JPH06335857A - Grinding tool abrasion correcting device for grinding robot - Google Patents

Abstract

PURPOSE:To permit the grinding through the proper grinding passage by correctly obtaining the abrasion correction quantity automatically and speedily by measuring the shape of a grinding tool before and after abrasion and correctly carrying out the abrasion correction even in any grinding attitude. CONSTITUTION:An abrasion correcting device is constituted of the image forming devices (8, 9, 11 and 12) which is applied to a grinding robot for grinding a work 5 by a grinding wheel 4 installed on a wrist 2, in an instructed grinding attitude, and forms an optical cut image related to the contour of the grinding wheel, contact position detecting device 15 which calculates the contact position N of a work and the grinding wheel corresponding to a specific grinding attitude on the basis of the image data outputted by the image forming device, and an abrasion correcting computation device for obtaining the abrasion correction quantity corresponding to the contact position through the comparison with the standard point TCP set on the grinding wheel.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grinding tool wear compensating device for a grinding robot, and more particularly, it is applied to a teaching playback type industrial multi-degree-of-freedom machine tool, and any one of a plurality of grinding postures can be brought into a non-contact state. The present invention relates to a grinding tool wear correction device for a grinding robot, which calculates the wear amount of a grinding tool in each grinding posture and corrects the wear of the grinding tool in each grinding posture accurately.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Application Laid-Open No. 61-15 has been used to grind an object to be ground using a robot mechanism.
There is a grinding robot disclosed in Japanese Patent No. 9366.
In this grinding robot, a grindstone that is driven to rotate is attached to a hand portion of the robot, and various grinding processes can be performed on an object to be ground.

For example, when a grinder is attached as a tool to the wrist of a grinding robot having 6 degrees of freedom, the position of a certain point of the grindstone mounted on the grinder becomes an ideal contact point between the grindstone and the work, and this certain point is the tool. Is set as the center point of. The position of this point is generally TCP (To
ol Center Position) is called. When the tool is determined, the TCP is set as a reference position for controlling the position of the tool during the grinding operation, and is stored in the memory of the control device, corresponding to the tool. However, since the whetstone gradually wears during the actual grinding operation, the T
A gap may occur between the CP and the actual contact point, and as a result, a gap may occur between the planned grinding position and the actual grinding position, leaving the part to be ground uncut. Therefore, assuming that wear occurs in the grinding wheel during the grinding work, the deviation between the planned grinding position and the actual grinding position caused by this grinding wheel wear is detected by some method, and the planned grinding position is ground correctly. As described above, it is necessary to correct the content of the position control of the tool prepared in the memory of the control device.

As a conventional method for correcting wheel wear,
There are a method in which the operator moves the grindstone according to the necessity after observing the finished state, and a method in which the grindstone is automatically moved by a fixed amount every fixed number of operations. In recent years, a method of using a force sensor (for example, Japanese Patent Laid-Open No. 1-177957) and a method of providing a tool holding device on a wrist of a robot capable of sliding a tool according to wear of a grindstone (for example, Japanese Patent Laid-Open No. 62-62). No. 9862), a method of detecting the wear amount of the grindstone by a sensor and operating the robot according to the coordinate system set on the grindstone to correct the wear amount (for example, Japanese Patent Laid-Open No. 1-1).
No. 71761), a method of detecting the tip position of a grindstone corresponding to a plurality of grindstone positions by a sensor, and correcting the grinding operation locus in each position based on the detected position (for example, Japanese Unexamined Patent Publication No. 62-282860).
And JP-A-63-295170).

