Scraping tool unit and scraping apparatus

Abstract

To provide an art which can inhibit chatter vibration of a cutting tool when hand scraping is performed on a processing object surface of a workpiece in a more preferable manner than conventional arts.SOLUTION: A tool unit for hand scraping is attached to a processing robot which performs hand scraping to a processing object surface of a workpiece and includes: a cutting tool having a shaft part which is at least partially flexible and a cutting blade attached to the shaft part; a holder part holding the cutting tool; and a vibration suppression member formed as a plate-like member which is disposed along an upper surface of the shaft part and at least partially flexible and configured to suppress chatter vibration of the cutting tool during cutting.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a scraping tool unit and a scraping processing apparatus.

Background Art

[0002] Scraping processing (also referred to as "scraping work") is performed on sliding surfaces of machine tools or the like having moving parts, in order to enhance the flatness thereof and reduce the sliding friction coefficient. Scraping processing is a type of metal working. Conventionally, bright red lead (minium) or pigment is applied to the processing target surface (processed surface) of a workpiece, and an operator manually uses a chisel-shaped (spatula-shaped) scraping tool (scraper) with a wide tip to scrape and remove convex portions manually while observing color differences.

[0003] The original purpose of scraping processing is to finish the sliding surface into a highly accurate flat surface, and the micron-scale fine dents formed on the sliding surface by this scraping processing act as oil reservoirs for lubricating oil during sliding, which improves the lubricity of the sliding surface and has the effect of preventing ringing during sliding. However, manual scraping processing by an operator is a task that requires skill, and is also extremely heavy labor.

[0004] In relation to this, a scraping processing apparatus that performs scraping processing on the processing target surface of a workpiece has also been proposed (for example, refer to Patent Document 1). This type of scraping processing apparatus is configured such that a scraping cutting tool having a flexible shank portion and a cutting blade attached to the shank portion is mounted on a processing robot (for example, a robot arm or the like), and the scraping processing on the processing target surface can be mechanically performed by operating the cutting tool with the processing robot.

[0005] However, when cutting is performed while the cutting blade is pressed against the processing target surface and stroked along the processing target surface with the shank portion deflected, chatter vibration occurs in the cutting tool Chatter vibration can occur. Chatter vibration is a self-excited vibration that arises when two objects are in contact and moving relative to each other, due to characteristics such as their relative velocity and frictional force, and can also be a factor in creating irregularities on the surface of the workpiece.

[0006] In this regard, it has also been proposed to provide a weight in the tool holder of a machine tool to suppress chatter vibration (see, for example, Patent Document 2). [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2010-240809 [Patent Document 2] Japanese Patent Publication No. 2022-155721 [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] However, when performing scraping with a machining robot, there is no guarantee that the surface to be machined is vertically upward; for example, scraping may be performed on a surface perpendicular to the vertical direction (hereinafter referred to as a "vertically perpendicular surface"). In some cases, scraping may also be performed on a vertically downward surface. Therefore, if conventional chatter vibration suppression techniques for cutting tools using weights are applied to scraping, even if the desired effect can be achieved on vertically upward machined surfaces, there is a concern that the effect may be significantly reduced depending on the conditions (orientation of the machined surface).

[0009] The present invention has been made in view of the above-mentioned problems, and relates to the surface of the workpiece to be processed. The objective is to provide a technology that can more effectively suppress chatter vibration of the cutting tool during scraping compared to conventional methods. [Means for solving the problem]

[0010] (Aspect 1) One aspect of the present invention is a scraping tool unit attached to a machining robot that performs scraping on a workpiece surface, comprising: a cutting tool having a handle portion that is at least partially flexible and a cutting blade attached to the handle portion; a holder portion for holding the cutting tool; and a vibration suppression member which is arranged along the upper surface of the handle portion and is configured as a plate-like member that is at least partially flexible, and suppresses chatter vibration of the cutting tool during cutting.

[0011] (Aspect 2) In the scraping tool unit according to the above embodiment 1, the vibration suppression member is arranged to be in a non-contact state with the handle when the cutting tool is unloaded, and the vibration suppression member may come into contact with the handle as the handle flexes during cutting of the workpiece surface.

