TWI426015B - Burr-removing system and burr-removing apparatus - Google Patents

Description

Burr removal system and burr removal device

The present invention relates to a burr removing system, a burr removing device, and a cutter blade for cutting a burr such as a bonding wire formed on a workpiece such as a resin molded article.

In general, in nursing bed parts, photocopying machine parts, toolboxes, thermal insulation resin boxes, automotive spoilers, automotive sun visors, automotive center pillars, automotive interiors In the resin molded article, for example, a burr is formed on the bonding wire at the time of molding.

Conventionally, excision of the burrs is performed by various methods depending on the workpiece or various conditions (see, for example, Patent Document 1), and the resection includes: resection by, for example, laser irradiation, hot air, flame irradiation, plasma irradiation, infrared irradiation, or the like. Excision by means of freeze embrittlement using liquid nitrogen or the like; excision by various grinding (drum grinding, buffing, use of free abrasive grains, using fixed abrasive grains); resection using a water jet Excision by ultrasonic cleaning system; resection by shotblasting; resection by crushing of rollers; resection by friction of normal temperature or heated metal sheets; cutting with sharp or obtuse angle tools Excision; or resection by punching.

(Patent Document 1) Japanese Unexamined Patent Publication No. Hei 6-36816

However, it is cut by infrared irradiation or the like, or broken by freezing embrittlement. In addition to the thermal or physical influence on the surrounding parent material, there is a problem that control requires high precision and is likely to cause expensive equipment. Further, the resection by various kinds of polishing may cause problems such as unsuitable for large items, inability to perform processing such as processing on the inner surface, or cleaning with subsequent steps, and generation of fine secondary burrs. Furthermore, the removal by waterjet has problems such as drying in the subsequent steps, necessity of water treatment, high equipment cost, and scattering of fine particles. Excision by the ultrasonic cleaning system has the problem of drying in the subsequent steps and not being able to correspond to large burrs or large workpieces. Excision by shot peening, in addition to the high cost of the device, there are problems such as the limitation of the shape of the workpiece, the influence on the peripheral mother material, and the generation of dust. If it is crushed by a roller and is removed by rubbing at a normal temperature or a heated metal sheet, there is a problem that it is not suitable for large burrs, rough edges of the burrs, or poor precision. Cutting with sharp or obtuse angle tools may make it difficult to perform position control, and must have other considerations such as profiling. If this factor is not considered, it may invade the workpiece and damage the workpiece or cause insufficient removal of the burrs. Excision by stamping requires expensive molds and makes design changes difficult.

On the other hand, when the burr removal system is fully automated, in the burr removal device, it is necessary to make a finished product with no burrs at all after the burrs are removed. In the conventional burr removal device, it is difficult to avoid the occurrence of 2 burrs which are removed by manual work and which hinder complete automation. Therefore, in the past, the development of a technique for suppressing the generation of burrs as much as possible in the source flow of the resin molding machine has been popular. However, the development of the molding machine of this technology is expensive, and it is the main cause of the increase in the cost of the molded article.

Accordingly, it is an object of the present invention to provide a burr removing system which can remove the burr of the resin molded article substantially completely without using an expensive resin molding machine and inexpensively manufacturing a resin molded article using a conventional general-purpose molding machine. And the removal of the burrs is fully automated.

Furthermore, a burr removing device and a cutter blade are provided, which can easily and completely shape a resin having unstable shape without using an expensive control device, a workpiece positioning device, or the like without using an expensive copying device or the like. The burrs of the product are cut from the root of the burr.

The burr removal system of the present invention comprises: a resin molding machine; the first mechanism removes the workpiece from the resin molding machine and transfers the workpiece to the workpiece carrying jig; the burr removal device removes the transfer to the foregoing a burr of the workpiece of the workpiece carrying jig; and a second mechanism for taking out the workpiece after removing the burr from the workpiece carrying jig; the burr removal device feeds the root of the burr while vibrating the cutter edge a cutter blade for removing a burr, wherein the cutter blade has a cutting blade portion corresponding to a root portion of the burr, and a contour portion corresponding to the surface of the workpiece that does not constitute a cutting edge, and includes: a biasing mechanism The cutter blade is biased toward the root of the burr in a floating state; and the oscillating portion vibrates the cutter blade in a predetermined direction by ultrasonic waves.

According to the present invention, in a state in which the contour portion of the cutter blade abuts against the surface of the workpiece, the burr is cut by the cutting blade portion, thereby suppressing the occurrence of newly generated burrs (secondary burrs) due to burr removal. There is no need to carry out manual work to remove 2 raw edges. Therefore, in the resin molding machine of the present invention, A certain degree of burrs are produced. In general, in a resin molding machine, the generation of burrs causes problems, and a mold which does not cause burrs as much as possible is desired, and since the size of the mold causes an expensive molding machine, the present invention can be suppressed twice. The production of burrs, so the use of inexpensive forming machines can achieve full automation of burr removal.

Further, in the burr removing device that feeds the cutter blade along the root of the burr of the workpiece while the cutter blade is vibrated while cutting the burr, the cutter blade has a cutting blade portion corresponding to the root of the burr, and corresponding The surface of the workpiece does not constitute a contoured portion of the cutting blade, and includes: a biasing mechanism that biases the cutter blade toward a root of the burr in a floating state; and the damper portion causes the cutter to be ultrasonically The blade vibrates in a predetermined direction.

In the present invention, since the biasing mechanism biases the cutter blade toward the root of the burr in a floating state, and the oscillating portion vibrates the cutter blade in a predetermined direction by ultrasonic waves, the cutter blade is contoured. When the portion abuts on the face of the workpiece, the burr is cut by the cutting blade portion, thereby suppressing the occurrence of newly generated burrs (secondary burrs) due to the removal of the burrs, without performing the removal of the burrs twice. Manual work can be done to fully automate the removal of the edges.

Further, in the cutter blade of the burr removing device for cutting the burr of the workpiece, a cutting blade portion corresponding to the root portion of the burr, and a contour portion corresponding to the surface of the workpiece which does not constitute the cutting blade, and the cutting blade The front end position of the blade is set to be the same position as the contour surface constituting the contour portion or a position away from the workpiece from the contour surface.

According to the above configuration, since the tip end position of the cutting edge portion is the same position as the contour surface constituting the contour portion or the position of the contour surface away from the workpiece, the intrusion of the cutting blade portion can be suppressed. The material causes the occurrence of breakage of the blade, and the like.

