JP5568167B1 - Deburring device and deburring method - Google Patents

Abstract

The present invention efficiently executes deburring with high accuracy.
A deburring device (100), a set value input unit (105) for inputting set values in a plurality of stages, at least as a height from a reference plane of a grinder (102) and a distance from a reference point of a turning table (104), A height direction moving mechanism 120 that adjusts the height of the grinder, a horizontal direction moving mechanism 132 that adjusts the distance from the reference point of the turning table, a turning table drive unit 126 that rotates the turning table, and at least the height direction Based on the measurement results of the moving amount measuring unit, the horizontal moving amount measuring unit, and the rotation measuring unit and the input data from the set value input unit, the grinder, the height direction moving mechanism, the horizontal direction moving mechanism, and the turning table driving unit A control unit 150 for controlling the operation of the control unit, wherein the control unit has a plurality of set values for the height of the grinder and the distance of the turning table. Made as to drive the height direction moving mechanism and horizontal movement mechanism.
[Selection] Figure 1

Description

  The present invention relates to a deburring apparatus and a deburring method for removing burrs generated at an end of a surface of a workpiece formed by casting.

  Cast burrs that protrude from the surface end of the workpiece cast by a die-casting machine, etc. are generated, so the burrs are ground and removed by a grinding device such as a rotating grindstone during the manufacturing process of the cast product. Deburring to finish the workpiece is indispensable. For this reason, various deburring devices for grinding burrs efficiently and accurately have been developed.

  Patent Document 1 discloses a deburring and grinding apparatus capable of performing chamfering of a workpiece having a curved shape on the outer periphery or inner periphery of the upper surface with high accuracy. The deburring grinding apparatus includes a grindstone unit that chamfers the outer peripheral edge to the inner peripheral edge of a work held by a rotating table that rotates at a low speed, a pressurization control unit of a low friction type cylinder that applies pressure to the work, And a moving member that moves the grindstone unit and the pressurization control unit forward and backward.

Japanese Patent Laid-Open No. 06-000756

  The burrs generated in the workpiece formed by casting are not uniform in size or shape. In order to make a cast product into a desired mold, it is necessary to vary the contact pressure and pressing load applied to the workpiece from a grinding device (grinder), and accordingly, a power transmission mechanism that rotationally drives a swivel table that supports the workpiece. The rotational load on the fluctuates as well.

  For this reason, in order to accurately grind the irregular burrs, it is necessary to appropriately adjust the position of the grinder and the turning table to ensure a suitable contact pressure and grinding position of the grinder to the workpiece. In particular, when the workpiece is a substantially cylindrical casting, burrs are often generated at the end of the outer peripheral surface of the workpiece. Therefore, in order to perform deburring efficiently and accurately, grinding of the grinder It is desirable that the height adjustment of the position and the position adjustment of the swivel table that supports the workpiece are appropriately performed. Patent Document 1 refers to a deburring and grinding apparatus that can accurately grind burrs generated on the outer periphery and inner periphery of the upper surface of the workpiece by adjusting the position of the grinder, but also includes adjusting the position of the swivel table. There is no mention of efficient deburring.

  The present invention has been made in view of the above problems, and a new and improved deburring apparatus and deburring device capable of efficiently and accurately deburring by appropriately adjusting the positions of the grinder and the turning table. The purpose is to provide a collection method.

One aspect of the present invention is a deburring device including a grinder that grinds burrs of a cast workpiece and a turning table that supports the workpiece, and at least a height from a reference surface of the grinder and the turning table. As a distance from the reference point, a set value input unit for inputting set values in a plurality of stages, a height direction moving mechanism for adjusting the height of the grinder from the reference plane, and a height direction of the grinder A height direction moving amount measuring unit for measuring a moving amount, a horizontal direction moving mechanism for adjusting a distance from the reference point of the turning table, and a horizontal direction moving amount measurement for measuring a moving amount in the horizontal direction of the turning table. A rotation table that rotates the rotation table, a rotation measurement unit that measures a rotation position of the rotation table from a rotation reference position, and at least Based on the measurement results of the height direction movement amount measurement unit, the horizontal direction movement amount measurement unit, and the rotation measurement unit and the input data from the set value input unit, the grinder, the height direction movement mechanism, A horizontal movement mechanism, and a control unit that controls the operation of the turning table drive unit, wherein the control unit is configured such that the height of the grinder and the distance of the turning table are the set values of the plurality of steps, respectively. so as to, while driving the height-direction movement mechanism the horizontal movement mechanism, characterized that you perform deburring in the grinder.

  According to one aspect of the present invention, deburring is performed while appropriately adjusting the positions of the grinder and the turning table by inputting a desired set value in advance, so that efficient and deburring is performed efficiently. it can.

  At this time, in one aspect of the present invention, the set values of the height and the distance input by the set value input unit are respectively set in a plurality of stages in a grinding region where the workpiece is ground by the grinder. The control unit drives the horizontal movement mechanism to move the turning table toward the grinder so that the set value of the distance is changed from a small value to a large value, and the set value of the height The height direction moving mechanism may be driven so that the grinder moves toward the workpiece so that the value becomes a small value from a large value.

  In this way, after inputting the setting values in multiple steps regarding the height of the grinder and the distance between the swivel table in the area to be the grinding area in advance, each is driven while adjusting the position of the grinder and swivel table as appropriate. Therefore, efficient and accurate deburring can be performed.

  In one aspect of the present invention, the horizontal movement mechanism is configured to move the swivel table between a non-grinding area on a reference point side and a grinding area through a predetermined distance from the grinding area. The horizontal movement mechanism is configured to move the swivel table from the grinding area to the non-grinding area when the workpiece is completely ground at the plurality of setting values. May be driven.

  In this way, after all deburring of the workpiece is completed, the swivel table is automatically moved from the grinding area to the non-grinding area. Easy installation of workpieces to be deburred.

  In one embodiment of the present invention, the workpiece may be a substantially cylindrical casting.

  In this way, in particular, deburring of a substantially cylindrical cast product can be performed with high accuracy.

