Control device and grinding system

Abstract

To appropriately grind weld bead.SOLUTION: A control device includes: a path specification section that specifies a path of a grinding tool for causing the grinding tool to grind weld bead of a base material; and a control section that controls at least any of the grinding tool and a robot having the grinding tool installed therein to move the grinding tool along the path on the basis of an index indicated by a grinding condition related to a grinding operation relative to the weld bead of the grinding tool along the path, the index smoothly changing.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device and a grinding system. [Background technology]

[0002] If the weld joint is left as it is with respect to the base material, the fatigue strength of the weld joint will decrease. The weld bead grinding device automatically grinds away the excess weld bead reinforcement in order to prevent the fatigue strength of the weld joint from decreasing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-288789 Summary of the Invention [Problem to be solved by the invention]

[0004] The weld bead grinding device described in Patent Document 1 includes a grinding means and a distance measurement means. The distance measurement means measures the surface shape of the workpiece straddling the weld bead 30 at at least two locations and measures the distance between the two locations. Based on the surface shape measurement results, the grinding means approximates the center of the weld bead to a straight line and grinds the weld bead along the straight line. This allows the weld bead grinding device to automatically grind the weld bead, which is made by butting plate-shaped base materials, to a substantially flush surface.

[0005] However, with the weld bead grinding device described in Patent Document 1, problems arise with grinding, such as leaving uncut portions of the weld bead or damaging the base material, during the grinding process based on grinding conditions that indicate a constant rotational speed and movement speed for weld beads that do not have a uniform thickness.

[0006] The present invention has been made to solve such problems, and has an object to make it possible to appropriately grind weld beads. [Means for solving the problem]

[0007] In one aspect of the present invention, the control device includes a path identification unit that identifies a path of the grinding tool for grinding the weld bead of a base material with the grinding tool, and a control unit that controls at least one of the grinding tool and a robot on which the grinding tool is placed so as to move the grinding tool along the path, based on a smoothly changing index that indicates a grinding condition related to the grinding operation of the grinding tool on the weld bead along the path. [Effects of the Invention]

[0008] According to the present invention, it is possible to appropriately grind the weld bead. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view showing a schematic configuration of a grinding system. [Figure 2] 1A and 1B are diagrams showing specific examples of weld beads. [Figure 3] FIG. 10 is a diagram for comparing a taught path with an actual tool path along which a grinding unit moves. [Figure 4] FIG. 10 is a diagram showing robot condition information D131a. [Figure 5] FIG. 13 is a diagram showing grinding tool condition information D131b. [Figure 6] FIG. 10 is a diagram showing an example of a grinding condition setting screen T10. [Figure 7] 10 is a flowchart showing a flow of a processing procedure of the grinding system. [Figure 8] 10 is a graph showing the motion of the robot and grinding tool in each of a number of steps. [Figure 9] FIG. 2 illustrates an example of a hardware configuration of a computer. DETAILED DESCRIPTION OF THE INVENTION

[0010] ===Configuration of Grinding System 10=== The configuration of the grinding system 100 will be described with reference to Figures 1 and 2. Figure 1 is a side view showing a schematic configuration of the grinding system 100. Figure 2 is a diagram showing a specific example of a weld bead YB.

[0011] Grinding system 100 is a system that grinds, for example, a weld bead that has been built up and welded onto a base material. Grinding system 100 can change the grinding operation conditions (hereinafter referred to as "grinding conditions") depending on the length and thickness of the weld bead.

[0012] Grinding conditions include, for example, the pressing force with which grinding portion 123 of grinding tool 120 is pressed against the weld bead, the rotational speed of grinding portion 123 of grinding tool 120 when grinding the weld bead with grinding portion 123 of grinding tool 120, and the movement speed of grinding portion 123 of grinding tool 120 relative to the weld bead when grinding the weld bead due to the operation of robot 110.

[0013] Grinding system 100 is capable of grinding by smoothly changing various indicators of the grinding conditions in each region of the weld bead. This makes it possible for grinding system 100 to achieve grinding of the weld bead that can avoid leaving uncut portions of the weld bead or damaging the base material, which occurs when grinding by grinding unit 123 under grinding conditions that indicate a constant pressing force, rotational speed, and movement speed. Furthermore, grinding system 100 can eliminate uncut portions by appropriately changing the grinding conditions for areas of the weld bead where the thickness is not constant, and can eliminate unevenness in the ground surface that occurs when switching grinding conditions by smoothly changing the grinding conditions.

