| 摘要 |
PURPOSE:To machine a complexly formed workpiece in an accurate manner, by holding an electric motor on a housing center shaft with a soring, and controlling a housing for rotation along the circumference of the workpiece while energizing a tip part of the motor holding a tool in a direction to be crossed with the center shaft by the spring. CONSTITUTION:A housing 11 is rotatably attached to a robot 100, and it should be shiftable along the circumference of a workpiece by motion control of the robot. An electric motor 12 fitted with a tool 13 at the tip is rotatably attached onto a center shaft of the housing 11 by a pin 15, and it is held on the housing center shaft by a first spring 16. A tip part of the motor 12 is energized to one direction to be crossed with the center shaft against the spring 16 by a second spring 17. An arm of the robot is moved along the circumference of the workpiece 30 by a control unit and a rotational position of the housing 11 is taught so as to direct the energizing direction to the workpiece all the time. And, machining is started, thus the circumference of the workpiece 30 is machined with constant pressing force. |
