Patent Publication Number: US-2016236287-A1

Title: Cutter blade and processing device

Description:
TECHNICAL FIELD 
     The present invention relates to a cutter blade and a processing device for performing, e.g., deburring processing while profiling a part of a workpiece. 
     BACKGROUND ART 
     Conventionally, as cutter blades and processing devices for performing, e.g., deburring of a workpiece, those that perform processing while profiling a part of a workpiece have been known (see, for example, Patent Literature 1). 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1:
         Japanese Patent No. 4231895       

     SUMMARY OF INVENTION 
     Technical Problem 
     In recent years, composite materials with a strength enhanced by mixing of fiber into plastic, such as FRP, CFRP and GFRP, have emerged and have been heavily used in various industrial products. Resin products using such composite materials easily cause damage such as chipping, breakage and/or abrasion of cutting tools because of the characteristics of the resin products, resulting decrease in lifetime of the tools such as cutter blades. 
     Therefore, it is necessary to use expensive tools that are less likely to be damaged and/or employ special processing methods, resulting in increase in costs of the processing devices. 
     An object of the present invention is to solve the aforementioned problems of the conventional techniques and provide a cutter blade and a processing device that enable processing of a composite material, for example, FRP without using an expensive cutter blade and employing a special processing method. 
     Solution to Problem 
     In order to solve the aforementioned problems, a cutter blade according to the present invention includes: a profiling portion that corresponds to a workpiece, and a cutting edge portion including a blade edge positioned in a vicinity of the profiling portion and having a wedge angle of 15° to 120°, the profiling portion and the cutting edge portion being integrated. 
     According to this configuration, the wedge angle is made to be large compared to those of the conventional techniques, enabling processing of composite materials such as FRP, CFRP and GFRP, which are difficult-to-cut materials, without damage, such as chipping, of the cutting edge portion. 
     Therefore, the need to use an expensive cutter blade and/or employ a special processing method for lifetime extension can be eliminated, enabling suppression of increase in costs of a processing device. Also, the provision of the profiling portion enables the cutting edge portion to be restrained from digging into the workpiece. 
     In the above configuration, the blade edge of the cutting edge portion may be positioned behind the profiling portion. This configuration enables, even if there is a deformation in the workpiece, further restraint of the cutting edge portion from digging into the workpiece. 
     Also, in the above configuration, the blade edge of the cutting edge portion may be positioned ahead of the profiling portion. According to this configuration, a surface forming the blade edge can be used as the profiling portion, and thus the cutter blade can be made into a simple shape, enabling suppression of costs. 
     Also, in the above configuration, a cutter blade body may have a flat plate shape. According to this configuration, the cutter blade body has a flat plate shape, enabling the cutter blade body to easily following the workpiece during processing and thus enabling enhancement in processability. 
     Also, a processing device according to the present invention is a processing device including a cutter blade provided in a robot via a biasing mechanism, the cutter blade including a profiling portion that corresponds to a workpiece, and a cutting edge portion including a blade edge positioned in a vicinity of the profiling portion and having a wedge angle of 15° to 120°, the profiling portion and the cutting edge portion being integrated. 
     According to the above configuration, the wedge angle of the cutting edge portion included in the processing device is made to be large compared to those of the conventional techniques, enabling processing of composite materials such as FRP, CFRP and GFRP, which are difficult-to-cut materials, without damage, such as chipping, of the cutting edge portion. Therefore, the need to use an expensive cutter blade and/or employ a special processing method for lifetime extension can be eliminated, enabling suppression of increase in costs of the processing device. Also, the provision of the profiling portion enables the cutting edge portion to be restrained from digging into the workpiece. 
     Advantageous Effects of Invention 
     According to the present invention, a wedge angle is made to be large compared to those of the conventional techniques, enabling processing of composite materials such as FRP, CFRP and GFRP, which are difficult-to-cut materials, without damage, such as chipping, of a cutting edge portion. 
     Therefore, the need to use an expensive cutter blade and/or employ a special processing method for lifetime extension can be eliminated, enabling suppression of increase in costs of a processing device. Also, provision of a profiling portion enables a cutting edge portion to be restrained from digging into a workpiece. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a diagram illustrating a processing device according to a first embodiment of the present invention. 