According to the present invention, since the biasing mechanism biases the cutter blade toward the root of the burr in a floating state, and the oscillating portion vibrates the cutter blade in a predetermined direction by ultrasonic waves, the cutter blade is attached to the contour portion. In the state of the face of the workpiece, the burr is cut by the cutting blade portion, thereby suppressing the occurrence of the secondary burrs, and the manual operation for removing the burrs is not required, and the complete removal of the burr removal can be achieved. Further, when the cutter blade is vibrated while the cutter blade is fed along the root of the burr to cut the burr, the occurrence of breakage of the blade due to the intrusion of the blade into the material can be suppressed, and the life of the blade can be prolonged. And the operating rate of the burr removal device is increased.

Hereinafter, an embodiment of the present invention will be described based on the drawings.

Figure 1 shows an embodiment of a burr removal system.

The burr removal system 100 of the present embodiment has a resin molding machine 101 such as a so-called general-purpose hydraulic type that cannot completely suppress the occurrence of burrs during resin molding, and has a workpiece holding device and a burr shift at the tip end portion of the arm. a 6-axis vertical multi-joint robot 103 in addition to the device; a workpiece carrying mechanism 105 carrying the workpiece 130 before the burr removal (refer to FIG. 4); the burr 132 removed from the system is discharged to the burr discharge conveyor 107 outside the system; As hair The workpiece 131 (see FIG. 5) of the finished product after the removal is discharged to the finished product discharge conveyor 109 outside the system.

The articulated robot 103 has six-axis joints 103A to 103F, and a mechanism portion 140 that integrates the workpiece holding device and the burr removing device is attached to the arm distal end portion 103G of the foremost joint 103F.

As shown in Fig. 2, the mechanism unit 140 includes a cylindrical base portion 141 attached to the arm distal end portion 103G, a substantially U-shaped holder 142 connected to the base portion 141, and a first one disposed on the holder 142. a hand holding portion 143 for holding the workpiece on the surface; and an adsorption pad portion 144 for picking up the workpiece disposed on the second surface of the holder 142; the suction pad portion 144 is connected to the vacuum via a connection hose (not shown) source. The workpiece holding hand 143 is operated by a pneumatic cylinder (not shown).

A burr removing device 1 is attached to the third surface (below the figure) of the holder 142, and a cutter blade 10 of a flat knife is fixed at the front end thereof, and the workpiece 130 on the workpiece carrying mechanism 105 is removed by the cutter blade 10. Burr 132.

The workpiece supporting mechanism 105 includes a mechanism stage 110 and a workpiece carrying jig 112 coupled to the mechanism stage 110 by a plurality of bolts 111. As shown in FIG. 3, the workpiece carrying portion 112A on the upper portion of the workpiece carrying jig 112 is fitted with the workpiece 130. The recess is for placing the workpiece 130. The workpiece 130 is placed on the workpiece carrying portion 112A so as to fall from the solid line to the position of the broken line. The suction port 112B for suction is formed in the workpiece carrying portion 112A, and the intake port 112B is connected to the vacuum source via the connection hose 112C, and the workpiece 130 is fixed by suction when the workpiece 130 is placed on the workpiece carrier 112A. The shape of the workpiece carrying portion 112A depends on the shape of the recess of the workpiece 130 or is generated on the workpiece. The shape of the burr or the like is determined, and it is set such that at least the shape of the burr of the workpiece 130 can be removed by the cutter blade 10, that is, the shape of the burr removal operation of the cutter blade 10 is not hindered.

The workpiece carrying portion 112A has a support table 112D. When the shape of the workpiece to be formed is changed by the mold change of the resin molding machine 101 or the like, the upper surface is integrally replaced with the work load portion 112A having the corresponding workpiece shape from the support table 112D. Different workpieces carry the clamp 112. The present burr removal system 100 is used to change the work load fixture 120 to change the work schedule in order to reduce the workpiece arrangement time.

Figure 6 shows the burr removal device 1.

The burr removing device 1 is attached to the third surface (lower surface in the drawing) of the holder 142 as described above. The burr removing device 1 has a support 3 fixed to the third surface, and a gas-driven slide table device 4 is fixed to the support 3. The slide table device 4 includes a fixing portion 4a fixed to the support 3, support portions 4b and 4c fixed to both ends of the fixing portion 4a, a shaft 4d provided between the support portions 4b and 4c, and freely slidable on the shaft 4d. The sliding portion 5. The sliding portion 5 is reciprocally movable in a predetermined linear direction (arrow X direction) which is a direction in which the lower surface of the cutter blade 10 of the flat knife can be pressed to the workpiece. 4e is the stopper. A gas supply port 4f is provided in one of the support portions 4b, a gas discharge port 4g is provided in the other support portion 4c, and a pressure regulator (not shown) for adjusting the pressure of the supply gas is connected to the gas supply port 4f.

One end of the ultrasonic vibrator holder 6 is attached to the sliding portion 5. At the other end of the ultrasonic vibrator holder 6, a semi-ring is formed. In the holding portion 6a, the cylindrical portion 7a of the ultrasonic vibrator 7 is interposed between the holding portion 6a and the other half-shaped holding portion 6b, and the ultrasonic waves are connected between the holding portions 6a and 6b by bolts. The other end of the vibrator holder 6 is provided with an ultrasonic vibrator 7. As shown in Fig. 7, the cutter blade 10 is fixed to the front end of the ultrasonic vibrator 7. An ultrasonic unit (not shown) is connected to the ultrasonic vibrator 7 via a wire 7b (see Fig. 6), and is driven by the ultrasonic unit. Corresponding to the vibration of the ultrasonic vibrator 7, the cutter blade 10 is cut and cut. Ultrasonic vibration is performed in the direction in which the feeding direction of the blade 10 (the direction of the arrow B) is substantially orthogonal (the direction of the arrow C). In the present configuration, the sliding portion 5 is constantly biased to the right by the gas pressure from the gas supply port 4f to abut against the stopper 4e on the right in FIG. 6, when the cutter blade 10 abuts When the workpiece acts on the load due to the reaction force, the sliding portion 5 slides against the gas pressure toward the left side of the drawing on the shaft 4d in accordance with the degree of the load, whereby the cutter blade 10 is oriented relative to the workpiece. Floating state. The sliding range is limited by the stopper 4e on the left in the drawing. The slide table device 4 constitutes a floating mechanism, and the cutter blade 10 at the tip end of the burr removal device 1 is freely moved in the direction of the arrow A, that is, in a floating state with respect to a workpiece (resin molded article) to be described later.

