JP2926337B2 - Automatic water research equipment and method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial application field) The present invention relates to an automatic water research apparatus configured to perform a water research operation on a workpiece fed at a predetermined speed by bringing a polishing tool into contact with the workpiece. It is about the method.

(Prior Art) The water laboratory work is a work of performing polishing while pouring water into a work. For example, as disclosed in Japanese Patent Application Laid-Open No. 58-64157, an automatic water work is performed. Laboratory equipment is also known. In general, this automatic water research apparatus is configured so that a polishing tool is brought into contact with a work fed at a predetermined speed to perform a water research operation on the work.

(Problems to be Solved by the Invention) However, in the conventional automatic water research apparatus, the work feeding operation and the abutment operation of the polishing tool with respect to the work are configured to be independently controlled. If the feed speed of the polishing tool is not constant due to the so-called shearing phenomenon or tact variation, the contact position and contact angle of the polishing tool with respect to the work are shifted, and the water polishing work cannot be performed accurately.

The present invention has been made in view of such circumstances, and provides an automatic water research apparatus and method capable of accurately performing a water research operation even when a change occurs in the feed speed of a work. It is intended to do so.

(Means for Solving the Problems) The automatic water research apparatus according to the invention described in claim 1 of the present application is configured so that a polishing tool is brought into contact with a work fed at a predetermined speed to perform a water research operation on the work. In the automatic water polishing apparatus, the storage means for storing data representing a preset contact operation of the polishing tool with respect to the workpiece corresponding to the feed position of the workpiece, and calculating a tilt of the workpiece in a horizontal plane. A step position calculating unit that stores data representing a new contact operation in the storage unit based on the calculation result and the data representing the contact operation, a detecting unit that detects a feed position of the workpiece, Means for reading the contacting operation of the polishing tool corresponding to the workpiece feed position detected by the means from the storage means, and based on the data, the polishing tool Those characterized by comprising a control means for controlling the contact operation to the workpiece.

Further, in the automatic water polishing apparatus according to the invention described in claim 2 of the present application, the control of the contact operation of the polishing tool by the control means is control of the contact position of the polishing tool with the workpiece. It is a feature.

Further, in the automatic water polishing apparatus according to the invention described in claim 3 of the present application, the control of the contact operation of the polishing tool by the control means is control of the contact angle of the polishing tool with the workpiece. It is a feature.

Still further, in the automatic water polishing apparatus according to the invention described in claim 4 of the present application, the control of the contact operation of the polishing tool by the control means is control of the approach speed of the polishing tool to the workpiece. It is a feature.

On the other hand, the automatic water polishing apparatus according to the invention described in claim 5 of the present application is characterized in that the control of the contact operation of the polishing tool by the control means is control of the pressing pressure of the polishing tool against the work. It is assumed that.

The automatic water polishing method according to the invention described in claim 6 of the present application is the automatic water polishing method in which a polishing tool is brought into contact with a work fed at a predetermined speed to perform a water polishing operation on the work. In the storage means, data representing a preset contact operation of the polishing tool corresponding to the work is stored in storage means, and data representing the contact operation is calculated by a step position calculating means to determine the inclination of the work in the horizontal plane. Based on the calculation result and the data representing the contact operation, the data is stored in the storage means as data representing a new contact operation, and the feed position of the work is detected at the time of the water research, and the detected Data representing the contact operation of the polishing tool corresponding to the feed position of the work is read out from the storage means, and the contact movement of the polishing tool to the work is performed based on the data. It is characterized in that to control the.

(Operation) In the present invention, data representing a preset contact operation of the polishing tool with respect to the workpiece corresponding to the feed position of the workpiece is stored in the storage means, and the step position of the polishing tool is calculated. Based on the data representing the contact operation and the data representing the contact operation, the data is stored in the storage means as data representing a new contact operation. Data representing the contact operation of the tool is read out from the storage means, and the contact operation of the polishing tool with respect to the workpiece is controlled based on this data, so that the position of the polishing tool with respect to the workpiece can be accurately corrected. There is no possibility that the contact position, the contact angle, and the like are shifted.