  According to another aspect of the present invention, there is provided a deburring method for grinding a burr of a work supported on a swivel table by a grinder, wherein at least a height from a reference surface of the grinder and a reference point of the swivel table are used. A data input step for inputting set values in a plurality of stages, a workpiece setting step for setting the workpiece on the turning table, a grinding operation starting step for starting driving of the grinder and the turning table, and the turning A horizontal movement step of adjusting the distance from the reference point of the table in stages so as to be the set values of the plurality of steps, and grinding the workpiece at the set values of the plurality of steps in the horizontal movement step After the horizontal grinding completion judgment step for judging whether or not the grinding has been completed and the horizontal grinding completion judgment step, the reference surface of the grinder In the height direction moving step for adjusting the height stepwise so as to be the set values in the plurality of steps, and in the height direction moving step, the workpiece grinding at the set values in the plurality of steps is completed. And a height direction grinding completion determination step for determining whether or not it has been performed.

  According to another aspect of the present invention, since the grinder and the turning table are driven after a desired set value is input in advance, deburring can be executed while adjusting the grinder and the turning table to a suitable position as appropriate. Therefore, the deburring work efficiency and the deburring work accuracy are improved.

  At this time, in another aspect of the present invention, in the set value input step, in the grinding region where the workpiece is ground by the grinder, the set values of the height and the distance are set in a plurality of stages, In the horizontal direction moving step, the turning table is moved toward the grinder so that the set value of the distance is changed from a small value to a large value, and in the height direction moving step, the set value of the height is a large value. It is good also as moving the said grinder toward the said workpiece | work so that it may become a small value.

  In this way, after inputting the setting values in multiple steps regarding the height of the grinder and the distance between the swivel table in the area to be the grinding area in advance, each is driven while adjusting the position of the grinder and swivel table as appropriate. Therefore, efficient and accurate deburring can be performed.

  In another aspect of the present invention, after confirming that the grinding of the workpiece has been completed in all the set values of the plurality of stages in the height direction grinding completion determination step, the workpiece installation step is performed from the grinding region. A reset step of moving the turning table to an initial position to be performed may be further included.

  In this way, when all the work deburring work is completed, the swivel table is automatically moved from the grinding area to the non-grinding area, so that the work removal and the next deburring after the deburring work are completed. Installation of the target work becomes easy and work efficiency improves.

  As described above, according to the present invention, the grinder and the turning table can be moved to desired positions after setting values are inputted in advance, so that the workpiece can be polished and deburred efficiently and accurately.

It is a schematic block diagram of the deburring apparatus which concerns on one Embodiment of this invention. It is a schematic block diagram of the turning table with which the deburring apparatus which concerns on one Embodiment of this invention is equipped. It is AA sectional drawing of FIG. It is an example of the schematic diagram of the setting value input part with which the deburring apparatus which concerns on one Embodiment of this invention is equipped. (A) is an example of the burr | flash formed in the workpiece | work ground with the deburring apparatus which concerns on one Embodiment of this invention, (b) is the top view which looked at (a) from the B direction. It is a block diagram which shows the function structural example of the deburring apparatus which concerns on one Embodiment of this invention. It is a flowchart which shows the operation example of the deburring method which concerns on one Embodiment of this invention. (A)-(d) is operation | movement explanatory drawing of the position adjustment of the turning table in the deburring method which concerns on one Embodiment of this invention. It is a flowchart which shows the operation example of the position adjustment of the turning table in the deburring method which concerns on one Embodiment of this invention. (A)-(d) is operation | movement explanatory drawing of the height adjustment of the grinder in the deburring method which concerns on one Embodiment of this invention. It is a flowchart which shows the operation example of the height adjustment of the grinder in the deburring method which concerns on one Embodiment of this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail. The present embodiment described below does not unduly limit the contents of the present invention described in the claims, and all the configurations described in the present embodiment are essential as means for solving the present invention. Not necessarily.

  First, a configuration of a deburring device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of a deburring device according to an embodiment of the present invention, and FIG. 2 is a schematic configuration diagram of a swivel table provided in the deburring device according to an embodiment of the present invention. FIG. 4 is an AA cross-sectional view of FIG. 2, and FIG. 4 is an example of a schematic diagram of a set value input unit provided in a deburring device according to an embodiment of the present invention.

  A deburring apparatus according to an embodiment of the present invention is an apparatus that removes burrs generated on a workpiece formed by casting while grinding. As shown in FIG. 1, the deburring apparatus 100 according to the present embodiment includes a grinder 102 that grinds burrs of a cast substantially cylindrical workpiece W, a swivel table 104 that supports the workpiece W, and various set values. And a set value input unit 105 for inputting. Then, based on the set value input from the setting input unit 105, the burr on the outer peripheral surface of the workpiece W is ground by an automation function while appropriately moving the grinder 102 and the turning table 104.

  The grinder 102 is a substantially disc-shaped rotating grindstone, and its rotating shaft 102a is rotationally driven by a motor 108 serving as a grinder driving unit via a power transmission unit 106 to grind burrs of the workpiece W. In the present embodiment, the grinder 102 is covered with a casing 110 in a portion other than the grinding region where the deburring of the workpiece W is performed, and the burr removed by grinding from the workpiece W is collected below the grinder 102. A discharge port 112 is provided for discharge. The burr collected from the discharge port 112 is discharged out of the system through the discharge pipe 114. The details of the “grinding region” will be described later.

  In the present embodiment, the grinder 102 is configured to be movable in the vertical direction (height direction). Specifically, the casing 110 of the grinder 102 is connected to the casing 118 that houses the driving force transmission unit 106 and the motor 108 via the connecting member 116, and the connecting member 116 is connected to a moving mechanism such as a cylinder (not shown). The vertical movement along the guide rail 120 is possible.

  That is, the grinder 102 is a height adjusting mechanism in which the moving mechanism (not shown) and the guide rail 120 adjust the height from the reference plane, and can be moved in the height direction via the connecting member 116 and the casing 118. ing. In the present embodiment, the grinder 102 can be moved in three stages at least in the grinding region by the height adjusting mechanism. Details of the height adjustment control operation of the grinder 102 will be described later.

  Further, in the present embodiment, a height direction movement amount measuring unit 122 that measures the movement amount of the grinder 102 in the height direction is provided. Specifically, as shown in FIG. 1, the height direction moving amount measuring unit 122 is installed on the upper end side of the guide rail 120, and one end of a wire 122 a that can extend in the vertical direction is attached to the connection member 116. ing. The height direction moving amount measuring unit 122 measures the moving amount in the height direction of the grinder 102 based on the extending amount and the winding amount of the wire 122a. It should be noted that the height direction moving amount measuring unit 122 may be replaced with a measuring unit of another aspect as long as it can measure the moving amount of the grinder 102 in the height direction.

