A manufacturing method of a casing includes a step of preparing a casing forming member that includes a casing body forming portion which is formed in a tubular shape and a protruding portion forming portion which protrudes from the casing body forming portion toward an outer side in a radial direction, a step of placing the casing forming member on a table which is rotatable about a table axis which extends in a vertical direction and disposing a tool which is rotatable about a tool axis on an inner side of the casing forming member in the radial direction, and a step of forming the casing by performing cutting an inner circumferential surface of the casing forming member with the tool while rotating the table about the table axis together with the casing forming member and rotating the tool about the tool axis.

A deburring device includes a deburring tool for removing burrs from an object, a robot for moving an object or the tool, a force sensor for detecting force acting on the tool, and a visual sensor for detecting a position of a burr portion of the object. According to the deburring device, information regarding shape data of the burr portion and a posture of the tool is obtained beforehand based on three-dimensional data of the object. Based on the shape data and the posture of the tool, a robot program is created. In accordance with an actual burr portion detected by the visual sensor, the robot program is replaced as necessary. During the deburring, the robot is controlled according to the force control by using a detected value from the force sensor.

A manufacturing method of a casing includes a step of preparing a casing forming member that includes a casing body forming portion which is formed in a tubular shape and a protruding portion forming portion which protrudes from the casing body forming portion toward an outer side in a radial direction, a step of placing the casing forming member on a table which is rotatable about a table axis which extends in a vertical direction and disposing a tool which is rotatable about a tool axis on an inner side of the casing forming member in the radial direction, and a step of forming the casing by performing cutting an inner circumferential surface of the casing forming member with the tool while rotating the table about the table axis together with the casing forming member and rotating the tool about the tool axis.