Figure 8 shows the cutter blade 10 when the burr removal action is performed.

The cutter blade 10 has a cutter blade main body portion 10C having a front end surface 10F and a rear end surface 10R on the front end side. The rear end surface 10R extends substantially in parallel with the extension line of the ultrasonic vibrator 7, and the front end surface 10F is retracted from the extension line of the ultrasonic vibrator 7 at a right angle to the feeding direction B. The cutter blade 10 is borrowed It is fixed to the ultrasonic vibrator 7 by either welding or screwing. The cutter blade 10 abuts on a resin molded article formed on the workpiece 130 (for example, a nursing bed component, a photocopying machine component, a tool case, a thermal insulation resin case, a spoiler for a car, a sun visor for a car, and a center pillar for an automobile) For example, a car interior piece or the like, for example, a base portion (root portion) of the burr 132 of the bonding wire 121. The end surface 10F of the cutter blade 10 is provided with a cutting blade portion 10A having a width W of about several mm corresponding to the root portion of the burr 132, and a curved surface imitation of the respective faces 123A and 123B of the workpiece 130 which do not constitute a cutting edge. Shape 10B. The width W of the cutting blade portion 10A is generally about 0.6 to 1 mm, but may be appropriately changed depending on the shape of the burr formed on the workpiece or the like.

Fig. 9 is a cross-sectional view of the cutting blade portion 10A including the cutter blade.

A front surface 10F of the cutter blade 10 is formed with a curved contoured portion 10B corresponding to each of the face portions 123A, 123B of the workpiece 130, which does not constitute a cutting edge, and a R-shaped curved surface R is provided on the lower side of the contoured portion 10B. Curved surface portion 10B1.

The blade edge 10A1 formed at the foremost end portion of the cutting blade portion 10A (the portion indicated by the hatching) is set at a height position corresponding to the burr cutting height Hr, and so that the front end portion of the blade edge 10A1 is in the R curved surface including the contour portion 10B. The curved surface of the portion 10B1 or the curved surface portion 10B1 of the contour portion 10B is formed on the inner side (the curvature center side of the R curved surface portion).

Therefore, even when the contour portion 10B abuts against the workpiece, and when the shape of the resin member is unstable or the burr formed into a curved shape is cut off, there is no excessive intrusion of the cutter blade 10 into the material, and Suppress The occurrence of a missing blade or the like occurs.

A flat portion 10A2 is formed in a portion slightly deeper from the blade edge 10A1 of the cutting blade portion 10A in a direction opposite to the feeding direction (arrow B direction) of the cutter blade 10. The flat portion 10A2 is in a state of being joined to the workpiece 130 at a substantially constant pressure depending on the balance of the gas pressures in the sliding portion 5. Thereby, the flat portion 10A2 presses the base portion of the burr 132 left by the cutting blade portion 10A to the side of the workpiece 130, and smoothes the vicinity of the bonding wire 121 of the workpiece 130.

Regarding the fine burr such as the line (so-called line burr), the generation of the line burr can be suppressed by the friction heat at the time of flattening by the flat portion 10A2.

Further, the lower surface 10C1 of the cutter blade body portion 10C which is formed to be deeper than the flat portion 10A2 of the cutter blade main body portion 10C can be separated from the workpiece 130 by forming a plurality of angles θ, and the cutter blade 10 is removed. Thereafter, the end face 10R is formed in a state of being completely separated from the workpiece 130.

As a result, the portion of the cutter blade 10 that is in contact with the workpiece 130 is only a portion corresponding to the flat portion 10A2, and the cutting blade portion 10A or the contour portion 10B can be prevented from floating due to collision with other portions.

Fig. 10 shows another embodiment.

In the present embodiment, the front end portion of the blade edge 10A1 formed at the foremost end portion of the cutting blade portion 10A (the portion indicated by the hatching) is extended to the contour portion 10B formed at the end portion 10F of the cutter blade 10 The curved surface portion 10B1 is at a position intersecting the lower surface of the cutter blade main body portion 10C. That is, compared with the above embodiment, the front end portion of the blade edge 10A1 is retracted to the contour in the direction opposite to the feed direction (arrow B direction) of the cutter blade 10. The R curved surface portion 10B1 of the portion 10B is at a position intersecting the lower surface of the cutter blade main body portion 10C.

In the cutting blade portion 10A of the present configuration, the position of the front end portion of the blade edge 10A1 coincides with the lower surface of the cutter blade body portion 10C, so that the front end portion of the blade edge 10A1 penetrates the root portion of the burr 132, and the burr can be removed from the root portion. 132.

Further, even in a state in which the contour portion 10B abuts against the workpiece, and when the shape of the resin member is unstable or the burr formed into a curved shape is cut off, there is no excessive intrusion of the cutter blade 10 into the material, and It can suppress the occurrence of defects such as blade breakage.

The lower surface of the blade edge 10A1 of the cutting blade portion 10A extends in conformity with the lower surface of the cutter blade body portion 10C, and a flat portion 10A2 is formed on the lower surface. The flat portion 10A2 is in a state of being in contact with the workpiece 130 at a substantially constant pressure depending on the balance of the gas pressure in the sliding portion 5. Thereby, the flat portion 10A2 presses the base portion of the burr 132 left by the cutting blade portion 10A to the side of the workpiece 130, and smoothes the vicinity of the bonding wire 121 of the workpiece 130.

Regarding the fine burr such as the line (so-called line burr), the generation of the line burr can be suppressed by the friction heat at the time of flattening by the flat portion 10A2.

Further, the lower surface 10C1 of the cutter blade body portion 10C which is formed to be deeper than the flat portion 10A2 of the cutter blade main body portion 10C can be separated from the workpiece 130 by forming a plurality of angles θ, and the cutter blade 10 is removed. Thereafter, the end face 10R is formed in a state of being completely separated from the workpiece 130.

As a result, the portion of the cutter blade 10 that is in contact with the workpiece 130 is only The portion corresponding to the flat portion 10A2 prevents the cutting blade portion 10A or the contour portion 10B from floating due to collision with other portions.

Next, the burr removal processing operation will be described.

In the operation of the burr removing device 1, for example, the operator actually operates the arm portion of the articulated robot 103 once or several times, and performs direct teaching of the path information corresponding to the moving path of the arm portion. Alternatively, the following method may be employed, that is, the path automatic generation system is used, and the path information is automatically generated using the shape information created by the design system such as the CAD system. However, the path information obtained by the direct teaching or path automatic generation system is not necessarily the correct path with respect to each workpiece 130 in the burr removal operation when the deviation of the workpiece 130 from which the actual burr is removed is large.

