Grinder

Abstract

Detected is a posture of a disc tool with respect to a workpiece. A grinder includes: a disc tool configured to process a workpiece; a force sensor configured to detect a moment acting on the disc tool; and a controller, the controller carrying out a detection process of detecting a posture of the disc tool with respect to the workpiece on the basis of an output signal obtained from the force sensor.

1 . A grinder comprising:
 a disc tool configured to process a workpiece;   a force sensor configured to detect a moment acting on the disc tool; and   a controller,   the controller carrying out a detection process of detecting a posture of the disc tool with respect to the workpiece on the basis of an output signal obtained from the force sensor.   
     
     
         2 . The grinder according to  claim 1 , further comprising a main body provided with a gripping part located on a side closer to a first end part thereof and the disc tool attached to a side closer to a second end part thereof which side is located opposite to the side closer to the first end part,
 a direction from the first end part of the main body to the second end part of the main body being defined as a direction of an x axis, a direction parallel to a rotation shaft of the disc tool which shaft is orthogonal to the x axis being defined as a direction of a z axis, a direction orthogonal to the x axis and the z axis being defined as a direction of a y axis,   the force sensor detecting a moment My about the y axis which acts on the disc tool,   in the detection process, the controller detecting, as the posture of the disc tool, an inclination of the disc tool with respect to the workpiece in a plane including the x axis among planes orthogonal to a surface of the workpiece.   
     
     
         3 . The grinder according to  claim 1 , further comprising a main body provided with a gripping part located on a side closer to a first end part thereof and the disc tool attached to a side closer to a second end part thereof which side is located opposite to the side closer to the first end part,
 a direction from the first end part of the main body to the second end part of the main body being defined as a direction of an x axis, a direction parallel to a rotation shaft of the disc tool which shaft is orthogonal to the x axis being defined as a direction of a z axis, a direction orthogonal to the x axis and the z axis being defined as a direction of a y axis,   the force sensor detecting a moment Mx about the x axis which acts on the disc tool,   in the detection process, the controller detecting, as the posture of the disc tool, an inclination of the disc tool with respect to the workpiece in a plane including the y axis among planes orthogonal to a surface of the workpiece.   
     
     
         4 . The grinder according to  claim 1 , further comprising one or both of an angular velocity sensor configured to detect an angular velocity and an acceleration sensor configured to detect an acceleration,
 the controller detecting, in the detection process, the posture of the disc tool with respect to the workpiece on the basis of: one or both of an output signal obtained from the angular velocity sensor and an output signal obtained from the acceleration sensor; and the output signal obtained from the force sensor.   
     
     
         5 . The grinder according to  claim 1 , wherein the controller further carries out a displaying process of causing a display to display an image indicating whether or not the posture of the disc tool detected is a proper posture determined in advance. 
     
     
         6 . The grinder according to  claim 5 , wherein the controller changes, in the displaying process, a displaying aspect of the image between a case where a value of the moment derived on the basis of the output signal obtained from the force sensor has not exceeded a threshold and a case where the value of the moment has exceeded the threshold. 
     
     
         7 . The grinder according to  claim 1 , further comprising an output device configured to output an alerting sound or a voice,
 the controller further carrying out a notification process of using the output device to notify that a value of the moment derived on the basis of the output signal obtained from the force sensor has exceeded a threshold.   
     
     
         8 . The grinder according to  claim 4 , wherein the controller further carries out a generation process of generating teaching data for causing a robot including the disc tool to process the workpiece, on the basis of: one or both of the output signal obtained from the angular velocity sensor and the output signal obtained from the acceleration sensor; and the output signal obtained from the force sensor.