Abrasive articles, systems, and methods of use

Abstract

An abrasive article evaluation system is presented that includes a detector that detects a non-visual abrasive wear cue and an efficiency indicator generator that generates an abrasive article wear indication based on the abrasive wear cue. The system also includes a command generator that generates a command based on the generated wear indication.

Description

Background Art

[0001] Coated abrasive articles containing shaped abrasive grains can be used to shape, finish or grind a variety of materials and surfaces, such as wood, metal (e.g., particularly non-ferrous metals such as aluminum that tend to clog grinding wheels), and burrs. There is a constant need to improve the cost, performance and / or life of coated abrasive articles. Summary of the invention

[0002] An abrasive article evaluation system is presented, the abrasive article evaluation system including a detector for detecting non-visual abrasive wear cues and an efficiency indicator generator for generating an abrasive article wear indication based on the abrasive wear cues. The system also includes a command generator for generating commands based on the generated wear indication.

[0003] A robotic grinding system is presented, the robotic grinding system including an abrasive article including a wear cue detectable by a sensor, the abrasive article being configured to contact a substrate. The system also includes a robotic arm configured to contact the abrasive article with the substrate. The system also includes a force control unit on the robotic arm. The force control unit forces the abrasive article to contact the substrate. The system also includes a wear indication system that determines an amount of wear of the abrasive article based on the wear cue and adjusts an operating parameter of the robotic grinding system based on the amount of wear.

[0004] An abrasive article having a wear indicator is presented, the abrasive article comprising a bonding matrix and a plurality of abrasive grains within the bonding matrix. The article also comprises a detectable wear indicator that changes after a portion of the useful life of the abrasive article has elapsed.

[0005] Systems and methods for detecting when an abrasive article is nearing the end of its useful life are described herein. Some systems and methods herein can improve the use efficiency of an abrasive article as the abrasive particles wear away. However, the systems and methods herein are not limited to measuring the wear of abrasive particles. Detecting the wear of a resin matrix can also be useful, such as in nonwovens or bonded abrasive articles, where the entire article wears away during use. Some abrasive articles experience particle and resin wear down to the backing layer, which provides an opportunity for visual detection of changes.

[0006] Some systems and methods herein may be particularly useful for robotic grinding systems where a human operator cannot detect end of life by noticing changes in grinding efficiency. Additionally, some systems and methods herein may be used with handheld abrasive tools to help operators adjust tool usage parameters during grinding operations.

[0007] The above summary of the present disclosure is not intended to describe each disclosed embodiment or each implementation of the present disclosure. The following description more specifically illustrates exemplary embodiments. Therefore, it should be understood that the following description should not be construed as an undue limitation on the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a schematic top view of an exemplary coated abrasive article.

[0009] Figure 2 is a schematic cross-sectional view of an exemplary coated abrasive article.

[0010] Figure 3 A robotic grinding system that may benefit from embodiments herein is shown.

[0011] Figure 4 A handheld grinding system that may benefit from embodiments herein is shown.

[0012] Figure 5 An abrasive article evaluation system according to embodiments herein is shown.

[0013] Figure 6 A method of evaluating the efficacy of an abrasive article according to embodiments herein is shown.

[0014] FIG. 7A to FIG. 7C An abrasive article according to embodiments herein is shown.

[0015] Figure 8 An abrasive article according to embodiments herein is shown.

[0016] Fig. 9 A method of determining the grinding efficiency of an abrasive article according to embodiments herein is shown.

[0017] Fig.10 It is the defect inspection system architecture.

[0018] Figures 11 to 13 An example of a computing device that may be used in the embodiments shown in the previous figures is shown.

[0019] Fig.14 An abrasive article core described in the Examples is shown.

[0020] Reference symbols used repeatedly in the specification and drawings are intended to represent the same or similar features or elements of the present disclosure. It should be understood that those skilled in the art can design many other modifications and embodiments that fall within the scope and essence of the principles of the present disclosure. The drawings may not be drawn to scale. DETAILED DESCRIPTION

[0021] Throughout this document, values ​​expressed in a range format should be interpreted in a flexible manner to include not only the values ​​explicitly listed as the limits of the range but also all individual values ​​or subranges encompassed within the range, as if each value and subrange were explicitly listed. For example, the range "about 0.1% to about 5%" or "about 0.1% to 5%" should be interpreted to include not only about 0.1% to about 5%, but also individual values ​​(e.g., 1%, 2%, 3% and 4%) and subranges (e.g., 0.1% to 0.5%, 1.1% to 2.2%, 3.3% to 4.4%) within the indicated range. Unless otherwise indicated, the expression "about X to Y" has the same meaning as "about X to about Y". Similarly, unless otherwise indicated, the expression "about X, Y or about Z" has the same meaning as "about X, about Y or about Z".

[0022] In this document, unless the context clearly indicates otherwise, the terms "a", "an", or "the" are used to include one or more than one. Unless otherwise indicated, the term "or" is used to refer to a non-exclusive "or". The expression "at least one of A and B" has the same meaning as "A, B, or A and B". In addition, it should be understood that the words or terms used herein and not otherwise defined are for illustrative purposes only and are not limiting. Any use of section headings is intended to facilitate understanding of the document and should not be construed as limiting; information related to a section heading may appear within or outside that particular section.

[0023] In the methods described herein, except where a time or sequence of operations is explicitly enumerated, various actions may be performed in any order without departing from the principles of the present disclosure. In addition, specified actions may be performed simultaneously unless explicit claim language implies that they are performed separately. For example, a claimed action of performing X and a claimed action of performing Y may be performed simultaneously in a single operation, and the resulting process will fall within the literal scope of the claimed process.

[0024] As used herein, the term "about" can allow, for example, a certain degree of variability in a value or range, such as within 10%, within 5%, or within 1% of the stated value or limit of the stated range, and includes the exactly stated value or range.

[0025] As used herein, the term "substantially" refers to a majority or majority, such as at least about 50%, 60%, 70%, 80%, 90%, 95%, 96%, 97%, 98%, 99%, 99.5%, 99.9%, 99.99%, or at least about 99.999% or more, or 100%.

[0026] As used herein, the term "shaped abrasive grains" means that at least a portion of the abrasive grains has a predetermined shape, and the predetermined shape is replicated by the mold cavity for forming the shaped precursor abrasive grains. Except in the case of abrasive fragments (e.g., as described in U.S. Patent Application Publications 2009 / 0169816 and 2009 / 0165394), the shaped abrasive grains will generally have a predetermined geometry that roughly replicates the mold cavity for forming the shaped abrasive grains. As used herein, the shaped abrasive grains do not include the abrasive grains obtained by mechanical crushing operations. Suitable examples of the geometry with at least one top include polygons (including equilateral, equiangular, star-shaped, regular and irregular polygons), lens shapes, half-moon shapes, circular shapes, semicircular shapes, elliptical shapes, circular sectors, circular arcs, drop shapes, and hypocycloids (e.g., superelliptical).

[0027] For the purposes of the present invention, geometric shapes are also intended to include regular or irregular polygons or stars, wherein one or more sides (peripheral portions of the faces) may be arcuate (either towards the inside or towards the outside, wherein the first alternative is preferred). Thus, for the purposes of the present invention, triangular shapes also include three-sided polygons wherein one or more sides (peripheral portions of the faces) may be arcuate. The second side may include (and preferably is) a second face. The second face may have an edge of a second geometric shape.

[0028] For purposes of the present invention, shaped abrasive grains also include abrasive grains with faces of different shapes, for example, on different faces of abrasive grains. Some embodiments include shaped abrasive grains with opposite sides of different shapes. Different shapes can include the difference of the surface area of ​​two opposite sides, for example, or the different polygonal shapes of two opposite sides.

[0029] The shaped abrasive particles are typically selected to have an edge length in the range of 0.001 mm to 26 mm, more typically 0.1 mm to 10 mm, and more typically 0.5 mm to 5 mm, although other lengths may be used.

[0030] The shaped abrasive particles may have a "sharp portion", which is used herein to describe a sharp tip or sharp edge of an abrasive article. The sharp portion can be defined using a radius of curvature, and in the present disclosure, for a sharp point, the radius of curvature is understood to be the radius of the arc of the curve that is closest to the point. For a sharp edge, the radius of curvature is understood to be the radius of curvature of the profile of the edge on a plane perpendicular to the tangent direction of the edge. In addition, the radius of curvature is the radius of the circle that best fits the average value of the normal section or measured section along the length of the sharp edge. The smaller the radius of curvature, the sharper the sharp portion of the abrasive particle. Shaped abrasive particles with a sharp portion are defined in U.S. Provisional Patent Application Serial No. 62 / 877,443, filed on July 23, 2019, which is hereby incorporated by reference.

[0031] In the case of abrasive particles being precisely shaped (e.g., precisely shaped into triangular flakes or pyramidal particles), this orientation effect may be particularly important, as described in U.S. Patent Application Publication No. 2013 / 0344786A1 (Keipert), which is incorporated herein by reference. As used herein, the term "alignment" is used to refer to the relative position of abrasive particles on a backing, while the term "orientation" refers to the rotational position of abrasive particles at the aligned position. For example, a triangular particle may have an orientation of "tilting upward" or an orientation of "tilting downward" relative to the backing.

[0032] As used herein, the term shaped abrasive grain refers to a monolithic abrasive grain. As shown, the shaped abrasive grain contains no binder and is not an agglomerate of abrasive grains held together by a binder or other adhesive material.

