Tool holder, deburring tool having tool holder, and deburring method

Abstract

The invention provides a tool holder in which a spindle body can be moved obliquely even when a torque load acting on the spindle body is relatively small. The tool holder (13) has: a housing (15) having a cylinder chamber (15a) extending in the direction of the cylinder shaft (2); a piston (21) that reciprocates in the cylinder chamber (15a) and that is biased in the direction of the tip by the compressible fluid, the piston (21) having an action section (21d) disposed at the tip; and a tilt movement body (17) that has a tilt shaft (3), is disposed within the cylinder chamber (15a), and is capable of tilt movement with respect to the cylinder shaft (2), the tilt movement body (17) having a centering section (17a), which is disposed at the base end section, is in contact with the action section (21d), and pushes the piston (21) out of the cylinder shaft (2) as an action line when the tilt movement shaft (3) is tilted from the cylinder shaft (2).

Description

Technical Field

[0001] The invention relates to a tool holder, a deburring tool having the tool holder, and a deburring method. Background Art

[0002] A deburring tool mounted on a robot or the like is known (for example, Japanese Patent Publication No. 2020-66120, hereinafter referred to as Patent Document 1). The deburring tool of Patent Document 1 comprises: a cylindrical housing; a spindle body having a center disk, freely tilting and movable and loosely supported in the housing; a piston pressing the center disk toward the front end; a spring urging the piston toward the front end; a separation ring disposed between the piston and the spring; and a flow path for supplying air between the separation ring and the piston.

[0003] In the deburring tool of Patent Document 1, when the main shaft body is tilted, a moment load may act on the piston, making it difficult for the piston to move. Therefore, it is difficult to reduce the load required for the main shaft body to tilt and move. Summary of the invention

[0004] An object of the present invention is to provide a tool holder in which a spindle body can be tilted and moved even when the moment load acting on the spindle body is relatively small, and a deburring tool including the tool holder.

[0005] A first aspect of the present invention is a tool holder having:

[0006] A housing having a cylinder chamber extending along the cylinder axis direction;

[0007] a piston which is urged toward a front end direction by a compressible fluid, reciprocates in the cylinder chamber, and has an action portion disposed at a front end portion; and

[0008] A tilting moving body, the tilting moving body having a tilting moving axis, arranged in the cylinder chamber and capable of tilting and moving relative to the cylinder axis, the tilting moving body having:

[0009] A centering portion is disposed at the base end portion and abuts against the action portion. When the tilting axis is tilted from the cylinder axis, the centering portion pushes out the piston with the cylinder axis as an action line.

[0010] A second aspect of the present invention is a deburring tool having:

[0011] said tool holder; and

[0012] A main shaft body is provided on which a rotatable front end tool can be mounted, and the main shaft body is arranged on the tilting movable body and tiltably moves integrally with the tilting movable body.

[0013] A third aspect of the present invention is a deburring method, comprising:

[0014] The compressible fluid pushes the tilting moving body toward the front end via the piston;

[0015] When the front end tool contacts the workpiece and is subjected to a moment load, the tilting movable body tilts around a point where a head surface arranged at the front end of the tilting movable body contacts a seat surface arranged at the front end of the housing;

[0016] Overcoming the pressure of the compressible fluid, with the cylinder axis as the line of action, the tilting moving body pushes the piston out; and

[0017] The tip tool deburrs the workpiece while being tilted and moved integrally with the tilting movement body along the shape of the workpiece.

[0018] The piston applies force to the tilting moving body toward the front end direction by fluid pressure.

[0019] The cylinder chamber may also include a cylinder portion and a guide portion. The cylinder portion is connected to the fluid port and is disposed at the front end portion. The guide portion is disposed at the base end portion.

[0020] The piston may also have a head and a sleeve. The head slides in the cylinder portion and the sleeve is guided by the guide portion.

