Automatic grinding apparatus

摘要

An automatic grinding apparatus comprises an electronic grinder containing a motor whose load current increases or decreases due to the metal removal quantity per unit hour, a travelling device moving said grinder three-dimensionally over the grinding surface, a sliding device adjusting the distance between said grinder and an object to be ground, and a control device controlling said sliding device to keep the load current of the grinding motor constant. An articulated type or a cartesian coordinate type robot is used for the travelling device. The automatic grinding apparatus starts the grinding motor at first with travelling device halted at the grinding initiation, permits said grinder to approach the object to be ground after a certain time, and starts the travelling device simultaneously or a little later after detecting that the abrasive grinding disk has contacted the object to be ground due to the variation of the load current of the grinding motor. Further the apparatus recovers respective relative positions of the grinder and the sliding device to a certain condition by regulating the operation time of an elevation motor of the sliding device or by directly detecting a location of the slider of the sliding device before and after a grinding process. Said automatic grinding apparatus is available for grinding such as removing excess weld metal, deburring or chamferring the work piece.