JPH079335A - Grinding robot - Google Patents

Abstract

PURPOSE:To decide a projection and other forms, and to carry out a grinding work without leaving uneven parts even though they are relatively small, by making the deflection between the position of the function point of a working tool and an object position as the deciding standard. CONSTITUTION:In a control device, a compliance control is carried out depending on a position and force control operation member. In this case, the position deflection (DELTAx) calculated in a position deflection operation member, and a set value xc of a position deflection tolerance setting member 41 are input to a position deflection monitor 42, and both values are compared to decide whether the (DELTAx) is larger the xc or not. When (DELTAx) is made larger than xc, it is decided that there are a burr or a projection such as a gate, and a signal is output to a grinding instructing member 43. The grinding instructing member 43 selects either a normal grinding work or a special partial grinding work according to the condition of the grinding work. And a grinding process is carried out according to the data setting contents by a grinding work program setting member 44 or by a partial grinding work program setting member 45.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grinding robot, and more particularly to a grinding robot which monitors a positional deviation and starts another program when a positional deviation exceeds a permissible value to smoothly perform a grinding operation.

[0002]

2. Description of the Related Art Conventionally, a virtual compliance control system has been proposed in which a multi-degree-of-freedom work machine performs a predetermined work by controlling the position and force of an industrial robot (Japanese Patent Laid-Open No. 62-35915, etc.). ). Generally, in a work machine equipped with this control method, a force sensor is arranged on the wrist portion of the arm, and a work tool is attached via the force sensor. Then, the control device sets control parameters such as a virtual mass, a spring constant, and a viscous damping coefficient that determine the motion characteristics of the work tool, and adds these set values, a reference position / posture command supplied from the outside, and the work tool. The speed command value of the work tool is calculated based on the force information, the information of the actual position and orientation of the work tool, and the command value is supplied from the control device to the drive device of the work tool via the drive circuit. As a result, the work tool moves according to the shape of the work and performs the grinding work. In virtual compliance control, the controller calculates the spring force according to the deviation between the position where the specified work tool should move and the actual position of the work tool, and the virtual spring constant set as a control parameter. Then, this spring force is used as the pressing force of the work tool against the work, and a force target command value is given to the work tool. In this way, the above-mentioned control method realized by software can give a motion characteristic to a work tool for performing a grinding work as if a true mechanical spring mechanism is attached.

In the grinding device for performing the grinding work based on the virtual compliance control described above, a disc grinder is used as a working tool when the work of grinding a specific surface of a work to make the surface smooth is performed. The grinding work may be performed by repeatedly reciprocating in the pull side direction and the push side direction. Since the position and the force are controlled in the grinding device in such a grinding operation, the grinding operation can be normally performed without interruption even if there are some irregularities on the ground surface.

However, such as large burr and cast sprue,
When grinding a work surface having a large protrusion, the cutting edge of the work tool collides with the protrusion and an excessive force is generated, which may damage the work tool, the device, or the work. Therefore, the inventors have proposed a device that detects an overload applied to a work tool, partially executes another special grinding operation to eliminate the cause of the overload, and then restarts a predetermined grinding operation. (Japanese Patent Application No. 2-139493).

[0005]

SUMMARY OF THE INVENTION In the above-mentioned prior art, a work tool collides with a protrusion such as a burr or a sprue, and the protrusion is removed only when the work tool is overloaded. The grinding operation was performed. However, depending on the grinding conditions, there may be a problem that the protrusion is overcome without overloading, and as a result, the protrusion is left uncut.

An object of the present invention is to determine a projection or other shape by using the deviation between the working point position of a work tool and a target position as a determination reference, and leave uncut even if it is relatively small unevenness. It is to provide a grinding robot that performs a grinding operation without a problem.

