Title:
SCRAPING APPARATUS AND SCRAPING METHOD
Document Type and Number:
WIPO Patent Application WO/2024/071324
Kind Code:
A1
Abstract:
A scraping apparatus comprises a processing robot that holds and actuates a scraper having a cutting part 11 and a flexible shaft part 13 to which the cutting part is provided, and a control device that controls the processing robot in accordance with processing instruction data, the shaft part 13 being moved in a processing direction in a state in which the shaft part 13 is flexed to perform scraping on a processing object surface 91, and the control device controlling the processing robot so that the shaft part 13 is caused to move in the direction away from the processing object surface 91 while the shaft part 13 is caused to move a prescribed amount in the processing direction on the basis of the amount that the cutting part 11 moves due to elastic deformation of the shaft part 13 during separation of the cutting part 11 from the processing object surface 91.
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Inventors:
MACHIDA MINATO (JP)
MITSUHASHI TADASHI (JP)
SATOH MASAHIRO (JP)
MATSUMOTO KENJI (JP)
MITSUHASHI TADASHI (JP)
SATOH MASAHIRO (JP)
MATSUMOTO KENJI (JP)
Application Number:
PCT/JP2023/035484
Publication Date:
April 04, 2024
Filing Date:
September 28, 2023
Export Citation:
Assignee:
CITIZEN WATCH CO LTD (JP)
International Classes:
B23D79/06
Domestic Patent References:
| WO2021015075A1 | 2021-01-28 |
Foreign References:
| JP2021122937A | 2021-08-30 | |||
| JP2016137551A | 2016-08-04 | |||
| JP2021058975A | 2021-04-15 |
Attorney, Agent or Firm:
IP FIRM SHUWA (JP)
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