200927423 . 九、發明說明： 【發明所屬之技術領域】 本發明係關於-種用以切除形成於樹月旨成形品等工件 之例如接合線的毛邊之毛邊移除系統、毛邊移除裝置及切 除器刀刀。 【先前技術】 一般而言，在看護用床零件、影印機零件、工具箱、 ❹保溫樹脂盒、汽車用擾流板⑽spQi㈣、汽車用遮陽板、 〇車用中柱（centre pillar)、汽車用内裝片等樹脂成形品 中，於成形時在例如接合線形成有毛邊。 • 以往，毛邊之切除係依工件或各種狀況而採用多種方 法進行切除（參照例如專利文獻υ，該切除包含：以例如雷 射照射：熱風、火焰照射、電漿照射、紅外線照射等進： =切除’以使驗體氮等之冷;東脆化破碎之方式進行的切 二：各種研磨(滾筒研磨、拋光輪叫使用遊離磨粒、 立波=磨粒）進行之切除；使用水刀進行之切除；利用超 二:進:之切除:以嘴丸(Sh°tblast)進行之切除； 、夕 進订之切除；以常溫或加熱之金屬片的摩捧 進:之以銳角或鈍角之刀具進行之切除;或以衝壓 (專利文獻1)日本實開平6_36810號公報 【發明内容】 (發明所欲解決之課題） ' Χ、、工外線照射等進行之切除或以冷涞脆化破碎 319845 5 200927423 *之方式進行的切除，除了 影響外，會有押制亦wf邊母材料有熱影響或物理性 的問題。再者，以各種研廣進易造成昂貴之設備 -品、内面無法進行加工 二,切除會有不適合大件物 化、細微之2 :大毛邊之m 或伴隨後步驟之清潔 (wateriet)i# - ^ 生·#問題。再者，以使用水刀 性、設備價格高ϋ飛料水處理之必要 ^, A 取煎寻問碭。利用超音波洗淨系 統進仃之切除則有在後步 & ❹^ 诛無法對應大毛邊或大 件：問通。以喷丸進行之切除，除了裝置成本高外，會 有工件形狀之限制、對周邊母材料之影響、粉塵之產生等 問題。以滾輪進行遷碎並以常溫或加熱之金屬片的摩捧所 進行之切除等，會有不適合大I、嘉 Τ有不週口大毛邊、毛邊切除面之粗糙或 精後度不良的問題。以銳角或鈍角之刀具進行之切除則會 有難以進行位置控制、必須有倣形加工等其他考量，如未 考量該因❹i有侵人工件並破壞工件或造成毛邊絲不足 ❹之問題。以衝壓進行之切除則需要有昂貴之模具且難以 行設計變更。 另一方面，使毛邊移除系統完全自動化時，在毛邊移 除裝置中，必須在毛邊移除後製作出完全無2次毛邊之^ 成品。在習知之毛邊移除裝置中，難以避免2次毛邊之產 生’該2a毛邊係以手工作業加以去除’而有礙於完全自 動化。因此，以往’在樹脂成形機之源流儘可能抑制毛邊 之產生的技術之開發乃盛行。然而，該技術之開發成形機 昂貴’而成為使成形品成本上昇之主因。 329845 6 200927423 :益:二ί發明之目的在於提供—種毛邊移除系統，其 ，無須使用㈣之樹脂成形機，而使用習知之泛用成形 .造樹=Γ，即可大致完全地去除該樹脂成形品 之毛邊，亚使毛邊移除可完全自動化。 =者，提供—種毛邊移除裝置及切除器刀刀，其不使 用控制裝置及工件定位裝置等，亦不使用昂貴之傲 ❹ 易且完全地將形狀不穩定之樹脂成形品 的毛遺仗該毛邊之根部切除。 (解決課題之手段） 構，毛邊移除系統係具備：樹脂成形機；第1機 二=該::成形機取出工件，並將該工件移載至工件 夹具之:件的2除裝置，係去除經移載至前述工件承载 、邊，及第2機構’係從前述工件承載夹具 取出經移除該毛邊德之杜.1 八 除考7777^邊後 牛，别述邊移除装置係在使切 ϋ二毛i# 同時沿著毛邊之根部饋送該切除器刀刀以 二 =:、’而前述切除器刀刃係具備對應毛邊之根 、 及並未構成對應前述工件之面部之切除 以’且具備：彈屡機構，係將前述切除器刀刀 2動狀態朝毛邊之根部彈屢；及加振部，藉由超音波使 則述切除盗刀刀朝預定方向振動。 ^發明係在切除器刀刀之傲形部抵接於工件之面部的 2攻主、真邊邊）的發生’而無須進行用以去除 k的手工作業。因此’在本發明之樹脂成形機中容 319845 7 200927423 .邊的產生。一般而言’在樹脂成形機中， 、 生θ造成問題，而期望儘可能不會產生毛邊的F 丄：該模具之規格雖會造成昂貴之成形機，但本發明； Ρ制2次毛邊的產生，所以使錢價之成 成毛邊移除之完全自動化。 運 根邻二者兮在使切除器刀刃振動之同時沿著工件的毛邊之 运該切除器刀刀以切除毛邊之毛邊移除裝置中 〇==，轉應毛邊之根部的切除刀刃部、及並 =構成對應别述工件之面部之切除刀刀的倣形部，且具 根部^機構’係將前述⑽11刀刀以浮動狀態朝毛邊之 及加振部，係藉由超音波使前述切除器 預疋方向振動。 叙=發明中，由於彈麗機構係將前述切除器刀刀以浮 朝毛邊之根部㈣，且加振部係藉由超音波 f朝預定方向振動’因此切除器刀刃係在傲形部 Γ件之面部的狀態下，藉由切除刀刃部切除毛邊， 抑制因毛邊移除而新產生之毛邊（2次毛邊）的發生， 除之完全自動化。手作業，可達成毛邊移 再者’在城工件之毛邊的毛邊移除裝置之切除器刀 =具備對應毛邊之根部的切除刀刀部、及並未構成對 = 件之面部之切除刀刃的倣形部，而前述切除刀刀 刃的别端位置係设為與構成前述倣形部之倣形面相 5立置、或相較於倣形面離開前述工件之位置。 319845 200927423 依據上述構成，由於切除刀刃部之刀刀的前端位置得 •=，前述傲形部之倣形面相同位置、或相= 、汗則述工件之位置，因此可抑制因切除刀刃部侵入材 ;•而造成刀刀之折損等的發生。 (發明之效果） 動狀：ίί:明，由於彈壓機構係將前述切除器刀刃以浮 心、之根部彈塵，且加振部係藉由超音波使切除 ❹方向振動，因此切除器刀刃係在傲形部抵接 抑制的^1Γ ’藉㈣除刀部㈣毛邊，藉此 = 的發生，而無須進行用以去除2次毛邊的手 ^、成毛邊移除之完全自動化。再者，在使切除 盗刀刃振動之同時”1_菩革邊夕柏 ’、 除毛邊時，可抑制切除器刀刃以切 指蓉 除刀77部侵人材料而造成刀刃之折 貝等的發生，可延長切除刀 之運轉率提升。 之* ♦並使毛邊移除裝置 ❾【實施方式】 以下，根據圖式說明本發明之一實施形態。 第1圖係顯示毛邊去除系統的一實施形態。 本Λ施㈣之毛邊移除系統⑽係具H法入 制樹脂成形時之毛邊的發生，即；王抑 除穿置的6站恭古1 件把持裝置及毛邊移 除裝置的6轴垂直之多關節機器人」G3 . 照第，之工件承载機構i〇5=: = 毛邊132排出至系統外的毛 、舌除之 卜的毛邊排岀輸送帶1〇7;將作為毛 329845 9 200927423 邊移除後之完成品的 的完成品排出輸送帶 工件131(參照第5圖）排出至系統外 109。 义夕關喊機器人103具有6軸關節103A至103F，在最 引端之關即1G3F的臂前端部1G3G安裝有將工件把持裝置 及毛邊移除裝置-體化的機構部140。 :機構。"40係如第2圖所示，具備：安裝在臂前端 3G之圓柱狀的基部141;與該基部ι4ι相連之大致门 ❹字形的保持具142，·配置在該保持具142之第1面的工件 把持用之手部143 ;及配置在該保持具142之第2面的工 1吸附用的吸附襯塾部144;吸附襯墊部144係經由連接 b (未圖示）連接在真空源。工件把持用之手部Mg係藉 由氣壓缸（未圖示）而動作。 曰 在保持具142之第3面（圖中之下面）安裝有毛邊移除 f置1，在其前端固定有平口刀之切除器刀刃10,以切除 器刀刃ίο去除工件承載機構105上之工件13〇的毛邊132。 ❹ 工件承載機構係具備機構台110及以複數個螺栓 111連結在機構台110的工件承載夾具112，如第3圖所 不，在工件承載夾具112之上部的工件承載部A嵌合 =件130之凹部以載置工件13〇。該工件13〇係以從實線 落入至虛線之位置的方式載置在工件承载部n2A。在工 件承載部112A形成有吸附用之吸氣口 112B，吸氣口 112 B係經由連接軟管112C連接至真空源，在將工件13〇載 置於工件承載部112A時藉由吸引來固定工件13〇。工件承 載部112A之形狀係依工件130之凹部形狀或產生於工件 319845 10 200927423 :形狀等來決定，而設定為至少能以切除器 去除產生在工件130之毛邊的形妝 女曰 )刃Π)進行毛邊去除動作的形狀。”不會阻礙切除器 工件承載部U2A係具有支持台112D，於因 =1的換模等而改變了要成形的工件形狀時，從：持： 面-體地更換為具有對應工件形狀之工作承； 係以吏旅不^工件承載失具112。在本毛邊移除系統100 係以更換工件承載夹具120來改 ❹工件安排時間。 作㈣’以謀求縮短 第6圖係顯示毛邊移除裝置1。 毛邊移除裝置i係如上所述安裝在 =之:Γ)。毛邊移除裝置1具有 3固定有氣體驅動型之滑動台裝置4。 置4具備：固定於支持體3之固定部^，·固定於 疋 之兩端的支持部仆、4c ;設置在各支持 ❹4c間的轴4d ;及自由滑動在軸“上 支=、 部5係朝預定之直線方 μ滑動 直線方向係為可將平動’該 $工彼μ1〇的下表面推壓 體供給口 4f:在4另=止：。在一方之支持部仆設有氣 在氣體供給口 4f連接 調整器（未圖示）。有用以調整供給氣體之麼力的壓力 ^動。卩5安裝有超音波振動器保持具6之 超曰波振動器保持具6之另一端形成有形成為半環狀之= 319845 11 200927423 ，持部6a’在該保持部㈣另一半環狀之保持部⑼之 •，有超音波振動器7之圓柱部7&，藉由以螺栓連結各^持 ，：波X間;而在超音波振動器保持具6之另-端安裝超 定有切除器…在超音：;波振7_ 7之_^ 第6圖立 盗7經由線材7b(參照 應超音波振動器7之振動’切除器刀刀1〇係朝：： 刀刃10之饋送方向（箭頭以方向）大致正交之方向（箭 mi)進行超音波振動。在本構成中，上述滑動部5 地二用來自氣體供給口 4f之氣體里力朝 ::二圖:右方的擋止“，當切除器刀… 而作时因反作用力而產生的負㈣，依據_ 載之知度，滑動部5會抵抗上述氣體屢力而朝圖中左方典 =於轴W上，藉此切除器刀刃1〇係相對於工件呈浮動: L。滑動範圍係由圖中左方之擋止件钓所限制。滑動台裝 ❹置4係構成浮動機構，毛邊移除^前端之切除器刀刀 1〇係朝箭頭A方向自由移動，亦即相 ’、 脂成形品）呈浮動狀態… 對於後述之工件（樹 第8圖係顯示毛邊移除動作時之切除器刀刀w。 ioc切^器刀1G係在前端側具有切除器刀刀本體部 刀刀本體部1〇C具有前端面⑽及後端面 後端面應係與超音波振動器7之延長線大致 端面祕储與饋送方向β相交成直角的超音 波振動器7之延長線以後退角必後退。切除器刀刀1〇係藉 319845 12 200927423 ' 由銲接或螺固之任一錄古4 a π 除器刀刀10係抵接在开^屬古疋在超音波振動器7。切 。（例W㈣/ Μ# UG讀脂成形。 (例如看護用床零件、影印機零件、工具箱 ^^口 汽車用擾流板、汽車用遮陽板、汽車用 、心曰底、 片等）之例如接入蝮^ t Α π車用内裝 HJ如接口線121的毛邊132之基部（根部。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 Knife cutter. [Prior Art] In general, in nursing bed parts, photocopying machine parts, tool kits, enamel insulation resin boxes, spoilers for automobiles (10) spQi (4), sun visors for automobiles, center pillars for cars, and automobiles In a resin molded article such as an inner sheet, burrs are formed on, for example, a bonding wire at the time of molding. • In the past, the removal of the burrs was performed by various methods depending on the workpiece or various conditions (see, for example, the patent document υ, the resection includes: irradiation with, for example, hot air, flame irradiation, plasma irradiation, infrared irradiation, etc.: Cut off 'to cool the test body nitrogen, etc.; cut in the east embrittlement method: various kinds of grinding (drum grinding, polishing wheel called free abrasive grain, vertical wave = abrasive grain) for cutting; using water knife Excision; use of super 2: advance: resection: resection with a mouth pill (Sh°tblast); resection of the evening advance; the use of a normal temperature or heated metal sheet: the tool with an acute or obtuse angle Excision; or stamping (Patent Document 1) Japanese Laid-Open Patent Publication No. Hei 6-36810 [Summary of the Invention] (Problems to be Solved by the Invention) 'Excise, or external beam irradiation, or crushing with cold and brittle 319845 5 200927423 *In the way of resection, in addition to the impact, there will be problems with the thermal or physical properties of the bf-side material. In addition, the expensive equipment-products and internal surfaces cannot be entered by various research and development. Line processing 2, the resection will not be suitable for large materialized, subtle 2: m with large burrs or clean with the following steps (wateriet) i# - ^ 生·#. In addition, the use of waterjet, high equipment prices The necessary treatment of ϋ fly material water ^, A take the frying and ask 砀. Use the ultrasonic cleaning system to remove the sputum in the back step & ❹ ^ 诛 can not correspond to large burrs or large pieces: ask for. Except for the removal, in addition to the high cost of the device, there are problems such as the limitation of the shape of the workpiece, the influence on the surrounding parent material, the generation of dust, etc. The removal by the roller and the removal by the holding of the normal temperature or the heated metal piece Etc., there will be problems that are not suitable for large I, Jiayu have large burrs, rough edges or poor finish. The removal of sharp or obtuse angle tools makes it difficult to control the position and must be simulated. Other considerations such as shape processing, such as the lack of consideration of the intrusion of the workpiece and the destruction of the workpiece or the lack of burrs. The removal by stamping requires expensive molds and difficult design changes. hair When the removal system is fully automated, in the burr removal device, it is necessary to make a finished product with no burrs at the same time after the burrs are removed. In the conventional burr removal device, it is difficult to avoid the occurrence of 2 burrs '2a The burrs are removed by manual work, which hinders complete automation. Therefore, the development of technology to suppress the generation of burrs as much as possible in the source flow of the resin molding machine has been popular. However, the development of the molding machine is expensive. The main reason for the increase in the cost of molded products. 