Vorrichtung zum Steuern der Bearbeitungskraft eines Werkzeugs

摘要

Disclosed is a control robot (1) having a machining tool comprising a rotatable tool (2) for grinding at the distal end of the robot arm thereof so as to carry out grinding work with pressing the machining tool against the surface of a work to be machined under predetermined pressure, comprising a posture control shaft ( beta ) for controlling the posture of the machining tool provided at the robot arm; a rotation shaft of the rotatable tool (2), and arrangement in which the posture control shaft ( beta ) and the rotation shaft of the rotatable tool (2) are respectively arranged in different axial directions.