On the other hand, the burr removing apparatus 1 of the present embodiment has the above-described floating mechanism, and the cutter blade 10 is pressed against the workpiece at a slightly higher pressing force than the predetermined value, and the burr removal can be performed, and the contour control is performed. There is almost no need for corrections to the teaching position. Therefore, the substantial processing time can be shortened.

In the burr removal system 100, as shown in Fig. 1, the multi-joint robot 103 is directly taught, and the workpiece before removal of the burr is taken out from the resin molding machine 101 by the hand 143 shown in Fig. 2 (resin molding) Product 130, and the workpiece is transferred to the workpiece carrier mechanism 105. Next, the articulated robot 103 removes the burr 132 of the workpiece 130 on the workpiece carrying mechanism 105 by using the cutter blade 10 of the burr removing device 1 shown in FIG. In this case, the workpiece 130 may be, for example, a resin kit, a resin heat insulating box, a resin component for a photocopier, or a resin component for an automobile.

For the workpiece, the articulated robot 103 controls the 6-axis joints 103A to 103F in such a manner that the burr removal path of the corresponding burr is generated so that the direction and driving direction of the cutter blade 10 of the arm distal end portion 103G are optimized. The action.

At this time, the sliding portion 5 of the arm distal end portion 103G is of course in a floating state with respect to the workpiece 130.

In the present embodiment, when the arm distal end portion 103G is driven based on the path information obtained by direct teaching or the like, the pressure applied to the gas supply port 4f is controlled, and the cutter blade 10 is pressed against the workpiece 130 at a predetermined pressure. Moreover, the pressure applied to the gas supply port can be automatically switched in accordance with the posture of the cutter blade 10, regardless of the posture of the cutter blade 10 being constant.

In this state, the ultrasonic vibrator 7 attached to the ultrasonic vibrator holder 6 is driven, and the cutter blade 10 is vibrated by, for example, an amplitude of about 30 to 50 μm, and the contoured portion 10B is placed along the workpiece 130. The faces 123A, 123B are moved, and the cutter blade 10 is fed along the root of the burr formed on the bonding line of the workpiece 130 (corresponding to the burr removal path) and the burrs are cut off, while the face after the cutting is flattened.

According to the present embodiment, it is not necessary to use an expensive control device or a workpiece positioning device, and the burrs of the resin molded article having an unstable shape can be removed from the root without invading the resin molded article body.

Finally, the articulated robot 103 takes out the burr-removed workpiece 131 from the workpiece carrying mechanism 105 by the suction pad portion 144 shown in FIG. 2, and discharges it onto the finished product discharge conveyor 109 through the conveyor belt. 109 is discharged to the outside of the system. Further, the burrs 132 removed by the burr removing device 1 are discharged to the burr discharge conveyance belt 107 via the inclined funnel 133, and are discharged to the outside of the system.

In the present embodiment, in the burr removing device 1, after the burrs are removed, the finished product 131 having no burrs at all times can be produced.

Therefore, it is not necessary to perform the manual work performed by the prior art to remove the operation of the burr twice, and the complete automation of the burr removal system can be realized, and the cost of the molded article can be reduced. Further, since the burrs of the resin molding machine 1 are allowed to be generated after the completion of the automation, a general-purpose resin molding machine of a conventional type can be used without requiring an expensive molding machine, thereby reducing the number of molded articles. cost.

Further, although an embodiment in which a gas is supplied to one of the supply ports 4f has been described with reference to Fig. 6, in another embodiment, gas may be simultaneously supplied to the supply ports 4f and 4g of the respective support portions 4b and 4c. The balance between the gas pressures can be independently controlled to form a floating mechanism. In this case, for example, an electropneumatic regulator (not shown) or the like may be connected to each of the supply ports 4f and 4g, and the supply ports 4f and 4g may be continuously controlled to be supplied to the respective supply ports 4f and 4g. gas pressure.

In the present configuration, when the weight of the tool becomes a load due to, for example, the posture of the tool, the weight of the tool is controlled to cancel the weight of the tool. When the multi-joint robot 103 is directly taught, the computer is simultaneously input with the tool posture related information, and when the burr removal operation is performed, the electropneumatic regulator (not shown) is continuously controlled according to the electrical signal from the computer. The gas pressure can be controlled locally.

According to the above aspect, when the weight of the tool becomes a load due to, for example, the tool posture, in order to cancel the weight of the tool, the pressure supplied to each of the gas supply ports 4f and 4g can be automatically adjusted in accordance with the tool posture.

(Second embodiment)

Next, a second embodiment of the cutter blade 10 will be described.

As shown in Fig. 11, the cutter blade 10 has a distal end surface 30F corresponding to the front end surface 10F of the first embodiment and a rear end surface (not shown), and has a cutting edge portion having a width of about several mm corresponding to the root portion 132. 30A. Corresponding to the respective surface portions 123A and 123B of the workpiece 130 (see Fig. 8), the curved contour portion 30B of the cutting blade and the cutter blade main body portion 30C are not formed. The contour portion 30B is provided with a slope portion 30B1 at its lower portion, and the blade edge 30A1 formed at the most distal end portion of the cutting blade portion 30A is set at a height position corresponding to the burr cut height Hr, and the front end portion of the blade edge 30A1 is included in the imitation portion 30B. The plane of the inclined surface portion 30B1 of the shape portion 30B is formed. In the present configuration, even if the contoured portion 30B abuts on the state of the workpiece in any manner, or if the shape of the resin member is unstable or the burrs formed into a curved shape are cut off, the cutter blade 30 is not excessively excessive. In the case of intrusion into the material, it is possible to suppress the occurrence of a defect such as a blade breakage.

Further, similarly to the first embodiment, the flat portion 30A2 is formed from the blade edge 30A1 of the cutting blade portion 30A so that the cutter blade 30 is slightly deeper in the direction opposite to the feeding direction (arrow B direction). The flat portion 30A2 is in a state of being in contact with the workpiece 130 at a substantially constant pressure depending on the balance of the gas pressure in the sliding portion 5, and presses the base portion of the burr 132 left by the cutting blade portion 30A to the workpiece 130 side. And work The vicinity of the bonding wire 121 of the member 130 is smoothly flattened.