[0021] The contact convex portion is, for example, a ball or a pin. The contact convex portion may also have a convex spherical surface that contacts the action portion.

[0022] The anti-rotation member has an anti-rotation body and a receiving portion. The anti-rotation body may be, for example, a ball or a pin. The anti-rotation body is arranged on either side of the housing or the tilting moving body. The receiving portion is arranged on the other side of the housing or the tilting moving body. The anti-rotation body or the receiving groove arranged on the tilting moving body tilts and moves integrally with the tilting moving body. A gap is provided between the anti-rotation body and the receiving groove. Preferably, a plurality of anti-rotation members are arranged. Either side of the anti-rotation body or the receiving groove arranged on the housing is arranged rotationally symmetrically with respect to the cylinder axis. The other side of the anti-rotation body or the receiving groove arranged on the tilting moving body is arranged rotationally symmetrically with respect to the tilting moving axis.

[0023] The anti-rotation member may also have a bulging portion. The bulging portion may have a transmission spherical surface.

[0024] The bulge disposed on the tilting moving body can pass through the tilting moving center and be disposed on a plane perpendicular to the tilting moving axis. The bulge disposed on the housing can pass through the tilting center of the tilting moving body when it is not tilted and be disposed on a plane perpendicular to the cylinder axis.

[0025] The receiving groove configured in the housing may extend along the cylinder axis.

[0026] When the moment load applied to the main shaft body is small, the head surface abuts against the seat surface, and the tilting movement axis substantially coincides with the cylinder axis.

[0027] According to the tool holder and the deburring tool of the present invention, the spindle body can be tilted even when the moment load acting on the spindle is relatively small. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a longitudinal sectional view of the deburring tool of Embodiment 1 in the state which is not tilted and moved.

[0029] Figure 2 yes Figure 1 Sectional view along line II-II.

[0030] Figure 3 yes Figure 2 Enlarged view of Part III.

[0031] Figure 4 It is a longitudinal sectional view of the deburring tool of Embodiment 1 in the state of tilting movement.

[0032] Figure 5 yes Figure 4 VV line profile.

[0033] Figure 6 It is a longitudinal sectional view of the deburring tool of Embodiment 2.

[0034] Figure 7 It is a longitudinal sectional view of the deburring tool of Embodiment 3.

[0035] Figure 8 It is a longitudinal sectional view of the deburring tool of Embodiment 4.

[0036] Fig. 9 yes Figure 8 Enlarged view of section IX.

[0037] Fig.10 yes Figure 8 XX line cross-section diagram.

[0038] Fig.11 It is a longitudinal sectional view of the deburring tool of Embodiment 5.

[0039] Fig.12 yes Fig.11 Section XII-XII of the diagram.

[0040] Explanation of symbols

[0041] 1 Front-end tools

[0042] 2 Cylinder shaft

[0043] 3 Tilt movement axes

[0044] 7 Objects

[0045] 13, 113, 213, 313, 413 tool holder

[0046] 15 Housing

[0047] 15c seat

[0048] 15f Fluid Port

[0049] 17, 117, 217, 317, 417 Tilt moving subject

[0050] 17a, 117a, 217a, 317a, 417a Centering part

[0051] 17b Head surface

[0052] 21, 121, 221, 321, 421 piston

[0053] 21d, 121d, 221d, 321d, 421d action part DETAILED DESCRIPTION

[0054] <Implementation Method 1>

[0055] like Figure 1 As shown, the deburring tool 10 of the present embodiment includes a tool holder 13 and a spindle body 11 . Figure 1 yes Figure 2 II line cross-sectional diagram. Figure 1 Indicates that the main shaft body 11 is not in a tilted state. Figure 1 In the cylinder axis 2 (refer to Figure 4 ) and the tilting movement axis 3 (refer to Figure 4 ) are consistent.

[0056] The deburring tool 10 is connected to the robot 6 or the air source 8 .

