Rotary machining device

Abstract

To provide a rotary machining device that, with a simple and inexpensive configuration, allows a machining tool to perform angular displacement motion in two directions orthogonal to a rotation axis.SOLUTION: A rotary machining device 1 according to one embodiment of the present disclosure comprises a machining tool 11, a holding tool 12, a spherical bearing 13, a base 14, and a control mechanism 15. The spherical bearing 13 has an inner ring 13a attached to the holding tool 12 and an outer ring 13b attached to the base 14. The control mechanism 15 comprises a first control member 16 attached to the holding tool 12 and a second control member 17 attached to the base 14. The first control member 16 has a second rotation shaft D on an axis that is orthogonal to a central axis B of the spherical bearing 13 and passes through a rotation center C of the inner ring 13a. The second control member 17 holds the second rotation shaft D movably in an extending direction of the central axis B.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to rotary machining devices. [Background technology]

[0002] A rotary processing device is known that is attached to a robot, a moving mechanism, etc. This rotary processing device has a processing tool that rotates around a rotation axis. This processing tool is used to remove burrs and the like from a workpiece by rotating.

[0003] A machining tool is required to be able to perform an appropriate escape operation when it comes into contact with a protrusion such as a large burr during use. To enable the machining tool to escape in any direction, a technology is used that enables the machining tool to perform angular displacement movement in two directions perpendicular to the rotation axis (see Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 6-143020 Summary of the Invention [Problem to be solved by the invention]

[0005] Patent Document 1 describes a deburring device in which a cutting tool is rotatably attached to a deburring tool. This deburring device includes a holding member rotatably attached about a first axis perpendicular to the rotation axis of the cutting tool, and this holding member rotatably holds the deburring tool about a second axis perpendicular to both the rotation axis and the first axis of the cutting tool, thereby enabling angular displacement of the cutting tool in two perpendicular directions.

[0006] As described in Patent Document 1, conventional rotary processing devices achieve angular displacement movement of the processing tool in two directions by combining a member (holding member) that rotates around a first axis and a member (deburring tool) that rotates around a second axis.

[0007] However, such a configuration requires a complicated mechanism for angularly displacing the machining tool, which increases the cost of the entire device.

[0008] An object of one aspect of the present disclosure is to provide a rotary processing device that has a simple and inexpensive configuration and is capable of angularly displacing a processing tool in two directions perpendicular to a rotation axis. [Means for solving the problem]

[0009] (1) A rotary machining device according to one aspect of the present disclosure includes a machining tool, a holder that holds the machining tool rotatably around a first rotation axis, a spherical bearing attached to the holder and holding the holder so as to enable angular displacement movement of the holder, a base that holds the spherical bearing, and a control mechanism that controls the angular displacement movement of the holder, wherein the spherical bearing has an inner ring attached to the holder and an outer ring attached to the base, the control mechanism has a first control member attached to the holder and a second control member attached to the base, the first control member has a second rotation axis on an axis that is perpendicular to the central axis of the spherical bearing and passes through the center of rotation of the inner ring, and the second control member holds the second rotation axis movably in the direction of extension of the central axis.

[0010] (2) In (1), the first control member may be an arm member having a first end attached to the holder at a distance from the spherical bearing in the direction of extension of the central axis, and a second end at which the second rotation axis is provided.

[0011] (3) In (1) or (2), the second control member may be a swing member having a swing shaft portion rotatably attached to the base and a swing end portion rotatably attached to the second rotation shaft.

[0012] (4) In the above (3), the swing shaft portion and the swing end portion may be disposed at the same position in the direction in which the central axis extends.

[0013] (5) In the above (3) or (4), the swing shaft portion may be attached to the base downstream of the swing end portion in the direction of rotation of the machining tool.

[0014] (6) In any of (1) to (5) above, it is preferable to have one or more spring members and one or more spacer members arranged between the holder and the base around the central axis.

[0015] (7) In any one of (1) to (6) above, the processing tool may be a deburring tool.