Further, the lower surface of the cutter blade body portion 30C which is formed to be deeper than the flat portion 30A2 of the cutter blade main body portion 30C can be separated from the workpiece 130 by forming a plurality of angles θ, after the cutter blade 30 The end surface (not shown) is formed in a state of being completely separated from the workpiece 130. As in the first embodiment, it is possible to prevent the frictional resistance from being excessively increased during the burr removing operation, and it is possible to eliminate the load during the burr removal operation. Even the consumption of electricity is reduced.

Fig. 12 shows another embodiment.

In the present embodiment, the front end portion of the blade edge 30A1 formed at the foremost end portion of the cutting blade portion 30A (the portion indicated by the hatching) is extended to the slope of the contoured portion 30B formed at the end portion 30F of the cutter blade 30. The portion 30B1 is terminated at a position where the lower surface of the cutter blade main body portion 30C intersects. That is, compared with the above embodiment, the front end portion of the blade edge 30A1 retreats to the slope portion 30B1 of the contour portion 30B and the cutter blade body portion 30C toward the direction opposite to the feeding direction (arrow B direction) of the cutter blade 30. The position where the surface meets below.

In the cutting blade portion 30A of the present configuration, the position of the front end portion of the blade edge 30A1 coincides with the lower surface of the cutter blade body portion 30C, so that the front end portion of the blade edge 30A1 penetrates the root portion of the burr 132 and the burr can be removed from the root portion. 132.

Further, even in a state in which the contour portion 30B abuts against the workpiece, and when the shape of the resin member is unstable or the burr formed into a curved shape is cut off, there is no excessive intrusion of the cutter blade 30 into the material, and Suppress The occurrence of a missing blade or the like occurs.

The lower surface of the blade edge 30A1 of the cutting blade portion 30A extends in conformity with the lower surface of the cutter blade body portion 30C, and a flat portion 30A2 is formed on the lower surface. The flat portion 30A2 is in a state of being in contact with the workpiece 130 with a substantially constant pressure depending on the balance of the gas pressures in the sliding portion 5. Thereby, the flat portion 30A2 presses the base portion of the burr 132 left by the cutting blade portion 30A to the workpiece 130 side, and smoothes the vicinity of the bonding wire 121 of the workpiece 130.

Regarding the fine burrs such as the lines (so-called line burrs), the generation of burrs can be suppressed by the frictional heat at the time of flattening by the flat portion 30A2.

Further, the lower surface 30C1 of the cutter blade body portion 30C which is formed to be deeper than the flat portion 30A2 of the cutter blade main body portion 30C can be separated from the workpiece 130 by forming a plurality of angles θ, the cutter blade 30 Thereafter, the end face 30R is formed in a state of being completely separated from the workpiece 130.

As a result, the portion of the cutter blade 30 that is in contact with the workpiece 130 is only a portion corresponding to the flat portion 30A2, and the cutting blade portion 30A or the contour portion 30B can be prevented from floating due to collision with other portions.

(Third embodiment)

The cutter blade 40 abuts against a base portion (root portion) formed on the burr 132 of the bonding wire 121 as shown in Fig. 13, and the bonding wire 121 is positioned between the mountain portions 124A, 124B sandwiched between the workpieces 130. Valley 124C. The front end side of the cutter blade 40 is provided with a cutting blade portion 40A having a width of about several mm corresponding to the root portion of the burr 132; a mountain portion 124A or a mountain portion 124B corresponding to the workpiece 130 (Fig. 13 is a mountain portion 124B) Does not constitute a resection A curved contoured portion 40B of the blade; and a cutter blade body portion 40C. In the state in which the cutter blade 40 of the third embodiment is slidably abutted against the mountain portion 124B, the cutter blade main body portion 40C passes over the mountain portion 124B, and the cutting blade portion 40A is formed in the valley. The burr 132 of the portion 124C abuts.

In the same manner as in the above-described first embodiment, the cutter blade 40 is pressed against the workpiece 130 at a predetermined pressure, and the ultrasonic vibrator 7 attached to the ultrasonic vibrator holder 6 is driven. The cutter blade 40 is vibrated, and the contoured portion 40B is slid along the mountain portion 124B. Thereby, the cutter blade 40 is fed along the root of the burr formed on the bonding wire of the workpiece 130 (corresponding to the burr removal path) and the burr is cut, and the cut surface is smoothly flattened. In the third embodiment, the burrs formed in the valley portion of the resin molded article having an unstable shape can be removed from the root portion without causing the blade to intrude into the resin molded article body.

(Fourth embodiment)

As shown in Fig. 14, the cutter blade 10I includes a cutting blade portion 10A having a width of about mm corresponding to the root portion of the burr 132, and a curved surface portion of the face 123B corresponding to the workpiece 130 which does not constitute a cutting blade. The contoured portion 10B; and the cutter blade body portion 10C. The cutting blade portion 10A is formed at the front end of the cutter blade 10I, and the contour portion is not present at the tip end thereof as compared with the first embodiment. The fourth embodiment is applied to the case where the workpiece 130 has the wall portion 26 which is parallel to the formation portion of the burr 132. The cutting blade portion 10A of the cutter blade 10I is formed at the base (root) of the burr 132 formed on the bonding wire 121 of the workpiece 130 having the wall portion 26. Abut to remove the burrs 132. The operation of the cutter blade 10I is the same as that of the first embodiment. Even when the workpiece 130 has the wall portion 26, the resin molded article can be removed from the root portion without causing the blade to intrude into the resin molded article body. The raw edge of the valley.

(Fifth Embodiment)

As shown in Fig. 15, a cutter blade 50 is fixed at the front end of the ultrasonic vibrator 7A, and the cutter blade 50 is rotated in the direction of the arrow C1 along the rotation axis X1 in accordance with the torsional vibration of the ultrasonic vibrator 7A. (Twisted ultrasonic vibration).

In the fifth embodiment, the cutter blade 50 includes a cutting blade portion 50A having a width of about several mm corresponding to the root portion of the burr 132, and each of the face portions 125A and 125B corresponding to the groove portion 125 of the workpiece 130 does not constitute a cutting blade. The end surface curved contour portion 50B; and the cutter blade main portion 50C, the cutting blade portion 50A abuts against the base portion (root portion) of the burr 132 of the bonding wire 121 of the groove portion 125 of the workpiece 130.

The arrangement relationship between the cutting blade portion 50A and the contoured portion 50B is the same as that of the first embodiment or the second embodiment.

In the fifth embodiment, when the arm distal end portion 103G is driven based on the path information obtained by the direct teaching or the path automatic generation system, the pressure applied to each gas supply port is controlled and cut off at a predetermined pressure. The blade 50 is pressed against the workpiece 130.

