JPH01143343U - - Google Patents
Info
- Publication number
- JPH01143343U JPH01143343U JP3794388U JP3794388U JPH01143343U JP H01143343 U JPH01143343 U JP H01143343U JP 3794388 U JP3794388 U JP 3794388U JP 3794388 U JP3794388 U JP 3794388U JP H01143343 U JPH01143343 U JP H01143343U
- Authority
- JP
- Japan
- Prior art keywords
- pressure
- pressure fluid
- grinder
- pressing
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000012530 fluid Substances 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 4
Landscapes
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Description
第１図〜第６図は本考案実施例を示すもので、
第１図は圧力流体の回路および制御部からの指令
回路との結合して示す回路図である。第２図は外
観正面図である。第３図はダイヤグラムを示す。
第４図はフローチヤートを示す。第５図はグライ
ンダーの移動量と押付け装置による一方向への押
付け圧力との関係を示す図である。第６図はグラ
インダーによる被研削加工物への粗削りおよび仕
上げ削りによる圧力差を示す図である。
１……基部、１０……ロボツト、１８……手首
、２……グラインダー、２０……一端、２１……
他端、２２……砥石、３……押付け装置、４……
圧力流体供給手段、４０……圧力流体通路、４０
ａ……第１通路、４０ｂ……第２通路、４０ｃ…
…第３通路、４１……切換弁、４２……圧力調整
装置、５……制御手段、５０……制御部、５００
……ＣＰＵ、Ｐ……圧力供給源。
Figures 1 to 6 show examples of the present invention.
FIG. 1 is a circuit diagram showing a combination of a pressure fluid circuit and a command circuit from a control section. FIG. 2 is an external front view. FIG. 3 shows a diagram.
FIG. 4 shows a flowchart. FIG. 5 is a diagram showing the relationship between the amount of movement of the grinder and the pressing pressure in one direction by the pressing device. FIG. 6 is a diagram showing the pressure difference caused by rough cutting and finishing cutting of a workpiece to be ground by a grinder. 1...base, 10...robot, 18...wrist, 2...grinder, 20...one end, 21...
Other end, 22... Grindstone, 3... Pressing device, 4...
Pressure fluid supply means, 40... Pressure fluid passage, 40
a...first passage, 40b...second passage, 40c...
...Third passage, 41...Switching valve, 42...Pressure regulator, 5...Control means, 50...Control unit, 500
...CPU, P...Pressure supply source.
Claims (1)
が該基部に揺動自在に保持され他端に砥石を回転
自在に保持するグラインダーと、 該グラインダーの該他端と該基部との間に介置
され該他端を一方向に押付ける押付け装置と、 圧力供給源からの圧力流体を該押付け装置に供
給する圧力流体通路と該圧力流体通路に設置され
該圧力流体の供給方向を切換える切換弁および該
切換弁を介して該押付け装置へ供給される該圧力
流体の圧力を調節する圧力調節装置をもつ圧力流
体供給手段と、 切込み開始時と切込み終了時に該切換弁を電気
的に作動させ、粗削り時は砥石をワークに押し付
ける力を大きくし、仕上げ削り時は砥石をワーク
に押し付ける力を小さくするように該圧力調節装
置の作動を電気的に制御する制御部をもつ制御手
段と、からなり、 該制御手段により、該押付け装置を制御して該
グラインダーの押付け圧力を自動的に変化させる
ことを特徴とするロボツト用グラインダー。[Claims for Utility Model Registration] A base that is attached to the wrist of a robot, a grinder that is swingably held at one end of the base and rotatably holds a grindstone at the other end, and the other end of the grinder and the base. a pressure fluid passageway for supplying pressure fluid from a pressure supply source to the pressing device; and a pressure fluid passage installed in the pressure fluid passageway for supplying the pressure fluid. Pressurized fluid supply means having a switching valve for switching the direction and a pressure regulating device for regulating the pressure of the pressure fluid supplied to the pressing device via the switching valve; A controller having a control unit that electrically controls the operation of the pressure regulating device so as to increase the force pressing the grinding wheel against the workpiece during rough cutting, and reduce the force pressing the grindstone against the workpiece during finish cutting. A grinder for a robot, characterized in that the control means controls the pressing device to automatically change the pressing pressure of the grinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988037943U JPH0650122Y2 (en) | 1988-03-23 | 1988-03-23 | Robot grinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988037943U JPH0650122Y2 (en) | 1988-03-23 | 1988-03-23 | Robot grinder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01143343U true JPH01143343U (en) | 1989-10-02 |
| JPH0650122Y2 JPH0650122Y2 (en) | 1994-12-21 |
Family
ID=31264514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1988037943U Expired - Lifetime JPH0650122Y2 (en) | 1988-03-23 | 1988-03-23 | Robot grinder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0650122Y2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61117059A (en) * | 1984-11-07 | 1986-06-04 | Aida Eng Ltd | Polishing robot |
-
1988
- 1988-03-23 JP JP1988037943U patent/JPH0650122Y2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61117059A (en) * | 1984-11-07 | 1986-06-04 | Aida Eng Ltd | Polishing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0650122Y2 (en) | 1994-12-21 |
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