[0012] (Aspect 3) In the scraping tool unit according to the above embodiment 1, the vibration suppression member has a protruding pin that protrudes from its lower surface toward the upper surface of the handle, and the protruding pin may come into contact with the handle as the handle flexes during cutting of the workpiece surface.

[0013] (Aspect 4) In the scraping tool unit according to the above embodiment 1, the handle portion has a protruding pin that protrudes from its upper surface toward the lower surface of the vibration suppression member, and the protruding pin may come into contact with the vibration suppression member as the handle portion flexes during cutting of the workpiece surface.

[0014] (Aspect 5) In the scraping tool unit according to embodiment 3 or 4 described above, the amount of protrusion of the protruding pin from the lower surface of the vibration suppression member, or the amount of protrusion from the upper surface of the handle portion, may be adjustable.

[0015] (Aspect 6) Further, the scraping processing apparatus according to the present disclosure may include a processing robot, and the tool unit for scraping processing according to any one of aspects 1 to4 mounted on the processing robot. Effects of the Invention

[0016] According to the present invention, it is possible to provide a technique capable of more suitably suppressing chatter vibration of a cutting tool than in the related art when performing scraping processing on a processing target surface of a workpiece. Brief Description of the Drawings

[0017] [Figure 1] Figure 1 is a diagram showing a schematic configuration of a scraping processing apparatus according to Embodiment 1. [Figure 2] Figure 2 is a diagram for explaining the tool unit for scraping processing according to Embodiment 1. [Figure 3] Figure 3 is a diagram for explaining the tool unit for scraping processing according to Embodiment 1. [Figure 4] Figure 4 is a diagram schematically illustrating the behavior of a scraper and a vibration suppressing member during scraping processing. [Figure 5] Figure 5 is a side view of a tool unit for scraping processing according to a modified example. Modes for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the configurations and combinations thereof in the embodiments are merely examples, and addition, omission, substitution, and other modifications of the configurations can be appropriately made within a range not departing from the gist of the present invention. The present invention is not limited by the embodiments, and is limited only by the scope of the claims.

[0019] <Embodiment 1> Figure 1 is a diagram showing a schematic configuration of a scraping processing apparatus 1 according to Embodiment 1. As shown in Figure 1, the scraping processing apparatus 1 includes a control device 100, a robot arm 200, and the like.

[0020] The scraping apparatus 1 is a device that automatically performs scraping (scraping) on ​​the workpiece surface 11 of a workpiece 10. The workpiece 10 is, for example, a metal sliding member that makes up a machine tool, and its sliding surface can be the workpiece surface 11. The workpiece 10 is placed on the stage of the processing stand C1 shown in Figure 1, for example, in a fixed state. The stage of the processing stand C1 is formed in a planar shape parallel to the XY plane. Scraping is a type of metalworking in which a scraper, which is a scraping tool (cutting tool), is used to remove protrusions from the workpiece surface 11, thereby increasing the flatness of the workpiece surface 11 and reducing the coefficient of sliding friction. Furthermore, while the primary purpose of scraping is to finish the sliding surface to a highly precise flat surface, in order to prevent wringing from occurring during sliding, the finishing process of scraping involves creating numerous micron-sized depressions on the sliding surface as oil reservoirs for lubricating oil, thereby improving the lubricity of the sliding surface.

[0021] The robot arm 200 is, for example, a 6-axis articulated robot arm and is controlled by the control device 100. The robot arm 200 has a robot-side adapter 210 at its tip, and various tool units can be detachably attached to (held) on this robot-side adapter 210. Here, the tool units are, for example, a scraping tool unit 30 having a scraper (cutting tool) or a chuck unit (not shown), but are not limited to these. The chuck unit is an attachment for gripping the workpiece 10 when moving the workpiece 10 between frames. Furthermore, the robot arm 200 can move the robot-side adapter 210 to any position in the XYZ three-dimensional Cartesian coordinate system by driving each joint (for example, the 1st to 6th axes) with a servo motor or the like.

[0022] The control device 100 controls the robot arm 200 according to the machining instruction data. By controlling the robot arm 200 according to the machining instruction data, scraping is performed on the workpiece surface 11 according to the machining instruction data. The control device 100 may also function as an information processing device (machining instruction data generation device) that generates machining instruction data for controlling the robot arm 200. Of course, the machining instruction data for the robot arm 200 may be generated by an information processing device (machining instruction data generation device) separate from the control device 100. In this case, the control device 100 acquires the machining instruction data generated by the information processing device (machining instruction data generation device), and the control device 100 controls the robot arm 200 according to the acquired machining instruction data. The transmission of machining instruction data from the information processing device (machining instruction data generation device) to the control device 100 may be performed by either wired communication or wireless communication.

