JP4819968B2 - Cutting apparatus and cutting method - Google Patents

Description

  The present invention relates to a cutting apparatus that automatically cuts burrs on a workpiece, and more specifically, a cutting apparatus and a cutting method that can prevent damage to a workpiece when cutting a burr or a chamfered portion. It is about.

For example, when a plastic workpiece (such as an automobile air spoiler) is molded by blow molding or when a metal workpiece is molded by mold molding, the material protrudes from the joint of the mold used, Unnecessary protrusions (burrs) are generated on the workpiece surface.
As a method for deburring, there is a conventional method in which a cutting tool for deburring is attached to a robot, and the robot is driven and controlled based on position data obtained by teaching the robot to remove burrs on the workpiece surface with the cutting tool. If this deburring method is adopted, the generation of dust can be greatly reduced and the working efficiency can be improved as compared with the case where an operator manually removes sandpaper or the like. However, the position (coordinates) of the workpiece surface where there are burrs may vary depending on the degree of thermal contraction of the workpiece and the mounting error of the jig with respect to the workpiece. For this reason, drive control is performed based on the position data obtained by teaching the robot. However, it is difficult to accurately cut the work surface portion where burrs are present, and problems such as excessive cutting or conversely insufficient removal of burrs due to insufficient cutting are likely to occur.

Therefore, a deburring device has been developed for cutting a burr while pressing a cutting tool mounted on the robot against a burr on the surface of the workpiece using a spring or air pressure. According to this apparatus, as compared with the above-described deburring method before improvement, the work surface portion where burrs are present is not excessively cut and burrs are not sufficiently removed.
However, it is easily affected by fluctuations in resistance applied to the cutting tool during burr cutting, and the burr cannot often be cut accurately to a set position. For example, when the tip of the burr has a waved shape, the cutting tool cuts the burr following this waved shape, and the portion after cutting is waved. Further, depending on the posture of the cutting tool, the pressure at which the cutting tool comes into contact with the burr is excessively influenced by the weight of the tool, and the cutting tool bites into the workpiece surface.

In order to solve such a problem, the present inventor has proposed a deburring device capable of quickly and accurately removing a burr existing on a workpiece while preventing generation of dust (see, for example, Patent Document 1 and Patent Document 2). ).
According to these apparatuses, the burr can be cut to the set position by the rotating tool while keeping the distance between the workpiece copying reference surface and the rotating tool constant while following the workpiece copying reference surface. Therefore, the burr can be removed quickly and accurately even if the burr is not influenced by the shape and the thermal deformation of the workpiece is large. In addition, the generation of dust can be prevented, and the adverse effect on the operator can be eliminated.
In particular, according to the deburring device described in Patent Document 2, even when the work shape of the burr portion or the chamfered portion is a curved shape, the copying guide can be moved along the burr or the chamfered portion along the curved surface. The effect that it can cut accurately is produced.
Japanese Patent No. 3020060 Japanese Patent No. 3587171

However, in the conventional deburring apparatus, the copying guide member moves while being pressed against the workpiece copying reference surface, and thus there is a problem that the copying guide member damages the workpiece surface.
Such a problem is a problem that occurs in common in a cutting apparatus that performs cutting while pressing the guide member following the workpiece copying reference surface.
The present invention has been made in view of the above-described circumstances, and can prevent damage to a workpiece even when cutting is performed while pressing a copying guide member against a workpiece copying reference surface of a burr portion or a chamfered portion. An object is to provide a cutting device and a cutting method.

In order to solve the above-described problem, the present invention includes a copying guide member having an opening that inserts a cutting tool and exposes a blade portion of the cutting tool, and rotates the cutting tool while rotating the copying tool. In a cutting apparatus that presses a copying portion of a guide member against a workpiece copying reference surface with a predetermined pressure and cuts a burr or a chamfered portion near the workpiece copying reference surface by the blade portion, the copying guide member is separated from the opening. Are separated into a first tube portion and a second tube portion, and the first tube portion and the second tube portion are configured to be rollable with respect to the workpiece copying reference plane , and the opening between the tube portions. The size of the part is configured to be adjustable.