         FIG. 2  is an enlarged diagram of an arm distal end portion of the processing device. 
         FIG. 3  is a plan view illustrating a cutter blade and a part of attachment of the cutter blade. 
         FIG. 4  is an enlarged perspective view illustrating the cutter blade and the part of attachment of the cutter blade in deburring operation. 
         FIG. 5  is a cross-sectional view illustrating a distal end part of the cutter blade. 
         FIG. 6  is a cross-sectional view illustrating another mode of use of the cutter blade according to the first embodiment. 
         FIG. 7  is a cross-sectional view illustrating a distal end part of a cutter blade according to a second embodiment of the present invention. 
         FIG. 8  is a cross-sectional view illustrating a distal end part of a cutter blade according to a third embodiment of the present invention. 
         FIG. 9  is a cross-sectional view illustrating a distal end part of a cutter blade according to a fourth embodiment of the present invention. 
         FIG. 10  is a cross-sectional view illustrating a distal end part of a cutter blade according to a fifth embodiment of the present invention. 
         FIG. 11  is a cross-sectional view illustrating a distal end part of a cutter blade according to a sixth embodiment of the present invention. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     An embodiment of the present invention will be described below with reference to the drawings. 
     First Embodiment 
       FIG. 1  is a diagram illustrating a processing device  1  according to a first embodiment of the present invention. 
     The processing device  1  is a deburring device, and includes what is called a six-axis vertical articulated robot  3 , and from among joints  3 A to  3 F of the six-axis vertical articulated robot  3 , a cutter blade  10  is held by an arm distal end portion  3 G of the distal-most end joint  3 F. 
       FIG. 2  is an enlarged diagram illustrating the arm distal end portion  3 G of the processing device  1 . 
     An air-driven sliding table  4  is attached to the arm distal end portion  3 G, and a sliding section  5  is movably provided on the sliding table  4 . The sliding section  5  is driven by a pair of pneumatic cylinders  5 A and  5 A, which are actuated by air pressures applied to a pair of air supply ports (not illustrated) provided on opposite sides of the arm distal end portion  3 G. 
     Since the pneumatic cylinders  5 A and  5 A are disposed so as to face each other across the sliding section  5 , respective pressing forces of pressing the sliding section  5  in opposite directions are generated by the air pressures supplied to the air supply ports communicating with the respective pneumatic cylinders  5 A. Depending on a balance between these pressing forces, a position of the sliding section  5  is movable in an arrow A direction, that is, the sliding section  5  floats relative to a resin molding described later, whereby the sliding section  5  provides a floating mechanism. 
     Each of the pressures applied to the respective air supply ports provided on the opposite sides of the arm distal end portion  3 G can independently be controlled so as to achieve a balance between the pressures. If a weight of a tool becomes a load because of a position of the tool, the pressures applied to the respective air supply ports are automatically adjusted according to the position of the tool so as to cancel the weight of the tool out. 
     An ultrasonic transducer holder  6  is attached to the sliding section  5 , which floats relative to a resin molding, and an ultrasonic transducer (transducer, vibrator or oscillator)  7  is attached to the ultrasonic transducer holder  6 . The ultrasonic transducer  7  is not limited to a transducer using ultrasound. 
       FIG. 3  is a plan view illustrating a cutter blade  10  and a part of attachment of the cutter blade  10 , and  FIG. 4  is an enlarged perspective view illustrating the cutter blade  10  and the part of the attachment of the cutter blade  10  during deburring operation. 
     As illustrated in  FIGS. 3 and 4 , the cutter blade  10  is fixed at a distal end of the ultrasonic transducer  7 . 
     The cutter blade  10  includes a front end surface  10 F and a rear end surface  10 R, and is brought into abutment with a base portion (root) of a burr  22  formed on a partition line  21  of a resin molding  20  of a composite material, for example, CFRP (or FRP or GFRP or the like), which is an object to be processed, and surface portions  23 A and  23 B of the resin molding  20  and cuts the burr  22  off. 
     In this case, a setback angle φ of the front end surface  10 F, which is arbitrarily set, is set to around 10°. 
