KR102554604B1 - Grinding apparatus and control method thereof - Google Patents

Abstract

Grinding device according to an embodiment of the present invention, the movable body portion; a grinding unit which grinds the target surface to increase the surface area of the target surface; a movement support unit for moving the grinding unit in the left and right directions to change the area in the left and right directions of the target surface being ground by the grinding unit; and an elevating unit connected to the body to elevate the movable support unit so as to change an area of the target surface being ground by the grinding unit in a vertical direction, wherein the movable support unit includes the body unit in a first position. is moved toward the target surface by a first distance in a state located at , so that the grinding unit comes into contact with the target surface, and when the grinding unit contacts the target surface, it is moved toward the target surface by a second distance to reach the target surface. It may be characterized in that the pressing force of the grinding unit is increased.

Description

Grinding apparatus and control method thereof

The present invention relates to a grinding device and a control method thereof, and more particularly, to a grinding device and a control method thereof for increasing the surface area of a target surface by efficiently grinding (grinding) the entire area of the target surface. .

Wastewater generated during plant operation is stored in a wastewater treatment tank providing a predetermined space and then treated. The wastewater treatment tank must be waterproofed to prevent the wastewater from leaking out.

In order to waterproof the wastewater treatment tank, the inner surface of the tank is subjected to various treatments. For example, a grinding process to expand the coating area of the waterproof paint and a coating process of applying the waterproof paint to the inner surface after the grinding process are representative.

Here, the coating process of applying the waterproof paint should be performed evenly on the entire inner surface of the water tank to maximize the waterproof effect, and for this purpose, the grinding process to expand the application area of the waterproof paint should also be performed on the entire inner surface of the water tank.

Of course, the grinding process is a necessary process even in general painting.

Conventionally, there is a problem that the grinding process is manual and takes a long time, so an automatic grinding device is being developed, but the grinding device currently being developed has a problem that it cannot grind the entire inner surface evenly, so a certain area of the inner surface However, there was a problem that manual work had to be accompanied.

An object of the present invention is to provide a grinding device and a control method thereof capable of efficiently grinding the entire area of a target surface requiring grinding (grinding) and significantly reducing working time.

Grinding device according to an embodiment of the present invention, the movable body portion; a grinding unit which grinds the target surface to increase the surface area of the target surface; a movement support unit for moving the grinding unit in the left and right directions to change the area in the left and right directions of the target surface being ground by the grinding unit; and an elevating unit connected to the body to elevate the movable support unit so as to change an area of the target surface being ground by the grinding unit in a vertical direction, wherein the movable support unit includes the body unit in a first position. is moved toward the target surface by a first distance in a state located at , so that the grinding unit comes into contact with the target surface, and when the grinding unit contacts the target surface, it is moved toward the target surface by a second distance to reach the target surface. It may be characterized in that the pressing force of the grinding unit is increased.

The grinding unit of the grinding device according to an embodiment of the present invention includes a head unit for grinding the target surface by contact with the target surface, a head rotating unit for rotating the head unit to which the head unit is mounted, and the moving support unit for rotating the head unit. It may include an elastic part that is elastically deformed when moved by a second distance and provides a restoring force toward the target surface to the head part.

The grinding device according to an embodiment of the present invention further includes an adsorption unit connected to the movable support unit so that the movable support unit is adsorbed to the target surface when the movable support unit is moved toward the target surface, wherein the movable support unit includes the movable unit. When the support is moved by the first distance, it may be characterized in that it does not contact the target surface.

The suction unit of the grinding device according to an embodiment of the present invention may be vacuum-sucked to the target surface when the moving support unit is moved by the second distance.

An area in the vertical direction of the target surface that is ground by the elevation of the lifting unit of the grinding device according to an embodiment of the present invention is an area corresponding to the upper direction of the first reference line from the first reference line of the target surface, The movement support unit moves the grinding unit up and down so that an area to be ground by the grinding unit is an area corresponding to a lower direction of the first reference line from a first reference line of the target surface, and the first reference line is determined by the lifting unit. It may be characterized in that it corresponds to the position of the grinding part in the lowest descending state on the body part.

The first reference line of the grinding device according to an embodiment of the present invention may be characterized in that it corresponds to a position of the grinding unit in a state in which the grinding unit is most elevated on the moving support unit.