  According to the present invention, in the above-described cutting apparatus, a tool holding device is attached to a moving unit that moves the cutting tool relative to a workpiece, the cutting tool is attached to the tool holding device, and the first tube portion is attached to the tool holding device. The second cylindrical portion is supported by a tool holding device via a support arm so as to be rotatable.

According to the present invention, in the above cutting apparatus, a tool holding device is attached to a moving means for moving the cutting tool at the time of cutting, and the cutting tool is attached to the tool holding device. While moving, the size of the opening between the cylinders is automatically adjusted by adjusting means for adjusting the size of the opening between the cylinders according to the width of the burr on the workpiece surface or the chamfered part. It is characterized by comprising control means for

In order to solve the above-described problems, the present invention includes a copying guide member having an opening that inserts a cutting tool and exposes a blade portion of the cutting tool, and rotates the cutting tool while rotating the copying tool. In a cutting method in which a copying portion of a guide member is pressed against a workpiece copying reference surface with a predetermined pressure and a burr or a chamfered portion in the vicinity of the workpiece copying reference surface is cut by the blade portion, the copying guide member is disposed on the opening. The first cylindrical portion and the second cylindrical portion are separated from each other so that the size of the opening between the cylindrical portions can be adjusted , and the first cylindrical portion and the second cylindrical portion are separated from the workpiece following reference plane. However, the burr or chamfered portion of the workpiece surface is cut by the blade portion while rolling.

  According to the present invention, in the above-described cutting method, the workpiece copying reference surface of the workpiece is bent, and the opening edges of the first tube portion and the second tube portion are pressed and rolled against the bent workpiece copying reference surface. Then, the burr or chamfered portion of the bent surface is cut by the blade portion.

  Further, the present invention provides the cutting method, wherein the cutting tool includes the blade portion around the entire circumference, the blade portion is exposed at an opening between the first tube portion and the second tube portion, and the cutting tool Even if the movement trajectory is curved or bent, the burr or chamfered portion is cut by the blade portion while constantly pressing and rolling the first cylindrical portion and the second cylindrical portion against the workpiece copying reference surface. It is characterized by that.

  According to the present invention, in the above-described cutting method, a tool holding device is attached to a moving unit that moves the cutting tool relative to the workpiece, and the cutting tool is attached to the tool holding device. The shape of the scanning reference surface is stored, and the burr or chamfered portion is cut by the blade portion while constantly pressing and rolling the first cylindrical portion and the second cylindrical portion against the workpiece scanning reference surface. It is characterized by.

  According to the present invention, in the cutting apparatus provided with the copying guide member, the copying guide member is separated into the first tube portion and the second tube portion with the opening portion as a boundary, and the first tube portion and the second tube portion. The part can roll with respect to the reference surface. This prevents the workpiece surface from being rubbed and damaged by the copying portion of the copying guide member.

It is a side view of the articulated robot which mounts a tool holding device. It is a principal part expanded side view of the state which mounted | wore the articulated robot with the tool holding apparatus. It is a principal part enlarged front view of the state which hold | maintained the cutting tool in the tool holding apparatus. It is sectional drawing of the principal part expansion side surface of the state which hold | maintained the cutting tool in the tool holding apparatus. It is the sectional view on the AA line in FIG. It is a figure which shows the positional relationship of a tool holding device and a workpiece | work. It is a figure which shows typically the effect | action of the copying part of a tool holder, (A) shows the conventional tool holder, (B) shows the tool holder of this invention. It is a figure which shows the tool holder which concerns on the modification of this invention.

Explanation of symbols

1 Deburring device (cutting device)
3 Articulated robot (moving means)
4 Control Unit 5 Tool Holding Device 7 Cutting Tool 9 Tool Holder (Copying Guide Member)
13 Work copy reference plane 15 Press device 25 Holder fixing member 30 Tool exposure opening (opening)
41 Base (first tube)
43 Tip (second tube)
51 Support arm 57 Adjustment bolt (Adjustment means)
W Work

