Tool bracket, deburring tool with tool bracket, and deburring method

Abstract

To provide a tool bracket which allows a spindle body to tilt, even when a moment load acting on the spindle body is comparatively small.SOLUTION: A tool bracket 13 comprises: a housing 15 with a cylinder chamber 15a extending in a cylinder axis 2 direction; a piston 21 which is energized in a tip direction by compressive fluid and reciprocates within the cylinder chamber 15a, and which is a piston 21 having an acting part 21d placed at the tip; and a tilt body 17 which has a tilt axis 3 and is disposed in the cylinder chamber 15a, and is capable of tilting relative to the cylinder axis 2, and which is a tilt body 17 having a centering part 17a. The centering part 17a is disposed at a base end and abuts on the acting part 21d, in order to push out the piston 21 by using the cylinder axis 2 as a line of action, when the tilt axis 3 tilts from the cylinder axis 2.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a tool bracket, a deburring tool having a tool bracket, and a deburring method. [Background technology]

[0002] A deburring tool that can be attached to a robot or the like is known (for example, JP 2020-66120 A, hereinafter referred to as Patent Document 1). The deburring tool of Patent Document 1 has a cylindrical housing, a spindle body having a center disk, which is tiltable and loosely supported within the housing, a piston that presses the center disk toward the tip end, a spring that urges the piston toward the tip end, a separate ring provided between the piston and the spring, and a flow path that supplies air between the separate ring and the piston. Summary of the Invention [Problem to be solved by the invention]

[0003] In the deburring tool of Patent Document 1, when the spindle body tilts, a moment load acts on the piston, which can make the piston difficult to move. Therefore, it is difficult to reduce the load required to tilt the spindle body. An object of the present invention is to provide a tool bracket and a deburring tool including the tool bracket, which enable the spindle body to tilt even when the moment load acting on the spindle body is relatively small. [Means for solving the problem]

[0004] The first aspect of the present invention is a housing having a cylinder chamber extending in a cylinder axial direction; a piston that is biased in a distal direction by a compressible fluid and reciprocates within the cylinder chamber, the piston having an action portion disposed at a distal end thereof; A tilting body having a tilting shaft, disposed in the cylinder chamber, and tiltable with respect to the cylinder shaft, a tilting body having a centering portion disposed at a base end portion and abutting against the action portion, the centering portion pushing out the piston with the cylinder axis as a line of action when the tilting axis is tilted from the cylinder axis; A tool bracket having a

[0005] A second aspect of the present invention is The tool bracket; a spindle body to which a rotating tool bit can be attached, the spindle body being disposed on the tilting body and tilting integrally with the tilting body; The burr removing tool has the following features.

[0006] A third aspect of the present invention is The compressible fluid pushes the tilting body toward the tip through the piston, When the tool bit comes into contact with a workpiece and receives a moment load, the tilting body tilts about a point where a head surface arranged at the tip of the tilting body contacts a seat surface arranged at the tip of the housing, The tilting body pushes the piston against the pressure of the compressible fluid with the cylinder axis as the line of action, The tip tool deburrs the workpiece while tilting along the shape of the workpiece integrally with the tilting body. This is a deburring method.

[0007] The piston urges the tilting body in a distal direction by fluid pressure. The cylinder chamber may have a cylinder portion and a guide portion, the cylinder portion being connected to the fluid port and disposed at the tip end, and the guide portion being disposed at the base end. The piston may have a head portion and a sleeve, the head portion sliding in the cylinder portion, and the sleeve being guided by the guide portion.

[0008] The contact protrusion is, for example, a ball or a pin. The contact protrusion may have a convex spherical surface that comes into contact with the action portion.

[0009] The anti-rotation device 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 the housing or the tilting body. The receiving portion is arranged on the other of the housing or the tilting body. The anti-rotation body and the receiving groove arranged on the tilting body tilt integrally with the tilting body. A gap is provided between the anti-rotation body and the receiving groove. Preferably, a plurality of anti-rotation devices are arranged. Either the anti-rotation body or the receiving groove arranged on the housing is arranged rotationally symmetrically with respect to the cylinder axis. The other of the anti-rotation body and the receiving groove arranged on the tilting body is arranged rotationally symmetrically with respect to the tilting axis.

