JPH03281168A - Grinding wheel wear detection device for automatic grinding equipment - Google Patents

Abstract

PURPOSE:To confirm wear of a grinding stone during a grinding work and to perform a stable work continuous for a long time with out suspending a work by mounting a sensor part to detect wear of a grinding stone on a grinder part being a tool. CONSTITUTION:When wear of a grinding stone 4 is progressed through a grinding work, resulting in wear off of a region 15, an amount of air leaking through a wear detecting part 8 is increased, a pressure in a pressure container 11 is reduced, and a pressure switch 12 is brought into an OFF-state. From the position of a solenoid valve 10 when the pressure switch 12 is in an OFF-state, a region where the grinding stone 4 is worn is detected. After wear of the region 15 is recognized, the solenoid valve 10 is switched so as to feed air to a next region 16. Since the grinding stone 4 is present in the region 16, the pressure switch 12 is brought into an ON-state again. With the progress of wear, this operation is repeated through a grinding work, and when wear of a final region 17 is confirmed, a grinding stone is replaced by means of an ATC after completion of a specified work.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a grinding wheel wear detection device for an automatic grinding device in which deburring and grinding operations are performed by a robot or the like.

[Conventional technology]

In the conventional device, a device for detecting grinding wheel wear is installed within the movable range of the automatic grinding device. The automatic grinding device brings the grinder close to this detection device, detects the position of the tip of the grinding wheel, and then recognizes the tool position at this time using an encoder.
The grindstone tip position is stored in the control device. By repeating this operation after the grinding work is completed, it becomes possible to correct the control according to the wear of the grindstone and to determine when it is time to replace the grindstone.

The above is described in Japanese Patent Application Laid-Open No. 62-282860.

[Problem to be solved by the invention]

In the above-mentioned conventional technology, it was necessary to install a device for detecting grindstone wear around the grindstone, and a special operation was required for detecting wear. Therefore, in order to detect wear of the grindstone, it was necessary to interrupt the work.

SUMMARY OF THE INVENTION An object of the present invention is to provide a wear detection device that can be incorporated into an automatic grinding device main body without requiring any special peripheral equipment, and can detect wear of a grindstone even during grinding work.

[Means to solve the problem]

In order to achieve the above object, a sensor for detecting the wear of the grindstone is attached directly to the grinder portion of the tool.

[Effect]

A sensor attached directly to the grinder determines the wear of the grinding wheel by the presence or absence of the grinding wheel in a certain area.

Thereby, the progress of wear of the grindstone can be detected even during the grinding operation.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1, 2, and 3.

A grinder 3, which is a grinding tool, is attached to the tip of a hand of a robot 1, which is the main body of an automatic grinding device, via a force sensor 2. Further, a sensor section 5 for detecting wear of the grindstone is attached behind the grindstone 4 of the grinder 3. This sensor section 5 also serves as a cover for the grindstone 4.

The force sensor 2 is connected to a force control device 6;
is connected to the robot control device 7 to form a force control feedback loop. Grinding wheel wear detection sensor section 5
is connected to the robot control device 7.

The sensor section 5 is divided into an arbitrary number of regions in consideration of the progress of wear of the grindstone 4, and is composed of a plurality of wear detection sections 8, one corresponding to each region.

The wear detection section 8 has a nozzle shape and is connected to the connector tube 9 through the main body of the sensor section 5. The number of connector tubes 9 is the same as the number of wear detection parts 8,
These are combined into one solenoid valve 10.

The solenoid valve 10 is connected to a pressure vessel 11.

Pressure vessel 11 is also connected to a pressure switch 12.

These are connected to the same part within the pressure vessel 11 which is divided into two parts by an orifice 13.

Another part of the pressure vessel 11 has a compressed air intake 1.
There are 4.

First, when the grindstone 4 is new, the grinding noise valve 10 is switched to the wear detection section 8 corresponding to the region 15 near the outermost circumference of the grindstone 4. Compressed air supplied from the intake port 14 enters the pressure vessel 11 and is supplied to the wear detection section 8 and the pressure switch 12 via the orifice 13. Here, since the gap between the nozzle tip of the wear detection section 8 and the grindstone 4 is kept small, the amount of air leakage is small and the pressure inside the pressure vessel 11 increases. Therefore, the pressure switch 12 is turned on. In this way, it can be seen that the grindstone 4 is present in the arbitrary region 3-3 depending on the position of the solenoid valve 10 when the pressure switch 12 is in the ON state.

When the grinding wheel 4 wears out due to grinding work and the area 15 disappears, the amount of air leaking from the wear detection part 8 increases, the pressure inside the pressure vessel 11 decreases, and the pressure switch 12 turns OFF.
state. In this way, the worn area of the grindstone 4 can be determined by the position of the solenoid valve 10 when the pressure switch 12 is in the OFF state.

Once wear in region 15 is recognized, solenoid valve 10 switches to supply air to the next region 16. In area work 6, the pressure switch is turned ○ again because the grindstone 4 is present.
It becomes N state.

The above operations are repeated as wear progresses due to the grinding work. If wear in the final region 17 is confirmed, the grindstone is replaced by ATC or the like after a certain amount of work is completed.

Through these series of operations, the progress of wear on the grindstone 4 can be confirmed even during the grinding operation. This eliminates the need for special operations and teachings for wear detection.

4 In a grinding system that uses a force sensor, coordinates are converted from coordinate data to position data using the tool tip as the origin, but by knowing the progress of wear during grinding work, the origin of coordinate exchange can be shifted according to the degree of wear. This makes it possible to perform more accurate sliding work using force sensors.

It is also possible to maintain stable processing conditions by adjusting the rotation speed of the grinding wheel according to wear, and to detect damage to the grinding wheel.

〔Effect of the invention〕

According to the present invention, it is possible to check the wear of the grindstone during grinding work, so it is possible to stably perform continuous work for a long time without interrupting the work, thereby improving work efficiency, safety, etc. is effective.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a block diagram of a system to which the present invention is applied, and FIG. 3 is a view taken in the direction of arrow A in FIG. 1... automatic grinding device main body, 3... grinder, 4...
... Grinding wheel, 8... Wear detection part.

Claims (1)

[Claims] 1. A grindstone wear detection device for an automatic grinding machine, characterized in that a grinder section, which is a tool, is provided with a sensor section for detecting grindstone wear.