JPH08141881A - Device and method for deburring - Google Patents

Abstract

PURPOSE: To provide the device and method for deburring, which can automatically perform the accurate deburring work in flexible response to the individual difference. CONSTITUTION: In an accurate position deciding device 10, the objective work W constraining surface F2 is decided on the basis of the measurement data, which is obtained by a three dimensional shape measuring device 7, and the relational data of the surface shape of a representative work, which is previously stored in a teaching and memory device 8, and the work constraining surface. Continuously, position of a cross line of the flat surface part F1a of the surface F1 of the work W and the work W constraining surface F2 is decided as a deburring route B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a deburring apparatus and method for removing burrs generated on the outer periphery of a work such as a machine part when it is formed, and more particularly, to flexibly deal with individual differences of the work. The present invention relates to a deburring device and method capable of deburring.

[0002]

2. Description of the Related Art Since a work for removing burrs generated on the outer periphery of a surface of a machine part or the like when molding the part is often dangerous in a bad environment, automation by a robot is strongly desired. In general, as a deburring apparatus using a robot, a method of teaching the robot the work content and procedure by a teaching playback method is adopted. This method precisely positions the burrs on the surface of each work with respect to the robot, so it requires a precise and expensive jig, and is currently applied only to mass-produced works. Is. Further, in such a method, since the burr portion is not sensed, there is a problem that if there is an individual difference in the work, the finishing accuracy of the deburring is significantly reduced.

Therefore, in order to solve such a problem, a sensor such as a laser range finder is mounted on a robot arm, and the sensor extracts the burrs on the surface of the work to identify the deburring route and specify the burrs. A deburring device for performing deburring has been proposed (Japanese Patent Application No. 5-31659).
issue).

[0004]

The conventional deburring device using the above-mentioned sensor has the following problems. First, if there is no burr on the surface of the work, or if there are individual differences in the work itself, it will be difficult to accurately extract the part where the burr is generated by sensing, and as a result, the burr cannot be removed. There is a problem. Secondly, the sensor data near the burr on the surface of the work contains a lot of large noise due to optical characteristics, so the part where the burr is generated cannot be accurately extracted, the work itself becomes unstable, and uniform product quality is achieved. There is a problem that it cannot be planned.

The main objects to be solved by the present invention are as follows. A first object of the present invention is to provide a deburring device and method for automating the deburring work on the surface of a work, and for relieving humans from bad working conditions.

A second object of the present invention is to provide a deburring device and method which can flexibly cope with individual differences of works and stably and accurately carry out deburring work.

A third object of the present invention is to provide a deburring device and method which do not require highly accurate positioning by using a precise and expensive jig for fixing a work to a workbench. It is a thing.

Other objects of the present invention include the specification, drawings,
In particular, it will be apparent from the description of the claims.

[0009]

[Means for Solving the Problems] To solve the above-mentioned problems,
The present invention can be achieved according to the above object by adopting the novel characteristic construction means and techniques listed below. That is, the first feature of the device of the present invention is a controller, a robot having a deburring tool in the hand, a three-dimensional shape measuring means attached to the hand of the robot to measure the surface shape of the work, and the work surface shape. Position measuring means for measuring the position of a characteristic part of the controller, and the controller teaches the controller the relationship data between the surface shape of the representative work and the constraining surface, and the work surface shape of the teaching means. And a constraint surface, and a global position determining means for determining a rough position of the constraint surface of the target work based on the position data of the characteristic portion of the workpiece by the position measuring means, and the global position determining means. Guide the robot's hand near the position of the constrained surface of the target workpiece determined by the three-dimensional shape measuring means. Means for measuring the surface shape, high-precision positioning means for calculating the position of the target work surface shape with higher accuracy based on the measurement data of the three-dimensional shape measuring means, work surface shape and restraint surface of the teaching means And a means for determining a deburring path based on the positional data of the target work surface shape of the high-precision positioning means, and a deburring device.

