The invention discloses a robot polishing burr removal device and a robot polishing burr removal method, and relates to the technical field of automatic polishing burr removal. The method comprises the steps that a real-time contact angle between a polishing cutter and a workpiece is obtained according to real-time torque, measured by a force sensor, in the z-axis direction; and a method phase andthe tangential speed of the polishing cutter are controlled according to the contact angle fed back in real time, and method phase constant force control along the workpiece that an outline is unknown is achieved. The invention further provides the polishing cutter; roller bearings are arranged at the two ends of a polishing area of the polishing cutter; and through the cutter, it is guaranteed that all burrs are removed through set contact force, and undercutting between the cutter and the workpiece does not happen within the certain scope. Under the condition that the outline of the workpiece is unknown, burr removal operation on the workpiece can be achieved; and the stable contact force is maintained between a robot and the workpiece through real-time force feedback control. The usedmethod is simple and effective and is easy to implement, and the problem that the contact force is difficult to set is solved through the cutter.