[0014] 1, the grinding system 100 includes, for example, a robot 110, a grinding tool 120, and a control device 130. In the grinding system 100, the control device 130 is configured to be able to control the robot 110 and the grinding tool 120 based on grinding conditions. Note that the control device 130 may be configured such that a control device for controlling the robot 110 and a control device for controlling the grinding tool 120 are provided separately.

[0015] That is, in grinding system 100, control device 130 makes it possible to easily synchronize the operation of robot 110 and the operation of grinding tool 120 to grind the weld bead. As a result, in grinding system 100, control device 130 can centrally control robot 110 and grinding tool 120 without sending a large number of control signals from robot 110 to grinding tool 120, making system design easier.

[0016] The robot 110 is a robot that includes an articulated arm mounted on a base member that is fixed to, for example, a factory floor, and a grinding tool 120 attached to the tip of the articulated arm. The robot 110 grinds the weld bead by pressing a grinding portion 123 of the grinding tool 120 against the weld bead. The robot 100 can perform various tasks, such as assembling parts, welding, and cutting, depending on the type of end effector. The configuration of the robot 100 is well known, so a detailed description thereof will be omitted.

[0017] Robot 110 can smoothly change the movement speed of grinding part 123 when grinding the weld bead with grinding tool 120, based on a control signal obtained from control device 130 that indicates, for example, the grinding condition, the movement speed condition for moving grinding tool 120. Hereinafter, the term "movement speed" refers to the movement speed of grinding tool 120 when grinding the weld bead with grinding part 123 of grinding tool 120.

[0018] When grinding a weld bead, robot 110 sets, via control device 130, a path for the weld bead along which grinding portion 123 of grinding tool 120 passes (hereinafter referred to as "taught path CS1"). Taught path CS1 is, for example, a path that follows the center of the weld bead from one end to the other end of the weld bead. Taught path CS1 is set at a predetermined height from the base material. Alternatively, robot 110 may detect the weld bead and set taught path CS1.

[0019] Grinding tool 120 is a device that is installed at the tip of the arm of robot 110 and grinds the weld bead by the movement of robot 110. Grinding tool 120 includes, for example, a spindle motor 121, a rotating shaft 122, and a grinding unit 123. Grinding tool 120 rotates rotating shaft 122 by spindle motor 121, thereby rotating grinding unit 123 that is installed at one end of rotating shaft 122.

[0020] The grinding part 123 is rotatably supported by the rotary shaft 122 and is, for example, a grindstone having a disk shape.

[0021] The grinding tool 120 can grind the weld bead using the grinding unit 123 by smoothly changing the pressing force and rotation speed when pressing the grinding unit 123 against the weld bead, based on a control signal obtained from the control unit 130 that indicates the grinding conditions, such as the pressing force and rotation speed.

[0022] The control device 130 controls the robot 110 and the grinding tool 120 by outputting control signals indicating grinding conditions to the robot 110 and the grinding tool 120. The control device 130 performs integrated control of the robot 110 and the grinding tool 120. For example, the control device 130 can smoothly control the pressing force and movement speed of the grinding tool 120 of the robot 110 against the weld bead, and the rotation speed of the grinding part 123 of the grinding tool 120.

[0023] "Smooth" control refers to, for example, differentiable continuous changes in the pressing force, moving speed, and rotation speed, such as control by changes expressed by a linear function or a quadratic function. As an example, the following description will be given assuming that various indexes of the grinding conditions are changed so as to be expressed by a linear function.

[0024] This allows the control device 130 to eliminate the problem of incomplete grinding and damage to the base material BZ due to bulges that occur at the ends of the weld bead YB shown in Figure 2 (the relatively thick portion of the weld bead YB in region R1 of Figure 2) or thin portions (the relatively thin portion of the weld bead YB in region R3 of Figure 2).

[0025] In the above description, grinding tool 120 is described as smoothly changing the pressing force of grinding part 123 on the weld bead based on a control signal indicating the pressing force, but this is not limiting. For example, robot 110 may smoothly change the pressing force of grinding part 123 of grinding tool 120 on the weld bead based on a control signal indicating the pressing force obtained from control device 130.