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a side view of a deburring device 1 that is an aspect of a cutting device according to the present embodiment.
As shown in FIG. 1, the deburring device 1 includes an articulated robot 3 and a tool holding device 5 as a tool holding means attached to the articulated robot 3.
The articulated robot 3 is an arm type robot, and is movable in the directions of six axes (J1 to J6). This articulated robot 3 constitutes a moving means for moving the tool holding device 5 relative to the workpiece, and has a control unit 4 for controlling the posture of the tool holding device 5 in the main body. The control unit 4 is configured to be able to teach the position data of the workpiece W (FIG. 4), and is inserted into the tool holder (copying guide member) 9 based on teaching during burr or chamfering. Posture control is executed so that the cutting tool 7 (FIG. 2) is moved while maintaining a constant distance from the surface of the workpiece W on which burrs and chamfers exist.
The moving means is not limited to the articulated robot 3, and any apparatus can be used as long as the tool holding device 5 can move along the predetermined trajectory required for deburring or chamfering with respect to the workpiece. it can. Moreover, if the movement locus | trajectory of the tool holding apparatus 5 is linear, for example, the linear motion mechanism which moves the tool holding apparatus 5 linearly can be used for a moving means.

FIG. 2 is an enlarged side view of a main part in a state where the tool holding device 5 is mounted on the articulated robot 3.
The tool holding device 5 is detachably attached to the distal end portion 18 of the arm 17 of the articulated robot 3, and the cutting tool 7 and the cutting tool 7 are inserted and exposed, and a burr or chamfered portion of the workpiece W is exposed. And the pressing device 15 that presses the copying portion 11 formed on the tool holder 9 against the workpiece copying reference surface 13 (FIG. 4) of the workpiece W.
Further, the tool holding device 5 includes a motor 19, and the cutting tool 7 is attached to the chuck 21 of the output shaft of the motor 19. Here, the cutting tool 7 is an end mill, for example, and is configured to be rotationally driven at a high speed by a motor 19 around its axis. By such rotational driving, the burr or chamfered portion is cut by the blade portion on the peripheral surface of the end mill. Note that the cutting tool 7 is not limited to an end mill, and may be any tool such as a tool with a tip having an irregular shape as long as the tool has a substantially rod shape that can be inserted into the tool holder 9 and has a blade portion formed on the peripheral surface. Tools can be used.

3 is an enlarged front view of the main part in a state where the cutting tool 7 is held on the tool holding device 5, FIG. 4 is a cross-sectional view of an enlarged side of the main part in a state where the cutting tool 7 is held on the tool holding device 5, and FIG. 4 is a cross-sectional view taken along line AA in FIG.
The tool holding device 5 includes a cylindrical tool holder 9 into which a cutting tool 7 is inserted. A flange 23 is formed at the upper end of the tool holder 9, and the flange 23 is fixed to the holder fixing member 25.

  As shown in FIG. 3, the holder fixing member 25 includes two guide columns 27 and 28 erected on both ends of the holder fixing member 25, and the guide columns 27 and 28 are illustrated with respect to the support members 70 and 10. It is slidably held in the middle and up and down directions. The guide columns 27 and 28 are erected in parallel with the rotation axis of the cutting tool 7, and the guide columns 27 and 28 are elastically held around the guide columns 27 and 28 with respect to the support members 70 and 71. The upper and lower springs 72 and 73 are provided so that the tool holder 9 can be moved following the curved surface shape of the workpiece W (moving up and down).

  Note that the number of guide columns is not limited to two, and may be configured with one or more as long as the cutting tool 7 can be accurately guided up and down parallel to the output shaft. is there. The springs 72 and 73 are not limited to the above example as long as the tool holder 9 can be elastically supported so as to move up and down in the direction of the rotation axis of the cutting tool 7 according to the shape of the workpiece W.

  Next, the configuration of the tool holder 9 will be described. In order to expose the cutting tool 7 on the outer peripheral surface of the tool holder 9, a tool exposure opening 30 is formed corresponding to the burr formed on the workpiece. The tool exposure opening 30 has a shape that is cut into a substantially V shape in cross-section, and the peripheral edge of the cutting tool 7 that is inserted into the tool holder 9 is exposed from the tool exposure opening 30. The The tool holder 9 is suitable for chamfering an edge portion generated after molding after pressing resin, aluminum, copper, iron or the like.