[0005]

However, the above-mentioned method of correcting the finish condition by the worker requires manpower, and the determination of the finish condition may vary depending on the worker's personal ability. With the method of automatically moving the grindstone by a fixed amount, the amount of wear of the grindstone differs depending on the object to be ground, so there is a difference between the actual amount of wear and the correction amount, and there is a possibility of uncut parts or overcutting. It happens and the quality is impaired. The method using the force sensor is effective in correcting the wear in the pressing direction of the grindstone, but it is difficult to correct the grinding path depending on the wear condition of the grindstone. The method of mounting the slide device not only makes the wrist structure large, but also cannot withstand high loads and impulses, and the device for performing accurate positioning becomes expensive, and there is a problem of reliability in a bad environment. is there.

The method of correcting the wear amount of the grindstone detected by a sensor or the like by operating the robot in accordance with the coordinate system set on the grindstone is difficult to deal with a plurality of grinding postures of the robot. Further, in the method of detecting the grindstone tip position in a plurality of grinding postures with a sensor or the like and correcting the grinding path of the robot accordingly, it takes time to detect the grindstone tip position corresponding to a plurality of grinding postures, and it is always necessary. It is difficult to handle grinding work that changes the grinding posture.

An object of the present invention is to solve the above-mentioned problems, and the shape of a grinding tool before and after wear is measured to automatically and quickly obtain a wear correction amount,
It is an object of the present invention to provide a grinding tool wear correction device for a grinding robot that accurately corrects wear in any grinding posture, grinds in an appropriate grinding path, and has a simple structure around the tool.

[0008]

In order to achieve the above object, a grinding tool wear correction device for a grinding robot according to the present invention is configured as follows.

An image creating apparatus which is applied to a grinding robot which is attached to a wrist in a state of taking one of a plurality of taught grinding postures and grinds a work by, for example, a grindstone, and which creates a light section image related to the contour of the grindstone, A contact position detection device that calculates the contact position between the grindstone and the workpiece corresponding to the predetermined grinding posture based on the image data output by this image creation device, and corresponds to the contact position by comparing with the reference point set on the grindstone. And a wear correction calculation device for obtaining a wear correction amount.

In the above structure, preferably, the image forming apparatus includes a projector for irradiating the slit light so as to pass through the reference point and the center of rotation of the grindstone, an image pickup device for picking up an irradiation locus of the slit light, and this image pickup. An image input device for inputting the output of the device and an image memory for storing the image data supplied from the image input device as a light section image.

In the above structure, preferably, the contact position detecting device uses the image data of the grindstone contour after abrasion created by the image creating device, and the grindstone and the work are It is characterized in that the coordinate data of the contact position corresponding to the grinding state is obtained based on the created angle and stored in the data memory.

In the above-mentioned structure, preferably, the wear correction computing device has the coordinate data of the reference point on the light-cut image relating to the contour of the grindstone having no wear created by the image creating device, and the wear stored in the data memory. Based on the coordinate data of the subsequent contact position, determine the wear correction amount when taking the corresponding grinding posture, and use this wear correction amount during the grinding work in the grinding posture to correct the grinding position error in the grinding posture caused by the wear of the whetstone. Is supplied to the robot controller as correction data for correcting

In the above arrangement, preferably, the contour detection device including the light projector and the image pickup device is arranged near the robot body.

In the above configuration, preferably, a contour detecting device including a light projector and an image pickup device is provided on the wrist of the robot body, and the light projector and the image pickup device are associated with a reference point of the grindstone and a portion passing through the rotation center of the grindstone. The device is characterized in that it is arranged near the robot body. Further, the reflecting device can be rotatably attached to the wrist of the robot body.

In the contact position calculation device, the contour light image of the worn grindstone stored in the image memory is rotationally converted based on the angle formed by the grindstone and the work, and the maximum value or the minimum value is extracted. There is a method of calculating the contact position between the grindstone and the workpiece by calculation and storing this contact position in the data memory. Furthermore, the wear correction calculation device, based on the data of the contact position after the whetstone wear stored in the data memory,
There is a method of obtaining wear correction amounts in the feed direction and the pressing direction of the grindstone at the contact position when taking a predetermined grinding posture.