The first reference line of the grinding device according to an embodiment of the present invention is formed at a height corresponding to the sum of the height of the body part and the height of the state in which the elevation part is lowest on the body part with respect to the target surface. can be characterized as being

The moving support part of the grinding device according to an embodiment of the present invention is located in front of at least one of the lifting part and the body part based on a state in which the lifting part is lowest on the body part. can do.

The moving support part of the grinding device according to an embodiment of the present invention, the left and right direction movement support part and the left and right direction movement support part for supporting the grinding part so that the grinding part moves in the left and right directions are moved in the vertical direction so that the grinding unit moves in the vertical direction. It may be characterized in that it includes a vertical direction movement support for supporting the left and right direction movement support to move in the direction.

The elevation part of the grinding device according to an embodiment of the present invention may be detachably connected to the body part so that a device for spraying a paint may be connected to the body part.

The moving support part of the grinding device according to an embodiment of the present invention may be characterized in that it is detachable from the elevation part so that a device for spraying paint can be connected to the elevation part.

A grinding device control method according to another embodiment of the present invention includes a first step of locating the grinding device at a first position with respect to the target surface; a second step of moving the moving support unit by the first distance and the second distance while the grinding device is located at the first position; a third step of rotating the grinding unit to grind the target surface; and a fourth step of moving the grinding device from the first position to the second position by moving the body part, wherein the fourth step is performed while the lifting part is lowered to the lowest position on the body part. It may be characterized in that the part is moved to the second position.

Grinding device control method according to another embodiment of the present invention in the third step, in a state in which the lifting part is lowered to the lowest on the body part and the grinding unit is lowered to the lowest on the moving support part, the grinding unit is moved to the moving support unit. It may be characterized in that, after grinding the target surface while raising on the body, the target surface is ground while raising and lowering the elevation unit on the body.

The grinding device and its control method according to the present invention can uniformly and efficiently grind the entire area of a target surface requiring grinding (grinding) and significantly reduce working time.

In addition, the work time can be extended by eliminating the need for scaffolding during manual work.

1 and 2 are schematic perspective views for explaining a grinding device according to an embodiment of the present invention.
3 and 4 are schematic side views for explaining a grinding device according to an embodiment of the present invention.
5 is a schematic perspective view showing a head of a grinding unit provided in a grinding device according to an embodiment of the present invention;
6 to 10 are schematic side views illustrating a process of grinding a target surface by a grinding device according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention may add, change, delete, etc. other elements within the scope of the same spirit, through other degenerative inventions or the present invention. Other embodiments included within the scope of the inventive idea can be easily proposed, but it will also be said to be included within the scope of the inventive concept.

In addition, components having the same function within the scope of the same idea appearing in the drawings of each embodiment are described using the same reference numerals.

1 and 2 are schematic perspective views for explaining a grinding device according to an embodiment of the present invention, and FIGS. 3 and 4 are schematic side views for explaining a grinding device according to an embodiment of the present invention.

5 is a schematic perspective view showing a head of a grinding unit provided in a grinding device according to an embodiment of the present invention.

1 to 4, the grinding device 100 according to an embodiment of the present invention is a device for increasing the surface area of the target surface by grinding the target surface, and includes a body part 110 and a grinding part 120. ), a movement support unit 130 and an elevation unit 140 may be included.

Here, the target surface may be the inner surface of a wastewater treatment tank for storing wastewater generated during plant operation, but is not necessarily limited thereto, and may mean one side of all facilities that need to increase the surface area. there is.

Hereinafter, components included in the grinding device 100 according to an embodiment of the present invention will be described in detail.

The body part 110 is a kind of vehicle body capable of simultaneously moving the grinding part 120, the moving support part 130, and the lifting part 140, and may be capable of linear movement and rotational movement.

The body part 110 may include at least one wheel 112, and the position may be moved by rotation of the wheel 112.

The body part 110 may have various components for position movement, for example, a motor, a plurality of gears, a steering device, etc., and thus the body part 110 may occupy a predetermined volume. It has no choice but to have a certain height.

The grinding unit 120 may be a component that grinds the target surface to increase the surface area of the target surface.

Specifically, the grinding unit 120 includes a head unit 122 that grinds the target surface by contact with the target surface, and a head rotation unit to which the head unit 122 is mounted to rotate the head unit 122. (124) and the like.