[0057] The tool holder 13 includes a housing 15 , a piston 21 , a tilting moving body 17 , a coupling 18 , a rotation stopper 19 , a base end cover 27 , and a front end cover 25 .

[0058] The housing 15 is hollow and has a piston 21, a tilting body 17 and a stopper 19 arranged inside the housing 15 from the base end.

[0059] The housing 15 has a cylinder chamber 15a, a seat surface 15c, and a front end opening 15d in order from the base end. The housing 15 is installed at the front end of the arm of the robot 6, for example. Figure 2 As shown in FIG. 1 , the housing 15 may also have a rectangular parallelepiped shape. The cylinder chamber 15a is arranged with the cylinder shaft 2 as the center. Figure 1As shown, the cylinder chamber 15a has a cylinder portion 15a2 and a small diameter guide portion 15a1. The cylinder portion 15a2 is arranged in the central portion of the housing 15. The diameter of the small diameter guide portion 15a1 is smaller than that of the cylinder portion 15a2. The small diameter guide portion 15a1 is connected to the cylinder portion 15a2 and opens at the base end of the housing 15. The seat surface 15c is arranged at the front end of the housing 15. The seat surface 15c is a plane perpendicular to the cylinder axis 2. The seat surface 15c is connected to the cylinder chamber 15a via a stopper 19. The front end opening 15d opens from the seat surface 15c to the front end of the housing 15. Preferably, the diameter of the front end opening 15d increases as it approaches the front end.

[0060] The housing 15 has a fluid port 15f. The fluid port 15f is connected to the cylinder portion 15a2. The fluid port 15f is connected to the air source 8. The air source 8 supplies compressed air to the cylinder portion 15a2 via the fluid port 15f.

[0061] The piston 21 is hollow cylindrical. The piston 21 has a head 21b, a sleeve 21a, a recess (action portion) 21d, a base end opening 21c, a seal 21e and a seal 21f. The head 21b is a hollow cylinder that moves back and forth in the cylinder portion 15a2. The recess 21d increases in diameter as it moves toward the front end. The recess 21d is, for example, a conical surface centered on the cylinder shaft 2. The sleeve 21a is connected to the base end of the head 21b. The sleeve 21a is guided by the small-diameter guide portion 15a1. The base end opening 21c is the inner surface of the sleeve 21a. The base end opening 21c can also be a conical surface whose diameter increases as it moves toward the base end. The base end opening 21c is connected to the recess 21d. The seal 21e is mounted on the outer cylindrical surface of the head 21b. The seal 21f is mounted on the outer cylindrical surface of the sleeve 21a.

[0062] The tilting moving body 17 is hollow cylindrical or spherical. The tilting moving body 17 has a convex spherical surface (centering portion) 17a, a head surface 17b, a sleeve 17c and an insertion hole 17d. The convex spherical surface 17a is arranged at the base end of the tilting moving body 17. The convex spherical surface 17a abuts and slides with the recessed portion 21d. The convex spherical surface 17a has a tilting moving center 17e. The tilting moving center 17e is the center of the convex spherical surface 17a. The tilting moving shaft 3 passes through the tilting moving center 17e. The head surface 17b is arranged at the front end of the tilting moving body 17. The head surface 17b is, for example, a plane. The head surface 17b as a plane is perpendicular to the tilting moving shaft 3. The sleeve 17c extends from the head surface 17b to the front end direction. The sleeve 17c is a hollow straight cylindrical shape. The insertion hole 17d is the inner surface of the sleeve 17c. The insertion hole 17d penetrates the tilting moving body 17 with the tilting moving shaft 3 as the center. The insertion hole 17d is a cylindrical hole.