[0016]

A grinding tool wear correction device for a grinding robot according to the present invention includes a visual sensor (contour detection device) including a slit light projector and a television camera, an image input device, and an image forming device including an image memory. By applying the method of image processing using this image creation device, data of the light section image concerning the contour of the grindstone before and after abrasion is obtained, and based on these data, wear is performed when taking each predetermined grinding posture. The contact position between the subsequent grindstone and the workpiece is calculated, and the TCP on the optical cutting image of the grindstone before wear is used as a reference point to calculate the wear correction amount of the grindstone at the contact position corresponding to each grinding posture, and the grindstone wear The positional deviation of the grinding path caused by the above is corrected.

More specifically, in order to correct the positional deviation of the grinding path due to the wear of the grindstone, first, before the start of the grinding operation, the reference grindstone (which is used when the image forming apparatus teaches the grinding path to the robot body ( A light-section image of the contour of the grindstone before being worn) is created as a reference image and stored in the image memory. Next, when trying to correct the amount of wear of the grindstone, a light-section image of the contour of the same position as the position where the reference image was created for the grindstone in which wear has occurred is created by an image creating device and is separated from the reference image. Separately stored in the image memory.

Further, a contact position detecting device composed of a detecting / calculating device, a data memory and a contact position calculating device is operated, and the reference is stored in the image memory by the detecting / calculating device and described in the coordinate system of the image memory. For the image and the contour light cut image of the grindstone after abrasion, first, the coordinate value of the image position corresponding to TCP is extracted and stored in the data memory,
Next, the coordinate values of the contour of the grindstone are extracted from the contour light cut image after the grindstone is worn and stored in the data memory. After that, the contact position calculation device calculates the contact position of the grindstone based on the coordinate values of the grindstone contour after wear stored in the data memory and the angle formed between the grindstone and the work given by the robot controller, and then the contact position is calculated. Store position data in data memory.

Finally, the wear correction computing device calculates the wear amount of the grindstone in the image memory coordinate system by subtraction based on the TCP coordinate values and the grindstone contact position data stored in the data memory, and the robot controller The wear correction amount at each grinding position is obtained based on the grinding attitude data of the grindstone given to. The robot controller corrects the grinding path of the grindstone according to the calculated wear correction amount.

[0020]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a block diagram showing a typical embodiment of the present invention, FIG. 2 is a view for explaining a situation in which a light cutting image of a grindstone contour is created, and FIG. 3 is a contour light image before and after the grindstone is worn. FIG. 4 is a diagram for explaining the extraction process, FIG. 4 is a diagram for explaining the process of calculating the wear amount at the contact point, and FIG. 5 is a diagram for explaining the process of calculating the wear correction amount. In the present embodiment, an example applied to a grinding robot having 6 degrees of freedom was described, and a disc-shaped grindstone having a uniform thickness was used as a reference for detecting the amount of wear. Also,
The grindstone wear amount and the wear correction amount are all calculated with reference to a point located on the circumference of the tip of the grindstone. This point is an ideal contact point where a grindstone that is not worn during the grinding operation contacts the object to be ground, so-called TCP (Tool
Center Position).

In FIG. 1, reference numeral 1 is a working mechanism main body of a grinding robot, which will be referred to as a robot main body hereinafter. A grinder 3 is attached to a wrist 2 of an arm of the robot body 1, and a grindstone 4 is attached to the grinder 3. Whetstone 4
Grinds the work 5 attached to the workbench 6.