Therefore, according to the present invention, even when the feed speed of the work fluctuates, the water laboratory work can be performed accurately.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a side view showing an embodiment of the automatic water research apparatus according to the present invention, and FIG. 2 is a view taken in the direction of arrow II in FIG.

As shown in FIG. 1, the automatic water research apparatus 2 performs a water research operation on a body 4 that is a work that has been subjected to intermediate coating.
This is a device for smoothing the surface and thereby ensuring sufficient quality of the overcoating to be performed thereafter. The device is mounted on the trolley 6 and sent to the RIKEN station at a predetermined speed in the direction of arrow A. A plurality of polishing tools 8 and 10 are brought into contact with a car body 4 to be subjected to water polishing work. This automatic water research equipment 2 comprises two water research robots 12 and 14 arranged in series in the direction of movement of the bogie, and each of the water research robots 12 and 14 has a wrapper as shown in FIG. It comprises six hydropolishing units 16 having a shaped polishing tool 8 and two hydropolishing units 18 having a cylindrical polishing tool 10. The six water research units 16 are respectively provided at equal intervals in the vertical direction on left and right pillar portions of a gate 20 formed so as to surround the vehicle body 4, and the two water research units 18 are: It is provided at a beam portion of the gate 20 at a predetermined interval in the horizontal direction.

Another RIKEN robot 14 also has a RIKEN unit
The configuration is the same as that of the above-mentioned RIKEN robot 12, except that the mounting positions of the gates 16 and 18 to the gate 20 are shifted by half a pitch with respect to that of the RIKEN robot 12. By arranging the two water research robots 12 and 14 having the water research units 16 and 18 mounted at a half-pitch offset in this way, the polishing tool 8 can be moved in the cross-sectional direction of the vehicle body 4 in FIG. ,
Even if the vehicle 10 is not moved, the surface of the vehicle body can be completely polished by feeding the carriage 6.

FIG. 3 is a sectional view showing the water research unit 16 in detail.

The water research unit 16 includes a shelf-shaped support base 22 fixed to the gate 20, an arm 24 whose base end is rotatably supported by the support base 22 in a horizontal direction, and a tip end of the arm 24. And the polishing tool 8 attached thereto.

The arm 24 is supported on the support base 22 via a direct drive motor 26. By driving the direct drive motor 26, the arm 24 is rotated in the direction indicated by arrow B (horizontal direction). ing. The arm 24 is supported at two points by a direct drive motor 26, whereby the vertical movement of the arm 24 is prohibited. However, each of the supports is provided via a bearing, whereby the arm 24 is allowed to rotate around its axis (the direction C in the drawing). The arm 24 includes a DC servo motor 32 provided with a harmonic drive mechanism 28 and an encoder 30.
Is rotated through the timing belt.

The arm 24 is formed to be hollow as shown in the figure, and hollow shafts 36 and 38 concentric with the arm 24 are rotatably supported independently of each other. The hollow shaft 36 includes a harmonic drive mechanism 40 and an encoder.
42 is rotated via a timing belt 46 by the drive of a DC servo motor 44 provided with the hollow shaft 38.
Are rotated via a timing belt 52 by driving an induction servomotor 50 provided with an encoder 48.

The arm 24 has a gear case 24a integrally formed at the distal end thereof, and rotates the hollow shafts 36 and 38 to rotate the bevel gears 54a, 54b and 56a, 56b in the gear case 24a.
The transmission is made in the direction of an axis orthogonal to the axis of the arm 24 via. That is, the rotation of the hollow shaft 36 is transmitted to the tool head 58 rotatably supported by the gear case 24a, and the rotation of the hollow shaft 38 is transmitted to the shaft 60 that is concentric with the tool head 58. The shafts 60 rotate independently in the direction D in the figure. The rotation of the shaft 60
Further, the power is transmitted in the axial direction orthogonal to the axis of the shaft 60 via the bevel gears 62a and 62b in the tool head 58. That is, the ring 64 formed integrally with the bevel gear 62b and rotatably supported by the tool head 58 rotates with the rotation of the shaft 60, whereby the tool shaft 66 concentrically spline-connected to the ring 64. Rotates in the direction E in the figure to rotate the polishing tool 8 attached to one end of the tool shaft 66. Therefore, the polishing tool 8 is supported by the arm 24 via the tool head 58.