[0063] The spindle body 11 is inserted into the insertion hole 17d. The spindle body 11 passes through the tool holder 13. The spindle body 11 has a main body 11a, a spindle 11b and a spindle motor 11c. The spindle 11b is rotatably supported on the main body 11a around the tilting moving axis 3. The front end tool 1 is mounted on the spindle 11b. The spindle motor 11c is arranged on the main body 11a and connected to the spindle 11b. For example, the spindle motor 11c rotates the spindle 11b in the rotation direction 5 (counterclockwise when viewed from the front end direction).

[0064] The coupling 18 is in a hollow cylindrical shape and fastens the sleeve 17c and the main shaft body 11. The coupling 18 is, for example, a rigid coupling.

[0065] like Figure 1 to Figure 3 As shown, the anti-rotation member 19 has a plurality of receiving grooves 19a, a plurality of anti-rotation pins (anti-rotation bodies) 19b and pin holes 19c.

[0066] A plurality of receiving grooves 19a are arranged in the inner diameter portion of the housing 15 in a rotationally symmetrical manner with respect to the cylinder shaft 2. Each receiving groove 19a is an angular groove extending parallel to the cylinder shaft 2 and has a rectangular cross section. The abutment surface 19a1 is a side surface of the receiving groove 19a on the opposite side of the rotation direction 5. The abutment surface 19a1 is a plane passing through the cylinder shaft 2.

[0067] A plurality of pin holes 19c are provided in the tilt body 17. Each pin hole 19c passes through the tilt center 17e and extends parallel to the abutment surface 19a1 on a plane perpendicular to the tilt axis 3. The pin hole 19c is a cylindrical hole.

[0068] The stopper 19 has the same number of stop pins 19b as the receiving grooves 19a. The plurality of stop pins 19b are arranged rotationally symmetrically with respect to the tilting movement shaft 3. The stop pin 19b has a shaft portion 19b1 and a bulging portion 19b2. The shaft portion 19b1 is inserted into the pin hole 19c. The bulging portion 19b2 protrudes radially from the tilting movement body 17. A play (gap) is provided between the bulging portion 19b2 and the receiving groove 19a. Preferably, the stop pin 19b has an abutting spherical surface 19b3.

[0069] The base end cover 27 covers the space between the base end surface of the housing 15 and the spindle body 11. The base end cover 27 prevents foreign matter, cutting coolant, and the like from entering between the cylinder chamber 15a or the base end opening 21c and the spindle body 11.

[0070] The front end cover 25 covers the space between the front end surface of the housing 15 and the spindle body 11 or the coupling 18. The front end cover 25 prevents foreign matter, cutting coolant, etc. from entering between the spindle body 11 and the front end opening 15d.

[0071] Reference Figure 1 to Figure 5 , the usage status of the deburring tool 10 is described. Figure 4 as well as Figure 5 The deburring tool 10 is shown in a state where the workpiece 7 is deburred. Figure 4 yes Figure 5 IV-IV line cross-sectional diagram. Figure 4 as well as Figure 5 As shown, the workpiece 7 has a burr 7a. Here, Figure 5 The double-dashed line of the burr 7a in FIG. 1 shows the shape of the dropped portion. The side surface of the workpiece 7, viewed from the base end direction along the cylinder axis 2, has a curved surface convex toward the deburring tool 10. The burr 7a protrudes from the side surface of the workpiece 7. The spindle 11b rotates in the rotation direction 5. The air source 8 supplies compressed air to the cylinder chamber 15a.

[0072] like Figure 1 As shown, when the front end tool 1 leaves the workpiece 7, the front end tool 1 does not bear a large moment load F1 (refer to Figure 4 ). The piston 21 moves toward the front end by the compressed air supplied to the cylinder chamber 15a. At this time, the head surface 17b contacts the seat surface 15c. Thus, the main shaft body 11 is restrained from tilting. Moreover, the tilting movement axis 3 is substantially consistent with the cylinder axis 2. At this time, since the head surface 17b and the seat surface 15c are flat, the tilting movement axis 3 is easy to stabilize.