A contour detecting device 10 for detecting the contour shape of the grinding portion of the grindstone is provided on the holding table 7 on the side of the work table 6. The contour detection device 10 includes a slit light projector 8
And a television camera 9, which detects the contour shape of the grindstone by using the ray trace of slit light, and has a function as a visual sensor. Floodlight 8 and TV camera 9
Is surrounded by a partition wall 10a so as to be isolated from a region where a grinding operation is performed, and is arranged in a space whose upper side is open. It is desirable that the projector 8 is arranged so that its projection direction is obliquely upward, and the television camera 9 is arranged so that its shooting direction is straight upward. In the contour detection device 10, the grindstone 4 is the TV camera 9
Is set at a predetermined position above the wheel in a stopped state, the slit light is emitted from the projector 8, and the television camera 9 captures a ray trace (light cut image) of the slit light generated on the wheel 4 so that the wheel is cut. The information on the contour shape of the grinding wheel 4, that is, the information on the wear state of the grindstone 4 is obtained. The video signal obtained by the television camera 9, that is, the signal relating to the wear state of the grindstone 4 is output by the output signal circuit to the image input unit
Entered in.

A semiconductor laser having an oscillation region of 670 nm to 690 nm, for example, is used as a light source of the projector 8 for giving slit light. Further, it is desirable that the light receiving portion of the television camera 9 be provided with an interference filter having a spectral sensitivity characteristic corresponding to the wavelength region. This can eliminate the influence of ambient light. Further, the slit light emitted from the projector 8 is visible light, so that it is easy to teach the slit light irradiation position for detecting the wear amount of the grindstone, a so-called detection position, and it is also useful for the safety of the operator. . When irradiating the slit light upward, it is desirable to attach a protective cover to the contour detection device 10.

The wear state of the grindstone 4 is detected using the light section image, the wear amount is calculated based on the detected information, and all the operations for correcting the wear are for controlling the operation of the robot body 1. It is performed under the control of the controller 17 provided in the. The grinding robot of the present embodiment is of a teaching playback type, and a procedure relating to the original grinding work and the wear correction work during the grinding work is taught in advance. Therefore, also regarding the grindstone wear correction work, before starting the work, first teach the movement path for approaching the contour detection device 10, and then stop for detecting the wear state of the grindstone in the contour detection device 10. Teach the position. FIG. 2 shows an example of a stop position for detecting the wear state of the grindstone in the contour detection device 10. The stop position shown in FIG. 2 is a position where the irradiation position of the slit light by the projector 10 coincides with a straight line passing through the TCP and the rotation center of the grindstone 4.

As a general configuration, the controller 17 of the grinding robot has a built-in arithmetic processing unit and a storage device, and based on an operation command program stored in the storage device, taught position data and posture data, etc. A control command for executing a grinding operation or the like is given to the robot body 1. In the robot body 1, the drive device arranged in each joint is operated based on the control command to bring the grindstone mounted on the grinder 3 into the required position and posture. In this embodiment, only the wear detection work will be described. Based on the control command of the controller 17, the robot body 1 moves the grindstone 4 to the taught contour detection position. The controller 17 operates an image creating device, a contact position detecting device, and a wear correction computing device, which will be described later, to perform wear detection and wear correction. Inside the controller 17, wear detecting work executing means based on an operation program is formed.

The controller 17, as shown in FIG.
When the operation of moving the grindstone 4 to the detection position of the contour detection device 10 is finished, an image pickup command is given to the image input device 11. Further, the image input device 11 causes the television camera 9 to perform a photographing operation, captures image data regarding the ray trace 18 of the slit light formed on the contour portion of the grindstone 4, transfers the image data to the image memory 12, and the image memory 12 stores the image data. It is stored as 12A.

The slit light projector 8, the television camera 9, the image input device 11 and the image memory 12 constitute an image forming device. The image 19 created by this image creating device and stored in the image memory 12 is a light section image. This light section image is described by a two-dimensional coordinate system fixed on the image memory 12.

The controller 17 is based on the above-mentioned wear detecting work executing means, first, before the start of the grinding work.
2 moves the grindstone 4 attached to the to the pre-instructed detection position, and the image forming apparatus cuts the contour light of the new grindstone 4 which is not worn as shown in FIGS. 2 and 3. An image is created and stored in the image memory 12A as the reference light cut image 19 for detecting the amount of wear of the grindstone. Next, the workpiece 5 is ground by the grinder 3 and the grindstone 4, and the above-described wear detection operation is performed again on the grindstone 4 worn by this grinding work, and the obtained grindstone light-cut image 20 after wear is obtained.
Is distinguished from the reference light section image 19 and the image memory 12
Store in B.