  Further, the tool exposure opening 30 of the tool holder 9 is formed in a V-shaped cut shape when viewed in cross section, so that the opening edge becomes an inclined surface, and the opening edge functions as the copying portion 11 described above. Acts as a copying member. That is, at the time of burr or chamfering, as shown in FIGS. 4 and 6, the articulated robot 3 adjusts the position of the tool holding device 5 based on the position data of the workpiece copying reference surface 13 read by teaching, and the like. The copying portion 11 of the tool holder 9 is moved so as to follow the copying reference surface 13 of the workpiece W by moving along the chamfered portion or burr on the surface of the workpiece W. Along with this movement, the burr or chamfered portion of the workpiece W is cut and removed by the blade portion of the cutting tool 7 exposed from the tool exposure opening 30. FIG. 4 illustrates the workpiece W after chamfering when chamfering is performed on the workpiece W before chamfering.

The motor 19, the cutting tool 7, the holder fixing member 25, the guide columns 27 and 28, the support members 70 and 71, the tool holder 9, and the like provide the pressing device 15 to the main body 75 of the tool holding device 5 as shown in FIG. 2. Is mounted through.
The pressing device 15 is means for pressing the copying portion 11 of the tool exposure opening 30 of the tool holder 9 as a copying guide member against the burr of the workpiece W and the workpiece copying reference surface 13 with a predetermined pressure. In this embodiment, the pressing device 15 uses air pressure to move in the left-right direction in FIG. 2 (that is, the direction perpendicular to the rotation axis of the cutting tool 7) and to press the tool holder 9 against the work surface. The slide table 35 and air supply means (not shown) for supplying air to the air slide table 35 are formed.

At the time of cutting, the copying device 11 of the tool exposure opening 30 of the tool holder 9 is continuously pressed against the workpiece copying reference surface 13 by the pressing device 15 with a predetermined pressure. Even when the thermal contraction amount of the workpiece W is large and the workpiece shape deviates from the workpiece shape at the time of teaching, the copying portion 11 of the tool holder 9 from the workpiece copying reference surface 13 of the burr or chamfered portion is not affected by the shape. Since it keeps abutting without leaving, it is possible to remove these burrs and chamfered parts quickly and accurately.
Further, as described above, even when the shape of the work W at the burr or chamfered portion is curved or bent, the cutting tool 7 is elastically supported by the upper and lower springs 72 and 73 according to the curved shape. Since it is moved up and down in the direction of the rotation axis, these burrs and chamfered portions can be removed more accurately.

By the way, at the time of burring or chamfering, the copying unit 11 of the tool holder 9 is moved without contacting the workpiece copying reference surface 13 of the workpiece W by the pressing device 15 and the upper and lower springs 72 and 73. Depending on the material, there is a possibility that the surface of the workpiece W may be scratched as the copying portion 11 slides.
Therefore, in the tool holding device 5 of the present embodiment, as shown in FIG. 3, the tool holder 9 is divided into a base portion (first tube portion) 41 and a tip portion (upper portion) that are divided vertically with the tool exposure opening 30 as a boundary. Bearing holders 45 and 47 are provided, which are configured to include a base portion 41 and a distal end portion 43 so as to be capable of rolling. Each bearing holder 45, 47 has a sealed bearing 49, and the rotation of the base portion 41 and the tip portion 43 is supported by these bearings 49.

In the tool holder 9, each of the opening edge 41 </ b> A of the base portion 41 and the opening edge 43 </ b> A of the distal end portion 43 is formed on an inclined surface, and these opening edges 41 </ b> A and 43 </ b> A function as the copying portion 11. That is, as shown in FIG. 4, the tool holder 9 is configured to function as a copying portion 11 by forming a V-shaped tool exposure opening 30 over the entire circumference. With this configuration, when the tool holder 9 comes into contact with the workpiece copying reference surface 13 regardless of the rotation control around the axis J6 (see FIG. 1) of the articulated robot 3, the copying unit 11 moves to the workpiece copying reference surface 13. Will always abut.
Therefore, at the time of burr or chamfering, these copying portions 11 continue to come into contact with the workpiece copying reference surface 13 of the workpiece W. However, each of the base portion 41 and the tip portion 43 is in contact with the workpiece copying reference surface 13. Because of rolling, the surface of the workpiece W is prevented from being damaged by the copying portion 11.