  The turning table 104 is rotationally driven during the deburring operation of the workpiece W while supporting the workpiece W placed via the fixing jig 124 that fixes the workpiece W. In the present embodiment, as shown in FIG. 1, the turning table 104 is configured so that the rotation of the motor 126 serving as a turning table driving unit provided in the vicinity of the outer side is rotated via the substantially disk-shaped driving force transmitting unit 128. Is driven to rotate. That is, the motor 126 and the driving force transmission unit 128 serve as a power transmission mechanism 129 that drives the rotation table 104 to rotate. In the present embodiment, the peripheral portion 128 a of the driving force transmission unit 128 contacts the outer peripheral surface 104 a of the turning table 104, so that the frictional force generated between the peripheral portion 128 a and the turning table 104 is used. It is configured to be able to transmit the rotational driving force of the motor 126 serving as a driving source.

  Specifically, the peripheral edge portion 128a of the driving force transmitting portion 128 is formed of a non-slip material having a friction coefficient greater than a predetermined size, such as a synthetic rubber such as NR natural solid rubber or butadiene rubber, or a synthetic resin. As described above, the driving force transmission unit 128 is configured to transmit the rotational driving force of the motor 126 with the frictional force. Therefore, when the grinder 102 performs normal deburring, it is within a predetermined range. A certain rotational torque is ensured and the rotational driving force of the motor 126 is transmitted. On the other hand, when the grinder 102 is performing grinding of a portion where the burr B of the workpiece W is large, the peripheral edge portion 128a slips from the outer peripheral surface 104a of the turning table 104, and the rotation driving of the turning table 104 is stopped. That is, the peripheral part 128a of the driving force transmission part 128 also has a function as a torque limiter.

  Further, in the present embodiment, as shown in FIG. 1, the turning table 104 is movable so that it can move in the horizontal direction along the slide rail 133 toward the grinder 102 by a screw jack 132 that is rotationally driven by a motor 130. It is provided on the pedestal 134. In other words, the swivel table 104 moves in the horizontal direction toward the grinder 102 when the movable base 134 straddling the slide rail 133 slides on the slide rail 133 by the rotational drive of the screw jack 132. It is possible.

  That is, in this embodiment, the screw jack 132 is a horizontal movement mechanism that adjusts the distance from the reference point of the turning table 104. In the present embodiment, the turning table 104 can be moved in three stages in the grinding region of the workpiece W by a screw jack 132 serving as the horizontal adjustment mechanism. The horizontal movement mechanism of the swivel table 104 is not limited to the screw jack 132 as long as it is a device that can move the swivel table 104 in the direction of the grinder 102, and other types of movement means can be substituted.

  Further, in the present embodiment, the screw jack 132 pivots between a grinding region where the workpiece W is deburred by the grinder 102 and a non-grinding region on the reference point side through a predetermined distance from the grinding region. The table 104 is moved. That is, when performing deburring of the workpiece W, the screw jack 132 pushes the turning table 104 into the grinding region, and when the deburring of the workpiece W is completed, the turning of the workpiece W having the turning table 104 in the non-grinding region. The position is returned to the initial position for attaching / detaching to / from the table 104.

  In the present embodiment, a drive stop unit 135 that stops the drive of the motor 130 that is the drive source of the screw jack 132 when the turning table 104 is returned to the initial position is provided. As shown in FIG. 1, the drive stop unit 135 includes a connection member 135a, a latching unit 135b, and a drive stop switch 135c. The connecting member 135a is attached so as to extend from one end of the movable pedestal 134, and is provided substantially parallel to the screw jack 132. The latching portion 135b is a substantially plate-like member attached to the distal end side of the connection member 135a. The drive stop switch 135c is a switch for stopping the driving of the motor 130 by contacting the hooking portion 135b when the turning table 104 returns to the initial position.

  Further, in the present embodiment, in the turntable 104, the base member 137 is movable along the rail 139 in a direction substantially perpendicular to the pushing direction by the screw jack 132. The base member 137 includes a first base member 137a on which the movable pedestal 134 and the slide rail 133 are placed, and a second base member 137b that is provided below the first base member 137a. As shown in FIG. The member 137b is configured to be movable on the rail 139. By providing the turning table 104 on the base member 137, the workpiece W supported on the turning table 104 with respect to the grinder 102 while moving the turning table 104 in a direction substantially perpendicular to the pushing direction of the turning table 104. Can be adjusted.

  In the present embodiment, a horizontal movement amount measuring unit 136 that measures the movement amount of the turning table 104 in the horizontal direction is provided. Specifically, as shown in FIG. 1, the horizontal direction moving amount measuring unit 136 is installed in the vicinity of the motor 130, and one end of a wire 136 a that can extend in the horizontal direction is attached to the base member 134. Then, the horizontal movement amount measuring unit 136 measures the horizontal movement amount of the turning table 104 based on the extension amount and winding amount of the wire 136a. It should be noted that the horizontal direction moving amount measuring unit 136 can be replaced by a measuring unit of another aspect as long as it can measure the amount of horizontal movement of the turntable 104.

  Further, as shown in FIG. 2, the turning table 104 is provided with a fixing jig 124 for fixing the work W on the turning table 104 so as to be concentric with the turning table 104. In the present embodiment, the fixing jig 124 has three substantially L-shaped support members 124a extending radially from the central hole portion 124b1 of the fixing jig base member 124b, and a workpiece W on the upper surface side of the support member 124a. The latching part 124a1 latched on the inner peripheral surface is provided. Then, a fixing jig adjusting tool (not shown) is inserted into the fixing jig adjusting hole 125 provided on the side surface side of the fixing jig base member 124b, and the supporting member 124a is moved in the center hole portion 124b1 while being latched. The workpiece W is fixed by adjusting the portion 124a1 so as to be hooked to the inner peripheral surface on the lower end side of the workpiece W.

  In this embodiment, in order to measure the rotation angle of the turntable 104, a rotation measurement unit 138 that measures the rotation position from the rotation reference position of the turntable 104 is provided at the end of the movable base 134. . In the present embodiment, as the rotation measuring unit 138, an optical sensor that detects reflected light with respect to irradiation light to the detection target 140 provided between the turning table 104 and the movable base 134 is used. As shown in FIG. 3, the detected body 140 is provided with a plurality of detected elements 140a radially around the core member 140b at equal intervals.