[0010] The detent may include a bulge. The bulge may include a spherical transmission surface. The bulge disposed on the tilting body may be disposed on a plane that passes through the tilting center and is perpendicular to the tilting axis, and the bulge disposed on the housing may be disposed on a plane that passes through the tilting center when the tilting body is not tilted and is perpendicular to the cylinder axis. The receiving groove disposed in the housing may extend along the cylinder axis.

[0011] When the moment load applied to the spindle body is small, the head surface abuts on the seat surface, and the tilt axis and the cylinder axis substantially coincide with each other. Effect of the Invention

[0012] According to the tool bracket and the deburring tool of the present invention, the spindle body can tilt even when the moment load acting on the spindle is relatively small. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a vertical cross-sectional view of a deburring tool according to a first embodiment in a non-tilted state; [Diagram 2] Cross-sectional view of line II-II in Figure 1 [Diagram 3] Enlarged view of part III in Fig. 2 [Figure 4] FIG. 1 is a vertical cross-sectional view of a deburring tool according to a first embodiment in a tilted state; [Diagram 5] Cross-sectional view of line VV in Figure 4 [Figure 6] FIG. 11 is a longitudinal sectional view of a deburring tool according to a second embodiment of the present invention; [Figure 7] FIG. 11 is a longitudinal sectional view of a deburring tool according to a third embodiment. [Figure 8] FIG. 11 is a longitudinal sectional view of a deburring tool according to a fourth embodiment. [Figure 9] Enlarged view of part IX in Fig. 8 [Figure 10] Cross-sectional view of line XX in Figure 8 [Figure 11] FIG. 13 is a vertical cross-sectional view of a deburring tool according to a fifth embodiment. [Figure 12] Sectional view of XII-XII in Fig. 11 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] <Embodiment 1> As shown in Fig. 1, a deburring tool 10 of this embodiment has a tool bracket 13 and a spindle body 11. Fig. 1 is a cross-sectional view taken along line II in Fig. 2. Fig. 1 shows a state in which the spindle body 11 is not tilted. In Fig. 1, a cylinder axis 2 (see Fig. 4) and a tilt axis 3 (see Fig. 4) coincide with each other. The deburring tool 10 is connected to a robot 6 and an air source 8 .

[0015] The tool bracket 13 has a housing 15 , a piston 21 , a tiltable body 17 , a coupling 18 , a detent 19 , a base end cover 27 , and a tip end cover 25 . The housing 15 has a hollow shape. Inside the housing 15, a piston 21, a tilting body 17, and a rotation stopper 19 are arranged from the base end.

[0016] The housing 15 has a cylinder chamber 15a, a seating surface 15c, and a tip opening 15d in this order from the base end. The housing 15 is attached to the tip of the arm of the robot 6, for example. As shown in FIG. 2, the housing 15 may have a rectangular parallelepiped shape. The cylinder chamber 15a is disposed around the cylinder shaft 2. As shown in FIG. 1, the cylinder chamber 15a has a cylinder portion 15a2 and a small diameter guide portion 15a1. The cylinder portion 15a2 is disposed in the center of the housing 15. The small diameter guide portion 15a1 has a smaller diameter than the cylinder portion 15a2. The small diameter guide portion 15a1 is connected to the cylinder portion 15a2 and opens to the base end of the housing 15. The seating surface 15c is disposed at the tip of the housing 15. The seating surface 15c is a plane perpendicular to the cylinder shaft 2. The seating surface 15c is connected to the cylinder chamber 15a via a rotation stopper 19. The tip opening 15d opens from the seat surface 15c to the tip of the housing 15. Preferably, the diameter of the tip opening 15d increases toward the tip.

[0017] 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 an air source 8. The air source 8 supplies compressed air to the cylinder portion 15a2 via the fluid port 15f.

[0018] The piston 21 is hollow cylindrical. The piston 21 has a head portion 21b, a sleeve 21a, a recess (working portion) 21d, a base end opening 21c, a seal 21e, and a seal 21f. The head portion 21b is a hollow cylinder and reciprocates in the cylinder portion 15a2. The recess 21d has a larger diameter toward the tip direction. The recess 21d is, for example, a conical surface centered on the cylinder axis 2. The sleeve 21a is connected to the base end of the head portion 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 may be a conical surface whose diameter becomes larger toward the base end direction. The base end opening 21c is connected to the recess 21d. The seal 21e is attached to the outer cylindrical surface of the head portion 21b. Seal 21f is attached to the outer cylindrical surface of sleeve 21a.

