 2. The machine tool 1 has a closed space configured as a machining chamber 10 in which a workpiece is machined with tools, and the entire machine body is covered by a machine body cover 30. Within the machining chamber 10, the parts of the various machining devices that are directly related to the workpiece are arranged via a seal structure.

　A first work spindle device 3 and a second work spindle device 4 that rotatably grip a workpiece are arranged opposite each other on the left and right sides of the bed 2 when viewed from the front, and an upper turret device 5 and a lower turret device 6 equipped with a plurality of tools for machining the workpiece are arranged in front and behind the second work spindle device 4. The first and second work spindle devices 3, 4 each have a spindle that is horizontal in the width direction of the machine body, and are arranged opposite each other so that the spindles are positioned coaxially. In this embodiment, the direction parallel to the spindles of the first and second work spindle devices 3, 4 (the width direction from left to right of the bed 2) is described as the Z axis. The second work spindle device 4, which is coaxial with the first work spindle device 3, is configured to move in the width direction of the machine body parallel to this Z axis.

The first work spindle device 3 has a rotatable spindle mounted on a casing, and a spindle chuck 11 integral with the spindle can be rotated by a spindle motor. The spindle chuck 11 is located in the machining chamber 10 and is designed to grip the sent-out workpiece and rotate it. The machine tool 1 is capable of machining the workpiece (bar material) fed from the bar feeder, and a workpiece insertion section 12 is provided on the left side of the machine body. Therefore, the workpiece is inserted from the bar feeder into the hollow spindle of the first work spindle device 3, and the tip of the workpiece protruding a predetermined length is gripped by the spindle chuck 11.

The second work spindle device 4 is also configured so that a rotatable spindle is provided in the casing, and a spindle chuck 13 integrated with the spindle is rotated by a spindle motor. The spindle chuck 13 is located on the opposite side of the spindle chuck 11 in the processing chamber 10, and is configured to grip the workpiece received from the spindle chuck 11 and rotate it. The first work spindle device 3 has a headstock fixed to the bed 2, while the second work spindle device 4 is mounted on a spindle table and is configured so that it can move in the Z-axis direction. Specifically, a linear guide is formed by a guide rail parallel to the Z-axis on the bed 2 and a guide block on the spindle table side, and a ball screw mechanism is configured to convert the rotational output of the servo motor into linear movement for the movable spindle table.

Machine tool 1 is a two-turret opposed two-axis lathe, with upper turret unit 5 and lower turret unit 6 arranged on either side of second work spindle unit 4. Because machine tool 1 has a bed 2 tilted forward, upper turret unit 5 at the rear of the machine body is positioned higher than second work spindle unit 4, and lower turret unit 6 at the front of the machine body is positioned lower than second work spindle unit 4. Upper and lower turret units 5, 6 have the same structure, and multiple tools (turret tools) are arranged at equal intervals in the circumferential direction on disk-shaped turret tool rests 15, 16 and are attached in a detachable state.

The upper and lower turret devices 5, 6 have turret tool rests 15, 16 equipped with tools that are positioned within the machining chamber 10, and are adapted to rotate to index the tool used for machining. Furthermore, the turret tool rests 15, 16 are configured to move within the machining chamber 10 in the Z-axis direction, a vertical direction perpendicular to the Z-axis, and a 45-degree direction that is the same as the inclination of the top surface of the bed 2. In this embodiment, the vertical direction will be described as the Y-axis, and the inclination direction of the bed 2 as the X-axis.

In the upper and lower turret devices 5, 6, linear guides are formed by guide rails parallel to the Z-axis on the bed 2 and guide blocks fixed to the turret table, and the turret table is configured to move linearly by a ball screw mechanism that converts the rotational output of the servo motor into linear movement. Furthermore, a turret X-axis slide is slidably attached to the top surface of the turret table by a linear guide in the X-axis direction, and a turret body mounting a turret tool rest 15 or 16 is slidably attached to the turret X-axis slide by a linear guide in the Y-axis direction. The turret X-axis slide and turret body are each configured to move linearly by a ball screw mechanism that converts the rotational output of the servo motor into linear movement.