[0026] The principle behind the problems of incomplete grinding and damage to the base material BZ will be described with reference to Fig. 3. Fig. 3 is a diagram that allows a comparison between the taught path CS1 and the actual path along which the grinding unit 123 moves (hereinafter referred to as the "tool path CS2").

[0027] 3(A), taught path CS1 is a path in which grinding portion 123 contacts weld bead YB at one end in region R1 at an angle relative to the horizontal, and the other end in region R3 is also at an angle relative to the horizontal so that grinding portion 123 moves away from weld bead YB. On the other hand, as shown in FIG. 3(B), tool path CS2 is a mountain-shaped path because grinding portion 123 is repelled from weld bead YB by a repulsive force caused by grinding portion 123 contacting weld bead YB at one end in region R1, and because the thickness of weld bead YB is relatively thin at the other end in region R3, tool path CS2 is a path in which grinding portion 123 contacts base metal BZ when the pressing force is constant.

[0028] That is, when the weld bead YB is ground by maintaining constant the rotation speed of the grinding unit 123 and the pressing force and movement speed of the grinding tool 120 on the weld bead YB in the robot 110 and the grinding tool 120, problems may arise in that portions of the weld bead YB are not properly ground, and further problems may arise in that the base material BZ is damaged by the grinding unit 123. Grinding system 10 can solve the above problems by smoothly changing various indicators of the robot 110 and the grinding tool 120 based on the grinding conditions. Below, details of the control device 130 that controls the robot 110 and the grinding tool 120 will be described.

[0029] ===Control device 130=== <<Configuration>> As shown in FIG. 1, the control device 130 includes a storage unit 131, a route identification unit 132, a display processing unit 133, and a control unit 134.

[0030] The storage unit 131 includes robot condition information D131a and grinding tool condition information D131b.

[0031] The robot condition information D131a will be described with reference to FIG. 4. FIG. 4 is a diagram showing the robot condition information D131a. The robot condition information D131a is a database that stores grinding conditions for the robot 110 set by the user. As shown in FIG. 4, the robot condition information D131a stores, for example, for each region number, a moving speed condition that is a grinding condition for the moving speed and a pressing force condition that is a grinding condition for the pressing force of the robot 110. The region number is a code that can identify each region when, for example, the weld bead YB is divided into multiple regions from one end to the other. The pressing force condition is a condition that indicates the pressing force or the change in pressing force in each region. The moving speed condition is a condition that indicates the moving speed at which the grinding unit 123 moves in each region and the change in the moving speed.

[0032] The grinding tool condition information D131b will be described with reference to Fig. 5. Fig. 5 is a diagram showing the grinding tool condition information D131b. The grinding tool condition information D131b is a database that stores the grinding conditions of the grinding tool 120 set by the user. As shown in Fig. 5, the grinding tool condition information D131b stores, for example, for each region number, a pressing condition that is a grinding condition for the pressing force of the grinding part 123 of the grinding tool 120, and a rotational speed condition that is a grinding condition for the rotational speed. The rotational speed condition is a condition that indicates the rotational speed and the rate of change in the rotational speed in each region.

[0033] The path specifying unit 132 specifies a teaching path CS1 based on the teaching of the robot 110.

[0034] The display processing unit 133 generates various screens. Specifically, the display processing unit 133 generates a grinding condition setting screen T10. The grinding condition setting screen T10 will be described with reference to Fig. 6. Fig. 6 is a diagram showing an example of the grinding condition setting screen T10.

[0035] The grinding condition setting screen T10 is a screen that accepts user operation input and is a screen for setting grinding conditions based on the user operation input. The grinding condition setting screen T10 includes, for example, a weld bead image display area T11, a division display area T12, a robot condition setting area T13 for the robot 110, a grinding tool condition setting area T14 for the grinding tool 120, and a grinding condition graph display area T15.

[0036] Weld bead image display area T11 is a display area that displays an image of the weld bead YB (which may be an actual image of the weld bead YB).

[0037] Section display area T12 is a display area that identifiably displays each of a plurality of regions obtained by dividing the image of weld bead YB displayed in weld bead image display area T11. Specifically, section display area T12 may, for example, identifiably display each of a plurality of regions obtained by dividing the weld bead YB from one end to the other end based on a user's operation input, or may identifiably display each of a plurality of regions obtained by dividing the weld bead YB based on predetermined conditions (for example, a predetermined width from each of both ends).

