To solve a problem that, in the conventional deburring of a core or the like, a shape of a workpiece is complicated, skill is indispensable, and thus, deburring generally depends on manual work, on the other hand, a deburring device using a robot or the like has been developed recently which performs the deburring by teaching and moving a tool attached to the robot or the like along burrs of the workpiece, however, teaching data of the tool is obtained by an experience and an intuition of a worker, thus causing the lack of accuracy.SOLUTION: A core deburring device is moved on the basis of data which is obtained by a teaching tool. An round bar tool and a cutting blade tool are exchanged in accordance with a shape of a workpiece, and a push-in amount conforming to positional displacement of the workpiece, a temperature change, a wear amount of the tool, and the shape of the workpiece is corrected to reference data, and thereby, highly-accurate deburring can be performed.SELECTED DRAWING: Figure 1
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