| 摘要 |
PURPOSE:To make a danger obviable before it happens, by operating an outer of a grinding wheel from spindle center position information on the grinding wheel at the time of load current detection and the initial distance measured value, and stopping a grinding job and giving an alarm at a time when it is less than the irreducible minimum outer diameter setting value. CONSTITUTION:First of all, a finished form of a workpiece W is taught to a robot controller in advance, then a distance between a surface of the workpiece W and a spindle center of a grinding wheel to be driven by a motor 3 is measured by a noncontact type range finder 15, and a load current by a current detector 6 is compared with the reference load current setting value by a comparing operation controller 7, whereby the workpiece is ground up to the target distance as controlling an arm 2. In addition, an outer diameter of the grinding wheel 4 is found out of wheel spindle center position information at time of load current detection by a detector 6 and the initial distance measured value by the range finder 5, comparing it with the irreducible minimum out diameter setting value by a controller 8, and when it is less than the setting value, a grinding stop and a warning display are performed. Thus, service life in the grinding wheel is prolongable, and such a dangerous state that is less than the irreducible minimum outer diameter is obviable before it happens. |
