PURPOSE: To obtain the excellent finished state independently of the attitude of a tool by installing a burr removing tool on a tool holder which possesses a certain degree of freedom in revolution around both the axes having a cross point and allowing the position of the center of gravity of the whole part having the degree of freedom in revolution to coincide with the crossing point of both the axes.
CONSTITUTION: As for a robot body 50, a floating mechanism 40 is installed at a final wrist part 1 through an installation base part 5, and a burr removing tool 3 installed on a burr removing cutter installation part 3C is held on a tool holder 7 which is supported through an around-two-axes rotary supporting mechanism 41. The tool holder 7 allows the top edge parts of the advance/ retreat members 9A and 9B projecting from four stop cylinders 6A and 6B to contact through rollers 9C and 9D. The around-two-axes rotary supporting mechanism 41 is constituted so as to support the tool holder 7 in a rotatable manner around two axes having a crossing point P, and installed so that the position of the center of gravity of the whole part having a certain degree of freedom substantially coincide with the cross point P of two axes.
| JPH0544416 | [Name of device] Pillar chamfering blade |
AZUMA KENJI
SAKAMOTO SHINSUKE
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