| 摘要 |
PURPOSE:To maintain a grinding amount at a normally proper value during grinding and to enable execution of an excellent grinding work, by providing a robot for holding a work movement to a grinding point of which is controlled according to the magnitude of an amount of a work being cut in a grinding belt. CONSTITUTION:A contact wheel 1 is moved rightward according to a cut amount when a work W held by a robot R is pressed against a grinding point, and a current moving amount is detected by a position sensor 9. Since, when a cut amount does not attain a reference value due to an error in the size of the work W, no increase is effected until a pressure in a cylinder 7 is increased to an optimum value, a pressure in the cylinder 7 is increased through control made by a press force controller 10 and a press force set device 11, and the energizing force of the contact wheel 1 is set to a proper value. The robot R is moved to the contact wheel 1 side by means of a cut amount controller 12 and a robot controller 13, a grinding amount is maintained at a proper value during grinding, and the work W is ground with high precision. |
