| 摘要 |
PURPOSE:To automate bead polishing by providing a face shape sensor, a first linear step motor for correcting the position of a grinding stone, a pressure sensor for detecting the displacement pressure of the grinding stone, and a second motor for controlling the pressure under a specified pressure. CONSTITUTION:A robot 7 is provided with a face shape sensor 9, first and second linear motors 12 and 13, a pressure sensor 11, and a grinding stone 10. The grinding stone 10 is positioned in the vicinity of the center of a blazing section 3, and the shape of the welding section is recognized by the face shape sensor 9 to compute and draw an ideal finished surfaces. After that, the first linear step motor 12 is driven to make the grinding stone 10 profile the center position of a bead. In addition, when the pressure sensor 11 detects the contact pressure of the grinding 10, the second linear motor 13 is driven and the swell of the welding head section 3 is polished. This leads to polishing to an ideal finished surface as well as workpiece profiling polishing.
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