| 摘要 |
PURPOSE:To permit effective grinding of pinpoint accuracy, by measuring the configuration of a surface to be ground by a measuring unit mounted on a robot, determining an amount to be ground based on design data and the measured data as well as a moving pass for grinding based on the measured data and effecting grinding according to the amount to be ground along the pass. CONSTITUTION:An envelope 14 obtained by plotting measured data on a line 13 along a flow pass direction as shown in the drawing represents a cross section of a measured liner surface. When an envelope 15 is drawn based on design data, the difference DELTAd between both the envelopes corresponds to an amount to be ground on a line 13. Then, the most suitable moving pass 16 for grinding of a robot 1 is calculated based on the measured data and it is stored in a floppy disk. After that, the robot 1 having a grinding unit is caused to enter into a runner flow pass and to move thereon so that it grinds a runner inner surface 10a in accordance with the amount to be ground DELTAd. After that, the robot 1 is returned to its initial position and it is provided with the measuring unit again for measuring the runner inner surface 10a ground again and then when the measured data is within a prescribed range as compared with the design data, the operation is completed. |