[0016] In this disclosure, unless otherwise specified, the positional relationship of each part refers to the positional relationship in a state where the central axes of the inner and outer rings of the spherical bearing are aligned (hereinafter also referred to as the "reference state"). Furthermore, "orthogonal" is not limited to orthogonal in the strict sense (when the angle between them is 90°) but is a concept that allows for errors in device design, etc. For example, "orthogonal to the central axis of the spherical bearing" means that the angle with the central axis is within 90°±5°, and the angle with the central axis may be within 90°±3° or 90°±1°. In other words, with regard to "having a second axis of rotation on an axis that is orthogonal to the central axis of the spherical bearing and passes through the center of rotation of the inner ring," the center of rotation of the inner ring may be tilted relative to a perpendicular to the central axis within a range of ±5°, within a range of 90°±3°, or within a range of 90°±1°, with the second axis of rotation as the base point.

[0017] "The second rotation axis can be moved in the direction in which the central axis extends" means that the second rotation axis can be moved along the central axis, and includes, for example, a mode in which the second rotation axis moves parallel to the central axis, as well as a mode in which the second rotation axis moves in an arc along the central axis.

[0018] The phrase "the oscillation shaft portion and the oscillation end portion are arranged at the same position in the direction in which the central axis extends" does not necessarily mean that the oscillation shaft portion and the oscillation end portion are arranged at exactly the same position in the direction in which the central axis extends (a configuration in which the line connecting the oscillation shaft portion and the oscillation end portion is perpendicular to the central axis in a side view (as viewed in the direction shown in FIG. 4)). For example, in a side view, the mounting position of the oscillation shaft portion may be tilted within a range of 90°±5° with respect to the central axis, or may be tilted within a range of 90°±3°, or may be tilted within a range of 90°±1°, with the oscillation end portion as the base point. [Effects of the Invention]

[0019] A rotary processing device according to one aspect of the present disclosure has a simple and inexpensive configuration and can perform angular displacement movement of a processing tool in two directions perpendicular to the rotation axis. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a schematic perspective view showing a rotary processing device according to one embodiment of the present disclosure. [Figure 2] FIG. 2 is a schematic plan view of the rotary processing device of FIG. [Figure 3] FIG. 3 is a schematic front view of the rotary processing device of FIG. [Figure 4] FIG. 4 is a schematic side view of the rotary processing device of FIG. [Figure 5] 5 is a cross-sectional view of the rotary processing device of FIG. 2 taken along line VV. [Figure 6] 6 is a cross-sectional view of the rotary processing device taken along line VI-VI of FIG. [Figure 7] FIG. 7 is a schematic side view for explaining the angular displacement movement of the processing tool about the second rotation axis. [Figure 8]FIG. 8 is a schematic front view for explaining the angular displacement movement of the machining tool about the third rotation axis. [Figure 9] FIG. 9 is a schematic diagram showing an example of an automatic centering mechanism that can be arranged in the rotary processing device of the present disclosure. [Figure 10] FIG. 10 is a schematic diagram for explaining the operation of the automatic centering mechanism of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0021] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Note that the drawings are schematic and may not correspond to actual dimensions, proportions, etc. In this disclosure, the terms "first" and "second" are used to distinguish the components to which they are attached, and do not limit the number, order, priority, etc.

[0022] [First embodiment] <Rotary processing equipment> The rotary machining apparatus 1 shown in FIGS. 1 to 6 includes a machining tool 11, a holder 12 that holds the machining tool 11 rotatably around a first rotation axis A, a spherical bearing 13 attached to the holder 12 to hold the holder 12 so as to allow angular displacement of the holder 12, a base 14 that holds the spherical bearing 13, and a control mechanism 15 that controls the angular displacement of the holder 12. As shown in FIG. 5, the spherical bearing 13 has an inner ring 13a attached to the holder 12 and an outer ring 13b attached to the base 14. The control mechanism 15 has a first control member 16 attached to the holder 12 and a second control member 17 attached to the base 14. The first control member 16 has a second rotation axis D that is perpendicular to the central axis B of the spherical bearing 13 and passes through the rotation center C of the inner ring 13a. The second control member 17 holds the second rotation axis D so that it can move in the direction of the central axis B.