In addition, since each of the base portion 41 and the distal end portion 43 is rotatable independently of each other, the path length that each of the opening edge 41A of the base portion 41 and the opening edge 43A of the distal end portion 43 follows during burr or chamfering processing. Even if they are different from each other, the base 41 and the tip 43 are rotated according to the respective path lengths.
Accordingly, it is also possible to prevent the surface of the workpiece W from being scratched without rotating when the longer path length of the base portion 41 and the distal end portion 43 is followed.

Figure 7 is a diagram illustrating the movement during the machining operation of the tool holder 9 in the case where the shape of the workpiece W has changed from the time of teaching schematically, FIG. 7 (B) of the tool holder 9 of the present embodiment Showing movement. For comparison reference, FIG. 7 (A), shows the movement of a conventional tool holder 509.

The conventional tool holder 509 shown in FIG. 7B has a tool exposure opening 530, that is, a copying portion 511 formed not on the entire periphery but on a part of the peripheral surface (the hatched portion in FIG. 7B). Yes. In this configuration, for example, when the workpiece W has a bent shape, when the tool holding device 5 is moved along the track K defined by teaching, the workpiece W is not deformed (solid line position). Since the connecting line L that connects the contact point P of 511 and the workpiece copying reference surface 13 and the rotation axis Q of the cutting tool 507 is perpendicular to the tangent line M of the workpiece copying reference surface 13 at the contact point P, the contact point P Thus, the distance between the workpiece copying reference surface 13 and the cutting tool 507 becomes constant, and cutting is performed normally.
On the other hand, when the shape of the workpiece W is deformed due to thermal contraction from the teaching (imaginary line position), the tool exposure opening 530 and the workpiece copying reference surface 13 do not engage with each other only by pressing the tool holder 509, and the burrs. Chamfering and chamfering cannot be performed normally. Even if the tool exposure opening 530 is engaged with the workpiece copying reference surface 13, the connecting line L is not perpendicular to the tangent line M of the workpiece copying reference surface 13 at the contact point P. Therefore, the cutting tool 507 is used. And the workpiece scanning reference surface 13 are not constant, and the burr or chamfered portion is cut deeper or shallower than the set position defined by the copying portion 511, and the portion after cutting may be wavy.

In the present embodiment, the V-cut tool exposure opening 30 is formed around the entire periphery of the tool holder 9 to form the copying portion 11, and the base portion 41 and the tip portion 43 are freely rollable. As shown in FIG. 7A, even if the shape of the workpiece W has been deformed due to thermal contraction since the teaching (imaginary line position) or not deformed (solid line position), the copying portion 11 is formed on the workpiece W. The workpiece copying reference surface 13 is normally contacted, and the contact state between the tool holder 9 and the workpiece copying reference surface 13 is normally maintained.
Further, the connecting line L connecting the contact point P between the copying portion 11 and the workpiece copying reference surface 13 and the rotation axis Q of the cutting tool 7 is always perpendicular to the tangent line M of the workpiece copying reference surface 13 at the contact point P. Therefore, the distance between the workpiece copying reference surface 13 and the cutting tool 7 at the contact point P is always kept constant. Thereby, even when the shape change of the workpiece W is large due to heat shrinkage and the workpiece W has a bent shape, the burr and the chamfered portion are always cut at the set position defined by the copying portion 11. it can.

Now, a long hole portion 65 intersecting with a cross is formed in the tip portion 43 of the tool holder 9, so that the shavings that enter the inside of the tip portion 43 can be easily removed.
Further, the bearing holder 47 that supports the tip portion 43 of the tool holder 9 is supported by a support arm 51 fixed to the holder fixing member 25. The support arm 51 is disposed on the opposite side of the contact point between the cutting tool 7 and the workpiece W, that is, at a position avoiding the space between the cutting tool 7 and the workpiece W. Thereby, a burr | flash or chamfering can be performed, without the contact with the workpiece | work W being inhibited by the support arm 51. FIG.

