JPS6284972A - Grindstone abrasion detecting device in grinding device - Google Patents

Abstract

PURPOSE:To make it possible to simply detect abrasion loss of a grindstone, by measuring the position of a position detector when a photoelectric switch detects the front end of the grind stone, and by calculating an abrasion loss of the grindstone in accordance with the position thus detected. CONSTITUTION:A grinding device (robot) 1 moved the grind stone T toward a photoelectric switch 4. A control device 5 receives a signal indicating a position (along X axis) at which the photoelectric switch 4 detects the front end of the grindstone T, from a position detector in the grinding machine 1, and calculates a abrasion loss of the grindstone T in accordance with the thus detected position.

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a grindstone wear detection device in a grinder working device.

"Prior art" As a grindstone wear detection device for grinder work equipment,
There is a conventional device shown in FIGS. 5 and 6.

The conventional device shown in FIG. 5 projects a grindstone 'r onto an image sensor R using a projector P to detect its length. #, distance between the center of the masonry and the image sensor R [6
is known, the sum of the projected length of the grinding wheel T and 2 is the grinding wheel T
The radius of The amount of wear on the grindstone T is detected by the difference between the projection length of the grindstone T when it is new and the current projection length of the grindstone T.

The conventional device shown in FIG. 6 uses a displacement sensor U such as a potentiometer or a differential transformer.
When the center of rotation of the grindstone is placed at a certain distance i from It is detected by the difference between the amount t0 and the current protrusion amount t of the grindstone T.

``Problems with the Prior Art j'' In the case of the conventional device shown in FIG. 5, since the projector P and the image sensor R are used, the structure becomes complicated, leading to an increase in cost.

In the conventional device shown in FIG. 6, since the grindstone T comes into contact with the tip of the detection rod, the rotation of the grindstone T must be stopped when detecting wear, resulting in a problem that the idle time becomes long.

OBJECT OF THE INVENTION An object of the present invention is to provide a grindstone wear detection device for a grinder working device that has a relatively simple configuration, does not require much increase in cost, and has short idle time.

"Structure of the Invention" The grindstone wear detection device in the grinder work device of the present invention includes a photoelectric switch provided within the operating range of the grinder work device, and a photoelectric switch that moves the grindstone toward the photoelectric switch by the grinder work device. The configuration includes arithmetic control means for reading the position when the tip of the grinding wheel is detected by the switch from the position detector of the grinder working device, and calculating the amount of wear of the grinding wheel based on the read position. This is a characteristic feature.

"Operation" In the grindstone wear detection device in the grinder working device of the present invention, the length is read using a position detector that is originally provided in the grinding device or the like.

The photoelectric switch is only used to determine the timing of reading, and it is sufficient to have a simple on/off function.

Therefore, compared to the case where an image sensor or the like is used, the configuration is simpler and the cost does not increase.

Furthermore, since it is non-contact, wear detection can be performed while the grindstone is rotating, reducing idle time.

Embodiment 1 Hereinafter, based on the embodiment shown in the figures, a case where the present invention is applied to a grinder working robot will be explained.Here, FIG. FIG. 2 is a front view of the robot, FIG. 2 is a side view of the same, FIG. 3 is an explanatory diagram of the main parts of the components as a grindstone wear detection device, and FIG. 4 is a flowchart of the main parts of the operation. The invention is not limited to the examples.

The grinder robot 1 shown in FIGS. 1 and 2 has three orthogonal coordinate movement axes: An industrial robot 2, a grinder 3 attached to its wrist 28, a photoelectric switch 4 attached to the leg of the industrial robot 2, and a control device i! that has a built-in computer for controlling these. It basically consists of 5.

Among these components, the industrial robot 2 and the grinder 3 have the same structure as conventionally known.

As shown in detail in FIG. 3, the photoelectric switch 4 has a light emitting element 6 and a light receiving element 7 facing each other at a predetermined interval, and the optical path from the light emitting element 6 to the light receiving element 7 is When the grindstone T cuts, a signal is output to the control device 5.

Control value! 5 has the same structure as the conventional one for the part that performs grinding work. However, the present invention differs from the conventional structure in that it has an operating mode as a grindstone wear detection device.

Next, the operation as a grindstone wear detection device will be explained.

