| 摘要 |
PURPOSE:To efficiently polish the polished surface having a curvature by a robot, etc. by extracting the polished part necessary for smooth finishing after reproducing the shape of the polished surface through copying grinding and repeating the grinding until the smooth polished surface is obtained. CONSTITUTION:Grinding is carried-out, copying the grinding object surface, and at the same time, the position on the transfer locus of a grinding tool 2 is detected at each proper scan distance by shift detectors 10a-10f, and the detected values are memorized into a memory apparatus 15 included into a controller 7, and grinding is continued to a prescribed position. After the copying grinding, the position on the transfer locus of the grinding tool 2 is read-out from the memory apparatus 15, and the variation amount in the transfer direction of a grinding tool 3 is obtained in a calculation part 16, and the calculated amount of variation and the value set by a variation-amount setting device 17 are compared by a comparator 18, and a smooth orbit is generated so that the part where the variation amount is larger than the set value reduces in the calculation part 19. Then, grinding is performed again along the generated orbit, and at the same time, position detection, memory, and the calculation of the amount of variation of the operation direction and executed, and when the value becomes below a preset value, grinding is completed.
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