  As shown in FIG. 4, the support arm 51 has an adjustment bolt 57 for moving the holder fixing member 25 in the direction indicated by the arrow X in the drawing and adjusting the distance from the holder fixing member 25. Is provided. Therefore, by adjusting the distance between the support arm 51 and the holder fixing member 25 with the adjusting bolt 57, the lower bearing holder 47 supported by the support arm 51 and the upper bearing holder 45 are adjusted. The distance is variable. As a result, the distance between the base portion 41 and the tip portion 43 of the tool holder 9, that is, the size of the opening portion of the tool exposure opening portion 30 is varied, and the same is applied to workpieces W having different width dimensions of burrs or chamfered portions. Processing can be performed with the tool holder 9.

  As described above, according to the present embodiment, the tool holder 9 serving as a copying guide member is separated into the base portion 41 and the distal end portion 43 with the tool exposure opening 30 as a boundary, and the base portion 41 and the distal end portion 43 are separated from the workpiece W. The workpiece copying reference surface 13 is configured to be rollable. With this configuration, it is possible to prevent the copying portion 11 at the edge of the tool exposure opening 30 from rubbing and scratching the surface of the workpiece W.

In addition, according to the present embodiment, the tool holder 9 is copied by the workpiece copying reference surface 13 of the workpiece W over the entire circumference of the opening edge 41A of the base portion 41 and the opening edge 43A of the distal end portion 43. The portion 11 is provided.
With this configuration, even when the shape of the workpiece W is changed from the shape at teaching during burr or chamfering, the copying portion 11 always copies the workpiece W at any location on the peripheral surface of the tool holder 9. The contact with the reference surface 13 is continued. Further, since the connecting line L connecting the contact point P and the rotation axis Q of the cutting tool 7 is always perpendicular to the tangent line M of the workpiece copying reference surface 13 at the contact point P, the workpiece copying at the contact point P is performed. The distance between the reference surface 13 and the cutting tool 7 is always kept constant, and burrs or chamfering can be performed accurately.

  According to the present embodiment, the tool holding device 5 is attached to the shaft end of the articulated robot 3 as a moving means for moving the cutting tool 7 relative to the workpiece W, and the cutting tool 7 is attached to the tool holding device 5. Since the base portion 41 of the tool holder 9 is directly supported rotatably on the tool holding device 5 and the distal end portion 43 is rotatably supported on the tool holding device 5 via the support arm 51, an articulated robot as a moving means. 3, the tool holding device 5 including the tool holder 9 of the present invention can be configured. As a result, the tool holding device 5 can be attached to other moving means such as a linear motion mechanism as it is to perform deburring or chamfering, and versatility can be improved.

  Moreover, according to this embodiment, it was set as the structure which has arrange | positioned the support arm 51 which supports the front-end | tip part 43 of the tool holder 9 in the position which avoided between the cutting tool 7 and the workpiece | work W at the time of a burr | flash or chamfering process. With this configuration, the support arm 51 is not positioned between the workpiece W and the cutting tool 7, and processing can be performed without being obstructed by the support arm 51.

  Further, according to the present embodiment, since the separation distance between the base portion 41 and the tip end portion 43 of the tool holder 9, that is, the size of the tool exposure opening 30 can be adjusted, any burr or chamfered portion having a different width dimension can be used. Burrs or chamfering can be performed on the workpiece W with the same tool holder 9.

  The above-described embodiment is merely an aspect of the present invention, and can be arbitrarily modified and applied without departing from the spirit of the present invention.

(Modification 1)
In the above-described embodiment, the case where the opening edge of the tool exposure opening 30 is configured as the copying portion 11 as an example of the tool holder 9 according to the present invention is described, but the present invention is not limited thereto.
FIG. 8 is a diagram schematically showing the configuration of the tool holder 109 according to this modification. In the figure, the same members as those shown in FIG. 4 are denoted by the same reference numerals, and the description thereof is omitted.

As shown in this figure, in this modification, the tool holder 109 is separated into a base portion 141 and a tip portion 143 with the tool exposure opening 130 as a boundary, and each of them is separated from the workpiece copying reference surface 13 of the workpiece W. And can be rolled. As the cutting tool 107, a tool having a tip portion 107A having an irregularly shaped blade portion is used, and the peripheral surface of the tip portion 107A is exposed from the tool exposure opening 130.
In the tool holder 109, during the deburring or chamfering process, the peripheral surfaces 141A and 143A of the base portion 141 and the distal end portion 143 function as the copying portion 111 and are pressed against the workpiece copying reference surface 13 of the workpiece W for cutting. The tool 107 performs burrs and chamfering of the workpiece W.
Also in this modified example, since the copying portion 111 of the tool holder 109 is configured to be able to roll with respect to the workpiece copying reference surface 13 of the workpiece W, the surface of the workpiece W is rubbed and damaged. It is prevented.

