BURR AMOUNT ADAPTIVE CONTROL TYPE DEBURRING METHOD

摘要

PURPOSE:To aim at shortening the time of a deburring process in which a burr is large and variations in the amount of burr is large, by electrically detecting the condition of grinding of a grinder always and to compare thus detected value with a predetermined electrical value to compute a grinding condition so that a feed device is restarted. CONSTITUTION:When a burr 2 produced on a workpiece 1 is removed by a grind stone 4 of a grinder 3, the grinder 3 is mounted on a robot 5, and the feed-speed of the robot 5 is controlled for grinding the burr 2. In this arrangement, a wattmeter 8 is used as a device for electrically detecting the grinding condition, in order to detect power consumed by the grinder 3, and thus detected value is delivered to a control device 6 to control the speed of the robot 6 for deburring. Further, when there is a burr which cannot be followed up, a comparator 10 once stops the feed of the grinder 3 to recover the rotation of the grinder 3, and then restart the deburring. Accordingly, even though variations in burr amount are large, the deburring process may be completed in a short time.