[0019] The tilting body 17 is hollow cylindrical or spherical. The tilting 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 disposed at the base end of the tilting body 17. The convex spherical surface 17a abuts against and slides on the recess 21d. The convex spherical surface 17a has a tilting center 17e. The tilting center 17e is the center of the convex spherical surface 17a. The tilting axis 3 passes through the tilting center 17e. The head surface 17b is disposed at the tip of the tilting body 17. The head surface 17b is, for example, a flat surface. The flat head surface 17b is perpendicular to the tilting axis 3. The sleeve 17c extends from the head surface 17b toward the tip. The sleeve 17c is hollow and straight cylindrical. The insertion hole 17d is an inner surface of the sleeve 17c. The insertion hole 17d is centered on the tilting shaft 3 and passes through the tilting body 17. The insertion hole 17d is a cylindrical hole.

[0020] The spindle body 11 is inserted into the insertion hole 17d. The spindle body 11 passes through the tool bracket 13. The spindle body 11 has a body 11a, a spindle 11b, and a spindle motor 11c. The spindle 11b is supported by the body 11a so as to be rotatable about the tilt axis 3. The tip tool 1 is attached to the spindle 11b. The spindle motor 11c is disposed in the body 11a and connected to the spindle 11b. For example, the spindle motor 11c rotates the spindle 11b in a rotation direction 5 (counterclockwise when viewed from the tip direction).

[0021] The coupling 18 has a hollow cylindrical shape. The coupling 18 fastens the sleeve 17c and the spindle body 11. The coupling 18 is, for example, a rigid coupling.

[0022] As shown in FIGS. 1 to 3, the anti-rotation device 19 has a plurality of receiving grooves 19a, a plurality of anti-rotation pins 19b, and a pin hole 19c. The multiple receiving grooves 19a are arranged on the inner diameter portion of the housing 15 in a rotationally symmetrical manner with respect to the cylinder axis 2. Each receiving groove 19a is an angular groove extending parallel to the cylinder axis 2 and has a rectangular cross section. The abutment surface 19a1 is a side surface of the receiving groove 19a on the opposite side to the rotation direction 5. The abutment surface 19a1 is a plane passing through the cylinder axis 2.

[0023] A plurality of pin holes 19c are arranged in the tilting body 17. Each pin hole 19c passes through the tilting center 17e and extends parallel to the abutment surface 19a1 on a plane perpendicular to the tilting axis 3. The pin holes 19c are cylindrical holes. The anti-rotation pin 19 has the same number of anti-rotation pins 19b as the receiving grooves 19a. The multiple anti-rotation pins 19b are arranged rotationally symmetrically with respect to the tilting axis 3. The anti-rotation pin 19b has a shaft portion 19b1 and a bulge portion 19b2. The shaft portion 19b1 is inserted into the pin hole 19c. The bulge portion 19b2 protrudes radially from the tilting body 17. A play (gap) is provided between the bulge portion 19b2 and the receiving groove 19a. Preferably, the anti-rotation pin 19b has an abutting spherical surface 19b3.

[0024] The base end cover 27 covers the gap 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 spindle body 11 and the cylinder chamber 15a or the base end opening 21c.

[0025] The tip cover 25 covers the space between the tip surface of the housing 15 and the spindle body 11 or the coupling 18. The tip cover 25 prevents foreign matter, cutting coolant, etc. from entering between the spindle body 11 and the tip opening 15d.

[0026] The use state of the deburring tool 10 will be described with reference to Figs. 4 and 5. Figs. 4 and 5 show a state in which the deburring tool 10 is deburring the workpiece 7. Fig. 4 is a cross-sectional view taken along line IV-IV in Fig. 5. As shown in Figs. 4 and 5, the workpiece 7 has a burr 7a. Here, the two-dot chain line of the burr 7a in Fig. 5 shows the shape of the removed portion. The side surface of the workpiece 7 has a convex curved surface toward the deburring tool 10 when viewed from the base end direction along the cylinder axis 2. 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.

[0027] As shown in FIG. 1, when the tool tip 1 is separated from the workpiece 7, the tool tip 1 is not subjected to a large moment load F1 (see FIG. 4). The piston 21 moves to the tip by compressed air supplied to the cylinder chamber 15a. At this time, the head surface 17b abuts against the seat surface 15c. This prevents the spindle body 11 from tilting. The tilt axis 3 substantially coincides with the cylinder axis 2. At this time, the head surface 17b and the seat surface 15c are flat, so that the tilt axis 3 is likely to be stable.