Next, the machine tool 1 is provided with a loader device for unloading the workpiece from the machining chamber 10. Figures 3 to 5 are perspective views of the loader device, showing the state at each stage. In the machine tool 1, a workpiece is loaded from the first workpiece spindle device 3 side, transferred to the second workpiece spindle device 4 side, and then unloaded outside the machine. Therefore, the loader device 8 is provided on the second workpiece spindle device 4 side of the machining chamber 10. In particular, the loader device 8 in this embodiment is provided outside the machining chamber 20, separated from the machining chamber 10 by a partition wall 18, together with a discharge conveyor 9, which is a discharge device.

In the loader device 8, a robot hand 21 consisting of a pair of chuck jaws 31 for gripping a workpiece is fixed to the tip of a shaft 23 extending in a direction parallel to the Z axis. The robot hand 21 is configured so that the pair of chuck jaws 31 can be opened and closed by an opening and closing cylinder 32 consisting of an air cylinder. Furthermore, the opening and closing cylinder 32 and the chuck jaws 31, which are configured as an integral unit, are configured so that they can be displaced in the A direction perpendicular to the shaft 23 by the output of a forward and backward movement cylinder 33 consisting of an air cylinder.

In order to make the structure of the robot hand 21 in Figures 3 to 5 easier to understand, the hand cover 22 that normally surrounds it as shown in Figure 1 has been omitted. This hand cover 22 prevents coolant from adhering to the robot hand 21 inside the machining chamber 10, and also has the function of closing the opening 19 in the partition wall 18. Outside the machining chamber 10 of the machine tool 1 is the outside machining chamber 20 separated by the partition wall 18, where the loader device 8 and discharge conveyor 9 are incorporated. The loader device 8 is configured so that the robot hand 21 moves between the machining chamber 10 and the outside machining chamber 20 through the opening 19.

A storage box 37 is provided outside the machining chamber 20 of the partition 18 so as to surround the opening 19. The storage box 37 is a storage section for the robot hand 21, and is configured so that the partition 18 is recessed when viewed from the machining chamber 10 side. When a workpiece is being machined in the machining chamber 10, the loader device 8 has the robot hand 21 enter the storage box 37 together with the hand cover 22 and go into a standby state.

In this case, the loader device 8 is designed so that the opening 19 of the partition wall 18 is closed simply by inserting the hand cover 22 into the storage box 37. Therefore, as shown in FIG. 6, one surface of the hand cover 22, which is the housing, is formed as a door surface 221 that closes the opening 19 of the partition wall 18. The door surface 221 is a plate material that is formed larger than the opening 19, and is formed larger than the other surface that enters the storage box 37. Note that FIG. 6 is a cross-sectional perspective view of a part of the loader device 8, shown from outside the processing chamber 10 in the opposite direction to the direction shown in FIGS. 3 to 5.

The loader device 8 has a shaft 23 that extends from the outside of the machining chamber 20 into the machining chamber 10, and the robot hand 21 is fixed perpendicular to the tip of the shaft 23 that passes through the opening 19 after passing through the storage box 37. The shaft 23 is connected to a Z-axis cylinder 25 that performs piston movement in the Z-axis direction, and its center line O can be displaced in a direction parallel to the Z-axis. The Z-axis cylinder 25 is a rodless air cylinder, and a slider 251 is connected to the piston that moves inside the cylinder tube. The shaft 23 is assembled to the slider 251 so that it can rotate with respect to the center line O.

A support bracket 26 is fixed to the slider 251, and the shaft 23 is supported thereon via a bearing. Furthermore, a crank mechanism is configured on the support bracket 26 for rotating the robot hand 21 via the shaft 23. This crank mechanism converts the linear motion caused by the extension and contraction of the rotation cylinder 27 into the rotational motion of the shaft 23 based on the center line O. A link lever 28 that rotates integrally with the shaft 23 is fixed to the shaft 23, and the tip of the link lever 28 away from the center line O and the tip of the piston rod 271 of the rotation cylinder 27 are pin-connected at the point of action P via a connecting member. A hydraulic cylinder is used for the rotation cylinder 27.