The contact position detecting device is composed of a detecting / calculating device 13,
It is composed of a data memory 14 and a contact position calculation device 15. When the contact position detection control command is given from the controller 17, in the contact position detection device, the detection calculation device 13 first takes out the light section image 20 of the grindstone stored in the image memory 12B and extracts it from the light section image 20. Coordinate values corresponding to the image memory coordinate system are extracted and stored in the data memory 14 as the contour data of the grindstone 4. Next, as shown in FIG. 4, the contact position calculation device 15 uses the contour coordinate values of the grindstone after wear stored in the data memory 14 to perform rotation conversion at the grindstone inclination angle θ given from the controller 17, The contact position N1 in the original coordinate system XY is calculated by obtaining the maximum value y'in the Y'axis direction of the rotated coordinate system X'-Y '.

When the workpiece 5 is ground by the grinder 3 and the grindstone 4, the grinding posture of the grindstone 4 is such that the grindstone 4 mounted on the grinder 3 is obliquely installed as shown in FIG. The inclination angle θ of the grindstone 4 in the grinding posture is
Generally, it is related to the material of the work 5, the feed rate of the grindstone 4, the grinding width of the grindstone 4, and the like, and is set in advance before the grinding work. Further, it is common to take different grinding postures depending on the grinding location. When the grindstone 4 is new without wear, the grinding position of the grindstone 4, that is, the contact point between the grindstone 4 and the workpiece 5 is the same regardless of the grinding posture, but the grindstone position of the grindstone 4 after wear differs depending on the inclination angle θ. .

When a plurality of grinding postures are used during the grinding work, a plurality of grinding surfaces are formed on the grinding portion, and as a result, a plurality of corners are formed. Therefore, based on the contact position calculation device 15, it is possible to obtain a plurality of contact positions of the corresponding grindstone based on the contact position calculation device 15 based on the light cutting image 20 of the grindstone extracted by the detection calculation device 13 and stored in the data memory 14. it can.

The wear correction calculation device 16 collects the coordinate data of the contact position of the grinding portion of the grindstone 4 obtained by the contact position calculation device and the reference light cutting image 19 of the grindstone stored in the image memory 12A in advance. It is used to calculate the amount of wear in each grinding posture. As shown in FIG. 5, a certain contact point N on the grindstone 4 corresponds to N1 on the light section image 20 of the grindstone 4 stored in the image memory 12B, and the TCP of the grindstone 4 is stored in the image memory 12A. The end point T of the reference light section image 19
Corresponds to 1. Therefore, the wear amounts dx and dz (defined in FIG. 5) of the grindstone 4 in this case are obtained by subtracting the coordinate values of T1 and N1. The coordinate data of the contact position N1 is a value in the coordinate system XY, and the wear amount d
Since x and dz are values in the coordinate system Hx-Hz, the calculation is performed under a predetermined conversion.

Based on the respective wear amounts dx and dz of the grindstone 4, the wear correction computing device 16 calculates the wear correction amounts δ1 and δ2 of the grindstone as shown in FIG. In the grinding posture of the grindstone 4 shown in FIG. 6, the grindstone 4 is installed at an inclination angle θ with respect to the work 5, and the wear amount at the point N is given by the robot hand coordinate system 21 as dx and dz. In this state, the wear correction amount δ2 in the feed direction of the grindstone 4 and the grindstone 4
The wear correction amount δ1 in the pressing direction of is calculated by the following formula.