[0028] When the spindle 11b starts to rotate, the spindle body 11 also tries to rotate. As shown in Fig. 3, the bulge 19b2 of the anti-rotation pin 19b comes into contact with the contact surface 19a1 of the receiving groove 19a, thereby restricting the rotation of the spindle body 11.

[0029] Next, the tool tip 1 is brought into contact with the workpiece 7 to remove the burrs. As shown in Fig. 5, the robot 6 moves the housing 15 along a straight trajectory 41 from position 15p to position 15q. Then, as shown in Figs. 4 and 5, while the spindle body 11 tilts, the tool tip 1 moves from position 1p to position 1q along a trajectory 42 so as to trace the shape of the side surface of the workpiece 7. The tool tip 1 scrapes off the burrs 7a.

[0030] As shown in FIG. 4, when a moment load F1 acts on the tool tip 1, the tilting body 17 and the spindle body 11 try to tilt together around a point 43 around the head surface 17b. Then, the convex spherical surface 17a presses the piston 21 upward toward the base end while remaining in contact with the concave portion 21d. At this time, the tilting body 17 tilts while the convex spherical surface 17a slides on the concave portion 21d. The tilting center 17e moves toward the base end 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 in contact with each other substantially over the entire circumference. The tilting body 17 presses the piston 21 upward along the cylinder axis 2 with the tilting center 17e as the point of action. That is, the biasing force F2 applied by the tilting body 17 to the piston 21 has the cylinder axis 2 as its line of action. Air is a compressible fluid. Therefore, the piston 21 can move toward the base end against the pressure of the compressed air supplied to the piston chamber. The piston 21 receives the biasing force F2 along the cylinder axis 2, so the inclination of the piston 21 is suppressed. Therefore, the piston 21 can move smoothly along the cylinder axis 2. The piston 21 biases the tilting body 17 toward the tip end by the pressure of the compressed air. Therefore, the tilting body 17 maintains contact with the seat surface 15c.

[0031] When the tilt shaft 3 tilts from the cylinder shaft 2, the bulge 19b2 and the receiving groove 19a come into contact with each other while twisting. According to this embodiment, the contact spherical surface 19b3 comes into point contact with the contact surface 19a1, so the contact resistance between the bulge 19b2 and the receiving groove 19a is small. Therefore, the tilt body 17 can be tilted smoothly.

[0032] The operator teaches the robot 6 to determine the trajectory 41 and speed of the deburring tool 10. Preferably, the robot 6 is taught in a state in which the tilt axis 3 is substantially aligned with the cylinder axis 2. As described above, the head surface 17b abuts against the seat surface 15c, and the posture of the spindle body 11 is likely to be stable. This makes it easy for the operator to teach the robot 6. In addition, when the robot 6 moves the deburring tool 10, the posture of the tilt axis 3 is stable, which prevents the deburring tool 10 from coming into contact with the workpiece 7, a safety fence, or the operator.

[0033] <Embodiment 2> 6, the deburring tool 100 of the present embodiment has a tool bracket 113 and a spindle body 11. The tool bracket 113 has a piston 121 instead of the piston 21 of the first embodiment. Other configurations of the tool bracket 113 are substantially the same as those of the tool bracket 13 of the first embodiment.

[0034] The piston 121 has a sleeve 21a, a head portion 21b, a base end opening 121c, a recess (working 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 axis 2. The inside diameters of the base end opening 121c and the recess 121d may be the same.

[0035] When the tilting body 17 tilts, the convex spherical surface 17a contacts the opening of the base end of the recess 121d over substantially the entire circumference. At this time, the convex spherical surface 17a biases the recess 121d with the cylinder axis 2 as its line of action. Then, the tilting body 17 pushes the piston 121 up toward the base end.

[0036] <Embodiment 3> 7, a deburring tool 200 of the present embodiment has a tool bracket 213 and a spindle body 11. The tool bracket 213 has a piston 221 instead of the piston 21 of the first embodiment. Other configurations of the tool bracket 213 are substantially the same as those of the tool bracket 13 of the first embodiment.

