| 摘要 |
PURPOSE:To combine mechanisms of detection, grinding, holding and transfer to save labor for grinding operation in an automatic surface flaw grinder for steel material like slab by enabling a grinding mechanism to follow up changes in the condition and position of surface flaw, the wear of a grinding wheel, etc. CONSTITUTION:A picture processor 16 discriminates positions of surface flaws on a metal material S and sends the discrimination signal to a computer 17 to calculate operational patterns of a general-purpose robot 1 according to the position and size of the surface flaw, indicate the operational pattern to a drive control unit 18, operate the robot 1 and move its hand portion 8. And the hand portion 8 is lowered until a flaw detector 9 and a grinder 10 move to a predetermined position to contact the surface of the metal material S. Then, reaction is detected by a strain gauge 15 to detect the degree of contact of a grinding wheel 11 with the surface of metal material S, and when said degree reaches a value corresponding to a preset feeding-in of grinding, the movement of the hand portion 8 is stopped to move said robot 1 for grinding the surface flaw. |