The polishing tool 8 is made of a cellulosic sponge containing abrasive grains reinforced with cotton fiber, and has a ring-shaped tip surface 8a.
Comes into contact with the vehicle body 4, but the polishing tool 8
When the tool abuts against the vehicle body 4 and receives a reaction force from the vehicle body 4, the tool shaft 66 is displaced in the axial direction with respect to the ring 64. Such a displacement is allowed by a spring 68 interposed between the other end of the tool shaft 66 and the tool head 58, and a shock near the spring 68 prevents a sudden displacement of the shaft 66. A potentiometer 70 having a function as an absorber is provided to detect a reaction force from the vehicle body 4 (that is, a pressing pressure of the polishing tool 8 against the vehicle body 4).

A water supply passage is formed in the tool shaft 66 in the axial direction thereof, and the polishing liquid supplied from the water supply pipe 72 through the water supply passage is polished from a plurality of water inlets 74 located inside the polishing tool 8. Water is injected in the direction of the tip surface 8a of the tool 8. Since the water injection port 74 is located near the inner surface of the polishing tool 8, the polishing liquid flows along the inner surface to the tip surface 8a due to the centrifugal force accompanying the rotation of the polishing tool 8, whereby efficient water injection is performed. It will be.

Tip surface 8a rather than water inlet 74 inside polishing tool 8
On the side, a proximity sensor 76 for detecting the distance between the polishing tool 8 and the vehicle body 4 is provided.

FIG. 4 shows the polishing tool 10 of the other water research unit 18.
FIG. 4 is a cross-sectional view showing the tool head 78 in detail. The water research unit 18 is a water research unit shown in FIG.
On the other hand, the portion on the side closer to the support base 22 than the arm 24 has the same configuration.

As shown, the polishing tool 10 is rotatably supported at both ends by a tool head 78, and when a shaft 80 rotates by driving an induction servomotor (not shown), a bevel gear 82a, 82b and a spur gear train are formed. It is designed to rotate through 84.

The polishing tool 10 is made of the same material as the polishing tool 8, but has a plurality of corrugated grooves 10 on its outer peripheral surface in the circumferential direction.
a is formed, so that when the polishing tool 10 is brought into contact with the vehicle body 4, the polishing tool 10 adapts well to the surface shape of the vehicle body 4.
Also, by forming the groove 10a in a corrugated shape, the polishing tool 1
The polishing streaks due to 0 are hardly attached to the vehicle body 4.

In addition, both sides of the polishing tool 10 (perpendicular to the drawing)
A cover (not shown) is provided on the outside of the cover, and a proximity sensor (not shown)
76 (corresponding to 76).

FIG. 5 is a perspective view showing a feeding state of the vehicle body 4 in the water research process.

The bogie 6 on which the vehicle body 4 is mounted has a groove 88 formed on the floor.
It is connected via a towing rod 92 to a towing hook 90 that moves in the direction of the arrow F in the drawing, and is sent in the direction of the arrow F as the towing hook 90 moves.

A trolley position measuring device 94 is provided on the side of the trolley 6. This device 94 has an index belt 98 in which a pair of abutting pins 96 extending laterally to a position where it abuts on the front end surface of the bogie 6 is implanted at a position shifted by half a circle from each other, and the index belt 98 is wound around the index belt 98. And a servomotor 102 having an output shaft connected to the pair of pulleys 100. Then, the servo motor 102 positions the contact pin 96 at a predetermined position, and makes the contact with the front end of the carriage 6 entering the RIKEN station. The contact pin 96 is pressed against the carriage 6 by a torque. As a result, the bogie 6 is towed by the towing hook 90 while being urged backward by the abutting pin 96. Therefore, even if the movement of the towing hook 90 fluctuates due to shaking or the like, the abutment pin 96 is moved. It can be kept in close contact with the carriage 6.