[0035]

[Formula 1] δ1 = dx · sin θ + dz · cos θ δ2 = dx · cos θ−dz · sin θ

The controller 17 of the grinding robot performs the grinding operation while correcting the position data regarding the grinding path prepared by the first teaching, based on the calculated grindstone wear correction amount corresponding to each grinding posture. With this, the whetstone 4
Even if abrasion occurs during the grinding work, the grinding path is appropriately corrected in accordance with the grinding posture, so that the grinding work with high accuracy can be realized.

Next, another embodiment will be described with reference to FIGS. 7 and 8.

FIG. 7 shows an embodiment in which the contour detecting device 10 is mounted on the wrist 2 of the robot body 1 as a visual sensor. In this embodiment, a contour detecting unit 25 having a slit light projector 8 and a television camera 9 in a predetermined arrangement is attached to the wrist 2, and a reflection mirror device 24 is provided near the robot main body 1 in a different configuration. The reflection mirror device 24 includes two mirrors 2 each having a different reflection direction.
2 and 23 are provided. The mirror 22 is related to the irradiation direction of the projector 8, and the mirror 23 is related to the shooting direction of the television camera 9. As shown in FIG. 7, when the robot body 1 is operated and the grindstone 4 and the contour detection unit 25 are arranged at predetermined positions with respect to the reflection mirror device 24, the slit light 26 from the light projector 8 is reflected by the mirror 22 to cause the grindstone to move. TC of 4
It is irradiated so as to coincide with the straight line connecting P and the center of rotation, and the television camera 9 captures the ray trace of this slit light by using the reflecting action of the mirror 23, so that the grindstone is the same as in the case of the above-described embodiment. The wear state of No. 4 is detected, the wear amount is obtained, and the wear can be corrected.

In the above-mentioned embodiment, since the structure of the visual sensor is added to the robot main body 1, the constituent parts of the contour detecting device can be simplified and the alignment can be facilitated.

The embodiment shown in FIG. 8 is a further improvement of the embodiment shown in FIG.
Is mounted on the wrist 2 of the robot body 1, and a special configuration other than the robot body 1 is omitted. In the configuration of this embodiment, the mirror support member 27 is rotatably mounted around the mounting shaft 27a by the casing of the contour detection unit 25, and the mirrors 22, 23 are mounted on the mirror support member 27.
Are attached in a predetermined arrangement relationship. Mirror support member 2
Reference numeral 7 is a rotating device (not shown) which is reciprocally rotated by a predetermined angle. Other configurations are the same as those of the embodiment described in FIG. With such a configuration, when the wear detection and the wear correction are performed, the mirror support member 27 is arranged at the lower limit position as shown in FIG. 8, and the reflecting action of the mirrors 22 and 23 is performed as in the case of the embodiment described with reference to FIG. Is used to perform wear detection work, etc. On the other hand, when the work 5 is ground, the mirror support member 27 is rotated and set to the upper position so as not to hinder the grinding work. According to the configuration of the present embodiment, the configuration is further simplified, and since it is not necessary to teach the contour detection device to set it at a predetermined position, the control becomes easy.

[0041]

As is apparent from the above description, according to the present invention, when the grinding work is performed on the object to be ground, the optical cutting is performed when the grindstone is applied to the object to be ground at various angles to perform the grinding. The wear state of the grindstone is directly detected using the contour information before and after wear using the image, the wear amount is accurately calculated according to each tilted posture of the grindstone, and the wear amount is further calculated according to the wear amount. Since the correction amount is accurately calculated, it is possible to automatically correct the grinding position (grinding path) of the grindstone with high accuracy during the grinding operation. Therefore, the finish of the object to be ground becomes good.

Further, an optical image relating to the contour shape of the grindstone grinding portion is created by a visual sensor including a slit light projector and a television camera, and the wear state of each wear portion included in the grinding portion is extracted as numerical data. It is possible to obtain all the information on the wear state in one detection calculation operation. Furthermore, since the wear correction amount in each grinding position of the grindstone can be calculated quickly, the wear correction can be performed quickly, and the work time for grindstone wear correction can be greatly shortened.

