| 摘要 |
PURPOSE:To correctly grind a work by controlling the feed speed of a grinder while automatically detecting the ground quantity of the work. CONSTITUTION:The grindstone 15 of a grinder 2 is pressed to the surface of a work W with a spiral leaf spring, and the work W is ground by the grindstone 15 being rotated by a motor. When the grindstone 15 hits a burr, the deflection of the leaf spring is changed in response to the change of the burr size, and this change is detected by a distortion gauge 10. This detection signal is amplified by the amplifying section 1 of a ground quantity control unit 4 and is calculated by an arithmetic section 17 as a distortion quantity. This distortion quantity is compared with the reference value of a setting section 18 by a comparing section 19, and the ground quantity of the work W is calculated by an arithmetic section 20 in response to this variation. The feed speed of the grinder 2 is calculated by an arithmetic section 21 based on this ground quantity, and an industrial robot 3 is driven and controlled based on this speed. Accordingly, the feed speed of the grindstone 15 is controlled in response to the size of the burr, etc., and the burr, etc. can be ground and removed automatically and easily. |
