JPH0561071B

PURPOSE:To achieve unattended grinding work of a large curved face with high efficiency and accuracy by pressing a belt grinder with a pressure cylinder and monitoring the grinding amount through a sensor and feeding back the contact face position to the control section. CONSTITUTION:The hand section 15 of a mobile system such as a robot is supported manually to contact the platen face 12 of a belt grinder 13 against the curved face profile referential gauge thus to perform profile teaching. Here the position of the grinder 13 is stored in a gap measuring sensor 22 and a sensor target 20 which are moved over the water turbine guide vane to describe the profile and to provide cutting to the grinder 13 in order to maintain the stored grinding position. Since the guide vane is made through csting, the belt will break down for excessive grinding thereby it is feedback controlled such that upon exceeding over the setting gap it will return by predetermined distance and perform grinding again. Consequently the entire face can be grinded with high accuracy and efficiency irrespective of the grinding amount.