In this state, the ultrasonic vibrator 7A is driven to slide the contour cutting portion 50 along the faces 125A and 125B while rotating the cutter blade 50. Thereby, along the bonding line formed on the workpiece 130 (corresponding to the burr shift) The root of the burr 132, except for the path, feeds the cutter blade 50 and cuts the burr while smoothing the surface after the cut. When the blade does not intrude into the main body of the resin molded article, the burrs formed in the groove portion of the resin molded article can be removed from the root portion.

(Sixth embodiment)

In the first to fourth embodiments, ultrasonic vibration is performed in a direction (arrow C direction) in which the vibration direction of the ultrasonic vibrator is substantially perpendicular to the feeding direction (arrow B direction) of the cutter blade, but in the sixth embodiment, The vibration direction of the ultrasonic vibrator has a component of the feed direction of the cutter blade (arrow B direction). That is, as shown in Fig. 16, a cutter blade 60 is fixed to the front end of the ultrasonic vibrator 7, and the cutter blade 60 is ultrasonically vibrated in the direction of the arrow C2 by the vibration of the ultrasonic vibrator 7 (linear vibration). . The cutter blade 60 is provided with a cutting blade portion 60A having a width of about several mm corresponding to the root portion of the burr 132, and a contoured portion of the face portion 125A, 125B corresponding to the groove portion 125 of the workpiece 130 that does not constitute a curved surface of the cutting blade. 60B; and the cutter blade main body portion 60C, the cutting blade portion 60A abuts against the base portion (root portion) of the burr 132 of the bonding wire 121 of the groove portion 125 of the workpiece 130. The arrangement relationship between the cutting blade portion 60A and the contoured portion 60B is the same as that of the first embodiment or the second embodiment.

In the sixth embodiment, when the arm distal end portion 103G is driven based on the path information obtained by the direct teaching or the path automatic generation system, the pressure applied to each gas supply port is controlled, and the pressure is removed at a predetermined pressure. The blade 60 is pressed against the workpiece 130. In this state, the ultrasonic vibrator 7 is driven to vibrate the cutter blade 60 while the contour portion 60B is caused. Slide along the faces 125A, 125B. Thereby, the cutter blade 60 is fed in the direction of the arrow B along the root portion of the burr 132 formed on the bonding wire (corresponding to the burr removal path) of the workpiece 130, and the burr is cut off, and the cut surface is flattened. According to the sixth embodiment, the burrs formed in the groove portion of the resin molded article can be removed from the root portion without causing the blade to intrude into the resin molded article body.

(Seventh embodiment)

Each of the above embodiments is an embodiment in which one cutting blade portion is provided in the cutter blade. However, in the seventh embodiment, a plurality of cuttings (two in the seventh embodiment) are provided in the cutter blade. Blade section. As shown in Fig. 17, a cutter blade 70 is fixed at the front end of the ultrasonic vibrator 7, and the cutter blade 70 is directed toward the feed direction of the cutter blade 70 in accordance with the vibration of the ultrasonic vibrator 7 (arrow B1) Ultrasonic vibration is performed in the direction (arrow C direction) in which the direction or the arrow B2 direction is substantially orthogonal. Ultrasonic units (not shown) that consume hundreds of watts of power are connected to the ultrasonic vibrator 7 and are driven by the ultrasonic unit.

The cutter blade 70 has a first end face 71A and a second end face 72B, and a first cutting blade portion 70A1 corresponding to a burr root portion of not shown, for example, having a width of about several mm, and a corresponding workpiece 130 are provided on the first end face 71A side. Each of the faces does not constitute the curved first contour portion 70B1 of the cutting blade. Further, on the second end surface 71B side of the cutter blade 70, a second cutting blade portion 70A2 having a width of about several mm corresponding to the root portion of the burr (not shown) is provided, and the respective faces of the corresponding workpiece 130 do not constitute a cutting blade. The second contoured portion 70B2 is curved. In addition, the cutter blade 70 is A cutter blade body portion 70C is provided.

In the present configuration, the cutter blade 70 is pressed against the workpiece at a predetermined pressure, and the ultrasonic vibrator 7 is driven to vibrate the cutter blade 70 while the contoured portion 70B1 or the contoured portion 70B2 is placed along the workpiece. Each face is moved toward the feeding direction B1 or the feeding direction B2, and the cutter blade 70 is fed along the root of the burr formed on the joining line of the workpiece (corresponding to the burr removal path) and the burr is cut, and the cut surface is smoothly flattened. Chemical. According to the seventh embodiment, the burrs of the resin molded article can be removed from the root portion without causing the blade to intrude into the resin molded article body.

In the cutter blade 70, the switching of the feeding direction is easier than when only one cutting blade portion is provided, and the processing time can be shortened and the path information can be simplified.

In addition, although the case where two cutting blade parts are provided in the cutter blade is demonstrated, you may provide three or more.

(Eighth embodiment)

In the seventh embodiment, the cutter blade is directly fed in the opposite direction (feeding directions B1, B2) on the same surface. However, in the eighth embodiment, the feeding direction can be switched, and the contoured surface can be switched. As shown in Fig. 18, a cutter blade 70X is fixed to the front end of the ultrasonic vibrator 7, and the cutter blade 70X is moved toward the cutter blade 70X and the feed direction with the vibration of the ultrasonic vibrator 7 (arrow B1) Ultrasonic vibration is performed in the direction (arrow C direction) in which the direction or the arrow B2 direction is substantially orthogonal. Ultrasonic units (not shown) that consume hundreds of watts of power are connected to the ultrasonic vibrator 7 and are driven by the ultrasonic unit.

The cutter blade 70X has a first end face 71A and a second end face 72B, and a first cutting blade portion 70A1 having a width of about several mm corresponding to a burr root portion (not shown) is provided on the first end face 71A side; Each of the faces does not constitute the curved first contour portion 70B1 of the cutting blade. Further, the blade of the first cutting blade portion 70A1 is provided on the side 71D1 side (the lower surface side in FIG. 18) of the cutter blade 70X. On the second end face 71B side of the cutter blade 70, a second cutting blade portion 70A3 having a width of about several mm corresponding to a root portion of a burr not shown, and a curved surface corresponding to each face of the workpiece which does not constitute a cutting edge are provided. The second contoured portion 70B3 is provided with a blade edge of the second cutting blade portion 70A3 on the surface 71D2 side (the upper surface side in Fig. 18) of the cutter blade 70X. The cutter blade 70 is provided with a cutter blade main body portion 70C.