First, the grindstone diameter measurement process shown in FIG. 4 (bl) will be explained.

Each degree of freedom of the industrial robot 2 is positioned at a predetermined position by the control device 5. Its position is (Xa, Ya,
Z,, α1. βa, rm) (S4).

Here, X is an X coordinate on the negative side by a predetermined distance from the X coordinate X of the position where the photoelectric switch 4 is provided. This predetermined distance is preferably several orders of magnitude longer than the radius of the new grindstone.

Y, is YIl! of the position where the photoelectric switch 4 is provided. It is a sign.

Z is the Z coordinate of the position where the photoelectric switch 4 is provided.

α8. β8. T8 is a value such that the beam of detection light from the photoelectric switch 4 and the rotation axis of the grindstone T are parallel to each other.

Next, the control device 5 changes only the X coordinate of the industrial robot 2 to bring the grindstone T closer to the photoelectric switch 4.
(S5.S6).

Then, as shown in FIG. 3, the tip of the grindstone T cuts the optical path of the photoelectric switch 4. At this time, a signal is sent from the photoelectric switch 4 to the control device 5, so the control device 5 reads the X coordinate at that time from the position detector of the industrial robot 2 (
S7).

The read X coordinate value X is the X coordinate of the rotation center of the grindstone T, and the X coordinate position of the photoelectric switch 4 is Xb. Therefore, the radius of the grindstone T is determined by Xl, -X (S8)
.

Next, the grindstone wear detection process will be explained with reference to FIG. The radius of the grindstone T obtained at that time is stored in the control device t!5 as the initial value L0 (
shall be taken as a thing.

The operator operates the grinder work robot 1 to perform a desired grinder work, and gives instructions to the control device 5 to perform grindstone wear detection processing at an arbitrary time.

In response to this instruction, the control device 5 first performs the grindstone diameter measurement process (Sl).

The grindstone radius r7 thus obtained is the radius of the grindstone T at the current time. Therefore, L is subtracted from the previously stored initial value R (S2).

The difference W between Lo and L represents the amount of wear on the grindstone T.

So the control device i! 5 indicates its wear 1iW (S
3).

Thus, the whetstone Tl7 is displayed on the display part of 1liIJ Goso Wt5.
) The amount of wear can be obtained.

Note that the amount of wear can also be measured from the difference between the X coordinate values Xo and X when the optical path of the electrical switch is turned off, without calculating the radius .

Further, it is preferable to issue a warning signal when the amount of wear W exceeds a predetermined limit.

"Effects of the Invention" According to the present invention, a photoelectric switch provided within the operating range of a grinder working device and a grinding wheel are moved toward the photoelectric switch by the grinder working device, and the tip of the grinding wheel is detected by the photoelectric switch. A grindstone wear detection device for a grinder work device, characterized in that it is equipped with arithmetic control means for reading the position when the grinder is turned from a position detector of the grinder work device and calculating the amount of wear of the grindstone based on the read position. This makes it possible to detect the amount of wear on the grindstone with a simple configuration that does not increase costs, and since it is non-contact, there is no need to stop the rotation of the grindstone, reducing idle time.

The present invention also has the practical advantage that it can be easily implemented by adding it to an existing grinder working device.

[Brief explanation of drawings]

FIG. 1 is a front view of a grinder work robot equipped with a grinding wheel wear detection device according to an embodiment of the present invention, and FIG. 2 is a side view of the same.
Fig. 3 is an explanatory diagram of the main parts of the components of the grinding wheel wear detection device, Fig. 4 is a flowchart of the main parts of the operation, Fig. 5 is an explanatory diagram of the arrangement of an example of a conventional device, and Fig. 6 is a conventional device. FIG. 2 is a configuration explanatory diagram showing another configuration example. (Explanation of symbols) 1... Grinder work robot 2... Industrial robot 3... Grinder 4... Photoelectric switch 5...
・Control device T...Whetstone.

Claims (1)

[Claims] 1. A photoelectric switch provided within the operating range of the grinder working device; and a grinding wheel moved toward the photoelectric switch by the grinder working device, and a position when the tip of the grinding wheel is detected by the photoelectric switch; What is claimed is: 1. A grindstone wear detection device for a grinder working device, comprising arithmetic control means for reading from a position detector and calculating the wear amount of the grindstone based on the read position.