Here, the head portion 122 and the head rotating portion 124 for rotating the head portion 122 may be formed in plurality, and may be arranged in a line as shown in the drawing, but are necessarily limited to this It is not, and various numbers and arrangements may be applied, such as three being arranged in a triangular shape.

The head part 122 may be a kind of grinding pad or polishing pad, and the shape may be a repetitive quadrangular pyramid shape as shown in FIG. 5, but is not necessarily limited thereto, and may be a polygonal pyramid shape such as a cone or a triangular pyramid may be

The head rotation unit 123 may be rotated at a predetermined RPM by a motor (not shown), and the head unit 122 may grind the target surface by rotation of the head rotation unit 124 .

The movement support unit 130 may be a component for moving the grinding unit 120 in the left-right direction D1 to change the left-right direction area of the target surface to be ground by the grinding unit 120. .

Specifically, the movement support unit 130 includes a left and right movement support unit 132 supporting the grinding unit 120 and the left and right movement support unit 132 so that the grinding unit 120 moves in the left and right directions D1. may include a vertical movement support unit 134 supporting the horizontal movement support unit 132 so that the grinding unit 120 moves in the vertical direction D2 by moving in the vertical direction D2.

The horizontal direction movement support part 132 and the up and down direction movement support part 134 may be a kind of track, but are not necessarily limited thereto, and any configuration capable of implementing movement of a specific component may be applicable.

The grinding unit 120 can grind the target surface while moving in the left-right direction D1 on the left-right direction movement support unit 132, and the grinding unit 120 moves along the left-right direction movement support unit 132. may be implemented by a power supply unit such as a motor, not shown, and may be implemented by transmitting power through components such as various gears.

Of course, the supply of power to the power supply unit for moving the grinding unit 120 along the horizontal direction movement support unit 132 may be automatically controlled by a control unit (not shown).

The horizontal direction movement support part 132 can be moved in the up and down direction D2 on the up and down direction movement support part 134, and as a result, the grinding part 120 grinds the target surface while moving in the up and down direction D2. can do.

The movement of the horizontal direction movement support unit 132 along the vertical movement support unit 134 may be implemented by a power supply unit such as a motor (not shown), and power is transmitted through components such as various gears. It can be.

Of course, the supply of power to the power supply unit for moving the horizontal direction movement support unit 132 along the up and down direction movement support unit 134 may be automatically implemented by a control unit (not shown).

Meanwhile, the movement support unit 130 may further include a moving frame 136 to which the vertical movement support unit 134 is mounted to support the vertical movement support unit 134, and the movement frame 136 As shown in the drawing, it may include a horizontal portion 136a and a vertical portion 136b.

However, the moving frame 136 does not necessarily need to be implemented with the horizontal part 136a and the vertical part 136b, and may be implemented with only the horizontal part 136a with the vertical part 136b removed.

The movable frame 136 may be movable in the forward and backward directions D3 with respect to the body part 110, in other words, with respect to the support frame 138 to which the elevation unit 140 is connected, as a whole, in the forward and backward direction D3. ), and when the moving frame 136 is moved in the forward and backward directions (D3), the injection unit 120 may also be moved in the forward and backward directions (D3).

The movement of the moving frame 136 in the forward and backward directions D3 may be implemented by power provided by the forward and backward movement power providing unit 150, and the power may be transmitted through components such as various gears. can

Of course, power supply of the forward and backward direction movement power providing unit 150 may be automatically implemented by a control unit not shown.

The support frame 138 may include various components for moving the moving frame 136, such as a motor and a plurality of gears.

The lifting part 140 is connected to the body part 110 to move the moving support part 130 up and down to change the vertical area of the target surface to be ground by the grinding part 120, As shown in the drawing, it may be a scissor type, but is not necessarily limited thereto, and various structures for lifting may be applied.

For example, a hydraulic or pneumatic structure may be applied to the elevation part 140 .

The supply of power for the elevation of the lifting unit 140 may be implemented by a power supply unit such as a motor (not shown), or may be implemented by transmitting power through components such as various gears.

Here, the power supply unit related to the lifting unit 140 may be accommodated in the body unit 110, but is not necessarily limited thereto, and may be located on the body unit 110, and the power supply of the power supply unit It can be automatically controlled by the control unit. However, when the elevation part 140 is implemented as a hydraulic or pneumatic structure, a component for driving it is accommodated in the body part 110 or the body part 110 may be located on the

Hereinafter, the principle of grinding the target surface will be described in detail with reference to FIGS. 6 to 10 .

