| 摘要 |
PROBLEM TO BE SOLVED: To provide a workpiece processing device that can prevent breakage or the like of a tool while maintaining processing accuracy even if impulsive processing reaction force occurs when a workpiece of a hard material such as cast iron is processed, and further to provide a control method therefor.SOLUTION: A workpiece processing device comprises: a force sensor 12 that is mounted to a robot hand three-dimensionally movable and detects external force applied thereto; a copying jig 14 that is mounted to the force sensor 12 and has a copying member 15 for copying an outer surface of a workpiece 1; a processing tool 16 that is mounted to the copying jig 14 and processes the workpiece 1; and a processing controller 20 for force controlling copying jig pressing force Fall of the copying jig 14 with respect to the outer surface of the workpiece 1 such that a value of the copying jig pressing force Fall is greater than an expected maximum value of processing reaction force R. The workpiece processing device moves the copying jig 14 along the outer surface of the workpiece 1 while copying the outer surface of the workpiece 1 by the copying member 15 and processes the workpiece 1 by the processing tool 16. |