[0038] The robot condition setting area T13 is a display area that displays robot conditions entered based on user operation input. The information entered in the robot condition setting area T13 is reflected in the robot condition information D131a. A fixed index (e.g., pressure or movement speed) may be entered in the robot condition setting area T13, or an index that changes at a predetermined rate over a predetermined time may be entered. Specifically, in the robot condition setting area T13, for example, in area R1, a robot condition indicating that "pressure decreases linearly from 30N to 20N" is set to "Setting 10."

[0039] The grinding tool condition setting area T14 is a display area that displays grinding tool conditions entered based on user operation input. The information entered in the grinding tool condition setting area T14 is reflected in the grinding tool condition information D131b. A fixed index may be entered in the grinding tool condition setting area T14, or an index that changes at a predetermined rate over a predetermined time may be entered. Specifically, in the grinding tool condition setting area T14, for example, in area R1, a grinding tool condition indicating "a linear decrease from a rotational speed of 10,000 rpm to a rotational speed of 8,000 rpm" is set in "Setting 20."

[0040] The grinding condition graph display area T15 is a display area that displays a graph showing changes in the grinding conditions of the robot 110 and the grinding tool 120 based on the information entered in the robot condition setting area T13 and the grinding tool condition setting area T14. This allows the grinding system 100 to easily visually grasp how each location of the weld bead YB will be ground under the set grinding conditions.

[0041] The control unit 134 controls the robot 110 and the grinding tool 120 based on the grinding conditions. Here, the control unit 134 controls the robot 110 and the grinding tool 120 based on indices (e.g., pressing force, moving speed, rotation speed, etc.) indicated by the grinding conditions related to the grinding operation of the grinding tool 120 on the weld bead YB along the specified taught path CS1, and the indices change smoothly (e.g., indices that change linearly).

[0042] At this time, the control unit 134 may output control signals to the robot 110 and the grinding tool 120 to operate the robot 110 and the grinding tool 120 according to the index indicated by the grinding conditions. Alternatively, the control unit 134 may transmit the index indicated by the grinding conditions to the robot 110 and the grinding tool 120, so that the robot 110 and the grinding tool 120 each control the arm or the spindle motor 121 based on the index.

[0043] Specifically, control unit 134 references grinding tool condition information D131b and controls grinding tool 120 based on the smoothly changing pressing force, which is indicated by the grinding conditions and which presses grinding part 123 of grinding tool 120 against weld bead YB. As a result, when there are bulges or thin portions at both ends of weld bead YB, for example, grinding system 100 can smoothly adjust the pressing force of grinding part 123 at both ends, making it possible to properly grind the bulges or thin portions without damaging base metal BZ.

[0044] Specifically, the control unit 134 references the grinding tool condition information D131b and controls the grinding tool 120 based on the smoothly changing rotational speed of the grinding unit 123 of the grinding tool 120, which is indicated by the grinding conditions. As a result, when there is a bulge or a dent at both ends of the weld bead YB, for example, the grinding system 100 can smoothly adjust the rotational speed of the grinding unit 123 at those ends, making it possible to properly grind the bulge or thin portion without damaging the base metal BZ.

[0045] Specifically, control unit 134 may refer to grinding tool condition information D131b and control grinding tool 120 based on the pressing force and rotation speed. As a result, when there are bulges or thin portions at both ends of weld bead YB, for example, grinding system 100 can smoothly adjust the pressing force and rotation speed at both ends simultaneously, making it possible to more appropriately grind the bulges or thin portions without damaging base metal BZ.

[0046] Specifically, the control unit 134 may further refer to the robot condition information D131a and further control the robot 110 based on the smoothly changing moving speed at which the grinding tool 120 of the robot 110 is moved, as indicated by the grinding conditions. That is, the control unit 134 may simultaneously control the robot 110 and the grinding tool 120 based on, for example, the smoothly changing pressing force, rotation speed, and moving speed. As a result, when, for example, there are bulges or thin portions at both ends of the weld bead YB, the grinding system 100 can smoothly adjust the pressing force, rotation speed, and moving speed at both ends simultaneously, thereby making it possible to more appropriately grind the bulges or thin portions without damaging the base metal BZ.