A second feature of the apparatus of the present invention is that it comprises a controller, a robot having a deburring tool and a pointer in the hand, and a three-dimensional shape measuring means attached to the hand of the robot for measuring the surface shape of a work. The controller includes teaching means for teaching the controller the relationship data between the surface shape of the representative work and the constraining surface,
A means for manually guiding the robot hand in the vicinity of the constrained surface of the target work with reference to the pointer of the robot hand, and means for measuring the target work surface shape by the three-dimensional shape measuring means, and the three-dimensional shape. High-precision positioning means for calculating the position of the target work surface shape with higher accuracy based on the measurement data of the measuring means, relational data between the work surface shape and the constraining surface of the teaching means, and the target of the high-precision positioning means And a means for determining a deburring path based on the position data of the work surface shape.

The third feature of the device of the present invention is that the high-precision positioning means of the controller in the first or second of the device of the present invention uses the measurement data obtained by the three-dimensional shape measuring means to determine the surface of the target workpiece. Of the work surface shape based on the straight line or the parametric approximation curve obtained by the straight line or the parametric approximation curve obtained by extracting the straight line or the curved line portion of the extracted data and applying the straight line or the parametric approximation curve to the extracted data. In the deburring device, the high-precision positioning means for calculating the position data of the part is replaced with.

A fourth feature of the device of the present invention is that the high-precision positioning means of the controller in the first or second of the device of the present invention uses a plurality of data strings obtained by the three-dimensional shape measuring means. Reconstructing means for reconstructing the shape model of the target work surface by means of the above, and performing a matching calculation between the representative work surface shape stored in the teaching means and the shape model of the target work surface of the reconstructing means, The deburring device includes a high-precision positioning unit that calculates the position of the surface shape with higher accuracy.

A fifth feature of the device of the present invention is that the three-dimensional shape measuring means in the first, second, third or fourth device of the present invention is a deburring device which is a laser range sensor.

A sixth feature of the device of the present invention is that the three-dimensional shape measuring means in the first, second, third, fourth or fifth of the device of the present invention uses the surface shape data of the work as the surface shape data of the work. It is a deburring device that uses position data of corners.

A sixth feature of the device of the present invention is that the position measuring means in the first, third, fourth, fifth or sixth device of the present invention is a deburring device which is a CCD camera.

The first feature of the method of the present invention is, in a deburring method for a deburring apparatus using a robot, the relationship data between the surface shape of a representative work for deburring and the constraining surface of the work is preliminarily calculated by the deburring apparatus. A first step of storing in the teaching / storing device, and a second step of guiding the three-dimensional shape measuring apparatus in the vicinity of the constraining surface of the target work fixed to the workbench,
The third step of calculating the plane portion of the surface of the target work from the measurement data obtained by the three-dimensional shape measuring apparatus, the measurement data obtained by the three-dimensional shape measuring apparatus, and the data stored in advance in the teaching / storing apparatus. A fourth step of determining the position of the constraining surface of the target work based on the relational data between the surface shape of the representative work and the constraining surface of the work, and a flat surface portion of the work surface calculated in the third step. , The fifth step of determining the position of the line of intersection with the restraint surface of the work determined in the fourth step as the deburring path, and guiding the deburring tool along the deburring path determined in the fifth step Then, the sixth step of removing burrs of the target work is sequentially performed, and the deburring method is performed.

The second feature of the method of the present invention is that in a deburring method of a deburring device using a robot, the relational data between the surface shape of a representative work for deburring and the constraining surface of the work is previously stored in the deburring device. A first step of storing in the teaching / storing device, and a second step of guiding the three-dimensional shape measuring apparatus in the vicinity of the constraining surface of the target work fixed to the workbench,
From the measurement data obtained by the three-dimensional shape measuring device, extract a straight line or a curved portion of the target work surface, and apply a straight line or a parametric approximation curve to the extracted data,
A third step of calculating the position data of the straight or curved portion of the target work surface shape, the position data of the straight or curved portion of the target work surface shape calculated in the third step, and previously stored in the teaching / storing device. A fourth step of determining the position of the constraining surface of the target work based on the relationship data between the surface shape of the representative work and the constraining surface of the work, and a straight line of the target work surface shape calculated in the third step, or The fifth step of determining the deburring path by estimating the position of burr occurrence from the position data of the curved portion and the constraining surface of the target work determined in the fourth step, and the burr determined in the fifth step. The deburring method is performed by sequentially stepping through the deburring tool along the deburring route and removing the deburring of the target work. That.