[0037] The piston 221 has a sleeve 21a, a head portion 21b, a base end opening 221c, a recess (acting portion) 221d, a seal 21e, and a seal 21f. The piston 221 has a rounded shape on the inner edge of the lower end portion of the piston 21 of the second embodiment. In other words, the inner surface of the lower end portion of the piston 221 is a toroid generated from a quarter circle centered on the cylinder axis 2. It may be said that the inner surface of the lower end portion of the piston 221 is a ring-donut shape. The vertical cross section of the lower end portion of the piston 221 is a circular arc convex toward the inside.

[0038] When the tilting body 17 tilts, the convex spherical surface 17a contacts the recessed portion 221d over substantially the entire circumference. At this time, the convex spherical surface 17a urges the recessed portion 221d with the cylinder shaft 2 as the line of action. Then, the tilting body 17 pushes the piston 221 upward toward the base end. The recessed portion 221d is rounded, which prevents the convex spherical surface 17a from being damaged.

[0039] <Embodiment 4> 8, a deburring tool 300 of the present embodiment has a tool bracket 313 and a spindle body 11. The tool bracket 313 has a piston 321 instead of the piston 21 of the first embodiment. The tool bracket 313 also has a detent 319 instead of the detent 19 of the first embodiment. Other configurations of the tool bracket 313 are substantially the same as those of the tool bracket 13 of the first embodiment.

[0040] The piston 321 has a sleeve 21a, a head portion 21b, a base end opening 321c, a recess (acting portion) 321d, a seal 21e, and a seal 21f. The recess 321d is a concave spherical surface having a center at the tilt center 17e and the same diameter as the convex spherical surface 17a. The other configurations of the piston 321 are substantially the same as those of the piston 221 of the third embodiment.

[0041] As shown in FIGS. 9 and 10, the anti-rotation device 319 has a flange 319c and an anti-rotation pin 319b. The flange 319c may be integral with the tilting body 17. The flange 319c passes through the tilting center 17e and extends perpendicular to the tilting axis 3. The flange 319c has a plurality of (eight in this embodiment) receiving grooves (receiving portions) 319a. The receiving grooves 319a are notches extending radially inward from the outer periphery of the flange 319c. The receiving grooves 319a have an abutment surface 319a1. The abutment surface 319a1 is a plane that passes through the tilting axis 3. The multiple receiving grooves 319a are arranged symmetrically with respect to the tilting axis 3. The receiving grooves 319a may be a through hole that is rectangular in plan view.

[0042] The anti-rotation pin 319b extends parallel to the cylinder axis 2 and is disposed at the tip of the housing 15. The anti-rotation pin 319b passes through the receiving groove 319a. The anti-rotation pin 319b has a bulge 319b2. The bulge 319b2 is, for example, spherical or elliptical. Preferably, the anti-rotation pin 319b is supported by the housing 15 on both sides of the bulge 319b2. The bulge 319b2 is disposed within the receiving groove 319a. The bulge 319b2 and the receiving groove 319a have a play. When the spindle 11b rotates, the bulge 319b2 comes into contact with the abutment surface 319a1. The bulge 319b2 comes into point contact with the abutment surface 319a1.

[0043] When the tilting body 17 tilts, the convex spherical surface 17a comes into contact with the recessed portion 321d over substantially the entire surface. At this time, the convex spherical surface 17a urges the recessed portion 321d with the cylinder axis 2 as its line of action. Then, the tilting body 17 pushes the piston 321 upward toward the base end. The convex spherical surface 17a and the recessed portion 321d come into surface contact with each other, which promotes the movement of the tilting center 17e along the cylinder axis 2.

[0044] <Embodiment 5> 11 and 12, a deburring tool 400 of this embodiment has a tool bracket 413 and a spindle body 11. The tool bracket 413 has a piston 421 instead of the piston 21 of the first embodiment. The tool bracket 413 also has a tilting body 417 instead of the tilting body 17 of the first embodiment. Other configurations of the tool bracket 413 are substantially the same as those of the tool bracket 13 of the first embodiment.

[0045] The piston 421 has a sleeve 21a, a head portion 21b, a base end opening 421c, a recess (acting portion) 421d, a seal 21e, and a seal 21f. The base end opening 421c is a cylinder centered on the cylinder axis 2. The base end opening 421c is connected to the recess 421d. The recess 421d is a concave spherical surface centered on the tilt center 17e. The tilt center 17e is on the cylinder axis 2.

[0046] The tilting 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 right cylinder. The base end of the body 417f may be a truncated cone. The body 417f has a plurality (n) of ball support holes 417g, where n is an integer equal to or greater than 3 (in this embodiment, n=3). The ball support holes 417g are spherical. The ball support holes 417g are arranged with n-fold symmetry around the tilting axis 3.