A robot body having a wear detecting mechanism on its wrist has a simple structure and does not require any special alignment for wear detection, so that control is easy.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an entire system of a grinding tool wear correction device of a grinding robot according to the present invention.

FIG. 2 is a diagram for explaining a situation in which a light-section image of a grindstone contour is created.

FIG. 3 is a diagram for explaining a process of extracting a light-section image of a contour before and after abrasion of a grindstone.

FIG. 4 is a diagram illustrating a process of obtaining a contact point of a grindstone.

FIG. 5 is a diagram illustrating a process of calculating the amount of wear at a contact point.

FIG. 6 is a diagram illustrating a process of calculating a wear correction amount of a grindstone.

FIG. 7 is a diagram for explaining another embodiment according to the present invention.

FIG. 8 is a diagram for explaining another embodiment according to the present invention.

[Explanation of symbols]

 1 ... Robot body 2 ... Wrist 3 ... Grinder 4 ... Grinding stone 5 ... Work piece 6 ... Work table 7 ... Holding table 8 ... Slit light projector 9 ... TV camera 10 ... Contour detection device 11 ... Image input device 12 ... Image memory 13 ... Detection Calculation device 14 ... Data memory 15 ... Wear amount calculation calculation device 16 ... Wear correction calculation device 17 ... Grinding robot controller

Claims (7)

[Claims] 1. A grinding robot that grinds an object to be ground with a grinding tool attached to a wrist in a state where at least one of the taught grinding postures is taken, in which an image is created to create a light section image of the contour of the grinding tool. Means, contact position detection means for calculating a contact position between the grinding tool and the object to be ground corresponding to a predetermined grinding posture based on image data output by the image creating means, and a reference set in the grinding tool. A grinding tool wear correction device for a grinding robot, comprising: wear correction calculation means for calculating a wear correction amount corresponding to the contact position by comparing with a point. 2. A grinding tool wear correction device for a grinding robot according to claim 1, wherein the image creating means illuminates slit light so as to pass through the reference point and the center of rotation of the grinding tool, and the projector. An image pickup device for picking up an irradiation trajectory of slit light, an image input device for inputting an output of the image pickup device, and an image memory for storing image data given from the image input device as a light section image. Grinding tool wear correction device for grinding robot. 3. The grinding tool wear correction device for a grinding robot according to claim 1, wherein the contact position detection means uses image data of the contour of the grinding tool after wear created by the image creating means. Characterized in that coordinate data of the contact position corresponding to the grinding state is obtained based on an angle formed by the grinding tool and the object to be ground when performing a grinding operation in a predetermined grinding posture, and stored in a storage means. Grinding tool wear correction device for grinding robot. 4. A grinding tool wear correction device for a grinding robot according to claim 3, wherein the wear correction calculation means is provided on the optical cutting image relating to the contour of the grinding tool having no wear created by the image creating means. Based on the coordinate data of the reference point and the coordinate data of the contact position after wear stored in the storage means, the wear correction amount when the corresponding grinding posture is taken is obtained, and this wear correction amount is used for the grinding. A grinding tool wear correction device for a grinding robot, which is supplied to a robot control means as correction data for correcting a grinding position error in the grinding posture caused by wear of the grinding tool during a grinding operation in a posture. 5. The grinding tool wear compensating device for a grinding robot according to claim 2, wherein a contour detecting device including the light projector and the imaging device is arranged near a robot body. Wear correction device. 6. A grinding tool wear correction device for a grinding robot according to claim 2, wherein a contour detection device including the light projector and the image pickup device is provided on the wrist of the robot body, and the light projector and the image pickup device and the grinding device. A grinding tool wear correction device for a grinding robot, characterized in that a reflecting device for associating the reference point of the tool and a portion passing through the center of rotation of the grinding tool is arranged near the robot body. 7. The grinding tool wear correction device for a grinding robot according to claim 6, wherein the reflection device is rotatably attached to the wrist of the robot body.