     In the present embodiment, the cutter blade  10  includes: a cutting edge portion  10 A to be brought into abutment with the root of the burr  22  and cut the burr  22  off, the cutting edge portion  10 A having a width W of, for example, around 10 mm; curved profiling portion  10 B to be brought into abutment with and profile the respective surface portions  23 A and  23 B of the resin molding  20 ; and a flat plate-shaped cutter blade body  10 C with the cutting edge portion  10 A and the profiling portion  10 B formed therein. 
     In this case, the width W of the cutting edge portion  10 A can arbitrarily be changed according to, e.g., the shape of the burr formed corresponding to the object to be processed. 
     Also, besides deburring processing, the cutter blade  10  can perform shaving processing of shaving a ridge, a projection or the like formed on a surface of a resin molding  20  like a chisel or the like to flatten the surface of the resin molding  20 . In this case, the cutter blade  10  is biased against the resin molding  20 , which is similar to the case described above. 
       FIG. 5  is a cross-sectional view illustrating a distal end part of the cutter blade  10 . 
     The cutting edge portion  10 A of the cutter blade  10  includes a cutting edge  10   g,  which is a ridgeline formed by a rake surface  10   e  and a side surface  10   f  positioned on the resin molding  20  side of the cutter blade  10 . 
     A wedge angle β of the cutting edge portion  10 A of the cutter blade  10  is set to 15° to 80°. In the mode of use in  FIG. 5 , the side surface  10   f  of the cutter blade  10  is in abutment with a surface of the resin molding  20 , and a total of the wedge angle β and a positive rake angle α is 90°. 
     Also, the profiling portion  10 B of the cutter blade  10  is a part to be pressed against the respective surface portions  23 A and  23 B (only the surface portion  23 B illustrated) of the resin molding  20  by the floating mechanism, is positioned ahead of (in the vicinity of) the cutting edge  10   g  (blade edge) of the cutting edge portion  10 A in an advancement direction (arrow B direction) and includes a rounded surface portion  10 B 1  that has a circular arc shape in cross section and extends forward from the cutting edge  10   g  of the cutting edge portion  10 A in the advancement direction (arrow B direction). 
     For example, if the wedge angle β of the cutting edge portion  10 A exceeds 80°, the cutting edge portion  10 A cuts poorly. Also, if the wedge angle β of the cutting edge portion  10 A is less than 15°, damage such as chipping, breakage and/or abrasion of the cutting edge portion  10 A is likely to occur. 
     On the other hand, in the present embodiment, as described above, as a result of a relatively-large wedge angle β of 15° to 80° being set for the cutting edge portion  10 A, even with a difficult-to-cut material like a composite material such as FRP, CFRP or GFRP, damage such as chipping, breakage and/or abrasion of the cutting edge portion  10 A is less likely to occur, ensuring that the cutting edge portion  10 A cuts well over a long period of time. 
     Also, irrespective of the manner in which the profiling portion  10 B abuts against an object to be processed, where the shape is unstable like a resin part or when cutting off a burr formed in a curved shape, the cutting edge portion  10 A can be restrained from digging into the material, enabling suppression of occurrence of a failure such as fracturing of the cutting edge portion  10 A. 
     Although the wedge angle β is set to 15° to 80°, the wedge angle β is desirably 30° to 80°, more desirably 40° to 60°, even more desirably 45° to 55°. 
     It has been found out that where the wedge angle β is 45° to 55°, damage such as chipping, breakage and/or abrasion of the cutting edge portion  10 A is least likely to occur, a durability of the cutter blade  10  is enhanced and the cutting edge portion  10 A cuts best. 
     Deburring processing operation using the above-described cutter blade  10  will be described below. 
     In  FIGS. 1, 2 and 4 , the six-axis vertical articulated robot  3  of the processing device  1  controls operation of the joints  3 A to  3 F so that an orientation and a drive direction of the cutter blade  10  of the arm distal end portion  3 G become optimum, for a resin molding  20 , which is an object to be processed, along a deburring path corresponding to a position where a burr  22  is formed. As described above, the sliding section  5  of the arm distal end portion  3 G floats relative to the resin molding  20 . 
     Therefore, in the present embodiment, in driving the arm distal end portion  3 G based on path information obtained by direct teaching or an automatic path generation system, the pressures applied to the respective air supply ports are controlled. As a result, the sliding section  5  is driven by the pair of pneumatic cylinders  5 A and  5 A and the cutter blade  10  is pressed against the resin molding  20  at a predetermined pressure. The pressures applied to the respective air supply ports can automatically be changed according to the position of the cutter blade  10 , and are consistently constant irrespective of the position of the cutter blade  10 . 