[0033] Described in this embodiment are abrasive articles that include wear indicators or other abrasive efficiency indicators. Some exemplary embodiments are described in the context of a particular abrasive article type, such as a bonded grinding wheel or a coated fiber disc. However, it is expressly contemplated that at least some of the efficiency indicators herein are applicable to a variety of types of abrasive articles, and the figures and examples described herein are not intended to be limiting.

[0034] Additionally, with respect to coated abrasive articles, many of the examples herein specifically discuss abrasive discs. However, it is expressly contemplated that abrasive belts may also benefit from the efficacy indicators described herein.

[0035] In addition, with respect to bonded abrasive articles, some examples of grinding wheels are described herein. However, it is clearly contemplated that wear indicators applicable to some abrasive articles may be applicable to other abrasive articles. Bonded abrasive articles may use a vitreous, resinous, or polymer-based bonding matrix. Bonded abrasive structures may include depressed center grinding wheels, cut-off grinding wheels, cut-off grinding wheels, precision bonded grinding wheels, cup wheels, segmented grinding wheels, and the like.

[0036] Figure 1 and Figure 2 An exemplary coated abrasive disc 100 according to the present disclosure is shown with shaped abrasive particles 130 secured to a backing 110 in a precise position and Z-axis rotational orientation. In one embodiment, the shaped abrasive particles 130 are triangular prism-shaped particles that appear rectangular when viewed from above.

[0037] Generally speaking, the coated abrasive article 100 includes a plurality of abrasive particles embedded in a make coat, the make coat securing the particles to a backing. For example, the backing can be formed from any known flexible coated abrasive backing. Suitable materials for the backing include polymer films, metal foils, woven fabrics, knitted fabrics, paper, nonwovens, foams, screens, laminates, combinations thereof, and processed versions thereof.

[0038] Abrasive particles 130 may be embedded in an abrasive layer, which may include a multilayer construction having a make layer 120 and a size layer 140. If desired, a coated abrasive article according to the present disclosure may include additional layers, such as, for example, an optional top size layer superimposed on the abrasive layer, or a backing antistatic treatment layer if desired. Exemplary suitable binders may be made from heat curable resins, radiation curable resins, and combinations thereof.

[0039] The primer layer 120 can be formed by coating a curable primer layer precursor onto the main surface of the backing 110. The primer layer precursor may include, for example, glue, phenolic resin, aminoplast resin, urea-formaldehyde resin, melamine-formaldehyde resin, urethane resin, multifunctional (meth) acrylates that can be polymerized in a free radical manner (e.g., aminoplast resins with pendant α, β-unsaturated groups, acrylated urethanes, acrylated epoxy resins, acrylated isocyanurates), epoxy resins (including bis-maleimide and fluorene-modified epoxy resins), isocyanurate resins, and mixtures thereof. Among these, phenolic resins are preferred.

[0040] Generally speaking, phenolic resins are formed by the condensation of phenol and formaldehyde, and are generally classified as resol or novolac phenolic resins. Novolac phenolic resins are acid catalyzed and have a molar ratio of formaldehyde to phenol of less than 1:1. Resole / resol phenolic resins may be catalyzed with an alkaline catalyst and have a molar ratio of formaldehyde to phenol of greater than or equal to one, typically between 1.0 and 3.0, so that hydroxymethyl side groups are present. Alkaline catalysts suitable for catalyzing the reaction between the aldehyde and phenol components of resol phenolic resins include sodium hydroxide, barium hydroxide, potassium hydroxide, calcium hydroxide, organic amines, and sodium carbonate, all as catalyst solutions dissolved in water.

[0041] Resols are typically applied as solutions with water and / or organic solvents (e.g., alcohols). Typically, the solution contains about 70% to about 85% solids by weight, but other concentrations may be used. If the solids content is very low, more energy is required to remove the water and / or solvent. If the solids content is very high, the viscosity of the resulting phenolic resin is too high, which typically leads to processing problems.

[0042] Phenolic resins are well known and readily available from commercial sources. Examples of commercially available resol phenolic resins that can be used to practice the present disclosure include those sold by Durez Corporation under the trade name VARCUM (e.g., 29217, 29306, 29318, 29338, 29353); those sold by Ashland Chemical Co., Bartow, Florida, under the trade name AEROFENE (e.g., AEROFENE 295); and those sold by Kangnam Chemical Company Ltd. of Seoul, South Korea under the trade name PHENOLITE (e.g., PHENOLITE TD-2207).

[0043] The make layer precursor may be applied by any known coating method for applying a make layer to a backing including methods such as, for example, roll coating, extrusion die coating, curtain coating, knife coating, gravure coating, and spray coating.

[0044] The basis weight of the make coat used may depend, for example, on the intended use, the type of abrasive grains, and the nature of the coated abrasive article being prepared, but will typically range from 1, 2, 5, 10, or 15 grams per square meter (gsm) to 20, 25, 100, 200, 300, 400, or even 600 gsm. The make coat may be applied by any known coating method for applying a make coat (e.g., a make coat) to a backing, including, for example, roll coating, extrusion die coating, curtain coating, knife coating, gravure coating, and spray coating.

[0045] Once the make coat precursor is coated on the backing, the triangular abrasive particles are applied to the make coat precursor and embedded therein. The triangular abrasive particles are nominally applied to the make coat precursor according to a predetermined pattern and Z-axis rotational orientation. Using known orientation methods, such as electrostatic or magnetic orientation, the abrasive particles can be oriented relative to the backing to improve the performance of the particles.

[0046] However, although Figure 1 to Figure 2 Coated abrasive articles are shown, but it is expressly contemplated that the systems and methods herein may also be applicable to understanding the use and wear of other abrasive articles, such as bonded abrasive articles having a resinous or vitreous bond matrix, nonwoven abrasive articles, brushes, or other abrasive articles.

[0047] Abrasive articles can be used in many contexts. This article describes the robotic repair context ( Figure 3 ) and hand tool background ( Figure 4). Over time, different use scenarios for abrasive articles may present different problems with the use of the article. For example, an experienced human operator can often "feel" that an abrasive article is losing cutting efficacy over time and adjust accordingly by applying more force or adjusting the angle. Similarly, an abrasive article may maintain acceptable abrasive efficacy but be close enough to the end of its life to require replacement. A robotic system may not have insight into the wear or load occurring on the abrasive article and may not be able to make the necessary adjustments, or replace the abrasive article when necessary. The systems and methods herein are also useful in other contexts.

[0048] Figure 3 is a schematic diagram of a robotic arm that may benefit from the embodiments disclosed herein. In some embodiments, the robotic repair unit 200 has a base 210, which may be fixed. In other embodiments, the base 210 may move in any of six dimensions, translation, or rotation around an x-axis, a y-axis, and / or a z-axis. For example, the robot 200 may have a base 210 fixed to a track system that is configured to travel with a moving substrate being repaired. Depending on the particular operation, the robot 200 may need to move closer to or farther away from the substrate, or may need to move higher or lower relative to the grinding area. Thus, a movable base 200 may increase functionality.

[0049] The robotic arm unit 200 has one or more tools 240 that can interact with the work surface. In one embodiment, the tool 240 may include a support pad 250, or another suitable abrasive tool. During abrasive operation, the tool 240 may have an abrasive disc or other suitable abrasive article that is attached using an adhesive, hook and loop, clamp system, vacuum or other suitable attachment system. However, when the abrasive article moves in conjunction with the support pad 250 to which it is attached, the abrasive article is not necessarily considered to add additional degrees of freedom to the movement of the robotic repair unit 200. When mounted to the robotic repair unit 200, the tool 240 has the ability to be positioned within the degrees of freedom provided by the robotic repair unit 200 (6 degrees of freedom in most cases) as well as any other degrees of freedom (e.g., compliance control 230 unit).

[0050] Support pad 250 is coupled to tool 240 having tracks that provide some additional degrees of freedom. In most tools, a single degree of freedom is provided by a rotational axis with or without some offset. Tool 240 is coupled to the output of force control unit 230. Force control flange 230 provides a soft (i.e., non-rigid) displacement curve. In most force control units, a single degree of freedom is provided by a sliding (prismatic) joint along the axis of motion. Force control 230 is coupled to flange 220. Movement of components 210, 220, 230, 240, and 250 can all be controlled using a robotic controller (e.g., robotic controller 270).

[0051] In addition to moving the components 210-250 based on the parameters of the grinding operation, the robot controller 270 can also adjust the parameters based on the information received from the abrasive article use evaluation 260. For example, if the evaluation system 260 indicates that the abrasive article has reached the end of its life, the controller 270 can instruct the system 200 to stop the grinding operation, replace the old abrasive article with a new abrasive article, and then continue the grinding operation. In addition, for example, the controller 270 can provide new grinding parameters based on feedback from the system 260. For example, if the abrasive article is loaded, the controller 270 can increase the coolant flow to flush the accumulated chips. If the abrasive article is blocked, the controller 270 can start a dressing process to alleviate the detected blocking. If the abrasive article is worn, but not at the end of its life, the controller can increase the force applied by the force control unit 230, or can adjust the angle of the tool 240 relative to the substrate. Such adjustments are described in more detail with reference to later figures.

[0052] Figure 4 A hand tool 300 is shown that can be used by a human operator during a grinding operation. The tool 300 includes an abrasive article 310 coupled to a support pad 312. The tool can be manipulated by a human operator so that the angle of the abrasive article 310 is adjustable. The applied force can also be adjustable, such as by tilting the human operator.