6 to 10 are schematic side views illustrating a process of grinding a target surface by a grinding device according to an embodiment of the present invention.

The process of grinding the target surface (S) by the grinding device 100 according to an embodiment of the present invention, that is, the control method of the grinding device 100, the grinding device 100 to the target surface (S) A first step of positioning it at a first position as a reference, a second step of moving the moving support part 130 by the first distance and the second distance in a state where the grinding device 100 is located at the first position. , the third step of rotating the grinding part 120 so that the target surface S is ground, and moving the grinding device 100 from the first position to the second position by moving the body part 110 A fourth step may be included.

Hereinafter, each step will be described in detail with reference to the drawings.

Referring to FIG. 6 , a first step of positioning the grinding device 100 described with reference to FIGS. 1 to 5 at a first position with respect to the target surface S requiring grinding is performed.

Here, the movement of the grinding device 100 to the first position may be implemented through wireless communication from an electronic terminal or a computer, and for this purpose, the grinding device 100 may be provided with a communication unit for communication. can

Of course, the movement of the grinding device 100 to the first position is not limited to being implemented by the above-described wireless communication method, and various methods may be applied.

Of course, the movement of the grinding device 100 to the first position may be automatically implemented by a controller, and in this case, the grinding device 100 may include various sensors for automatic movement.

7 to 9, when the grinding device 100 is located in the first position by the progress of the first step, the moving support unit in a state in which the grinding device 100 is located in the first position A second step of moving 130 by the first distance and the second distance is performed.

Here, the first distance, as shown in FIG. 8 , in a state where the body part 110 is located at the first position, the movement support part 130 is moved toward the target surface S, and the grinding part 120 ) is a distance moved to come into contact with the target surface, and the second distance, as shown in FIG. 9 , when the grinding unit 120 contacts the target surface S, the grinding This is the distance by which the moving support part 130 is moved toward the target surface to increase the pressing force of the part 120.

The movement of the movement support unit 130 by the first distance and the second distance may be implemented through wireless communication from an electronic terminal or computer, but is not limited thereto, and may be automatically implemented by the control unit. there is.

The grinding device 100 may include a sensor that detects a distance between the target surface S and the grinding unit 120, and based on a result value detected by the sensor, the control unit automatically 120) can be adjusted.

Meanwhile, the adjustment of the distance between the grinding part 120 from the target surface S may be implemented using an imaging device such as a camera.

In this case, the position of the grinding unit 120 may be automatically or manually controlled based on an image captured by the imaging device.

The movement of the movement support unit 130 by the first distance and the second distance may be implemented by movement of the movement frame 136 in the forward and backward direction D3 with respect to the support frame 138 .

On the other hand, in the grinding device 100 according to an embodiment of the present invention, when the moving support part 130 moves toward the target surface S, the moving support part 130 and the moving support part 130 are adsorbed to the target surface S. A suction unit 160 connected thereto may be further included.

The grinding unit 120 may protrude forward more than the adsorption unit 160 on the basis of before the grinding unit 120 contacts the target surface (S), and thus, the adsorption unit 160 may not contact the target surface S when the moving support 130 is moved by the first distance.

The grinding part 120 is elastically deformed when the moving support part 130 is moved by the first distance and then by the second distance to provide restoring force toward the target surface S to the head part 112. It may include an elastic part 170 that does.

The elastic part 170 may be a coil spring as shown in the drawing, but is not necessarily limited thereto, and when the moving support part 130 is moved by the second distance, the head part 112 is attached to the object. Any component capable of providing a restoring force toward the surface S may be applicable.

When the moving support part 130 is moved by the second distance, the adsorption part 160 can be vacuum-adsorbed on the target surface, and for this, the grinding device 100 is a vacuum pump for generating and removing vacuum. etc. may be included.

Referring to FIG. 10, in the second step, the suction unit 160 is vacuum-adsorbed on the target surface (S), and the head part 112 of the grinding unit 120 is in contact with the target surface (S). When a predetermined pressing force is generated, a third step of rotating the grinding unit 120 to grind the target surface S is performed.

The grinding unit 120 grinds the target surface S while being moved in the left and right direction D1 along the left and right direction movement support unit 132 .