The servomotor 102 is provided with a pulse encoder 104, and the pulse encoder 104 measures the rotation of the servomotor 102 in accordance with the movement of the contact pin 96 by a pulse to detect the feed position of the bogie 6 with high accuracy. It is supposed to. When the trolley 6 enters the RIKEN station, after the trolley 6 contacts the contact pin 96,
The passage of the vehicle body 4 on the carriage 6 is detected by a photoelectric switch (not shown). Therefore, the positional relationship between the bogie 6 and the vehicle body 4 in the feed direction becomes clear, and therefore, the feed position of the vehicle body 4 itself is also detected by the pulse encoder 104 with high accuracy.

When the truck 6 is fed to a position where the position detection is no longer required, the servo motor 102 feeds the index belt 98 by a predetermined amount to position the illustrated contact pin 96 below the truck 6 and to move the other end of the other. An abutment pin (not shown) is provided on the next bogie so as to wait at a predetermined position.

FIG. 6 shows the direct drive motor 26, the DC servo motors 32 and 44, the induction servo motor 50 and the bogie position measuring device 94 which are the driving sources of the respective RI systems 16 and 18 constituting the RI robots 12 and 14, respectively. Servomotor
Controls the operation of 102 and thus the body 4 of the polishing tools 8 and 10
FIG. 4 is a block diagram illustrating a configuration of a control unit that controls an abutting operation with respect to a position of the vehicle body 4 in a feed direction.

From the proximity sensor 76 and the potentiometer 70 provided in each of the water research units 16 and 18, a signal indicating the approach distance of the polishing tools 8 and 10 to the vehicle body 4 and the pressing pressure of the polishing tools 8 and 10 against the vehicle body 4 are sent to the CPU 106. Signals indicating the magnitudes are input via the AD converter 108, respectively. Further, a signal indicating the feed position of the bogie 6 is input to the CPU 106 from the pulse encoder 104 of the bogie position measuring device 94. Then, the CPU 106
These input signals, teaching data stored in the memory 110 (this will be described later), and attitude data of the vehicle body 4 on the bogie 6 (this will also be described later)
A control signal is output to the servo drivers 114, 116, 118, 120 based on the direct drive motor 26,
The DC servo motors 32 and 44 and the induction servo motor 50 are driven to perform the water research work on the vehicle body 4. Further, the CPU 106 is a bogie position measuring device.
A control signal is output to the servo driver 122 to drive the servo motor 102 so that the contact pin 96 of 94 presses and releases the bogie 6.

Next, the operation of this embodiment will be described with reference to the flowcharts of FIGS. 7 to 13 and the graph of FIG.

As shown in FIG. 7, in the RIKEN work, predetermined teaching is performed in advance (S1), and interpolation data is created for the result (S2), and playback (S3) based on the data obtained thereby is performed. ).

Teaching (S1) at the RIKEN station
While sending the cart 6 carrying the car body 4,
This is an operation for displaying the contact operation of the polishing tools 8 and 10 on the vehicle body 4 with respect to 6 and 18, and the approach speed of the polishing tools 8 and 10 to the vehicle body 4 according to the feed position of the bogie 6;
The contact position, contact angle, and the like, as well as the pressing pressure and the like in the subsequent polishing operation are set to an optimum state, and the result is stored in the memory 110 as teaching data. This teaching is performed for both the case where the vehicle body 4 is placed close to the right of the bogie 6 and the case where it is mounted close to the left. This is to make it possible to easily correct the displacement of the vehicle body 4 during playback, as described later.

FIG. 8 is a flowchart showing the procedure of teaching (S1).