     In this state, the profiling portion  10 B is pressed against surface portions  23 A and  23 B of the resin molding  20  and is moved to cut off a burr  22  formed on a partition line (corresponding to a deburring path)  21  of the resin molding  20  along a root of the burr  22  by means of the cutting edge portion  10 A and smooth the surface after the cutting by means of the profiling portion  10 B. 
     As a result, the burr  22  of the resin molding  20  having an unstable shape can be removed at the root thereof without using an expensive control device, a workpiece positioning device or an expensive cutter blade and without the cutting edge portion  10 A digging into the resin molding  20 . Also, in the processing device  1  according to the present embodiment, the floating mechanism is provided and profiling control is performed, and thus, almost no work corresponding to a correction of a teaching position is required, enabling substantial processing time reduction. 
     As illustrated in  FIG. 5 , the blade edge of the cutting edge portion  10 A is positioned behind the profiling portion  10 B, and thus, even if there is a deformation in the resin molding  20 , the cutting edge portion  10 A can further be restrained from digging into the resin molding  20 . 
     Also, as illustrated in  FIGS. 2, 4 and 5 , the cutter blade body  10 C has a flat plate shape, and thus, enables the cutter blade  10  to easily follow the resin molding  20 , enabling enhancement in processability. 
     Also, the cutter blade  10  is used for shaving processing, enabling enhancement in accuracy of finish of a processed surface of a processed object (resin molding  20 ), which is of a difficult-to-cut material. 
       FIG. 6  is a cross-sectional view illustrating another mode of use of the cutter blade  10  according to the first embodiment. 
     A position where the profiling portion  10 B abuts against a workpiece varies according to, e.g., a posture of the six-axis vertical articulated robot  3  and/or a shape of the workpiece. In the mode in  FIG. 6 , processing is performed with the side surface  10   f  of the cutter blade  10  away from a surface of a resin molding  20 . Here, a positive rake angle α′ is small compared to the mode in  FIG. 5 . In this state, also, it has been found out that when the wedge angle β is set to 15° to 80°, damage such as chipping, breakage or abrasion of the cutting edge portion  10 A is less likely to occur, the durability of the cutter blade  10  is enhanced and the cutter blade  10  cuts well. 
     Second Embodiment 
       FIG. 7  is a cross-sectional view illustrating a distal end part of a cutter blade  30  according to a second embodiment. 
     Components that are identical to those of the cutter blade  10  according to the first embodiment illustrated in  FIG. 5  are provided with reference numerals that are the same as those of the cutter blade  10 , and detailed description thereof will be omitted. 
     The cutter blade  30  includes a cutting edge portion  30 A to be brought into abutment with and cut off a root of a burr  22 , and profiling portion  10 B to be pressed against surface portions  23 A and  23 B (only the surface portion  23 B illustrated) of a resin molding  20  by a floating mechanism. 
     The cutting edge portion  30 A includes a cutting edge  30   g  corresponding to a ridgeline formed by a rake surface  30   e  and a side surface  30   f  positioned on the resin molding  20  side of the cutter blade  30 . 
     A wedge angle β of the cutting edge portion  30 A is set to 93° to 120°. In the mode of use in  FIG. 7 , the side surface  30   f  of the cutter blade  30  is in abutment with a surface of the resin molding  20 , and an angle resulting from a negative rake angle α being subtracted from the wedge angle β is 90°. 
     Also, the profiling portion  10 B is positioned ahead of the cutting edge  30   g  (blade edge) of the cutting edge portion  30 A in an advancement direction (arrow B direction), and includes a rounded surface portion  10 B 1  having a circular arc shape in cross section and extending ahead from the cutting edge  30   g  of the cutting edge portion  30 A in the advancement direction (arrow B direction). 
     Besides deburring processing, the cutter blade  30  can perform shaving processing of shaving a ridge, a projection or the like formed on a surface of a resin molding  20  like a chisel or the like to flatten the surface of the resin molding  20 . In this case, the cutter blade  30  is biased against the resin molding  20 , which is similar to the cases described above. 
