WO2018235328A1 - Automatic grinding apparatus - Google Patents

Automatic grinding apparatus Download PDF

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Publication number
WO2018235328A1
WO2018235328A1 PCT/JP2018/003782 JP2018003782W WO2018235328A1 WO 2018235328 A1 WO2018235328 A1 WO 2018235328A1 JP 2018003782 W JP2018003782 W JP 2018003782W WO 2018235328 A1 WO2018235328 A1 WO 2018235328A1
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Prior art keywords
grinding
grinder
load current
value
time
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PCT/JP2018/003782
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French (fr)
Japanese (ja)
Inventor
雅純 榎本
謙一 八田
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愛知産業株式会社
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Publication of WO2018235328A1 publication Critical patent/WO2018235328A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load

Definitions

  • the present invention relates to an automatic grinding apparatus. More specifically, the present invention relates to an automatic grinding apparatus that controls a grinder to make a grinding removal amount constant.
  • Grinding operations by the grinder are diverse, such as removal of weld bead overburden, deburring of cut members, and finishing of cast surface.
  • consumption of the grindstone is inevitably accompanied by wear of the grindstone, and the wear of the grindstone increases as the grinding efficiency is increased.
  • This device is a device for grinding and removing welding excess deposits using an electronic grinder whose load current is increased or decreased according to the amount of grinding per unit time, and is capable of moving at a constant speed along a welding line
  • An electronic grinder movably supported three-dimensionally on a carriage via a lateral movement frame and an elevating mechanism, current detection means for detecting a load current of the electronic grinder, current setting value of the electronic grinder and load current detection
  • the lift mechanism is adjusted to adjust the distance between the electronic grinder and the surface to be ground of the welding excess to adjust the amount of grinding per unit time so that the load current becomes a constant value by comparing with the value.
  • the present invention aims to provide an automatic grinding apparatus capable of grinding an object having a complicated shape, having high safety, and having improved grinding quality.
  • an automatic grinding apparatus is an apparatus for grinding an object such as welding excess, black skin, burr or the like using a grinder whose load current is increased or decreased according to the amount of grinding per unit time.
  • the current detection means for detecting the load current of the grinder, and the current setting value of the grinder and the load current detection value are compared, and the grinder and the surface to be ground of the object such that the load current becomes a constant value.
  • Control device for controlling the elevating mechanism to adjust the distance between them and adjust the amount of grinding per unit time, and a mounting head for an industrial robot capable of three-dimensional movement, and the control device starts grinding In operation, from the start of pressure control after contacting the grinding surface of the grinder, a predetermined extension time is secured until the load current reaches a constant value, and during the predetermined extension time, the pressure applied to the grinding surface is gradually increased. Means to raise Consisting be obtained.
  • the automatic grinding apparatus is an apparatus for grinding and removing an object using a grinder whose load current is increased or decreased according to the amount of grinding per unit time, and a current detecting means for detecting the load current of the grinder. And the current setting value of the grinder and the load current detection value are adjusted, and the distance between the grinder and the surface to be ground of the object is adjusted so that the load current becomes a constant value, and grinding per unit time
  • Control device for controlling the elevating mechanism to adjust the amount, and a mounting head for an industrial robot capable of three-dimensional movement, the control device starting pressure control after contact with the grinding surface of the grinder in the grinding start operation From time to time, it comprises providing a means for securing a predetermined extension time and gradually increasing the control load current detection value by the lowering operation during the predetermined extension time.
  • the grinding start operation it is preferable to include means for setting and controlling the predetermined time to an arbitrary time. Further, in the grinding start operation, it is preferable to include means for making the pressure control start pressure lower than the pressure at which the current setting value and the load current detection value coincide with each other. In addition, in the grinding start operation, it is preferable to include means for arbitrarily setting and controlling the pressure control start time after the grinding surface contact.
  • the present invention has high safety and improved grinding quality while making it possible to grind objects of complicated shapes.
  • the moving means in the horizontal and vertical directions are mainly linear, it is difficult to conform to a more complicated object.
  • the present invention by mounting it on the industrial robot wrist through the mounting head, it is possible to grind a complicated shape such as a curved surface and a plurality of places.
  • the grinder itself does not need a special sensor or parallel mechanism, and is excellent in following performance without being influenced by the grinding posture.
  • the automatic grinding apparatus mounted on the industrial robot has many advantages and improves the working efficiency.
  • the test was actually performed, it was found that a noticeable level difference may occur between the non-grinding point and the grinding point at the grinding start position, and the ground product may be a product failure.
  • This enables the industrial robot to instantly lower the automatic grinding machine to the grinding start position and apply the required pressing force all at once (in contact with the grinding surface) when grinding is performed by lowering the grinder at the start of grinding
  • the grinder "falls down” until it comes down, but if it continues to fall after contacting the grinding surface, it becomes “pressurization” to the grinding surface by the grinder.
  • the control device on the grinder side causes the grinder to touch the grinding surface "softly” specifically in the grinding start operation to start traveling and pressurize the load current to "slowly” to a predetermined load current. It is made possible. That is, at the grinding start position, it is possible to adjust the descent speed until it comes in contact with the grinding surface, and to set the pressure at the start of pressure control to a pressure lower than the pressure corresponding to the set current value.
  • a predetermined extension time is provided to gradually increase the pressure while traveling to a desired constant value.
  • slowly rising includes rising at a constant falling speed, increasing in a stepwise manner, and rising in several stages. Typically, it is efficient and qualitatively preferable to rise at a constant downward speed.
  • the "predetermined extension time” is the time during which the pressure and / or load current detection value gradually increases from the start of the pressure control, and typically the desired addition is performed when the predetermined extension time has elapsed.
  • the pressure (load current detection value, current setting value, or pressurizing force assumed to be that the load current matches the current setting value) is controlled to be the pressure.
  • the operation of the industrial robot is very fast, and the arm can be raised and lowered instantaneously. For this reason, if it is attempted to set the pressing speed only at the grinding start position to a low speed in the industrial robot, the industrial robot needs to be specifically taught, which is not efficient.
  • the slide mechanism is lowered by control of the slide mechanism so that a desired pressing force (a pressing force assumed to cause the load current to coincide with the current setting value) after a predetermined extension time has elapsed Pressurization) The speed is reduced, and "running" pressure is applied "slowly".