[0073] When the main shaft 11b starts to rotate, the main shaft body 11 also rotates. Figure 3 As shown, the bulged portion 19 b 2 of the anti-rotation pin 19 b abuts against the abutment surface 19 a 1 of the accommodation groove 19 a , thereby suppressing the rotation of the spindle body 11 .

[0074] Next, the tip tool 1 is brought into contact with the workpiece 7 to perform deburring. Figure 5 As shown in FIG. 1 , the robot 6 moves the housing 15 from the position 15p to the position 15q along the straight line trajectory 41. Figure 4 as well as Figure 5 As shown, while the spindle body 11 is tilted, the tip tool 1 traces a trajectory 42 so as to trace the shape of the side surface of the workpiece 7 and moves from the position 1p to the position 1q. The tip tool 1 removes the burr 7a.

[0075] like Figure 4As shown, when the moment load F1 acts on the front end tool 1, the tilting moving body 17 and the main shaft body 11 are tilted as a whole with a point 43 around the head surface 17b as the center. Moreover, the piston 21 is pushed toward the base end direction while the convex spherical surface 17a is in contact with the concave portion 21d. At this time, the tilting moving body 17 tilts while the convex spherical surface 17a slides in the concave portion 21d. The tilting moving center 17e moves toward the base end direction along the cylinder axis 2. The concave portion 21d has a circular cross-section centered on the cylinder axis 2. Therefore, the convex spherical surface 17a and the concave portion 21d are substantially in contact around the entire circumference. The tilting moving body 17 pushes the piston 21 up along the cylinder axis 2 with the tilting moving center 17e as the point of action. That is, the force F2 applied by the tilting moving body 17 to the piston 21 takes the cylinder axis 2 as the line of action. Air is a compressible fluid. Therefore, the piston 21 can overcome the pressure of the compressed air supplied to the piston chamber and move toward the base end direction. Since the piston 21 is subjected to the force F2 along the cylinder axis 2, the inclination of the piston 21 is suppressed. Therefore, the piston 21 can move smoothly along the cylinder axis 2. In addition, the piston 21 applies force to the tilting moving body 17 in the front end direction by the pressure of the compressed air. Therefore, the tilting moving body 17 maintains a state of contact with the seat surface 15c.

[0076] When the tilting movement shaft 3 tilts from the cylinder shaft 2, the bulge 19b2 and the receiving groove 19a abut against each other while twisting. According to this embodiment, since the abutting spherical surface 19b3 and the abutting surface 19a1 are in point contact, the contact resistance between the bulge 19b2 and the receiving groove 19a is small. Therefore, the tilting movement body 17 can tilt smoothly and easily.

[0077] The operator teaches the robot 6 to determine the trajectory 41 and speed of the deburring tool 10. Preferably, the teaching of the robot 6 is performed in a state where the tilting movable axis 3 and the cylinder axis 2 are substantially consistent. As described above, the head surface 17b is in contact with the seat surface 15c, and the posture of the spindle body 11 is easily stabilized. Therefore, it is easy for the operator to teach the robot 6. In addition, when the robot 6 moves the deburring tool 10, since the posture of the tilting movable axis 3 is stable, the deburring tool 10 is prevented from contacting the workpiece 7, the safety fence or the operator.

[0078] <Implementation Method 2>

[0079] like Figure 6 As shown, the deburring tool 100 of this embodiment includes a tool holder 113 and a spindle body 11. The tool holder 113 includes a piston 121 instead of the piston 21 of the first embodiment. The other structures of the tool holder 113 are substantially the same as those of the tool holder 13 of the first embodiment.

[0080] The piston 121 has a sleeve 21a, a head 21b, a base end opening 121c, a recess (action portion) 121d, a seal 21e, and a seal 21f. The base end opening 121c is connected to the recess 121d. The base end opening 121c and the recess 121d are cylindrical holes centered on the cylinder shaft 2. In addition, the inner diameters of the base end opening 121c and the recess 121d may be the same.