The third feature of the method of the present invention is to teach in advance a deburring method for a deburring apparatus using a robot.
A first step of storing relationship data between a surface shape of a representative work for deburring and a restraining surface of the work in a storage device;
The second step of guiding the three-dimensional shape measuring device to the vicinity of the constrained surface of the target work fixed on the work table, and storing a plurality of measurement data strings obtained by the three-dimensional shape measuring device, and measuring the shape of the target work surface. A third step of reconstructing the model into a three-dimensional shape, and a matching calculation between the representative work surface shape stored in the teaching / storing device and the shape model of the target work surface obtained in the third step. And a fourth step of calculating the position of the surface shape of the target work,
The location of the burr of the target work is estimated based on the position data of the surface shape of the target work obtained in the fourth step and the relational data between the surface shape of the representative work and the constraining surface of the work stored in advance. The fifth to determine the deburring route
The deburring method is performed by sequentially performing the step and the sixth step of guiding the deburring tool along the deburring path determined by the fifth step to remove the burr of the target work.

[0019]

The present invention takes the following actions because it takes the novel means and method as described above. First, it is possible to automate the deburring work on the work surface. Second
In addition, since the deburring route is determined by measuring the surface shape of the work that is easier to sense than the location where the burr is generated, it is possible to flexibly respond to individual differences in the work and to perform stable and accurate deburring work. Can be executed. As a result, the quality of products can be made uniform. Third
Moreover, since the position of the work is measured with high accuracy by the sensing technology on the deburring device side, it is not necessary to position the work on the work table with high accuracy.

More specifically, in the first feature of the apparatus of the present invention, the "restraint surface" means a surface having a high probability of occurrence of burrs on the work (see F2 in FIG. 3), and data is given by the teaching means of the controller. As a method of inputting, there are a method of using CAD, a method of manually inputting a numerical value, and the like. Further, as specific examples of the parametric approximation curve in the third and third features, there can be mentioned curves that can be described by a small number of parameters such as a quadratic curve, a Bethie curve, and a minority spline curve such as a cubic spline curve.

According to the second feature of the present invention, even if the shape of the work surface near the burr is a curved surface such as a cylinder, the deburring device can easily recognize the shape of the work surface. Since the shape model is used, even if the shape of the surface of the work at the location where the burrs occur is complicated, it is possible to easily correct the rough displacement of the measurement data and the individual difference of the work.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in more detail with reference to the accompanying drawings on the basis of its apparatus and method. In addition,
In the following device examples and method examples, vertical joint (link) type multi-joint robots are used, but the present invention is not limited to this, and horizontal joint type robots and other arm type robots are used. You can

(Apparatus Example) FIG. 1 is a schematic view showing a structural example of a deburring apparatus. As shown in FIG. 1, the deburring device A includes a robot 1 having a deburring tool or the like in a hand,
Control device 2 that functions as a controller of the robot 1
And a computer 3 for sending operation signals S1 ′, S1 ″ to the control device 2, a CCD camera 4, and a workbench (not shown) for fixing the target work W.

The robot 1 is composed of a link type articulated robot. In the hand 5 of the robot 1,
A deburring tool 6 and a three-dimensional shape measuring device 7 are attached. The deburring tool 6 is a tool for removing burrs B on the surface of the work W, and specific examples thereof include a cutter, a grinder, and the like.

The three-dimensional shape measuring device 7 is a device for measuring the surface shape of the surface of the work W, and a specific example thereof is a laser range sensor (laser range finder). The laser range sensor is a device that specifically measures the three-dimensional position of the line of intersection between the planar laser light and the work surface. The output data is the shape of the intersecting line expressed as a sequence of points.

The control device 2 receives the operation signals S1 ', S1 "from the computer 3 and controls the position / orientation of the robot 1 and the operation of the deburring tool 6. The computer 3 uses the CCD camera 4 and the three-dimensional image. The output data signals S2, S3 of the shape measuring device 7 are read, predetermined arithmetic processing is performed, and operation signals S1 ', S1 "are sent to the control device 2. From the viewpoint of increasing the work speed of the robot 1, it is desirable to use a workstation having excellent processing capability for image analysis and the like as the computer 3.