[0023] The control device 100 is, for example, a general-purpose computer, and includes a communication interface (communication I / F), storage device, input / output device, and processor, which are connected via a communication bus. The communication I / F of the control device 100 is, for example, a network card or a communication motor It may be in joules and communicates with other computers, devices, etc., based on a predetermined protocol.

[0024] The storage device of the control device 100 includes, for example, main memory such as RAM (Random Access Memory) and ROM (Read Only Memory), and auxiliary storage devices (secondary storage devices) such as HDD (Hard Disk Drive), SSD (Solid State Drive), and flash memory. The main memory temporarily stores programs read by the processor and information transmitted and received with other computers, and reserves the processor's workspace. The auxiliary storage device stores programs executed by the processor and information transmitted and received with other computers. The auxiliary storage device may also include removable media (portable recording media). Removable media are, for example, USB memory, SD cards, or disk recording media such as CD-ROMs, DVDs, or Blu-ray discs. The storage device (for example, the auxiliary storage device) stores the operating system (OS), various programs, and various information tables.

[0025] The input / output devices of the control device 100 are, for example, input devices such as a keyboard and mouse, output devices such as a monitor, and user interfaces such as input / output devices such as a touch panel. The processor of the control device 100 is a processing unit such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), and by executing a program, this embodiment The system performs various processes related to this. For example, the processor loads a program stored in the auxiliary storage of the storage device into the main memory and executes it, thereby realizing various processes. Note that the control device 100 does not necessarily have to be realized by a single physical configuration, but may be composed of multiple computers that cooperate with each other.

[0026] Next, the details of the scraping tool unit 30 according to Embodiment 1 will be described. Figures 2 and 3 illustrate the scraping tool unit 30 according to Embodiment 1. Figure 2 shows a perspective view of the scraping tool unit 30 when it is held by the robot-side adapter 210. Figure 3 shows a side view of the scraping tool unit 30. Figures 2 and 3 show the state of the scraper when it is unloaded. "Unloaded" here means the state in which the scraper is not cutting the surface 11 of the workpiece 10.

[0027] The scraping tool unit 30 is a tool unit comprising a holder portion 40, a scraper (cutting tool) 50, a vibration suppression member 60, etc. The holder portion 40 is a holding member that holds the scraper 50. The holder portion 40 is, for example, an adapter type, and in this embodiment, it is configured as a tool-side adapter that can be detachably attached to the robot-side adapter 210 of the robot arm 200. A mounting plate 41 is provided at the bottom of the holder portion 40. The scraper 50 and the vibration suppression member 60, etc., are integrally attached to the mounting plate 41 via various spacers, etc.

[0028] The scraper 50 is composed of a roughly strip-shaped handle portion 51 made of a flexible metal material, and a tip holder 52 attached to the tip side in the longitudinal direction of the handle portion 51. The tip holder 52 is a holding member that holds the cutting blade 53. The cutting blade 53 is fixed to the tip holder 52 by appropriate screw parts or the like. The cutting blade 53 is made of, for example, a cemented carbide alloy, and is a cemented carbide tip used to cut the workpiece surface 11 of a metal workpiece 10, for example.

[0029] The scraper 50 may have a detachable tip holder 52 attached to the handle portion 51, and the tip holder 52 may be replaceable. Of course, the configuration of the scraper 50 is not limited to the above, and for example, the cutting blade 53 may be configured to be integrally and inseparably attached to the tip holder 52, or Alternatively, the tip holder 52 may be configured to be integrally and inseparably attached to the handle portion 51. In the example shown in Figure 3, the scraper 50 is fixed to the mounting plate 41 by fixing screws 71, 71 at the rear end of the handle portion 51 in the longitudinal direction.

