| 摘要 |
PURPOSE:To remove only a burr part accurately without leaving an unremoved part of a burr or causing excessive removal of the burr when a non-burr part is copied by a copying part and the burr is removed by a tool part by arranging the copying part and the tool part coaxially almost in the same diameter. CONSTITUTION:A deburring tool part 1 is fixed to a shaft 8 of a driving motor 11 by a bolt 6, and a copying part 2 is fixed by an unheaded screw 7 to a shaft 3 supported with a housing 5 through a bearing 4. The housing 5 is fixed to a force sensor 10, and force applied to the copying part 2 is detected by the sensor 10, and the detecting signal is inputted to a robot controller. Copying operation of a robot is carried out while feeding back the force applied to the copying part 2, and at play back time, the tool part 1 is made to enter in the perpendicualr direction to a burr part of a work, and the copying part 2 is run along a non-burr part of the work, and a burr is removed by the tool part 1 while keeping the force applied to the copying part 2 constant by the force sensor 10. |