The CCD camera 4 functions as an image pickup device for measuring the characteristic position of the surface shape of the work W. In this example of the apparatus, the CCD camera 4 is used as the position measuring means for measuring the position of the characteristic portion of the surface shape of the work W, but the configuration of the present invention is not limited to this.
Other imaging devices may be used.

Next, the processing contents of the computer 3 will be described. FIG. 2 is a block diagram showing the internal structure of the computer in the present apparatus example. As shown in FIG. 2, the computer 3 includes a teaching / storage device 8, a global position determination device 9, a high precision position determination device 10, and a three-dimensional shape storage device 1.
1 and.

The teaching / storing device 8 previously stores, as teaching data, relational data between the surface shape of the work W to be deburred and the surface (constrained surface) having a high occurrence rate of burrs B. The teaching data is determined by paying attention to the property of the burr B generated on the outer peripheral surface of the work W. Here, FIG. 3 shows the structure of the work.

Taking a cast as an example of the work W, a liquid metal is poured into the mold to manufacture the work W, so that a burr B is usually generated on the mating surface of the mold as shown in FIG. A portion on the outer periphery of the surface F1 of the work W where the occurrence rate of the burr B is high can be represented as a restraining surface F2.
Examples of means for inputting teaching data to the teaching / storage device 21 include a method using CAD, a method of manually inputting a numerical value, and the like.

The global position determining device 9 determines a rough position of the restraint surface F2 of the target work W based on the teaching data of the teaching / storage device 8 and the image data of the CCD camera 4 (position data of the work W). To do. For example, as shown in FIG. 5, the work W is photographed by the CCD camera 4 to determine the position (for example, a corner portion) of the characteristic point P on the work surface. Then, the operation signal S1 'corresponding to the position determination
Is sent to the control device 2 to guide the hand 5 of the robot 1 to the vicinity of the rough position of the restraint surface F2 of the target work W.

In this example of the apparatus, in determining the guiding position of the hand 5 in the global position determining apparatus 9, the CCD is used.
Although the image data of the camera 4 is used, as another method example, a pointer may be installed at the tip of the hand 5 and the robot 1 may be manually guided to a rough position of the constraining surface F2 of the target work W. .

In the three-dimensional shape storage device 11, when the hand 5 moves near the rough position of the constraining surface F2 of the work W, the partial data of the work W surface F1 shape obtained by the measurement by the three-dimensional shape measuring device 7 is obtained. Is stored and sent to the high precision position determination device 10.

The high-accuracy position determination device 10 determines the position of the constraining surface F2 of the target work W with higher accuracy based on the teaching data of the teaching / storage device 8 and the data stored in the three-dimensional shape storage device 7. Calculate and determine the deburring route. Then, the signal S1 ″ of the deburring path is sent to the control device 2, and the robot 1 performs the deburring work on the surface W1 of the work W.

(Method Example) Next, a method example of the deburring method of the present invention using the deburring apparatus of the present apparatus example will be described. The surface F of the work W to be deburred is
Three types of methods differ in the method of determining the deburring route depending on the classification of one shape.

(1) Data Utilization Method of Plane Area Near Burr This method example is effective when the plane area near the burr B is sufficiently large. First, the computer 3 calculates the relationship data between the surface shape of the representative work for deburring and the restraining surface of the work.
It is stored in the teaching / storing device 8 (1st step). FIG.
In, for example, a characteristic portion P (for example, a corner portion) of the surface F1 shape of the work W and the constraining surface F of the work W
Use the relationship data with 2.

Next, the three-dimensional shape measuring apparatus 7 is guided to the vicinity of the restraining surface F2 of the target work W fixed to the workbench (second step). As an example of the guiding method, a system similar to the above device example is used, or manually performed, or when the position for deburring work is fixed to some extent,
A method of automatically guiding by a program can be considered.

Subsequently, in the high-accuracy position determining device 10, as shown in FIG. 6, the flat portion F of the target work W surface F1 is calculated from the measurement data obtained by the three-dimensional shape measuring device 7.
1a is calculated (third step). Here, FIG. 6 is a diagram showing a surface of the work W surface F1 for which accurate position calculation is required.