  • the predetermined extension time may be fixed as a set value (for example, 1 second), but the desired extension time may differ depending on the rotation speed, the grinding stone material, the object to be ground, etc. From the point of view, it is preferable that the user can input an arbitrary time to the control device. Grinding is performed by calculating and adjusting the lowering speed (pressing speed) so that the pressing force corresponding to the current set value is obtained when the extension time has elapsed based on the input extension time.
  • the predetermined extension time to be input is set long, it is possible to perform pressing more slowly, and the grinding surface becomes smoother.
  • the pressure can be increased to the desired value more quickly, and the predetermined amount of grinding can be reached more quickly.
  • the load current does not necessarily have to match the current setting value, and control may be performed so as to ensure smooth grinding quality without excessive grinding at the grinding start position.
  • the current setting value and the load current detection value coincide with means for enabling adjustment of the lowering speed until coming into contact with the grinding surface and the pressing force at the start of contact with the grinding surface of the grinder.
  • the grinder contacts the grinding surface with a lighter pressure when the grinding surface is first contacted. That is, it enables the grinder to touch the grinding surface "softly”.
  • Pressure control start pressure is preferably allowing the user to input any value to the control device. For example, when a pressing force at which the current setting value and the load current detection value coincide with each other is 100, the configuration can be made such that it can be arbitrarily set within 1 to 100%.
  • the lowering speed to contact with the grinding surface can also be configured to be arbitrarily set, for example, in 1 to 100% with respect to the normal lowering speed. In any case, it is only necessary that the pressing control start pressing force in the grinding start operation can be brought into contact with a value lower than the pressing force at which the current setting value and the load current detection value substantially coincide.
  • the current setting value of the grinder and the load current detection value are compared, and the distance between the grinder and the surface to be ground of the object is adjusted so that the load current becomes a constant value. Grinding proceeds while controlling the elevating mechanism to adjust the grinding amount per unit time.
  • an automatic grinding apparatus capable of grinding objects having complicated shapes, having high versatility and safety, and having improved grinding quality.
  • FIG. 1 is a view showing an automatic grinding apparatus of the present invention.
  • FIG. 2 is a time chart showing one example of the control of the present invention.
  • FIG. 1 is a view showing an automatic grinding apparatus 1 of the present invention.
  • a grinder mechanism 2 is provided on the lifting slider 3 and is connected to the control device 4 and the high frequency inverter power supply device 5 respectively.
  • the lifting slider 3 is configured to be attachable to and detachable from the wrist tip of an industrial robot (not shown) via an upper mounting head.
  • the elevation slider 3 controls the distance in the height direction between the grinder whetstone 6 and the surface to be ground of the object.
  • the elevating slider 3 is slidable in the vertical direction by the elevating motor, and by rotating the elevating motor forward and reverse via the control device 4, the grinder whetstone 6 can be raised and lowered.
  • the grinder mechanism 2, the elevating slider 3, the control device 4, the high frequency inverter power supply device 5 and the industrial robot are electrically connected to one another by various cables.
  • the control device 4 compares the current setting value with the load current detection value of the grinder mechanism 2, and the distance between the grinder whetstone 6 and the surface to be ground of the object and the pressing force so that the load current becomes a constant value. Adjust the The control device 4 is for controlling the elevation slider 3 so as to maintain or adjust the grinding amount per unit time of the grinder stone 6 constant, or a rectification element for rectifying the load current of the grinder motor, and the rectification A sequencer incorporating a smoothing circuit for removing the noise of the output, and a forward / reverse switch for determining forward / reverse of the elevating motor by the calculation / output of the comparator which compares the load current with the set value current .
  • the comparator compares the load current with the current value previously set in the current value setter, and when the absolute value of the difference exceeds the value previously determined by the sensitivity adjustment circuit, the voltage rises from the forward / reverse switcher Or output a falling signal.
  • the lift mechanism is driven to lower the grinder when the load current of the grinder mechanism 2 is smaller than the set current value, and to raise the grinder when the actual load current is larger than the set current value. Can be ground off.
  • the input items include, in addition to the set current value, a descending speed before contact with the grinding surface, a pressing force at the start of contact, and a predetermined extension time from contact of the grinding surface to a constant value of the load current.
  • the elevating mechanism is controlled at a speed reduced with respect to the normal descent speed.
  • control is performed so as to contact the object with the pressing force that is reduced with respect to the pressing force at which the set value current and the load current value match, and transmit a travel signal to the robot Get started.
  • control is performed to gradually increase the pressing force so that the set value current and the load current value coincide with each other when the extension time has elapsed.
  • the setting is preferably performed by an input mechanism such as a touch panel of the control device, but is not particularly limited as long as the above means can be realized.
  • FIG. 2 is a time chart diagram showing an example of the control of the present invention.
  • the grinder stone 6 is moved to just above the grinding start position by the operation of the industrial robot.
  • a start signal is received from the industrial robot, and the rotation of the grinder whetstone 6 is started.
  • the lift slider 3 is lowered and contacts the grinding surface (at the time of the grinding surface contact detection 7).
  • the descent speed at this time is a descent speed optionally input to the control device 4 and can be “softly” touched.
  • the control device 4 outputs a traveling signal to the industrial robot, and the industrial robot starts traveling.
  • the pressure control start pressure 8 is lower than the pressure corresponding to the current setting value.
  • the pressure control start pressure 8 is a value arbitrarily set with respect to the control device 4. For example, if the input value is 50%, the control device 4 sets the set value current at the grinding start position to 50%, and the grinding start position is the pressure applied during traveling by the same method as the elevation control described above. It will pressurize with about 50% of power.
  • the grinder is not pressurized at a stretch until the set value current matches the load current value, and the pressure is gradually increased during an arbitrarily set extension time 9.
  • This extension time 9 can be input as, for example, one second or three seconds. The control during this extension time does not produce a noticeable step between the non-grinding point and the grinding point from the grinding start position to the position where the set value current and the load current value match, and very smooth and high grinding Quality can be ensured.
  • the control device 4 can increase the pressure to approximately the desired pressure by controlling the pressure speed to be constant so as to reach the set value current when the extension time 9 has elapsed. However, if the set value current and load current value match during the extension time, it is desirable that no further pressing is performed and no downward pressing of the elevation slider 3 be performed in order to prevent over-grinding. .
  • grinding is performed while performing control to match the set value current and the load current value as described above (normal grinding execution time 10).