  Thus, by providing the rotation measuring unit 138 and the detected object 140, the rotation measuring unit 138 detects the detected element 140a with the reflected light while irradiating the irradiation light, and the detected element 140a is detected. The rotation angle of the turntable 104 is obtained based on the number. Note that the rotation measuring unit 138 can be replaced with a measuring unit of another aspect as long as it can detect the rotation angle of the turning table 104.

  The set value input unit 105 sets the set value of the dimension of the workpiece W to be deburred, the height from the reference surface of the grinder 102, and the distance from the reference point of the turning table 104 to the height setting value and the distance setting, respectively. This is a data input unit for inputting values. In the present embodiment, the height setting value is determined based on the distance from the installation position of the height direction moving amount measuring unit 122 for the sake of convenience of the height of the grinder 102 from the ground with the ground as a reference plane. The distance setting value is determined based on the distance from the installation position of the horizontal movement amount measuring unit 136 for convenience of the distance from the reference point of the turntable 104 with the position of the drive stop switch 135c as a reference point. As shown in FIG. 4, the set value input unit 105 includes a plurality of operation buttons 105a for inputting data such as set values and automatic / manual control switching of the deburring device 100, input data, A display screen 105b for displaying a simulation result or the like based on input data.

  In this embodiment, as the height from the reference surface of the grinder 102 and the distance from the reference point of the swivel table 104, three set values are input in the grinding region where the grinding of the workpiece W by the grinder 102 is performed. It is characterized by. Specifically, when the height setting value of the grinder 102 is set in three stages, the height position of the upper surface W1 of the workpiece W that becomes the die-matching surface at the time of casting production is set to the first height setting value (first height value). The lowest point of the burr B formed on the workpiece W is set as the final height setting value (third height setting value), and the intermediate point thereof is set as the second height setting value.

  On the other hand, when setting the distance setting value of the turning table 104 in three stages, the position where the deburring start of the workpiece W is first deburring 5 to 8 mm is the first distance setting value (first distance setting value). ), The position reaching the outer peripheral surface 104a of the workpiece W is set as the final distance setting value (third distance setting value), and the intermediate point thereof is set as the second distance setting value. That is, each distance setting value is set to be 2.5 to 4.0 mm. In addition, a switch (not shown) for starting the operation of the deburring device 100 is provided in the vicinity of the set value input unit 105. Note that the switch may be directly provided in the set value input unit 105.

  That is, in the present embodiment, the workpiece W to be deburred is a substantially cylindrical cast product, and the burrs B are unevenly distributed at the end W1 of the workpiece W as shown in FIG. . Further, as shown in FIG. 5 (b), the size and shape of the burr B is not so large that the burr B has a burr B1 having a large length from the outer peripheral surface of the workpiece W and a part B2 having almost no burr. It is a regular irregular shape. Therefore, in the present embodiment, the height of the grinder 102 during the deburring operation is used to efficiently and accurately grind and remove the irregular burrs B formed on the substantially cylindrical workpiece W by the automation function. (Height setting value) and the position (distance setting value) of the turning table 104 are set in three stages in the grinding region of the workpiece W, respectively. The details of the deburring operation will be described later.

  Next, a functional configuration related to the control of the deburring device according to the embodiment of the present invention will be described with reference to the drawings. FIG. 6 is a block diagram illustrating a functional configuration example of the deburring device according to the embodiment of the present invention.

  In the deburring device 100 of this embodiment, the operation of each component such as the grinder 102 and the turning table 104 is controlled by the control unit 150. That is, in the deburring apparatus 100 according to the present embodiment, data necessary for deburring is input in advance from the setting value input unit 105, and then the control unit 150 executes the control program stored in the storage unit 160. , It has an automation function to efficiently grind and remove burrs formed on the workpiece W. In the present embodiment, the setting value input unit 105 inputs data such as a height setting value of the grinder 102, a distance setting value from the reference point of the turning table 104, and workpiece dimension data as data necessary for deburring. .

  The control unit 150 includes a CPU and the like, and is based on at least the measurement results of the height direction movement amount measurement unit 122, the horizontal direction movement amount measurement unit 136, and the rotation angle measurement unit 138 and the input data from the set value input unit 105. Then, the operation of the grinder 102 and the turning table 104 is controlled. Specifically, the control unit 150 controls the grinder 102 and the turning table 104 while controlling the height direction moving mechanism 120, the horizontal direction moving mechanism 132, and the turning table driving unit 126 based on the measurement result and the input data. Control the operation.

  In the present embodiment, the control unit 150 includes a height direction moving mechanism so that the height of the grinder 102 and the distance from the reference point of the turning table 104 are the three set values input from the set value input unit 105, respectively. 120 and the horizontal movement mechanism 132 are driven. As described above, the control unit 150 drives the height direction moving mechanism 120 and the horizontal direction moving mechanism 132 to adjust the positions of the grinder 102 and the turning table 104 in the grinding region of the workpiece W. It has an automation function that enables automatic deburring.

  As shown in FIG. 6, the control unit 150 includes a grinder vertical movement amount calculation unit 152, a workpiece feed amount calculation unit 154, a rotation angle calculation unit 156, a determination unit 158, and an operation command unit 159. The grinder vertical movement amount calculation unit 152 calculates the height of the grinder 102 from the reference plane based on the measurement result of the height direction movement amount measurement unit 122. The workpiece feed amount calculation unit 154 is based on the measurement result of the horizontal direction movement amount measurement unit 136, and is a workpiece feed amount that is a distance from the reference point of the turning table 104, that is, a distance for feeding the workpiece W toward the grinder 102. Is calculated. The rotation angle calculation unit 156 calculates the rotation angle of the turning table 104 based on the measurement result of the rotation angle measurement unit 138.

  The determination unit 158 performs various determination processes when the deburring operation is controlled by the deburring apparatus 100. The determination unit 158 determines whether or not the drive operation of the grinder 102 or the turning table 104 is necessary based on the calculation results of the calculation units 152, 154, and 156. In this embodiment, it is determined whether the grinder 102 has reached a predetermined height setting value from the calculation results of the grinder vertical movement amount calculation unit 152 and the workpiece feed amount calculation unit 154, or the turning table 104 is predetermined. It is determined whether or not the distance setting value is reached.

