JP2004195575A

JP2004195575A - Grinding device and grinding method

Info

Publication number: JP2004195575A
Application number: JP2002365603A
Authority: JP
Inventors: Tomotaka Kuromiya; 智孝黒宮; Masataka Shimazaki; 政孝島崎; Hidetaka Nakanaga; 秀隆中永; Harumichi Nakagawa; 陽道中川
Original assignee: Aisin AW Co Ltd
Current assignee: Aisin AW Co Ltd
Priority date: 2002-12-17
Filing date: 2002-12-17
Publication date: 2004-07-15

Abstract

<P>PROBLEM TO BE SOLVED: To provide a grinding device and a grinding method for easily grinding a fine part of a workpiece in a short time. <P>SOLUTION: This grinding device 1 has an arm part 3, a plurality of tool support parts 31 arranged in the arm part 3, a file 4 extended between a plurality of pulleys 31 and a pressing sliding means 2 for relatively moving the file 4 and the workpiece 5 when pressing the file 4 to the workpiece 5. The file 4 is composed of a flexible thread-like core material 41 having the cross-sectional area of 0.1 to 100 mm<SP>2</SP>and a large number of abrasive grains 42 fixed to an outer peripheral surface 401 of the thread-like core material 41. Grinding is performed by relatively moving the file 4 and the workpiece 5 by the pressing sliding means 2 by pressing the file 4 to the workpiece 5. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