[0030] The vibration-dampening member 60 is a plate-shaped member formed from a flexible metal material and is positioned along the upper surface 51A of the handle portion 51 of the scraper 50. The vibration-dampening member 60 is formed as a so-called leaf spring member. In this embodiment, the vibration-dampening member 60 has a substantially strip shape extending in one direction, similar to the handle portion 51 of the scraper 50. The vibration-dampening member 60 is a member for suppressing chatter vibration of the scraper 50 when cutting the workpiece surface 11 of the workpiece 10 with the cutting blade 53 of the scraper 50. In the example shown in Figure 3, the vibration-dampening member 60 is fixed to the mounting plate 41 by fixing screws 71, 71 at the rear end in the longitudinal direction of the vibration-dampening member 60. In the figure, reference numeral 51B denotes the lower surface of the handle portion 51 of the scraper 50. Reference numeral 60A denotes the upper surface of the vibration-dampening member 60, and reference numeral 60B denotes the lower surface of the vibration-dampening member 60. Note that the vertical direction of the handle portion 51 and the vibration suppression member 60 describes their relative positional relationship and does not represent an absolute direction.

[0031] In the figure, the symbol SP1 represents the first spacer and the symbol SP2 represents the second spacer. For example, the first spacer SP1 and the second spacer SP2 are flat plate-shaped spacer members. In the example shown in Figure 3, the first spacer SP1 is interposed between the lower surface 60B of the vibration damping member 60 and the upper surface 51A of the handle portion 51. The second spacer SP2 is interposed between the lower surface 41A of the mounting plate 41 and the upper surface 60A of the vibration damping member 60. For example, the first spacer SP1, the second spacer SP2, the vibration damping member 60, and the handle portion 51 have through holes through which the screw shafts of the fixing screws 71, 71 can be inserted, and the lower surface 41A of the mounting plate 41 has a screw hole that can be screwed into the male threads formed on the screw shafts of the fixing screws 71, 71. By inserting the screw shafts of the fixing screws 71, 71 into the insertion holes of the handle portion 51, the first spacer SP1, the vibration suppression member 60, and the second spacer SP2, and screwing them into the screw holes of the mounting plate 41, the handle portion 51 and the vibration suppression member 60 of the scraper 50 can be fixed to the mounting plate 41 as shown in Figure 3.

[0032] Of course, the manner in which the handle portion 51 and vibration damping member 60 of the scraper 50 are fixed to the mounting plate 41 is not limited to the above example. For example, in the above example, the handle portion 51 and vibration damping member 60 are fixed to the mounting plate 41 by common fixing screws 71, 71, but they may also be individually fixed to the mounting plate 41 using separate fixing screws.

[0033] As described above, a first spacer SP1 is interposed between the handle portion 51 of the scraper 50 and the vibration-damping member 60. Therefore, when the scraper 50 is unloaded, a gap S1 corresponding to the thickness of the first spacer SP1 is formed between the handle portion 51 and the vibration-damping member 60 (more precisely, in the area where the first spacer SP1 is not placed). In the example shown in Figure 3, when the scraper 50 is unloaded, the handle portion 51 and the vibration-damping member 60 of the scraper 50 maintain a parallel position with the gap S1 in between. In this way, the vibration-damping member 60 is positioned above the handle portion 51 of the scraper 50 with the gap S1 in between. That is, when the scraper 50 is unloaded, the vibration-damping member 60 is positioned so as not to be in contact with the upper surface 51A of the handle portion 51.

[0034] Similarly, since the second spacer SP2 is interposed between the mounting plate 41 and the vibration suppression member 60 in the holder portion 40, when the scraper 50 is unloaded, a gap S2 corresponding to the thickness of the second spacer SP2 is formed between the mounting plate 41 and the vibration suppression member 60 (more precisely, in the area where the second spacer SP2 is not placed).

[0035] In this embodiment, the vibration-damping member 60 has a protruding pin 80 that protrudes from its lower surface 50B toward the upper surface 51A of the handle portion 51. In the example shown in Figures 2 and 3, the protruding pin 80 is attached to the tip side in the longitudinal direction of the vibration-damping member 60. The protruding pin 80 is formed, for example, by a rounded screw having a pin tip portion 81 with a rounded (R-shaped) tip. A screw groove 82 is also formed on the outer circumference of the protruding pin 80. On the other hand, the vibration-damping member 60 has a screw hole 61 for attaching the protruding pin 80 that penetrates the vibration-damping member 60 in the thickness direction, and the protruding pin 80 is attached to the vibration-damping member 60 by screwing the screw groove 82 of the protruding pin 80 into the screw hole 61 so that the pin tip portion 81 faces the upper surface 51A of the handle portion 51.