  In the present embodiment, the determination unit 160 also determines whether or not deburring has been completed for the height setting value of the grinder 102 and the distance setting value of the turning table 104. Specifically, when the rotation angle calculated by the rotation angle calculation unit 156 is 360 degrees, that is, when the turning table 104 rotates once, the determination unit 160 determines that the deburring at each set value is completed. Depending on the workpiece W, a step or seam may remain on the outer peripheral surface of the workpiece W after deburring. Therefore, it is determined that the deburring is completed after the rotation angle is over-rotated by about 380 degrees and 20 degrees. It is also possible to set.

  The operation command unit 159 has a function of commanding the grinder driving unit 108, the height direction moving mechanism 120, the turning table driving unit 126, and the horizontal direction moving mechanism 132 to be driven based on the determination result of the determination unit 158. That is, if the determination unit 158 determines that the grinder 102 and the turning table 104 have not reached the set value, the operation command unit 159 increases the height until the grinder 102 and the turning table 104 reach a predetermined setting value. Commands the direction moving mechanism 120 and the horizontal direction moving mechanism 132 to continue driving. By controlling the operation in this way, the grinder 102 and the turning table 104 are moved to the predetermined set value.

  If the determination unit 158 determines that the rotation angle calculated by the rotation angle calculation unit 156 is less than 360 degrees, the operation command unit 159 drives the turning table drive unit 126 until one rotation of the turning table 104 is completed. To continue. And the rotation drive of the turning table 104 is continued and the deburring of the workpiece | work W by the grinder 102 is continued.

  Further, when the operation command unit 159 confirms that the grinding and deburring of the workpiece W have been completed in all the set values in the height direction and the horizontal direction, the turning table 104 is changed from the grinding region to the non-grinding region of the workpiece W. Command to move to the initial position. At that time, when the drive stop switch 135c (see FIG. 1) of the drive stop unit 135 is turned on, the operation command unit 159 instructs the horizontal direction movement mechanism to stop driving.

  The storage unit 160 stores various data necessary for executing the deburring operation of the deburring apparatus 100. In the present embodiment, the storage unit 160 stores various data and control programs for operating the deburring device 100 in a computer-readable manner, and temporarily stores data during each operation process by the deburring device 100. A RAM 160b used as a work area for storage is provided.

  As described above, the height setting value and the distance setting value input from the setting value input unit 105 are set in a plurality of stages, for example, three stages in the grinding region. In the present embodiment, the control unit 150 first drives the horizontal movement mechanism 132 to move the turning table 104 toward the grinder 102 so as to reach the minimum value of the distance setting value. That is, the deburring table 104 starts so that deburring is started from a small distance setting value, and then the distance setting value becomes large, in other words, the work feed amount increases stepwise. The work W supported by 104 is brought close to the grinder 102 and deburring is performed.

  When the deburring at one distance setting value is completed, that is, when the determination unit 158 determines that the rotation angle of the turning table 104 at the distance setting value is 360 degrees, the operation command unit 159 includes the horizontal direction moving mechanism. Deburring is performed while driving 132 until the turning table 104 is moved to the next distance setting value. At this time, in this embodiment, in order to increase the accuracy of the moving distance of the turning table 104, the horizontal moving mechanism 132 is driven while measuring the moving amount by the horizontal moving amount measuring unit 136.

  After deburring at each distance setting value in the horizontal direction, the control unit 150 first drives the height direction moving mechanism 120 so that the grinder 104 reaches the maximum value of the height setting value. Then, the workpiece W is moved along the outer peripheral surface. That is, the deburring is started from a value where the height setting value of the grinder 102 is large, and thereafter, the height setting value of the grinder 102 is gradually increased so that the height setting value becomes a small value. Deburring is performed while the grinder 102 is moved along the outer peripheral surface of the workpiece W so as to be smaller.

  When deburring at one height setting value is completed, that is, when the determination unit 158 determines that the rotation angle of the turning table 104 at the height setting value is 360 degrees, the operation command unit 159 Deburring is performed while driving the direction moving mechanism 120 until the grinder 102 moves to the next height setting value. At this time, in this embodiment, in order to increase the accuracy of the moving distance of the grinder 102, the height direction moving mechanism 120 is driven while measuring the moving amount by the height direction moving amount measuring unit 122.

  As described above, in the present embodiment, the position of the grinder 102 and the swivel table 104 is input after three set values are inputted in advance with respect to the height of the grinder and the distance between the swivel tables in the region to be the grinding region of the workpiece W. Each of them is driven while appropriately adjusting. For this reason, the irregular burr | flash formed in the workpiece | work W can be grinded and removed accurately and efficiently by automatic operation.

  That is, an initial setting value is input to the setting value input unit 105 of the deburring apparatus 100, and an automation function for easily controlling the operation is added simply by starting operation after setting the workpiece W on the turning table 104. As a result, the burden of deburring work of the workpiece W is reduced. In particular, since deburring is performed while moving the grinder 102 and the swivel table 104 in a plurality of stages within the grinding area of the workpiece W, the outer peripheral deburring of a substantially cylindrical cast product can be performed automatically with high accuracy. it can.

  In the present embodiment, as described above, the driving force transmission unit 128 is configured to transmit the rotational driving force of the motor 126 by the frictional force between the peripheral portion 128a and the outer peripheral surface 104a of the turning table 104. For this reason, when the grinder 102 is performing grinding of a part where the burr B of the workpiece W is large, a drag force greater than the frictional force acts, and the peripheral edge 128 a slips from the outer peripheral surface 104 a of the turning table 104.

  Accordingly, the rotation table 104 is driven to rotate until the deburring until the turning table 104 reaches the desired distance setting value is completed, or until the deburring until the grinder 102 reaches the desired height setting value is completed. Is stopped and deburring by the grinder 102 is continued. When the deburring up to the desired distance setting value and height setting value is completed, the rotational driving of the turning table 104 by the driving force transmission unit 128 is resumed.

  In this way, the distance setting value and the height setting value are set in three stages, and the driving force transmission unit 128 is a power transmission mechanism using frictional force, so it is possible to deburr the workpiece W with high accuracy by the automation function. It becomes. In this embodiment, as the height setting value of the grinder 102 and the distance setting value of the swivel table 104, three stages of setting values are input, but each setting value is determined by the grinder 102 in the grinding area. Since it is only necessary to set a plurality of stages so that deburring of W can be performed, the present invention is not limited to three stages.