Here, the grinding by the grinding unit 120, as shown in the drawing, causes the second area of the target surface S corresponding to the lower direction of the first reference line from the first reference line of the target surface S. Grinding may be performed prior to a first area of the target surface S corresponding to an upper direction of the first reference line from the first reference line of the target surface S.

In other words, the grinding by the grinding unit 120 is a state in which the lifting unit 140 is lowered to the lowest level on the body unit 110 and the grinding unit 120 is lowered to the lowest level on the moving support unit 130. , the second area is ground while the grinding part 120 is raised on the moving support part 130, and then the first area is ground while the lifting part 140 is raised and lowered on the body part 110. it can be done

That is, the vertical area of the target surface (S) that is ground by the elevation of the lifting unit 140 is an area corresponding to the upper direction of the first reference line from the first reference line of the target surface (S) , The movement support unit 130 is such that the area to be ground by the grinding unit 120 is an area corresponding to the lower direction of the first reference line from the first reference line of the target surface S, the grinding unit 120 ) to elevate.

Therefore, the first reference line may correspond to the position of the grinding part 120 in a state in which the lifting part 140 is lowest on the body part 110 .

Also, the first reference line may correspond to a position of the grinding unit 120 in a state in which the grinding unit 120 is raised to the highest level on the moving support unit 130 .

In another aspect, the first reference line is the sum of the height of the body part 110 with respect to the target surface (S) and the height of the state in which the elevation part 140 is lowest on the body part 110. It can be formed at a height corresponding to .

As a result, the grinding unit 120 moves in the left and right direction D1 along the left and right direction movement support unit 132 in a state in which the left and right movement support unit 132 is lowered to the lowest level with respect to the up and down direction movement support unit 134. The target surface is ground, and then, in a state in which the adsorbing part 160 is separated from the target surface S, the left-right movement support 132 is moved upward along the vertical movement support 134, and then again. In a state in which the adsorption unit 160 is adsorbed to the target surface S, the grinding unit 120 grinds the target surface S while moving in the left and right directions D1.

By repeating the above process, when the horizontal direction movement support part 132 is raised to the highest level with respect to the vertical direction movement support part 134, and the grinding unit 120 is in a state where it is raised to the highest level on the movement support part 130. , the second area of the target surface (S) is finished grinding.

When the grinding of the second area of the target surface S is completed, the elevation unit 140 operates thereafter, and along with the elevation of the elevation unit 140, the grinding unit 120 moves in the left and right direction D1. The movement causes the first area of the target surface S to be ground, and as a result, the first area and the second area of the target surface S can be uniformly ground as a whole.

As described above, the grinding device 100 according to the present invention, despite the height due to the volume occupied by the body portion 110 and the elevation portion 140, etc., regardless of the lower and upper regions of the target surface S, all area can be applied, because the moving support part 130 is located in front of at least one of the elevation part 140 and the body part 110 .

In other words, the moving support part 130 is the front of at least one of the lifting part 140 and the body part 110 based on a state in which the lifting part 140 is lowest on the body part 110. This is because the horizontal direction movement support part 132 can be lowered to the lower side of the body part 110 and the grinding part 120 can also be lowered to the lower side of the body part 110.

Grinding by the grinding part 120 may be implemented while the lifting part 140 is being lifted on the body part 110 or the grinding part 120 is being lifted on the moving support part 130 .

On the other hand, when the vertical movement support part 134 is implemented to extend to the horizontal part 136a, the grinding part 120 can also grind the ceiling surface, and the grinding part 120 is placed between the wheels 112. If placed, the bottom surface may also be ground.

Meanwhile, the grinding device 100 according to the present invention may include a dust collecting device that collects foreign substances generated during grinding.

The dust collector may be located around the grinding unit 120 .

As described above, when the grinding of the first and second areas of the target surface S is completed, the grinding device 100 is moved to grind the areas adjacent to the first and second areas. 4 steps can be taken.

The fourth step may include moving the body part 110 to a second position in a state in which the lifting part 140 is lowest on the body part 110. If the lifting part 140 ) is moved to the second position while being raised on the body part 110, this is because there is a risk of overturning.

Meanwhile, the elevation part 140 may be detachably connected to the body part 110, and thus a device for spraying a paint may be connected to the body part 110.

That is, a device capable of performing various processes, such as a grinding process and an application process, can be connected to one body part 110 .