[0047] Furthermore, control unit 134 can set different grinding conditions for each of a plurality of divided regions corresponding to weld bead YB. Specifically, control unit 134 references robot condition information D131a and grinding tool condition information D131b and controls robot 110 and grinding tool 120 based on the index indicated by the grinding conditions set for each region of weld bead YB. This allows grinding system 100 to perform grinding under appropriate grinding conditions at appropriate pinpoint locations of weld bead YB, making it possible to appropriately grind bulges and thin locations without damaging base metal BZ.

[0048] <<Processing Procedure>> The processing procedure of grinding system 100 will be described with reference to FIGS. 7 and 8. FIG. 7 is a flowchart showing the flow of the processing procedure of grinding system 100. FIG. 8 is a graph showing the operations of robot 110 and grinding tool 120 in each of a plurality of steps. In FIG. 8, the horizontal axis represents distance (position), and the vertical axis represents the pressing force of grinding tool 120 by robot 110 against weld bead YB in FIG. 8(A), the rotation speed of grinding portion 123 of grinding tool 120 in FIG. 8(B), and the moving speed at which robot 110 moves grinding tool 120 in FIG. 8(C). Below, the operation under the grinding conditions set for weld bead YB in FIG. 2 will be described as an example.

[0049] In step S100, control device 130 receives, for example, a user's operation input for the image of weld bead YB displayed on display unit 1007, and sets a teaching path CS1 for weld bead YB.

[0050] In step S101, the control device 130 receives a user's input regarding grinding conditions, for example, on a grinding condition setting screen T10. The control device 130 stores the grinding conditions (for example, pressing force, rotation speed, movement speed, etc. for each of a plurality of regions) in the storage unit 131.

[0051] In step S102, the control device 130 outputs a robot control signal indicating grinding conditions (e.g., movement speed) to the robot 110. The control device 130 also outputs a grinding tool 120 signal indicating grinding conditions (e.g., pressing force and rotation speed) to the grinding tool 120, for example.

[0052] In step S103, robot 110 may move grinding part 123 of grinding tool 120 while smoothly increasing the movement speed from a first movement speed to a second movement speed based on the grinding conditions, as shown in Fig. 8(C) in region R1 of weld bead YB in Fig. 2. That is, in region R1, robot 110 moves grinding part 123 gently around the bulging portion of weld bead YB, thereby eliminating any remaining cutting.

[0053] In step S104, grinding tool 120 may smoothly decrease the rotational speed of grinding part 123 from a first rotational speed to a second rotational speed based on the grinding conditions in region R1 of weld bead YB in Fig. 2, as shown in Fig. 8(B). That is, in region R1, grinding tool 120 rotates grinding part 123 of grinding tool 120 at a high rotational speed in the bulging portion of weld bead YB, thereby grinding more of weld bead YB and eliminating any remaining material. Note that, in region R1 of weld bead YB in Fig. 2, grinding tool 120 keeps the pressing force of grinding part 123 against weld bead YB constant at a first pressing force, as shown in Fig. 8(A).

[0054] In step S105, robot 110 may move grinding part 123 of grinding tool 120 at a constant second moving speed in region R2 of weld bead YB in Fig. 2 based on the grinding conditions, as shown in Fig. 8(C). That is, in region R2, robot 110 may move grinding part 123 at a constant moving speed in a portion of weld bead YB where the thickness is constant. Robot

[0055] In step S106, grinding tool 120 may rotate grinding part 123 at a constant second rotational speed based on the grinding conditions in region R2 of weld bead YB in Fig. 2, as shown in Fig. 8(B). That is, in region R2, grinding tool 120 may rotate grinding part 123 at a constant rotational speed in a portion of weld bead YB where the thickness is constant. Note that, in region R2 of weld bead YB in Fig. 2, grinding tool 120 sets the pressing force of grinding part 123 against weld bead YB to a constant first pressing force, as shown in Fig. 8(A).

[0056] In step S107, grinding tool 120 may smoothly decrease the pressing force from the first to the second pressing force based on the grinding conditions, as shown in Fig. 8(A) in region R3 of weld bead YB in Fig. 2. That is, in region R3, grinding tool 120 operates so as not to damage base metal BZ by pressing grinding portion 123 against weld bead YB with a lower pressing force in the areas where the thickness of weld bead YB is thin.

