Tool holder

Abstract

The invention provides a tool holder into which a spindle body can be inserted and which is capable of smoothly and obliquely moving. A tool holder (10) is provided with: a housing (15) having a cylinder chamber (15a) extending in the direction of a cylinder shaft (2); a tilting movement main body (17) which has a tilting movement shaft (3) that tilts about a tilting movement center (17e), to which the main shaft body (11) is attached, and which is capable of tilting relative to the cylinder shaft (2); a rotation stopping body (19b) which extends in the radial direction from the tilt movement shaft (3) and is disposed on a tilt movement main body (17); and a housing groove (19a) extending in the direction of the cylinder shaft (2) and disposed in the housing (15).

Description

Technical Field

[0001] The invention relates to a tool support. Background Art

[0002] A deburring tool that can tilt and move is proposed (Japanese Patent Publication No. 2022-074292, hereinafter referred to as Patent Document 1). The deburring tool 100 of Patent Document 1 has: a housing 1 having a handle 11 arranged along a handle shaft 15, a transmission rod 3, a tilting movement shaft 4, and a tilt correction mechanism 9. The tilting movement shaft 4 has: a flange portion 41, a receiving portion 41a for the transmission rod to pass through, a rod portion 42 for holding the tool 101, and a spherical bushing 24 having a tilting movement center 25 on the handle shaft 15. The tilting movement shaft 4 can tilt and move around the tilting movement center 25.

[0003] The deburring tool of Patent Document 1 is mounted on a rotating spindle of a machining center, etc. Therefore, the deburring tool of Patent Document 1 cannot be applied to a robot that does not have a rotating spindle, for example. Summary of the invention

[0004] The object of the present invention is to provide a tool holder into which a spindle body is inserted and in which the spindle body can smoothly tilt and move.

[0005] A first aspect of the present invention is a tool holder, which has:

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

[0007] A tilting moving body, the tilting moving body having a tilting moving shaft that tilts and moves around a tilting moving center, for the main shaft body to be mounted on, and capable of tilting and moving relative to the cylinder shaft;

[0008] a rotation stopper extending radially from the tilting movement axis and disposed on the tilting movement body;

[0009] The accommodating groove extends along the cylinder axis direction and is arranged in the housing.

[0010] A second aspect of the present invention is a tool holder, which has:

[0011] A housing having a cylinder chamber extending along the cylinder axis direction;

[0012] 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

[0013] A tilting movable body having a tilting movable axis, which is arranged in the cylinder chamber and can tilt and move relative to the cylinder axis. The tilting movable body has a centering portion, which is arranged at the base end and abuts against the action portion. When the tilting movable axis tilts from the cylinder axis, the centering portion uses the cylinder axis as an action line to push the piston out.

[0014] According to the tool support of the present invention, a spindle body is inserted therein and the spindle body can smoothly tilt and move. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a longitudinal sectional view of the deburring tool of Embodiment 1 in the state which is not tilted and moved.

[0016] Figure 2 yes Figure 1 Sectional view along line II-II.

[0017] Figure 3 yes Figure 2 Enlarged view of Part III.

[0018] Figure 4 It is a longitudinal sectional view of the deburring tool of Embodiment 1 in the state of tilting movement.

[0019] Figure 5 yes Figure 4 VV line profile.

[0020] Explanation of symbols

[0021] 1 Front-end tools

[0022] 2 Cylinder shaft

[0023] 3 Tilt movement axes

[0024] 7 Objects

[0025] 11 Spindle

[0026] 13 Tool holder

[0027] 15 Housing

[0028] 15a Cylinder chamber

[0029] 17 Tilt and move the subject

[0030] 17e Tilt Movement Center

[0031] 19a Receiving slot

[0032] 19b anti-rotation body

[0033] 21 Piston

[0034] 21d Action part DETAILED DESCRIPTION

[0035] <Implementation Method 1>

[0036] 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 a state where the spindle body 11 is not tilted. Figure 1 In the cylinder axis 2 (refer to Figure 4 ) and the tilting axis 3 (refer to Figure 4 ) are consistent.

[0037] The deburring tool 10 is connected to the robot 6 or the air source 8 .

[0038] 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 .

[0039] 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.

[0040] 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 1 As 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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).

[0045] 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.

[0046] like Figure 1 to Figure 3 As shown, the detent member 19 has a plurality of receiving grooves 19a, a plurality of detent pins 19b and pin holes 19c.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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 .

[0055] 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.

[0056] like Figure 4 As 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.

[0057] 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.

[0058] 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.

[0059] 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 (10), 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 tilting movable body (17), the tilting movable body (17) having a tilting movable shaft (3) that tilts and moves around a tilting movable center (17e), for mounting the main shaft body (11), and capable of tilting and moving relative to the cylinder shaft (2); a rotation stopper (19b), the rotation stopper (19b) extending radially from the tilting movement shaft (3) and arranged on the tilting movement body (17); and A receiving groove (19a), the receiving groove (19a) extending along the direction of the cylinder axis (2) and arranged in the housing (15).

2. The tool holder (10) according to claim 1, characterized in that The anti-rotation body (19b) passes through the tilt movement center (17e) and extends on a plane perpendicular to the tilt movement axis (3).

3. The tool holder (10) according to claim 1 or 2, characterized in that: The receiving groove (19a) has an abutment surface (19a1) which is a plane passing through the cylinder shaft (2).

4. The tool holder (10) according to any one of claims 1 to 3, characterized in that The anti-rotation body (19b) has a bulging portion (19b2) that abuts against the abutting surface (19a1).

5. The tool holder (10) according to claim 4, characterized in that The bulging portion (19b2) is spherical.

6. The tool holder (10) according to any one of claims 1 to 5, characterized in that The piston (21) also has an action portion (21d) disposed at the front end portion, and is urged toward the front end direction to reciprocate in the cylinder chamber (15a). The tilting moving body (17) is arranged in the cylinder chamber (15a) and has a centering portion (17a) abutting against the action portion (21d).

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