# US 2019/0168380 A1 · Machine tool > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0168380 A1 - Document ID: US20190168380A1 - Status: Published application - Kind: A1 - Application number: 16/207,631 - Filed: 2018-12-03 - Published: 2019-06-06 - Earliest claimed: 2017-12-05 - Assignees: Okuma Corporation - Applicants: OKUMA Corporation - Inventors: Shoichi MORIMURA - Web page: https://patentgrep.com/patent/US20190168380A1 ## CPC - B25J 9/06: characterised by multi-articulated arms - B23Q 7/04: by means of grippers {(B23Q7/1494 takes precedence)} - B23Q 11/005: {by blowing} - B23Q 11/0891: {arranged between the working area and the operator} - B23Q 11/10: Arrangements for cooling or lubricating tools or work - B23Q 16/10: Rotary indexing - B23Q 17/006: {for indicating the presence of a work or tool in its holder (B23Q17/002, B23Q17/09 take precedence)} - B23Q 17/0985: {by measuring temperature} - B23Q 17/20: for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness - B23Q 17/2409: {Arrangements for indirect observation of the working space using image recording means, e.g. a camera} - B25J 15/0019: {End effectors other than grippers} - B23Q 2230/006: Machining both ends of a workpiece consecutively - B23Q 2717/003: in lathes - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT ## Abstract The machine tool includes a tool post linearly movable along a direction parallel to an X axis and a direction parallel to a Z axis, a workpiece spindle which retains a workpiece in a condition rotatable about an axis parallel to the Z axis, and an in-machine robot which is installed in a machining chamber and has joints. The joints of the in-machine robot include a base joint rotatable about an axis parallel to the Z axis, and three parallel joints rotatable about an axis orthogonal to the axis of rotation of the base joint, the parallel joints being located on a distal end side of the base joint and successively arranged from the base joint. The axis of rotation of the base joint is displaced from that of the workpiece spindle. ## Claims ### Claim 1 A machine tool, comprising: a tool post which is configured to retain one or more tools and is linearly moved along a direction parallel to a first axis and along a direction parallel to a second axis orthogonal to the first axis; a workpiece spindle device which is configured to retain a workpiece in a condition rotatable about an axis parallel to the second axis; and an in-machine robot installed in a machining chamber, the robot comprising a plurality of joints and a plurality of links for connecting the joints, wherein the plurality of joints in the in-machine robot comprise at least; a base joint which rotates about an axis parallel to the second axis, and three parallel joints which respectively rotate about axes orthogonal to the axis of rotation of the base joint, the three parallel joints being located closer to a distal end of the in-machine robot than the base joint and successively arranged from the base joint toward the distal end, and wherein the axis of rotation of the base joint is displaced from the axis of rotation of the workpiece spindle device. ### Claim 2 (depends on 1) The machine tool according to claim 1, wherein among the plurality of joints, those located closer to an extremity portion of the in-machine robot than the base joint are all rotary joints which rotate about axes parallel to each other. ### Claim 3 (depends on 1) The machine tool according to claim 1, wherein: the in-machine robot is changeable to a tool-following position in which the axes of rotation of the three parallel joints are parallel to a third axis orthogonal to both the first axis and the second axis by rotating the base joint, and the plurality of links other than an extremity link are attached at height positions where the plurality of links other than the extremity link do not interfere with the tool post and the one or more tools retained by the tool post when the robot takes the tool-following position. ### Claim 4 (depends on 1) The machine tool according to claim 1, wherein the axis of rotation of the base joint is located above the workpiece spindle device. ### Claim 5 (depends on 1) The machine tool according to claim 1, further comprising: an aperture for allowing an inner space of the machining chamber to be in communication with the outside thereof; and a door for opening and closing the aperture, wherein the base joint is located in a horizontal direction closer to the door than the workpiece spindle device. ### Claim 6 (depends on 5) The machine tool according to claim 5, wherein when the door is closed, the in-machine robot selects, from among a plurality of inverse kinematic solutions to the distal end position of the in-machine robot, a solution in which the middle one of the three parallel joints is located most inward in the machining chamber. ### Claim 7 (depends on 1) The machine tool according to claim 1, wherein the base joint is maintained stationary so as not to rotate during a period from start to finish of a series of actions of the in-machine robot. ### Claim 8 (depends on 1) The machine tool according to claim 1, wherein the in-machine robot is attached to a stationary region inside the machining chamber. ### Claim 9 (depends on 1) The machine too according to claim 1, wherein the in-machine robot is attached to a movable component which moves within the machining chamber.