[0036] As described above, when the scraper 50 is unloaded, a gap S3 is formed between the tip 81 of the protruding pin 80 attached to the tip side of the vibration-damping member 60 and the upper surface 51A of the handle 51. In other words, when the scraper 50 is unloaded, the vibration-damping member 60 holds the protruding pin 80 such that the upper surface 51A of the handle 51 and the tip 81 of the protruding pin 80 are not in contact. A hexagonal hole is formed in the head of the protruding pin 80, for example, and the amount of screwing of the screw groove 82 of the protruding pin 80 into the screw hole 61 of the vibration-damping member 60 can be changed. This allows the amount of protrusion of the protruding pin 80 from the lower surface 60B of the vibration-damping member 60 to be freely adjusted. In other words, the size of the gap S3 when the scraper 50 is unloaded can be freely adjusted.

[0037] Next, the operation of scraping the workpiece surface 11 of the workpiece 10 using the scraper 50 of the scraping tool unit 30 will be described. Figure 4 is a schematic diagram illustrating the behavior of the scraper 50 and vibration suppression member 60 during scraping of the workpiece surface 11. In scraping, the control device 100 controls the robot arm 200 to apply the cutting blade 53 of the scraper 50 to the workpiece surface 11 at an angle, and drives the scraper 50 (robot-side adapter 210) in the -Z direction to push the scraper 50 downward (-Z direction) against the workpiece surface 11 (direction of arrow A in Figure 4), while stroking the scraper 50 along the workpiece surface 11 (parallel to the XY plane) (direction of arrow B in Figure 4).

[0038] As described above, when the scraper 50 (robot-side adapter 210) is driven in the direction of arrow A in Figure 4, the handle portion 51 of the scraper 50 elastically deforms due to the reaction force received from the workpiece surface 11, causing it to bend as shown by the dashed line in Figure 4. In this way, by stroking the scraper 50 in the direction of arrow B with the handle portion 51 of the scraper 50 bent, the workpiece surface 11 can be cut by the cutting blade 53 in increments of micron or submicron thickness with each stroke of the scraper 50. In conventional scraping equipment, if one simply attempts to cut by stroking the scraper along the workpiece surface with the handle portion bent, chatter vibration occurs in the scraper. This also contributed to the formation of irregularities on the processed surface.

[0039] Therefore, the scraping tool unit 30 according to this embodiment is equipped with a vibration suppression member 60 to suppress chatter vibration of the scraper 50 during cutting. In the initial state (when the scraper 50 is unloaded), the vibration suppression member 60 (and the protruding pin 80 provided on the vibration suppression member 60) is spaced apart from the handle portion 51 of the scraper 50. On the other hand, when the cutting blade 53 of the scraper 50 is pressed against the workpiece surface 11 during cutting, the handle portion 51 bends, causing the upper surface 51A of the handle portion 51 to approach the pin tip portion 81 of the protruding pin 80. Then, the upper surface 51A of the handle portion 51 comes into contact with the pin tip portion 81 and presses against it, causing the vibration suppression member 60 to bend away from the handle portion 51 with elastic deformation (see the dashed line in Figure 4).

[0040] As described above, when the vibration suppression member 60 bends in accordance with the bending deformation of the handle portion 51, the vibration suppression member 6 The restoring force of 0 acts on the handle portion 51 from above via the protruding pin 80. In other words, during the stroke in which the scraper 50 cuts the workpiece surface 11, the restoring force of the vibration suppression member 60 continues to act on the handle portion 51 in a direction that presses it against the workpiece surface 11. As a result, chatter vibration of the scraper 50 can be suppressed.

[0041] In particular, in this embodiment, since the restoring force of the vibration suppression member 60 suppresses chatter vibration of the scraper 50, the desired chatter vibration suppression effect can be obtained regardless of the orientation of the scraper 50. For example, whether the workpiece surface is a vertically upward-facing surface as indicated by reference numeral 11A in Figure 1, or a vertically sideways-facing surface as indicated by reference numeral 11B, the desired chatter vibration suppression effect can be obtained regardless of the orientation of the workpiece surface 11.