An example of the range data of the three-dimensional shape measuring device 7 is shown in FIG. 4. As shown in FIG. 4, the measurement signal Sa of the flat portion F1a of the work W front surface F1 and the measurement signal of the non-planar portion of the work W front surface F1. It was confirmed that Sb was distinguished from Sb and that the sensor noise was smaller than that of the conventional example.

Next, in the high precision position determining device 10,
Based on the measurement data obtained by the three-dimensional shape measuring device 7 and the relational data between the surface shape of the representative work and the restraining surface F2 of the work W stored in advance in the teaching / storing device 8, the target work W The position of the constraining surface F2 is determined (fourth
Steps).

Subsequently, in the high-accuracy position determination device 10, the work W surface F1 calculated in the third step.
The position of the line of intersection between the flat surface portion F1a and the constraining surface F2 of the work determined in the fourth step is determined as the deburring path (fifth step). Then, the control device 2
The deburring tool 6 is guided along the deburring route determined in the fifth step to execute the deburring work on the target work W (sixth step).

(2) Simple Workpiece Surface Characteristic Data Utilizing Method This method example is effective when the work W surface F1 in the vicinity of the burr B has a curved surface portion such as a cylinder. (1)
Similar to the method example, first, the relationship data between the surface shape of the representative work for deburring and the restraining surface F2 of the work W is stored in the teaching / storing device 8 of the computer 3 (first step). Next, the constraining surface F of the target work W fixed to the workbench
The three-dimensional shape measuring apparatus 7 is guided to the vicinity of 2 (second step).

Then, the three-dimensional shape measuring device 7 is provided by the line shape processing function of the newly provided high precision position determining device 10.
A straight line or a curved portion of the target work W surface F1 is extracted from the measurement data obtained in step S1, and a straight line or parametric approximation curve is applied to the extracted data to obtain the work W surface F1.
Calculate the position data of the straight or curved portion of the shape (3rd
Steps).

Subsequently, in the high-accuracy position determination device 10, the position data of the straight line or curved portion of the work W surface F1 shape calculated in the third step and the representative work stored in advance in the teaching / storing device 8 are stored. The position of the constraining surface F2 of the target work W is determined based on the relationship data between the surface shape and the constraining surface of the workpiece (fourth step).

Next, in the high precision position determining device 10,
From the position data of the straight line or curved portion of the shape of the work W surface F1 calculated in the third step and the constraining surface F2 of the work W determined in the fourth step, the position of occurrence of the burr B is estimated to determine the deburring path. Determine (fifth step). Then, the control device 2 guides the deburring tool 6 along the deburring route determined in the fifth step to execute the deburring work on the target work W (sixth step).

(3) Method for using three-dimensional shape model of work surface First, relation data between the surface shape of a representative work for deburring and the constraining surface of the work is stored in the teaching / storing device 8 of the computer 3 ( First step). Next, the three-dimensional shape measuring apparatus 7 is guided to the vicinity of the restraining surface F2 of the target work W fixed to the workbench (second step).

Subsequently, a plurality of measurement data strings obtained by the three-dimensional shape measuring device 7 are stored in the three-dimensional shape storage device 11, and the high precision position determining device 10 is based on these stored data.
Then, as shown in FIG. 7, the shape model M of the work W front surface F1 is reconstructed into a three-dimensional shape (third step).

Then, a matching calculation is performed between the surface shape of the representative work for removing the burrs B stored in the teaching / storage device 8 and the shape model of the work W surface F1 obtained in the third step to obtain the target work. The position of the surface F1 shape of W is calculated (4th step). As a result, the deburring device A
It is possible to correct the constraining surface F2 'which was recognized as the surface on which the burrs B are generated on the surface W1 of the work W into an accurate constraining surface F2 ".

The matching process is performed on the surface F of the work W.
This is performed by obtaining the rotation / movement conversion that minimizes the total sum of the distances between the respective data of the shape model 1 and the data obtained by approximating the surface of the representative work with a plane patch.

Based on the position data of the surface F1 shape of the target work W obtained in the fourth step and the relational data between the surface shape of the representative work and the restraint surface of the work stored in the teaching / storing device 8, the target is determined. The deburring route is determined by inferring the location of the burr B on the work W (fifth step). Then, the control device 2 guides the deburring tool 6 along the deburring route determined in the fifth step to execute the deburring work on the target work W (sixth step).