  • the grinding is finished (finishing of grinding 11)
  • the rotation of the grinding wheel 6 is stopped, the robot travel is ended, and the grinding wheel 6 is raised to finish the grinding.
  • the above configuration it is possible to prevent the occurrence of a noticeable step between the non-grinding point and the grinding point at the grinding start position, and the grinding quality is improved. Moreover, since it is not necessary to direct the industrial robot to directly indicate the above-mentioned operation of the grinding start position, the versatility is excellent. In addition, automatic grinding is possible even on complicated grinding surfaces, so manual labor is unnecessary and safety is high. Further, since the lift slider 3 can be operated independently of the industrial robot, the inspection and maintenance of the automatic grinding apparatus 1 is easy.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Food-Manufacturing Devices (AREA)

Abstract

An automatic grinding apparatus for grinding an object using a grinder, in which the load current increases or decreases according to the magnitude of the amount of grinding per unit time, is provided with: an electric current-detecting means for detecting the load current of the grinder; a control device for comparing the set current value for the grinder with the detected load current value and controlling a lift mechanism so as to adjust the distance between the grinder and the surface of the object to be ground and adjust the amount of grinding per unit time so that the load current becomes a constant value; and a head for mounting on a work robot that can move in three dimensions. Said control device comprises a means for securing, in a grinding start operation, a specified extension time from the time of contact of the grinder grinding surface until the load current reaches a fixed value, and for slowly raising the pressurizing force on the grinding surface during said specified extension time, etc.

Description

自動研削装置Automatic grinding machine
本発明は、自動研削装置に関する。より具体的には、グラインダを制御して研削除去量を一定にする自動研削装置に関する。 The present invention relates to an automatic grinding apparatus. More specifically, the present invention relates to an automatic grinding apparatus that controls a grinder to make a grinding removal amount constant.
グラインダによる研削作業は、溶接ビードの余盛除去、切断部材のバリ取り、鋳肌面の仕上げなど多岐にわたる。砥石を使用するグラインダ研削では、必然的に砥石の消耗を伴い、研削能率を高めるとそれだけ砥石の消耗が多くなり、切粉の飛散などにより、手作業であると過酷な作業となる。 Grinding operations by the grinder are diverse, such as removal of weld bead overburden, deburring of cut members, and finishing of cast surface. In grinder grinding using a grindstone, consumption of the grindstone is inevitably accompanied by wear of the grindstone, and the wear of the grindstone increases as the grinding efficiency is increased.
このため、グラインダによる自動研削装置が開示されている（特許文献１）。この装置は、単位時間当りの研削量の大小に応じて負荷電流が増減する電子グラインダを用いて溶接余盛を研削除去する装置であって、溶接線に沿って一定の速度で移動しうる走行台車上に横方向移動枠及び昇降機構を介して３次元的に可動に支持された電子グラインダと、電子グラインダの負荷電流を検出する電流検出手段と、前記電子グラインダの電流設定値と負荷電流検出値とを比較して、負荷電流が一定値となるように、電子グラインダと溶接余盛の被研削面との間の距離を調整して単位時間当りの研削量を加減すべく前記昇降機構を制御する制御回路と、前記電子グラインダの負荷電流が限界値に達したとき、前記電子グラインダの回転停止、上昇退避並びに走行停止の動作信号を出力する過負荷防止回路と、を有することを特徴とする溶接余盛の自動研削装置（請求項１）からなる。この装置によれば、電子グラインダの負荷電流を検出し、比較器によって設定電流値と比較して、実際の負荷電流が設定電流値より小さいときは電子グラインダを下降（加圧）させ、逆に実際の負荷電流が設定電流値より大きいときは電子グラインダを上昇させるように昇降機構を制御する。電子グラインダの負荷電流は一定に保持されるから、走行機構（走行台車）の移動速度が一定である限り、常に一定量の余盛を研削除去することが可能となる（「作用」）。 For this reason, the automatic grinding apparatus by a grinder is disclosed (patent document 1). This device is a device for grinding and removing welding excess deposits using an electronic grinder whose load current is increased or decreased according to the amount of grinding per unit time, and is capable of moving at a constant speed along a welding line An electronic grinder movably supported three-dimensionally on a carriage via a lateral movement frame and an elevating mechanism, current detection means for detecting a load current of the electronic grinder, current setting value of the electronic grinder and load current detection The lift mechanism is adjusted to adjust the distance between the electronic grinder and the surface to be ground of the welding excess to adjust the amount of grinding per unit time so that the load current becomes a constant value by comparing with the value. It has a control circuit to control, and an overload prevention circuit that outputs an operation signal of rotation stop, rise and retraction and stop of traveling of the electronic grinder when the load current of the electronic grinder reaches a limit value. Automatic grinding apparatus of the weld surplus Sheng that consists (claim 1). According to this apparatus, the load current of the electronic grinder is detected and compared with the set current value by the comparator, and when the actual load current is smaller than the set current value, the electronic grinder is lowered (pressurized), conversely When the actual load current is larger than the set current value, the elevating mechanism is controlled to raise the electronic grinder. Since the load current of the electronic grinder is kept constant, as long as the moving speed of the traveling mechanism (traveling carriage) is constant, it is possible to always grind and remove a certain amount of overfill ("action").
しかしながら、近年は研削すべき対象の形状は複雑なものも多く、直線的な走行機構では対応できないものも存在する。しかしながら、国際競争力を維持するためには、これらの対象についても自動で研削を可能にすることが望まれる。同時に、より研削品質をさらに向上されることも望まれている。 However, in recent years, the shape of the object to be ground is often complicated, and some can not be handled by a linear traveling mechanism. However, in order to maintain international competitiveness, it is desirable to enable grinding of these objects automatically. At the same time, it is also desired that the grinding quality be further improved.
実開平06-083254号公報Japanese Utility Model Publication No. 06-083254
そこで、本願発明は、複雑な形状の対象も研削可能で、安全性が高く、研削品質を高めた自動研削装置を提供することを目的とする。 Therefore, the present invention aims to provide an automatic grinding apparatus capable of grinding an object having a complicated shape, having high safety, and having improved grinding quality.