[0007]

[Means for Solving the Problems]

In the grinding robot according to the present invention, force detecting means for detecting the force applied to the hand effector, position detecting means for detecting the position of the hand effector, and data obtained by the force detecting means and the position detecting means. It is a grinding robot that has position and force control means to control the position and force of the hand effector using, and performs work while pressing the hand effector against the work. With the position deviation detection means for detecting the position deviation between the action point position of the hand effector and the set target position that occurs when performing, the allowable position deviation setting means for setting the allowable value of the position deviation, and the position deviation detection means. It is provided with a position deviation comparison / determination means for comparing the detected position deviation with the allowable value set by the allowable position deviation setting means and judging the magnitude thereof, and the operation is performed based on the judgment result obtained by the position deviation comparison / determination means. Configured to switch the content.

In the above structure, preferably, the work content is work content arbitrarily created by the user.

In the above structure, preferably, as means for executing the work content, a grinding work executing means for performing a normal grinding work and a special partial grinding work excluding a factor in which the position deviation exceeds an allowable value are performed. It is characterized in that it is provided with a partial grinding work execution means for.

In the above construction, preferably, as means for executing the work content, a grinding work executing means for performing a normal grinding work, and a work for stopping the normal grinding work when the positional deviation exceeds an allowable value. Equipped with a stopping means.

[0012]

In the grinding robot according to the present invention, as a basic precondition, a force detecting means including a force sensor is used to detect the force applied to the work tool and the position detecting means for detecting the position of the work tool, A control means is provided for inputting the force data obtained by the detection means and the position data obtained by the position detection means, creating control command data using each data, and controlling the position and force of the work tool. This control means is, for example, virtual compliance control. In this case, the work tool is controlled in position and force and performs a desired work while being pressed against the work. Further, in the position and force control means, the position deviation detection means detects the position deviation between the position of the working point of the work tool and the preset target position, and the detected value is set by the allowable position deviation setting means. The positional deviation is compared with an allowable value, and the positional deviation comparison / determination means determines the magnitude relationship.
Based on the result of the determination, a desired work program is selected from the work programs relating to the normal grinding work or the special partial grinding work created in advance by the user, and the desired work or process is executed.

[0013]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows the overall construction of a grinding robot. In FIG. 1, reference numeral 1 is a main body of a grinding robot (hereinafter referred to as a robot main body), an arm 2 having a plurality of joints is attached to a support base 3, and the arm tip portion is moved by the movable action of each joint of the arm 2. Move to the position required for work,
The overall posture of the robot body 1 changes to a posture necessary for work. A 6-axis force sensor 5 is attached to the wrist portion 4 located at the tip of the arm 2, and further at the tip of the force sensor 5,
A hand effector for performing a grinding operation on the work 6, that is, a work tool 7 for grinding is attached. Work tool 7
For example, a disc grinder is used. Reference numeral 8 denotes a controller. The controller 8 has a built-in control means, such as a computer, and uses a calculation formula for controlling a predetermined force and a position relative to the robot body 1 in a predetermined procedure. It has the function of executing force control. The controller 8 uses the signal line 9 for the robot body 1
A command signal for instructing the operation of the grinding operation is given to the robot, operation information of the motor or the like is obtained from the robot body 1, and a detection signal regarding the force and moment applied to the work tool 7 from the force sensor 5, that is, the force signal 10 Is electrically connected to take in. Reference numeral 11 denotes an operating device that is carried by an operator and is operated in a timely manner as needed, and is provided with a ten-key pad that can give various commands to the controller 8. When the operator operates various operation switches of the operation unit 11, for example, it is possible to teach the operation regarding the grinding work, set the work condition, and set the allowable value of the position deviation as described later.

Next, a specific configuration of the control device realized by the controller 8 will be described based on the block diagram of FIG. The control method of the present invention applied to the grinding work by the robot body 1 is realized by software or other hardware circuit using a computer or the like included in the controller 8, and FIG. The control elements are shown in a block diagram to clarify the configuration of the above.