The swivel cylinder 27 itself needs to change its position so that its extension and contraction movement is linked to the rotation of the link lever 28, and the rod end of the cylinder tube 273 is journaled on the support bracket 26. The robot hand 21 shown in Figures 4 to 6 is in a position that allows it to enter the storage box 37, and in this embodiment, this state is described as the standby position of the robot hand 21. The crank mechanism rotates the robot hand 21 to change its position, but the standby position of the robot hand 21 is maintained by the extended state of the swivel cylinder 27 with the piston rod 271 extended.

The loader device 8 carries the machined workpiece that the robot hand 21 receives in the machining chamber 10 out to the storage box 37 and discharges it outside the machine. As shown in Figures 3 to 5, the machine tool 1 is provided with a discharge conveyor 9, which is a discharge device, connected to the storage box 37. When the workpiece is released from the robot hand 21, it rolls down from the storage box 37 and is transferred to the discharge conveyor 9.

The storage box 37 is a rectangular parallelepiped corresponding to the size of the hand cover 22, and a notch 371 is formed on one side thereof, which serves as the opening 19 of the partition wall 18. The storage box 37 also has a discharge opening 372 formed on the lower bottom surface, which is positioned in a forward-leaning position, and a guide plate 38 is formed there so that the workpieces can roll onto the discharge conveyor 9. The storage box 37 is connected to the workpiece receiver 51 of the discharge conveyor 9 by the guide plate 38. The hand cover 22, which has a similar box shape, also has a working opening 223 formed therein through which the chuck jaws 31 can enter and exit, allowing the robot hand 21 to receive and discharge.

The discharge conveyor 9 is provided inside the machine tool 1 (outside the machining chamber 20) and extends in the Z-axis direction from the position of the storage box 37 to the right side of the machine body cover 30. Although not shown in detail, the discharge conveyor 9 is configured such that an endless conveyor belt 52 is hung on a splined shaft, and a guide 53 is provided to sandwich the conveyor belt 52, so that the workpiece is transported to a discharge section 55 at the end located outside the machine. In addition, a coolant receiver is provided like a gutter below the workpiece receiver 51, so that coolant that falls from the workpiece is returned into the machining chamber 10.

Then, the machine tool 1 of this embodiment processes the workpiece and discharges the machined workpiece as follows. Workpiece processing can be performed in two ways: a first processing on the workpiece on the first workpiece spindle device 3 side, and a second processing on the workpiece on the second workpiece spindle device 4 side. In the first processing, a bar material workpiece is inserted into the spindle of the first workpiece spindle device 3 from outside the machine by the bar feeder, and the tip of the workpiece is gripped by the spindle chuck 11. The workpiece is then subjected to a specified processing by tools on one or both of the upper and lower turret devices 5, 6.

In the upper and lower turret units 5, 6, the tools used for machining are indexed by rotating the turret tool rests 15, 16. The turret tool rests 15, 16 then move within the machining chamber 10 so that the tools are sent to the machining position for the workpiece. The turret tool rests 15, 16 move in the Z-axis direction from right to left within the machining chamber 10 to approach the first workpiece spindle unit 3, and then move in the X-axis and Y-axis directions so that the cutting edge is brought into contact with the workpiece. This allows turning and other machining operations to be performed on the rotating workpiece. In the machine tool 1, after the first machining operation is completed, the workpiece is transferred to the second workpiece spindle unit 5 to perform the second machining operation.

As the spindle table of the second work spindle device 5 moves in the Z-axis direction, the spindle chuck 13 approaches the machined workpiece and grips its tip. The spindle chucks 11, 13 gripping the workpiece are rotated in sync with the first and second work spindle devices 3, 4, and the workpiece is separated from the spindle chuck 11 on the first work spindle device 3 side by the cut-off bit of the upper turret device 5 (or lower turret device 6). After the second work spindle device 5 receives the workpiece with the spindle chuck 13, it returns to the right side of the machining chamber 10 as shown in Figures 1 and 2, where the specified machining is performed by the tools of one or both of the upper and lower turret devices 5, 6.