(Modification 2)
In the above-described embodiment, the configuration in which the size of the opening of the tool exposure opening 30 of the tool holder 9 (the distance between the base 41 and the tip 43) is manually adjusted by the adjustment bolt 57 has been described. However, the present invention is not limited to this. For example, the control unit 4 (FIG. 1) may use a servo motor or the like to adjust and control the separation distance between the base portion 41 and the distal end portion 43. According to this configuration, the change in the width of the burr or chamfered portion of the workpiece W is acquired by teaching or the like, so that the size of the opening of the tool exposure opening 30 is the burr or chamfered portion when burring or chamfering. Therefore, the burr or chamfering process can be satisfactorily performed even on the workpiece W whose width dimension of the burr or chamfered portion is not constant.

Claims (7)

A scanning guide member having an opening that inserts a cutting tool and exposes a blade portion of the cutting tool is provided, and the scanning portion of the scanning guide member is rotated at a predetermined pressure on a workpiece scanning reference surface while the cutting tool is driven to rotate. In a cutting device that presses with and cuts burrs or chamfered portions in the vicinity of a workpiece copying reference surface with the blade portion,
The copying guide member is separated into a first tube portion and a second tube portion with the opening as a boundary, and the first tube portion and the second tube portion can roll with respect to the workpiece copying reference plane. A cutting apparatus characterized in that it is configured so that the size of the opening between the tube portions can be adjusted.   A tool holding device is attached to a moving means for moving the cutting tool relative to the workpiece, the cutting tool is attached to the tool holding device, the first tube portion is directly supported rotatably on the tool holding device, and the second The cutting apparatus according to claim 1, wherein the cylindrical portion is rotatably supported by a tool holding device via a support arm. Attaching a tool holding device to the moving means for moving the cutting tool at the time of cutting, and attaching the cutting tool to the tool holding device,
While moving the cutting tool, the size of the opening between the cylinders is adjusted by adjusting means for adjusting the size of the opening between the cylinders according to the burr on the workpiece surface or the width of the chamfered part. cutting device according to claim 1 or 2, further comprising a control means for automatically adjusting the of. A copying guide member having an opening for inserting a cutting tool and exposing a blade portion of the cutting tool is provided, and the copying portion of the copying guide member is set to a work copying reference plane while the cutting tool is rotationally driven. In a cutting method of pressing a pressure and cutting a burr or chamfered portion in the vicinity of a workpiece copying reference surface by the blade portion,
The copying guide member is separated into a first tube portion and a second tube portion with the opening portion as a boundary so that the size of the opening portion between the tube portions can be adjusted, and the first tube portion and the first tube portion are separated. A cutting method characterized by cutting a burr or chamfered portion of a workpiece surface with the blade portion while rolling the two cylindrical portions with respect to the workpiece copying reference surface. The workpiece copy reference surface of the workpiece is bent,
The burr or chamfered portion of the bent surface is cut by the blade portion while pressing and rolling the opening edges of the first tube portion and the second tube portion on the bent workpiece copying reference surface. The cutting method according to claim 4 . The cutting tool includes the blade portion around the entire circumference,
The blade portion is exposed in an opening between the first tube portion and the second tube portion;
Even if the movement trajectory of the cutting tool is curved or bent,
Always pushing the second cylindrical portion and the first cylindrical portion with respect to the workpiece copying reference surface, while rolling, according to claim 5, characterized in that the cutting burr, or chamfer by the edge portion Cutting method. Attaching a tool holding device to the moving means for moving the cutting tool relative to the workpiece, and attaching the cutting tool to the tool holding device,
In addition to storing the shape of the workpiece copying reference surface in teaching,
Always pushing the second cylindrical portion and the first cylindrical portion with respect to the workpiece copying reference surface, while rolling, to claim 5 or 6, characterized in that cutting burr or chamfer by the edge portion The cutting method described.

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