公开(公告)号：EP0142072A3

公开(公告)日：1986-12-30

申请号：EP84112680

申请日：1984-10-20

申请人： AIDA ENGINEERING, LTD.

发明人： KOMATSU, ISAMU ,  SERIZAWA, KENKICHI

IPC分类号： B24B19/20 ,  B24B27/00 ,  B24B51/00 ,  G05B19/421 ,  G05B19/42

CPC分类号： G05B19/421 ,  B24B19/20 ,  B24B51/00 ,  G05B2219/34365 ,  G05B2219/36498 ,  G05B2219/45161 ,  Y02P90/265

摘要： The grinding robot according to the present invention is, to be more precise, a playback system grinding work robot with which No. 1 arm (7) turning around an axis, No. 2 arm (8) pivoted on and turning around the head portion of said No. 1 arm (7) and an abrasive tool (9) attached to an axle (10) of the head of No. 2 arm (8) are provided, and has epock-making functions which makes it possible to move the abrasive tool (9) automatically and freely to a given direction, and to apply this grinding robot work efficiently to the curved surfaces of the complicated shape workpiece (58).
Further, the grinding robot under the present invention has a unique table device (48) which is inclinable freely from a horizontal level to a perpendicular position and in consequ­ ence it is very easy to set the abrasive tool (9) face to face with the workpiece (58) surface and also to control a position and a motion of the abrasive tool (9) because the position of the workpiece (58) fixed on the table is almost unchanged by the aid of linkages when the table (48) is inclined.
Furthermore, the grinding robot under the present inven­ tion has an original and unique structure that a hydraulic cylinder is fitted to the head portion of No. 2. arm (8) and its ascending and descending motions can be controlled at the time of tool retirement, and that a playback control device functioning at the time of said tool retirement is built in the mechanism.