上記課題を解決するため、本発明の自動研削装置は、単位時間当りの研削量の大小に応じて負荷電流が増減するグラインダを用いて溶接余盛、黒皮、バリ等の対象を研削する装置であって、グラインダの負荷電流を検出する電流検出手段と、前記グラインダの電流設定値と負荷電流検出値とを比較して、負荷電流が一定値となるように、グラインダと対象の被研削面との間の距離を調整して単位時間当りの研削量を加減すべく前記昇降機構を制御する制御装置と、３次元移動可能な産業ロボットへの装着ヘッドを備え、当該制御装置が、研削開始動作において、グラインダの研削面接触後の加圧制御開始時から、負荷電流が一定値となるまでに所定の延長時間を確保し、当該所定の延長時間中に、研削面への加圧力を徐々に上昇させる手段を備えることからなる。 In order to solve the above problems, an automatic grinding apparatus according to the present invention is an apparatus for grinding an object such as welding excess, black skin, burr or the like using a grinder whose load current is increased or decreased according to the amount of grinding per unit time. The current detection means for detecting the load current of the grinder, and the current setting value of the grinder and the load current detection value are compared, and the grinder and the surface to be ground of the object such that the load current becomes a constant value. Control device for controlling the elevating mechanism to adjust the distance between them and adjust the amount of grinding per unit time, and a mounting head for an industrial robot capable of three-dimensional movement, and the control device starts grinding In operation, from the start of pressure control after contacting the grinding surface of the grinder, a predetermined extension time is secured until the load current reaches a constant value, and during the predetermined extension time, the pressure applied to the grinding surface is gradually increased. Means to raise Consisting be obtained.
また、本発明の自動研削装置は、単位時間当りの研削量の大小に応じて負荷電流が増減するグラインダを用いて対象を研削除去する装置であって、グラインダの負荷電流を検出する電流検出手段と、前記グラインダの電流設定値と負荷電流検出値とを比較して、負荷電流が一定値となるように、グラインダと対象の被研削面との間の距離を調整して単位時間当りの研削量を加減すべく前記昇降機構を制御する制御装置と、３次元移動可能な産業ロボットへの装着ヘッドを備え、当該制御装置が、研削開始動作において、グラインダの研削面接触後の加圧制御開始時から、所定の延長時間を確保し、当該所定の延長時間中、下降動作により制御負荷電流検出値を徐々に上昇させる手段を備えることからなる。 The automatic grinding apparatus according to the present invention is an apparatus for grinding and removing an object using a grinder whose load current is increased or decreased according to the amount of grinding per unit time, and a current detecting means for detecting the load current of the grinder. And the current setting value of the grinder and the load current detection value are adjusted, and the distance between the grinder and the surface to be ground of the object is adjusted so that the load current becomes a constant value, and grinding per unit time Control device for controlling the elevating mechanism to adjust the amount, and a mounting head for an industrial robot capable of three-dimensional movement, the control device starting pressure control after contact with the grinding surface of the grinder in the grinding start operation From time to time, it comprises providing a means for securing a predetermined extension time and gradually increasing the control load current detection value by the lowering operation during the predetermined extension time.
また、前記所定の時間を任意の時間に設定し制御する手段を備えることが好適である。また、研削開始動作において、加圧制御開始加圧力を、電流設定値と負荷電流検出値が一致する加圧力よりも低くする手段を備えることが好適である。また、研削開始動作において、研削面接触後の加圧制御開始時を任意で設定し制御する手段を備えることが好適である。 In addition, it is preferable to include means for setting and controlling the predetermined time to an arbitrary time. Further, in the grinding start operation, it is preferable to include means for making the pressure control start pressure lower than the pressure at which the current setting value and the load current detection value coincide with each other. In addition, in the grinding start operation, it is preferable to include means for arbitrarily setting and controlling the pressure control start time after the grinding surface contact.
本願発明は、複雑な形状の対象も研削可能としながら、安全性が高く、研削品質を高めたものである。上記した特許文献１の技術においては、水平及び鉛直方向の移動手段が主として直線的であったがために、より複雑な形状の対象に沿うことが難しい。しかし、本発明では、装着ヘッドを介して産業用ロボット手首に搭載することで、曲面など複雑な形状や複数箇所の研削を可能にしている。また、産業用ロボットに搭載することで、グラインダ自体に特殊なセンサや平行機構を必要とせず、また研削姿勢に影響を受けず追随性能に優れる。 The present invention has high safety and improved grinding quality while making it possible to grind objects of complicated shapes. In the technique of Patent Document 1 described above, since the moving means in the horizontal and vertical directions are mainly linear, it is difficult to conform to a more complicated object. However, in the present invention, by mounting it on the industrial robot wrist through the mounting head, it is possible to grind a complicated shape such as a curved surface and a plurality of places. Moreover, by mounting it on an industrial robot, the grinder itself does not need a special sensor or parallel mechanism, and is excellent in following performance without being influenced by the grinding posture.
このように、産業用ロボットに搭載した自動研削装置は利点が多く、作業効率を向上させる。ただし、実際に試験を行うと、研削開始位置において非研削箇所と研削箇所に目立つ段差が発生し研削物が製品不良となる場合があることが判明した。これは、研削開始時にグラインダを下降させて研削する際、産業用ロボットは瞬時に研削開始位置に自動研削装置を下降させ、必要とされる加圧力を一気にかけることが可能（研削面に接触するまではグラインダは「下降」するが、研削面に接触した後も下降を続けた場合は、グラインダによる研削面への「加圧」となる。）だが、研削量が多い場合に必然的に段差が生じやすい上に、下降（加圧）スピードが高いと、想定位置と現実の位置の微妙な相違から、開始位置において想定値以上の研削がなされやすいことが原因ではないかと考えられた。そこで、本発明は、グラインダ側の制御装置により、研削開始動作において特異的にグラインダを、「そっと」研削面に触れさせて走行を開始し、「ゆっくりと」所定の負荷電流まで加圧することを可能にしたものである。すなわち、研削開始位置において、研削面に接触するまでの下降速度を調整できることを可能にし、また加圧制御開始時の加圧力を、設定電流値に相当する加圧力よりも低い加圧力とすることを可能にし、さらに加圧力を、走行しながら所望の一定値となるまで徐々に上昇するよう、所定の延長時間を設けたものである。この構成により、研削開始位置において非研削箇所と研削箇所の間に段差が発生せず、なめらかな研削品質を獲得しつつ、産業用ロボット側における複雑な制御設定を不要としたものである。 As described above, the automatic grinding apparatus mounted on the industrial robot has many advantages and improves the working efficiency. However, when the test was actually performed, it was found that a noticeable level difference may occur between the non-grinding point and the grinding point at the grinding start position, and the ground product may be a product failure. This enables the industrial robot to instantly lower the automatic grinding machine to the grinding start position and apply the required pressing force all at once (in contact with the grinding surface) when grinding is performed by lowering the grinder at the start of grinding The grinder "falls down" until it comes down, but if it continues to fall after contacting the grinding surface, it becomes "pressurization" to the grinding surface by the grinder. In addition, if the lowering (pressurizing) speed is high, it may be considered that the grinding at the starting position is more likely to be performed than the expected value, because of the subtle difference between the assumed position and the actual position. Therefore, according to the present invention, the control device on the grinder side causes the grinder to touch the grinding surface "softly" specifically in the grinding start operation to start traveling and pressurize the load current to "slowly" to a predetermined load current. It is made possible. That is, at the grinding start position, it is possible to adjust the descent speed until it comes in contact with the grinding surface, and to set the pressure at the start of pressure control to a pressure lower than the pressure corresponding to the set current value. In addition, a predetermined extension time is provided to gradually increase the pressure while traveling to a desired constant value. With this configuration, no level difference is generated between the non-grinding point and the grinding point at the grinding start position, so that smooth grinding quality can be obtained, and complicated control settings on the industrial robot side become unnecessary.