[0081] When the tilting moving body 17 tilts, the convex spherical surface 17a substantially contacts the entire circumference of the opening of the base end of the recess 121d. At this time, the convex spherical surface 17a applies force to the recess 121d with the cylinder shaft 2 as the line of action. In addition, the tilting moving body 17 pushes the piston 121 toward the base end.

[0082] <Implementation Method 3>

[0083] like Figure 7 As shown, the deburring tool 200 of this embodiment includes a tool holder 213 and a spindle body 11. The tool holder 213 includes a piston 221 instead of the piston 21 of the first embodiment. The other structures of the tool holder 213 are substantially the same as those of the tool holder 13 of the first embodiment.

[0084] The piston 221 has a sleeve 21a, a head 21b, a base end opening 221c, a recess (action portion) 221d, a seal 21e and a seal 21f. The piston 221 is a shape in which the inner edge of the lower end of the piston 21 in the second embodiment is rounded. In other words, the inner surface of the lower end of the piston 221 is a troid generated by a 1 / 4 circle with the cylinder shaft 2 as the center. The inner surface of the lower end of the piston 221 can also be said to be annular. The longitudinal section of the lower end of the piston 221 is an arc convex to the inside.

[0085] When the tilting moving body 17 is tilted, the convex spherical surface 17a is substantially in contact with the entire circumference of the concave portion 221d. At this time, the convex spherical surface 17a applies force to the concave portion 221d with the cylinder shaft 2 as the line of action. In addition, the tilting moving body 17 pushes the piston 221 toward the base end. Since the concave portion 221d has rounded corners, damage to the convex spherical surface 17a is suppressed.

[0086] <Implementation Method 4>

[0087] like Figure 8 As shown, the deburring tool 300 of this embodiment has a tool holder 313 and a spindle body 11. The tool holder 313 has a piston 321 instead of the piston 21 of the first embodiment. In addition, the tool holder 313 has a stopper 319 instead of the stopper 19 of the first embodiment. The other structures of the tool holder 313 are substantially the same as those of the tool holder 13 of the first embodiment.

[0088] The piston 321 has a sleeve 21a, a head 21b, a base end opening 321c, a recess (action portion) 321d, a seal 21e, and a seal 21f. The recess 321d is a concave spherical surface with the same diameter as the convex spherical surface 17a, centered on the tilting movement center 17e. The other structures of the piston 321 are substantially the same as those of the piston 221 of the third embodiment.

[0089] like Fig. 9 as well as Fig.10 As shown, the detent 319 has a flange 319c and a detent pin 319b.

[0090] The flange 319c can be integrally formed with the tilt moving body 17. The flange 319c extends perpendicularly to the tilt moving axis 3 through the tilt moving center 17e. The flange 319c has a plurality of (eight in the present embodiment) receiving grooves (receiving portions) 319a. The receiving groove 319a is a cutout extending radially inward from the outer periphery of the flange 319c. The receiving groove 319a has an abutment surface 319a1. The abutment surface 319a1 is a plane passing through the tilt moving axis 3. The plurality of receiving grooves 319a are symmetrically arranged relative to the tilt moving axis 3. In addition, the receiving groove 319a may also be a through hole that is rectangular when viewed from above.

[0091] The stop pin 319b extends parallel to the cylinder shaft 2 and is arranged at the front end of the housing 15. The stop pin 319b passes through the receiving groove 319a. The stop pin 319b has a bulge 319b2. The bulge 319b2 is, for example, spherical or ellipsoidal. Preferably, the stop pin 319b is supported by the housing 15 on both sides of the bulge 319b2. The bulge 319b2 is arranged in the receiving groove 319a. The bulge 319b2 and the receiving groove 319a have a clearance. When the main shaft 11b rotates, the bulge 319b2 abuts against the abutment surface 319a1. The bulge 319b2 is in point contact with the abutment surface 319a1.