[0023] The rotary machining device 1 controls the angular displacement of the inner ring 13a relative to the outer ring 13b of the spherical bearing 13 using a control mechanism 15, thereby enabling the machining tool 11 to perform angular displacement in two directions perpendicular to the first rotation axis A (more specifically, the machining tool 11 can be angularly displaced integrally with the holder 12). The control mechanism 15 enables the inner ring 13a to perform angular displacement relative to the outer ring 13b in two directions: around the second rotation axis D (around the X-axis in FIGS. 1 to 6 ) and around a third rotation axis E (around the Y-axis in FIGS. 1 to 6 ) perpendicular to the central axis B and the second rotation axis D. At the same time, the control mechanism 15 restricts the rotation of the inner ring 13a about the central axis B relative to the outer ring 13b. As a result, the machining tool 11 can perform angular displacement in a combined direction of the second rotation axis D and the third rotation axis E in response to the angular displacement of the inner ring 13a relative to the outer ring 13b. In the rotary machining device 1, the first control member 16 attached to the holder 12 has a second rotation axis D, and the second control member 17 attached to the base 14 holds the second rotation axis D movably in the direction in which the central axis B extends, thereby enabling the machining tool 11 to undergo angular displacement movement in two directions perpendicular to the first rotation axis A with a simple and inexpensive configuration.

[0024] The rotary processing device 1 can simplify the entire device by using the spherical bearing 13. As a result, compared to a conventional configuration using a complex gimbal mechanism, it is possible to improve rigidity, reduce costs, and improve the efficiency of maintenance work.

[0025] (Processing tools) The machining tool 11 machines the surface of a workpiece (not shown) by rotating around a first rotation axis A. The machining tool 11 has a base portion rotatably mounted within the holder 12, and a machining portion that is provided continuous with the base portion and protrudes outside the holder 12. The machining portion is, for example, rod-shaped. The central axis of the machining portion and the first rotation axis A may coincide. Furthermore, the first rotation axis A may coincide with the central axis B of the spherical bearing 13.

[0026] Examples of the processing tool 11 include a deburring tool and a grinding tool such as a grindstone. In particular, the processing tool 11 can be suitably used as a deburring tool. When the processing tool 11 is a deburring tool, the processing tool 11 removes burrs from a workpiece using the peripheral surface of the tip of the processing part. Therefore, the processing tool 11 is required to perform an appropriate escape operation when it comes into contact with a protrusion such as a large burr during use. The rotary processing device 1 is suitable for performing the escape operation against the protrusion with a simple and inexpensive configuration.

[0027] (Holding tool) The holder 12 holds the machining tool 11 rotatably around a first rotation axis A. The holder 12 performs angular displacement motion in response to the angular displacement motion of the spherical bearing 13 (angular displacement motion of the inner ring 13a relative to the outer ring 13b). The machining tool 11 performs an escape motion against the protrusion based on the angular displacement motion of the holder 12.

[0028] The holder 12 penetrates the inner ring 13a of the spherical bearing 13. The holder 12 is elongated, for example, with the central axis B of the spherical bearing 13 as the longitudinal direction. As shown in FIG. 5, the holder 12 has an upper portion 12a disposed above the spherical bearing 13 (opposite the direction in which the machining tool 11 protrudes; the positive side in the Z direction in FIGS. 1 to 6), a connection portion 12b to which the inner ring 13a of the spherical bearing 13 is attached, and a lower portion 12c disposed below the spherical bearing 13 (the side in which the machining tool 11 protrudes; the negative side in the Z direction in FIGS. 1 to 6). A motor (not shown) that rotates the machining tool 11 is built into the upper portion 12a. A flange 22 is provided on the peripheral wall of the upper portion 12a. The flange 22 is annular. The flange 22 may protrude outward or inward from the peripheral wall. In this embodiment, the flange 22 protrudes outward from the peripheral wall. The lower portion 12c holds the processing tool 11 in a rotatable manner.