本願において、「徐々に上昇」とあるのは、一定の下降速度で上昇する場合、逓増する場合、何段階かに分けて上昇する場合のいずれをも含む。典型的には、一定の下降速度で上昇することが効率的及び品質的に好ましい。 In the present application, the term "slowly rising" includes rising at a constant falling speed, increasing in a stepwise manner, and rising in several stages. Typically, it is efficient and qualitatively preferable to rise at a constant downward speed.
「所定の延長時間」とは、加圧制御開始時から、加圧力及び／又は負荷電流検出値が徐々に上昇する間の時間であり、典型的には所定の延長時間経過時に、所望の加圧力（負荷電流検出値、電流設定値、又は負荷電流が電流設定値と一致すると想定される加圧力）となるよう制御される。通常、産業用ロボットの動作は非常に速く、瞬時にアームを上昇・下降させることができる。このため、仮に産業用ロボットにおいて、研削開始位置のみ加圧スピードを遅く設定させようとすると、産業用ロボット側で特異的にティーチングする必要が生じ、効率的ではない。そこで、本発明は、グラインダの制御装置側において、所定の延長時間経過時に所望の加圧力（負荷電流が電流設定値と一致すると想定される加圧力）となるよう、スライド機構の制御により下降（加圧）スピードを減少させて、走行しながら「ゆっくりと」加圧することとしたものである。 The "predetermined extension time" is the time during which the pressure and / or load current detection value gradually increases from the start of the pressure control, and typically the desired addition is performed when the predetermined extension time has elapsed. The pressure (load current detection value, current setting value, or pressurizing force assumed to be that the load current matches the current setting value) is controlled to be the pressure. Usually, the operation of the industrial robot is very fast, and the arm can be raised and lowered instantaneously. For this reason, if it is attempted to set the pressing speed only at the grinding start position to a low speed in the industrial robot, the industrial robot needs to be specifically taught, which is not efficient. Therefore, according to the present invention, on the control device side of the grinder, the slide mechanism is lowered by control of the slide mechanism so that a desired pressing force (a pressing force assumed to cause the load current to coincide with the current setting value) after a predetermined extension time has elapsed Pressurization) The speed is reduced, and "running" pressure is applied "slowly".
そして、所定の延長時間は、設定された値（例えば１秒など）として、固定した値とすることも可能であるが、回転スピードやグラインダ砥石素材、研削対象等によって望ましい延長時間が異なる場合もあることから、使用者が制御装置に対して任意の時間を入力することができることが好ましい。この入力された延長時間を基準に、延長時間経過時に電流設定値に対応する加圧力となるよう下降速度（加圧速度）を計算・調節して研削を実行する。ここで、入力される所定の延長時間を長く設定すれば、よりゆっくりと加圧を行うことが可能であり、より研削面はなだらかになる。一方、短く設定すれば、より素早く所望の値まで加圧させ、所定の研削量により早く達することが出来る。なお、延長時間経過時に、必ず負荷電流が電流設定値と一致しなければならないわけではなく、研削開始位置において過研削とならず、なめらかな研削品質が確保できるように制御されていれば良い。 The predetermined extension time may be fixed as a set value (for example, 1 second), but the desired extension time may differ depending on the rotation speed, the grinding stone material, the object to be ground, etc. From the point of view, it is preferable that the user can input an arbitrary time to the control device. Grinding is performed by calculating and adjusting the lowering speed (pressing speed) so that the pressing force corresponding to the current set value is obtained when the extension time has elapsed based on the input extension time. Here, if the predetermined extension time to be input is set long, it is possible to perform pressing more slowly, and the grinding surface becomes smoother. On the other hand, if it is set short, the pressure can be increased to the desired value more quickly, and the predetermined amount of grinding can be reached more quickly. When the extension time has elapsed, the load current does not necessarily have to match the current setting value, and control may be performed so as to ensure smooth grinding quality without excessive grinding at the grinding start position.
さらに、研削開始位置において、研削面に接触するまでの下降速度を調整できることを可能にする手段と、グラインダの研削面への接触開始時加圧力を、電流設定値と負荷電流検出値が一致する加圧力よりも低くする手段を備えることで、研削面に最初に接触した時、より軽い加圧力でグラインダが研削面に接触することとしたものである。すなわちグラインダが研削面に「そっと」触れることを可能にしたものである。加圧制御開始加圧力は、好ましくは使用者が制御装置に対して任意の値を入力することができることが好ましい。例えば、電流設定値と負荷電流検出値が一致する加圧力を１００とした時、その１～１００％中で任意に設定することできるよう構成することが挙げられる。１０％程度であれば、非常にソフトに加圧制御が開始されることとなり、９０％であれば、ほぼ必要とされる加圧力に近い状態から加圧制御が開始されることになる。研削面に接触するまでの下降速度も、通常の下降速度に対して例えば１～１００％中で任意に設定することできるよう構成することができる。いずれにしても、研削開始動作における、加圧制御開始加圧力が、実質的に電流設定値と負荷電流検出値が一致する加圧力よりも低い値で接触させることができれば良い。 Furthermore, in the grinding start position, the current setting value and the load current detection value coincide with means for enabling adjustment of the lowering speed until coming into contact with the grinding surface and the pressing force at the start of contact with the grinding surface of the grinder. By providing means for lowering the pressure, the grinder contacts the grinding surface with a lighter pressure when the grinding surface is first contacted. That is, it enables the grinder to touch the grinding surface "softly". Pressure control start pressure is preferably allowing the user to input any value to the control device. For example, when a pressing force at which the current setting value and the load current detection value coincide with each other is 100, the configuration can be made such that it can be arbitrarily set within 1 to 100%. If it is about 10%, the pressure control will be started very softly, and if it is 90%, the pressure control will be started from a state close to the required pressure. The lowering speed to contact with the grinding surface can also be configured to be arbitrarily set, for example, in 1 to 100% with respect to the normal lowering speed. In any case, it is only necessary that the pressing control start pressing force in the grinding start operation can be brought into contact with a value lower than the pressing force at which the current setting value and the load current detection value substantially coincide.