Next, the workpiece for which the second processing has been completed is sent by the loader device 8 to the discharge conveyor 9 and discharged outside the machine. While the workpiece is being processed in the processing chamber 10 as described above, the loader device 8 has the robot hand 21 waiting in a storage box 37 formed outside the processing chamber 10. At that time, the door surface 221 of the hand cover 22 integrated with the robot hand 21 closes the opening 19 formed in the partition 18, and the storage box 37 is blocked off from the processing chamber 10 side. The workpiece is discharged when the robot hand 21 enters the processing chamber 10 from its standby state in the storage box 37.

In the loader device 8, the slider 251 moves linearly toward the machining chamber 10 from the standby state shown in FIG. 5 by the output of the Z-axis cylinder 25, and the robot hand 21 moves from the storage box 37 into the machining chamber 10 via the shaft 23 connected to the slider 251 as shown in FIG. 4 (see FIG. 1). The robot hand 21 enters the machining chamber 10 in a standby position stored in the storage box 37, and changes to a position (tilt) that allows it to grip the workpiece on the spindle chuck 13.

The standby position of the robot hand 21 is maintained with the swivel cylinder 27 in an extended state. Therefore, when the swivel cylinder 27 contracts, the shaft 23 rotates together with the link lever 28, changing the inclination of the robot hand 21. At that time, the swivel cylinder 27 pulls in the piston rod 271, drawing the connecting part and rotating the link lever 28. The robot hand 21, which is attached perpendicular to the tip of the shaft 23, rotates due to the output of the swivel cylinder 27, and is changed from the standby position shown in Figure 4 to the working position shown in Figure 3 (same for Figure 1).

Next, when the robot hand 21 grasps the workpiece, the chuck jaws 31 move to a position protruding from the hand cover 22 by the output of the advance/retract cylinder 33 so that the hand cover 22 does not interfere with the workpiece. Then, when the chuck jaws 31 grasp the workpiece by the output of the opening/closing cylinder 32, the spindle chuck 13 of the second workpiece spindle device 4 releases the workpiece and moves away in the Z-axis direction. The turning cylinder 27 then extends, causing the link lever 28 and shaft 23 to rotate, and the robot hand 21 rotates while still grasping the workpiece, returning it from the working position shown in FIG. 3 to the standby position shown in FIG. 4.

Then, by the output of the Z-axis cylinder 25, the robot hand 21 moves from its position in the machining chamber 10 shown in FIG. 4 to the storage box 37 shown in FIG. 5 while still gripping the workpiece, and is stored there. At that time, the door surface 221 of the hand cover 22 closes the opening 19, and the inside of the storage box 37 is isolated from the machining chamber 10. The robot hand 21 that has entered the storage box 37 does not immediately let go of the workpiece, but continues to grip it until a certain amount of coolant drops from the workpiece. The coolant that drops from the workpiece flows into the coolant receiver provided below the workpiece receiver 51 and is returned to the machining chamber 10.

Then, by releasing the chuck jaws 31, the machined workpiece falls onto the guide plate 38, rolls on the workpiece receiver 51, and is placed on the conveyor belt 52 of the discharge conveyor 9. As the conveyor belt 52 is rotating, the workpiece that has fallen onto it is transported to the discharge section 55 and removed from the machine tool 1.

Therefore, in the machine tool 1 of this embodiment, the loader device 8 installed inside the machine makes it possible to discharge the machined workpiece. The loader device 8 is stored in a storage box 37 on the outside 20 side of the machining chamber, not inside the machining chamber 10, with the robot hand 21 in standby. Moreover, a door surface 221 integrated with the robot hand 21 closes the opening 19, and forms the side of the machining chamber 10 together with the partition wall 18. Therefore, the robot hand 21 does not become an obstacle inside the machining chamber 10, and does not interfere with tool replacement or maintenance work performed by an operator inside the machining chamber 10. Furthermore, in the machining chamber 10 with its limited space, there is no restriction on configuring various machining devices, such as the second workpiece spindle device 4, in the same area inside the machine.

The loader device 8 is integrated with the robot hand 21 covered by the hand cover 22, so that dripping coolant can be prevented from adhering to the robot hand 21 even when the robot hand 21 enters the processing chamber 10. In addition, the door surface 221, which is part of the hand cover 22, also functions as an opening and closing door that opens and closes the opening 19, so there is no need to provide an opening and closing mechanism in the narrow interior of the machine. There is also no need to control the opening and closing mechanism.