【０００１】
【技術分野】
本発明は，被加工物の細部等の研削を行うことができる研削装置及び研削方法に関する。
【０００２】
【従来技術】
例えば，各種の加工を行うことによって被加工物に生じたバリは，砥石やヤスリ等の工具を用いて研削を行うことにより除去している。特に，バリが生じた位置が被加工物の細部であれば，ロボット等の自動装置によってこのバリの除去を行うことが難しく，作業者の手によって行われている。
【０００３】
なお，ロボットに備えたグラインダの砥石によりバリの除去を行う装置としては，例えば特許文献１に示すものがあり，また，遊離砥粒を表面に付着させて，被加工物の切断等を行うために用いる糸状の工具としては，例えば特許文献２に示すものがある。
【０００４】
【特許文献１】
特開平１１−２８６６３号公報
【特許文献２】
特開平１０−３４６４６号公報
【０００５】
【解決しようとする課題】
しかしながら，例えば，外周又は内周にスプライン部を有する円筒状部材が被加工物である場合，上記スプライン部における谷部の軸方向の各端部に生じたバリに対しては，上記工具自体を当接させることが困難である。また，作業者は，上記バリの大きさ，形状等に合わせて，目視により上記工具の角度を微調整しながら研削を行う。そのため，上記バリの除去に手間がかかる。
それ故，上記従来の工具を用いた研削によっては，被加工物の細部に生じたバリの除去が困難であり，バリの除去にかかる時間を短縮することが困難である。
【０００６】
本発明は，かかる従来の問題点に鑑みてなされたもので，被加工物の細部の研削を短時間かつ容易に行うことができる研削装置及び研削方法を提供しようとするものである。
【０００７】
【課題の解決手段】
第１の発明は，アーム部と，該アーム部に設けた複数の工具支持部と，該複数の工具支持部の間に掛け渡されたヤスリ工具と，該ヤスリ工具を被加工物に押し付けた際に，該ヤスリ工具と上記被加工物とを相対的に移動させる押付摺動手段とを有し，
上記ヤスリ工具は，可撓性の糸状芯材と，該糸状芯材の外周表面に固着された砥粒とよりなることを特徴とする研削装置にある（請求項１）。
【０００８】
本発明の研削装置は，上記複数の工具支持部の間に掛け渡されたヤスリ工具を有している。そして，このヤスリ工具は，糸状芯材を母材として形成されているため，上記被加工物に形成された凹部又は穴等の細部に対しても容易に当接させることができる。
また，上記ヤスリ工具は，可撓性を有しているため，例えば上記被加工物の細部に押し付けた際には，この細部の形状に従って容易に撓むことができる。そのため，被加工物の細部の形状に合わせて，上記ヤスリ工具の角度に微調整を行う必要性が少ない。
【０００９】
そして，上記ヤスリ工具を撓ませた状態において，上記押付摺動手段によりヤスリ工具と被加工物とを相対的に移動させたときには，上記糸状芯材の外周表面に固着した砥粒により，被加工物の細部に対しても容易に研削を行うことができる。
それ故，上記研削装置によれば，被加工物の細部の研削を短時間かつ容易に行うことができる。
また，上記研削装置は，例えば，被加工物の細部に形成されたバリの除去，又は被加工物の細部における面取り等を行う際に用いることができる。
【００１０】
第２の発明は，アーム部と，該アーム部に設けた複数の工具支持部と，該複数の工具支持部の間に掛け渡されたヤスリ工具と，該ヤスリ工具を被加工物に押し付けた際に，該ヤスリ工具と上記被加工物とを相対的に移動させる押付摺動手段とを有し，上記ヤスリ工具は，可撓性の糸状芯材と，該糸状芯材の外周表面に固着された砥粒とよりなる研削装置を用いて，
上記ヤスリ工具を被加工物に押し付け，上記押付摺動手段により上記ヤスリ工具と上記被加工物とを相対的に移動させて研削を行うことを特徴とする研削方法にある（請求項６）。
【００１１】
本発明の研削方法は，上記優れた作用効果を有する第１の発明の研削装置を用いて，被加工物の研削を行う。
それ故，本発明の研削方法によっても，被加工物の細部の研削を短時間かつ容易に行うことができる。
【００１２】
【発明の実施の形態】
上述した本発明における好ましい実施の形態につき説明する。
上記第１，第２の発明において，上記押付摺動手段による上記ヤスリ工具と上記被加工物との相対的な移動は，ヤスリ工具又は被加工物のいずれかを，一方向だけに移動させる一方向移動であってもよく，両方向に往復するよう移動させる往復移動であってもよい。また，この相対的な移動は，上記往復移動の周期を小さくした振動により行ってもよい。
【００１３】
また，上記砥粒としては，例えば，ダイヤモンド砥粒，ＣＢＮ（カーボンボロンニトライド）砥粒，セラミック砥粒等を用いることができる。この場合，各砥粒の粒度は＃４０〜８００とすることが好ましい。また，上記糸状芯材への砥粒の固着は，例えば，電着により行うことができる。
また，上記糸状芯材としては，例えば，鉄よりなる各種の鋼材より製作することができ，針金，鋼線等を用いることができる。また，上記糸状芯材の横断面形状としては，丸，四角又は三角等の種々の形状とすることができる。
【００１４】
また，上記第１の発明において，上記糸状芯材は，その横断面積が０．１〜１００ｍｍ²であることが好ましい（請求項２）。
この場合には，糸状芯材の太さが最適であり，強度と，被加工物の細部への当接の容易さとのバランスがとれたヤスリ工具を形成することができる。
上記糸状芯材の横断面積が０．１ｍｍ²未満の場合には，ヤスリ工具が細くなり過ぎて，このヤスリ工具が強度的に弱くなるおそれがある。一方，この横断面積が１００ｍｍ²を超える場合には，ヤスリ工具が太くなり過ぎて，上記被加工物の細部にこのヤスリ工具を当接させることが困難になるおそれがある。
【００１５】
また，上記複数の工具支持部は複数のプーリよりなると共に，上記ヤスリ工具は上記複数のプーリの外周面に掛け渡されており，上記押付摺動手段は，上記ヤスリ工具を上記複数のプーリを回転させながら該複数のプーリの間を走行させる走行手段を有していることが好ましい（請求項３）。
この場合には，上記ヤスリ工具を上記被加工物に押し付けた状態で，上記走行手段により上記ヤスリ工具自体を上記被加工物に対して走行させることができる。そして，ヤスリ工具を被加工物の細部に対して押し付けた状態においても，このヤスリ工具の走行により，被加工物の細部の研削を容易に行うことができる。
【００１６】
また，上記走行手段によるヤスリ工具の走行は，ヤスリ工具を，一方向だけに走行させる一方向走行であってもよく，両方向に往復するよう走行させる往復走行であってもよい。また，ヤスリ工具の走行は，上記往復走行の周期を小さくした振動により行ってもよく，また，この振動を行いながら一方向走行もしくは往復走行を行ってもよい。
【００１７】
また，上記押付摺動手段は，上記ヤスリ工具と上記被加工物とを上記ヤスリ工具の横断面方向に相対的に移動させる横移動手段を有していることが好ましい（請求項４）。
この場合には，上記走行手段を用いる代わりに上記横移動手段を用いて，上記ヤスリ工具による被加工物の研削を行うことができる。また，この場合には，上記走行手段と上記横移動手段とを組み合わせて，ヤスリ工具による被加工物の研削を行うこともできる。
【００１８】
また，上記横移動手段により，上記ヤスリ工具を上記被加工物の細部の全体に容易に当接させて，研削を行うこともできる。また，この場合は，特に，上記研削を行う被加工物の細部の幅が，上記ヤスリ工具の直径又は最大幅に対して大きいときに有効である。
【００１９】
また，上記横移動手段による上記ヤスリ工具と上記被加工物との相対的な移動は，ヤスリ工具又は被加工物のいずれかを，一方向だけに移動させる一方向移動であってもよく，両方向に往復するよう移動させる往復移動であってもよい。また，この横移動手段による相対的な移動は，上記往復移動の周期を小さくした振動により行ってもよく，また，この振動を行いながら一方向移動もしくは往復移動を行ってもよい。
なお，上記ヤスリ工具の横断面方向とは，このヤスリ工具の長手方向に直交する方向をいう（以下同様）。
【００２０】
また，上記被加工物には，少なくとも１つの凹状に窪んだ溝部が形成されており，上記ヤスリ工具は，上記溝部の内部，端部もしくは周囲に当接させて用いることが好ましい（請求項５）。
このように，上記研削装置は，上記優れた性質により，上記ヤスリ工具を上記被加工物の細部としての溝部の内部，端部もしくは周囲に当接させて研削を行うことができる。
【００２１】
より具体的には，上記研削装置は，上記ヤスリ工具による研削により，上記被加工物の溝部における端部に形成されたバリの除去を行うことができる。また，上記研削装置は，記被加工物の溝部における端部の面取りを行うこともできる。
【００２２】
また，上記研削装置は，上記被加工物の溝部の内部に開口する貫通穴の開口端部に形成されたバリの除去，又はこの開口端部の面取りを行うこともできる。また，上記研削装置は，種々の形状を有する被加工物に形成された貫通穴とこれに交差して開口する交差貫通穴との交差部位に形成されたバリの除去，又はこの開口端部の面取りを行うこともできる。
なお，上記バリとは，各種の加工により被加工物の細部における端部に形成され，被加工物の正規寸法より突出した不要な部分をいう（以下同様）。
【００２３】
また，上記第２の発明において，上記糸状芯材は，その横断面積が０．１〜１００ｍｍ²であることが好ましい（請求項７）。
この場合には，糸状芯材の太さが最適であり，強度と，被加工物の細部への当接の容易さとのバランスがとれたヤスリ工具により，一層容易に上記被加工物の細部の研削を行うことができる。
なお，糸状芯材の横断面積の数値限定理由については上記と同様である。
【００２４】
また，上記複数の工具支持部は複数のプーリよりなると共に，上記ヤスリ工具は上記複数のプーリの外周面に掛け渡されており，上記ヤスリ工具を上記被加工物に押し付け，該ヤスリ工具を上記複数のプーリを回転させながら上記被加工物に対して走行させて研削を行うことが好ましい（請求項８）。
この場合には，上記と同様に，上記ヤスリ工具の走行により，被加工物の細部の研削を容易に行うことができる。
【００２５】
また，上記ヤスリ工具と上記被加工物とは，上記ヤスリ工具の横断面方向に相対的に移動させて研削を行うことが好ましい（請求項９）。
この場合には，上記と同様に，上記横移動手段により，被加工物の細部の研削を容易に行うことができる。
【００２６】
また，上記被加工物には，少なくとも１つの凹状に窪んだ溝部が形成されており，上記ヤスリ工具による研削により，上記溝部の内部，端部もしくは周囲に形成されたバリの除去，又は上記溝部の端部における面取りを行うことが好ましい（請求項１０）。
このように，上記研削方法は，上記研削装置の優れた性質により，上記ヤスリ工具を上記被加工物の細部としての溝部の内部，端部もしくは周囲に形成されたバリの除去，又は上記溝部の端部における面取りを行うことができる。
【００２７】
また，上記研削方法により，上記被加工物の溝部の内部に開口する貫通穴の開口端部に形成されたバリの除去，又はこの開口端部の面取りを行うこともできる。また，上記研削方法により，種々の形状を有する被加工物に形成された貫通穴とこれに交差して開口する交差貫通穴との交差部位に形成されたバリの除去，又はこの開口端部の面取りを行うこともできる。
【００２８】
【実施例】
以下に，図面を用いて本発明の研削装置及びこれを用いた研削方法にかかる実施例につき説明する。
（実施例１）
本例の研削装置１は，図３に示すごとく，アーム部３と，このアーム部３に設けた複数の工具支持部３１と，この複数の工具支持部３１の間に掛け渡されたヤスリ工具４と，このヤスリ工具４を被加工物５に押し付けた際に，ヤスリ工具４と被加工物５とを相対的に移動させる押付摺動手段２とを有している。
【００２９】
また，上記ヤスリ工具４は，図２に示すごとく，その横断面積Ａが０．１〜１００ｍｍ²である可撓性の糸状芯材４１と，この糸状芯材４１の外周表面４０１に固着された多数の砥粒４２とよりなる。
そして，本例では，図１に示すごとく，上記ヤスリ工具４を上記被加工物５に押し付け，上記押付摺動手段２によりヤスリ工具４と被加工物５とを相対的に移動させて研削を行う。
【００３０】
以下に，これを詳説する。
図１に示すごとく，本例の被加工物５は円筒状部材５であり，この円筒状部材５の外周５０１には，その軸方向Ｄに多数の溝部としての軸方向溝５１が形成されている。さらに，本例では，上記円筒状部材５の外周５０１には，上記多数の軸方向溝５１によるスプライン部が形成されている。そして，本例の研削装置１は，上記ヤスリ工具４により各軸方向溝５１における軸方向端部５１１に形成されたバリ５０の除去を行う。
また，図２に示すごとく，本例の糸状芯材４１は，その横断面形状が丸型である。また，この糸状芯材４１の外周表面４０１には，ダイヤモンドよりなる多数の砥粒４２を電着により固着した。
【００３１】
また，図３に示すごとく，本例の複数の工具支持部３１は複数のプーリ３１よりなると共に，上記ヤスリ工具４はその長手方向Ｌに上記複数のプーリ３１の外周面に掛け渡されている。また，上記アーム部３は，装置本体１１より突出して設けられており，その先端部３０１には２つに分岐した分岐先端部３２を有しており，各分岐先端部３２に上記プーリ３１が回動自在に配設してある。
また，ヤスリ工具４は，各プーリ３１の外周面に形成した外周溝より外れないよう所定のテンションを有して掛け渡されている。
【００３２】
また，本例の押付摺動手段２は，上記ヤスリ工具４を上記複数のプーリ３１を回転させながらこの複数のプーリ３１の間を走行させる走行手段２１と，上記被加工物５をヤスリ工具４の横断面方向Ｗに送る送り手段２２とを有している。また，ヤスリ工具４は，上記被加工物５に対して上下に移動可能である。
【００３３】
また，図３に示すごとく，本例の走行手段２１は，上記ヤスリ工具４を巻き取る巻取り部２１１と，上記ヤスリ工具４を送る送り部２１２とより構成されている。また，これら巻取り部２１１及び送り部２１２は上記装置本体１１に設けてあり，ヤスリ工具４は，各プーリ３１を介して巻取り部２１１と送り部２１２とに掛け渡されている。そして，巻取り部２１１によりヤスリ工具４を引っ張ったときには，送り部２１２は，ヤスリ工具４に所定のテンションを与えて，巻取り部２１１の回転に従動して回転する。
【００３４】