     For example, if the wedge angle β of the cutting edge portion  30 A is 90° &lt;β&lt;93°, a cut amount is large, which causes chatter vibration, resulting in deterioration in finish of the processed surface. If the wedge angle β exceeds 120°, the cut amount is smaller, resulting in failure to sufficiently remove the burr. 
     On the other hand, in the present embodiment, as described above, as a result of a large wedge angle β of 93° to 120° being set for the cutting edge portion  30 A, even with a difficult-to-cut material like a composite material such as FRP, CFRP or GFRP, damage such as chipping, breakage and/or abrasion of the cutting edge portion  30 A is less likely to occur, ensuring that the cutting edge portion  30 A cuts well over a long period of time. 
     Also, the negative rake angle of the cutting edge portion  30 A enables smoothing the surface after the removal of the burr  22 , enabling the processed surface to be smoother. Also, chatter vibration is less likely to occur, ensuring a sufficient cut amount. 
     Although the wedge angle β is set to 93° to 120°, the wedge angle β may be 95° to 120°, and is desirably 95° to 115°, more desirably 95° to 100°. 
     It has been found out that where the wedge angle β is 95° to 100°, damage such as chipping, breakage and/or abrasion of the cutting edge portion  30 A is least likely to occur, a durability of the cutter blade  10  is enhanced and the cutting edge portion  10 A cuts best. 
     In the cutter blades  10  and  30  in  FIGS. 5 and 6 , even if the cutter blades  10  and  30  are formed so as to have a wedge angle β of 80° &lt;β&lt;93°, the cutter blades  10  and  30  can be used for deburring processing, depending on, e.g., a material, a hardness and/or a shape of an object to be processed and/or the type of the cutter blade. 
     A processing device  1  in which pneumatic cylinders  5 A and  5 A are provided in a six-axis vertical articulated robot  3  and a cutter blade  10  or  30  is provided in the six-axis vertical articulated robot  3  via the pneumatic cylinders  5 A and  5 A includes a cutter blade  30  that includes profiling portion  10 B corresponding to a resin molding  20  and that further includes a cutting edge portion  30 A including a blade edge positioned in the vicinity of the profiling portion  10 B and having a wedge angle β of 15° to 120°, the profiling portion  10 B and the cutting edge portion  30 A being integrated, and thus, the wedge angle β of the cutting edge portion  10 A or  30 A included in the processing device  1  is made to be large compared to those of the conventional techniques, enabling processing of a composite material, for example, FRP, CFRP or GFRP, which is a difficult-to-cut material without damage such as chipping of the cutting edge portion  30 A. 
     Accordingly, the need to use an expensive cutter blade and/or employ a special processing method for lifetime extension can be eliminated, enabling suppression of increase in costs of the processing device  1 . 
     Also, the provision of the profiling portion  10 B enables the cutting edge portion  10 A or  30 A to be restrained from digging into a resin molding  20 . 
     Also, in the cutter blade  30 , the blade edge of the cutting edge portion  30 A is positioned behind the profiling portion  10 B, and thus, even if there is a deformation in the resin molding  20 , the cutting edge portion  30 A can further be restrained from digging into the resin molding  20 . 
     Also, the cutter blade  30  shaves the resin molding  20 , enabling enhancement in accuracy of finish of the processed surface of the processed object (resin molding  20 ), which is of a difficult-to-cut material. 
     Third Embodiment 
       FIG. 8  is a cross-sectional view illustrating a distal end part of a cutter blade  35  according to a third embodiment. 
     Components that are identical to those of the first embodiment illustrated in  FIG. 5  are provided with reference numerals that are the same as those of the first embodiment, and detailed description thereof will be omitted. 
     The cutter blade  35  includes a cutting edge portion  35 A to be brought into abutment with and cut off a root of a burr  22 , and a profiling surface  35   f,  which serves as a profiling portion to be pressed against surface portions  23 A and  23 B (only the surface portion  23 B illustrated) of a resin molding  20  by a floating mechanism. The cutting edge portion  35 A includes a cutting edge  35   g  corresponding to a ridgeline formed by a rake surface  35   e  and the profiling surface  35   f.    