329845 6 200927423: The purpose of the invention is to provide a burr removal system which does not require the use of a resin molding machine of (4), but uses conventional molding to form a tree. The burrs of the resin molded article can be removed substantially completely, and the removal of the burrs can be completely automated. =, providing a burr removal device and a resecting knife, which does not use a control device and a workpiece positioning device, and does not use the expensive remains of a resin molded article which is expensive and completely unstable in shape. The root of the burr is removed. (Means for Solving the Problem) The structure of the burr removal system includes: a resin molding machine; a first machine 2 = the following: the molding machine takes out the workpiece, and transfers the workpiece to the workpiece holder: The removal of the load to the aforementioned workpiece bearing, the edge, and the second mechanism 'takes out from the aforementioned workpiece carrying jig to remove the burr of the burr of the burr. And the cutting knife is fed along the root of the burr at the same time, and the cutter blade has a root corresponding to the burr and a cut that does not constitute a face corresponding to the workpiece. The utility model has the following functions: the elastic state of the cutter blade 2 is moved toward the root of the burr, and the vibration portion is used to vibrate the razor blade in a predetermined direction by ultrasonic waves. The invention is based on the occurrence of the 2 attacker and the true side of the face of the workpiece at the proud portion of the cutter blade without the need for manual work for removing k. Therefore, in the resin molding machine of the present invention, the production of the side is 319845 7 200927423. In general, 'in the resin molding machine, θ causes problems, and it is desirable to produce F 丄 as much as possible. The size of the mold may cause an expensive molding machine, but the present invention; Produced, so the full cost of the removal of the money into a burr is completely automated. The two roots of the transfer root are transported along the burr of the workpiece while the cutter edge is vibrating to remove the burr in the burr removal device 〇==, the cutting edge portion of the root of the burr, and And = a contoured portion of the cutting blade corresponding to the face of the workpiece, and the root portion is configured to move the aforementioned (10) 11 knife into the burr and the damper in a floating state, and the cutter is made by ultrasonic waves The direction of the front vibrates. In the invention, since the elastic mechanism is configured to float the root of the cutter blade (four), and the vibration portion is vibrated in a predetermined direction by the ultrasonic wave f, the cutter blade is attached to the proud portion. In the state of the face, the burrs are removed by cutting the blade portion, and the occurrence of newly generated burrs (secondary burrs) due to burr removal is completely eliminated. Hand work, can achieve the burr shifter's reciprocating knife of the burr removal device on the burr of the city workpiece = the resection knife part with the root of the corresponding burr, and the imitation blade of the face which does not constitute the face of the part The shape of the other end position of the cutting blade is set to be perpendicular to the contoured surface 5 constituting the contoured portion or to a position away from the workpiece by the contoured surface. 319845 200927423 According to the above configuration, since the front end position of the blade for cutting the blade portion is •=, the contoured surface of the proud portion is at the same position, or the phase is the position of the workpiece, so that the intrusion of the cutting blade portion can be suppressed. Material; • cause damage to the knife and so on. (Effects of the Invention) Motion: ίί: Ming, since the biasing mechanism winds the cutter blade to the center of the float, and the vibration portion is vibrated by the ultrasonic wave in the direction of the resection, the cutter blade is In the proud part of the abutment suppression ^1 Γ 'borrow (four) in addition to the knives (four) burrs, the occurrence of this =, without the need to carry out the removal of the 2 times of the burrs of the hand ^, the full automatic removal of the burr. In addition, in the process of removing the cutting edge of the blade, "1_Puqin Bianxi", when removing the burrs, can suppress the occurrence of the folding of the blade, etc. by cutting the blade of the cutting blade. The operation rate of the cutting blade can be increased. * ♦ The burr removing device 实施 [Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows an embodiment of a burr removing system. The burr removal system (10) of the present invention (4) is formed by the burr when the resin is formed by the H method, that is, the 6-station of the 6-station and the burr removal device of the 6-axis vertical Multi-joint robot" G3. According to the first, the workpiece carrying mechanism i〇5=: = the burrs 132 are discharged to the outside of the system, and the lingual discharge belt of the tongue is removed 1〇7; it will be moved as the hair 329845 9 200927423 The finished product discharge conveyance belt workpiece 131 (see Fig. 5) of the finished product is discharged to the outside of the system 109. The yoke robot 103 has six-axis joints 103A to 103F, and a mechanism portion 140 for structuring the workpiece holding device and the burr removing device is attached to the arm end portion 1G3G of the 1G3F at the most leading end. :mechanism. As shown in Fig. 2, the "40" includes a cylindrical base portion 141 attached to the arm distal end 3G, and a substantially sigma-shaped holder 142 connected to the base portion ι4, and is disposed in the first holder of the holder 142. a hand holding portion 143 for holding the workpiece on the surface; and an adsorption lining portion 144 for suction of the first surface disposed on the second surface of the holder 142; the adsorption pad portion 144 is connected to the vacuum via a connection b (not shown) source. The hand grip for gripping the workpiece is operated by a pneumatic cylinder (not shown).曰The third side of the holder 142 (below the figure) is provided with a burr to remove the f setting 1, and the cutter blade 10 of the flat knife is fixed at the front end thereof, and the workpiece on the workpiece supporting mechanism 105 is removed by the cutter blade ίο 13 〇 burr 132.工件 The workpiece carrying mechanism includes a mechanism table 110 and a workpiece carrying jig 112 coupled to the mechanism table 110 by a plurality of bolts 111. As shown in FIG. 3, the workpiece carrying portion A is fitted to the upper portion of the workpiece carrying jig 112. The recess is for placing the workpiece 13〇. The workpiece 13 is placed on the workpiece carrying portion n2A so as to fall from the solid line to the position of the broken line. The suction port 112B for suction is formed in the workpiece carrying portion 112A, and the intake port 112B is connected to the vacuum source via the connection hose 112C, and the workpiece is fixed by suction when the workpiece 13 is placed on the workpiece carrier 112A. 13〇. The shape of the workpiece-carrying portion 112A is determined according to the shape of the recess of the workpiece 130 or the shape of the workpiece 319845 10 200927423: the shape is set, and is set to at least remove the bristles produced on the burrs of the workpiece 130 by the cutter. The shape of the burr removal operation. "Does not hinder the cutter workpiece bearing portion U2A from having the support table 112D. When the shape of the workpiece to be formed is changed due to the die change of =1, etc., the operation is changed from: face-to-body to work having a corresponding workpiece shape. The workpiece is loaded with the missing piece 112. The burr removal system 100 is used to replace the workpiece carrying jig 120 to change the workpiece arrangement time. (4) 'To shorten the figure 6 shows the burr removal device 1. The burr removing device i is mounted as follows: Γ). The burr removing device 1 has a sliding table device 4 to which a gas-driven type is fixed. The device 4 is provided with a fixing portion fixed to the support body 3 , the support part servant fixed at both ends of the cymbal, 4c; the shaft 4d provided between each support ❹ 4c; and the free slide on the axis "upper support =, the part 5 is oriented in a predetermined straight line μ. The lower surface of the $worker's lower surface pushes the body supply port 4f: at 4 other = stop:. The gas is supplied to the support unit of one of the units. The regulator (not shown) is connected to the gas supply port 4f. There is a pressure to adjust the force of the supply of gas.