[0029] (spherical bearing) 5, the spherical bearing 13 has an inner ring 13a attached to the central portion (connection portion 12b) in the longitudinal direction of the holder 12, and an outer ring 13b arranged outside the inner ring 13a. In the rotary processing device 1, the inner ring 13a makes angular displacement motion relative to the outer ring 13b in two directions, around the second rotation axis D and around the third rotation axis E. Furthermore, in the rotary processing device 1, the rotational motion of the inner ring 13a relative to the outer ring 13b about the central axis B is restricted. In other words, the rotary processing device 1 ensures the escape motion of the processing tool 11 by controlling the direction of motion of the inner ring 13a relative to the outer ring 13b.

[0030] (Base) Base 14 is used by being attached to, for example, a robot arm or a moving mechanism (neither of which are shown). Base 14 is attached to outer ring 13b, thereby holding holder 12 via spherical bearing 13. Base 14 can move independently of the angular displacement movement of holder 12 when holder 12 makes an angular displacement movement. With this configuration, the operation of moving base 14 by a robot arm or a moving mechanism and the angular displacement movement of holder 12 can be performed independently and in parallel.

[0031] The base 14 is, for example, plate-shaped. The base 14 has a through-hole that penetrates in the thickness direction. The outer ring 13b is attached to the inner circumferential surface of the through-hole.

[0032] As shown in detail in FIGS. 5 and 6 , the rotary processing apparatus 1 has one or more spring members 19 and one or more spacer members 20 arranged between the holder 12 and the base 14 around the central axis B. One end of each of the spring members 19 and the spacer members 20 is arranged on a flange 22 of the holder 12. The other end of each of the spring members 19 and the spacer members 20 is arranged on the top surface of the base 14 (the surface facing the flange 22 in the direction of the central axis B) via an annular support member. An example of the spacer member 20 is a rubber member. As shown in FIG. 6 , the spring members 19 and the spacer members 20 may be arranged alternately around the central axis B. Note that the phrase “arranged between the holder and the base” means being interposed between the holder and the base, and it is sufficient that they are held between the opposing surfaces of the holder and the base, and they may or may not be fixed between the holder and the base. In the rotary processing device 1, the control mechanism 15 restricts the rotational movement of the inner ring 13a relative to the outer ring 13b about the central axis B, and therefore it is preferable that the one or more spring members 19 and the one or more spacer members 20 are not fixed between the holder 12 and the base 14. Furthermore, "disposed on the flange of the holder" means that they are held so as to be perpendicular to the flange of the holder, and "disposed on the top surface of the base" means that they are held so as to be perpendicular to the top surface of the base.

[0033] The one or more spring members 19 and the one or more spacer members 20 prevent the gap between the holder 12 and the base 14 from becoming uneven due to angular displacement of the holder 12. For example, when the holder 12 undergoes angular displacement around the second rotation axis D, the gap between the holder 12 and the base 14 may become smaller in a region located on the positive side of the second rotation axis D in the Y direction in a plan view, and may become larger in a region located on the negative side of the second rotation axis D in the Y direction in a plan view. Even in such a case, the one or more spacer members 20 prevent the gap between the holder 12 and the base 14 from becoming too small in some areas, while the one or more spring members 19 return the gap between the holder 12 and the base 14 to an even gap. Therefore, the machining tool 11 can be pressed against the workpiece with an appropriate force and the machining tool 11 can be properly returned to its original state. As a result, the machining function and durability of the device can be improved.

[0034] (Control mechanism) Control mechanism 15 has a first control member 16 that causes inner ring 13a to perform angular displacement motion relative to outer ring 13b about second rotation axis D, and a second control member 17 that causes inner ring 13a to perform angular displacement motion relative to outer ring 13b about third rotation axis E. First control member 16 and second control member 17 are connected to each other by second rotation axis D. Because first control member 16 and second control member 17 are connected to each other, control mechanism 15 can easily restrict rotational motion of inner ring 13a about central axis B relative to outer ring 13b, while easily causing inner ring 13a to perform angular displacement motion relative to outer ring 13b about second rotation axis D and third rotation axis E.

