| 摘要 |
PURPOSE:To automatize the grinding of a three dimensional curved face by weaving relatively a work to a tool and also controlling a pitching angle, rolling angle and the size of the weaving. CONSTITUTION:The signal transmitted from three distance sensors arranged so as to surround an offset grindstone 21 is fed to a robot controller 40 via a lateral gap detecting circuit 38a and longitudinal gap detecting circuit 38b and the signal from a motor speed detector via a current detecting circuit 39, and are subjected to comparison operating thereat. The rolling angle is set by the signal from a rolling control part 41, the pitching angle by the signal from a pitching control part 42 and the weaving amt. by a weaving device 24 by the signal from a weaving amt. command part 43, and the number of rotations of an offset grindstone 21 is controlled by the signal from a feed speed control part 44. Thus, the curved face grinding of a complicated shaped work can be performed with good efficiency and high accuracy. |
