| 摘要 |
PROBLEM TO BE SOLVED: To remove the excess weld metal of a welding bead, and to finish in the same surface with a base material surface and in a flat form. SOLUTION: A flexible grinding wheel 1 is grasped to a grinder working robot through a grinder, and the removing work of the excess weld metal part 3 of a welding bead is started at the position a little higher than a base material surface 2. In this case, a processing load applied to the grinder in the grinding wheel advance direction 4 is detected by an inner force sense sensor, and the feeding speed, and the amount of the squeezing force of the force squeezing direction 5 of the grinder are controlled according to the variation of the processing load. Then, instead of the flexible grinding wheel 1, a polishing disk 7 is used to remove the remaining excess weld metal part 6 of the welding bead while squeezing the polishing disk 7 in the grinding wheel advance direction and in the force control squeezing direction 9. By such a method, the excess weld metal part 3 of the welding bead is removed and the welding bead can be finished in the same surface with the base material surface 2 and in a flat form.
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