[0042] Furthermore, since the vibration suppression member 60 in this embodiment has a protruding pin 80, when the handle portion 51 bends during cutting of the workpiece surface 11, it can always contact the upper surface 51A of the handle portion 51 via the protruding pin 80 (pin tip portion 81). As a result, when cutting the workpiece surface 11, the point of application of the pressing force acting from the bent handle portion 51 to the vibration suppression member 60, in other words, the position of the point of application that applies the restoring force of the bent vibration suppression member 60 to the handle portion 51, is stabilized. In other words, it becomes easier to stabilize the position and magnitude of the biasing force that the vibration suppression member 60 applies to the handle portion 51, making it easier to obtain the desired chatter vibration suppression effect.

[0043] Furthermore, in this embodiment, it is possible to adjust the amount of protrusion of the pin 80 protruding from the lower surface 60B of the vibration suppression member 60. Therefore, the size of the gap S3 when the scraper 50 is unloaded can be adjusted. As a result, it becomes possible to easily adjust the magnitude of the biasing force (restoring force of the vibration suppression member 60) when biasing the vibration suppression member 60 against the handle portion 51 of the scraper 50 during cutting of the workpiece surface 11, thereby suppressing chatter vibration of the scraper 50 with even greater precision.

[0044] Furthermore, the vibration-damping member 60 (protruding pin 80) is positioned so as to be in a non-contact state with the handle portion 51 when the scraper 50 is unloaded, and as the handle portion 51 flexes during cutting of the workpiece surface 11, the vibration-damping member 60 (protruding pin 80) comes into contact with the handle portion 51. This allows the handle portion 51 of the scraper 50 to flex to a certain extent during cutting of the workpiece surface 11 before the vibration-damping member 60 can be biased against the handle portion 51. As a result, excessive restoring force from the vibration-damping member 60 is not applied to the handle portion 51 of the scraper 50, and there is an advantage in that the downward (-Z direction) pushing force of the scraper 50 can be finely adjusted.

[0045] However, the scraping tool unit 30 is not limited to the above and can be configured in various ways. For example, the vibration-dampening member 60 (protruding pin 80) may be in contact with the upper surface 51A of the handle portion 51 when the scraper 50 is unloaded (i.e., in the initial state). Also, the vibration-dampening member 60 does not necessarily have a protruding pin 80. In this case, the vibration-dampening member 60 may be positioned so as to be in a non-contact state with the handle portion 51 when the scraper 50 is unloaded, and the lower surface 60B of the vibration-dampening member 60 may come into contact with the upper surface 51A of the handle portion 51 as the handle portion 51 flexes during cutting of the workpiece surface 11. In another configuration, the lower surface 60B of the vibration-dampening member 60 may be in contact with the upper surface 51A of the handle portion 51 when the scraper 50 is unloaded (i.e., in the initial state). Even with this configuration, chatter vibration of the scraper 50 during cutting of the workpiece surface 11 can be effectively suppressed compared to the case where the vibration suppression member 60 is not provided.

[0046] Furthermore, the vibration suppression member 60 in this embodiment may be a plate-shaped member in which at least a part is flexible. That is, the vibration suppression member 60 may be entirely flexible, or only a part of it may be flexible. In the latter embodiment as well, cutting of the workpiece surface 11 The vibration damping member 60 sometimes flexes, and the resulting restoring force is applied to the handle portion 51, thereby effectively suppressing chatter vibrations of the scraper 50. Furthermore, the handle portion 51 of the scraper 50 does not need to be flexible in its entirety; it is sufficient if at least a part of it is flexible. In other words, the handle portion 51 of the scraper 50 may be flexible in its entirety, or only a part of it may be flexible.