Since the storage box 37 is inclined towards the discharge conveyor 9, which is the discharge device, when the robot hand 21, which is in a standby position holding a workpiece inside, simply releases the chuck jaws 21, the workpiece rolls down onto the discharge conveyor 9 and is transported outside the machine. Furthermore, the coolant taken out of the machining chamber 10 flows down the inclined surface and into the coolant receiver located below the workpiece receiver 51, and is returned to the machining chamber 10. The workpiece to be discharged is also designed to be discharged after a certain waiting time in this storage box 37, so that the coolant adhering to the workpiece can be removed to a certain extent before being discharged, and the removed coolant can also be returned to the machining chamber 10.

The loader device 8 has a rodless Z-axis cylinder 25 that moves the robot hand 21 in and out of the processing chamber 10, which allows the dimensions in the Z-axis direction to be kept small. Also, a hydraulic cylinder is used for the turning cylinder 27 of the crank mechanism that turns the robot hand 21 so that sufficient force can be output even with a compact configuration. This makes it possible to turn the robot hand 21 fixed to the other end of the shaft 23 even with a link lever 28 that has a short distance from the center of rotation (center line O) to the point of application P.

Although one embodiment of the present invention has been described above, the present invention is not limited to this embodiment, and various modifications are possible without departing from the spirit of the present invention.
In the above embodiment, the door element is constituted by the door surface 221 which is part of the hand cover 22, but the door element may be one which does not include the hand cover surrounding the robot hand 21 and which simply fixes a plate-shaped door corresponding to the door surface 221.
In the above embodiment, the storage section is configured by the storage box 37, but it does not necessarily have to be box-shaped.
Further, the machine tool in the above embodiment has been described taking a two-turret, two-spindle opposed lathe as an example, but is not limited to this.

REFERENCE SIGNS LIST 1...machine tool 3...first work spindle device 4...second work spindle device 5...upper turret device 6...lower turret device 8...loader device 9...discharge conveyor 10...machining chamber 11, 13...spindle chuck 15, 16...turret tool rest 18...partition wall 19...opening 20...outside of machining chamber 21...robot hand 22...hand cover 23...shaft 25...Z-axis cylinder 27...turning cylinder 28...link lever 37...storage box

Claims (7)

A machine tool comprising: a discharge device disposed outside a machining chamber separated by a partition from a machining chamber in which machining of a workpiece held by a spindle chuck is performed; and a loader device for transporting a machined workpiece from the spindle chuck to the discharge device,
The loader device includes:
A robot hand that grips the workpiece of the spindle chuck;
a drive device that causes the robot hand to move between the processing chamber and the outside of the processing chamber and to receive a workpiece;
a door member formed integrally with the robot hand, the door member closing an opening formed in the partition wall by moving from the processing chamber to the outside of the processing chamber;
A machine tool having the above structure. The machine tool according to claim 1, further comprising a storage section in which the robot hand is positioned, the storage section being disposed outside the machining chamber of the opening formed in the partition wall, so that the workpiece can be continuously discharged to the discharge device. The machine tool according to claim 1 or claim 2, wherein the door member is a plate material. The machine tool according to claim 1 or claim 2, wherein the door member is part of a housing that surrounds the robot hand. The machine tool according to claim 2, wherein the storage section is inclined so that the discharge device is at the bottom, a guide member is provided below the inclination that leads to the discharge device, and the robot hand is stored in the storage section so that its chuck jaws are positioned below the inclination. The machine tool according to claim 1, wherein the robot hand has an opening/closing mechanism that opens and closes a pair of chuck jaws, and an advancing/retracting mechanism that moves the chuck jaws forward and backward. 7. The machine tool according to claim 6, wherein the drive device includes: a moving mechanism that moves the robot hand between the processing chamber and the outside of the processing chamber via a shaft that supports the robot hand; and a turning mechanism that turns the robot hand to a position to receive the workpiece gripped by the spindle chuck.

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