[0057] At this time, robot 110 may move grinding unit 123 at a constant moving speed in region R3 of weld bead YB in FIG. 2, as shown in FIG. 8(C).

[0058] At this time, grinding tool 120 may rotate grinding portion 123 at a second rotation speed based on the grinding conditions in region R3 of weld bead YB in FIG. 2, as shown in FIG. 8(B).

[0059] That is, in region R3, the grinding system 100 keeps the rotational speed of the grinding tool 120 and the movement speed of the grinding part 123 by the robot 110 constant, and by controlling the pressing force by the grinding tool 120, grinds the weld bead YB appropriately without damaging the base material BZ.

[0060] In step S108, the control device 130 outputs a robot stop signal and a grinding tool stop signal to the robot 110 and the grinding tool 120 to stop their operations.

[0061] In steps S109 and S110, the robot 110 and the grinding tool 120 stop operating.

[0062] As described above, the grinding system 100 can set appropriate grinding conditions (conditions based on smoothly changing indicators) according to various shapes of weld beads, thereby making it possible to properly grind bulges and thin areas without damaging the base material BZ.

[0063] ===Hardware Configuration=== An example of a hardware configuration in which the robot 110, the grinding tool 120, and the control device 130 are realized by a computer will be described with reference to Fig. 9. Fig. 9 is a diagram showing an example of the hardware configuration of a computer.

[0064] As shown in FIG. 9, the computer 1000 includes a processor 1001, a memory 1002, a storage device 1003, an input I / F unit 1004, a data I / F unit 1005, a communication I / F unit 1006, and a display unit 1007.

[0065] The processor 1001 is a control unit that controls various processes in the computer 1000 by executing programs stored in the memory 1002 .

[0066] The memory 1002 is a storage medium such as a RAM (Random Access Memory), etc. The memory 1002 temporarily stores the program code of the program executed by the processor 1001 and data required when the program is executed.

[0067] The storage device 1003 is a non-volatile storage medium such as a hard disk drive (HDD), flash memory, etc. The storage device 1003 stores an operating system and various programs for realizing the above-mentioned components.

[0068] The input I / F unit 1004 is a device for receiving input from a user. Specific examples of the input I / F unit 1004 include a keyboard, a mouse, a touch panel, various sensors, and a wearable device. The input I / F unit 1004 may be connected to the computer 1000 via an interface such as a USB (Universal Serial Bus).

[0069] The data I / F unit 1005 is a device for inputting data from outside the computer 1000. A specific example of the data I / F unit 1005 is a drive device for reading data stored in various storage media. The data I / F unit 1005 may be provided outside the computer 1000. In this case, the data I / F unit 1005 is connected to the computer 1000 via an interface such as a USB.

[0070] The communication I / F unit 1006 is a device for performing data communication via the Internet N, either wired or wirelessly, with devices external to the computer 1000. The communication I / F unit 1006 may be provided external to the computer 1000. In this case, the communication I / F unit 1006 is connected to the computer 1000 via an interface such as a USB.

[0071] The display unit 1007 is a device for displaying various types of information. Specific examples of the display unit 1007 include a liquid crystal display, an organic EL (Electro-Luminescence) display, and a display of a wearable device. The display unit 1007 may be provided outside the computer 1000. In this case, the display unit 1007 is connected to the computer 1000 via, for example, a display cable. Furthermore, when a touch panel is used as the input I / F unit 1004, the display unit 1007 can be configured as an integrated unit with the input I / F unit 1004.

[0072] ===Summary=== <1> Control device 130 of grinding system 100 includes path specifying unit 132 that specifies a path of grinding tool 120 for grinding the weld bead of the base material with grinding tool 120, and control unit 134 that controls at least one of grinding tool 120 and robot 110 on which grinding tool 120 is placed so as to move grinding tool 120 along the path, based on a smoothly changing index that indicates a grinding condition related to the grinding operation of grinding tool 120 on the weld bead along taught path CS1 (path). This enables grinding system 100 to grind the weld bead without damaging the base material, while eliminating any remaining weld bead material.

[0073] <2> Control device 130 of grinding system 100 controls robot 110 based on the smoothly changing pressing force, which is indicated by the grinding conditions and presses grinding portion 123 of grinding tool 120 against the weld bead. This enables grinding system 100 to grind the weld bead without leaving any uncut portion on the weld bead and without damaging the base material.