本願発明において、延長時間を設けて走行しながら加圧力を徐々に上昇させることと、研削面接触時に下降加圧力が減少させることを両方組み合わせると、簡単な作業でいかなる研削対象にもフレキシブルに対応が可能で、研削効率も研削品質も向上するものである。 In the present invention, combining the gradual increase in pressure while traveling with an extended time and the decrease in downward pressure at the time of contact with the grinding surface make it possible to flexibly cope with any grinding object with a simple operation. And improve the grinding efficiency and the grinding quality.
そして、延長時間経過後は、グラインダの電流設定値と負荷電流検出値とを比較して、負荷電流が一定値となるように、グラインダと対象の被研削面との間の距離を調整して単位時間当りの研削量を加減すべく前記昇降機構を制御しながら、研削が進むものである。グラインダ側の制御装置から産業用ロボットに走行開始信号を出力することで、産業用ロボット側での設定作業が不要になるため、産業用ロボットの選択について汎用性の高い装置として提供することができる。 Then, after the extension time has elapsed, the current setting value of the grinder and the load current detection value are compared, and the distance between the grinder and the surface to be ground of the object is adjusted so that the load current becomes a constant value. Grinding proceeds while controlling the elevating mechanism to adjust the grinding amount per unit time. By outputting the travel start signal to the industrial robot from the control device on the grinder side, the setting operation on the industrial robot side is not necessary, so that it is possible to provide as a versatile apparatus for selecting the industrial robot. .
本発明によれば、複雑な形状の対象も研削可能で、汎用性及び安全性が高く、研削品質を高めた自動研削装置を提供することが出来る。 According to the present invention, it is possible to provide an automatic grinding apparatus capable of grinding objects having complicated shapes, having high versatility and safety, and having improved grinding quality.
図１は本発明の自動研削装置を示す図であるFIG. 1 is a view showing an automatic grinding apparatus of the present invention. 図２は本発明の制御の１例を示すタイムチャート図であるFIG. 2 is a time chart showing one example of the control of the present invention.
以下、図面を参照して本発明の実施の一例を説明する。
図１は、本発明の自動研削装置１を示す図である。グラインダ機構２が、昇降用スライダ３に設けられ、制御装置４及び高周波インバータ電源装置５と各々接続される。昇降用スライダ３は、上部装着ヘッドを介して産業用ロボット（図示せず）の手首先端に装脱着可能に構成されている。昇降スライダ３は、グラインダ砥石６と対象の被研削面との間の高さ方向の距離を制御する。昇降用モータにより昇降スライダ３は上下方向に摺動自在となっており、制御装置４を介して昇降用モータを正逆転させることで、グラインダ砥石６を上昇・下降させることができる。グラインダ機構２、昇降用スライダ３、制御装置４、高周波インバータ電源装置５及び産業用ロボットは、各種ケーブルによって相互に電気的に接続される。 Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a view showing an automatic grinding apparatus 1 of the present invention. A grinder mechanism 2 is provided on the lifting slider 3 and is connected to the control device 4 and the high frequency inverter power supply device 5 respectively. The lifting slider 3 is configured to be attachable to and detachable from the wrist tip of an industrial robot (not shown) via an upper mounting head. The elevation slider 3 controls the distance in the height direction between the grinder whetstone 6 and the surface to be ground of the object. The elevating slider 3 is slidable in the vertical direction by the elevating motor, and by rotating the elevating motor forward and reverse via the control device 4, the grinder whetstone 6 can be raised and lowered. The grinder mechanism 2, the elevating slider 3, the control device 4, the high frequency inverter power supply device 5 and the industrial robot are electrically connected to one another by various cables.
