Robot machining system

A robot machining system comprising:

• a robot in which a hand that grips a workpiece is attached to an arm end thereof;
• a machining device that rotationally drives a machining tool;
• a force sensor that is provided in at least one of the robot and the machining device and that detects a force acting between the robot and the machining device when the workpiece is being machined by the machining tool;
• and
• a control device that controls at least one of the robot and the machining device in accordance with the force detected by the force sensor,
• wherein one of the machining device and the hand is provided with guide surfaces that extend along a direction in which the machining device and the hand are relatively moved when the workpiece is machined by the machining tool,
• wherein the other of the machining device and the hand is provided with guided portions that are brought into contact with the guide surfaces when the workpiece is machined by the machining tool, and
• wherein the control device performs control for maintaining a contact state between the guide surfaces and the guided portions during machining of the workpiece by the machining tool.