また，本例の送り手段２２は，上記被加工物５を設置してこれを回転させる回転台２２１により構成されている。この回転台２２１には，上記円筒状部材５の内周５０２をクランプするクランプ部２２２が設けてある。
【００３５】
図１に示すごとく，上記被加工物５における各軸方向溝５１の円周方向の幅Ｂは，上記ヤスリ工具４の直径よりも大きい。そのため，本例では，上記巻取り部２１１及び送り部２１２によりヤスリ工具４を走行させると共に，上記回転台２２１により上記被加工物５における各軸方向溝５１を上記ヤスリ工具４の横断面方向Ｗに移動させて，各軸方向溝５１の軸方向端部５１１に形成されたバリ５０の除去を行う。
【００３６】
なお，本例では，上記走行手段２１により，上記ヤスリ工具４は，６００〜３００００ｍｍ／ｍｉｎの速度で走行させた。また，上記送り手段２２としての回転台２２１は０．１〜６０ｒｐｍの回転数で回転させ，上記被加工物５は，上記ヤスリ工具４の横断面方向Ｗに６〜６００ｍｍ／ｍｉｎの速度で送りを行った。
【００３７】
以下に，上記研削装置１を用いて被加工物５に形成されたバリ５０の除去を行うための研削方法及びこれによって奏される作用効果につき説明する。
まず，上記被加工物５を上記回転台２２１に設置し，被加工物５の軸方向溝５１を上記ヤスリ工具４に対向させる。そして，図１に示すごとく，上記ヤスリ工具４を上記回転台２２１に対して下降させ，上記各プーリ３１の間に位置するやすり工具の部分４０を上記軸方向溝５１の軸方向端部５１１に形成されたバリ５０に押し付ける。
【００３８】
そして，ヤスリ工具４を上記走行手段２１によりその長手方向Ｌに走行させると共に，上記回転台２２１を回転させて上記軸方向溝５１を上記ヤスリ工具４の横断面方向Ｗに移動させる。これにより，上記軸方向溝５１の軸方向端部５１１に形成されたバリ５０の除去を行うことができる。
そして，このバリ５０の除去を行った後には，ヤスリ工具４を被加工物５に対して上昇させると共に，上記回転台２２１を回転させて上記バリ５０の除去を行った軸方向溝５１に隣接する次の軸方向溝５１をヤスリ工具４に対向させる。その後，上記ヤスリ工具４を被加工物５に対して下降させ，以降同様にして各軸方向溝５１の軸方向端部５１１に形成されたバリ５０の除去を行う。
【００３９】
上記のごとく，上記ヤスリ工具４は，糸状芯材４１を母材として形成されている。そのため，上記被加工物５における各軸方向溝５１の軸方向端部５１１に形成されたバリ５０に対して，容易に当接させることができる。そして，上記ヤスリ工具４は，上記各プーリ３１の間で所定のテンションを有して撓むことができる。そのため，例えば，上記各軸方向溝５１の軸方向端部５１１に形成されたバリ５０の大きさ，形状等にばらつきがある場合でも，上記軸方向端部５１１へのヤスリ工具４の角度の微調整を特別に行うことが不要である。
【００４０】
そして，上記ヤスリ工具４を撓ませた状態において，ヤスリ工具４を走行させると共に軸方向溝５１をヤスリ工具４の横断面方向Ｗに移動させたときには，上記糸状芯材４１の外周表面４０１に固着した砥粒４２により，上記軸方向溝５１の軸方向端部５１１に形成されたバリ５０の除去を容易に行うことができる。
それ故，上記研削装置１によれば，被加工物５における各軸方向溝５１の軸方向端部５１１に形成されたバリ５０の除去を短時間かつ容易に行うことができる。
【００４１】
なお，上記バリ５０の除去を行う際には，被加工物５の端部に対して面取りを行っておくこともできる。この場合には，ヤスリ工具４によって深く研削を行うことができ，上記バリ５０の除去が一層容易になる。
また，上記研削装置１は，多関節ロボット（図示略）の先端部に取り付け，任意の位置に移動させて研削を行うことができる。また，この場合には，上記送り手段２２は，上記多関節ロボットの移動により研削装置１に設けたヤスリ工具４を移動させることによって実現することができる。
【００４２】
また，本例においては，上記走行手段２１としての上記巻取り部２１１及び送り部２１２により，上記ヤスリ工具４を一方向に走行させて研削を行った。一方で，上記走行手段２１は，上記巻取り部２１１及び送り部２１２の代わりに正逆両回転が可能な一対の回転部とすることもできる。この場合には，一対の回転部により，ヤスリ工具４をその長手方向Ｌに往復走行させて研削を行うことができる。
【００４３】
また，図４に示すごとく，上記ヤスリ工具４は，上記巻取り部２１１，上記送り部２１２及び上記複数のプーリ３１の間に一巡させて掛け渡したものとすることもできる。この場合には，この一巡したヤスリ工具４は，ほぼ完全に摩耗するまで（砥粒４２のほとんどが脱落するまで）何度も被加工物５に対して走行させて使用することができる。
【００４４】
また，上記ヤスリ工具４をその長手方向Ｌに走行させる走行手段２１に代えて，ヤスリ工具４をその横断面方向Ｗに移動させる横移動手段（図示略）により，上記被加工物５の研削を行ってもよい。この場合には，例えば上記横移動手段によりヤスリ工具４を横断面方向Ｗに振動させることによって研削を行うことができる。
また，上記研削装置１による研削は，上記走行手段２１と上記横移動手段とを組み合わせて行ってもよい。
【００４５】
また，本例においては，上記被加工物５は，円筒状部材５の外周５０１に多数の軸方向溝５１を有するスプライン部が形成されたものとした。一方で，図５に示すごとく，被加工物５は，円筒状部材５の内周５０２に多数の軸方向溝５１を有するものとすることもできる。また，同図に示すごとく，上記研削装置１により，軸方向溝５１の内部に開口する貫通穴５１２の開口端部５１３に形成されたバリ５０の除去を行うこともできる。
【００４６】
また，被加工物５は，円形状部材の外周５０１に歯面を有する各種歯車，又は円環状部材５の内周５０２に歯面を有する内歯車等の歯面における谷部の研削を行うこともできる。
また，図６に示すごとく，上記研削装置１によれば，被加工物５の軸方向Ｄの端面５０３に形成された端面溝５２に対しても上記研削を行うことができる。
【００４７】
なお，上記円筒状部材５の内周５０２に形成した軸方向溝５１，又は上記内歯車の歯面を研削する場合には，図７に示すごとく，複数のプーリ３１に掛け渡されたヤスリ工具４の巻取り側４０１及び送り側４０２の両部分を，円筒状部材５の内周５０２に配設して研削を行うことができる。
また，上記円筒状部材５の内周５０２に形成した軸方向溝５１の内部に開口する貫通穴５１２の開口端部５１３を研削する場合には，図８に示すごとく，ヤスリ工具４のプーリ３１の外周に位置する部分４０４を当接させて研削を行うことができる。
【００４８】
（実施例２）
本例は，図９に示すごとく，上記研削装置１により，種々の形状を有する被加工物５に形成された貫通穴５３とこれに交差して開口する交差貫通穴５４との交差部位５５に形成されたバリ５０の除去を行う例である。本例では，特に上記交差貫通穴５４の開口端部５４１に形成されたバリ５０の除去を行う。
【００４９】
本例においては，上記研削装置１は，ヤスリ工具４をその端部４０３から上記貫通穴５３に挿通させるための挿通手段３３を有している。この挿通手段３３は，貫通穴５３の一方の端部に位置させる掛渡し部３３１と，貫通穴５３の他方の端部に位置させる受取り部３３２とを有している。そして，図１０に示すごとく，ヤスリ工具４の貫通穴５３への挿通は，上記送り部２１２を回転させて，上記掛渡し部３３１よりヤスリ工具４の端部４０３を上記受取り部３３２へと押し出し，これを上記巻取り部２１１により巻き取ることによって行うことができる。
【００５０】
その後，上記バリ５０の除去は，ヤスリ工具４を被加工物５に対して走行させると共に，被加工物５を貫通穴５３を中心にして回転させるもしくはヤスリ工具４を被加工物５の周囲に回転させることによって行うことができる。
その他の構成は上記実施例１と同様であり，上記実施例１と同様の作用効果を得ることができる。
【図面の簡単な説明】
【図１】実施例１における，ヤスリ工具により被加工物の軸方向溝に形成されたバリの除去を行っている状態の研削装置を示す斜視説明図。
【図２】実施例１における，ヤスリ工具を示す説明図。
【図３】実施例１における，研削装置及び回転台に設置した被加工物を示す説明図。
【図４】実施例１における，一巡したヤスリ工具を用いた研削装置及び回転台に設置した被加工物を示す説明図。
【図５】実施例１における，円筒状部材の内周に軸方向溝を形成した被加工物を示す斜視説明図。
【図６】実施例１における，円筒状部材の軸方向端面に溝部を形成した被加工物を示す斜視説明図。
【図７】実施例１における，円筒状部材の内周に形成した軸方向溝の研削を行っている状態の他の研削装置を示す説明図。
【図８】実施例１における，円筒状部材の内周に形成した軸方向溝に開口する貫通穴の開口端部の研削を行っている状態の他の研削装置を示す説明図。
【図９】実施例２における，被加工物における貫通穴と交差貫通穴との交差部位に形成されたバリの除去を行っている状態の研削装置を示す説明図。
【図１０】実施例２における，ヤスリ工具を貫通穴へ挿通している状態の研削装置及び被加工物を示す説明図。
【符号の説明】
１．．．研削装置，
２．．．押付摺動手段，
２１．．．走行手段，
２２．．．送り手段，
３．．．アーム部，
３１．．．工具支持部（プーリ），
４．．．ヤスリ工具，
４１．．．糸状芯材，
４２．．．砥粒，
５．．．被加工物（円筒状部材），
５０．．．バリ，
５１．．．軸方向溝，
５１１．．．軸方向端部，[0001]
【Technical field】
The present invention relates to a grinding apparatus and a grinding method capable of grinding details of a workpiece.
[0002]
[Prior art]
For example, burrs generated on a workpiece by performing various processes are removed by grinding using a tool such as a grindstone or a file. In particular, if the position where the burr is generated is a detail of the workpiece, it is difficult to remove the burr by an automatic device such as a robot, and the burr is removed by a worker.
[0003]
As an apparatus for removing burrs using a grindstone of a grinder provided in a robot, for example, there is an apparatus disclosed in Patent Literature 1. In addition, the apparatus is used to cut off a workpiece by attaching free abrasive grains to the surface. For example, Japanese Patent Application Laid-Open Publication No. HEI 11-163873 discloses a thread-like tool used for the above.
[0004]
[Patent Document 1]
JP-A-11-28663 [Patent Document 2]
JP 10-34646 A [0005]
[Problem to be solved]
However, for example, when a cylindrical member having a spline portion on the outer periphery or the inner periphery is a workpiece, the tool itself is removed from burrs formed at each axial end of the valley in the spline portion. It is difficult to make contact. Further, the operator performs the grinding while finely adjusting the angle of the tool visually in accordance with the size and shape of the burr. Therefore, it takes time to remove the burrs.
Therefore, it is difficult to remove the burrs generated in the details of the workpiece by the grinding using the conventional tool, and it is difficult to reduce the time required for removing the burrs.
[0006]
The present invention has been made in view of such conventional problems, and an object of the present invention is to provide a grinding apparatus and a grinding method that can easily and quickly grind the details of a workpiece.
[0007]
[Means for solving the problem]
According to a first aspect of the present invention, an arm, a plurality of tool supports provided on the arm, a file tool bridged between the plurality of tool supports, and the file tool are pressed against a workpiece. At this time, it has pressing sliding means for relatively moving the file tool and the workpiece.