  In the present embodiment, the controller 150 moves the turning table 104 from the grinding area of the workpiece W to the initial stage of the turning table 104 when the grinding of the workpiece W is completed for each distance setting value and each height setting value. The horizontal direction moving mechanism 132 is driven so as to move to the non-grinding region. In other words, when the deburring of the workpiece W at the final height setting value of the grinder 102 is completed, the turning table 104 is moved from the grinding area to the non-grinding area. That is, when all the deburring of the workpiece W is completed, the turning table 104 is automatically moved from the grinding area to the non-grinding area. For this reason, it becomes easy to remove the workpiece W from the turning table 104 after the completion of the deburring operation and to install the next workpiece W to be deburred, thereby improving the deburring efficiency.

  Next, operation | movement of the deburring method by the deburring apparatus which concerns on one Embodiment of this invention is demonstrated, using drawing. FIG. 7 is a flowchart showing an operation example of the deburring method according to the embodiment of the present invention.

  In the deburring method of this embodiment, the set value input unit 105 first determines the dimensions of the workpiece W to be deburred, the height from the reference surface of the grinder 102, and the distance from the reference point of the swivel table 104. The set values are input as a height set value and a distance set value, respectively (data input step S10). In this embodiment, at least the height from the reference surface of the grinder 102 and the distance from the reference point of the swivel table 104 are different in three stages so that the workpiece W can be deburred by the grinder 102 in the grinding region. Enter the setting value.

  When the input of data such as each set value is completed, the work W is then placed on the turning table 104 (work placement step S11). In the present embodiment, the workpiece W to be deburred is a substantially cylindrical cast product, and as shown in FIG. In order to perform deburring, the workpiece W is set so that the end portion to be deburred is on the upper side.

  When initial setting such as data input of set values, installation of the workpiece W, etc. is completed, the drive of the grinder drive unit 108 and the turn table drive unit 126 is turned on in order to start the drive of the grinder 102 and the turn table 104. (Driving start step S12). When the drive of the grinder driving unit 108 and the turning table driving unit 126 is turned on, the rotating operation of the grinder 102 and the rotating operation of the driving force transmitting unit 128 for turning the turning table 104 are started.

  Next, the distance from the reference point of the turning table 104 is adjusted stepwise so that it becomes the set value of the three steps input in the data input step S10 (horizontal movement step S13). In the present embodiment, in the horizontal movement step S13, deburring is started from a small value set for the distance from the reference point of the turning table 104, and thereafter, the distance set value is gradually increased. The turning table 104 is moved toward the grinder 102. The details of the operation in the horizontal movement step S13 will be described later.

  Thereafter, in the horizontal direction moving step S13, it is determined whether or not the grinding of the workpiece W at the setting values at each stage has been completed (horizontal direction grinding completion determining step S14). In the present embodiment, in the horizontal direction moving step S13, the turning table 104 is moved from the smaller distance setting value. Therefore, when the deburring of the workpiece W is completed when the distance setting value is the maximum value, all the distance setting values are set. It is determined that the horizontal deburring operation is completed.

  When the horizontal grinding completion determination step S14 is completed, next, deburring is performed while the height from the reference surface of the grinder 102 is adjusted step by step so that the height is set to three levels (moving in the height direction). Step S15). In the present embodiment, in the height direction moving step S15, the deburring is started from a value where the height setting value from the reference surface of the grinder 102 is large, and then the height setting value is gradually decreased. Next, the grinder 102 is moved. Details of the operation in the height direction moving step S15 will be described later.

  Thereafter, in the height direction moving step S15, it is determined whether or not all grinding of the workpiece W at the set values in each stage has been completed (height direction grinding completion determining step S16). In the present embodiment, since the grinder 102 is moved from the higher height setting value in the height direction moving step S15, when the deburring of the workpiece W is completed when the height setting value is the minimum value, all the heights are set. It is determined that the deburring operation in the height direction at the set value is finished.

  Next, after confirming that the grinding and deburring of the workpiece W has been completed in all three set values in the height direction grinding completion determination step S16, the turning table 104 is changed from the grinding region of the workpiece W to the non-grinding region. The workpiece is moved to the initial position where the workpiece setting step S11 is performed (reset step S17). At this time, in the present embodiment, the latching portion 135b of the drive stop portion 135 comes into contact with the drive stop switch 135c, and the driving of the horizontal movement mechanism 132 is stopped. In other words, in this embodiment, when the deburring of the workpiece W at all set values is completed, the turning table is automatically moved from the grinding area to the non-grinding area. For this reason, it becomes easy to remove the workpiece after the completion of the deburring operation and install a workpiece to be deburred next, and the deburring work efficiency is improved.

  Thus, in this embodiment, after inputting a desired set value in advance, automatic deburring is performed while the grinder 102 and the turning table 104 are driven. Deburring apparatus 100 is provided with such an automation function, and deburring can be performed automatically while adjusting grinder 102 and swivel table 104 to a suitable position, so that deburring work efficiency and work accuracy are improved. To do.

  Next, details of the operation of adjusting the position of the turning table in the deburring method according to the embodiment of the present invention will be described with reference to the drawings. FIGS. 8A to 8D are operation explanatory views of the position adjustment of the turning table in the deburring method according to one embodiment of the present invention, and FIG. 9 is a deburring method according to one embodiment of the present invention. It is a flowchart which shows the operation example of the position adjustment of the turning table in.

  As described above, in this embodiment, in the horizontal movement step S13, the turning table that supports the workpiece W in order to perform deburring step by step from a small value of the distance from the reference point of the turning table 104. 104 is moved toward the grinder 102. That is, the turn table 104 is moved so that the position of the turn table 104 becomes the set value A1 that is the minimum value of the distance set value shown in FIG. 8B from the reference point A0 shown in FIG. Then, deburring of the workpiece W until reaching the distance setting value A1 is started (step S131).

  As described above, in step S131, when the burr is large, that is, when the amount of deburring up to the distance setting value A1 is large, the peripheral portion 128a of the driving force transmitting portion 128 is moved to the outer periphery of the turning table 104. Slip from surface 104a. For this reason, the rotational drive of the turning table 104 is stopped, and the deburring is continued until the distance setting value A1 is reached. When the deburring up to the distance setting value A1 is completed, the rotational driving of the turning table 104 by the driving force transmission unit 128 is resumed, and deburring is performed at the remaining distance setting value A1.

  Thereafter, it is determined whether grinding of the workpiece W at the distance setting value A1, that is, deburring has been completed (step S132). In this embodiment, since the grinder 102 is rotationally driven while turning the turning table 104 at the distance setting value A1, it is determined that the deburring at the distance setting value A1 is completed when the turning of the turning table 104 is completed. Is done.