[0053] While an experienced human operator may be able to adjust operating conditions based on the "feel" of the grinding operation, at least some operators may benefit from the evaluation system 320. The abrasive article evaluation system 320 may detect the use condition of the abrasive article 310, and the evaluation communicator 330 may communicate the wear condition or operating condition of the abrasive article to the human operator. For example, the tool 300 may include a display that provides instructions to the human operator—for example, based on an internal gyroscope or accelerometer, the tool may guide the user to adjust the angle of the tool relative to the surface. In other embodiments, the communicator 330 may display the results, instructions, or suggestions on a display associated with the human operator—such as a display on protective equipment worn by the user (e.g., a head-up display or an augmented reality overlay provided on safety glasses) or a display in the area. The communicator 330 may also communicate the results in another manner, such as by auditory means, or simply by indicating that the abrasive article is acceptable for continued use or unacceptable for continued use.

[0054] Systems and methods for evaluating abrasive articles are described herein. Abrasive articles may be associated with a robotic grinding system, such as Figure 3 As shown, or it can be a manually operated tool, such as Figure 4 As shown. Evaluating an abrasive article is broadly used to refer to evaluating parameters related to the abrasive efficiency of an abrasive article. Abrasive efficacy may be affected by wear - as the article is used and the particles gradually wear away, the cut rate will decrease. However, abrasive efficacy may also be affected by other factors that can be detected using the systems and methods herein. For example, capping or loading may occur, causing the abrasive particle tips to become covered and unable to grind. Other efficacy factors may also be detected.

[0055] Figure 5 An abrasive article evaluation system according to an embodiment of the present invention is shown. The abrasive article evaluation system 500 is suitable for an abrasive article 502. For example, a robotic arm can move the abrasive article 502 within the range of the detector 502 with a prompt capture device 522. In some embodiments of the present invention, the prompt capture device 522 is a camera or other image capture component that images the abrasive article 502. In other embodiments, the prompt capture device 522 is a sensor that captures another signal, such as sound, vibration, weight, thickness, or another parameter of the abrasive article 502 as described in the embodiments of the present invention. In the embodiment where the prompt capture device 522 is a camera, the detector 520 may also have a light source 524. The light source can provide illumination in the visual spectrum, ultraviolet spectrum, infrared spectrum, or another wavelength suitable for detecting the prompt 510.

[0056] As described herein, the abrasive article 502 includes a cue 510 that can be detectable by a sensor 522. The cue can be incorporated into the abrasive article 502, the backing 514, or particles 512 within a resin structure or another component 516 of the abrasive article. The detectable cue 510 can be a visual indication 504, an audible indication 506, or another cue 508. For example, the cue 510 can be a detectable weight loss or shrinkage of the abrasive article 502 that can be detected by a scale or caliper.

[0057] In some embodiments herein, the cue can be detected by an operator holding a tool coupled to the abrasive article so that a tactile change 507 is detected when the abrasive article approaches the end of its useful life. In the context of a robot, the tactile change 507 can be detected by a force control unit or an accelerometer.

[0058] The detector 520 may be stationary, such that a robotic arm or human operator brings the abrasive article 502 into range of the cue capture device 522. In other embodiments, the detector 520 is mobile, with a mobile controller 525 that can move the cue capture device 522, light source 524, or other component 529 to a position to detect the cue 510. The detector 520 may use a detection indication communicator 528 to transmit the signal generated by the cue capture device 522. However, it is expressly contemplated that while the detector 520 may be Figure 5 5 is shown as being separate from the controller 540 that performs the evaluation, but in some embodiments it may be a single component.

[0059] The controller 540 receives detection indications from the detector 520 using the detector indicator retriever 558. The detection indicator retriever 558 may request indications from the detector 520 in response to the detector actuator 556, which may send a command to the detector 520 to actuate the cue capture device 522. In some embodiments, the trigger 554 may cause the detector actuator 556 to actuate. For example, the motion detector 554 may detect that the abrasive article 502 has been moved into position. The trigger 554 may also be based on time or position.

[0060] The processor 562 is instructed to process the received signal from the detector 520. As described herein, this may include comparing the received signal to a threshold value, indexing it against historical signal values ​​retrieved from a data store by the historical value retriever 544, or otherwise processing the signal to determine whether the abrasive efficacy of the article 502 has reached an undesirably low value, or to determine whether the abrasive article 502 is nearing the end of its life and needs to be replaced soon.

[0061] The indication process 562 may use thresholds set by the manufacturer, customer, operator, shift supervisor, etc. For example, one customer may set the minimum acceptable thickness of the abrasive disc to T, while another customer sets the threshold to 2T.

[0062] In some embodiments, the controller 540 may determine that, although the abrasive efficacy has dropped below a threshold, it is possible to improve by changing one or more operating parameters. The parameter retriever 542 may retrieve a current set of operating parameters - such as applied force from a force control unit, grinding angle from an accelerometer, etc. The command generator 546 may generate a command, such as to the robot arm controller to adjust the applied force or angle, and then transmit the command to the robot arm controller using the command communicator 548. The command generator 546 may also generate a command to replace the abrasive article 502 with a new abrasive article, or to re-dress the abrasive article 502 to remove the load or metal capping. Metal capping occurs when metal adheres to the abrasive grains, such as due to overheating and / or insufficient pressure. Metal capping prevents the abrasive particles from breaking, which allows the abrasive particles to sharpen themselves again. In some embodiments, the command generator 546 and the command communicator 548 may operate automatically so that the robot controller continuously adjusts the parameters to improve the grinding efficacy.

[0063] The efficacy indicator generator 564 generates an indication of the grinding efficacy of the abrasive article 502. The indication can be displayed, for example, on a display member 590. The indication can be provided in words, such as "60% used" or "capping detected", or can be provided simply as "good" or "bad". The indication can be audible, such as an alarm or signal, indicating that action needs to be taken to improve grinding efficacy or replace the abrasive article 502. The indication can be provided to a graphical user interface generator 552, which can generate an interface for the display member 590. The controller 540 can also have other functions 566.

[0064] In some embodiments, the display component 590 may be incorporated into the hand tool so that the efficacy indication 592 is visible to the user of the hand tool. In other embodiments, the display component 590 is separate from the tool. For example, in a robotic grinding context, the display component 590 may be separate from the robot arm, but visible to the operator. In some embodiments, the display component 590 is part of a mobile computing device, such as an operator's mobile phone or tablet. The GUI generator 552 may then send an indication to an application running on the device so that the efficacy indication 592 may be updated.

[0065] The display component 590 may also present parameter changes 594, such as adjustments to the tool angle, increases or decreases in applied force, etc. A change in usage 596 may also be indicated. For example, a coated abrasive article that has experienced significant wear may no longer be suitable for the initial high-volume grinding removal step of a process, but may be suitable for subsequent low-volume grinding removal steps. The display component 590 may also provide other information 598 received from the controller 540, the detector 520, or elsewhere. For example, a unit count of completed parts, average grinding time, or other relevant information may be displayed.

[0066] System 500 Figure 5 590, however, it is expressly contemplated that a single computing unit may include some or all of the components of the display component 590 and the system 500. For example, the detector 520 and the controller 540 are shown as part of a single unit, however, it is expressly contemplated that at least some of the components may be part of separate devices. For example, the controller 540 may be part of a robot arm controller and be a separate computing device remote from the detector 520 and the display component 590.

[0067] Figure 6 A method of evaluating an abrasive article is shown. In some embodiments, the evaluation can be automated using method 600. For example, a robotic arm or a human operator can move the abrasive article within or past a detector that can capture a signal indicative of the abrasive article's grinding efficacy.

[0068] In block 610, an abrasive article is mounted on a tool. For example, the abrasive article may be coupled to a back-up pad on a handheld abrasive tool, or to a tool coupled to a robotic grinding unit. The abrasive article may be any suitable abrasive article for a given grinding operation, such as a coated abrasive article, a bonded abrasive article, a bristle brush, a nonwoven abrasive article, or another suitable abrasive article.

[0069] In block 620, the abrasive article engages the workpiece and performs a grinding operation. As the workpiece is ground, the abrasive grains of the abrasive article experience wear. They may also experience capping, loading, or other degradation.

[0070] In block 630, the abrasive article is evaluated. The abrasive efficacy of the abrasive article is determined. In some embodiments, visual cues 632 may be analyzed to detect wear, capping, or loading. Auditory cues 634 may be analyzed to detect wear, capping, or loading. In other embodiments, different detectors 636 detect cues of abrasive efficacy.

[0071] Evaluation of the abrasive article can be accomplished by directly measuring a parameter of the abrasive article during or after the abrasive operation, such as a visual marker, a sound, or other marker of the abrasive article. In other embodiments, evaluation of the abrasive article can be accomplished by evaluating the workpiece, a swarf removed from the workpiece, or another component.

[0072] The evaluation in block 630 can be done automatically as part of the grinding process. For example, a robotic arm coupled to the abrasive article can change position, such as when a finished workpiece is replaced by a new workpiece, so that the abrasive article is within the range of the detector. Similarly, when a human operator changes a part to be ground or completes another task, the human operator can place the abrasive tool coupled to the abrasive article in a position within the range of the detector.

[0073] In box 642, if the abrasive efficacy of the abrasive article is still at an acceptable level, it can continue to be used for another abrasive operation. In some embodiments, new operating parameters are provided based on the reduction in abrasive efficacy detected between evaluations. In a robotic grinding operation, the new parameters can be automatically implemented. In the context of a handheld tool, new parameters can be suggested to the operator.

[0074] In block 644, if the abrasive efficacy is below an acceptable level, it may be treated as indicated in block 650, such as by conditioning the abrasive article to remove capping, washing or cleaning the abrasive article to remove loading. However, in some embodiments, method 600 returns to block 610.

[0075] In this paper, Figures 7 to Fig.12 Described in are examples and embodiments of the invention in which the detected abrasive efficacy indication is actually visible. However, it is clearly contemplated, and described in both co-pending applications 63 / 366,803 and 63 / 366,802 filed on June 22, 2022, that other abrasive efficacy cues are possible.