卩5 The other end of the super-wave vibrator holder 6 to which the ultrasonic vibrator holder 6 is mounted is formed to have a semi-annular shape = 319845 11 200927423, and the holding portion 6a' is held in the other half of the holding portion (four) In the section (9), the cylindrical portion 7& of the ultrasonic vibrator 7 is connected by bolts, and the wave X is interposed; and the other end of the ultrasonic vibrator holder 6 is mounted with a reconfigurator. ... in supersonic:; wave vibration 7_ 7 _^ 6th figure pirate 7 via wire 7b (refer to the vibration of the ultrasonic vibrator 7 'removal knife 1 〇 : :: the feeding direction of the blade 10 (arrow Ultrasonic vibration is performed in a direction (arrow mi) that is substantially orthogonal to the direction. In the present configuration, the sliding portion 5 uses the gas from the gas supply port 4f to force: :: two maps: the right stop When the cutter knife is used, the negative (4) due to the reaction force, according to the knowledge of the load, the sliding portion 5 will resist the above-mentioned gas force and turn to the left side of the figure on the axis W, thereby cutting off The blade 1 is floating relative to the workpiece: L. The sliding range is limited by the left part of the figure. The squatting 4 system constitutes a floating mechanism, and the ripper removal front end of the cutter knife 1 is free to move in the direction of the arrow A, that is, the phase ', the fat molded product is in a floating state... For the workpiece described later (tree 8) The cutter cutter w is displayed when the burr removal operation is performed. The ioc cutter 1G has a cutter blade body portion on the front end side. The cutter body portion 1C has a front end surface (10) and a rear end surface and a rear end surface. The extension line of the ultrasonic vibrator 7 is substantially extended with the extension direction of the ultrasonic vibrator 7 which intersects the feeding direction β at a right angle. The retracting angle of the ultrasonic vibrator 7 is retracted. The retracting knife 1 is 319845 12 200927423 'by welding or snail Any one of the ancient 4 a π eliminator knives 10 is abutted at the open 属 疋 in the ultrasonic vibrator 7. Cut. (Example W (4) / Μ # UG reading lip forming. (eg nursing bed parts, Photocopying machine parts, toolbox ^^ port spoiler for automobile, sun visor for car, car, heart bottom, piece, etc.) for example, access 蝮^ t Α π car interior with HJ such as the edge of interface line 121 Base of 132 (root
例如：：之前端面⑽具備有：對應毛邊132之根部I 為“左右之切除刀刀部氣·及並未構成 ❹：應工件uo之各面部123Α、123β之切除刀刀籌： 二部：B。切除刀刃部1〇A之寬度w 一般 第=依形成於工件之毛邊的形狀等適當地變更。 圖。第9圖係包含切除器刀刃之切除刀刀部心的剖視 工件10之前端面1〇F形成有並未構成對應 形部10B在兮/M23A、123B之切除刀刀的曲面狀之倣 ❹“面部;形部一 形成於切除刀刀部1〇Αί|^ 的刀π 1ηΑ1 ^ UA(陰衫所不之部分）之最前端部 置，並且❹ 在相^毛邊切除高度&之高度位 R曲面邱in刀刀1〇Α1之前端部位在包含傲形部10Β之 更的曲面、或比飯形部 更位於内侧(R曲面部之曲率中心侧）的方式形成。 因此’即使在倣形部刚如何抵接於 ΠΐΤ形狀不穩定時或切除形成為曲面形狀：毛邊 時，也不會有切除度侵人材料之情形，且可抑 319845 13 200927423 ；制刀刃折損等缺失之發生。 從切除刀刃部10A之刀刃10A1朝與切除器刀刃10之 饋送方向（箭頭B方向）相反之方向略深入之部分形成有平 整部10A2。平整部1〇a2係呈以依存於滑動部5中之氣體 壓力之平衡的大致一定壓力接合於工件13〇之狀態。藉 此，平整部10A2係將由切除刀刃部10A所切剩之毛邊132 ❹ 的基部予以推壓至工件130侧，並使工件13〇之接合線i2i 附近平滑地平整化。 關於如線之細毛邊（即所謂之線毛邊），可利用以平整 部10A2進行平整時之摩擦熱來抑制該線毛邊之產生。 再者，構成為切除器刀刀本體部1〇c之比平整部1〇入2 更深入之部分的切除器刀刀本體部1〇c ^干之角度θ之方式從工件η。離開，_ 刃ίο之後端面·係形成從工件13〇完全離開之狀離。 結果，切除器刀们〇中與工件13〇接觸之部分係僅 ❿相當於平整部10八2之部分，可防止切除刀 _ 形部10Β因與其他部分碰撞而浮起。 次倣 第1 〇圖係顯示其他實施形態。 二實二:態:，形成於切除刀刀部1。增影所示之 心）之最别知部的刀刃10Α1之前端部 之 除器刀刃Η)之前端部1〇F的倣形部ι〇δ 开^成於切 與切除器刀刃本體部10C之下面相交面部_ 與上述實施形態相比較，刀刀i〇ai 為止。亦即， 刀刃10之與饋送方向（箭頭 心部係朝切除器 )相反之方向後退至倣形 319845 14 200927423 :部10B之R曲面部刪與切除器刀刀本體部ι〇 面相交之位置為止。 ^'衣 在本構成之切除刀刃部10A中，刀刃1ΛΑ， ΑΛ - » ... 刀刀1 〇Αΐ之前端部 V位置係與切除器刀刃本體部〗〇c之 r衣面一致，因W兮 刀刀10A1之前端部會深入毛邊132 以 去除毛邊n W ’而可從根部 曰二使在倣形部10B如何抵接於工件之狀態下， ❹糾日零件形狀不敎時或切除形成為曲面形狀之毛邊 也不會有切除器刀刃1G過度侵人材料之情形，且可抑 制刀刃折損等缺失之發生。 部10A之刀刃10A1之下表面係與㈣刀 平整邻;二之下表面一致而延伸’且在該下表面形成有 :整》”0A2。平整部10A2係呈以依存於滑動部5中之氣 壓力之平衡的大致-定壓力接觸於工件130之狀態。藉 此’平整部1GA2係將由切除刀刀部所切剩之毛邊13曰2 ❹的基部予轉壓至工件⑽側，並使卫件m之接合線i2i 附近平滑地平整化。 關於如線之細毛邊（即所謂之線毛邊），可利用以平整 部10A2進行平整時之摩擦熱來抑制該線毛邊之產生。 再者’構成為切除器刀刀本體部10C之比平整部10A2 更深入之部分的切除器刀刀本體部loc之下表面篇係 能以形成若干之角度Θ之方式從工件13G離開，切除器刀 刀10之後端面10R係形成從工件13〇完全離開之狀態。 結果，切除器刀刃10中與工件130接觸之部分係僅為 319845 15 200927423 .相當於平整部10A2之部分，可卩 ^形部刚因與其他部分碰撞而浮起/除刀刀部l〇A或飯 接著，說明毛邊移除加工動作。 毛邊移除裝置1之動作時，例你 至多次使多關節機器人103之臂部=作者贫際地一次乃 於臂部之移動路徑的路/資=古並進行記億相當 teaching)。或者，採用㈣學⑻⑽ 統，並利用以CAD系統等:二:利用路徑自動產生系 =生路控貧訊。然而，由直接教學 = 息 貢際之毛邊移除對象的卫件130偏差 大％，在毛邊移除動作中並不 確之路徑。 不&相對於各工件130為正 相對於此，本實施形離$主、東 Λ I之毛邊移除裝置1係具有上述 洋動機構，以比預定略高之推遷力 伸i刀將切除器刀刃1 〇推壓至 ❹ 工件而可進行毛邊移除，且進行倣形控制，因此幾乎不需 要對於教導位置之修正。因此 卜 G j課求貫質加工時間的縮 π在本毛邊移除系、统100t，如第1圖所示，多關節機 益人103係依直接教學，利用第2圖所示之手部143從樹 脂成形機H)1取出毛邊移除前之工件（樹脂成形品）13〇，並 將該工件移載至工件承载機構1〇5。接著，多關節機器人 1〇3係利用第2圖所示之毛邊移除裝置1的切除器刀刃 10，去除工件承載機構105上之工件13〇的毛邊m。此 時，工件130係可列舉例如樹脂製工具箱、樹脂保溫盒、 319845 16 200927423 .p機用樹脂零件、汽車用樹脂零件等。 種工件’多關節機器人⑽係沿著對應毛邊之 部位的毛邊移除路徑，以使臂前端部103G之切除 ::的方向、驅動方向最適化之方式控制6軸關節‘ 至103F之動作。 此時’臂前端部103G之滑動部5當然 130呈浮動狀態。 什 ❹nt本貫施形態中’根據由直接教學等所得之路徑資訊 ，動臂前端部聊時，控制施加於氣體供給口 ，並以預定之壓力將切除器刀刀1〇推壓至工件13〇。而 且，施加在氣體供給π之壓力係可依切除器刀刃1() ^自動切換，不論切除器刀刀1G之姿勢為何怪常地皆為一 在此狀1、下，文裝在超音波振動器 器7被驅動，-邊以例如振幅…二： • 刀刃10振動，一邊使倣形部1〇B沿著工件u ，部123A、123B移動，並沿著形成於工件㈣之接合線(相 二於毛邊移除路徑）的毛邊之根部饋送切除器刀刃1〇並切 除毛邊，同時使切除後之面平整化。 根據本實施形態，無須使用昂貴 护 位聚置，且不會使刀種入_二：置:定 邹去除形狀不穩定之樹脂成形品的毛邊Γ本艘’即可從根 最後’多關節機器人103係利用第2圖所示之吸附襯 4U4從工件承載機構1〇5取出該毛邊移除後之工件 319845 17 200927423 •13卜並排出至完成品排出輸送帶ι〇9上，通過該輸送帶 109排出至系、統外。再者，毛邊移除裝置！所去除之毛邊 132係經由傾斜之漏斗133,排出至毛邊排出輸送帶而 上’而排出至系統外。. 在本實施形態中，於毛邊移除裝置1中，毛邊去除後 可製作出完全無2次毛邊之完成品131。 * 因此，不需要以習知所進行之手工作業來去除2次毛 邊的作業，可實現毛邊移除系統之完全自動化，並 〇形品成本之減低。再者，在課求完全自動化後，由於 起因於樹脂成形機！之毛邊的產生，因此可使用習知形式 之泛用樹脂成形機，而不需要晶主 低成形品成本。要P貝之成形機’轉此亦可減 a再者，雖參照第6圖，說明了對一方之供給口竹供仏 疏體之-貫施形態，但作為其他實施形態亦可對各支持部 心4c之各供給σ 4f、4g㈣供給氣體，並保持 ❹性」 獨立控制，藉此構成浮動機構。此 時，亦可將例如電動氣動式（eIecir〇pn_atic ^ ，接至各供給口打，，並在各供給口以^ 地控制供給至各供給i、4g的氣龍力。§連續 在本構成中’在工且舌旦m j . f 士 具重里因例如工具姿勢而成為自f 時，係以抵消該工具重量之方々、隹—祕如另吻成為負何 機器人⑽之直接教風脖制。在進行多闕節 之資料，在淮—主4予夺，對電腦同時輸入工具姿勢相關 信號，二除動作時，根據來自該電腦之電氣 70工“乳動式調整器（未圖示），連續地控制氣體 3】9845 18 200927423 • 壓力即可。 根據以上方式，在 、時，為了抵消該工；4重1因例如工具姿勢而成為負 蛉至各#/、重篁，可依工具姿勢來自動調整供 、、σ至各軋體供給口 4f、4g的壓力。 (第2實施形態） $著，說明切除器刀刀1〇之第2實施形態。 該切除器刀刀1 〇传‘窜 _ 係如第11圖所示，具有相當於第1 ^ 之則端面10F的前·醫及 〇並且具備對應毛邊 固丁心俊端面 刀刃邱、 2根邻之例如寬度數mm左右的切除 ° 、並未構成對應工件13〇之各面部123八、 123B(參照第8圖）之切除 矛'刀刀的曲面狀之倣形部30B、及 切除器刀刃本體部3〇c。傲带 〇Πρι f 1、 做^°卩3〇B係在其下部具備斜面 Y於切除刀刀部30A之最前端部的刀刃30A1 ^又疋目备於毛邊切除高度①之高度位置，並且以使 刀3〇Al之别端部位在包含傲形部3〇b之斜面部3咖 ©的平面之方式形成。在本構成中，即使在倣形部細以任 二::式抵接在工件的狀態，或者，如樹脂零件形狀不穩 疋時或切除形成為曲面形狀之毛邊時，也不會有切除器刀 刀30過度侵入材料之情形，且可抑制刀刃折損等缺失之發 生。 再者與第1實施形態同様地，從切除刀刃部之 刀刀3⑷，在切除器刀刃3〇之朝與饋送方向（箭頭b方向） 相反之方向略洙入之部分形成有平整部3〇A2。該平整部 繼2係呈以依存於滑動部5中之氣體壓力之平衡的大致 319845 19 200927423 • 一定壓力接觸於工件ί3〇 4你丄 - 態，並將由切除刀刀部30Α 所切剩之毛&32的基部予以推塵至工件13〇側，並使工 件130之接合線】21附近平滑地平整化。 再者，構成為切除器刀刀本體部3〇C之比平整部％ 二:果：之：分的切除器刀刃本體部3〇c之下表面係能以形 2之角心之方式從工件130離開，切除器刀刃30 之後^面（未圖不）係形成從工件13〇完全離開之狀能，盘 〇 ’可防止在進行毛邊移除動作時摩擦 阻力過度增加，並且可謀求消除毛邊移除作業時 乃至消耗電力之減低。 、° 第12圖係顯示其他實施形態。 在本實施形態中，形成於切除刀刃部3〇Α(陰影所示之 部分）之最前端部的刀刃3GA1之前端部係延出至形成於 除器刀謂之前端部30F的倣形部地之斜面部3〇m鱼 切除器刀刀本體部夕^ /、 丨c之下表面相父的位置為止而成終 ® ^，亦即，與上述實施形態相比較，刀刀30A1之前端部 係朝切除器刀刀30之與饋送方向（箭頭B方向）相反之方向 後退至倣形部則之斜面部遞丨與切除器刀林體部 30C之下表面相交之位置為止。 在本構成之切除刀刀部30A中’刀刀3〇A1之前端 的位置係與切除器刀刃本體部3〇c之下表面一致，因此^ 二刀30A1之前端部會深入毛邊132之根部，而可從根= 去除毛邊132。 此外，即使在倣形部30B如何抵接於工件之狀態下， 319845 20 200927423 =如樹腊零件形狀不穩定時或切除形成為曲面形狀之毛邊 時，也不會有切除器刀刃3G過度侵人材料之情形，且可抑 制刀刀折損等缺失之發生。 切除刀刀部30A $ 77 77 W❸ GA1之下表面係與切除器刀 部3GC之下表面—致而延伸，且在該下表面形成有 千正4 30A2。平整部30A2係呈以依存於滑動部$令之氣 體壓力之平衡的大致一定壓力接觸於工件13〇之狀態。藉 ❹ 此’平整部30A2係將由切除刀刀部繼所切剩之毛邊η〕 的基部減至卫件UG側，並使工件13〇之接合線⑵附 近平滑地平整化。 關於如線之細毛邊（即所謂之線毛邊），可#由以平整 部30A2 it行平整時之摩擦熱來抑制毛邊之產生。 再者’構成為切除器刀刃本體部3〇c之比平整部 更深入之部分的切除器刀刃本體部3〇c之下表面3〇ci係 能以形成若干之角度Θ之方式從工件130離開，切除器刀 ❿刃30之後端面30R係形成從工件13〇完全離開之狀態。 