  When the deburring at the distance setting value A1 is completed, the turning table 104 is moved so that the position of the turning table 104 reaches the distance setting value A2 shown in FIG. Deburring of the workpiece W up to this point is started (step S133). Then, similarly to step S132, it is determined whether grinding of the workpiece W at the distance setting value A2, that is, whether deburring has been completed (step S134).

  In step S133, when the deburring amount until reaching the distance setting value A2 is large, the rotational driving of the turning table 104 is stopped and the deburring until the distance setting value A2 is continued. When the deburring up to the distance setting value A2 is completed, the rotational driving of the turning table 104 by the driving force transmission unit 128 is resumed, and deburring is performed at the remaining distance setting value A2.

  After the deburring at the distance setting value A2 is completed, the turning table 104 is moved so that the position of the turning table 104 becomes the distance setting value A3 shown in FIG. Deburring of W is started (step S135). As shown in FIG. 8D, the distance setting value A3 is a setting value that is the position of the turning table 104 where the grinder 102 contacts the outer peripheral surface of the workpiece W. Thereafter, the process proceeds to the horizontal grinding completion determination step S14, where it is determined whether the deburring at A3 which is the maximum distance setting value is completed, and it is determined whether all the deburring in the horizontal direction is completed.

  In step S135, when the deburring amount until reaching the distance setting value A3 is large, the rotational driving of the turning table 104 is stopped and the deburring until the distance setting value A3 is continued. When the deburring up to the distance setting value A3 is completed, the rotational driving of the turning table 104 by the driving force transmission unit 128 is resumed, and deburring is performed at the remaining distance setting value A3.

  Thus, in the present embodiment, the turning table 104 is brought closer to the grinder 102 step by step so that the grinder 102 can perform deburring of the workpiece W in the grinding region. Therefore, the burr B having an indefinite length and shape from the outer peripheral surface of the workpiece W as shown in FIGS. 5A and 5B can be ground and removed from the grinder 102 efficiently and accurately.

  Further, when the swivel table 104 is gradually brought closer to the grinder 102, the load on the grinder 102 is particularly great when grinding a burr B1 (see FIG. 5B) having a large length from the outer peripheral surface of the workpiece W. In addition, vibration to the turning table 104 during the grinding operation of the grinder 102 can be reduced. For this reason, it is possible to reduce the wear of the driving force transmission portion 128 and the like of the turning table 104 and to extend the life of the apparatus and to perform a stable deburring operation.

  Next, details of the operation of adjusting the height of the grinder in the deburring method according to an embodiment of the present invention will be described with reference to the drawings. FIGS. 10A to 10D are operation explanatory views of the grinder height adjustment in the deburring method according to one embodiment of the present invention, and FIG. 11 is a deburring method according to one embodiment of the present invention. It is a flowchart which shows the operation example of the height adjustment of the grinder in.

  As described above, in the present embodiment, in the height direction moving step S15, the grinder 102 is moved so that the height setting value from the reference plane of the grinder 102 is changed from a large value to a small value. In this embodiment, as shown in FIG. 10A, the grinder 102 is moved so that the height of the grinder 102 becomes a set value B3 where the height from the reference plane B0 is the maximum value. Deburring of the work W up to the set value B3 is started (step S151). As shown in FIG. 10A, the height setting value B3 is a setting value that is the highest point of burr, that is, a position near the upper end of the workpiece W.

  In step S151, when the deburring amount until reaching the height setting value B3 is large, the rotational drive of the turning table 104 is stopped and the deburring until the height setting value B3 is continued. To do. When the deburring up to the height setting value B3 is completed, the rotational driving of the turning table 104 by the driving force transmission unit 128 is resumed, and deburring is performed at the remaining height setting value B3.

  Next, it is determined whether or not grinding of the workpiece W at the height setting value B3, that is, deburring has been completed (step S152). In this embodiment, since the grinder 102 is rotationally driven while turning the turning table 104 at the height setting value B3, the deburring at the height setting value B3 is completed when one turn of the turning table 104 is completed. It is determined.

  When the deburring at the height setting value B3 is completed, the grinder 102 is moved so that the position of the turning table 104 becomes the distance setting value B2 shown in FIG. Deburring of the workpiece W is started (step S153). Then, similarly to step S152, it is determined whether grinding of the workpiece W at the height setting value B2, that is, deburring has been completed (step S154).

  In step S153, when the amount of deburring up to the height setting value B2 is large, the rotational driving of the turning table 104 is stopped and the deburring up to the height setting value B2 is continued. To do. When the deburring up to the height setting value B2 is completed, the rotational driving of the turning table 104 by the driving force transmission unit 128 is resumed, and deburring is performed at the remaining height setting value B2.

  After the deburring at the height setting value B2 is completed, the grinder 102 is moved so that the position of the grinder 102 becomes the distance setting value B1 shown in FIG. 10C, and the workpiece at the height setting value B1 is moved. Deburring of W is started (step S155). As shown in FIG. 10C, the height setting value B1 is a setting value that is a position in the vicinity of the lowest point of the burr. Thereafter, the process proceeds to the height direction grinding completion determination step S16, where it is determined whether the deburring at B1 which is the minimum height setting value is completed, and whether all the deburring in the height direction is completed. judge.

  In step S155, when the deburring amount until reaching the height setting value B1 is large, the rotational driving of the turning table 104 is stopped and the deburring until the height setting value B1 is continued. To do. When the deburring up to the height setting value B1 is completed, the rotational driving of the turning table 104 by the driving force transmission unit 128 is resumed, and deburring is performed at the remaining height setting value B1.

  Thus, in the present embodiment, the grinder 102 is lowered stepwise in the grinding region so that the grinder 102 can perform deburring of the substantially cylindrical workpiece W with high accuracy in the grinding region of the workpiece W. For this reason, the burrs B formed indefinitely in the length direction of the outer peripheral surface of the substantially cylindrical workpiece W as shown in FIG. 5A from the grinder 102 can be ground and removed appropriately and efficiently.

  Then, after confirming that the workpiece W has been ground and deburred at all three height setting values, the swivel table 104 is unground from the grinding region of the workpiece W as shown in FIG. The workpiece is moved to the initial position A0 where the workpiece setting step S11 to be an area is performed. That is, in this embodiment, when the deburring of the workpiece W at all setting values is completed, the workpiece at the grinder 102 when the turning table 104 is automatically set to the distance setting values A1, A2, and A3 is automatically set. Move from the W grinding area to the non-grinding area. For this reason, it becomes easy to remove the workpiece after the completion of the deburring operation and to install the workpiece to be deburred next, and work efficiency is improved.

