Ultrasonic trimming apparatus

An ultrasonic trimming apparatus, comprising:

• an articulated robot;
• an ultrasonic oscillator which is supported by an end arm of the articulated robot;
• a cutter blade which has a flat plate shape and is supported by the ultrasonic oscillator;
• a workpiece securing portion which secures a workpiece;
• and
• a grinding member which is disposed within a movable range of the cutter blade driven by the articulated robot and is capable of being brought into pressure contact with the cutter blade, wherein
• the articulated robot has a control means to move the cutter blade held attached to the articulated robot to the position at where the cutting edge is brought into contact with the grindstone, to maintain the cutter blades attitude such that a plane containing the cutting edge thereof contacts the grindstone, and to ultrasonically vibrate the cutter blade in the state in which the grindstone is brought into contact with the cutter blade,
• an additional arm which controls the cutter blade such that the cutter blade is always directed in a cutting direction is rotatably connected to the end arm,
• a motor is connected to the additional arm so as to rotationally move the additional arm, and
• the ultrasonic oscillator and the cutter blade are disposed so as to vibrate in the direction of the rotation axis of the additional arm.