The grinding tool according to claim 1, wherein the file tool comprises a flexible thread-shaped core material and abrasive grains fixed to an outer peripheral surface of the thread-shaped core material.
[0008]
The grinding device of the present invention has a file tool bridged between the plurality of tool supports. Further, since the file tool is formed using the thread-like core material as a base material, it can be easily brought into contact with details such as a concave portion or a hole formed in the workpiece.
Further, since the above-mentioned file tool is flexible, it can be easily bent according to the shape of the details when pressed against the details of the workpiece, for example. Therefore, it is less necessary to finely adjust the angle of the file tool according to the shape of the detail of the workpiece.
[0009]
And, when the file tool and the workpiece are relatively moved by the pressing and sliding means in a state where the file tool is bent, the workpiece is processed by the abrasive grains fixed to the outer peripheral surface of the thread-shaped core material. Grinding can be easily performed even on the details of the object.
Therefore, according to the above-mentioned grinding device, it is possible to easily and quickly grind the details of the workpiece.
Further, the above-described grinding apparatus can be used, for example, when removing burrs formed on details of a workpiece or chamfering the details of the workpiece.
[0010]
According to a second aspect of the present invention, an arm, a plurality of tool supports provided on the arm, a file tool bridged between the plurality of tool supports, and the file tool are pressed against the workpiece. At this time, there is provided pressing and sliding means for relatively moving the file tool and the workpiece, and the file tool is fixed to a flexible thread-like core material and an outer peripheral surface of the thread-like core material. Using a grinding device consisting of
The grinding method is characterized in that the file tool is pressed against a workpiece and grinding is performed by relatively moving the file tool and the workpiece by the pressing and sliding means.
[0011]
According to the grinding method of the present invention, a workpiece is ground by using the grinding apparatus of the first invention having the above-mentioned excellent effects.
Therefore, according to the grinding method of the present invention, it is possible to quickly and easily grind the details of the workpiece.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
A preferred embodiment of the present invention described above will be described.
In the first and second inventions, the relative movement between the file tool and the workpiece by the pressing / sliding means includes moving one of the file tool and the workpiece in only one direction. It may be a directional movement, or a reciprocating movement for reciprocating in both directions. Further, the relative movement may be performed by a vibration in which the cycle of the reciprocating movement is reduced.
[0013]
Further, as the abrasive grains, for example, diamond abrasive grains, CBN (carbon boron nitride) abrasive grains, ceramic abrasive grains, and the like can be used. In this case, it is preferable that the particle size of each abrasive grain is # 40 to 800. Further, the abrasive grains can be fixed to the thread-like core material by, for example, electrodeposition.
Further, as the above-mentioned thread-shaped core material, for example, it can be manufactured from various steel materials made of iron, and wire, steel wire, and the like can be used. Further, the cross-sectional shape of the thread-like core material can be various shapes such as a circle, a square, or a triangle.
[0014]
In the first invention, it is preferable that the cross-sectional area of the thread-shaped core material is 0.1 to 100 mm ² (Claim 2).
In this case, the thickness of the thread core material is optimal, and a file tool can be formed that balances strength with ease of contact with details of the workpiece.
If the cross-sectional area of the thread-shaped core material is less than 0.1 mm ² , the file tool becomes too thin, and the file tool may be weak in strength. On the other hand, if the cross-sectional area exceeds 100 mm ² , the file tool may be too thick, and it may be difficult to bring the file tool into contact with the details of the workpiece.
[0015]
The plurality of tool supports are formed of a plurality of pulleys, and the file tool is stretched over the outer peripheral surface of the plurality of pulleys. It is preferable to have traveling means for traveling between the plurality of pulleys while rotating (claim 3).
In this case, the traveling tool can cause the file tool itself to travel with respect to the workpiece while the file tool is pressed against the workpiece. Even when the file tool is pressed against the details of the work, the details of the work can be easily ground by running the file tool.
[0016]
The traveling of the file tool by the traveling means may be one-way traveling in which the file tool travels only in one direction, or reciprocating traveling in which the file tool travels in both directions. In addition, the traveling of the file tool may be performed by vibration in which the cycle of the reciprocating travel is reduced, or one-way traveling or reciprocating traveling may be performed while performing the vibration.
[0017]
Further, it is preferable that the pressing and sliding means includes a lateral moving means for relatively moving the file tool and the workpiece in a cross sectional direction of the file tool.
In this case, the workpiece can be ground by the file tool using the lateral moving means instead of using the traveling means. Further, in this case, the workpiece can be ground by a file tool by combining the traveling means and the lateral moving means.
[0018]