[0047] The balls 417a are disposed in the ball support holes 417g. The balls 417a roll on the recesses 421d. Each ball 417a comes into contact with the recesses 421d and rolls on the spherical recesses 421d. Therefore, the tilting body 417 can tilt with respect to the piston 421 about the tilting center 17e. 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 body 417 may have a ball retainer that holds the balls 417a at substantially equal intervals. Also, instead of the ball support hole 417g and the ball 417a, a pin with a spherical tip may be used. The pin is fastened to the tilting body 417.

[0048] The ball 417a contacts the recess 421d at n points. When the tilting body 417 tilts, the ball 417a biases the recess 421d with the cylinder axis 2 as the line of action. Then, the tilting body 17 pushes the piston 421 up toward the base end. The ball 417a and the recess 421d are in point contact, and the ball 417a rolls. This promotes the movement of the tilting center 17e along the cylinder axis 2.

[0049] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the gist of the present invention, and all technical matters included in the technical ideas described in the claims are the subject of the present invention. The above-described embodiment shows a preferred example, but a person skilled in the art can realize various alternatives, modifications, variations, or improvements from the contents disclosed in this specification, and these are included in the technical scope described in the attached claims. [Explanation of symbols]

[0050] 1 Tip tool 2 Piston shaft 3 Tilt axis 7. Objects 13, 113, 213, 313, 413 Tool bracket 15. Housing 15c Seat 15f Fluid Port 17, 117, 217, 317, 417 Tilting body 17a, 117a, 217a, 317a, 417a Centering part 17b Head surface 21, 121, 221, 321, 421 Piston 21d, 121d, 221d, 321d, 421d Working part

Claims

1. a housing having a cylinder chamber extending in a cylinder axial direction; a piston that is biased in a distal direction by a compressible fluid and reciprocates within the cylinder chamber, the piston having an action portion disposed at a distal end thereof; A tilting body having a tilting shaft, disposed in the cylinder chamber, and tiltable with respect to the cylinder shaft, a tilting body having a centering portion disposed at a base end portion and abutting against the action portion, the centering portion pushing out the piston with the cylinder axis as a line of action when the tilting axis is tilted from the cylinder axis; A tool bracket having

2. The centering portion is a convex spherical surface. The tool bracket of claim 1 .

3. The action portion is a recess having a circular cross section. A tool bracket according to claim 1 or 2.

4. the centering portion has contact protrusions arranged in n-fold symmetry with respect to the tilt axis, where n is an integer equal to or greater than 3; The action portion is a concave spherical surface having a center on the cylinder axis. A tool bracket according to claim 1 or 3.

5. The housing has a seat disposed at a tip portion, the tilting body has a head surface disposed at a tip end thereof, the head surface being in contact with the seat surface when the tilting axis substantially coincides with the cylinder axis; The tool bracket according to any one of claims 1 to 4.

6. The seat surface is a plane perpendicular to the cylinder axis, The head surface is a plane perpendicular to the tilt axis. A tool bracket according to any one of claims 1 to 5.

7. A spindle body capable of mounting a rotating tool tip is attached to the tilting body, A rotation stopper is disposed between the tilting body and the housing to suppress rotation of the tilting body around the cylinder axis. A tool bracket according to any one of claims 1 to 6.

8. The rotation stopper is disposed on the tip side of the cylinder chamber. The tool bracket of claim 7.

9. A tool bracket according to any one of claims 1 to 8; a spindle body to which a rotating tool bit can be attached, the spindle body being disposed on the tilting body and tilting integrally with the tilting body; A deburring tool having the above structure.

10. The compressible fluid pushes the tilting body toward the tip through the piston, When the tool bit comes into contact with a workpiece and receives a moment load, the tilting body tilts about a point where a head surface arranged at the tip of the tilting body contacts a seat surface arranged at the tip of the housing, The tilting body pushes the piston against the pressure of the compressible fluid with the cylinder axis as the line of action, The tip tool deburrs the workpiece while tilting along the shape of the workpiece integrally with the tilting body. Deburring method.

11. When the tool bit is not in contact with the workpiece, the head surface of the tilting body contacts the seat surface of the housing, and the tilting axis of the tilting body becomes substantially the same as the cylinder axis. The deburring method according to claim 10.

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