[0076] Fig. 7A and Figure 7B An abrasive article according to embodiments herein is shown. Fig. 7A shows a top view of the abrasive disc, and Figure 7B A cross-sectional view of the same abrasive disc is shown. However, while an abrasive disc is shown, it is clearly contemplated that embodiments herein may also be incorporated into nonwoven or bonded abrasive articles.

[0077] The abrasive disc 700 includes abrasive particles 730 embedded in a resin layer 720 on a backing 710. A second resin layer 740 covers the abrasive particles 730. As shown, many low-resistance paths 702 extend through the abrasive article. In one embodiment, the path extends through the abrasive article so that significant wear on the edge or center of the surface of the article 700 will cause the path to be exposed and / or broken. The low-resistance path can be, for example, a conductive wire, or a line of metal paste printed or dispensed onto the disc. The metal paste can be copper, aluminum, or another suitable conductive material. Additionally, in some embodiments, an anti-seizure material (e.g., a material used to prevent substrate wear) can be used. In some embodiments, the conductive wire can extend beyond the edge of the abrasive article so that continuity can be easily checked. As shown in FIG. Figure 7B As shown, many placement options may be appropriate depending on the grinding operation. For example, within the primer 712, at the interface 714 between the backing and the primer, or within the backing 710, as shown in position 716. However, it is expressly contemplated that in some embodiments, the low conductivity path is placed in only one of the positions 712, 714, 716. Other locations within the abrasive article may also be appropriate. Although the low conductivity path 702 is located in Fig. 7A , are illustrated as being parallel and equidistantly spaced on the surface of the abrasive article. However, it is clearly conceivable that other arrangements are also possible. It may be preferred that some abrasive operations have one or more low conductivity paths 702 extending through the center of the abrasive article. It may be preferred that the wire has a length that is wound through the article, for example, in a zigzag or curved pattern. It may be preferred that the low conductivity paths are placed in concentric circles so that feedback can be obtained where discontinuities occur. This can help estimate the available bearing area and provide feedback for the next operation. For example, if a broken wire is detected in the middle area of ​​the abrasive disc, a suggestion can be made to the operator, or a command can be sent to the robot operating system to change the contact angle so as to utilize the edge area of ​​the disc. This can help ensure that the abrasive article is fully used before being discarded. However, it is also desirable to easily check the conductivity. Therefore, in some embodiments, the wire or other low conductivity path extends through the edge of the abrasive article, or protrudes through the backing of the abrasive article so that continuity can be easily checked.

[0078] In embodiments where the backing 710 is multi-layered, the low conductivity paths may be embedded within the backing as part of the construction process. It may also be preferred, in some embodiments, to embed wires in different layers of the abrasive article to provide several different wear indications when different wires are exposed and broken.

[0079] Although coated abrasive articles are discussed, it is also clearly contemplated that low conductivity paths may be used to detect wear in other abrasive articles. For example, embedding low conductivity paths at different radial depths in a bonded abrasive article may help maintain a constant grinding rate. For example, a grinding wheel is typically run at a constant rotational speed (rpm) such that the surface area of ​​a new grinding wheel with a larger radius moves faster than the surface area of ​​a worn grinding wheel with a smaller radius. When different low conductivity paths are exposed and disconnected, the radius of the grinding wheel may be inferred, and the rotational speed may be increased to maintain a constant speed of surface area contact between the grinding wheel and the substrate. Similar techniques may be used for other abrasive articles with varying radii, such as abrasive brushes or non-woven convolute wheels, etc.

[0080] During abrasive operation, or between consecutive abrasive operations, the low conductivity path 702 can have a voltage applied thereto, from a source to a receiver. The received voltage is measured over time, thereby detecting a discontinuity. In some embodiments, the voltage is measured continuously while the abrasive article is in contact with the substrate. In some embodiments, when a discontinuity is detected, an alarm can be sounded to indicate to an operator that a wear threshold has been reached. The low conductivity path 702 can be made of any suitable conductive material, such as aluminum, silver, gold, zinc, brass, nickel, etc. The conductivity can be measured using a receiving device that, in some embodiments, contacts a portion of the path 702 that extends to or beyond the edge of the abrasive article, for example Figure 7C More clearly shown in .

[0081] Figure 7C An abrasive article 750 is shown having a low conductivity path 754 extending therethrough. A spindle 752 can couple the abrasive article 750 to a handheld abrasive tool or a robotic grinding unit. The abrasive article 750 can be brought into proximity with a current or voltage generating device 760 that generates a result at a conductivity reader when the conductive path 754 is intact.

[0082] In the context of a handheld abrasive tool, the user can place the abrasive tool on a holder containing electrode 756 so that electrode 756 is coupled to low conductivity path end 754. The user can put down the abrasive tool between parts of an abrasive operation, such as to wipe away accumulated debris, polish, fluid, etc.

[0083] In the context of a robotic grinding system, the electrode 756 can be positioned on the robotic unit so that the abrasive article 750 enters a position where the path end 754 contacts the electrode 756 at some point in the abrasive operation cycle. For example, on a dual-ended tool design described in U.S. Patent Application Serial No. 17 / 779,218 filed on November 24, 2020, there can be an electrode 756 positioned so that the abrasive article 750 contacts the lead when the second tool is used. The abrasive article 750 can also contact the electrode 756 when rotating into or out of a use position.

[0084] It is also contemplated that the robotic arm can maintain the abrasive article 750 in an active position (e.g., in an orientation to contact a workpiece) and move the abrasive article 750 at some point in the abrasive operation cycle so that the path end 754 contacts the electrode 756. For example, while a wiping operation is ongoing, the robotic arm 750 can move the abrasive article 750 into position so that no additional cycle time is added to determine whether the path 754 is still intact. However, it is also contemplated that the conductivity or voltage may be measured between abrasive operation cycles.

[0085] The wire can be any suitable conductive material, and the voltage is a suitable amount to generate a detectable resistance without risking damage to the abrasive article. For example, copper wire is a soft metal that can be bent appropriately during use without breaking. When the wire is not broken, the resistor will have a very low conductivity, and when the wire is broken, the resistance increases rapidly, which may trigger an alarm.

[0086] Although in FIG. 7A to FIG. 7C A coated abrasive disc is shown in FIG, but it is clearly contemplated that wires may be inserted into abrasive belts and nonwoven or bonded abrasive articles as long as a voltage or current can be detected through the wires. Additionally, some metals (such as copper) may have suitable ductility so that they can be used in nonwoven abrasive articles without breaking.

[0087] In some embodiments, instead of voltage, different metals are used and current is passed through the abrasive disc to measure the temperature of the abrasive disc. If the temperature exceeds a threshold temperature, an alarm is triggered. As the abrasive particles wear, the temperature of the abrasive article increases, and more areas of the abrasive article come into contact with the substrate, thereby generating more friction.

[0088] Figure 8A cross section of an abrasive article according to an embodiment of the present invention is shown. The cross section shown is a grinding wheel 800 having a center hole 802, which can accommodate, for example, a tool spindle. Wheel 800 also includes a shaped core 810. The shaped core 810 can have threads along the edge of the center hole to accommodate the tool spindle. Wheel 800 is a convoluted grinding wheel formed by a nonwoven abrasive article wound around the core multiple times. Wheel 800 can be suitable for abrasive machining or deburring.

[0089] like Figure 8 As shown, the core 810 includes a feature 812 that results in an uneven outer surface of the core and a difference in thickness of the abrasive layer 830 with a minimum thickness 832 and a maximum thickness 834. Because the nonwoven material is compressible, this results in a difference in density near the core at the minimum thickness (lower density) and the maximum thickness (higher density). As the wheel 800 is worn, this density difference causes vibrations to become detectable, or increase in intensity.

[0090] However, it is also conceivable that bonded abrasive articles can also benefit from irregular core shapes. For example, using core 810 in bonded abrasive articles, detectable vibration or sound will be generated when the core is exposed and contacts the substrate, because core 810 has a composition and density different from the bonding matrix. When used for bonded abrasive articles, core 810 can have different features 812, such as longer extended protrusions radiating outward from the core, so that feature 812 is visible when wear exceeds a certain time point. Core 810 can have features 812 of different colors from the bonding matrix, so that they can be visually detected. Although feature 812 is shown as extending uniformly along the length of core 810, it is clearly conceivable that feature 812 can only extend a portion along the length of core 810. This may be useful for bonded abrasive articles to ensure that integrity is maintained when feature 812 is exposed.

[0091] The vibrations indicate that the useful life is about to end.The difference in thicknesses 832 and 834 can be adjusted by selecting a grinding wheel 800 having the desired differential thickness, depending on the degree of warning required for a given operation.

[0092] The feature 812 is shown as a triangular protrusion extending from the annular core. However, it is clearly contemplated that the feature 812 may be any suitable shape, such as a semicircular, square, rectangular, sinusoidal, etc. Similarly, there may be any suitable number of features 812. Having only one feature 812 may be appropriate, particularly in the context of robotic grinding, where the sensor may be fine enough to detect rhythmic changes in abrasive contact.

[0093] To a human operator, the exposure of the cured features 812 will cause the grinding process to change from a smooth feel to a bumpy feel. Similarly, if the underlying layer of the bonded abrasive article has a different particle density or smaller patterned particles, the difference can be detected. If chatter is generated, a different sound, feel, or signal will be generated during the grinding operation.

[0094] Additional benefits may be provided by adding features to the core 810, such as increasing adhesion between the core and the abrasive layer.