Further, the lateral moving means allows the file tool to be easily brought into contact with the entire details of the workpiece to perform grinding. This case is particularly effective when the width of the details of the workpiece to be ground is larger than the diameter or the maximum width of the file tool.
[0019]
The relative movement between the file tool and the workpiece by the lateral moving means may be a one-way movement of moving either the file tool or the workpiece in only one direction. It may be a reciprocating movement for reciprocating. Further, the relative movement by the lateral movement means may be performed by vibration in which the cycle of the reciprocation is reduced, or one-way movement or reciprocation may be performed while performing the vibration.
The cross-sectional direction of the file tool is a direction perpendicular to the longitudinal direction of the file tool (the same applies hereinafter).
[0020]
Preferably, at least one concave groove is formed in the workpiece, and the file tool is preferably used in contact with the inside, end, or periphery of the groove. ).
As described above, the above-mentioned grinding apparatus can perform grinding by bringing the above-mentioned file tool into contact with the inside, the end, or the periphery of the groove as the detail of the workpiece due to the above-mentioned excellent properties.
[0021]
More specifically, the grinding device can remove burrs formed at the end of the groove of the workpiece by grinding with the file tool. In addition, the grinding device can chamfer the end of the groove of the workpiece.
[0022]
Further, the grinding device can also remove burrs formed at the open end of the through-hole opening inside the groove of the workpiece, or chamfer the open end. Further, the above-mentioned grinding apparatus removes burrs formed at the intersection of a through hole formed in a workpiece having various shapes and a cross through hole which crosses and opens the hole, or removes the end of the opening. Chamfering can also be performed.
Note that the burr is an unnecessary portion formed at an end portion in the detail of the workpiece by various processes and protruding from a regular dimension of the workpiece (the same applies hereinafter).
[0023]
In the second invention, it is preferable that the thread-shaped core material has a cross-sectional area of 0.1 to 100 mm ² (Claim 7).
In this case, the thickness of the thread-shaped core material is optimal, and a file tool that balances strength with ease of contact with the details of the work piece makes it easier to remove the details of the work piece. Grinding can be performed.
The reason for limiting the numerical value of the cross-sectional area of the thread-like core material is the same as above.
[0024]
The plurality of tool supports are formed of a plurality of pulleys, and the file tool is stretched over the outer peripheral surfaces of the plurality of pulleys. The file tool is pressed against the workpiece, and the file tool is pressed. It is preferable that the grinding is performed by rotating the plurality of pulleys while traveling the workpiece.
In this case, similarly to the above, the grinding of the details of the workpiece can be easily performed by running the file tool.
[0025]
Preferably, the grinding is performed by relatively moving the file tool and the workpiece in a cross-sectional direction of the file tool.
In this case, similarly to the above, it is possible to easily grind the details of the workpiece by the lateral moving means.
[0026]
The workpiece has at least one recessed groove formed therein, and the burrs formed inside, at, or around the groove are removed by grinding with the file tool, or the groove is formed. It is preferable to perform chamfering at the end of (Claim 10).
As described above, the above-mentioned grinding method uses the excellent properties of the above-mentioned grinding device to remove the burr formed inside, at the end or around the groove as a detail of the workpiece, or to remove the above-mentioned groove due to the excellent properties of the above-mentioned grinding device. Chamfering at the ends can be performed.
[0027]
Further, by the above-mentioned grinding method, it is also possible to remove burrs formed at the opening end of the through-hole opening inside the groove of the workpiece or to chamfer the opening end. Also, by the above-mentioned grinding method, removal of burrs formed at the intersection of a through hole formed in a workpiece having various shapes and an intersecting through hole intersecting with the through hole, or removal of an end of the opening. Chamfering can also be performed.
[0028]
【Example】
Hereinafter, embodiments of a grinding apparatus of the present invention and a grinding method using the same will be described with reference to the drawings.
(Example 1)
As shown in FIG. 3, the grinding apparatus 1 of this embodiment includes an arm 3, a plurality of tool supports 31 provided on the arm 3, and a file tool hung between the plurality of tool supports 31. 4 and pressing and sliding means 2 for relatively moving the file tool 4 and the workpiece 5 when the file tool 4 is pressed against the workpiece 5.
[0029]
As shown in FIG. 2, the file tool 4 is fixed to a flexible thread core 41 having a cross-sectional area A of 0.1 to 100 mm ² and an outer peripheral surface 401 of the thread core 41. It comprises a large number of abrasive grains 42.
In this example, as shown in FIG. 1, the file tool 4 is pressed against the workpiece 5 and the pressing and sliding means 2 moves the file tool 4 and the workpiece 5 relatively to perform grinding. Do.
[0030]
The details are described below.
As shown in FIG. 1, the workpiece 5 of the present embodiment is a cylindrical member 5, and the outer periphery 501 of the cylindrical member 5 is formed with a large number of axial grooves 51 in the axial direction D thereof. I have. Further, in this example, a spline portion is formed on the outer periphery 501 of the cylindrical member 5 by the large number of axial grooves 51. Then, the grinding apparatus 1 of the present embodiment removes the burrs 50 formed at the axial ends 511 of the respective axial grooves 51 by the above-mentioned file tool 4.
