Tool bracket

Abstract

To provide a tool bracket to which a spindle body is inserted, and in which the spindle body can tilt smoothly.SOLUTION: A tool bracket 10 comprises: a housing 15 with a cylinder chamber 15a extending in a cylinder axis 2 direction; a tilt body 17 which has a tilt axis 3 tilting with a tilt center 17e as the center, and to which the spindle body 11 is fitted, and which is capable of tilting relative to the cylinder axis 2; a whirl-stop body 19b which extends in a radial direction from the tilt axis 3 and is arranged on the tilt body 17; and a reception groove 19a which extends along the cylinder axis 2 direction and is arranged in the housing 15.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a tool bracket. [Background technology]

[0002] A deburring tool capable of tilting has been proposed (JP Patent Publication 2022-074292 A, hereinafter referred to as Patent Document 1). The deburring tool 100 of Patent Document 1 has a housing 1 having a shank 11 arranged along a shank axis 15, a transmission rod 3, a tilting shaft 4, and a tilt correction mechanism 9. The tilting shaft 4 has a flange portion 41, a receiving portion 41a through which the transmission rod passes, a rod portion 42 that holds a cutting tool 101, and a spherical bush 24 having a tilting center 25 on the shank axis 15. The tilting shaft 4 can tilt around the tilting center 25. Summary of the Invention [Problem to be solved by the invention]

[0003] The deburring tool of Patent Document 1 is attached to a rotating spindle of a machining center etc. Therefore, the deburring tool of Patent Document 1 cannot be applied to, for example, a robot that does not have a rotating spindle. SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a tool bracket into which a spindle body can be inserted and which allows the spindle body to tilt smoothly. [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 tilting body having a tilting shaft that tilts around a tilting center, a spindle body attached thereto, and capable of tilting with respect to the cylinder shaft; a rotation prevention body extending radially from the tilt shaft and disposed on the tilt body; A receiving groove extending along the cylinder axis direction and disposed in the housing; A tool bracket having a

[0005] A second 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 axis, disposed within the cylinder chamber, and tiltable with respect to the cylinder axis, the tilting body having a centering part disposed at a base end and abutting against the action part, the centering part pushing out the piston with the cylinder axis as a line of action when the tilting axis is inclined from the cylinder axis; A tool bracket having a Effect of the Invention

[0006] According to the tool bracket of the present invention, the spindle body can be inserted and tilted smoothly. [Brief description of the drawings]

[0007] [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 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] <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 .

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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).

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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]

[0028] 1 Tip tool 2 Piston shaft 3 Tilt axis 7. Objects 11 Spindle body 13 Tool bracket 15 Housing 15a Cylinder chamber 17 Tilting body 17e Tilt center 19a Receptor groove 19b Anti-rotation body 21 Piston 21d Working part

Claims

1. a housing having a cylinder chamber extending in a cylinder axial direction; a tilting body having a tilting shaft that tilts around a tilting center, a spindle body attached thereto, and capable of tilting with respect to the cylinder shaft; a rotation prevention body extending radially from the tilt shaft and disposed on the tilt body; A receiving groove extending along the cylinder axis direction and disposed in the housing; A tool bracket having

2. The anti-rotation body passes through the tilt center and extends on a plane perpendicular to the tilt axis. The tool bracket of claim 1 .

3. The receiving groove has an abutment surface that is a plane passing through the cylinder axis. A tool bracket according to claim 1 or 2.

4. The anti-rotation body has a bulge portion that abuts against the abutment surface. The tool bracket of claim 3.

5. The bulge is spherical. The tool bracket of claim 4.

6. The piston further includes an action portion disposed at a tip portion, the action portion being biased in a tip direction and reciprocating within the cylinder chamber, The tilting body is disposed in the cylinder chamber and has a centering portion that abuts against the action portion. A tool bracket according to claim 1 or 2.

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