PURPOSE: To carry out accurately grinding according to teaching by obtaining a grinding point and the displacement of same of a grinding wheel after wear from the grinding point, grinding wheel mounting angle and grinding wheel wear amount in the teaching of a robot for grinding with this grinding point.
CONSTITUTION: By a grinding wheel 02 at an end of a robot arm 11 contacting the upper end of a probe of a wear measuring unit 20, displacement Δd of grinding point of the grinding wheel 02 from the reference position in the teaching of the grinding wheel 02 is measured. And the coordinates of moved point after wear are obtained from the coordinates X1, Y1 of contact point of the grinding wheel 02 according to a predetermined calculation formula by a computer 23. According to this displacement is expanded and contracted the robot arm 11 and corrected the grinding point of the grinding wheel 02 to perform grinding at a new grinding point. Thus, accurate grinding can be carried out according to teaching line.
ENDO MAKOTO
KAWABUCHI HIDETOSHI
OCHIAI ICHIRO
| JPS58126065A | 1983-07-27 | |||
| JPS5577462A | 1980-06-11 | |||
| JPS5244476A | 1977-04-07 |