In FIG. 2, a plurality of drive motors (not shown) for moving each joint of the arm 2 are built in the robot body 1. These drive motors have goniometers (generally position sensors) that measure the amount of movement.
1 is attached, and the shaft angle data of each joint can be obtained by the angle meter 21.

First, the structure of the position / force control calculation system will be described. The force and moment signals output from the force sensor 5 arranged at the tip of the arm are sent to the force calculator 22.
In the force calculation unit 22, the force and moment signals are converted from the sensor coordinate system to the reference coordinate system (absolute coordinate system), and gravity compensation for subtracting the gravity of the work tool 7 is performed. The force <f> generated at the contact point of the tool 7 is calculated. Here, the symbol “<>” means a vector quantity. This force <f> is compared with the force target value <fr> set by the force target value setting unit 24 in the force deviation calculation unit 23, and the force deviation <Δf> is obtained. This force deviation <Δf> is input to the position / force control calculation unit 28. Further, the angle data of each axis detected by the above-mentioned goniometer 21 is sent to the position calculation unit 25, and the position calculation unit 25 calculates the position <x> of the work tool 7 in the absolute coordinate system from these angle data. To be done. Then, this position <x> is compared with the target value <xr> of the position set by the position target value setting unit 26 by the position deviation calculation unit 27 to obtain the position deviation <Δx>. The position deviation <Δx> obtained by the position deviation calculation unit 27 is input to the position / force control calculation unit 28. The method of setting the force target value in the force target value setting unit 24 and the method of setting the position target value in the position target value setting unit 26 will be described later.

The position / force control calculation unit 28 comprises a subtractor 29, a spring constant calculation unit 30, and a characteristic compensation calculation unit 31. The output <Δf> of the force deviation calculation unit 23 is given to the subtractor 29, and the position deviation <Δx> obtained by the position deviation calculation unit 27 is inputted to the spring constant calculation unit 30. A virtual spring constant matrix K is set in the spring constant calculator 30. The spring constant calculator 30 receives the input position deviation <Δx>
K <Δx> is calculated by multiplying the virtual spring constant matrix K set to. Output K of spring constant calculator 30
<Δx> is given to the subtractor 29. The subtracter 29 calculates <Δf> −K <Δx>, and the calculation result of the subtractor 29 is given to the characteristic compensation calculation unit 31. The controller gain Kc is set in the characteristic compensation calculation unit 31, and <Δf> −K <Δx> input by this Kc.
Undergoes characteristic compensation in control, and the characteristic compensation calculation unit 31 converts the speed command value <v> into a drive command value <θ> of each drive motor of the robot body 1. Converted drive command value <θ>
Is supplied to each drive motor of the robot body 1, and the drive motor is operated by this command value.

Reference numeral 40 denotes a grinding work processing unit, the specific construction of which is shown in FIG. The output signal of the position deviation calculator 27 and the output signal of the position calculator 25 are input to the grinding work processor 40. That is, in the grinding work processing unit 40,
Each data of the current position and the position deviation of the work tool 7 which is performing the grinding work is continuously input during the grinding work. Reference numeral 50 denotes a teaching section, which is used by the operator before starting the grinding operation or during the grinding operation by using the operation unit 11.
The contents related to the grinding work taught to
Is input to and stored in. The grinding work processing unit 40 is appropriately input with data regarding the teaching content from the teaching unit 50. The force target value set in the force target value setting unit 24 and the position target value set in the position target value setting unit 26 are the grinding work process based on the position data given from the teaching unit 50 and data such as working conditions. It is calculated by the unit 40 and is given to the force target value setting unit 24 and the position target value setting unit 26, respectively. Furthermore, the grinding work processing unit 40 changes the spring constant calculation unit 30 and the characteristic compensation calculation unit 31 according to the change in the situation of the grinding work.
Is configured to change the control parameters of the.