結果’切除器刀刃30中與工件13〇接觸之部分係u僅為 相當於平整部30A2之部分，可防止切除刀刀部3〇a或傲 形部30B因與其他部分碰撞而浮起。 (第3實施形態） 該切除器刀刀40係如第13圖所示，與形成於接合線 121之毛邊132的基部（根部）抵接，該接合線121係位在包 夹於工件130之山部124A、124B間的谷部U4c。在切除 器刀刃40之前端側具備有：對應毛邊132之根部而突設之 319845 21 200927423 •見度數mm左右的切除刀刃部40A;並未構成對應工件l3〇 之山部124A或山部124β(第13圖中為山部ΐ24β)之切除 . '刀的：面狀之倣形部及切除器刀刀本體部4〇c: 本第3實施形態之切除器刀刃4〇係在傲形部伽可 地抵接於山部124B之狀態下’切除器刀刀本體部術會 越過山部124B，且切除刀刀部4〇A與形成於谷部 毛邊132抵接。 叩 在本實施形態中，與上述第U施形態同様地 ^壓力將，除器刀刃4〇推壓至工件13〇，同時將安裳在超 音波振動器保持具6之超音波振動器7予以驅動， 切除器刀刃4〇振動，一邊使倣形部4〇B沿著山部^犯、、典 動。藉此，並沿著形成於工件13〇之接合線（相當於毛邊^ T路徑)的毛邊之根部饋送切除器刀刀40並切除毛邊 時使切除後之面平滑地平整化。在第3實施形態中，不合 使刀刃侵人該樹脂成形品本體，即可從根部去除形成^ ❹狀不穩定之樹脂成形品之谷部的毛邊。 、/ (第4實施形態） 邊刀刃101係如第14圖所示，具備有：對應毛 邊132之根而突設之寬度數_左右的切 並未構成對應工件130之面部123β之切 = 面狀之倣形部1〇Β;及切除器刀刃本體部⑽。切除= 部10A係形成於切除器刀刀1〇1之 盥 ’、 未存在倣形部。第4實施形 〃有與毛邊132之形成部平行的壁部％之情 319845 22 200927423 f 形。切除器刀77 1Λτ 部26之工件13〇之2除刀刀部似係與形成在具有壁 '抵接，以去除毛邊13=線121的毛邊132之基部(根部) —實施形態㈣，ί使“器刀刃道之動作係與第1 #、定之體’即可從根部去除形成於形狀不 L疋之樹·知成形品之谷部的毛邊。 (第5實施形態） Ο除器:二刀超振動器7A之前端固定有切 扭轉振動，^ 係隨著超音波振動器7A之 音波振動）。沿者轉動轴X1朝箭頭C1方向轉動（扭轉超 匕第5實施形態中，切除器刀刃％具称對應毛 邊32之根部之例如寬度數咖左右的切除刀刃部場； 並未構成對應工件1 3 0之潑邱〗9 ς Μ々二*For example: the front end face (10) is provided with: the root portion I corresponding to the burr 132 is "left and right resection knife part gas and does not constitute ❹: the resection knife of each face 123 Α, 123β of the workpiece uo: two parts: B The width w of the cutting blade portion 1A is generally changed according to the shape of the burr formed on the workpiece, etc. Fig. 9 is a cross-sectional view of the workpiece 10 including the cutting blade portion of the cutter blade. The 〇F is formed with a curved surface-like "face portion" which does not constitute the cutting blade of the corresponding shape portion 10B at the 兮/M23A, 123B; the knives are formed in the cutting blade portion 1〇Αί|^, π 1ηΑ1 ^ UA The most front part of the part of the singularity, and the height of the slanting edge of the slanting edge is the surface of the front edge of the knives 1〇Α1. Or it is formed in the inner side (the curvature center side of the R curved surface part) rather than a rice-shaped part. Therefore, even if the contoured portion just abuts when the shape of the crucible is unstable or is cut into a curved shape: a burr, there is no possibility that the retreating degree invades the material, and it can suppress 319845 13 200927423; The absence occurred. A flat portion 10A2 is formed in a portion slightly deeper from the blade edge 10A1 of the cutting blade portion 10A in a direction opposite to the feeding direction (arrow B direction) of the cutter blade 10. The flat portion 1A2 is in a state of being joined to the workpiece 13 by a substantially constant pressure depending on the balance of the gas pressures in the sliding portion 5. As a result, the flat portion 10A2 presses the base portion of the burr 132 切 left by the cutting blade portion 10A to the side of the workpiece 130, and smoothes the vicinity of the joining line i2i of the workpiece 13〇. Regarding the fine burr of the wire (so-called burr), the generation of the burr can be suppressed by the frictional heat at the time of flattening by the flat portion 10A2. Further, the cutter blade main body portion 1〇c is formed from the workpiece η in such a manner that the cutter portion main portion 1〇c of the portion of the cutter portion 1〇2 is deeper than the flat portion 1 is deeper. After leaving, the end face of the blade is formed to be completely separated from the workpiece 13〇. As a result, the portion of the cutter blade that is in contact with the workpiece 13 is only a portion corresponding to the flat portion 10, which prevents the cutting blade 10 from floating due to collision with other portions. The second imitation shows the other embodiments. Two real two: state: formed in the cutting knife part 1. The edge of the most visible part of the edge shown in Fig. 10) is the front end of the blade Η) the contour of the front end 1〇F is 开 〇 open to the cutting and cutting blade body part 10C The following intersecting face _ is compared with the above embodiment, and the knife is i〇ai. That is, the blade 10 is retracted to the contour 319845 14 200927423 in the opposite direction to the feeding direction (the arrow core is toward the cutter): the R surface portion of the portion 10B is intersected with the surface of the cutter body portion . ^'In the cutting blade portion 10A of the present configuration, the cutting edge 1ΛΑ, ΑΛ - » ... The front end V position of the knife 1 〇Αΐ is the same as the r face of the cutter blade body portion ,c, because W The front end portion of the trowel 10A1 is deep into the burr 132 to remove the burr n W ', and the root portion can be used to make the contour portion 10B abut against the workpiece. The burr of the curved surface shape does not have the condition that the cutter blade 1G excessively invades the material, and the occurrence of the loss such as the blade breakage can be suppressed. The lower surface of the blade 10A1 of the portion 10A is flush with the (four) knife; the lower surface of the blade 10A is uniform and extends, and the lower surface is formed with: "0". The flat portion 10A2 is formed to depend on the air pressure in the sliding portion 5. The balance of the force-constant pressure is in contact with the state of the workpiece 130. By this, the flat portion 1GA2 pre-rotates the base portion of the burr 13 曰 2 切 left by the cutting blade portion to the side of the workpiece (10), and the guard member The vicinity of the joining line i2i of m is smoothly flattened. Regarding the fine burrs (so-called line burrs) of the line, the frictional heat at the time of flattening by the flat portion 10A2 can be used to suppress the generation of the line burrs. The lower surface portion of the cutter blade body portion loc of the cutter blade body portion 10C that is deeper than the flat portion 10A2 can be separated from the workpiece 13G by forming a plurality of angles, the rear end face of the cutter blade 10 The 10R system is in a state of being completely separated from the workpiece 13 结果. As a result, the portion of the cutter blade 10 that is in contact with the workpiece 130 is only 319845 15 200927423. It is equivalent to the portion of the flat portion 10A2, and can be used for other parts. Crash and float / The knife part l〇A or the rice is followed by the burr removal processing action. When the burr removal device 1 is operated, for example, the arm of the articulated robot 103 is changed to the author one time and the arm is moved once. The path of the path / capital = ancient and carry out the record is quite teaching.) Or, use (four) learning (8) (10) system, and use the CAD system, etc.: two: use the path to automatically generate the system = birth control poor news. However, by direct teaching = interest The flank of the jewel of the jewel removes the object 130 by a large deviation, and the path is not determined in the burr removal operation. The & relative to each workpiece 130 is opposite to this, the present embodiment is separated from the main and the east The burr removing device 1 of the first embodiment has the above-mentioned eccentric mechanism, and the ejector blade 1 〇 is pushed to the workpiece by a pushing force which is slightly higher than a predetermined value, and the burr removal can be performed, and the contour control is performed. Therefore, there is almost no need to correct the position of the teaching. Therefore, the π shrinkage of the processing time of the G j class is removed in the burr, and the system is 100t. As shown in Fig. 1, the multi-joint machine is based on direct teaching. Forming from resin using hand 143 shown in Fig. 2 H)1 The workpiece (resin molded product) 13 前 before the burr removal is taken out, and the workpiece is transferred to the workpiece supporting mechanism 1 〇 5. Then, the articulated robot 1 〇 3 is moved by the burr shown in Fig. 2 In addition to the cutter blade 10 of the apparatus 1, the burrs m of the workpiece 13 on the workpiece carrier mechanism 105 are removed. At this time, the workpiece 130 may be, for example, a resin tool case, a resin heat insulating box, or a 319845 16 200927423. Resin parts for automobiles, etc. The workpiece 'multi-joint robot (10) removes the path along the burr corresponding to the burr, so that the direction of the arm front end portion 103G and the driving direction are optimized to control the 6-axis joint. 