  As described above, in this embodiment, a plurality of set values are input in advance with respect to the height of the grinder 102 and the distance between the swivel tables 104, and the positions of the grinder 102 and the swivel table 104 are set within the grinding region of the workpiece W. Each is driven while adjusting appropriately. For this reason, highly accurate deburring by the grinder 102 can be efficiently performed in the grinding region.

  Further, since deburring is performed while moving the grinder 102 and the swivel table 104 step by step within the grinding region, overwork of the deburring operation of the grinder 102 when performing deburring to a portion where the burr B is large is performed. Can be reduced. For this reason, vibrations to the grinder 102, the turning table 104, the drive units 108, 126, 130, the power transmission means 106, 128, etc. are reduced, the mechanical load is reduced, and the life of the deburring device 100 is improved. Be made.

  Although each embodiment of the present invention has been described in detail as described above, it is easily understood by those skilled in the art that many modifications can be made without departing from the novel matters and effects of the present invention. It will be possible. Therefore, all such modifications are included in the scope of the present invention.

  For example, a term described with a different term having a broader meaning or the same meaning at least once in the specification or the drawings can be replaced with the different term in any part of the specification or the drawings. Further, the configuration and operation of the deburring device and the deburring method are not limited to those described in the embodiments of the present invention, and various modifications can be made.

DESCRIPTION OF SYMBOLS 100 Deburring apparatus, 102 Grinder, 102a Rotating shaft, 104 Turning table, 104a Outer peripheral surface, 105 Set value input part, 106 Power transmission part,
108 motor (grinder drive), 110 casing, 112 outlet,
114 discharge pipe, 116 connecting member, 118 casing,
120 guide rail (height direction moving mechanism), 122 height direction moving amount measuring unit,
122a wire, 124 fixing jig, 126 motor (turning table drive unit),
128 driving force transmission part, 128a peripheral part, 129 power transmission mechanism, 130 motor,
132 Screw jack (horizontal movement mechanism), 133 Slide rail,
134 Movable pedestal, 135 Driving stop, 135a Connection member, 135b Hook,
135c drive stop switch, 136 horizontal direction moving amount measuring unit, 136a wire,
137 base member, 137a first base member, 137b second base member,
138 Rotation measurement unit, 139 rail, 140 object to be detected, 140a element to be detected,
140b Core member, 150 control unit, 152 grinder vertical movement amount production unit,
154 workpiece feed output unit, 156 rotation angle output unit, 158 judgment unit,
159 Operation command section, 160 storage section, B, B1, B2 burr, W work

Claims (7)

A deburring device comprising a grinder for grinding burrs of a cast workpiece and a turning table for supporting the workpiece,
A set value input unit for inputting set values of a plurality of stages, at least as a height from a reference plane of the grinder and a distance from a reference point of the turning table;
A height direction moving mechanism for adjusting a height of the grinder from the reference plane;
A height direction moving amount measuring unit for measuring a moving amount of the grinder in the height direction;
A horizontal movement mechanism for adjusting a distance from the reference point of the turning table;
A horizontal direction moving amount measuring unit for measuring a horizontal direction moving amount of the turning table;
A turning table drive unit for rotating the turning table;
A rotation angle measuring unit for measuring a rotation angle from a rotation reference position of the turning table;
Based on at least measurement results of the height direction moving amount measuring unit, the horizontal direction moving amount measuring unit, and the rotation angle measuring unit and input data from the set value input unit, the grinder and the height direction moving mechanism A controller for controlling the operation of the horizontal movement mechanism and the turning table drive unit,
The controller is configured to drive the grinder while driving the height direction moving mechanism and the horizontal direction moving mechanism so that the height of the grinder and the distance of the swivel table are set to the plurality of steps. in deburring and wherein that you perform deburring. The set values of the height and the distance input by the set value input unit are set in a plurality of stages in a grinding region where the workpiece is ground by the grinder,
The control unit drives the horizontal movement mechanism to move the turning table toward the grinder so that the set value of the distance is changed from a small value to a large value, and the set value of the height is 2. The deburring device according to claim 1, wherein the height direction moving mechanism is driven so as to be a small value from a large value to move the grinder toward the workpiece. The horizontal movement mechanism is configured to move the swivel table between a non-grinding area on a reference point side and a grinding area through a predetermined distance from the grinding area,
The control unit drives the horizontal movement mechanism to move the turning table from the grinding area to the non-grinding area when the grinding of the workpiece at the set values in the plurality of stages is completed. The deburring device according to claim 2, wherein   The deburring apparatus according to any one of claims 1 to 3, wherein the workpiece is a substantially cylindrical casting. A deburring method for grinding a burr of a work supported on a rotating table with a grinder,
A data input step for inputting a plurality of set values as at least the height from the reference plane of the grinder and the distance from the reference point of the turning table;
A workpiece installation step of installing the workpiece on the turning table;
A grinding operation starting step of starting driving of the grinder and the turning table;
A horizontal movement step of adjusting the distance from the reference point of the turning table in a stepwise manner so as to be the set values of the plurality of steps;
During the horizontal movement step, a horizontal grinding completion determination step for determining whether grinding of the workpiece at the set values of the plurality of stages has been completed,
After the horizontal direction grinding completion determining step, a height direction moving step of adjusting the height of the grinder from the reference surface stepwise so as to be the set value of the plurality of steps,
A deburring method comprising: a height direction grinding completion determination step for determining whether or not the workpiece has been ground at the plurality of setting values in the height direction moving step. In the set value input step, in the grinding region where the grinding of the workpiece by the grinder is performed, the set values of the height and the distance are each set in a plurality of stages,
In the horizontal movement step, the turning table is moved toward the grinder so that the set value of the distance is changed from a small value to a large value,
6. The deburring method according to claim 5, wherein, in the height direction moving step, the grinder is moved toward the workpiece so that a set value of the height is changed from a large value to a small value.   After confirming that the grinding of the workpiece has been completed at all the set values in the plurality of stages in the height direction grinding completion judging step, the swivel table is moved from the grinding area to an initial position where the workpiece placing step is performed. The deburring method according to claim 5, further comprising a resetting step.

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