[0095] While a core 810 is shown, it is clearly contemplated that a scrim layer having suitable embossing features may provide similar indications.

[0096] A similar concept can be applied to nonwoven or coated abrasive articles by embossing the surface of the backing so that the feel of the abrasive tool changes as it approaches the end of its useful life.

[0097] As reference Figure 8 As described, as the abrasive article is used, the sound may change detectably. For example, the arrangement of the particles may affect the sound profile of the grinding operation. Therefore, the acoustic sensor may be trained to measure the usage based on hearing. For example, an abrasive disc or abrasive belt with backfill between the shaped abrasive particles may sound different because the taller abrasive particles are ground to the level of the backfill particles and the backfill particles engage the substrate surface.

[0098] The backfill or filler particles can be selected to change the pitch or tone of the grinding operation in a detectable manner. In some embodiments, the change can be detected by the human ear as a change in tone. However, in other embodiments, the change is not large enough for human detection, or is outside the human hearing range. Therefore, an auditory sensor can be placed near the grinding operation to detect the change in sound. When detected, the sensor can trigger an alarm or warning about the remaining life amount. Chinese patent publication CN105345663 describes a suitable acoustic emission sensor, but other suitable options are also possible.

[0099] Other sound altering options are possible. For example, a material could be inserted that, when in contact with a specific substrate, produces a squealing sound. For example, steel ball bearings could be added to the primer layer of a coated abrasive. When the steel particles contact a metal workpiece, the sound would change from the standard pitch of the abrasive to a detectably significantly different pitch or tone. When the steel particles contact a metal workpiece, the sound would change from the standard pitch of the abrasive to a detectably significantly different pitch or tone.

[0100] Similarly, in an abrasive wheel product, an audible warning protrusion may be placed at a specific diameter so that when the wheel wears to that diameter, the warning protrusion will contact the metal base and produce a distinctly different audible pitch or tone that can be detected.

[0101] Fig. 9 A method of abrading a substrate according to embodiments herein is shown. Method 900 can be used to determine the amount of wear of an abrasive article during its useful life.

[0102] In box 910, an abrasive article is mounted on a tool. The tool can be a hand tool or a robotic grinding unit. In some embodiments, the abrasive article can be a bonded abrasive article with a resin, vitreous, or polymer-based bonding matrix. In other embodiments, the abrasive article is a disk, belt, or pad containing abrasive particles. The abrasive article also includes a wear indicator in its structure that provides a detectable wear indication at a certain point in time during the service life of the abrasive article. The wear indication can indicate that the abrasive article has been fully used, is approaching the end of its service life, or another point in time. For example, the wear indication may indicate that the abrasive particles have been used 25% and additional force must now be applied to maintain abrasive efficacy.

[0103] A workpiece is abraded using the abrasive article in block 920. As the abrasive article abrades the surface, the abrasive particles are ground or broken.

[0104] In box 930, after a certain amount of wear, the sensor detects a wear cue. In an embodiment where the wear cue is a sound 932, the sensor is an auditory emission detector. For example, as the product is worn, the decibel level of the sound may increase or decrease, or the pitch or tone may increase or decrease. When a wire extending through a portion of the abrasive product breaks, a discontinuity 934 can be detected using a voltmeter or current detector. The wire may extend through the layer of the abrasive product and be exposed, and eventually break or wear through due to use. The wear cue can also be a change in the grinding rhythm of the abrasive product to the substrate, an increase in vibration 936 that can be detected by a human operator, an accelerometer, a force control unit, or other suitable sensor. There may be other wear cues 938 or a combination of wear cues.

[0105] In block 940, the detected wear indication is used to determine the grinding efficacy of the abrasive article. The detected wear indication may be an alarm indicating that the abrasive article has been depleted and needs to be replaced. In such a case, the abrasive article is considered unacceptable and, as shown in block 970, a new abrasive article is installed.

[0106] However, in some embodiments, multiple signs of wear may exist within the abrasive article, or a single sign of wear may change over time, such as sounds produced by abrasive particles as they are further ground, or other particles are exposed. As shown in block 950, the first sign of wear detected may indicate that the abrasive article may still be usable, but operating parameters may be modified to improve grinding efficacy, as shown in block 960. For example, an outer region of the abrasive article may be depleted, and the wear indicator may trigger a change in the angle of attack of the abrasive article relative to the substrate.

[0107] Systems and methods for detecting wear of abrasive articles are described herein. As described herein, the abrasive article can be a grinding wheel having a vitreous, resinous, or polymer-based bonding matrix. For example, the grinding wheel can be a depressed center grinding wheel, a cutting wheel, ... The abrasive article can also be a coated abrasive article to which abrasive particles are attached by a resin layer, such as a fiber-backed disk or a fabric-backed belt. The abrasive article can include a nonwoven layer as a backing or impregnated with abrasive particles.

[0108] Fig.10 1000 is a networked architecture of an abrasive product use assessment system 1010. Architecture 1000 shows one embodiment of a specific implementation of system 1010, but other embodiments are also possible. In various embodiments, a remote server can deliver these services over a wide area network (such as the Internet) using an appropriate protocol. For example, a remote server can deliver applications over a wide area network, and they can be accessed through a web browser or any other computing component.

[0109] The software or components and corresponding data may be stored on a server at a remote location. The computing resources in a remote server environment may be consolidated at a remote data center location, or they may be dispersed. The remote server infrastructure may deliver services through a shared data center, even though they appear as a single access point for users. Therefore, the components and functions described herein may be provided from a remote server at a remote location using a remote server architecture. Alternatively, they may be provided by a conventional server, installed directly on a client device, or provided in other ways.

[0110] As described herein, based on instructions from the abrasive article usage evaluation system 1010, the robotic grinding unit 1004B can adjust force or speed or other parameters related to the abrasive operation in response to commands received via a wired or wireless network (e.g., commands retrieved from the command database 1040).

[0111] In addition to being beneficial to abrasive operations and improving efficiency, knowing when an abrasive article is near the end of its life can also allow for improved environmental health and safety of workers in the immediate environment. For example, it is well known that abrasive articles produce more dust near the end of their life than at the beginning. For example, knowing whether an abrasive article in use is near the end of its life can trigger a command to be sent to the ventilation system 1004A to increase ventilation in response to higher dust generation. Similarly, when an abrasive article is near the beginning of its service life, the setting of the ventilation system 1004A can be reduced. Any end-of-life detection method herein can be used to generate a trigger for changing the ventilation setting, including detecting visual cues, detecting temperature changes, detecting physical changes, or by inspecting cuttings.

[0112] Likewise, it is useful to understand the usage of abrasive articles – not for replacement, but for downstream repair. Generally speaking, abrasive operations start with the coarsest grade and work down to finer grades to polish the substrate surface. For example, a 60 grit disk is used first, followed by an 80 grit disk and finally a 120 disk. However, if it is known that a 60 grit disk is nearing the end of its life, it will not leave such deep scratches and the 80 grit grinding step can be skipped entirely, going directly to a 120 grit disk. While such decisions may be made by an experienced operator, similar guidance may be helpful to newer operators and may improve the efficiency of a robotic grinding system.

[0113] Fig.10 It is specifically shown that the system 1010 can be located at a remote server location 1002. Thus, the computing device 1020 accesses those systems through the remote server location 1002. The operator 1050 can also use the computing device 1020 to access the user interface 1022. For example, the user interface 1022 can provide an indication of the degree of wear of the abrasive article, changes made to any networked systems 1004, or suggested changes to the operation by the operator - such as increasing force, increasing RPM, etc.

[0114] Fig.10It is shown that it is also envisioned that some elements of the system described herein are set at the remote server location 1002, while other elements are not set at the remote server location. By way of example, storage devices 1030, 1040 or 1060 or robotic system 1070 may be set at a location separate from location 1002 and accessed by a remote server at location 1002. Regardless of where they are located, they can be directly accessed by computing device 1020 through a network (wide area network or local area network), hosted by a service at a remote site, provided as a service, or accessed by a connection service residing in a remote location. Moreover, the data can be stored in essentially any location and can be intermittently accessed by interested parties or forwarded to interested parties. For example, physical carriers can be used instead of electromagnetic wave carriers, or in addition to electromagnetic wave carriers, physical carriers can also be used.

[0115] It should also be noted that the elements of the system described herein or their parts can be arranged on a variety of different devices. Some of these devices include servers, desktop computers, laptop computers, embedded computers, industrial controllers, tablet computers or other mobile devices, such as handheld computers, cellular phones, smart phones, multimedia players, personal digital assistants, etc.

[0116] Figures 11 to 13 An example of a computing device that may be used in the embodiments shown in the previous figures is shown.

[0117] Fig.11 is a handheld device 1116 (e.g., Fig.10 1020) in which the system (or portion thereof) of the present invention may be deployed. For example, the mobile device may be deployed in an operator compartment of the computing device 1020 for generating, processing or displaying data. Fig.12 is another example of a handheld or mobile device.

[0118] Fig.11 A general block diagram of the components of a client device 1116 that can run some of the components shown and described herein is provided. The client device 1116 interacts with these components, or runs some components and interacts with some components. In the device 1116, a communication link 1113 is provided, which allows the handheld device to communicate with other computing devices, and in some embodiments provides a channel for automatically receiving information (such as by scanning). Examples of communication links 1113 include allowing communication through one or more communication protocols, such as wireless services for providing cellular access to a network, and protocols for providing local wireless connections to a network.

[0119] In other examples, the application may be received on a suitable removable memory card (such as a secure digital (SD) card, a CF card, a microSD, or a portable hard drive) connected to the interface 1415. The interface 1115 and the communication link 1113 communicate with the processor 1117 (which may also be embodied as a processor) along a bus 1119, which is also connected to the memory 1121 and the input / output (I / O) components 1123, as well as the clock 1125 and the positioning system 1127.