[0092] When the tilting moving body 17 is tilted, the convex spherical surface 17a is substantially in contact with the entire surface of the concave portion 321d. At this time, the convex spherical surface 17a applies force to the concave portion 321d with the cylinder axis 2 as the line of action. In addition, the tilting moving body 17 pushes the piston 321 toward the base end. Since the convex spherical surface 17a and the concave portion 321d are in surface contact, the tilting moving center 17e is promoted to move along the cylinder axis 2.

[0093] <Implementation method 5>

[0094] like Fig.11 as well as Fig.12As shown, the deburring tool 400 of this embodiment has a tool holder 413 and a spindle body 11. The tool holder 413 has a piston 421 instead of the piston 21 of the first embodiment. In addition, the tool holder 413 has a tilting moving body 417 instead of the tilting moving body 17 of the first embodiment. The other structures of the tool holder 413 are substantially the same as those of the tool holder 13 of the first embodiment.

[0095] The piston 421 has a sleeve 21a, a head 21b, a base end opening 421c, a recess (action portion) 421d, a seal 21e, and a seal 21f. The base end opening 421c is a cylinder centered on the cylinder shaft 2. The base end opening 421c is connected to the recess 421d. The recess 421d is a concave spherical surface centered on the tilting movement center 17e. The tilting movement center 17e is located on the cylinder shaft 2.

[0096] The tilting moving body 417 has a body 417f, a ball (contact protrusion) 417a, a head surface 17b and a sleeve 17c. The body 417f is a hollow straight cylindrical shape. The base end of the body 417f can also be a truncated cone shape. The body 417f has a plurality of (n) ball support holes 417g. Here, n is an integer greater than 3 (in the present embodiment, n=3). The ball support hole 417g is spherical. The ball support hole 417g is arranged n-fold symmetrically with the tilting moving axis 3 as the center.

[0097] The balls 417a are respectively arranged in the ball support holes 417g. The balls 417a roll on the recessed portion 421d. Each ball 417a contacts the recessed portion 421d and rolls on the recessed portion 421d which is a spherical surface. Therefore, the tilting movement body 417 can tilt relative to the piston 421 with the tilting movement center 17e as the center.

[0098] In addition, for example, n may be 7 to 10. In this case, the ball support holes may be continuous in an annular shape. In this case, the tilting moving body 417 may include a ball retainer that retains the balls 417a at substantially equal intervals.

[0099] In addition, a pin having a ball at the front end may be used instead of the ball support hole 417g and the ball 417a. The pin is fastened to the tilting moving body 417.

[0100] The ball 417a contacts the recess 321d at n points. When the tilting moving body 417 tilts, the ball 417a applies force to the recess 421d with the cylinder axis 2 as the line of action. In addition, the tilting moving body 17 pushes the piston 421 toward the base end. The ball 417a contacts the recess 421d at a point, and the ball 417a rotates. Therefore, the tilting moving center 17e is promoted to move along the cylinder axis 2.

[0101] The present invention is not limited to the above-mentioned embodiments, and various modifications can be made within the scope of the main purpose of the present invention, and all technical matters included in the technical ideas recorded in the claims become the objects of the present invention. Although the embodiments show preferred examples, those skilled in the art can implement various alternatives, corrections, variations or improvements according to the contents disclosed in this specification, which are all included in the technical scope recorded in the attached claims.

