| 摘要 |
PURPOSE:To simplify tasching of a wide polishing surface, by a method wherein a portion in the vicinity of a polishing tool is grasped by a worker to teach the profile or the outer peripheral point of a given polishing surface, and reproduction is effected in a taught range according to a simple type program for polishing. CONSTITUTION:As a method of teach a robot for polishing, a simple type program input system is employed to perform teaching. Namely, teaching is not made on the whole surface to be polished, by tracing the outer piriphery (profile) (holding the tip part of an arm 6 by a worker to trace the outer periphery of a surface to be polished by means of a polishing tool 25), teaching on a part to be polished is effected. During reproduction, only by directly setting s pitch P and a moving speed of a straight line adjoining to a moving direction (direction X or Y) directly by using a control panel, the polishing tool 25 is moved in a manner to smear out a surface to be polished with a straight line to grind the surface to be polished of a mould B. |