The grinding work processing section 40 will be described with reference to FIG. The grinding work processing unit 40 includes a position deviation allowable value setting unit 41, a position deviation monitoring unit 42, a grinding processing command unit 43,
A grinding work program setting unit 44, a partial grinding program setting unit 45, a task switching unit 46, an interpolation unit 47, and a position extraction unit 48 are included. Position deviation allowable value setting unit 41
Is set to the positional deviation allowable value xc input to the teaching unit 50. The position deviation allowable value setting unit 41 is set to an arbitrary value according to the grinding work. The position deviation monitoring unit 42 includes the position deviation <Δx> calculated by the position deviation calculation unit 27 and the set value x of the position deviation allowable value setting unit 41.
c is input. The position deviation monitoring unit 42 compares whether or not <Δx> calculated by the position deviation calculation unit 27 is larger than the position deviation allowable value xc. When the positional deviation <Δx> becomes larger than the allowable value xc, it is determined that a protrusion such as a burr or a sprue exists, and a signal is output to the grinding processing command unit 43. The grinding processing command unit 43 has a function of managing the grinding work performed by the work tool 7 and selecting either a normal grinding work or a special partial grinding work according to the state of the grinding work. Here, the "ordinary grinding operation" is an operation of repeatedly reciprocating the working tool 7 alternately in the pulling side direction and the pushing side direction with respect to a predetermined surface of the work 6 to grind the entire plane, and this grinding work is performed. The program for this is set in the grinding work program setting unit 44.

On the other hand, the "special partial grinding work" is to remove the shape when the work tool 7 has a positional deviation exceeding the allowable value due to the shape of the work surface during normal grinding work. This is a partial grinding operation with special movement performed for this purpose, and a program for performing this grinding operation is set in the partial grinding program setting unit 45.
Therefore, the grinding work program setting unit 45 outputs information for performing a normal grinding work, and the partial grinding program setting unit 45 outputs information for performing a special partial grinding work. The contents of the special partial grinding work will be described later. The grinding processing command unit 43 supplies the signals a and e to the grinding work program setting unit 44 and the signal c to the partial grinding program setting unit 45 in order to switch the grinding work program. The contents of these signals will be described later. Further, the grinding processing command unit 43 gives a switching signal to the task switching unit 46, and further the interpolation unit 47.
Is also configured to give a predetermined command signal. The position data from the position calculation unit 25 is input to the position extraction unit 48, and then the position information is given to each of the grinding work program setting unit 44 and the partial grinding program setting unit 45. Each of these pieces of position information is used as a reference position when starting the grinding operation. Task switching unit 46
The position target value for each sample is calculated by the interpolating unit 47 based on the position data output from each of the grinding work program setting unit 44 and the partial grinding program setting unit 45 selected by the position target value setting unit 2
It is output to 6 and set. In addition, in the grinding work program setting unit 44 and the partial grinding program setting unit 45, other information such as the force target value, the spring constant K, and the controller gain Kc is set, and these pieces of information are respectively set in the force target value setting unit. 24, given to the position / force control calculation unit 28,
Is set.

Next, the operation of the grinding robot will be described based on the configuration of the above control device.

First, it is assumed that the robot body 1 is performing a normal grinding operation. At this time, in the control device shown in FIG. 2, virtual compliance control is executed based on the position / force control calculation unit 28. Further, in the grinding work processing unit 40 shown in FIG. 3, the position deviation monitoring unit 42 detects “no protrusion shape”, and the grinding process command unit 43 connects the task switching unit 46 to the grinding work program setting unit 44 side. ing. In the normal grinding work, the control device controls the robot body 1 according to the data setting contents by the grinding work program setting unit 44 in the grinding work processing unit 40 as long as there is no abnormal irregularity on the ground surface of the work, and the grinding is performed. Processing is done smoothly. During that time, the position deviation monitoring unit 42 takes in the position deviation from the position deviation calculation unit 27, compares the predetermined element of this position deviation with the position deviation allowable value, and monitors whether there is a change in the projection shape or the large shape. I do.

