| 摘要 |
PURPOSE:To perform flat polishing of a mold surface with high precision, by a method wherein a polishing tool holding device, being vertically rockable and having a device being regulatable of the polishing pressure of a polishing tool, is attached on the tool attaching shaft of a robot. CONSTITUTION:A program is inputted from a key board of a program loader 3, a robot 1 is induced to a working position by means of a teaching pendant 4 serving as position information, the present position of the robot 1 is stored. A tool holding device 5, being vertically rockably, is mounted on a tool shaft 1a of the robot body 1, and a polishing tool 6 is further mounted to the end part of the tool holding device 5. Through vertical rocking of the tool holding device 5, a force exerted between a polishing tip 6a and the surface to be polished of a mold 8 is regulated to a specified value, and the magnitude of a polishing pressure is also regulatable. By moving the polishing tool 6 according to a given motion sequence as the polishing tip 6a is ultrasonic-vibrated, a surface to be polished is automatically machined. |