'Action to 103F. At this time, the sliding portion 5 of the arm distal end portion 103G is of course in a floating state. ❹ ❹ 本 本 形态 ' 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据 根据. Moreover, the pressure applied to the gas supply π can be automatically switched according to the cutter blade 1 () ^, regardless of the posture of the cutter blade 1G, which is strangely in this shape 1, the text is mounted on the ultrasonic vibration The device 7 is driven, for example, by an amplitude... 2: • The blade 10 vibrates while moving the contoured portion 1B along the workpiece u, the portions 123A, 123B, and along the bonding line formed on the workpiece (four) The root of the burr of the burr removal path feeds the cutter blade 1 〇 and cuts the burr while flattening the cut surface. According to the present embodiment, it is not necessary to use an expensive retaining material for arranging, and the knives are not implanted into the _2: set: the burr of the resin molded article which is unstable in shape is removed. 103 is used to take out the burr removed from the workpiece carrying mechanism 1〇5 using the absorbing lining 4U4 shown in FIG. 2, and remove the 319845 17 200927423 • 13 and discharge it onto the finished product discharge conveyor belt ι〇9, through the conveyor belt. 109 is discharged to the system and outside. Again, the burr removes the device! The removed burrs 132 are discharged through the inclined funnel 133 to the burr discharge conveyor belt and discharged to the outside of the system. In the present embodiment, in the burr removing device 1, after the burrs are removed, the finished product 131 having no burrs at all times can be produced. * Therefore, it is not necessary to perform the manual work to remove the two burrs, and the full automation of the burr removal system can be achieved, and the cost of the enamel product can be reduced. Furthermore, after the course is fully automated, it is due to the resin molding machine! The burrs are produced, so that a general-purpose resin molding machine of a conventional type can be used without the cost of the pellet main molded article. If you want to change the molding machine of P-B, you can also reduce it by a. However, referring to Figure 6, it shows the form of the supply of bamboo to one side of the supply, but it can also support each other as another embodiment. Each of the centroids 4c supplies σ 4f, 4g (4) to supply gas, and maintains inertia" independently, thereby forming a floating mechanism. In this case, for example, an electropneumatic type (eIecir〇pn_atic ^) can be connected to each supply port, and the supply of each supply port can be controlled to the supply of i, 4g of gas force at each supply port. In the middle of work, and the tongue is mj. f, the weight of the tool is self-f, for example, because of the tool posture, it is the direct teaching style of the robot (10) to offset the weight of the tool. In the case of the multi-chat, the Huai-Main 4 is given, and the tool posture-related signal is input to the computer at the same time. According to the electric 70-worker "milk-motion adjuster (not shown) from the computer, Continuously control the gas 3]9845 18 200927423 • The pressure can be. According to the above method, in order to offset the work, 4 heavy 1 due to, for example, the tool posture becomes negative 蛉 to each #/, heavy 篁, according to the tool posture The pressure of the supply and the σ to the respective rolling body supply ports 4f and 4g is automatically adjusted. (Second embodiment) A second embodiment of the cutter blade 1A will be described. The cutter blade 1 is rumored.窜 _ as shown in Figure 11, with the equivalent of 1 ^ The front face of the face 10F and the 〇 具备 具备 固 固 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 The cut-off spear 'the curved contour portion 30B of the knife and the cutter blade body portion 3〇c. The proud belt 〇Πρι f 1 , the ^°卩3〇B system has a slope Y in the lower portion thereof. The blade edge 30A1 of the foremost end portion of the blade portion 30A is further prepared for the height position of the burr cut height 1 and so that the other end portion of the blade 3 〇 Al is in the slant portion 3 including the proud portion 3〇b In the present configuration, even when the contour portion is in a state in which the workpiece is in contact with the workpiece, or when the shape of the resin member is unstable or the burr is formed into a curved shape, In the case where the cutter blade 30 is excessively intruded into the material, the occurrence of a defect such as a blade breakage can be suppressed. Further, in the same manner as in the first embodiment, the cutter blade 3 (4) from the blade portion is cut off at the cutter blade 3 Slightly opposite the direction of the feed (arrow b) The portion is formed with a flat portion 3A2. The flat portion is followed by a balance of gas pressure depending on the pressure of the gas in the sliding portion 5. 319845 19 200927423 • a certain pressure is in contact with the workpiece ί3〇4, and will be The base portion of the remaining hair & 32 is pushed to the side of the workpiece 13 and the vicinity of the bonding line 21 of the workpiece 130 is smoothly flattened. Further, the cutter blade body portion is configured. 3〇C ratio flat part% 2: fruit: the sub-cutter blade body part 3〇c lower surface can be removed from the workpiece 130 in the shape of the shape of the corner 2, the cutter blade 30 after the surface ( It is not shown that the shape of the workpiece 13 is completely removed, and the disk 〇 prevents excessive increase in frictional resistance during the burr removal operation, and it is possible to eliminate the reduction in power consumption during the burr removal operation. , Fig. 12 shows other embodiments. In the present embodiment, the front end portion of the blade edge 3GA1 formed at the foremost end portion of the cutting blade portion 3' (the portion indicated by the hatching) is extended to the contour portion formed at the front end portion 30F of the breaker blade. The slanting face 3 〇m fish resecting knife body part 夕 ^ /, 丨 c below the surface of the father's position until the end of the ^ ^, that is, compared with the above embodiment, the knife 30A1 front end The direction in which the cutter blade 30 is opposite to the feed direction (arrow B direction) retreats to the position where the contour portion intersects the lower surface of the cutter blade body portion 30C. In the cutting blade portion 30A of the present configuration, the position of the front end of the blade 3A1 coincides with the lower surface of the cutter blade body portion 3〇c, so that the front end of the second blade 30A1 penetrates the root of the burr 132, and The burr 132 can be removed from the root =. Further, even in the state in which the contour portion 30B abuts against the workpiece, 319845 20 200927423 = if the shape of the tree wax member is unstable or the burr formed into a curved shape is cut off, there is no excessive intrusion of the cutter blade 3G. In the case of materials, it is possible to suppress the occurrence of defects such as knife breakage. The cutting blade portion 30A $ 77 77 W ❸ GA1 lower surface is extended with the lower surface of the cutter blade 3GC, and a thousand positive 4 30A2 is formed on the lower surface. The flat portion 30A2 is in a state of being in contact with the workpiece 13 at a substantially constant pressure depending on the balance of the gas pressure of the sliding portion. By this, the flat portion 30A2 reduces the base portion of the burrs η left by the cutting blade portion to the side of the guard UG, and smoothes the vicinity of the bonding wire (2) of the workpiece 13〇. Regarding the fine burrs such as the line (so-called line burrs), the generation of burrs can be suppressed by the frictional