[0051]

As described above, according to the apparatus and method of the present invention, it is possible to flexibly cope with individual differences of works and automatically execute accurate deburring work. In particular, there is an effect that it is not necessary to perform positioning with high accuracy when fixing the work to the workbench.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a configuration of an example of a deburring device of the present invention.

FIG. 2 is a block diagram showing an internal structure of a computer in the above.

FIG. 3 is a perspective view showing the structure of a work to be deburred.

FIG. 4 is a graph showing an example of range data of the three-dimensional shape measuring apparatus in the apparatus example of the present invention.

FIG. 5 is an explanatory diagram showing a state in which a work is photographed by the CCD camera of the same.

FIG. 6 is a diagram showing a surface on the surface of a work for which accurate position calculation is required in the method example (1) of the present invention.

FIG. 7 is a view showing a shape model of a work surface used in a method example (2) of the present invention.

[Explanation of symbols]

 1 ... Robot 2 ... Control device 3 ... Computer 4 ... CCD camera 5 ... Hand (robot hand) 6 ... Deburring tool 7 ... Three-dimensional shape measuring device 8 ... Teaching / storing device 9 ... Global position determining device 10 ... High Precision position determining device 11 ... Three-dimensional shape memory device A ... Deburring device B ... Burr F1 ... Surface F1a ... Plane portion F2, F2 ′, F2 ″ ... Restraining surface M ... Shape model P ... Characteristic part (work surface) S1, S1 ', S1 "... Operation signal S2, S3 ... Output data signal Sa, Sb ... Measurement signal W ... Work

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Satoshi Iwaki 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nihon Telegraph and Telephone Corporation (72) Eiji Mitsuya 1-16-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nippon Telegraph and Telephone Corporation (72) Inventor Makoto Mizukawa 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nihon Telegraph and Telephone Corporation (72) Inventor Masashi Okuhira 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nippon Telegraph and Telephone Corporation

Claims (10)

