Grinder and robot

Abstract

Detected is a worn state of a disc tool. A grinder includes: a disc tool configured to rotate around a rotation shaft; a force sensor configured to detect a moment around the rotation shaft, the moment acting on the disc tool; and a controller, the controller carrying out a detection process of detecting a worn state of the disc tool on the basis of the moment obtained from the force sensor.

1 . A grinder comprising:
 a disc tool configured to rotate around a rotation shaft;   a force sensor configured to detect a moment around the rotation shaft, the moment acting on the disc tool; and   a controller,   the controller carrying out a detection process of detecting a worn state of the disc tool on the basis of the moment obtained from the force sensor.   
     
     
         2 . The grinder according to  claim 1 , wherein in a case where the moment obtained from the force sensor becomes less than a threshold, the controller carries out a notification process of carrying out notification to prompt an operator to replace the disc tool. 
     
     
         3 . The grinder according to  claim 2 , further comprising an input device that enables input of tool information including at least one of outer diameter information of the disc tool and type information of the disc tool,
 the threshold being a value set in accordance with the tool information inputted with use of the input device.   
     
     
         4 . The grinder according to  claim 1 , further comprising:
 a driving motor configured to drive the rotation shaft; and   a rotation speed controlling device configured to control a rotation speed of the driving motor,   the controller carrying out a rotation speed controlling process of controlling the rotation speed controlling device on the basis of the moment obtained from the force sensor so that the rotation speed of the driving motor becomes a target value corresponding to an outer diameter of the disc tool.   
     
     
         5 . A robot comprising the grinder according to  claim 1 , the controller being a device configured to control operation of the robot,
 the controller carrying out a replacement process of causing the robot to replace the disc tool, on the basis of the worn state of the disc tool detect.