heat when the flat portion 30A2 is flattened. Further, the lower surface 3 〇c of the cutter blade body portion 3 〇c which is formed to be deeper than the flat portion of the cutter blade body portion 3 〇 c can be separated from the workpiece 130 by forming a plurality of angles Θ After the cutter blade 30, the end face 30R is formed to be completely separated from the workpiece 13A. As a result, the portion u of the cutter blade 30 that is in contact with the workpiece 13 is only a portion corresponding to the flat portion 30A2, and the cutting blade portion 3a or the abrupt portion 30B can be prevented from floating due to collision with other portions. (Third Embodiment) The cutter blade 40 abuts against a base portion (root portion) formed on the burr 132 of the bonding wire 121 as shown in Fig. 13, and the bonding wire 121 is tied to the workpiece 130. Valley U4c between the mountains 124A and 124B. The front end side of the cutter blade 40 is provided with a protrusion 319845 21 200927423 corresponding to the root of the burr 132. • The cutting blade portion 40A having a degree of about mm is not formed; the mountain portion 124A or the mountain portion 124β corresponding to the workpiece l3 is not formed ( In Fig. 13, the resection of the scorpion ΐ24β) is performed. 'The knives: the contoured portion of the face and the cutter body portion 4〇c: The cutter blade 4 of the third embodiment is attached to the arrogant part In the state in which the mountain portion 124B is abuttable, the resection knife main body portion passes over the mountain portion 124B, and the resection knife portion 4A is abutted against the valley portion burr 132. In the present embodiment, in the same manner as the above-described U-th embodiment, the pressure is applied to the workpiece 13A, and the ultrasonic wave vibrator 7 of the ultrasonic vibrator holder 6 is placed on the ultrasonic vibrator 7 of the ultrasonic vibrator holder 6. When the cutter blade is vibrated, the contoured portion 4〇B is smashed along the mountain. Thereby, the cut-off face is smoothly flattened by feeding the cutter blade 40 along the root of the burr formed on the joining line of the workpiece 13 (corresponding to the burr path) and cutting the burr. In the third embodiment, the burr of the valley portion of the resin molded article which is unstable in the shape of the ruthenium can be removed from the root portion without causing the blade to invade the main body of the resin molded article. (4th embodiment) As shown in Fig. 14, the edge cutting edge 101 is provided with a width corresponding to the root of the burr 132 and a left and right cut that does not constitute the cut surface of the face 123β of the workpiece 130. a contoured portion 1; and a cutter blade body portion (10). The cut-out portion 10A is formed in the ’ ' of the cutter blade 1〇1, and the contour portion is not present. The fourth embodiment has a wall portion which is parallel to the formation portion of the burr 132. 319845 22 200927423 f-shaped. The workpiece 13〇2 of the cutter blade 77 1Λτ portion 26 is similar to the base portion (root portion) formed on the burr 132 having the wall 'abutment to remove the burr 13=line 121—embodiment (4), "The operation of the blade path and the first ##, the body" can remove the burrs formed in the valleys of the shape and the shape of the molded product from the root. (Fifth Embodiment) Ο器: Two knives The torsional vibration of the ultrasonic vibrator 7A is fixed to the front end of the super vibrator 7A, and the acoustic vibration of the ultrasonic vibrator 7A is rotated. The rotation axis X1 of the super-vibrator is rotated in the direction of the arrow C1 (the torsion is exceeded. In the fifth embodiment, the cutter edge is removed) The cutting blade field corresponding to the width of the root of the burr 32 is, for example, the width of the knives; the corresponding workpiece 1 3 0 is not formed. 9 ς Μ々 2*
r υ ^屏邛125的各面部i25A、125B 之切除刀刀的端面曲面狀之倣形部遞；及切除器刀刃本 ❹體部5〇C’切除刀刃部5〇Α係與位於工件130之溝部125 的接合線121之毛邊132的基部（根部）抵接。 ,^除刀77部5GA與倣形部5GB之配置關係為與第i實 施形態或第2實施形態相同的構成。 广在本第5實施形態中，亦構成為：根據由直接教學或 路徑自動產生系統所得之路徑資訊來驅動臂前端部1〇3〇 時，控制施加於各氣體供給口之壓力，並以預定之壓力將 切除器刀刀50推壓至工件13〇。 在此狀態下，驅動超音波振動器7A係一邊使切除器 319845 23 200927423 •刀刀5〇轉動振動，一邊使倣形部細沿著面部12从、咖 二:藉此，沿著形成於工件13〇之接合線(相當於毛邊移 =位）的毛邊132之根部饋送切除器刀刀％並切除毛 =同二使切除後之面平滑地平整化。在不會使刀刃侵入 本體之情形下’即可從根部去除形成於樹脂 成形σετ之溝部的毛邊。 (第6實施形態） ❹J 1至第4實施形態係朝超音波振動器之振動方向金 =刀刃之饋送方向(箭頭Β方向)大致正交之方向(箭頭 琴之振動波振動’但第6實施形態中，超音波振動 =振動方向係具有切除器刀刃之饋送方向(箭頭Β方向） 固ί:。亦即’如第16圖所示’在超音波振動器7之前端 哭刀刀I該切除器刀刀6〇係依超音波振動 箭頭C2方向超音波振動(直線振動）。切除器 右，、.對應毛邊132之根部之例如寬度數mm左 ❹=切除刀77部6GA;並未構成對應1件⑽之溝部125 60B .面/ mb 125B之切除刀刃的端面曲面狀之倣形部 部）抿Γ 士 的接合線121之毛邊132的基部（根 $ m Λ除刀刀部6GA與倣形部6GB之配㈣係為與 第1貫施形態或第2實施形態相同的構成。 路徑自動產生形ΐ甲’亦構成為··根據由直接教學或 時，栌制施力於：所得之路徑資訊來驅動臂前端部103G 控制施加於各氣體供給口之塵力，並以預定之屢力將 319845 24 200927423 ，切除η器刀刃60㈣至工件13〇。在此狀態下，驅動超音波 > ^ 邊使切除态刀刃60振動，一邊使倣形部6〇b 口著面邛125A、125B滑動。藉此，沿著形成於工件13〇 之接合線（相當於毛邊移除路徑）的毛邊132之根部朝箭頭 =向饋出切除器刀請並切除毛邊，同時使切除後之面 -化。根據本第6實施形態，在不會使刀刃侵入該樹脂 ^品本體之情形下’即可從根部去除形成於樹脂成形品 之溝部的毛邊。 ❹（第7實施形態） 以上各實施形態係在切除器刀刃設有1個切除刀刀部 之實施形態’但本第7實施形態係在切除器刀刃設有複 (在本第7實施形態中為2個）之切除刀刃部。如第17 =所不’在超音波振動器7之前端固定有切除器刀刃‘， =器刀刀7〇係隨著超音波振動器7之振動，朝切除器 之與饋送方向(箭頭m方向或箭頭Μ方向)大致正 〇 C方峨㈣音波㈣。在超音波振動器 J接有數…耗電力之超音波單元(未圖示)， 超音波單元驅動。 切除器刀刀70 #且古筮7 九资飞 係具有第1端面71A及第2端面72B， =端面71A側設置有:對應未圖示之毛伽 卫Ϊ uT”的第1切除刀刀部7〇A1;及並未構成對應 二: 部之切除刀刀的曲面狀之第1倣形部 並且，在切除H刀.77 7Λ 對庫未圖_夕主集、 之第2端面71Β側設置有·· Λ 之毛邊根部之例如寬度數mm左右的第2切除 319845 25 200927423 刀刃。卩7〇A2，及並未構成對應工件130之各面部之切除刀 ‘刃的曲面狀之第2倣形部丽。此外，切除器刀刀70、係 具備切除器刀刀本體部70C。 、 、在本構成中，以預定之壓力將切除器刀刃70推壓至工 =並且驅動超音波振動器7’-邊使切除器刀刃70振動， 倣形部7GB1或倣形部漏沿著工件之各面部 或饋送方向B2移動，而沿著形成於工件之接人 ❹切H料邊絲路彳细毛邊根料料㈣刀刀_ 使切除後之面平滑地平整化。根據本第7 下，g 在不會使刀刃侵入該樹腊成形品本體之情形 P可從根部去除樹脂成形品之毛邊。 在該切除器刀刃7〇中，饋读 個切除刀刀部時更容易進、」讀係比只具有1 及路徑資訊之簡單化。丁可貫現加工時間之縮短化 ©情开4二Γ系針對在切除器刀刀設置2個切除刀刃部之 ❹障形進㈣明，但亦可設置3個以上。 I之 (第8實施形態） 送方二第L『:接採用在同-面上朝相反方向(饋 實施形態可切換鎮之構成，但在本“ 示，在超音波振動器7之前端固面。如第18圖所 切除器刀刃鹰係隨著超 有刀除盗刀刃70X，該 刀刀鹰之與饋送方向（箭頭、=线動，朝切除器 正交之方向(箭頭C方向方向)大致 超θ波振動。在超音波振動 319845 26 200927423 益7連接有數百w消耗電力之超音波單元（未圖示），並以 該超音波單元驅動。 ❹ 士刀除器刀刃70X係具有第}端φ 71A及第2端面 72B，在第i端面71A侧設置有：對應未圖示之毛邊根部 之例如览度數mm左右的第工切除刀刃部;及並未構 成對應工件之各面部之切除刀刃的曲面狀之第工傲形部 細。並且’在切除器刀刀7〇χ之面7im侧（第Μ圖中 下面侧）設置有第1切除刀刀部70AK刀刀。 第知面71B侧設置有：對應未圖示 之毛邊之根部之例如寬度數_左右的第2切除刀刃部 之第2 構成對應工件之各面部之切除刀刃的曲面狀 18圖巾，GB3,在切除器刀刀7°Χ之面觀侧(第 :;圖中上面侧)設置有第2切除刀刀部7〇α3之刀刃。切(除 益刀70係具備切除器刀刀本體部70C。 、 的 2構成中，以預定之麼力將切除器刀刀 ❹件，並且驅動超音波振動器7，一邊 w 動，一邊使倣形部70B1或倣形部70B3沿i = 朝饋送方向B1或饋送方向β 、=之各面部 件之接合線(相當於毛邊移除 毛邊'二著形成於工 刀鹰朝饋送方向m予以饋邊根部將切除器刀 部7咖沿著工件之各面部，3 或倣形 切除毛邊，㈣使切除後之面平滑地平整H二部則 形成於工件之接合線（相當於毛邊移 再者，沿者 切除器刀刃70X車月饋送方向B2予以後毛邊根部將 Λ迗時，使倣形部 319845 27 200927423 者工件之各面部，並利用第2切除刀刃部70A3切 除毛邊，同時使切除後之面平整化。 ，品本= 第二實施形態，在不會使刀刃侵入該樹脂成形 品的根部去除形狀不穩定之樹腊成形 二在如環狀之工件等具 切除刀刀部時更容易進行之切換係比只具有1個 路徑⑽1單化了 @可貫現加工時間之縮短化及 ® (第9實施形態） 弟19圖係顯示第9實施形熊。 臂底=::::底士=㈣:裝有搖動 成有形成為半環狀振動器保持具们之另一端形 ❹::狀 r_b 二二=== 之間係藉由線圈彈簧機構84 =持 84平常時係以其全長來維持圖 昃：、線圏，簧機構 :轴82 a為中心朝逆時針方向刀1。 伸張全長，當切除器刀刀1〇 件=方向）搖動時 319845 28 200927423 •之搖動，限制切除器刀刃10之搖動範目，同時確保該 器刀刃ίο之浮動狀態。 ” 、根據本第9實施形態，與第丨實施形態相比較，儘管 為更簡易之構成，亦可在以預定之壓力範圍將切除器刀二 10推壓至工件之狀態下，進行倣形動作。 (第10實施形態） ❹ 在第10實施形態中，如第20圖所示，在第9實施形 怎附加配重器（counterweight)85而構成。 重器85係—體地安裝在搖動超音波振動器保持具 吏軸82a之旋轉與該搖動超音波振動器保持具趵 =月箭頭A3方向自由搖動。配重器以配重部…的重 ^糸^為與搖動超音波振動器保持㈣、超音波振動器 刀除☆刀刀1G(詳細而言為比軸…更位於第圖中 端部lofcTHi重里相#，且具有抵㈣如水平驅動臂前 f之該切除器刀刀1()侧的旋轉力矩的功能。 根據本實施形態，盥第9眘 驅動臂前端部H)3GV、i 態相比較，即使水平 k，在將推壓至工件之推壓为 定範圍内的狀態下，即可進行倣形動作件之㈣力5又為預 裝置==置根:形態，不使用昂貴之控制 本體之，产^ 不會使刀刀侵入該樹脂成形品 根部：Π者I將形狀不穩定之樹脂成形品的毛邊從 塵之產生，並獲得容此Τ粉 力抑制為較低。且毛邊之㈣二切 319845 29 200927423 *提升。工件為樹脂成形品時，從比較大之 可對應，只要為可使切除哭刀打心去毛邊至線毛邊^ '欠元开υ力二料之形狀，則即使是3 -人兀$狀之内面亦可適用。 以上係根據一實施形態說明本發明，#太恭as、，& 0 定於此。雖以樹脂成开“作主I月&本發明亚非限 成形〇σ作為工件加以說明，但並未限定 於此，即使為鋁等金眉忐來σ十π门w I木限疋 寻鱼屬成形σσ亦可同様地適 除器刀刃雖採用單劈媸、止,^ 丹t切 ㈣早#構造’但亦能以彈簧等支持切除器刀 刃之丽端，以不會妨游ΐ ΙΙ/ν35 ©臂構造。 *器刀刃之振動的方式作成為雙 【圖式簡單說明】 ，1圖係顯不毛邊移除系統之_實施形態的斜視圖。 弟圖係顯示工件之毛邊移除動作的斜視圖。 第3圖係顯示工件承載夹具之部分的斜視圖。 圖 第4圖係顯示毛邊移除前之工件形狀之一例的斜視 ❹ 第 圖 圖係顯示毛邊移除後之工件形狀之一例的斜視 第6圖係顯示毛邊移除裝置之—實施形態的前視圖。 f 7圖係顯示切除器刀刀之安裝部分的側視圖。 第8圖係將工件之毛邊移除動作放大顯示的斜視圖。 視圖 視圖 弟9圖係第i實施形態之切除器刀刀之前端部分的剖 〇 第1〇圖係第1實施形態之切除器刀刀之前端部分的剖 319845 30 200927423 器刀刃之前端部分的剖 器刀刀之前端部分的剖 •第11圖係第2實施形態之切除 視圖。 第12圖係第2實施形態之切除 視圖。 