JPS6161148U - - Google Patents
Info
- Publication number
- JPS6161148U JPS6161148U JP1984144828U JP14482884U JPS6161148U JP S6161148 U JPS6161148 U JP S6161148U JP 1984144828 U JP1984144828 U JP 1984144828U JP 14482884 U JP14482884 U JP 14482884U JP S6161148 U JPS6161148 U JP S6161148U
- Authority
- JP
- Japan
- Prior art keywords
- grinding
- robot arm
- boundary position
- grinding tool
- image sensor
- 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
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Description
第１図〜第３図は本考案の一実施例に係り、第
１図は自動研削装置の側面図、第２図ａ，ｂはそ
れぞれロボツトアーム先端部の正面図、側面図、
第３図は研削工具を上方から見た状態の作用説明
図、第４図〜第６図は従来の補正手段に係り、第
４図は該手段の原理図、第５図はバリにによる影
を表す概念図、第６図ａ，ｂはそれぞれロボツト
アーム先端部の正面図、側面図である。
図面中、１０はロボツトアーム、１０ａは制御
装置、１１は研削工具、１２はイメージセンサ、
１２ａは視野、１５は鋳物製品、１６はバリ、１
７は火花である。
1 to 3 relate to an embodiment of the present invention, in which FIG. 1 is a side view of an automatic grinding device, and FIGS. 2a and 2b are a front view and a side view of the tip of the robot arm, respectively.
Fig. 3 is an explanatory diagram of the operation of the grinding tool viewed from above, Figs. 4 to 6 relate to the conventional correction means, Fig. 4 is a principle diagram of the means, and Fig. 5 is the effect caused by burrs. FIGS. 6a and 6b are a front view and a side view of the tip of the robot arm, respectively. In the drawing, 10 is a robot arm, 10a is a control device, 11 is a grinding tool, 12 is an image sensor,
12a is a field of view, 15 is a cast product, 16 is a burr, 1
7 is a spark.
Claims (1)
ボツトアームの作動により該研削工具をワークの
被研削部に追従させる自動研削装置において、前
記被研削部に対向し得るように前記ロボツトアー
ム先端に設けられ且つ研削中の火花により視野内
に生ずる明暗の境界位置を検知するイメージセン
サと、前記研削工具が前記被研削部の略中心線上
を研削しているときに前記視野内に生ずべき明暗
の境界位置が予め入力され且つ該境界位置に前記
イメージセンサにより検出された境界位置が一致
するよう前記ロボツトアームを制御する制御装置
とを備えたことを特徴とする自動研削装置。 In an automatic grinding device, a grinding tool is provided at the tip of a robot arm, and the grinding tool follows a part to be ground of a workpiece by the operation of the robot arm. and an image sensor that detects a boundary position between brightness and darkness that occurs within the field of view due to sparks during grinding, and a boundary between brightness and darkness that should occur within the field of view when the grinding tool is grinding approximately on the center line of the part to be ground. An automatic grinding device comprising: a control device into which a position is input in advance and which controls the robot arm so that the boundary position detected by the image sensor coincides with the boundary position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984144828U JPS643637Y2 (en) | 1984-09-25 | 1984-09-25 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984144828U JPS643637Y2 (en) | 1984-09-25 | 1984-09-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6161148U true JPS6161148U (en) | 1986-04-24 |
| JPS643637Y2 JPS643637Y2 (en) | 1989-01-31 |
Family
ID=30703092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1984144828U Expired JPS643637Y2 (en) | 1984-09-25 | 1984-09-25 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS643637Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014108500A (en) * | 2012-12-04 | 2014-06-12 | Nippon Steel & Sumitomo Metal | Processing device of steel material and processing method of steel material |
-
1984
- 1984-09-25 JP JP1984144828U patent/JPS643637Y2/ja not_active Expired
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014108500A (en) * | 2012-12-04 | 2014-06-12 | Nippon Steel & Sumitomo Metal | Processing device of steel material and processing method of steel material |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS643637Y2 (en) | 1989-01-31 |
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