| 摘要 |
PURPOSE: To properly form a chamferred surface even in a region where relatively thin burrs are formed by fixing a mechanical stop to control an amount of material removed from a member by a tool. CONSTITUTION: Variation in distance between a robot arm 12 and an edge 22, which is caused by the difference between the expected direction of the edge 22 and the actual direction thereof is absorbed by a compliant mount 13. Accordingly, a bur remover 11 can move in the directions of two perpendicular axes 46, 47 with respect to the arm 12 while pressing a grinding head 17 against the edge at a constant force. When the head 17 moves along the edge 22, it comes in contact with a constitutional member 21 to allow a projection 20 to limit the depth of chamferred surface cut by the head 17, and prevents the head 17 from moving further toward the member 21, resulting in that the head 17 is prevented from abrading further the material from the member 21. |