     A wedge angle β of the cutting edge portion  35 A is set to 15° to 80°. The profiling surface  35   f  includes the cutting edge  35   g,  and the profiling surface  35   f  extends rearward from the cutting edge  35   g  (blade edge) in an advancement direction (arrow B direction). 
     Besides deburring processing, the cutter blade  35  can perform shaving processing of shaving a ridge, a projection or the like formed on a surface of a resin molding  20  like a chisel or the like to flatten the surface of the resin molding  20 . In this case, the cutter blade  35  is biased against the resin molding  20 , which is similar to the cases described above. 
     In the cutting edge portion  35 A, the cutting edge  35   g  (blade edge) is positioned at a distal end portion of the profiling surface  35   f,  allowing the profiling surface  35   f,  which forms a part of the cutting edge  35   g,  to serves as a profiling portion, and thus, the cutter blade  35  can be formed in a simple shape, enabling cost reduction. 
     Although the wedge angle β is set to 15° to 80°, the wedge angle β is desirably 30° to 80°, more desirably 40° to 60°, even more desirably 45° to 55°. 
     It has been found out that there the wedge angle β is 45° to 55°, damages such as chipping, breakage and/or abrasion of the cutting edge portion  35 A is least likely to occur, a durability of the cutter blade  35  is enhanced and the cutting edge portion  35 A cuts best. 
     Fourth Embodiment 
       FIG. 9  is a cross-sectional view illustrating a distal end part of a cutter blade  40  according to a fourth embodiment. 
     Components that are identical to those of the second embodiment illustrated in  FIG. 7  are provided with reference numerals that are the same as those of the second embodiment, and detailed description thereof will be omitted. 
     The cutter blade  40  includes a cutting edge portion  40 A to be brought into abutment with and cut off a root of a burr  22 , and a profiling surface  40   f,  which serves as a profiling portion to be pressed against surface portions  23 A and  23 B (only the surface portion  23 B illustrated) of a resin molding  20  by a floating mechanism. The cutting edge portion  40 A includes a cutting edge  40   g  corresponding to a ridgeline formed by a rake surface  40   e  and the profiling surface  40   f.    
     A wedge angle β of the cutting edge portion  40 A is set to 93° to 120°. The profiling surface  40   f  includes the cutting edge  40   g,  and the profiling surface  40   f  extends rearward from the cutting edge  40   g  (blade edge) in an advancement direction (arrow B direction). 
     Fifth Embodiment 
       FIG. 10  is a cross-sectional view illustrating a distal end part of a cutter blade  42  according to a fifth embodiment. Components that are identical to those of the first embodiment illustrated in  FIG. 5  and the third embodiment illustrated in  FIG. 8  are provided with reference numerals that are the same as those of the first and third embodiments, and detailed description thereof will be omitted. 
     The cutter blade  42  includes a cutting edge portion  42 A to be brought into abutment with and cut off a root of a burr  22 , and a profiling surface  42   f,  which serves as a profiling portion to be pressed against surface portions  23 A and  23 B (only the surface portion  23 B illustrated) of a resin molding  20  by a floating mechanism. The cutting edge portion  42 A includes a cutting edge  42   g  corresponding to a ridgeline formed by a rake surface  42   e  and the profiling surface  42   f.    
     A wedge angle β of the rake surface  42   e  is set to 15° to 80°. The profiling surface  42   f  includes the cutting edge  42   g,  and the profiling surface  42   f  extends rearward from the cutting edge  42   g  (blade edge) in an advancement direction (arrow B direction). Behind the profiling surface  42   f,  the cutter blade  42  includes a clearance portion  42   j  away from the surface portions  23 A and  23 B. 
     For example, if the wedge angle β of the cutting edge portion  42 A exceeds 80°, the cutting edge portion  42 A cuts poorly. Also, if the wedge angle β of the cutting edge portion  42 A is less than 15°, damage such as chipping, breakage and/or abrasion of the cutting edge portion  42 A is likely to occur. 
     Although the wedge angle β is set to 15 to 80, the wedge angle β is desirably 30° to 80°, more desirably 40° to 60°, even more desirably 45° to 55°. 
     It has been found out that when the wedge angle β is 45° to 55°, damage such as chipping, breakage and/or abrasion of the cutting edge portion  42 A is least likely to occur, a durability of the cutter blade  42  is enhanced and the cutting edge portion  42 A cuts best. 
