| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic grinding device which can cut off large burrs without leaving an uncut part, and can make the finishing surface smooth. SOLUTION: This automatic grinding device is composed of a movablc main body 10 movable three-dimeisionally; a grinder main body 20 to hold a grinding wheel 1, and journalled by the movable main body 10; a spring member 30 provided between the movable main body 10 and the grinder main body 20, and to energize the grinding wheel 1 to a workpiece member in its pressing direction; a robot arm to move the movable main body 10; motors; a motor to rotate the grinding wheel 1; and a inclination sensor to detect the inclination of the grinder main body 20. In this case, when the detected inclination R of the grinding wheel 1 is made less than a set value TH from a standard value R0 , the movement of the movable main body 10 is stopped, and the grinding wheel 1 is weaving operated, and when the inclination R exceeds the set value TH, the weaving operation is stopped so as to carry out a control to restart the movement of the movable main body 10. |