[0120] In one embodiment, I / O components 1123 are provided to facilitate input and output operations, and the device 1116 may include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors, and output components such as display devices, speakers, and / or printer ports. Other I / O components 1123 may also be used.

[0121] Clock 1125 illustratively includes a real-time clock component that outputs time and date. It can also provide a timing function for processor 1117.

[0122] Illustratively, the positioning system 1127 includes components for outputting the current geographic location of the device 1116. The positioning system may include, for example, a global positioning system (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or other positioning systems. It may also include, for example, mapping software or navigation software that generates desired maps, navigation routes, and other geographic functions.

[0123] Memory 1121 stores operating system 1129, network settings 1131, applications 1133, application configuration settings 1135, data repository 1137, communication driver 1139, and communication configuration settings 1141. Memory 1121 may include all types of tangible volatile and non-volatile computer-readable memory devices. It may also include computer storage media (described below). Memory 1121 stores computer-readable instructions that, when executed by processor 1117, cause the processor to perform computer-implemented steps or functions in accordance with these instructions. Processor 1117 may also be activated by other components to facilitate its functions.

[0124] Fig.12 The device is shown to be a smartphone 1201. The smartphone 1201 has a touch-sensitive display 1273 that displays icons or tiles or other user input mechanisms 1275. The mechanisms 1275 can be used by a user to run applications, make phone calls, perform data transfer operations, etc. Generally, smartphones 1201 are built on mobile operating systems and provide more advanced computing capabilities and connectivity than non-smartphones.

[0125] Note that other forms of device 1216 are possible.

[0126] Fig.13 is a block diagram of a computing environment that can be used in the embodiments shown in the previous figures.

[0127] Fig.13 is an example of a computing environment in which elements or (for example) portions of the systems and methods described herein may be deployed. Fig.13 , an exemplary system for implementing some embodiments includes a general purpose computing device in the form of a computer 1310. Components of the computer 1310 may include, but are not limited to, a processing unit 1320 (which may include a processor), a system memory 1330, and a system bus 1321 that couples various system components including the system memory to the processing unit 1320. The system bus 1321 may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. The memories and programs described with respect to the systems and methods described herein may be deployed in Fig.13 in the corresponding part of .

[0128] Computer 1310 typically includes a variety of computer-readable media. Computer-readable media can be any available media that can be accessed by computer 1310, and includes both volatile / non-volatile media and removable / non-removable media. As an example and not limiting, computer-readable media can include computer storage media and communication media. Computer storage media is different from, and does not include, modulated data signals or carrier waves. Computer storage media include hardware storage media, which include volatile / non-volatile and removable / non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, cassettes, tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by computer 1310. Communication media can embody computer-readable instructions, data structures, program modules, or other data in a transport mechanism, and include any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal.

[0129] The system memory 1330 includes computer storage media in the form of volatile and / or nonvolatile memory, such as read-only memory (ROM) 1331 and random access memory (RAM) 1332. A basic input / output system 1333 (BIOS), containing the basic routines that help to transfer information between elements within the computer 1310 (such as during startup), is typically stored in ROM 1331. RAM 1332 typically contains data and / or program modules that are immediately accessible to and / or currently being operated on by the processing unit 1320. By way of example and not limitation, Fig.13 Operating system 1334 , application programs 1335 , other program modules 1336 , and program data 1337 are shown.

[0130] The computer 1310 may also include other removable / non-removable and volatile / non-volatile computer storage media. For example only, Fig.13 Shown is a hard drive 1341 that reads from or writes to a non-removable, non-volatile magnetic media, a non-volatile magnetic disk 1352, an optical drive 1355, and a non-volatile optical disk 1356. The hard drive 1341 is typically connected to the system bus 1321 through a non-removable memory interface, such as interface 1340, and the optical drive 1355 is typically connected to the system bus 1321 through a removable memory interface, such as interface 1350.

[0131] Alternatively or additionally, the functions described herein can be performed at least in part by one or more hardware logic components. For example, but not limited to, illustrative types of hardware logic components that can be used include field programmable gate arrays (FPGAs), application specific integrated circuits (e.g., ASICs), application specific standard products (e.g., ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), etc.

[0132] Discussed above and in Fig.13 The drives and their associated computer storage media shown in FIG. 1 provide storage of computer readable instructions, data structures, program modules and other data for the computer 1310. Fig.13 1344, application programs 1345, other program modules 1346, and program data 1347. Note that these components may be the same as or different from operating system 1334, application programs 1335, other program modules 1336, and program data 1337.

[0133] A user may enter commands and information into the computer 1310 through input devices such as a keyboard 1362, a microphone 1363, and a pointing device 1361 (such as a mouse, trackball, or touch pad). Other input devices (not shown) may include a joystick, a game pad, a satellite dish, a scanner, or the like. These and other input devices are typically connected to the processing unit 1320 through a user input interface 1360 that is coupled to the system bus, but may be connected by other interfaces and bus structures. A visual display 1391 or other type of display device is also connected to the system bus 1321 via an interface such as a video interface 1390. In addition to the monitor, the computer may also include other peripheral output devices such as speakers 1397 and a printer 1396, which may be connected through an output peripheral interface 1395.

[0134] The computer 1310 operates in a networking environment with one or more remote computers, such as remote computer 1380 , using logical connections, such as a local area network (LAN) or a wide area network (WAN).

[0135] When used in a LAN networking environment, the computer 1310 is connected to the LAN 1371 through a network interface or adapter 1370. When used in a WAN networking environment, the computer 1310 typically includes a modem 1372 or other means for establishing communications over the WAN 1373 (such as the Internet). In a networking environment, program modules may be stored in the remote memory storage device. For example, Fig.13 Remote application programs 1385 are shown as being residing on remote computer 1380 .

[0136] Objects and advantages of this disclosure are further illustrated by the following non-limiting examples, but the particular materials and amounts thereof recited in these examples, as well as other conditions and details, should not be construed to unduly limit this disclosure.

[0137] An abrasive article evaluation system is presented, the abrasive article evaluation system including a detector for detecting non-visual abrasive wear cues and an efficiency indicator generator for generating an abrasive article wear indication based on the abrasive wear cues. The system also includes a command generator for generating commands based on the generated wear indication.

[0138] The system may be implemented such that it includes a parameter retriever that retrieves a current operating parameter of a tool associated with the abrasive article.The command generator generates a command to adjust the operating parameter from a first value to a second value different from the first value.

[0139] The system may be implemented such that the operating parameter is an applied force, the tool is a robotic grinding unit, and the second value is an applied force that is higher than the first applied force.

[0140] The system may be implemented such that the operating parameter is speed, and the second speed is higher than the first speed.

[0141] The system can be implemented such that the command is a replacement command. Based on the command, the robotic grinding unit associated with the abrasive article automatically initiates an abrasive article replacement sequence.

[0142] The system may be implemented such that the command is a downstream operating command that adjusts a downstream grinding operating parameter based on the wear indication.

[0143] The system can be implemented such that the downstream grinding operation parameter is speed, force or residence time.

[0144] The system may be implemented such that the downstream grinding operation parameter is a second abrasive article operation using a second abrasive article.

[0145] The system may be implemented such that it comprises a historical value retriever for retrieving historical values ​​of the operating parameter.

[0146] The system may be implemented such that the detector detects the cue in response to a detection actuator that generates a trigger to actuate the detector.

[0147] The system may be implemented such that the detection initiator generates a trigger periodically.

[0148] The system of claim 10, wherein the detection initiator generates a trigger in response to a manual input.

[0149] The system may be implemented such that the detection initiator generates a trigger before the grinding operation begins.

[0150] The system may be implemented such that the detection initiator generates a trigger at the end of the grinding operation.

[0151] The system may be implemented such that the command is a graphical user interface update command. The command is transmitted to a device having a display, and the command causes the display to present an updated graphical user interface.

[0152] The system may be implemented such that it comprises a command communicator that transmits the command to the second device.

[0153] The system may be implemented such that the second device is a robotic grinding unit.

[0154] The system may be implemented such that the second device is a ventilation system.

[0155] The system may be implemented such that the second device is a dust collection system.

[0156] The system may be implemented such that the detector comprises an acoustic emission sensor.

[0157] The system may be implemented such that the detector comprises a voltmeter or an ammeter.

[0158] The system may be implemented such that the detector comprises a thermometer.

[0159] The system may be implemented such that the detector comprises an accelerometer.

[0160] The system may be implemented such that the detector comprises a force control unit of the robotic milling system.

[0161] The system may be implemented such that the detector detects indications of wear when in proximity to the abrasive article.

[0162] The system may be implemented such that the detector detects indications of wear when in contact with the abrasive article.

[0163] The system may be implemented such that the detector includes electrodes that contact the leads of the abrasive article.

[0164] A robotic grinding system is presented, the robotic grinding system including an abrasive article including a wear cue detectable by a sensor, the abrasive article being configured to contact a substrate. The system also includes a robotic arm configured to contact the abrasive article with the substrate. The system also includes a force control unit on the robotic arm. The force control unit forces the abrasive article to contact the substrate. The system also includes a wear indication system that determines an amount of wear of the abrasive article based on the wear cue and adjusts an operating parameter of the robotic grinding system based on the amount of wear.

[0165] The robotic grinding system may be implemented such that the wear indication system further comprises: an efficiency indication generator that generates an abrasive efficiency of the abrasive article based on a signal from the sensor; and a command generator that generates a command to adjust an operating parameter.

[0166] The robotic grinding system may be implemented such that the sensor is mounted on a robotic arm.