In the above, the configuration and characteristics of the present invention have been described based on the embodiments according to the present invention, but the present invention is not limited thereto, and various changes or modifications can be made within the spirit and scope of the present invention. It is apparent to those skilled in the art, and therefore such changes or modifications are intended to fall within the scope of the appended claims.

For example, it has been described above that the second region of the target surface S to be ground by the grinding unit 120 is ground before the first region of the target surface S, but the present invention is necessarily limited to this. It does not matter, and the first area may be ground prior to the second area, and the specific area may be ground a plurality of times.

100: grinding device
110: body part
120: grinding unit
130: moving support
140: lifting part

Claims (13)

In the grinding device,
A movable body part;
a grinding unit which grinds the target surface to increase the surface area of the target surface;
a movement support unit for moving the grinding unit in a left-right direction to change a left-right direction area of the target surface being ground by the grinding unit; and
An elevation unit connected to the body portion to elevate the movement support unit in order to change an area in the vertical direction of the target surface being ground by the grinding unit;
The movable support part,
In a state where the body part is located at the first position, it is moved toward the target surface by a first distance to bring the grinding part into contact with the target surface, and when the grinding part contacts the target surface, it moves towards the target surface by a second distance. is moved to increase the pressing force of the grinding unit on the target surface,
The area in the vertical direction of the target surface that is ground by the elevation of the elevation unit,
A first reference line of the target surface -The first reference line is a reference line for a height corresponding to the sum of the height of the body part and the height of a state in which the elevation part is lowest on the body part based on the target surface - An area corresponding to the upper direction of the first reference line from,
The movable support part,
The area to be ground by the grinding unit is an area located in front of the body part, which is an area corresponding to the lower direction of the first reference line from the first reference line of the target surface, and an area located in front of the elevation part, A grinding device characterized by elevating the grinding unit.
According to claim 1,
The grinding part,
When the head part grinds the target surface by contact with the target surface, the head rotation part mounted on the head part and rotating the head part, and the moving support part are moved by the second distance, elastically deforms the head part. A grinding device comprising an elastic part providing a restoring force toward a target surface.
According to claim 1,
Further comprising an adsorption unit connected to the movement support unit so that the movement support unit is adsorbed to the target surface when the movement support unit moves toward the target surface.
the adsorption unit,
Grinding device characterized in that when the moving support portion is moved by the first distance, it does not contact the target surface.
According to claim 3,
the adsorption unit,
When the moving support unit is moved by the second distance, the grinding device is vacuum-sucked to the target surface.
delete According to claim 1,
The first reference line,
The grinding device according to claim 1, wherein the position of the grinding part corresponds to a position of the grinding part in a state in which the grinding part is raised to the highest position on the moving support part.
delete According to claim 1,
The movable support part,
The grinding device, characterized in that located in front of at least one of the lifting part and the body part based on a state in which the lifting part is lowest on the body part.
According to claim 1,
The movable support part,
A left-right direction movement supporter supporting the grinding unit so that the grinding unit moves in the left-right direction, and a vertical movement support unit supporting the left-right direction movement support unit so that the horizontal movement support unit moves in the vertical direction so that the grinding unit moves in the vertical direction. Grinding device comprising a.
According to claim 1,
The lift part,
Grinding device characterized in that it is detachably connected to the body portion so that a device for spraying paint can be connected to the body portion.
According to claim 1,
The movable support part,
Grinding device characterized in that it is separable from the elevation portion so that a device for spraying paint can be connected to the elevation portion.
A first step of positioning the grinding device according to any one of claims 1 to 4, 6, and 8 to 11 at a first position with respect to the target surface;
a second step of moving the moving support unit by the first distance and the second distance while the grinding device is located at the first position;
a third step of rotating the grinding unit to grind the target surface; and
And a fourth step of moving the grinding device from the first position to the second position by moving the body part,
The fourth step,
The grinding device control method according to claim 1 , wherein the lifting part moves the body part to a second position in a state in which the lifting part is lowered to the lowest level on the body part.
According to claim 12,
The third step,
In a state in which the lifting unit is lowered to the lowest level on the body unit and the grinding unit is lowered to the lowest level on the moving support unit, after grinding the target surface while raising the grinding unit on the moving support unit, the lifting unit is moved up and down on the body unit. Grinding device control method characterized by grinding the target surface while doing so.

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