In the present configuration, the cutter blade 70 is pressed against the workpiece at a predetermined pressure, and the ultrasonic vibrator 7 is driven to vibrate the cutter blade 70X while the contoured portion 70B1 or the contoured portion 70B3 is placed along the workpiece. Each face moves toward the feeding direction B1 or the feeding direction B2. That is, when the cutter blade 70X is fed toward the feeding direction B1 along the root of the burr formed on the workpiece (corresponding to the burr removal path), the contoured portion 70B1 or the contoured portion 70B3 is placed along each of the workpieces. The face is removed by the first cutting blade portion 70A1, and the cut surface is smoothly flattened. Further, when the cutter blade 70X is fed toward the feeding direction B2 along the root of the burr formed on the joining line of the workpiece (corresponding to the burr removal path), the contoured portion 70B3 is placed along each face of the workpiece, and the 2 The cutting blade portion 70A3 cuts the burr while flattening the cut surface.

According to the eighth embodiment, the burrs of the resin molded article having an unstable shape can be removed from the root portion without causing the blade to intrude into the resin molded article body. With the cutter blade 70X, in the case where the workpiece such as a ring has a three-dimensional shape, the switching of the feeding direction is easier than when only one cutting blade portion is provided, and the processing time can be shortened. Simplification of path information.

(Ninth Embodiment)

Fig. 19 shows a ninth embodiment.

In the present embodiment, the swing arm base 81 is directly attached to the arm distal end portion 103G, and the rocking ultrasonic vibrator holder is swingably attached to the support piece 81a of the swing arm base 81 via the shaft 82a constituting the rocking bearing portion 82. 83 one end. A holding portion 83a formed in a semi-annular shape is formed at the other end of the rocking ultrasonic vibrator holder 83, and a cylinder of the ultrasonic vibrator 7 is sandwiched between the holding portion 83a and the other semi-annular holding portion 83b. The portion 7a is connected to each of the holding portions 83a and 83b by bolts, and the ultrasonic vibrator 7 is attached to the other end of the rocking ultrasonic vibrator holder 83. Further, the swing arm base 81 and the holding portion 83a of the rocking ultrasonic vibrator holder 83 are coupled by a coil spring mechanism 84. The coil spring mechanism 84 normally maintains the illustrated state with its entire length, and when the cutter blade 10 is rocked in the counterclockwise direction (in the direction of pushing the workpiece) about the shaft 82a, the full length is extended when the cutter blade 10 is extended. The entire length is contracted in the clockwise direction (the direction away from the workpiece) centering on the shaft 82a, and the shaking in the direction of the arrow A2 is blocked, thereby restricting the swing range of the cutter blade 10 while ensuring the floating state of the cutter blade 10.

According to the ninth embodiment, in comparison with the first embodiment, in a simpler configuration, the contour cutting operation can be performed in a state where the cutter blade 10 is pressed against the workpiece with a predetermined pressure range.

(Tenth embodiment)

In the tenth embodiment, as shown in Fig. 20, a counterweight 85 is added to the ninth embodiment.

The weight 85 is integrally attached to the rocking ultrasonic vibrator holder 83, and the rotation of the shaft 82a is freely oscillated in the direction of the arrow A3 integrally with the rocking ultrasonic vibrator holder 83. The weight of the weight portion 85a of the weight 85 is set to be the same as the rocking ultrasonic vibrator holder 83, the ultrasonic vibrator 7, and the cutter blade 10 (more specifically, the left side of the 20th figure than the shaft 82a). The total weight of the members is equal, and has a function of canceling, for example, the rotational moment of the cutter blade 10 side when the front end portion 103G of the horizontal driving arm is driven.

According to the present embodiment, in comparison with the ninth embodiment, even when the arm distal end portion 103G is horizontally driven, the copying operation can be performed in a state where the pressing force applied to the workpiece is set within a predetermined range.

As described above, according to the respective embodiments, the burrs of the resin molded article having unstable shape can be obtained without using the expensive control device and the workpiece positioning device without causing the blade to intrude into the resin molded article body. Root removal. Further, since the burrs can be cleanly removed, the generation of dust can be suppressed, and the chips of the burrs which are easy to handle can be obtained, and the power consumption can be suppressed to be low. And the cutting edge of the raw edge becomes good looking, and the value of the product is improved. When the workpiece is a resin molded article, it can correspond from a relatively large burr to a line burr, and even if it is a shape that allows the cutter blade to reach, even 3 The inner surface of the dimension of the dimension can also be applied.

The present invention has been described above based on an embodiment, but the present invention is not limited thereto. Although the resin molded article is described as a workpiece, the present invention is not limited thereto, and the same can be applied to a metal molded article such as aluminum. Further, although the cutter blade has a one-arm structure, the front end of the cutter blade can be supported by a spring or the like, and the two-arm structure can be formed so as not to interfere with the vibration of the cutter blade.