第13圖係毛邊移除動作時之第3餘访 〜r υ ^The face of each face i25A, 125B of the screen 125 is curved at the end surface of the cutting blade; and the cutter blade body 5 〇 C' cutting blade portion 5 is attached to the workpiece 130 The base (root) of the burr 132 of the bonding wire 121 of the groove portion 125 abuts. The arrangement relationship between the 5 blade 5GA and the contour portion 5GB is the same as that of the i-th embodiment or the second embodiment. Further, in the fifth embodiment, when the arm distal end portion 1〇3〇 is driven based on the path information obtained by the direct teaching or the path automatic generation system, the pressure applied to each gas supply port is controlled and predetermined The pressure pushes the cutter knife 50 to the workpiece 13〇. In this state, the ultrasonic vibrator 7A is driven while the cutter 319845 23 200927423 • the knife 5 〇 is rotated and vibrated, and the contour portion is thinly along the face portion 12, thereby forming a workpiece along the workpiece The root of the burr 132 of the 13-inch joint line (corresponding to the burr shift = position) feeds the cutter blade % and cuts the hair = the same, so that the cut surface is smoothly flattened. The burr formed in the groove portion of the resin molding σετ can be removed from the root portion without causing the blade to intrude into the body. (sixth embodiment) ❹J 1 to the fourth embodiment are directions in which the direction of the vibration of the ultrasonic vibrator is gold = the direction in which the blade is fed (the direction of the arrow Β) is substantially orthogonal (the vibration of the arrow vibrating), but the sixth embodiment In the form, the ultrasonic vibration=vibration direction has the feeding direction of the cutter blade (arrow Β direction). 亦, that is, 'as shown in Fig. 16', the crying knife I is cut off at the front end of the ultrasonic vibrator 7. The knife 6 is ultrasonic vibration (linear vibration) according to the ultrasonic vibration arrow C2 direction. The cutter is right, and the root of the corresponding burr 132 is, for example, the width number mm left ❹ = the resection knife 77 part 6GA; 1 (10) groove portion 125 60B. Surface/mb 125B cutting blade end surface curved contour portion) base of the burr 132 of the bonding wire 121 of the ( (root $ m Λ removal knife portion 6GA and profiling The 6GB part (4) is the same as the first embodiment or the second embodiment. The path automatically generates the shape armor 'is also composed of: according to the direct teaching or the time, the force is applied: the obtained path Information to drive the arm front end portion 103G to control the application to each gas supply port Dust force, and 319845 24 200927423, remove the η knife blade 60 (four) to the workpiece 13 以 in the predetermined force. In this state, drive the ultrasonic wave > ^ while the cutting blade 60 vibrates, while the contouring part 6〇 b The grooving faces 125A, 125B slide, whereby the roots of the burrs 132 formed on the joining line of the workpiece 13 (corresponding to the burr removal path) are fed toward the arrow = direction and the burrs are cut off, At the same time, in the sixth embodiment, the burrs formed in the groove portion of the resin molded article can be removed from the root portion without causing the blade to intrude into the resin body. (Embodiment) Each of the above embodiments is an embodiment in which one cutting blade portion is provided in the cutter blade. However, in the seventh embodiment, the cutter blade is provided in the cutting blade (two in the seventh embodiment). The cutting edge portion is removed. If the 17th = No' is fixed with the cutter blade ' at the front end of the ultrasonic vibrator 7, the knives 7 are swayed with the vibration of the ultrasonic vibrator 7, and are fed toward the cutter. The direction (arrow m direction or arrow Μ direction) is roughly correct C square 峨 (4) sound wave (4). In the ultrasonic vibrator J, there are several supersonic units (not shown) that consume power, and the ultrasonic unit is driven. The cutter knife 70 # and the ancient 筮7 九资飞系 has the first The end surface 71A and the second end surface 72B, the end surface 71A side are provided with a first cutting blade portion 7A1 corresponding to the hair Ϊ Ϊ uT" (not shown), and a curved shape of the cutting blade not corresponding to the second portion In the first contoured portion, the second cut 319845 25 having a width of about mm is provided on the side of the second end 71 of the library, and the second end 71 is provided on the side of the second end 71 of the library. 200927423 Blade.卩7〇A2, and the cutting blade that does not constitute the face of each of the workpieces 130. The second contoured portion of the curved surface of the blade. Further, the cutter blade 70 is provided with a cutter blade body portion 70C. In the present configuration, the cutter blade 70 is pushed to the work by a predetermined pressure and the ultrasonic vibrator 7' is driven to vibrate the cutter blade 70, and the contour portion 7GB1 or the contour portion is leaked along the workpiece. Each face or feed direction B2 is moved, and the cut surface is smoothly flattened along the wire formed by the cutting edge of the workpiece. According to the seventh aspect, g can remove the burrs of the resin molded article from the root portion without causing the blade to intrude into the body of the wax-shaped molded article. In the cutter blade 7〇, it is easier to feed the cutting blade portion, and the reading ratio is only 1 and the path information is simplified. Shortening of the processing time of the Dingke can be achieved by setting the two cutting edges of the cutting blade in the cutter blade (four), but it is also possible to set three or more. I (Eighth Embodiment) The second side of the sending side is "L": the same direction is used in the opposite direction (the configuration of the switching mode can be switched, but in this case, the front end of the ultrasonic vibrator 7 is fixed. As shown in Figure 18, the cutter blade eagle with the super-knife removal blade 70X, the knife eagle and the feeding direction (arrow, = line movement, orthogonal to the cutter (direction of arrow C) Absolutely super-theta wave vibration. Ultrasonic vibration 319845 26 200927423 益7 is connected with hundreds of w power-consuming ultrasonic units (not shown) and driven by the ultrasonic unit. The terminus φ 71A and the second end face 72B are provided on the i-th end face 71A side with a cutting edge portion corresponding to, for example, a viewing angle of about mm in the root portion of the burr not shown, and a resection of each face that does not constitute the corresponding workpiece. The curved surface of the blade is thin and the arrogant portion is thin. And the first cutting blade portion 70AK knife is provided on the 7im side of the cutting blade 7 (the lower side in the second drawing). The side is provided with a second cut corresponding to the width of the root of the burr not shown, for example In addition to the second portion of the blade portion, a curved 18-shaped towel corresponding to the cutting edge of each face of the workpiece, GB3, is provided with a second cut-off on the side of the cutter blade 7° (the upper side of the figure) The cutting edge of the knife portion 7 〇 α3. The knives (the knives 70 are provided with the cutter blade main body portion 70C.), the cutter is smashed with a predetermined force, and the ultrasonic vibrator is driven. 