| 摘要 |
PROBLEM TO BE SOLVED: To provide a grinding device whereby grinding of a welding bead, from its rough grinding to finish grinding, can be automatically performed, and changing (wearing amount) of a grinding wheel diameter of a grinder can be detected. SOLUTION: This device has a grinder 8, CCD camera 2, 6 mounted in the grinder 8, laser slit light source 3, illuminating light source 7, and a computer 10 controlling the grinder 8. In this computer 10, by an optical cutting method based on the CCD camera 2, 6 and the laser slit light source 3, a height and width of a welding bead are obtained, a height change of the welding bead during grinding is caught as an undulation in a height direction of the welding bead, and a change of the center or the like in a width direction of the welding bead is caught as an undulation in a right/left direction, and by a shadow method based on the CCD camera 2, 6 and the illuminating light source 7, a grinding surface width of the welding bead is obtained. When this grinding surface width is increased larger than a width of the welding bead, completion of finish grinding is judged, or when a shade generated by a step difference of the welding bead disappears, completion of finish grinding is judged. From a deviation or the like in an optical cut line position on an image, a change of a grinding wheel diameter is obtained. |