Further, as shown in FIG. 2, the thread-shaped core material 41 of the present example has a round cross-sectional shape. Further, a large number of abrasive grains 42 made of diamond were fixed to the outer peripheral surface 401 of the thread-shaped core material 41 by electrodeposition.
[0031]
Further, as shown in FIG. 3, the plurality of tool supports 31 of the present example are composed of a plurality of pulleys 31, and the file tool 4 is stretched over the outer peripheral surfaces of the plurality of pulleys 31 in the longitudinal direction L thereof. . The arm 3 is provided so as to protrude from the apparatus main body 11, and has a tip 301 having a branch tip 32 branched into two, and the pulley 31 is attached to each branch tip 32. It is arranged rotatably.
Further, the file tool 4 is stretched with a predetermined tension so as not to come off from the outer peripheral groove formed on the outer peripheral surface of each pulley 31.
[0032]
Further, the pressing and sliding means 2 of this embodiment includes a traveling means 21 for moving the file tool 4 between the plurality of pulleys 31 while rotating the plurality of pulleys 31, and a moving tool 21 for moving the workpiece 5 to the file tool 4. And feeding means 22 for feeding in the cross-sectional direction W. Further, the file tool 4 can move up and down with respect to the workpiece 5.
[0033]
As shown in FIG. 3, the traveling means 21 of the present embodiment includes a winding unit 211 that winds up the file tool 4 and a feed unit 212 that sends the file tool 4. The winding section 211 and the feeding section 212 are provided in the apparatus main body 11, and the file tool 4 is stretched between the winding section 211 and the feeding section 212 via each pulley 31. Then, when the file tool 4 is pulled by the winding unit 211, the feeding unit 212 applies a predetermined tension to the file tool 4 and rotates following the rotation of the winding unit 211.
[0034]
Further, the feeding means 22 of the present example is constituted by a turntable 221 for installing and rotating the workpiece 5. The turntable 221 is provided with a clamp part 222 for clamping the inner periphery 502 of the cylindrical member 5.
[0035]
As shown in FIG. 1, the circumferential width B of each axial groove 51 in the workpiece 5 is larger than the diameter of the file tool 4. For this reason, in this example, the file tool 4 is caused to travel by the winding section 211 and the feed section 212, and each of the axial grooves 51 in the workpiece 5 is formed by the rotary table 221 in the cross-sectional direction W of the file tool 4. To remove the burrs 50 formed at the axial ends 511 of the respective axial grooves 51.
[0036]
In this example, the traveling tool 21 causes the file tool 4 to travel at a speed of 600 to 30000 mm / min. The rotary table 221 as the feeding means 22 is rotated at a rotation speed of 0.1 to 60 rpm, and the workpiece 5 is fed at a speed of 6 to 600 mm / min in the cross-sectional direction W of the file tool 4. Was done.
[0037]
Hereinafter, a grinding method for removing the burr 50 formed on the workpiece 5 using the above-described grinding apparatus 1 and an operation and effect provided thereby will be described.
First, the workpiece 5 is placed on the turntable 221, and the axial groove 51 of the workpiece 5 is opposed to the file tool 4. Then, as shown in FIG. 1, the file tool 4 is lowered with respect to the turntable 221, and the file tool portion 40 located between the pulleys 31 is attached to the axial end 511 of the axial groove 51. It presses against the formed burr 50.
[0038]
Then, the file tool 4 is caused to travel in the longitudinal direction L by the traveling means 21, and the rotary table 221 is rotated to move the axial groove 51 in the cross-sectional direction W of the file tool 4. Thereby, the burr 50 formed on the axial end 511 of the axial groove 51 can be removed.
After the burrs 50 are removed, the file tool 4 is raised with respect to the workpiece 5 and the rotary table 221 is rotated so as to be adjacent to the axial groove 51 from which the burrs 50 have been removed. The next axial groove 51 is made to face the file tool 4. Thereafter, the file tool 4 is lowered with respect to the workpiece 5, and thereafter, burrs 50 formed on the axial ends 511 of the axial grooves 51 are removed in the same manner.
[0039]
As described above, the file tool 4 is formed using the thread-like core material 41 as a base material. Therefore, the burrs 50 formed at the axial ends 511 of the axial grooves 51 in the workpiece 5 can be easily brought into contact with the burrs 50. Then, the file tool 4 can be bent with a predetermined tension between the respective pulleys 31. Therefore, for example, even if the size, shape, and the like of the burr 50 formed at the axial end 511 of each axial groove 51 vary, the angle of the file tool 4 with respect to the axial end 511 is small. No special adjustment is required.
[0040]
In a state where the file tool 4 is deflected, when the file tool 4 is run and the axial groove 51 is moved in the cross-sectional direction W of the file tool 4, it is fixed to the outer peripheral surface 401 of the thread-like core material 41. The burrs 50 formed at the axial ends 511 of the axial grooves 51 can be easily removed by the abrasive grains 42 thus formed.
Therefore, according to the grinding device 1, the burrs 50 formed at the axial ends 511 of the axial grooves 51 in the workpiece 5 can be easily and quickly removed.
[0041]
When removing the burr 50, the end of the workpiece 5 may be chamfered. In this case, deep grinding can be performed by the file tool 4, and the removal of the burr 50 is further facilitated.
Further, the grinding device 1 can be mounted on the tip of an articulated robot (not shown) and moved to an arbitrary position to perform grinding. In this case, the feed means 22 can be realized by moving the file tool 4 provided in the grinding device 1 by moving the articulated robot.
[0042]