Next, as shown in FIG. 4, for example, when the work tool 7 is performing a grinding operation at the target position L0 while moving in the direction of arrow R1 by pulling operation, a large protrusion 61 is formed on the grinding surface 6a of the work 6. When it exists, the work tool 7 rides on the protrusion 61, and as a result, the work tool 7 largely deviates from the target position, resulting in an excessive position deviation (position at point P). This position deviation is input to the position deviation monitoring unit 42. When the position deviation of the work tool 7 exceeds the position deviation allowable value xc, the position deviation monitoring unit 42 determines the grinding processing command unit 4
An excessive position deviation generation signal is sent to 3. Grinding processing command unit 43
When the excessive position deviation generation signal is received, the command a for interrupting the data output to the grinding work program setting unit 44 and the normal normal operation to the interpolation unit 47 in order to interrupt the normal grinding work currently being performed. A command to stop the interpolation calculation of the target position that is being executed to perform the grinding work is given.
Further, the grinding processing command unit 43 gives the position extraction unit 48 a command b for extracting the position (point P in FIG. 4) where the excessive position deviation has occurred from the position data output by the position calculation unit 25. The position data extracted by the position extraction unit 48 is used for the grinding work program setting unit 44 and the partial grinding program setting unit 4.
Input to 5. Next, the grinding processing command unit 43 sends a switching signal to the task switching unit 46 to switch the connection to the side of the partial grinding program setting unit 45, and also sends a partial grinding start signal c of the partial grinding program setting unit 45 to Based on the data output from the grinding program setting unit 45, a special grinding operation is partially started on a portion (projection 61) where the excessive position deviation has occurred. The partial grinding operation performed by the data output from the partial grinding program setting unit 45 is performed in order to remove the protrusion 61 which is the cause of the excessive position deviation at the position on the work surface where the excessive position deviation occurs.
For example, as shown in FIG. 5, the work tool 7 is moved at least once in the order of points A, B, and Q to perform a special grinding work for grinding only the protrusion 61. This partial grinding operation is repeated as necessary until the protrusion 61 is removed so that an excessive positional deviation does not occur.

Further, FIGS. 6 and 7 show partial grinding performed when the work tool 7 is grinding the surface of the work 6 by a pushing operation and an excessive positional deviation occurs due to a protrusion or the like. The movement of the work tool of work is shown. The movement of the work tool will be described in detail. Partial grinding program setting unit 45
In the above, position data and conditions for performing the basic operation of partial grinding as shown in FIG. 6 are preset, and the excessive position deviation occurrence position P extracted by the position extraction unit 48 using this data is set. As shown in FIG. 7, the movement locus for the grinding operation is determined in the xy plane with the reference point as the reference point. The position data output from the partial grinding program setting unit 45 passes through the task switching unit 46, and the interpolation unit 4
The position target value is calculated in 7 and set in the position target setting unit 26. Information such as the force target value and the spring constant is set also in the partial grinding program setting unit 45, and when the partial grinding is started, each of the force target value setting unit 2 is set.
4 and the position / force control calculation unit 28 to set various control parameters for the partial grinding work.

In this way, when the partial grinding program setting unit 45 performs the partial grinding work and the protrusion 61, which is the cause of the overload, is removed, the partial grinding program setting unit 45.
Sends a termination signal d for the partial grinding operation from the grinding processing command unit 43. When the grinding processing command unit 43 receives this end signal,
A switching signal is given to the task switching unit 46 to switch the connection to the grinding work program setting unit 44 side, and at the same time, a command is given to the position extraction unit 48 to extract the position where the partial grinding work is completed. This position data is input to the grinding work program setting unit 44. Further, a command e for resuming normal grinding work is sent to the grinding command processing unit 43. Upon receiving the command e, the grinding work program setting unit 44 restarts the normal grinding work that has been interrupted with the partial grinding end position extracted by the position extracting unit 48 as the starting point.

