| abstract |
(57) [Problem] To provide an automatic grinding apparatus which enables unmanned grinder work using an industrial robot and has high grinding accuracy. A grinder (30) is mounted on the tip of a robot arm (21) of a robot (20), and its position, posture, and start / stop are controlled by the robot (20). The work 10 is held on a work table 11. An ITV camera 40 is arranged above the work table 11. The grinding operation is interrupted during the grinding operation of the work 10, and the robot arm 21 is driven to move the grindstone 31 of the grinder 30 The image of the grindstone 31 is automatically taken by the ITV camera 40 toward the front of the TV camera 40. The captured image is analyzed by the image processing system, and the wear amount of the grindstone 31 is measured and breakage is detected. The displacement of the tool action point of the robot 20 is automatically corrected according to the measured wear amount of the grindstone. |