US 5,126,645 AGranted

Grinder robot

AssigneeKabushiki Kaisha Toshiba

InventorsTakashi Yoshimi, Makoto Jinno

Life of this patent

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Abstract

A grinder robot having a grinder can be operated by both of a force control and a position control to grind a workpiece surface quickly and acccurately. When the grinder has not reached a target grinding point position to finish grindings, force loop drive control means are selected to drive the grinder in order to grind a work by a force control. After a grinding point ground by the grinder has reached the target position, then, position drive control means are selected to drive the grinder by a position control in order to execute precise grindings. A grinding amount in every grinding in a force control area is relatively large and a grinding speed in every grinding in a position control area is relatively fast. As a result, a workpiece can be ground quickly and accurately by the grinder robot.

Claims9

Dependent claims

A grinder robot comprising:

a supporting structure for supporting a workpiece to be ground;
a grinding tool for grinding said workpiece;
an arm for supporting and feeding said grinding tool to a position in which said grinding tool contacts a surface of said workpiece and for driving said grinding tool to carry out a grinding operation in which said surface of said workpiece is ground into a uniform target plane;
controlling means for controlling said arm to effect said grinding operation by selectively controlling said arm in a first mode in which said grinding tool is fed toward said target plane at a constant force and a second mode in which said grinding tool is controlled to move along said target plane and not to grind said surface of said workpiece beyond said target plane;
wherein said controlling means controls the feeding of said grinding tool such that, when said grinding tool makes contact with said surface of said workpiece and is located at least a certain distance away from said target plane, said grinding tool is controlled in said first mode, and when said grinding tool reaches said target plane, said grinding tool is controlled in said second mode.

2 more elements

Dependencies are inferred from the claim text.

Facts

Application: 07/589,517Filed 28 Sep 1990
Priority: JP 1-25546130 Sep 1989
Granted: 30 Jun 1992
Term ends: Not estimatedThe source records don’t support an estimate.

Classification5 codes

G05B 19/18
Electric: numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as…
G05B 19/39
Characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement…:…
G05B 2219/42123
Servomotor, servo controller kind till VSS: position loop then force, current loop
G05B 2219/45058
Nc applications: grinding, polishing robot

Family

No related US applications are recorded in the indexed filing history.

Timeline

Citations

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