First, the vehicle body 4 is moved to the full right and set on the trolley 6 (A1), and the trolley 6 is sent (A2). When the trolley 6 enters the RIKEN station and the photoelectric switch is turned on by the placed vehicle body 4 (A3), the position of the trolley 6 (the photoelectric switch is
The difference between the position before the switch is turned on and the position where the photoelectric switch is turned on is set as the truck feed position (A4). Then, the carriage 6 is further fed (A5), and it is determined whether or not there is a step on the trajectory of the polishing tool abutting position of the vehicle body 4 (A6). After storing the bit data and the trolley feed position in the memory 110 (A7), the contact positions, contact angles, pressing pressures of the polishing tools 8, 10 with respect to the vehicle body 4, and the approach speed of the polishing tools 8, 10 to the vehicle body 4 Is set (A8), and the setting data and the carriage feed position are stored in the memory 110 (A9). The above setting is performed for a plurality of carriage feed positions. When the teaching is performed up to the rear end of the vehicle body 4 in this way (A10), if teaching is necessary again (for example, when the number of set data is considered to be still insufficient), the procedure of A1 to A10 is performed. If it is unnecessary (A11), the vehicle body 4 is set all the way to the left and set on the trolley 6, and teaching is performed in the steps A1 to A11 (A12).

The interpolation data creation (S2) in FIG. 7 is performed at the playback (because the data obtained by the above teaching is not necessarily about the positions at equal intervals with respect to the feed of the vehicle body 4 but rather is atlantic). S3)
This is an operation to be performed smoothly.

FIG. 9 is a flowchart showing a procedure for creating interpolation data (S2).

First, the data about each point taken in by teaching is rearranged in the order of the carriage feed position (B1). Next, the teaching data when the body 4 is moved to the right and set on the carriage 6 for teaching is separated from the data when the body is moved to the left and moved to the left, and each is connected by a smooth curve (B2). . Then, data is picked up from these curves at regular intervals of the carriage feed position, and stored in the memory 110 as interpolation data (B3).

In the playback (S3) in FIG. 7, the polishing tools 8, 10 of each of the RIKEN units 16, 18 are applied to the vehicle body 6 on the trolley 4, which is sent to the RIKEN station at a predetermined speed, based on the interpolation data. This is the operation of bringing the vehicle body 4 into contact with and driving it to polish.

FIG. 10 is a flowchart showing the procedure of playback (S3).

First, the carriage 6 on which the vehicle body 4 is mounted is sent (C1). As in the case of teaching (S1), when the bogie 6 enters the RIKEN station and the photoelectric switch is turned on by the mounted vehicle body 4 (C2), the position of the bogie 6 and the position where the photoelectric switch is turned on are determined. Is set as the carriage feed position (C
3). Then, the trolley 6 is further sent (C4), and the trolley 6
Based on the interpolation data set corresponding to the feed position of
The approach operation of the polishing tools 8, 10 to the vehicle body 4 is performed (C5).

This approach operation is performed by driving the direct drive motor 26 via the servo driver 114 in response to a control signal from the CPU 106 to rotate the arm 24 in the direction of arrow B. At the same time, the DC servo motors 32 and 44 are driven via the servo drivers 116 and 118 by the control signal from the CPU 106 to rotate the arm 24 by a predetermined amount in the direction of arrow C and to move the tool head 58 by the arrow. An operation of rotating the polishing tools 8 and 10 by a predetermined amount in the direction D and directly facing the polishing tools 8 and 10 with respect to the contact surface of the vehicle body 4 is performed.

The approach speed of the arm 24 to the vehicle body 4 is controlled so as to be initially large and to decrease as the vehicle approaches the vehicle body 4. Then, when the polishing tools 8 and 10 approach just before contacting the vehicle body 4, each of the polishing tools 8, 10 The proximity switch is turned on based on a signal from the proximity sensor 76 attached to 10. The above approach operation is performed until the proximity switch is turned ON (C
6) After turning on, control of the polishing operation including control of the pressing pressure of the polishing tools 8, 10 against the vehicle body 4 is performed (C).
7). This pressing pressure is controlled so as to be small when the entire surface of the polishing tools 8 and 10 does not come into contact with the vehicle body 4 as in the case where the surface of the vehicle body 4 is convex, and to maintain a constant value otherwise. Is made.