[0167] The robotic grinding system may be implemented such that the sensor is mounted on the moving mechanism.

[0168] The robotic grinding system may be implemented such that the sensor is a sound emission sensor, and wherein the sensor detects changes in sound emitted by the abrasive article.

[0169] The robotic grinding system may be implemented such that the sensor is a voltmeter or an ammeter.The sensor detects a discontinuity in a conductive path extending through a portion of the abrasive article.

[0170] The robot grinding system may be implemented such that the sensor is a force control unit mounted on the robot arm. The force control unit detects changes in the grinding rhythm.

[0171] The robotic grinding system may be implemented such that the sensor is an accelerometer.

[0172] The robotic system may be implemented such that the operating parameter is an automatic shutdown.

[0173] The robotic system may be implemented such that the operating parameter is the applied force of the force control unit, the rotation speed of the abrasive article, or the dwell time of the abrasive article on the substrate.

[0174] The robotic system can be implemented such that the operating parameter is the position of the abrasive article relative to the substrate.

[0175] The robotic system may be implemented such that the operating parameters are parameters of a future abrasive operation on the substrate.

[0176] The robotic system may be implemented such that the operating parameters are parameters of a future abrasive operation using the abrasive article.

[0177] The robotic system may be implemented such that the detector actuates a detection sequence in response to a detection initiation command from the controller.

[0178] The robot system may be implemented such that the controller periodically sends a detection start command.

[0179] The robotic system may be implemented such that the controller sends a detection initiation command at the beginning or end of a grinding operation.

[0180] The robotic system may be implemented such that the controller generates commands to adjust operating parameters.

[0181] The robotic system may be implemented such that the wear indication system includes a history value retriever that retrieves history values ​​of the wear prompts, and a wear processor that determines the amount of wear based on the wear prompts and the retrieved history values.

[0182] The robotic system may be implemented such that the historical value is the last captured wear cue.

[0183] The robotic system may be implemented such that the historical values ​​are initial wear reminders.

[0184] The system can be implemented such that the abrasive article is an abrasive disc or an abrasive belt.

[0185] The system can be implemented such that the abrasive article is a bonded abrasive article.

[0186] The system may be implemented such that the abrasive article is a grinding wheel.

[0187] The system can be implemented such that the abrasive article is a nonwoven abrasive article.

[0188] A wear detector for an abrasive article is presented, the wear detector comprising a prompt capture device that detects a change in the abrasive article during or after a grinding operation. The detector also comprises an efficacy indicator generator that receives the change and provides a wear indication based on the detected change. The detector also comprises a wear communicator that transmits the detected wear prompt to a second device.

[0189] The wear detector may be implemented such that the change is a change in the sound made by the abrasive article when it contacts the substrate.

[0190] The wear detector may be implemented such that the change is a change in vibration of the abrasive article relative to the substrate.

[0191] The wear detector may be implemented such that the change is a change in a measured voltage or a measured current across a portion of the abrasive article.

[0192] The detector may be implemented such that it includes a motion mechanism that moves the cue capture device into position in response to motion control commands.

[0193] The detector may be implemented such that a motion control command is received from the second device.

[0194] The detector may be implemented such that it comprises a historical value retriever which retrieves historical wear indications of the abrasive article.

[0195] The detector may be implemented such that it comprises a threshold retriever which retrieves a threshold value of the efficacy generator.

[0196] The detector may be implemented such that it includes a parameter retriever that retrieves a set of operating parameters of the abrasive article and retrieves a threshold value based on the set of operating parameters.

[0197] The detector may be implemented such that the second device comprises a data store for receiving and storing the indication of wear.

[0198] The detector may be implemented to cause the wear communicator to generate a wear alert, causing the second device to generate an alert based on the received detected wear cue.

[0199] An abrasive article having a wear indicator is presented, the abrasive article comprising a bonding matrix and a plurality of abrasive grains within the bonding matrix. The article also comprises a detectable wear indicator that changes after a portion of the useful life of the abrasive article has elapsed.

[0200] The abrasive article may be implemented such that the wear indicator is a sound emitted when the abrasive article contacts the substrate.

[0201] The abrasive article may be implemented such that the emitted sound includes abrasive grains contacting a substrate, and the emitted sound changes from a first sound to a second sound as the abrasive article is worn.

[0202] The abrasive article may be implemented such that the sound emitted is a first sound emitted by a first set of abrasive particles, and a second sound is generated after a portion of the useful life has elapsed. The second sound is generated by a second material.

[0203] The abrasive article may be implemented such that the second material includes metal particles.

[0204] The abrasive article can be implemented such that the second material polishes the metal substrate.

[0205] The abrasive article can be implemented such that the second material increases the reflectivity of the workpiece.

[0206] The abrasive article may be implemented such that the abrasive article includes a conductive path extending through a portion of the abrasive article, and wherein the conductive path is interrupted after the portion of useful life, and the detectable wear indicator is a discontinuity.

[0207] The abrasive article may be implemented such that the wear indicator comprises a rapid change in voltage or current measured on the conductor.

[0208] The abrasive article may be implemented such that the conductive wire is a first conductive wire and the abrasive article includes a second conductive wire extending through a second portion of the abrasive article.

[0209] The abrasive article may be implemented such that the first conductive line and the second conductive line are parallel.

[0210] The abrasive article can be implemented such that the first conductive wire and the second conductive wire do not intersect.

[0211] The abrasive article may be implemented such that the first conductive wire and the second conductive wire intersect.

[0212] The abrasive article may be implemented such that the abrasive article includes a core, and wherein the surface includes features extending from a cylindrical shape.

[0213] The abrasive article may be implemented such that features are exposed during the grinding operation prior to the cylindrical shape.

[0214] The abrasive article can be implemented such that a feature imparts a density difference in the abrasive article adjacent to the feature.

[0215] The abrasive article may be implemented such that the features include semicircles, semiovals, sinusoids, triangles, squares, rectangles, polygons, or arcs.

[0216] The abrasive article can be implemented such that the feature is a first feature, and wherein the surface includes a plurality of features.

[0217] The abrasive article may be implemented such that the plurality of features includes an odd number of features.

[0218] The abrasive article can be implemented such that the plurality of features includes an even number of features.

[0219] The abrasive article can be implemented such that the first feature comprises a first shape and the second feature comprises a second shape different from the first shape.

[0220] The abrasive article may be implemented such that the first shape has a first height relative to the cylindrical shape, the second shape has a second height relative to the cylindrical shape, and the first height is different from the second height.

[0221] The abrasive article may be implemented such that the abrasive article includes a scrim or backing layer having raised features.

[0222] The abrasive article may be implemented such that features are embossed.

[0223] The abrasive article may be implemented such that the abrasive article is a bonded abrasive article and the bond matrix is ​​a resin, polymer or vitreous bond.

[0224] The abrasive article may be implemented such that the abrasive article includes a backing, and the abrasive particles are coupled to the backing through a bonding matrix.

[0225] The abrasive article can be implemented such that the backing is a nonwoven backing.

[0226] A method of evaluating an abrasive article is presented, the method comprising abrading a substrate with the abrasive article and detecting a change in an output of the abrasive article using a sensor when the abrasive article is in contact with the substrate. The method also comprises evaluating a signal from the sensor using an efficacy evaluator and generating a wear indication based on the sensor signal. The method also comprises transmitting the wear indication to a device. The method also comprises comparing the sensor signal to a first sensor signal captured earlier in time than the sensor signal. The method also comprises detecting whether the sensor signal is significantly different from the first signal. The method also comprises generating an alarm.

[0227] The method may be implemented such that the device comprises data storage.

[0228] The method may be implemented such that the device comprises a display component.

[0229] The method may be implemented such that it includes generating an operating parameter change and communicating the operating parameter change to a robotic grinding unit coupled to the abrasive article.

[0230] The method may be implemented such that it comprises estimating a remaining useful life based on the wear indication.

[0231] The method may be implemented such that a remaining useful life indication is estimated based on a historical wear trend of the abrasive article.

[0232] The method may be implemented such that the remaining useful life indication is estimated based on current operating parameters.

[0233] The method may be implemented such that the remaining useful life indication is based on planned operating parameters.

[0234] The method may be implemented such that the sensor signal is acoustic and the wear indication is based on a change in the acoustic signal relative to an initial acoustic signal.

[0235] The method may be implemented such that the sensor signal is sound and the wear indication is based on analyzing the sound, comparing the sound to a database of sounds, the sounds being associated with known amounts of wear of the abrasive article.

[0236] The method may be implemented such that the sensor signal is a voltage or current reading and the wear indication is based on a discontinuity detected in a wire extending through a portion of the abrasive article.

[0237] The method may be implemented such that the sensor signal is a change in the cadence of abrasion of the substrate by the abrasive article.

[0238] A method of forming an abrasive article is presented, the method comprising providing a plurality of abrasive grains, a bonding matrix precursor, and a backing material, and incorporating a wear indicator into any of the abrasive grains, the bonding matrix precursor, or the backing. The method further comprises embedding the abrasive grains into the bonding matrix precursor. The method further comprises curing the bonding matrix precursor to form the abrasive article.

[0239] The method may be implemented such that the wear indicator is not detectable prior to performing a first abrasive operation using the abrasive article.

[0240] The method may be implemented such that the abrasive article is a bonded abrasive article and wherein the backing material is a scrim layer.

[0241] The method may be implemented such that the backing material is a nonwoven material.

[0242] The method may be implemented such that the bonding matrix precursor is a resin bonding precursor, a vitreous bonding precursor, or a polymer bonding precursor.

