| 摘要 |
The invention relates to a method for the multi-stage grinding of workpieces (20) made of hard mineral materials using a robot (10). To this end, the workpiece (20) is moved into a processing region (21) and measured and/or oriented there by the robot (10). The robot (10) comprises a grinding head (11) by way of which it then takes up a first abrasive (14) preferably from a storage container (30) and starts a first grinding process. After the first grinding process is complete, the robot (10) releases the first abrasive (14) again and then takes up a second abrasive (14), preferably from the same or some other storage container (30). Then the robot (10) starts a second grinding process, and after the latter is complete, releases the second abrasive (14) again. One or more further grinding processes may be provided, but the grinding method can also be finished after the second grinding process. If further grinding processes are provided, the robot (10) first of all takes up the respective abrasive (14), carries out the grinding process and releases the abrasive (14) again. After the final grinding process is complete, the workpiece (20) is removed from the processing region (21). Furthermore, the invention also comprises a plant (26) for carrying out the method and a stripping device (40), a storage container (30) and a vacuum table (50), by means of which the method can be carried out. |