[0074] <3> Control device 130 of grinding system 100 controls grinding tool 120 based on the smoothly changing rotational speed of grinding portion 123 of grinding tool 120, which is indicated by the grinding conditions. This enables grinding system 100 to grind the weld bead without leaving any uncut portion of the weld bead and without damaging the base material.

[0075] <4> Control device 130 of grinding system 100 controls robot 110 based on the smoothly changing pressing force that presses grinding portion 123 of grinding tool 120 against the weld bead, which is indicated by the grinding conditions, and controls grinding tool 120 based on the smoothly changing rotational speed of grinding portion 123 of grinding tool 120, which is indicated by the grinding conditions. This enables grinding system 100 to more reliably grind the weld bead without damaging the base material, while eliminating any remaining weld bead material.

[0076] <5> Control device 130 of grinding system 100 controls robot 110 based on the smoothly changing moving speed of grinding tool 120 of robot 110, which is indicated by the grinding conditions. This enables grinding system 100 to grind the weld bead without leaving any uncut portion of the weld bead and without damaging the base material.

[0077] <6> Control device 130 of grinding system 100 can set different grinding conditions for each of a plurality of divided regions corresponding to the weld bead. This allows grinding system 100 to perform grinding under appropriate grinding conditions at appropriate pinpoint locations on weld bead YB, making it possible to appropriately grind bulges and thin locations without damaging the base material.

[0078] <7> The grinding system 100 includes a control device 130 and a grinding tool 120 that is controlled based on grinding conditions by the control device 130. This allows the grinding system 100 to control the grinding tool 120 using the control device 130, making system design easier.

[0079] <8> The grinding system 100 includes a control device 130, a grinding tool 120, and a robot 110 that moves the grinding tool 120 along a taught path CS1 (path) controlled by the control device 130 based on grinding conditions. This allows the grinding system 100 to centrally control the robot 110 and the grinding tool 120 using the control device 130 without transmitting a large number of control signals from the robot 110 to the grinding tool 120, making system design easier.

[0080] The embodiments described through the above embodiments of the invention can be combined, modified, or improved as appropriate depending on the application, and the present invention is not limited to the above-described embodiments. It is clear from the claims that such combinations, modifications, or improvements are also included within the technical scope of the present invention. [Explanation of symbols]

[0081] 100...grinding system, 110...robot, 120...grinding tool, 123...grinding unit, 130...control device, 131...storage unit, 132...path identification unit, 133...display processing unit, 134...control unit.

Claims

1. a path specifying unit that specifies a path of the grinding tool for grinding the weld bead of the base material with the grinding tool; a control unit that controls at least one of the grinding tool and a robot on which the grinding tool is placed so as to move the grinding tool along the path, based on an index that indicates a grinding condition related to the grinding operation of the grinding tool on the weld bead along the path and that smoothly changes; A control device comprising:

2. the control unit controls the robot based on a pressing force that presses the grinding portion of the grinding tool against the weld bead, the pressing force being indicated by the grinding conditions and that changes smoothly. The control device according to claim 1 .

3. the control unit controls the grinding tool based on the rotation speed of the grinding part of the grinding tool indicated by the grinding conditions, the rotation speed smoothly changing. The control device according to claim 1 .

4. The control unit controlling the robot based on a pressing force that presses the grinding portion of the grinding tool against the weld bead, the pressing force being indicated by the grinding conditions and smoothly changing; controlling the grinding tool based on the rotation speed of the grinding portion of the grinding tool indicated by the grinding conditions, the rotation speed varying smoothly; The control device according to claim 1 .

5. the control unit controls the robot based on a moving speed at which the grinding tool of the robot is moved, the moving speed being indicated by the grinding conditions and varying smoothly. The control device according to claim 4.

6. the control unit is capable of setting different grinding conditions for each of a plurality of divided areas corresponding to the weld bead. The control device according to claim 1 .

7. The control device according to any one of claims 1 to 6; the grinding tool controlled by the control device based on the grinding conditions; A grinding system comprising:

8. the control device; the grinding tool; a robot that moves the grinding tool along the path, the robot being controlled by the control device based on the grinding conditions; The grinding system of claim 7 , comprising:

Images