[Claims] 1. A controller, a robot having a deburring tool in a hand, a three-dimensional shape measuring means attached to the hand of the robot for measuring a surface shape of a work, and a position of a characteristic portion of the work surface shape. And a position measuring unit that measures the position of the workpiece, and the controller teaches to the controller the relationship data between the surface shape of the representative work and the restraining surface (the surface with a high burr occurrence rate), and the work of the teaching unit. Global position determining means for determining a rough position of the constraining surface of the target work based on the relational data between the surface shape and the constraining surface and the position data of the characteristic points of the work by the position measuring means, and the global position determining means. The hand of the robot is guided near the position of the constraining surface of the target work determined by the means, and the three-dimensional shape measuring means guides the work of the constraining surface. Means for measuring the surface shape of the workpiece, high-precision positioning means for calculating the position of the target work surface shape with higher accuracy based on the measurement data of the three-dimensional shape measuring means, and the work surface shape of the teaching means. A deburring device that determines a deburring path based on relational data with the constraining surface and position data of the target work surface shape of the high-precision positioning means. 2. A controller, a robot having a deburring tool and a pointer on a hand, and a three-dimensional shape measuring unit attached to the hand of the robot for measuring the surface shape of a work, wherein the controller is a representative work. With teaching means for teaching the controller the relationship data between the surface shape and the constraining surface, and the robot hand pointer as a reference, the robot hand is manually guided in the vicinity of the constraining surface of the target work, and the tertiary A means for measuring the work surface shape by the original shape measuring means, a high-precision positioning means for calculating the position of the target work surface shape with higher accuracy based on the measurement data of the three-dimensional shape measuring means, and the teaching means. Relational data between the workpiece surface shape and the restraint surface, and the position data of the target workpiece surface shape of the high-precision positioning means. Deburring apparatus characterized by having a means for determining the deburring route based. 3. The high-precision positioning means of the controller extracts a straight line or a curved portion of the surface of the target work from the measurement data obtained by the three-dimensional shape measuring means, and a straight line or a parametric approximation curve is added to the extracted data. The line shape processing means to be fitted and the high-precision positioning means for calculating the position data of the straight line or curved portion of the target work surface shape based on the straight line or parametric approximation curve obtained from the line shape processing means are replaced. The deburring device according to claim 1 or 2, which is characterized. 4. The high-precision positioning means of the controller is a reconstructing means for reconstructing a shape model of a target work surface by using a plurality of data strings obtained by the three-dimensional shape measuring means, and the teaching means. A matching calculation is performed between the representative work surface shape stored in and the shape model of the target work surface of the reconstructing means, and the position of the target work surface shape is calculated with higher accuracy by high-precision positioning means. It replaces, The deburring device of Claim 1 or 2 characterized by the above-mentioned. 5. The deburring device according to claim 1, 2, 3 or 4, wherein the three-dimensional shape measuring means is a laser range sensor. 6. The three-dimensional shape measuring means uses position data of a corner portion of the work as surface shape data of the work, according to claim 1, 2, 3, 4 or 5. Deburring device. 7. The deburring device according to claim 1, 3, 4, 5 or 6, wherein the position measuring means is a CCD camera. 8. A deburring method for a deburring apparatus using a robot, wherein relational data between a surface shape of a representative work for deburring and a restraining surface of the work is stored in advance in a teaching / storing device of the deburring apparatus. One step, the second step of guiding the three-dimensional shape measuring device to the vicinity of the constrained surface of the target work fixed on the work table, and the flat part of the target work surface from the measurement data obtained by the three-dimensional shape measuring device. Based on the measurement data obtained by the three-dimensional shape measuring device and the relational data between the surface shape of the representative work and the constraining surface of the work stored in advance in the teaching / storing device. A fourth step of determining the position of the constraining surface of the target work by means of the above, a plane portion of the work surface calculated in the third step, and the fourth step. A fifth step of determining the position of the line of intersection with the restraint surface of the workpiece as the deburring path, and removing the burr of the target workpiece by guiding the deburring tool along the deburring path determined in the fifth step. The deburring method is characterized in that it is carried out by sequentially performing the sixth step and 9. A deburring method for a deburring device using a robot, wherein the relational data between the surface shape of a representative work for deburring and the restraining surface of the work is stored in advance in a teaching / storing device of the deburring device. One step, a second step of guiding the three-dimensional shape measuring device to the vicinity of the constrained surface of the target work fixed on the work table, and a straight line of the target work surface from the measurement data obtained by the three-dimensional shape measuring device. Extract the curve part, apply a straight line or parametric approximation curve to the extracted data,
The third step of calculating the position data of the straight or curved portion of the work surface shape, the position data of the straight or curved portion of the work surface shape calculated in the third step, and stored in advance in the teaching / storage device. A fourth step of determining the position of the constraining surface of the target work based on the relational data between the surface shape of the representative work and the constraining surface of the work, and a straight line or curved portion of the work surface shape calculated in the third step. The deburring route determined by the fifth step and the deburring route by estimating the position of the burr occurrence from the position data of No. 4 and the work restraint surface determined by the fourth step. A deburring tool characterized in that the deburring tool is guided along the sixth step to remove the deburring of the target work, and the steps are sequentially performed. Law. 10. A deburring method for a deburring apparatus using a robot, comprising a first step of previously storing relationship data between a surface shape of a representative workpiece for deburring and a restraining surface of the workpiece in a teaching / storing device. The second step of guiding the three-dimensional shape measuring device to the vicinity of the constrained surface of the target work fixed to the workbench, and storing a plurality of measurement data strings obtained by the three-dimensional shape measuring device, and the shape of the target work surface A third step of reconstructing the model into a three-dimensional shape, and a matching calculation between the work surface shape stored in the teaching / storing device and the shape model of the target work surface obtained in the third step. And a fourth step of calculating the position of the surface shape of the target work, the position data of the surface shape of the target work obtained in the fourth step, and the representative work stored in advance. Fifth guessing burr occurrence location of a target workpiece to determine the deburring route based on the relationship data between the surface shape and the restraining surface of the workpiece
Deburring, characterized by sequentially performing the step, and a sixth step of guiding the deburring tool along the deburring path determined by the fifth step to remove the burr of the target work. Method.