     Sixth Embodiment 
       FIG. 11  is a cross-sectional view illustrating a distal end part of a cutter blade  44  according to a sixth embodiment. 
     Components that are identical to those of the second embodiment illustrated in  FIG. 7  and the fourth embodiment illustrated in  FIG. 9  are provided with reference numerals that are the same as those of the second and fourth embodiments, and detailed description thereof will be omitted. 
     The cutter blade  44  includes a cutting edge portion  44 A to be brought into abutment with and cut off a root of a burr  22 , and a profiling surface  44   f,  which serves as a profiling portion to be pressed against surface portions  23 A and  23 B (only the surface portion  23 B illustrated) of a resin molding  20  by a floating mechanism. The cutting edge portion  44 A includes a cutting edge  44   g  corresponding to a ridgeline formed by a rake surface  44   e  and the profiling surface  44   f.    
     A wedge angle β of the cutting edge portion  44 A is set to 93° to 120°. The profiling surface  44   f  includes the cutting edge  44   g,  and the profiling surface  44   f  extends rearward from the cutting edge  44   g  (blade edge) in an advancement direction (arrow B direction). Behind the profiling surface  44   f,  the cutter blade  44  includes a clearance portion  44   j  away from the surface portions  23 A and  23 B. 
     If the wedge angle β of cutting edge portion  44 A is 90 &lt;β&lt;93°, a cut amount is large, which causes chatter vibration, resulting in deterioration in finish of the processed surface. If the wedge angle β exceeds 120°, the cut amount is small, resulting in failure to sufficiently remove the burr. 
     In each of the above-described cutter blades illustrated in  FIGS. 8 to 11 , even if the cutter blade is formed so as to have a wedge angle β of 80° &lt;β&lt;93°, the cutter blade can be used for deburring processing, depending on, e.g., a material, a hardness and/or a shape of an object to be processed and/or the type of the cutter blade. 
     Each of the above-described embodiments is definitely an aspect of the present invention and can arbitrarily be altered and applied without departing the spirit of the present invention. 
     For example, in the above-described embodiments, as illustrated in  FIG. 2 , the biasing mechanism is provided by the pneumatic cylinders  5 A, but the biasing mechanism is not limited to that provided by the pneumatic cylinders  5 A, and may be provided by other means such as a spring or a solenoid. 
     Also, as illustrated in  FIG. 1 , the processing device  1  includes the six-axis vertical articulated robot  3 ; however, the present invention is not limited to this case, and the processing device  1  may include another type of robot. 
     Also, the above-described cutter blade  10  can be ultrasonically vibrated in a direction (arrow C direction (see  FIG. 3 )) substantially perpendicular to the advancement direction (arrow B direction (see  FIG. 3 )) of the cutter blade  10 , according to vibration of the ultrasonic transducer  7 . An ultrasonic unit (not illustrated) is connected to the ultrasonic transducer  7 , enabling the cutter blade  10  to be driven with an amplitude of, for example, around 30 to 50 μm by the ultrasonic unit. 
     Although in each of the above-described embodiments, the cutter blade  10  is not ultrasonically vibrated during deburring processing, deburring processing may be performed with the cutter blade  10  ultrasonically vibrated, depending on, e.g., a material, a hardness or a shape of an object to be processed. 
     Also, although the present embodiments have been described in terms of cases where the profiling portion or the profiling surface of the cutter blade  10  is brought into abutment with a part of an object to be processed, the present invention is not limited to these cases and processing may be performed with only the cutting edge portion  10 A abutted against an object to be processed without the profiling portion  10 B of the cutter blade  10  being abutted against the object to be processed. 
     REFERENCE SINGS LIST 
       1  processing device 
       3  six-axis vertical articulated robot (robot) 
       5 A pneumatic cylinder (biasing mechanism) 
       10 ,  30 ,  35 ,  40 ,  42 ,  44  cutter blade 
       10 A,  30 A,  35 A,  40 A,  42 A,  44 A cutting edge portion 
       10 B profiling portion 
       10 C cutter blade body 
       20  resin molding (workpiece) 
       35   f,    40   f,    42   f,    44   f  profiling surface (profiling portion) 
     β wedge angle