[0035] [First control member] The first control member 16 is an arm member having a first end 16a attached to the holder 12 at a distance from the spherical bearing 13 in the direction of extension of the central axis B, and a second end 16b provided with the second rotation axis D. Because the first control member 16 is an arm member having the first end 16a and the second end 16b, it is possible to easily realize angular displacement movement of the inner ring 13a relative to the outer ring 13b about the second rotation axis D with a simple configuration. Note that the term "arm member" means a long member. The arm member may have a bent or curved portion.

[0036] The first end 16a is fixed to the upper part 12a of the holder 12. With this configuration, the first control member 16 moves integrally with the holder 12. The first end 16a may be fixed to the circumferential surface of the upper part 12a, or may be fixed to a portion other than the circumferential surface of the upper part 12a. However, it may be desirable that the distance between the first end 16a and the spherical bearing 13 in the direction extending along the central axis B is not too large, from the viewpoint of preventing excessive displacement of the second end 16b when the inner ring 13a is angularly displaced about the third rotation axis E relative to the outer ring 13b. From this viewpoint, the first end 16a is preferably fixed to the circumferential surface of the holder 12. When the first end 16a is fixed to the circumferential surface of the holder 12, the first end 16a may be connected to a flange 22.

[0037] The second end 16b has a second rotation axis D. The second rotation axis D is disposed on an axis that is perpendicular to the central axis B and passes through the rotation center C of the inner ring 13a. A rotating member such as a spherical bearing may be disposed on the second rotation axis D.

[0038] The overall structure of the first control member 16 is not particularly limited, but may be configured to have a first end 16a and a second end 16b spaced apart in the direction of extension of the central axis B, and a connecting portion 16c connecting the first end 16a and the second end 16b, as shown in FIG. 3. As shown in FIG. 4, the first end 16a and the second end 16b are preferably both located on the central axis B in a side view (viewed in the direction of the second rotation axis D). The connecting portion 16c may extend parallel to the central axis B. This configuration makes it easier and more reliable to perform angular displacement movement of the inner ring 13a about the second rotation axis D relative to the outer ring 13b.

[0039] [Second control member] The second control member 17 is an oscillating member having an oscillating shaft portion 17a rotatably attached to the base 14 and an oscillating end portion 17b rotatably attached about the second rotation axis D. The oscillating shaft portion 17a constitutes the oscillating axis when the second control member 17 oscillates. The oscillating end portion 17b constitutes the end portion opposite the oscillating axis when the second control member 17 oscillates. Because the second control member 17 is an oscillating member having the oscillating shaft portion 17a and the oscillating end portion 17b, angular displacement movement of the inner ring 13a relative to the outer ring 13b about the third rotation axis E can be easily achieved with a simple configuration.

[0040] The oscillating shaft portion 17a may be directly attached to the base 14, or may be indirectly attached to the base 14 via another member. In this embodiment, the oscillating shaft portion 17a is rotatably attached to a shaft member 18 fixed to the base 14, and is thereby indirectly attached to the base 14. The oscillating shaft portion 17a and the shaft member 18 are rotatably connected by, for example, a spherical bearing.

[0041] The oscillating end portion 17b moves in the direction in which the central axis B extends (positive and negative Z directions in Figures 1 to 6) based on an axis that is perpendicular to the central axis B of the spherical bearing 13 and passes through the rotation center C of the inner ring 13a, thereby enabling angular displacement of the inner ring 13a around the third rotation axis E relative to the outer ring 13b via the first control member 16.

[0042] The overall structure of the second control member 17 is not particularly limited, but may be a shaft member having a swing shaft portion 17a and a swing end portion 17b as opposite ends. As shown in Fig. 2, the swing shaft portion 17a and the swing end portion 17b are preferably positioned equidistant from the third rotation axis E in a plan view (viewed from the direction of the central axis B). This configuration makes it easy to cause the inner ring 13a to make an angular displacement movement about the third rotation axis E relative to the outer ring 13b via the first control member 16.