Various methods can be set as the method of ending the partial grinding operation. The purpose of performing the partial grinding operation is to complete the operation without stopping the normal grinding operation. Therefore, the control program may be created in consideration of the work amount of the partial grinding work in advance so that the state in which the excessive position deviation has occurred can be canceled. It is also possible to check the position deviation successively using the position deviation monitoring unit 42 after performing the partial grinding a predetermined number of times, and to set the partial grinding work until the state in which the excessive position deviation has occurred is eliminated. it can. Basically, the resuming of the normal grinding work by the grinding work program setting unit 44 is started after the cause of the excessive position deviation is removed.

The partial grinding operation as described above is performed every time an excessive position deviation occurs during the normal grinding operation.

The contents of the normal grinding work set in the grinding work program setting unit 44 and the contents of the partial grinding work set in the partial grinding program setting unit 45 can be arbitrarily set by the user.

FIG. 8 shows a second embodiment of the grinding work processing section of the grinding robot according to the present invention. In the above embodiment, the protrusion 6
1 was removed and the normal grinding operation was carried out to the end, but in this embodiment, the normal grinding operation is stopped. FIG. 8 is a modification of FIG. 3, and the elements substantially the same as the elements described in FIG. 3 are denoted by the same reference numerals.

First, it is assumed that the grinding robot is performing a normal grinding operation. At this time, the grinding robot is controlled according to the contents set by the grinding work program setting unit 44 in the grinding work processing unit 40. When the position deviation monitoring unit 42 detects an excessive position deviation during the grinding operation, it outputs a signal to the grinding processing command unit 43. Upon reception of the signal, the grinding processing command unit 43 issues a data output stop command a to the grinding work program setting unit 44, and instructs the interpolation unit 47 of the target position currently being executed for performing normal grinding work. A command to stop the interpolation calculation is issued, then a switching signal is sent to the task switching unit 47, and the connection is switched to the work suspension program setting unit 51. Then, the work suspension program setting unit 5
The program start signal b is sent to 0.

The work stop program setting unit 51 is pre-programmed with a process after the normal grinding work is stopped. For example, the operation of the work tool is stopped and the original position ( It is a processing program for returning to the work origin) or outputting an external command to control the device operating in conjunction with the grinding robot. When the program set in the work stop program setting unit 51 is completed, the work stop program setting unit 45
A program completion signal c is sent to the grinding processing command unit 43. When the grinding process command unit 43 receives the program completion signal c,
The reset signal d is output to the grinding work program setting unit 44 to reset the interrupted program for the normal grinding work. As a result, the grinding robot returns to the state before starting the normal grinding operation, and waits for the next command.

Another embodiment will be described below with reference to FIGS. The present embodiment includes a configuration for partially grinding the convex portion and the concave portion when the convex portion and the concave portion are present on the surface 6a of the work 6. 9 and 1
As shown in 0, when there is a concave portion 62 like the P point on the machining surface of the work 6, and when the P point exceeds the allowable deviation value of the concave side, the work tool is in the order of A point, B point and C point. 7 is moved to partially grind the concave portion 62 to correct the work surface 6a into a gentle depression.

FIG. 11 is a block diagram of a grinding work processing section in the case of this embodiment. 11 is a modification of FIG. 3, and the elements substantially the same as those described in FIG. 3 are denoted by the same reference numerals. In FIG. 11, the partial grinding program setting unit 45 described above is configured by a convex grinding program setting unit 53 and a concave grinding program setting unit 54, and further includes a partial grinding task switching unit 52 that selects one of them. Be done. In the present embodiment, as in the first embodiment, when an excessive position deviation occurs, the grinding processing command unit 43 switches the normal grinding operation to the partial grinding operation. The position deviation direction or the sign (+/-) is used to determine whether the position deviation is a convex position position or a concave position position. The convex side grinding program setting unit 53 is for the convex side, and the concave side grinding program is for the concave side. An unevenness switching signal g for switching is output to the partial grinding task switching unit 52 so that the setting unit 54 is selected. The partial grinding task switching unit 52 selects the partial grinding of the convex portion or the concave portion according to the signal g. Other operations are the same as those described in the first embodiment.