1‧‧‧Mammal removal device

3‧‧‧Support

4‧‧‧Slide table device

4a‧‧‧Fixed Department

4b, 4c‧‧‧Support Department

4d‧‧‧Axis

4e‧‧‧stops

4f, 4g‧‧‧ gas supply port

5‧‧‧Sliding section

6‧‧‧Ultrasonic vibrator holder

6a, 6b‧‧‧ Keeping Department

7, 7A‧‧‧ ultrasonic vibrator

7a‧‧‧Cylinder

7b‧‧‧Wire

10, 10I, 30, 40, 50, 60, 70, 70X‧‧ ‧ remover blade

10A, 30A, 40A, 50A, 60A, 70A‧‧‧ cutting blade

10A1, 30A1, 70A1, 70A2, 70A3‧‧‧ cutting edge

10A2, 30A2‧‧

10B1‧‧‧R Surface

10B, 30B, 40B, 50B, 60B, 70B1, 70B2, 70B3‧‧‧

10C, 30C, 40C, 50C, 60C, 70C‧‧‧Removal blade body part

10F, 30F‧‧‧ front end

10R‧‧‧ rear end face

30B1‧‧‧Bevel

26‧‧‧ wall

71A‧‧‧1st end face

72B‧‧‧2nd end face

71D1, 71D2‧‧‧ Blade 70X

81‧‧‧Shake arm base

81a‧‧‧Support tablets

82‧‧‧ Bearing Department

83‧‧‧Shake ultrasonic ultrasonic vibrator

83a, 83b‧‧‧ Keeping Department

84‧‧‧Wire spring mechanism

85‧‧‧weights

100‧‧‧Mammal removal system

101‧‧‧Resin Forming Machine

103‧‧‧Multi-joint robot

103A to 103F‧‧6 joints

103G‧‧‧ Arm front end

105‧‧‧Workpiece carrier

107‧‧‧Mask edge conveyor belt

109‧‧‧Complete product discharge conveyor belt

110‧‧‧ institutional desk

111‧‧‧ bolt

112‧‧‧Workpiece bearing fixture

112A‧‧‧Workpiece bearing unit

112B‧‧‧ suction port

112C‧‧‧Hose

112D‧‧‧Support Desk

121‧‧‧bonding line

123A, 123B, 125A, 125B‧‧‧Face

124A, 124B‧‧‧Mountain

124C‧‧‧谷部

125‧‧‧Ditch

130‧‧‧Workpiece

131‧‧‧Complete products

132‧‧‧Mamma

133‧‧‧ funnel

140‧‧‧Institutional Department

141‧‧‧ base

142‧‧‧Holding

143‧‧‧Hands

144‧‧‧Adsorption pad

Hr‧‧‧ edging height

Figure 1 is a perspective view showing an embodiment of a burr removal system.

Figure 2 is a perspective view showing the burr removal action of the workpiece.

Figure 3 is a perspective view showing a portion of the workpiece carrying jig.

Fig. 4 is a perspective view showing an example of the shape of the workpiece before the burr is removed.

Fig. 5 is a perspective view showing an example of the shape of the workpiece after the burrs are removed.

Figure 6 is a front elevational view showing one embodiment of a burr removal device.

Figure 7 is a side elevational view showing the mounting portion of the cutter blade.

Fig. 8 is an oblique view showing an enlarged view of the burr removal action of the workpiece.

Fig. 9 is a cross-sectional view showing the front end portion of the cutter blade of the first embodiment.

Fig. 10 is a cross-sectional view showing the front end portion of the cutter blade of the first embodiment.

Fig. 11 is a cross-sectional view showing the front end portion of the cutter blade of the second embodiment.

Fig. 12 is a cross-sectional view showing the front end portion of the cutter blade of the second embodiment.

Fig. 13 is an enlarged perspective view showing a mounting portion of the cutter blade of the third embodiment in the case where the burr removal operation is performed.

Fig. 14 is an enlarged perspective view showing a mounting portion of the cutter blade of the fourth embodiment in the case where the burr removal operation is performed.

Fig. 15 is an enlarged perspective view showing the attachment portion of the cutter blade of the fifth embodiment.

Fig. 16 is an enlarged perspective view showing the attachment portion of the cutter blade of the sixth embodiment.

Fig. 17 is an enlarged perspective view showing the attachment portion of the cutter blade of the seventh embodiment.

Fig. 18 is an enlarged perspective view showing the attachment portion of the cutter blade of the eighth embodiment.

Fig. 19 is an enlarged explanatory view showing the distal end portion of the arm of the ninth embodiment.

Fig. 20 is an enlarged explanatory view showing the distal end portion of the arm of the tenth embodiment.

1‧‧‧Mammal removal device

10‧‧‧Removal blade

100‧‧‧Mammal removal system

103‧‧‧Multi-joint robot

103A to 103F‧‧6 joints

103G‧‧‧ Arm front end

105‧‧‧Workpiece carrier

107‧‧‧Mask edge conveyor belt

109‧‧‧Complete product discharge conveyor belt

110‧‧‧ institutional desk

111‧‧‧ bolt

112‧‧‧Workpiece bearing fixture

112C‧‧‧Hose

130‧‧‧Workpiece

131‧‧‧Complete products

132‧‧‧Mamma

140‧‧‧Institutional Department

Claims (10)

A burr removal system comprising: a resin molding machine; a first mechanism for taking out a workpiece from the resin molding machine and transferring the workpiece to a workpiece carrying jig; and a burr removing device for removing the transferred workpiece to the workpiece a burr of the workpiece carrying the jig; and a second mechanism for taking out the workpiece after the burr is removed from the workpiece carrying jig; the burr removal device is provided with a sliding mechanism at the front end of the arm of the robot, and the vibration is set at the sliding mechanism a mechanism in which a cutter blade is provided in the vibrating portion, and a cutter blade is fed along the root of the burr to cut the burr while the cutter blade is vibrating, and the cutter blade has a cutting blade portion corresponding to the root of the burr And a contoured portion corresponding to the face of the workpiece that does not constitute a cutting edge, and includes: a biasing mechanism that biases the cutter blade toward a root of the burr in a floating state; and a vibration portion that causes the cutter blade to face Vibration in the predetermined direction. The burr removal system of claim 1, wherein the squeezing mechanism has a sliding mechanism that slidably supports the cutter blade, and the cutter blade is biased in a predetermined linear direction. The burr removal system of claim 1, wherein the squeezing mechanism has a rocking mechanism that oscillates to support the cutter blade and elastically presses the cutter blade while rocking. The burr removal system of claim 1, wherein the contoured portion of the cutter blade has a curved surface or a flat surface that can abut the surface of the workpiece. The burr removal system of claim 1, wherein the oscillating portion vibrates the cutter blade in a linear direction or a torsional direction. A burr removing device for feeding a cutter blade along a root of a burr of a workpiece to cut a burr while vibrating the cutter blade, wherein a sliding mechanism is provided at a front end portion of the arm of the robot, a vibrating portion is provided, and a cutter blade is provided in the vibrating portion, and the cutter blade has a cutting blade portion corresponding to a root portion of the burr, and a contour portion that does not constitute a cutting edge corresponding to the surface of the workpiece, and includes: a biasing mechanism And the cutter blade is biased toward the root of the burr in a floating state; and the oscillating portion is configured to vibrate the cutter blade in a predetermined direction. The burr removing device of claim 6, wherein the squeezing mechanism has a sliding mechanism that slidably supports the cutter blade, and the cutter blade is biased in a predetermined linear direction. The burr removing device of claim 6, wherein the squeezing mechanism has a rocking mechanism that rotatably supports the cutter blade and elastically presses the cutter blade while rocking. Such as the burr removal device of claim 6 of the patent scope, wherein the aforementioned cutting The contoured portion of the divider blade has a curved surface or a flat surface that can abut against the surface of the workpiece. The burr removing device according to claim 6, wherein the oscillating portion vibrates the cutter blade in a linear direction or a twisting direction.