制御装置４は、電流設定値とグラインダ機構２の負荷電流検出値とを比較して、負荷電流が一定値となるように、グラインダ砥石６と対象の被研削面との間の距離及び加圧力を調整する。制御装置４は、グラインダ砥石６の単位時間当りの研削量を一定に保ち、あるいは加減すべく昇降スライダ３を制御するためのものであって、グラインダモータの負荷電流を整流する整流素子と、整流された出力のノイズを除く平滑化回路と、前記負荷電流と設定値電流とを比較する比較器の算出・出力により昇降用モータの正逆転を決定する正逆切換器とを内蔵したシーケンサを備える。比較器はあらかじめ電流値設定器に設定された電流値と前記負荷電流とを比較し、その差の絶対値があらかじめ感度調整回路で定められた値を超えたときは、正逆切換え器から上昇または下降の信号を出力させる。グラインダ機構２の負荷電流が設定電流値より小さいときはグラインダを下降させ、逆に実際の負荷電流が設定電流値より大きいときはグラインダを上昇させるように昇降機構を駆動して一定量の余盛を研削除去することができる。入力項目としては、設定電流値のほか、研削面に接触するまでの下降速度、接触開始時加圧力、研削面接触時から負荷電流が一定値となるまでの所定の延長時間も含む。研削面に接触するまでの下降速度が設定された場合、通常の下降速度に対して減速した速度で昇降機構を制御する。接触開始時加圧力が設定された場合、設定値電流と負荷電流値が一致する加圧力に対して減じられた加圧力で対象に接するよう制御され、ロボットへ走行信号を送信し、ロボットが走行を始める。所定の延長時間が設定された場合、延長時間が経過した時に設定値電流と負荷電流値が一致するよう、徐々に加圧力を上昇させる制御を行う。これら設定は制御装置のタッチパネル等の入力機構により行う構成が好ましいが、上記手段を実現できる構成であれば、特に限定されない。 The control device 4 compares the current setting value with the load current detection value of the grinder mechanism 2, and the distance between the grinder whetstone 6 and the surface to be ground of the object and the pressing force so that the load current becomes a constant value. Adjust the The control device 4 is for controlling the elevation slider 3 so as to maintain or adjust the grinding amount per unit time of the grinder stone 6 constant, or a rectification element for rectifying the load current of the grinder motor, and the rectification A sequencer incorporating a smoothing circuit for removing the noise of the output, and a forward / reverse switch for determining forward / reverse of the elevating motor by the calculation / output of the comparator which compares the load current with the set value current . The comparator compares the load current with the current value previously set in the current value setter, and when the absolute value of the difference exceeds the value previously determined by the sensitivity adjustment circuit, the voltage rises from the forward / reverse switcher Or output a falling signal. The lift mechanism is driven to lower the grinder when the load current of the grinder mechanism 2 is smaller than the set current value, and to raise the grinder when the actual load current is larger than the set current value. Can be ground off. The input items include, in addition to the set current value, a descending speed before contact with the grinding surface, a pressing force at the start of contact, and a predetermined extension time from contact of the grinding surface to a constant value of the load current. When the descent speed until contact with the grinding surface is set, the elevating mechanism is controlled at a speed reduced with respect to the normal descent speed. When the pressing force at the start of contact is set, control is performed so as to contact the object with the pressing force that is reduced with respect to the pressing force at which the set value current and the load current value match, and transmit a travel signal to the robot Get started. When the predetermined extension time is set, control is performed to gradually increase the pressing force so that the set value current and the load current value coincide with each other when the extension time has elapsed. The setting is preferably performed by an input mechanism such as a touch panel of the control device, but is not particularly limited as long as the above means can be realized.
図２は、本発明の制御の１例を示すタイムチャート図である。まず、産業用ロボットの動作によりグラインダ砥石６が研削開始位置の真上まで移動する。その後、産業用ロボットより起動信号を受信し、グラインダ砥石６の回転が開始する。そして、予備時間（２秒）を経過した後、昇降スライダ３が下降し、研削面に接触する（研削面接触検出時７）。この時の下降速度は、任意で制御装置４に入力された下降速度であり、「そっと」接することが可能となっている。接触を負荷電流変化により検知すると同時に、制御装置４は産業用ロボットへ走行信号を出し産業用ロボットが走行を開始する。また、加圧制御も開始されるが、加圧制御開始加圧力８は、電流設定値に相当する加圧力に比べて低い。この加圧制御開始加圧力８は、制御装置４に対して任意に設定された値となっている。たとえば、入力された値が５０％であれば、制御装置４は研削開始位置における設定値電流を５０％とすることで、上記の昇降制御と同様の方法により、研削開始位置は走行時加圧力に対しおよそ５０％の力で加圧することになる。 FIG. 2 is a time chart diagram showing an example of the control of the present invention. First, the grinder stone 6 is moved to just above the grinding start position by the operation of the industrial robot. Thereafter, a start signal is received from the industrial robot, and the rotation of the grinder whetstone 6 is started. Then, after the preliminary time (2 seconds) has elapsed, the lift slider 3 is lowered and contacts the grinding surface (at the time of the grinding surface contact detection 7). The descent speed at this time is a descent speed optionally input to the control device 4 and can be “softly” touched. At the same time as the contact is detected by the load current change, the control device 4 outputs a traveling signal to the industrial robot, and the industrial robot starts traveling. Further, although the pressure control is also started, the pressure control start pressure 8 is lower than the pressure corresponding to the current setting value. The pressure control start pressure 8 is a value arbitrarily set with respect to the control device 4. For example, if the input value is 50%, the control device 4 sets the set value current at the grinding start position to 50%, and the grinding start position is the pressure applied during traveling by the same method as the elevation control described above. It will pressurize with about 50% of power.
グラインダが設定値電流と負荷電流値が一致する加圧力までは、一気に加圧がされることはなく、任意に設定された延長時間９の間、徐々に強められる。この延長時間９は、例えば１秒や３秒などとして入力することができる。この延長時間中の制御により、研削開始位置から、設定値電流と負荷電流値が一致する位置までの間、非研削箇所と研削箇所に目立つ段差を生じさせることがなく、非常になめらかで高い研削品質を確保することができる。 The grinder is not pressurized at a stretch until the set value current matches the load current value, and the pressure is gradually increased during an arbitrarily set extension time 9. This extension time 9 can be input as, for example, one second or three seconds. The control during this extension time does not produce a noticeable step between the non-grinding point and the grinding point from the grinding start position to the position where the set value current and the load current value match, and very smooth and high grinding Quality can be ensured.
制御装置４は、延長時間９の経過時に設定値電流となるよう加圧スピードを一定で制御すれば、ほぼ所望の加圧力まで強めることができる。ただし、もし延長時間中に設定値電流と負荷電流値が一致した時は、過研削を防ぐために、それ以上加圧を実行することはなく昇降スライダ３の下降加圧は行われないことが望ましい。設定値電流と負荷電流値が一致した時又は延長時間９が経過した後、上記の通り、設定値電流と負荷電流値が一致する制御を行いながら研削を実行する（通常研削実行時１０）。研削が終了すると（研削終了時１１）、グラインダ砥石６の回転を停止し、ロボット走行を終了させ、グラインダ砥石６を上昇させて研削を終了させる。 The control device 4 can increase the pressure to approximately the desired pressure by controlling the pressure speed to be constant so as to reach the set value current when the extension time 9 has elapsed. However, if the set value current and load current value match during the extension time, it is desirable that no further pressing is performed and no downward pressing of the elevation slider 3 be performed in order to prevent over-grinding. . When the set value current and the load current value match, or after the extension time 9 has elapsed, grinding is performed while performing control to match the set value current and the load current value as described above (normal grinding execution time 10). When the grinding is finished (finishing of grinding 11), the rotation of the grinding wheel 6 is stopped, the robot travel is ended, and the grinding wheel 6 is raised to finish the grinding.