Claims

1. A tool holder (13, 113, 213, 313, 413), characterized in that: have: A housing (15), wherein the housing (15) has a cylinder chamber (15a) extending along the direction of the cylinder axis (2); A piston (21, 121, 221, 321, 421), the piston (21, 121, 221, 321, 421) is urged toward the front end by a compressible fluid, reciprocates in the cylinder chamber (15a), and has an action portion (21d, 121d, 221d, 321d, 421d) arranged at the front end; and A tilting movable body (17, 417), the tilting movable body (17, 417) having a tilting movable shaft (3), arranged in the cylinder chamber (15a), and capable of tilting relative to the cylinder shaft (2), the tilting movable body (17, 417) having: A centering portion (17a, 417a), wherein the centering portion (17a, 417a) is arranged at the base end portion and abuts against the action portion (21d, 121d, 221d, 321d, 421d). When the tilting movable axis (3) tilts from the cylinder axis (2), the centering portion (17a, 417a) uses the cylinder axis (2) as an action line to push out the piston (21, 121, 221, 321, 421).

2. The tool holder (13, 113, 213, 313) according to claim 1, characterized in that: The centering portion (17a) is a convex spherical surface.

3. The tool holder (13, 113, 213, 313, 413) according to claim 1 or 2, characterized in that: The action portion (21d, 121d, 221d, 321d, 421d) is a concave portion having a circular cross section.

4. The tool holder (413) according to claim 1 or 3, characterized in that: When n is an integer greater than or equal to 3, the centering portion (417a) has contact protrusions (417a) arranged n-fold symmetrically with respect to the tilting movement axis (3), The action portion (421d) is a concave spherical surface (421) having a center on the cylinder shaft (2).

5. The tool holder (13, 113, 213, 313, 413) according to any one of claims 1 to 4, characterized in that: The housing (15) has a seat surface (15c) disposed at the front end. The tilting moving body (17, 417) has a head surface (17b) arranged at the front end, and the head surface (17b) abuts against the seat surface (15c) when the tilting moving axis (3) and the cylinder axis (2) are substantially aligned.

6. The tool holder (13, 113, 213, 313, 413) according to any one of claims 1 to 5, characterized in that: The seat surface (15c) is a plane perpendicular to the cylinder axis (2). The head surface (17b) is a plane perpendicular to the tilt movement axis (3).

7. The tool holder (13, 113, 213, 313, 413) according to any one of claims 1 to 6, characterized in that: A main shaft body (11) capable of being mounted with a rotatable front end tool (1) is installed on the tilting movable body (17, 417). A stopper (19) is also provided, wherein the stopper (19) is arranged between the tilting movable body (17, 417) and the housing (15) to suppress the rotation of the tilting movable body (17, 417) centered on the cylinder shaft (2).

8. The tool holder (13, 113, 213, 313, 413) according to claim 7, characterized in that: The anti-rotation member (19) is arranged on the front end side of the cylinder chamber (15a).

9. A deburring tool (10, 100, 200, 300, 400), characterized in that: have: The tool holder (13, 113, 213, 313, 413) according to any one of claims 1 to 8; and A main shaft body (11) is provided for mounting a rotating front end tool (1), and the main shaft body (11) is arranged on the tilting movable body (17) and tilts and moves integrally with the tilting movable body (17).

10. A method for deburring, characterized in that: include: The compressible fluid pushes the tilting moving body (17, 417) toward the front end via the piston (21, 121, 221, 321, 421); When the front end tool (1) contacts the workpiece (7) and is subjected to a moment load (F1), the tilting movable body (17, 417) tilts around a point where a head surface (17b) arranged at the front end of the tilting movable body (17, 417) contacts a seat surface (15c) arranged at the front end of the housing (15); Overcoming the pressure of the compressive fluid, with the cylinder axis (2) as the line of action, the tilting moving body (17, 417) pushes the piston (21, 121, 221, 321, 421) out; and The front end tool (1) deburrs the workpiece (7) while being tilted and moved integrally with the tilting moving body (17, 417) along the shape of the workpiece (7).

11. The deburring method according to claim 10, characterized in that: When the front end tool (1) is not in contact with the workpiece (7), the head surface (17b) of the tilting movable body (17, 417) is in contact with the seat surface (15c) of the shell (15), and the tilting movable axis (3) of the tilting movable body (17, 417) is substantially the same as the cylinder axis (2).

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