In this example, the winding tool 211 and the feeder 212 as the running means 21 perform the grinding by moving the file tool 4 in one direction. On the other hand, the traveling unit 21 may be a pair of rotating units capable of both forward and reverse rotations instead of the winding unit 211 and the feeding unit 212. In this case, the grinding can be performed by reciprocating the file tool 4 in the longitudinal direction L by the pair of rotating parts.
[0043]
Further, as shown in FIG. 4, the file tool 4 may be formed so as to loop around the winding section 211, the feeding section 212 and the plurality of pulleys 31. In this case, the file tool 4 that has completed the cycle can be used by repeatedly traveling with respect to the workpiece 5 many times until it is almost completely worn (until most of the abrasive grains 42 fall off).
[0044]
In addition, instead of the traveling means 21 for moving the file tool 4 in the longitudinal direction L, the workpiece 5 is ground by a lateral moving means (not shown) for moving the file tool 4 in the cross-sectional direction W. May go. In this case, the grinding can be performed by, for example, vibrating the file tool 4 in the transverse sectional direction W by the above-mentioned lateral moving means.
Further, the grinding by the grinding device 1 may be performed by combining the traveling means 21 and the lateral moving means.
[0045]
In this example, the workpiece 5 has a spline portion having a large number of axial grooves 51 formed on the outer periphery 501 of the cylindrical member 5. On the other hand, as shown in FIG. 5, the workpiece 5 may have a large number of axial grooves 51 on the inner periphery 502 of the cylindrical member 5. Further, as shown in the figure, the burr 50 formed at the opening end 513 of the through hole 512 opening inside the axial groove 51 can be removed by the grinding device 1.
[0046]
In addition, the work 5 is used to grind a valley portion on a tooth surface of various gears having a tooth surface on an outer periphery 501 of a circular member or an internal gear having a tooth surface on an inner periphery 502 of the annular member 5. You can also.
Further, as shown in FIG. 6, according to the grinding apparatus 1, the above-described grinding can be performed also on the end face groove 52 formed on the end face 503 in the axial direction D of the workpiece 5.
[0047]
When the axial groove 51 formed on the inner periphery 502 of the cylindrical member 5 or the tooth surface of the internal gear is ground, a file tool hung over a plurality of pulleys 31 as shown in FIG. 4 can be disposed on the inner circumference 502 of the cylindrical member 5 for grinding.
When grinding the open end 513 of the through hole 512 opening inside the axial groove 51 formed on the inner periphery 502 of the cylindrical member 5, as shown in FIG. Grinding can be performed by bringing the portion 404 located on the outer periphery of the abutment into contact.
[0048]
(Example 2)
In this example, as shown in FIG. 9, the above-described grinding device 1 is used to form a crossing portion 55 between a through-hole 53 formed in a workpiece 5 having various shapes and a cross-through hole 54 which opens to cross the hole. This is an example in which formed burrs 50 are removed. In this example, the burrs 50 formed at the opening end 541 of the cross through hole 54 are particularly removed.
[0049]
In the present embodiment, the grinding device 1 has an insertion means 33 for inserting the file tool 4 from the end 403 into the through hole 53. The insertion means 33 has a bridging part 331 located at one end of the through hole 53 and a receiving part 332 located at the other end of the through hole 53. Then, as shown in FIG. 10, when the file tool 4 is inserted into the through hole 53, the feed part 212 is rotated, and the end part 403 of the file tool 4 is pushed out from the bridging part 331 to the receiving part 332. This can be performed by winding up by the winding unit 211.
[0050]
Thereafter, to remove the burr 50, the file tool 4 is caused to travel with respect to the workpiece 5, and the workpiece 5 is rotated around the through hole 53 or the file tool 4 is moved around the workpiece 5. This can be done by rotating.
Other configurations are the same as those of the first embodiment, and the same operation and effects as those of the first embodiment can be obtained.
[Brief description of the drawings]
FIG. 1 is a perspective explanatory view showing a grinding device according to a first embodiment in which a burr formed in an axial groove of a workpiece is removed by a file tool;
FIG. 2 is an explanatory view showing a file tool according to the first embodiment.
FIG. 3 is an explanatory view showing a grinding device and a workpiece set on a turntable according to the first embodiment.
FIG. 4 is an explanatory view showing a grinding device using a file tool and a workpiece set on a turntable according to the first embodiment.
FIG. 5 is an explanatory perspective view showing a workpiece in which an axial groove is formed on an inner periphery of a cylindrical member in the first embodiment;
FIG. 6 is a perspective explanatory view showing a workpiece in which a groove is formed in an axial end surface of a cylindrical member in the first embodiment;
FIG. 7 is an explanatory view showing another grinding apparatus in Embodiment 1 in which an axial groove formed on the inner periphery of the cylindrical member is being ground.
FIG. 8 is an explanatory view showing another grinding apparatus in Embodiment 1 in which an opening end of a through hole that opens in an axial groove formed in the inner periphery of the cylindrical member is being ground.
FIG. 9 is an explanatory view showing a grinding apparatus in a state in which burrs formed at intersections of a through hole and a cross through hole in a workpiece are removed according to a second embodiment.
FIG. 10 is an explanatory view showing a grinding apparatus and a workpiece in a state in which a file tool is inserted into a through hole according to the second embodiment.
[Explanation of symbols]
1. . . Grinding equipment,
2. . . Pressing and sliding means,
21. . . Traveling means,
22. . . Sending means,
3. . . Arm,
31. . . Tool support (pulley),
4. . . File tool,
41. . . Thread core material,
42. . . Abrasive,
5. . . Workpiece (cylindrical member),
50. . . Bari,
51. . . Axial grooves,
511. . . Axial end,