The above pressing pressure control is sequentially performed from the front end side of the vehicle body 4. However, when the polishing tool 8 located on the side surface of the vehicle body exceeds the fender portion (C8), a step position calculation described later is performed (C9), and thereafter, If the contact position of the polishing tool 8 reaches the rear end of the vehicle body 4 (C10), the water research unit 16 enters a standby state (C11). A determination is made (C12). While it is necessary to once separate the polishing tool 8 from the vehicle body 4 at this step position, it is desirable to resume polishing as soon as possible after passing the step position in order not to create a region that is not polished. Therefore, the pressing pressure control (control of the pressing force of the polishing tool 8 against the vehicle body 4) is continued until the step position is reached (C13). The control (control of the contact position and the approach speed of the polishing tool 8 to the vehicle body 4) is switched (C14), so that the timing of switching to the next pressing pressure control can be accurately grasped.

The step position calculation in C9 of the above flowchart is
This is performed according to the flowchart shown in FIG.

First, a straight line for calculating the inclination of the vehicle body 4 in the horizontal plane is calculated based on the position data of the fender part (D
1). That is, when the position of the vehicle body 4 is detected in the playback, the detected data is, as shown in FIG. 14, a curve (shown by R Max) of the interpolation data for the right alignment obtained from the teaching data and a left alignment. (Indicated by L Max). Therefore, the position of the vehicle body 4 is detected at two front and rear portions of a fender having a surface shape relatively linear,
A straight line 1 is obtained from the two detected data using the least squares method or the like. Next, the curves R Max and L Max are weighted and averaged by a straight line 1 to obtain a curve M (D2). Then, on the curve M, data of the target position having a bit indicating that the vehicle body 4 has a step is stored in the memory 110 (D3).

By the above playback, the body 4 of the polishing tools 8 and 10
Can be performed according to the carriage feed position, so that the body 4 can be accurately polished even if the feed speed of the carriage 6 fluctuates. However, in the contact operation corresponding to only the carriage feed position, for example, when the carriage 6 stops, the same area of the vehicle body 4 is continuously ground by the polishing tools 8 and 10 for a long time. Therefore, the truck feed speed is calculated based on the truck feed position data, and control taking this truck feed speed into consideration (for example, control for setting the pressing pressure to zero when the truck 6 stops as described above, Alternatively, control for changing the pressing pressure according to the carriage feed speed may be performed.

In the above playback, if the polishing tool 8 wears, it is considered that the position and speed control of the polishing tool 8 may be hindered. Therefore, in this embodiment, the wear correction is performed as shown in the flowchart of FIG. You.

First, during playback, it is determined whether or not the polishing tool 8 has come to a position (for example, at a fender portion) where it comes into parallel contact with the vehicle body 4 (E1).
Distance data (data on the distance between the polishing tool 8 and the vehicle body 4) from the proximity sensor 76 for a certain period of time, and data on the pressing pressure from the potentiometer 70 are taken in (E2). Based on these data, M ₀ (= distance ÷ pressing pressure) and FL (=
k (constant) x average value of pressing pressure) is calculated (E3), and M ₀ +
It is determined whether the value of FL (target position) is equal to or less than a predetermined threshold (E4). If the threshold is exceeded, M ₀
The value of -M ₁ was added to the target position (M ₁ value of M ₀ calculated based on previous data) (E5), issues an alarm of the abrasive tool change if less than the threshold value (E6).

In the above playback, the horizontal displacement of the vehicle body 4 entering the RIKEN station with respect to the bogie 6 is corrected by the photoelectric switch ON or the step position calculation processing. Has not been corrected. For this reason, in the present embodiment, the correction is performed based on the design value of the vehicle body cross-sectional shape and the measurement data at the station in front of the RIKEN station.

