| 摘要 |
PURPOSE:To carry out automatically the inner surface grinding of an ingot case only by teaching initially respective corner coordinates by controlling previously the positions where the grinding is required in three dimensions, in absolute coordinates or relative coordinates. CONSTITUTION:A traveling carriage 42 is stopped in front of an ingot case 30, and an arm 60 having been brought into a horizontal state by the operation of a first and a second fluid pressure cylinders 62, 66 is inserted into the ingot case, and then a grinding stone 52 is positioned at the rear opening part of a cast portion 30a. Next, both fluid pressure cylinders 62, 66 are driven to position in turn the grinding stone 52 of a grinding unit 55 to each one of four corners of the rear opening part of the cast portion 30a, and the teachinginput of three-dimensional coordinate positions is input into a sequencer. Then, the teaching-input of three-dimensional coordinate positions of the front opening part is made. Thereby the grinding of the inner surface of the cast portion 30a is carried out in accordance with a predetermined sequence. Thus, without turning the ingot case, the grinding of inner surface of the cast portion can be automatically carried out. |