7. While the w is moving, the contoured portion 70B1 or the contoured portion 70B3 is formed along the joint line of i = toward the feeding direction B1 or the feeding direction β and the surface of each of the surface members (corresponding to the burr removing the burr) The eagle is fed to the feeding direction m to feed the edge of the root. The cutter blade 7 is cut along the face of the workpiece, 3 or the contour is cut off, and (4) the surface after the cutting is smoothly flattened, and the two parts are formed on the bonding line of the workpiece. (Equivalent to the removal of the burr, the edge of the razor blade 70X is fed in the direction B2, and the root of the burr is Λ迗, so that the face of the workpiece is 319845 27 200927423, and the second cutting blade 70A3 is used for cutting Burr, at the same time flatten the surface after the cut., the product = the second implementation In the case where the blade does not intrude into the root portion of the resin molded article, the shape of the wax which is unstable in shape is removed, and it is easier to switch when the blade has a cutting blade portion such as a ring-shaped workpiece, and has only one path (10) 1 single. The shortening of the processing time of the @process (the ninth embodiment) The second figure shows the ninth implementation of the bear. The bottom of the arm =:::: The sergeant = (four): the rocker is formed into a half ring The shape of the other end of the vibrator holder:: r_b ii === is maintained by the coil spring mechanism 84 = 84 is always maintained by its full length to maintain the figure:, wire 圏, spring mechanism: The shaft 82a is centered in the counterclockwise direction of the knife 1. Stretching the full length, when the cutter is tilted 1 = = direction) 319845 28 200927423 • Shake to limit the swaying of the cutter blade 10 while ensuring the float of the blade ίο. According to the ninth embodiment, in comparison with the third embodiment, in a simpler configuration, the cutting tool 2 can be pressed to the workpiece with a predetermined pressure range, and the copying operation can be performed. (Tenth Embodiment) In the tenth embodiment, as shown in Fig. 20, in the ninth embodiment, a counterweight 85 is added. The weight 85 is attached to the rocking super The sonic vibrator keeps the rotation of the yoke shaft 82a and the oscillating ultrasonic vibrator holding device 趵=the moon arrow A3 direction is free to oscillate. The weight of the counterweight is held by the weight of the counterweight (...) with the oscillating ultrasonic vibrator (4) Ultrasonic vibrator knife except ☆ knife 1G (more specifically than the axis ... is located in the middle end of the figure lofcTHi heavy phase #, and has the (4) such as the horizontal drive arm front f of the cutter knife 1 () According to the present embodiment, the front end portion H) of the ninth drive arm is compared with the 3GV and the i state, and even if the level k is pressed, the pressing force of the workpiece is within a predetermined range. The contour action member can be used to perform (4) force 5 and pre-device == root: shape Without using an expensive control body, the product does not invade the root of the resin molded product: the burr of the resin molded article whose shape is unstable is generated from dust, and the powder is suppressed to It is lower. And the edging (4) two cut 319845 29 200927423 * Lifting. When the workpiece is a resin molded product, it can be correspondingly larger, as long as it can make the cut chopping knife to the burr to the line burr ^ 'Under the yuan The shape of the two materials can be applied even to the inner surface of the 3-person shape. The above description is based on an embodiment, and #太恭as,, & 0 is fixed here. The main I month & the sub-non-limiting shape 〇σ of the present invention is described as a workpiece, but is not limited thereto, and even if it is a gold-brown bristles such as aluminum, the σ π w I I I I I 亦可 亦可 亦可 亦可 亦可 亦可 亦可Although the blade of the grounding device adopts a single cymbal, it stops, ^ Dan t cut (four) early #structure 'but can also support the end of the cutter blade with a spring, etc., so as not to swim ΐ ν / ν35 © arm construction. * The method of vibrating the blade is doubled [Simplified description of the drawing], and the figure 1 shows a perspective view of the embodiment of the system without removing the burrs. The figure shows the oblique view of the burr removal action of the workpiece. Figure 3 is a perspective view showing a portion of the workpiece carrying jig. Fig. 4 is a squint showing an example of the shape of the workpiece before the burr is removed. Fig. 4 is a squint showing an example of the shape of the workpiece after the burr is removed. Fig. 6 is a front view showing the burr removal device. . The f 7 image shows a side view of the mounting portion of the cutter blade. Fig. 8 is an oblique view showing an enlarged view of the burr removal action of the workpiece. Fig. 1 is a cross-sectional view of the front end portion of the cutter blade of the i-th embodiment. Section 1 is a section of the front end portion of the cutter blade of the first embodiment. 319845 30 200927423 Section of the front end portion of the blade Section 11 of the front end portion of the knife is a cutaway view of the second embodiment. Fig. 12 is a cutaway view of the second embodiment. Figure 13 shows the 3rd visit when the burr removal action is performed~
Jj只施形態之切除器 刃的安裝部分之放大斜視圖。 第14圖係毛邊移除動作時之第4杂At 乐4只施形態之切除器刀 刃的安裝部分之放大斜視圖。 ❹ 第15圖係第5實施形態之切除考—叫 、 陈态刀刀安裝部分之放大 斜視圖。 第16圖係第6實施形態之切除器刀刀安裝部分之放大 斜視圖。 第17圖係第7實施形態之切降哭p 除斋刀刃安裝部分之放大 斜視圖。 第18圖係第8實施形態之切除哭” 除益刀刀安裝部分之放大 斜視圖。 第19圖係第9實施形態之臂前迪 月月'J糙部之放大說明圖。 第20圖係第1 〇實施形態之臂前 r L 牙別端部之放大說明圖。 【主要元件符號說明】 1 毛邊移除裝置 3 支掊 4 滑動台裴置 4a 固定部 4b、4c 支持部 4d 轴 4e 擔止件 5 滑動部 4f'4§氣體供給口 6 超音波振動器保持具 319845 200927423 ' 6a、6b 保持部 7、7A 超音波振動器 7 a 圓柱部 7b 線材 10、101、30、40、50、60、70、70X 切除器刀刃 IOA、 30A、40A、50A、60A、70A 切除刀刃部 10A1、30A1、70A1、70A2、70A3 刀刀 10A2 ' 30A2 平整部 10B1 R曲面部 IOB、 30B、40B、50B、60B、70B卜 70B2、70B3 倣形部 IOC、 30C、40C、50C、60C、70C切除器刀刃本體部 ^ 10F > 30F 前端面 10R 後端面 30B1 斜面部 26 壁部 71A 第1端面 72B 第2端面 71D1 、71D2 刀刃70X之面 81 搖動臂底座 81a 支持片 82 轴承部 83 搖動超音波振動子保捧具 83a、 83b 保持部 84 線圈彈簧機構 ©85 配重器 100 毛邊移除系統 101 樹脂成形機 103 多關節機器人 103A至103F 6軸關節 103G 臂前端部 105 工件承載機構 107 毛邊排出輸送帶 109 完成品排出輪送帶 110 -機構台 111 螺栓 112 工件承載爽具 112A 工件承载部 112B 吸氣d 112C 軟管 112D 支持台 121 接合線 319845 32 200927423 123A 、123B 、 125A、 125B 面部 124A 、124B 山部 124C 谷部 125 溝部 130 工件 131 完成品 132 毛邊 133 漏斗 140 機構部 141 基部 142 保持具 143 手部 144 吸附襯墊部 Hr 毛邊切除高度Jj is only a magnified oblique view of the mounting portion of the blade. Fig. 14 is an enlarged perspective view showing the mounting portion of the cutter blade of the fourth embodiment of the fourth embodiment. ❹ Fig. 15 is an enlarged perspective view showing the cutting portion of the fifth embodiment. Fig. 16 is an enlarged perspective view showing a mounting portion of the cutter blade of the sixth embodiment. Fig. 17 is an enlarged perspective view showing the mounting portion of the cut-off crying p-cutting blade in the seventh embodiment. Fig. 18 is an enlarged perspective view showing the attachment portion of the knives of the eighth embodiment. Fig. 19 is an enlarged explanatory view of the rough portion of the front arm of the ninth embodiment of the ninth embodiment. Fig. 1 is an enlarged explanatory view of the front end of the arm of the L L tooth. [Description of main component symbols] 1 Burr removal device 3 Support 4 Slide table 4a Fixing portion 4b, 4c Support portion 4d Axis 4e Stop 5 sliding portion 4f'4§ gas supply port 6 ultrasonic vibrator holder 319845 200927423 '6a, 6b holding portion 7, 7A ultrasonic vibrator 7 a cylindrical portion 7b wire 10, 101, 30, 40, 50, 60, 70, 70X cutter blades 10A, 30A, 40A, 50A, 60A, 70A cutting blade portions 10A1, 30A1, 70A1, 70A2, 70A3 knife 10A2 ' 30A2 flat portion 10B1 R curved surface portions 10B, 30B, 40B, 50B, 60B, 70B, 70B2, 70B3 contoured portion IOC, 30C, 40C, 50C, 60C, 70C cutter blade body portion 10F > 30F front end surface 10R rear end surface 30B1 inclined surface portion 26 wall portion 71A first end surface 72B second end surface 71D1, 71D2 blade 70X face 81 rocker arm base 81a support piece 82 axis Section 83 Shake Ultrasonic Vibrator Holder 83a, 83b Holder 84 Coil Spring Mechanism ©85 Counterweight 100 Burr Removal System 101 Resin Forming Machine 103 Multi-Joint Robot 103A to 103F 6-Axis Joint 103G Arm Front End 105 Workpiece Carrying Mechanism 107 Burst discharge conveyor 109 Finished product discharge belt 110 - Mechanism table 111 Bolt 112 Work load bearing cooler 112A Workpiece bearing portion 112B Suction d 112C Hose 112D Support table 121 Bonding wire 319845 32 200927423 123A, 123B, 125A, 125B Face 124A, 124B Mountain 124C Valley 125 Groove 130 Workpiece 131 Finished product 132 Burr 133 Funnel 140 Mechanism 141 Base 142 Holder 143 Hand 144 Adhesive pad section Hr Burr cut height