Claims

An arm, a plurality of tool supports provided on the arm, a file tool bridged between the plurality of tool supports, and a file tool when the file tool is pressed against a workpiece. And pressing and sliding means for relatively moving the workpiece.
The grinding device according to claim 1, wherein the file tool comprises a flexible thread-shaped core material and abrasive grains fixed to an outer peripheral surface of the thread-shaped core material.

^{2. The} grinding device according to claim 1, wherein the thread core material has a cross-sectional area of 0.1 to 100 mm < ² >.

3. The method according to claim 1, wherein the plurality of tool supports are formed of a plurality of pulleys, and the file tool is stretched over the outer peripheral surface of the plurality of pulleys.
The grinding device according to claim 1, wherein the pressing and sliding means includes a traveling means for causing the file tool to travel between the plurality of pulleys while rotating the plurality of pulleys.

The pressing and sliding means according to any one of claims 1 to 3, wherein the pressing and sliding means has a lateral moving means for relatively moving the file tool and the workpiece in a cross-sectional direction of the file tool. Grinding device characterized by the above-mentioned.

The work according to any one of claims 1 to 4, wherein the workpiece has at least one concave groove.
A grinding device, wherein the file tool is used in contact with the inside, the end, or the periphery of the groove.

An arm, a plurality of tool supports provided on the arm, a file tool bridged between the plurality of tool supports, and a file tool when the file tool is pressed against a workpiece. And a pressing sliding means for relatively moving the workpiece and the workpiece. The file tool comprises a flexible thread-shaped core material and abrasive grains fixed to an outer peripheral surface of the thread-shaped core material. Using a grinding machine
A grinding method characterized in that the file tool is pressed against a workpiece and grinding is performed by relatively moving the file tool and the workpiece by the pressing and sliding means.

7. The grinding method according to claim 6, wherein the thread-shaped core material has a cross-sectional area of 0.1 to 100 mm < ² >.

In claim 6 or 7, the plurality of tool supports are formed of a plurality of pulleys, and the file tool is extended over the outer peripheral surface of the plurality of pulleys.
A grinding method, wherein the grinding tool is pressed against the workpiece, and the grinding tool is run on the workpiece while rotating the plurality of pulleys to perform grinding.

The grinding method according to any one of claims 6 to 8, wherein the file and the workpiece are relatively moved in a cross-sectional direction of the file to perform the grinding.

The method according to any one of claims 6 to 9, wherein the workpiece is formed with at least one concave groove.
A grinding method, comprising: removing a burr formed inside, at, or around the groove, or chamfering an end of the groove by grinding with the file tool.