[0243] The method may be implemented such that the wear indicator includes a filler material that generates a detectable sound when the filler material contacts the substrate.

[0244] The method may be implemented such that the wear indicator comprises a conductive path extending through a portion of the abrasive article.

[0245] The method may be implemented such that the wire extends through a portion of the backing.

[0246] The method may be practiced such that the wire extends through the abrasive article in the bonding matrix layer.

[0247] The method may be practiced such that the wire extends through the abrasive article at the interface between the backing and the bond matrix precursor.

[0248] The method may be practiced such that the abrasive article further comprises a core having a surface bonded to the bonding matrix, and wherein the wear indicator comprises a feature on the surface.

[0249] The method may be implemented such that the feature is a protrusion extending from the abrasive article when exposed, and wherein the protrusion emits a detectable sound when striking the substrate.

[0250] The method may be implemented such that the feature comprises a protrusion protruding from the core.

[0251] The method may be implemented such that the protrusion comprises a polygonal shape, a sinusoidal shape, a curved shape, a semicircular shape, or a semi-oval shape.

[0252] Example

[0253] Example 1: Cyclotron Vibration

[0254] Vibration core preparation

[0255] Two core sleeves with three protrusions were printed in ABS resin by a 3D printer (Fortus 450, obtained from Stratasys, Eden Prairie, Minnesota). The length of the sleeve was 12 inches (304.8 mm), and the cross-sectional geometry of the core sleeve (in millimeters) was as follows: Fig.14 shown.

[0256] The sleeve was aligned and adhered to a standard fiberglass core having an outer diameter of 1.39 inches (35.3 mm), an inner diameter of 1 inch (25.4 mm), and a length of 24 inches (609.6 mm) using epoxy (DP100, available from 3M Company, Saint Paul, Minnesota).

[0257] Example 1

[0258] The convolutes were prepared to the exact specifications used to make the "GP Plus 8SF" wheel available from 3M Company, St. Paul, Minn., except that the core shown in Figure AA was used. 0.5 inch (12.7 mm) and 1 inch (25.4 mm) thick wheels were used.

[0259] Comparative Example A

[0260] Commercially available wheels designated "GP Plus 8SF" were obtained from 3M Company, St. Paul, Minnesota in sizes of 0.5 inch (12.7 mm) and 1 inch (25.4 mm).

[0261] Density measurement

[0262] Uniform cylindrical blanks with dimensions of 7.7 mm diameter x 12.7 mm were punched out from the 0.5 inch (12.7 mm) thick wheel of Example 1. A total of 6 blanks were punched out, all with their center lines approximately 28.1 mm from the center. Three of these blanks were taken directly from the sleeve protrusions, and another three of these blanks were taken directly from the gullies between the protrusions. The blanks were weighed, and the average density is listed in Table 1 below.

[0263] Table 1 .

[0264] Average density of the blank adjacent to the gully Average density of the blank adjacent to the protrusion <![CDATA[0.85g / cm 3 ]]> <![CDATA[1.13g / cm 3 ]]>

[0265] Vibration Testing

[0266] The 1 inch thick wheels of Example 1 and Comparative Example A were mounted on an electric buffer (Baldor 412B 1.5 HP electric buffer, obtained from ABB Motors and Mechanicals Inc, Fort Smith, Arkansas) and run at 1750 rpm. The operator inserted a 1 inch x 1 inch steel rod into the face of the wheel. No differences were found.

[0267] The 1 inch thick wheels from Example 1 and Comparative Example A were trimmed to a 3 inch diameter to simulate severe wear. Both wheels were mounted on an electric buffer (Baldor 412B 1.5HP electric buffer, obtained from ABB Electromechanical, Inc., Fort Smith, Arkansas) and run at 1750 rpm. The operator inserted a 1 inch x 1 inch steel rod into the face of the wheel. It was noted that the wheels of Example 1 showed significant vibration when compared to Comparative Example A.

Claims

1. An abrasive product evaluation system, the abrasive product evaluation system comprising: a detector that detects non-visual abrasive wear cues; an efficiency indicator generator that generates a wear indication of the abrasive article based on the abrasive wear cue; and A command generator generates commands based on the generated wear indication.

2. The system according to claim 1, further comprising: a parameter retriever that retrieves current operating parameters of a tool associated with the abrasive article; and The command generator generates a command to adjust the operating parameter from a first value to a second value different from the first value. 3 . The system of claim 2 , wherein the operating parameter is an applied force, the tool is a robotic grinding unit, and the second value is an applied force that is higher than the first applied force.

4. The system of claim 2, wherein the operating parameter is speed, and wherein the second speed is higher than the first speed.

5. The system of any one of claims 1 to 4, wherein the command is a replacement command, and wherein a robotic grinding unit associated with the abrasive article automatically initiates an abrasive article replacement sequence based on the command.

6. The system of any one of claims 1 to 5, wherein the command is a downstream operation command that adjusts a downstream grinding operation parameter based on the wear indication, wherein the downstream grinding operation parameter is speed, force or dwell time, or a second abrasive operation performed using a second abrasive article.

7. A system according to any one of claims 2 to 6, and further comprising: A historical value retriever retrieves historical values ​​of the operating parameters.

8. The system of any one of claims 1 to 7, wherein the command is a graphical user interface update command, and wherein the command is transmitted to a device having a display, and wherein the command causes the display to present an updated graphical user interface.

9. A system according to any one of claims 1 to 18, and further comprising: A command communicator transmits the command to the second device.

10. The system of any one of claims 1 to 9, wherein the detector comprises an acoustic emission sensor.

11. The system of any one of claims 1 to 10, wherein the detector comprises a voltmeter or an ammeter.

12. The system of any one of claims 1 to 11, wherein the detector comprises a thermometer.

13. The system of any one of claims 1 to 12, wherein the detector comprises an accelerometer.

14. The system of any one of claims 1 to 13, wherein the detector detects the wear indication when in proximity to the abrasive article.

15. The system of claim 14, wherein the detector detects the wear indication when in contact with the abrasive article.

16. A robotic grinding system, the robotic grinding system comprising: an abrasive article comprising a wear cue detectable by a sensor, the abrasive article being configured to contact a substrate; a robotic arm configured to contact the abrasive article to the substrate; a force control unit on the robotic arm, wherein the force control unit urges the abrasive article into contact with the substrate; and A wear indication system determines an amount of wear of the abrasive article based on the wear indication and adjusts an operating parameter of the robotic grinding system based on the amount of wear.

17. The robotic grinding system of claim 16, wherein the wear indication system further comprises: an efficiency indicator generator, the efficiency indicator generator generating an abrasive efficiency of the abrasive article; based on a signal from said sensor; and A command generator generates commands to adjust the operating parameters.

18. The robotic grinding system of claim 16 or 17, wherein the sensor is a sound emission sensor, and wherein the sensor detects changes in sound emitted by the abrasive article.

19. The robotic grinding system of any one of claims 16 to 18, wherein the sensor is a voltmeter or an ammeter, and wherein the sensor detects a discontinuity in a conductive path extending over a portion of the abrasive article.

20. The robotic grinding system according to any one of claims 16 to 19, wherein the sensor is a force control unit mounted on the robotic arm, and wherein the force control unit detects changes in the grinding rhythm.

21. The robotic system according to any one of claims 16 to 20, wherein the operating parameter is an automatic shutdown.

22. The robotic system according to any one of claims 16 to 21, wherein the operating parameter is an applied force of the force control unit, a rotation speed of the abrasive article, or a residence time of the abrasive article on the substrate.

23. The robotic system of any one of claims 16 to 22, wherein the operating parameters are parameters of a future abrasive operation using the abrasive article.

24. The robotic system according to any one of claims 16 to 23, wherein the detector activates a detection sequence in response to a detection start command from a controller.

25. The robotic system of claim 24, wherein the controller generates commands to adjust the operating parameters.

26. The robot system according to any one of claims 16 to 25, wherein the wear indication system includes a historical value retriever that retrieves historical values ​​of the wear hint, and a wear processor that determines the amount of wear based on the wear hint and the retrieved historical values.

27. The robotic system of claim 26, wherein the historical value is the last captured wear reminder.

28. The robotic system of claim 26, wherein the historical value is an initial wear reminder.

29. A wear detector for an abrasive article, the wear detector comprising: a cue capture device that detects changes in the abrasive article during or after a grinding operation; an efficacy indicator generator that receives the change and provides a wear indication based on the detected change; and A wear communicator is provided to transmit the detected wear indication to a second device.

30. The wear detector of claim 29, wherein the change is a change in the sound emitted by the abrasive article when it contacts a substrate.

31. The wear detector of claim 29, wherein the change is a change in vibration of the abrasive article relative to the substrate.

32. The wear detector of claim 29, wherein the change is a change in a measured voltage or a measured current across a portion of the abrasive article.

33. A detector according to any one of claims 29 to 32, and further comprising: A motion mechanism moves the cue capture device into position in response to a motion control command.

34. The detector of claim 30, wherein the motion control command is received from the second device.

35. A detector according to any one of claims 29 to 34, and further comprising: A historical value retriever retrieves historical wear indications of the abrasive article.

36. A detector according to any one of claims 29 to 35, and further comprising: A threshold retriever retrieves a threshold value of the efficacy generator.

37. The detector of claim 36, and further comprising: A parameter retriever retrieves a set of operating parameters of the abrasive article, and wherein the threshold value is retrieved based on the set of operating parameters.

38. A detector according to any one of claims 29 to 37, wherein the second device comprises a data store for receiving and storing the wear indication.

39. A detector according to any one of claims 29 to 38, wherein the wear communicator generates a wear alert, causing the second device to generate an alert based on received detected wear cues.

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