以上の構成により、研削開始位置に非研削箇所と研削箇所に目立つ段差が発生することを防止し、研削品質が向上する。また、産業用ロボットに研削開始位置の上記動作を直接指示させる必要がないため、汎用性に優れる。また、複雑な研削面に対しても自動研削を可能にしているため、手作業が不要で安全性も高い。また、昇降スライダ３は産業用ロボットから独立させて作動可能であることから、自動研削装置１の点検・メンテナンスが容易である。
　 According to the above configuration, it is possible to prevent the occurrence of a noticeable step between the non-grinding point and the grinding point at the grinding start position, and the grinding quality is improved. Moreover, since it is not necessary to direct the industrial robot to directly indicate the above-mentioned operation of the grinding start position, the versatility is excellent. In addition, automatic grinding is possible even on complicated grinding surfaces, so manual labor is unnecessary and safety is high. Further, since the lift slider 3 can be operated independently of the industrial robot, the inspection and maintenance of the automatic grinding apparatus 1 is easy.

Claims (7)

  1. 単位時間当りの研削量の大小に応じて負荷電流が増減するグラインダを用いて対象を研削する装置であって、グラインダの負荷電流を検出する電流検出手段と、前記グラインダの電流設定値と負荷電流検出値とを比較して、負荷電流が一定値となるように、グラインダと対象の被研削面との間の距離を調整して単位時間当りの研削量を加減すべく前記昇降機構を制御する制御装置と、３次元移動可能な産業ロボットへの装着ヘッドを備え、当該制御装置が、研削開始動作において、グラインダの研削面接触時から、負荷電流が一定値となるまでに所定の延長時間を確保し、当該所定の延長時間中に、研削面への加圧力を徐々に上昇させる手段を備えることを特徴とする自動研削装置。 A device for grinding an object using a grinder in which a load current is increased or decreased according to the amount of grinding per unit time, which is a current detection unit for detecting a load current of the grinder, a current setting value of the grinder and a load current The lift mechanism is controlled to adjust the amount of grinding per unit time by adjusting the distance between the grinder and the surface to be ground of the object so as to make the load current a constant value by comparing it with the detected value. A controller and a mounting head for a three-dimensionally movable industrial robot are provided, and in the grinding start operation, the controller extends a predetermined extension time until the load current reaches a constant value from the time of contact with the grinding surface of the grinder. An automatic grinding apparatus comprising: means for securing and gradually increasing the pressure on the grinding surface during the predetermined extension time.
  2. 単位時間当りの研削量の大小に応じて負荷電流が増減するグラインダを用いて対象を研削除去する装置であって、グラインダの負荷電流を検出する電流検出手段と、前記グラインダの電流設定値と負荷電流検出値とを比較して、負荷電流が一定値となるように、グラインダと対象の被研削面との間の距離を調整して単位時間当りの研削量を加減すべく前記昇降機構を制御する制御装置と、３次元移動可能な産業ロボットへの装着ヘッドを備え、当該制御装置が、研削開始動作において、グラインダの研削面接触後の加圧制御開始時から、所定の延長時間を確保し、当該所定の延長時間中、下降動作により制御負荷電流検出値を徐々に上昇させる手段を備えることを特徴とする自動研削装置。 A device for grinding and removing an object using a grinder in which a load current changes according to the amount of grinding per unit time, which is a current detection unit for detecting a load current of the grinder, a current setting value of the grinder and a load Control the elevating mechanism to adjust the amount of grinding per unit time by adjusting the distance between the grinder and the surface to be ground of the object so as to make the load current a constant value by comparing it with the current detection value Controller, and a mounting head for a three-dimensionally movable industrial robot, and the controller secures a predetermined extension time from the start of pressure control after contact with the grinding surface of the grinder in the grinding start operation. An automatic grinding apparatus comprising: means for gradually increasing a control load current detection value by a lowering operation during the predetermined extension time.
  3. 　前記所定の時間を任意の時間に設定し制御する手段を備えることを特徴とする請求項１又は２に記載の自動研削装置。 The automatic grinding apparatus according to claim 1 or 2, further comprising means for setting and controlling the predetermined time to an arbitrary time.
  4. 　研削開始動作において、グラインダの研削面へ加圧制御開始加圧力を、電流設定値と負荷電流検出値が一致する加圧力よりも低くする手段を備えることを特徴とする請求項１から３のいずれか１項に記載の自動研削装置。 4. The grinding start operation according to any one of claims 1 to 3, further comprising means for making the pressure control start pressing force to the grinding surface of the grinder lower than the pressing force at which the current setting value and the load current detection value coincide. The automatic grinding apparatus according to any one of the preceding claims.
  5. 　研削開始動作において、グラインダの研削面への加圧制御開始加圧力を任意で設定し制御する手段を備えることを特徴とする請求項１から４のいずれか１項に記載の自動研削装置。 The automatic grinding apparatus according to any one of claims 1 to 4, further comprising means for arbitrarily setting and controlling a pressing control start pressing force on the grinding surface of the grinder in the grinding start operation.
  6. 研削面に接触するまでのグラインダの下降速度を任意で設定し制御する手段を備えることを特徴とする請求項１から５のいずれか１項に記載の自動研削装置。 The automatic grinding apparatus according to any one of claims 1 to 5, further comprising means for arbitrarily setting and controlling the lowering speed of the grinder until it comes into contact with the grinding surface.
  7. 単位時間当りの研削量の大小に応じて負荷電流が増減するグラインダを用いて対象を研削する装置であって、グラインダの負荷電流を検出する電流検出手段と、前記グラインダの電流設定値と負荷電流検出値とを比較して、負荷電流が一定値となるように、グラインダと対象の被研削面との間の距離を調整して単位時間当りの研削量を加減すべく前記昇降機構を制御する制御装置と、３次元移動可能な産業ロボットへの装着ヘッドを備えていることを特徴とする自動研削装置。
    　     A device for grinding an object using a grinder in which a load current is increased or decreased according to the amount of grinding per unit time, which is a current detection unit for detecting a load current of the grinder, a current setting value of the grinder and a load current The lift mechanism is controlled to adjust the amount of grinding per unit time by adjusting the distance between the grinder and the surface to be ground of the object so as to make the load current a constant value by comparing it with the detected value. An automatic grinding apparatus comprising: a control device; and a mounting head for a three-dimensionally movable industrial robot.
PCT/JP2018/003782 2017-06-20 2018-02-05 Automatic grinding apparatus WO2018235328A1 (en)

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