[0035]

As is clear from the above description, according to the present invention, a grinding robot equipped with a force detecting means, a position detecting means, and a position and force controlling means and performing a grinding operation based on the force detecting means, a normal grinding operation is performed. During the work, if the position deviation between the current position of the work tool and the target position exceeds the set allowable value, the task is switched, and the program is configured to execute another program arbitrarily set by the user in advance. It is possible to perform desired processing under the control of the user according to the work content of the switched local work program without overloading the work tool, the grinding robot body, or the work.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall configuration of a grinding robot according to the present invention.

FIG. 2 is a block diagram showing an internal configuration of a controller.

FIG. 3 is a block diagram showing an internal configuration of a grinding work processing unit.

FIG. 4 is a diagram showing a situation where a work tool exceeds a set position deviation.

FIG. 5 is a diagram showing the movement of the work tool when an excessive position deviation occurs.

FIG. 6 is a diagram showing another example of the movement of the work tool on the coordinate system when an excessive position deviation occurs.

FIG. 7 is a diagram showing another example of the movement of the work tool when an excessive position deviation occurs.

FIG. 8 is a block diagram showing another configuration of a grinding work processing unit.

FIG. 9 is a diagram showing a situation when an excessive position deviation occurs with respect to a concave portion.

FIG. 10 is a diagram showing the movement of the work tool when an excessive position deviation occurs with respect to the concave portion.

FIG. 11 is a block diagram showing another configuration of a grinding work processing unit.

[Explanation of symbols]

 1 Robot Main Body 2 Arm 5 Force Sensor 6 Work 7 Work Tool 8 Controller 10 Force Signal 11 Manipulator 40 Grinding Work Processing Unit 41 Position Deviation Allowable Value Setting Unit 42 Position Deviation Monitoring Unit 43 Grinding Processing Command Unit 44 Grinding Work Program Setting Unit 45 Partial grinding program setting part 46 Task switching part 50 Teaching part 51 Work stop program setting part 52 Partial grinding task switching part 53 Convex part grinding program setting part 54 Recessed part grinding program setting part

Claims (4)

[Claims] 1. Use of force detection means for detecting a force applied to a hand effector, position detection means for detecting a position of the hand effector, and data obtained by the force detection means and the position detection means. In a grinding robot that includes a position and force control unit that controls the position and force of the hand effector, and performs work while pressing the hand effector against a work, the hand effector performs work while copying the surface of the work. Position deviation detecting means for detecting a position deviation between the action point position of the hand effector and the set target position that occurs when performing, an allowable position deviation setting means for setting an allowable value of the position deviation, and the position deviation The position deviation detected by the detection means and the allowable value set by the allowable position deviation setting means are compared with each other, and the positional deviation comparison judgment means for judging the magnitude thereof are provided. Grinding robot, characterized in that switching the work based on the determination result obtained in stage. 2. The grinding robot according to claim 1, wherein
A grinding robot, wherein the work content is a work content arbitrarily created by a user. 3. The grinding robot according to claim 1, wherein
As means for executing the work content, there are provided a grinding work executing means for performing a normal grinding operation and a partial grinding work executing means for performing a special partial grinding operation excluding a factor in which the position deviation exceeds the allowable value. A grinding robot characterized by being provided. 4. The grinding robot according to claim 1, wherein
As means for executing the work content, a grinding work executing means for performing a normal grinding operation and a work stopping means for stopping the normal grinding operation when the position deviation exceeds the allowable value are provided. And a grinding robot.