Machining apparatus

摘要

There is provided a machining apparatus in which movement of a machining point is a little, restriction on the machining operation of an articulated robot is a little and movement of a worker for the teaching operation is a little. The machining apparatus has an articulated robot which is controlled in attitude according to a teaching operation and has a catch instrument for catching a workpiece at an arm tip thereof, and a machining unit equipped at a fixed portion located within an arm reachable zone of the articulated robot, wherein the machining unit has a working tool having a profiling portion where a machining target portion of the workpiece caught by the catch instrument of the articulated robot is pressed according to the attitude control of the articular robot, and a floating mechanism that pushes the working tool in a press direction of the workpiece.

主权项

1. A machining apparatus comprising:
an articulated robot that has a catch instrument at an arm tip thereof, which catch instrument is for catching a workpiece, the robot taking out the workpiece after molding from molds of a plastic molding machine; and a machining unit equipped at a bracket that is located within an arm reachable zone of the articulated robot when machining the workpiece, wherein the machining unit has a plurality of working tools, wherein each of the working tools is rotatably supported, via a common support shaft on the bracket, for rotation of each of the working tools about a common pivot axis between a machining position of the respective working tool, where the respective working tool machines the workpiece, and an evacuated position of the respective working tool, where the respective working tool does not machine the workpiece, wherein each of the working tools is independently rotatable with respect to each other about the pivot axis between the respective machining position and the respective evacuated position, each of the working tools being pressed to a machining target portion of the workpiece caught by the catch instrument of the articulated robot according to attitude control of the articulated robot to conduct a machining on the workpiece, and the machining unit is configured so as when one of the working tools is moved from the evacuated position of the one working tool to the machining position of the one working tool, another of the working tools is evacuated from the machining position of the another working tool to the evacuated position of the another working tool, and the machining apparatus further comprising a profiling portion that is pressed to a profiling surface of the workpiece to control an amount of the machining on the workpiece, which profiling portion is provided to one of the working tools.