| 摘要 |
PURPOSE:To facilitate preparatory work by teaching the work position data and the work data to detect the load current of a grinder driving motor in a reproduction mode and controlling the position of a grinder to a work surface. CONSTITUTION:A casting flash 16 on a work surface 15 is ground by a grindstone 18 of a grinder set at a wrist 20 of a robot arm 9 to perform cast finishing. Both the work data and the work position data is taught previously to a robot via a digitizer, etc. and then stored in a nonvolatile memory 4. In a reproduction mode a CPU5 of the robot reads various data out of the memory 4 and drives the arm 9 via a D/A converter, a servo motor 8, etc. for grinding. In this case, the load current of a grinder motor 12 is detected 13 and fed to the CPU5. This load current is compared with the reference value set previously. The positional relation between the grinder 17 and the surface 15 is controlled in order to obtain the coincidence between the load current of the motor 12 and said reference value. |
