PURPOSE: To perform an efficient grinding work with good stability by suspending the work only in case of the generation time intervals of an abnormal state being less than a 1st set value and yet the number of times thereof being more than a 2nd set value.
CONSTITUTION: In case of grinding burrs, etc., of a rotor 4 by the grinder 2 fitted to the arm 1a tip of a robot 1, the load current of this grinder 2 is detected by a detector 8. In case of this detected value being more than specified value, the feeding of the grinder is stopped and whether the time intervals from the detection of the abnormal state of the previous time to the detection of the abnormal state of this time are less than a 1st set value or not is decided. As the result of this decision, the number of abnormal detection times is checked only in the case of less than the 1st set value and in case of this times being more than a 2nd set value, a magnet switch is opened, the grinder 2 is stopped and the grinding work is suspended. However, in case of less than the 2nd set value, this switch 7 is closed and the grind feeding of the grinder 2 is executed.
KAWABUCHI HIDETOSHI
OKI NOBUAKI