[0047] In another embodiment, the protruding pin 80 may be provided on the handle portion 51 of the scraper 50. Figure 5 is a side view of a modified scraping tool unit 30. In the example shown in Figure 5, the handle portion 51 of the scraper 50 has a protruding pin 80 that protrudes from its upper surface 51A toward the lower surface 60B of the vibration suppression member 60. The structure of the protruding pin 80 itself is the same as the structure described in Figure 3, and the manner of attachment to the handle portion 51 is also similar to that described in Figure 3. That is, in the embodiment shown in Figure 5, a screw hole 54 for attaching the protruding pin 80 is formed through the handle portion 51. The protruding pin 80 is attached to the handle portion 51 by screwing the screw groove 82 of the protruding pin 80 into the screw hole 54, so that the tip portion 81 of the pin faces the lower surface 60B of the vibration suppression member 60. In this configuration, as the handle portion 51 flexes during cutting of the workpiece surface 11, the protruding pin 80 (pin tip portion 81) provided on the handle portion 51 comes into contact with the lower surface 60B of the vibration suppression member 60, causing the vibration suppression member 60 to flex. As a result, the restoring force of the vibration suppression member 60 is transmitted to the handle portion 51 via the protruding pin 80, allowing the handle portion 51 to be pressed against the workpiece surface 11 from above, thereby suppressing chatter vibration of the scraper 50 during cutting of the workpiece surface 11.

[0048] The above embodiments and modifications are merely examples, and this disclosure can be modified as appropriate without departing from its essence. For example, the handle portion 51 of the scraper 50 and the vibration-damping member 60 are not particularly limited. Furthermore, the position, number, and other characteristics of the protruding pins 80 provided on the vibration-damping member 60 and the handle portion 51 are not particularly limited. In some cases, protruding pins 80 may be provided on both the handle portion 51 of the scraper 50 and the vibration-damping member 60.

[0049] While embodiments of this disclosure have been described above, each embodiment disclosed herein can be combined with any other features disclosed herein. [Explanation of Symbols]

[0050] 1...Scrap processing equipment 10.. Work 11. Surface to be processed 30...Scraping tool unit 40...Holder section 50... Scraper 51...Handle 52... Chip holder 53...cutting blade 60. Vibration damping member 80...Protruding pin

Claims

1. A scraping tool unit attached to a machining robot that performs scraping on the surface of a workpiece, A cutting tool having a handle portion that is at least partially flexible, and a cutting blade attached to the handle portion, The holder portion for holding the cutting tool, A vibration suppression member is provided, which is arranged along the upper surface of the handle portion and is configured as a plate-like member having at least a portion of its shape being flexible, and which suppresses chatter vibration of the cutting tool during cutting. Equipped with, As a result of the vibration suppression member bending when pressed by the handle portion which is bent during cutting of the workpiece surface, the restoring force of the vibration suppression member acts in a direction that presses the handle portion from above, thereby suppressing chatter vibration of the cutting tool. The vibration-suppressing member is positioned so as to not be in contact with the handle when the cutting tool is unloaded, and as the handle flexes during cutting of the workpiece surface, the vibration-suppressing member comes into contact with the handle. A tool unit for scraping.

2. A scraping tool unit attached to a machining robot that performs scraping on the surface of a workpiece, A cutting tool having a handle portion that is at least partially flexible, and a cutting blade attached to the handle portion, The holder portion for holding the cutting tool, A vibration suppression member is provided, which is arranged along the upper surface of the handle portion and is configured as a plate-like member having at least a portion of its shape being flexible, and which suppresses chatter vibration of the cutting tool during cutting. Equipped with, The vibration suppressing member has a protruding pin that protrudes from its lower surface toward the upper surface of the handle portion, As the handle flexes during cutting of the surface to be machined, the protruding pin comes into contact with the handle. A tool unit for scraping.

3. A scraper attached to a machining robot that performs scraping on the surface of a workpiece. A tool unit for machining, A cutting tool having a handle portion that is at least partially flexible, and a cutting blade attached to the handle portion, The holder portion for holding the cutting tool, A vibration suppression member is provided, which is arranged along the upper surface of the handle portion and is configured as a plate-like member having at least a portion of its shape being flexible, and which suppresses chatter vibration of the cutting tool during cutting. Equipped with, The handle portion has a protruding pin that protrudes from its upper surface toward the lower surface of the vibration suppression member, As the handle flexes during cutting of the surface to be machined, the protruding pin comes into contact with the vibration suppression member. A tool unit for scraping.

4. The amount of the protruding pin protruding from the lower surface of the vibration-suppressing member, or from the upper surface of the handle portion, is adjustable. A scraping tool unit according to claim 2 or 3.

5. A robot for processing, A scraping tool unit according to any one of claims 1 to 3, which is attached to the aforementioned processing robot, A scraping device equipped with the following features.

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