That is, as shown in the flowchart of FIG. 13, a curve of the cross-sectional shape of the vehicle body 4 is created at regular intervals in the front-rear direction based on a design drawing of the vehicle body 4 or the like (F1). Then, at the time of plyback, the inclination of the vehicle body 4 is measured by an appropriate method at the previous station (F2), and the curve is rotated and moved to match the vehicle body cross-sectional shape obtained from the measurement data (F3). Next, in each section,
A straight line is drawn from the center position of each of the polishing tools 8 and 10 in the pressing direction (that is, the direction parallel to the rotation surface of the arm 24), and the coordinates of the intersection with the above-mentioned rotated vehicle body cross-sectional shape curve are obtained (F4). The direction of the normal line of the curve at each coordinate thus obtained is obtained, and the data of the contact position and contact angle of the polishing tools 8 and 10 are corrected (F5).

As described above, by performing the wear correction of the polishing tool and the position correction of the vehicle body in the rolling direction, the water polishing work can be performed with higher accuracy.

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of the automatic water research apparatus according to the present invention, FIG. 2 is a view taken in the direction of arrow II in FIG. 1, FIG. 3 is a sectional view showing the water research unit of the above embodiment, FIG. 4 is a sectional view showing a polishing tool of another water research unit of the above embodiment, FIG. 5 is a perspective view showing a part of the above embodiment, and FIG. 6 shows a configuration of a control means of the above embodiment. 7 to 13 are flowcharts showing the operation of the above embodiment, and FIG. 14 is a graph showing the operation of the above embodiment. 2 ... automatic water research equipment, 4 ... body (work) 6 ... trolley, 8, 10 ... polishing tool 12, 14 ... water research robot 16, 18 ... water research unit, 20 ... gate 22 ... … Support base, 24 …… Arm 94 …… Dolly position detection device

Claims (6)

(57) [Claims] 1. An automatic water polishing apparatus configured to perform a water polishing operation on a workpiece by bringing the polishing tool into contact with the workpiece fed at a predetermined speed, wherein the polishing tool corresponds to a feed position of the workpiece. A storage unit for storing data representing a preset contact operation with respect to the work, calculating a tilt of the work in a horizontal plane, and performing a new contact operation based on the calculation result and the data representing the contact operation. A step position calculating unit that stores data representing the workpiece in the storage unit; a detecting unit that detects a feed position of the work; and a contact operation of the polishing tool corresponding to the feed position of the work detected by the detecting unit. And control means for reading the data to be represented from the storage means and controlling the contact operation of the polishing tool with the workpiece based on the data. Automatic Water Research apparatus according to. 2. The automatic water polishing apparatus according to claim 1, wherein the control of the contact operation of the polishing tool by the control means is control of a contact position of the polishing tool with the workpiece. 3. The automatic water research apparatus according to claim 1, wherein the control of the contact operation of the polishing tool by the control means is control of a contact angle of the polishing tool with the workpiece. 4. The automatic water polishing apparatus according to claim 1, wherein the control of the contact operation of the polishing tool by the control means is control of an approach speed of the polishing tool to the workpiece. 5. The automatic water polishing apparatus according to claim 1, wherein the control of the contact operation of the polishing tool by the control means is control of a pressing pressure of the polishing tool against the workpiece. 6. An automatic water polishing method in which a polishing tool is brought into contact with a workpiece fed at a predetermined speed to perform a water polishing operation on the workpiece, wherein the polishing tool corresponding to a feed position of the workpiece is preset for the workpiece. The data representing the contacting operation is stored in the storage means, and the data representing the contacting action is calculated by the step position calculating means to calculate the inclination of the work in the horizontal plane. Based on the data, the data is stored in the storage means as data representing a new contact operation, the feed position of the work is detected at the time of the water research, and the position of the polishing tool corresponding to the detected feed position of the work is detected. Reading the data representing the contact operation from the storage means, and controlling the contact operation of the polishing tool to the workpiece based on the data. .