JPS6161150U - - Google Patents
Info
- Publication number
- JPS6161150U JPS6161150U JP1984144833U JP14483384U JPS6161150U JP S6161150 U JPS6161150 U JP S6161150U JP 1984144833 U JP1984144833 U JP 1984144833U JP 14483384 U JP14483384 U JP 14483384U JP S6161150 U JPS6161150 U JP S6161150U
- Authority
- JP
- Japan
- Prior art keywords
- grinding
- grinding tool
- ground
- sparks
- positions
- 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 1
Landscapes
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Description
第１図は本考案の一実施例に係る自動研削装置
の側面図、第２図はロボツトアーム先端部を表し
、第２図ａはその平面図、第２図ｂはその正面図
、第２図ｃはその側面図、第３図は研削中の作用
説明を表し、第３図ａは正常な状態の説明図、第
３図ｂは砥石が進行方向左側にずれている状態の
説明図、第３図ｃは砥石が進行方向右側にずれて
いる状態の説明図である。
図面中、１はロボツトアーム、２は研削工具、
２ａは砥石、３はイメージセンサ、３ａは視野、
６は制御装置、７は火花、９はバリである。
Fig. 1 is a side view of an automatic grinding device according to an embodiment of the present invention, Fig. 2 shows the tip of the robot arm, Fig. 2a is its plan view, Fig. 2b is its front view, and Fig. Figure c is a side view of the same, Figure 3 is an explanation of the action during grinding, Figure 3a is an illustration of a normal state, Figure 3b is an illustration of a state in which the grindstone is shifted to the left in the direction of travel, FIG. 3c is an explanatory diagram of a state in which the grindstone is shifted to the right in the traveling direction. In the drawing, 1 is a robot arm, 2 is a grinding tool,
2a is a grindstone, 3 is an image sensor, 3a is a field of view,
6 is a control device, 7 is a spark, and 9 is a burr.
Claims (1)
とすると共に該被研削部と交差する方向に移動可
能とし、研削中の火花を臨み視野内に生ずる火花
の明暗により研削中の火花飛散方向を検出するイ
メージセンサを前記研削工具の火花飛散方向側側
部において該研削工具の支持部と一体的に設け、
研削工具が被研削部の中心線上を研削している時
に前記視野内に生ずべき研削火花の明暗の位置が
予め入力され該位置に前記イメージセンサにより
検出された研削火花の明暗位置が一致すべく前記
研削工具の位置を制御する制御装置を装備するこ
とを特徴とする自動研削装置。 The grinding tool is movable along the part to be ground of the workpiece, and is also movable in a direction intersecting the part to be ground, and the direction of spark scattering during grinding is determined by the brightness of the sparks generated within the field of view. an image sensor for detecting is provided integrally with a support portion of the grinding tool at a side portion of the grinding tool in the spark scattering direction;
The bright and dark positions of the grinding sparks that should be generated within the field of view when the grinding tool is grinding on the center line of the part to be ground are input in advance, and the bright and dark positions of the grinding sparks detected by the image sensor match the positions. An automatic grinding device characterized in that it is equipped with a control device that controls the position of the grinding tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984144833U JPS643638Y2 (en) | 1984-09-25 | 1984-09-25 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984144833U JPS643638Y2 (en) | 1984-09-25 | 1984-09-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6161150U true JPS6161150U (en) | 1986-04-24 |
| JPS643638Y2 JPS643638Y2 (en) | 1989-01-31 |
Family
ID=30703097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1984144833U Expired JPS643638Y2 (en) | 1984-09-25 | 1984-09-25 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS643638Y2 (en) |
-
1984
- 1984-09-25 JP JP1984144833U patent/JPS643638Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPS643638Y2 (en) | 1989-01-31 |