[0043] 4, it is preferable that the oscillating shaft portion 17a and the oscillating end portion 17b are disposed at the same position in the direction in which the central axis B extends. With this configuration, it is easy to move the oscillating end portion 17b in both directions in which the central axis B extends, based on an axis that is perpendicular to the central axis B of the spherical bearing 13 and passes through the center of rotation C of the inner ring 13a.

[0044] The swing end 17b and the second end 16b of the first control member 16 are rotatably connected by, for example, a spherical bearing.

[0045] As shown in FIG. 2, it is preferable that the machining tool 11 has a predetermined rotation direction R when machining a workpiece. In this configuration, the swing shaft 17a is preferably attached to the base 14 downstream of the swing end 17b in the rotation direction of the machining tool 11. That is, when the machining tool 11 rotates in the rotation direction R, the holder 12 receives a rotational reaction force in the opposite direction. In this case, it is preferable that the swing shaft 17a is attached to the base 14 downstream of the swing end 17b in the rotation direction of the machining tool 11 (that is, upstream of the rotation direction of the rotational reaction force of the machining tool 11). This configuration can prevent a buckling load from being applied to the second control member 17 when the machining tool 11 rotates. As a result, the durability of the rotary machining device 1 can be improved. Furthermore, by applying a tensile load to the second control member 17, the cross-sectional area of the second control member 17 can be reduced, which in turn reduces the weight of the second control member 17 and facilitates the angular displacement movement of the machining tool 11.

[0046] (Angular displacement motion) The angular displacement movement of the machining tool 11 using the control mechanism 15 will now be described. As shown in Fig. 7, when the machining tool 11 comes into contact with a protrusion such as a burr from the direction of the third rotation axis E (the positive side of the Y-axis direction in Fig. 7), the first control member 16 is configured to be rotatable about the second rotation axis D, and therefore the holder 12 and the first control member 16 perform angular displacement movement together about the second rotation axis D. As a result, the machining tool 11 performs angular displacement movement together with the holder 12.

[0047] Furthermore, as shown in FIG. 8 , when the machining tool 11 comes into contact with a protrusion such as a burr from the direction of the second rotation axis D (the negative side of the X-axis direction in FIG. 8 ), the second control member 17 can swing about the swing shaft portion 17 a in the direction of the central axis B, and the swing end portion 17 b is rotatably connected to the second end portion 16 b of the first control member 16, so that the holder 12 and the first control member 16 perform angular displacement motion together around the third rotation axis E. More specifically, when the machining tool 11 comes into contact with a protrusion such as a burr, the swing end portion 17 b of the second control member 17 can move in an arc along the central axis B in response to the pressing force applied to the machining tool 11, so that the holder 12 and the first control member 16 can perform angular displacement motion together around the third rotation axis E. As a result, the machining tool 11 performs angular displacement motion together with the holder 12.

[0048] In this way, the control mechanism 15 is configured to enable angular displacement movement of the machining tool 11 around the second rotation axis D and the third rotation axis E. As a result, the machining tool 11 can move in a combined direction around the second rotation axis D and the third rotation axis E.

[0049] [Other embodiments] The above-described embodiments do not limit the configuration of the present invention. Therefore, the above-described embodiments may include omissions, substitutions, or additions of components based on the description in this specification and common general technical knowledge, and all of these should be construed as falling within the scope of the present invention.

[0050] The positional relationship of each part in the present disclosure is included in the present invention as long as it provides the functions and effects of the present disclosure, regardless of the numerical ranges described in the above embodiments.

[0051] The rotary processing device may have an automatic centering mechanism for returning the holder that has undergone angular displacement to its reference state. The automatic centering mechanism can be arranged toward the central axis of the spherical bearing, for example, toward the center of rotation of the inner ring of the spherical bearing. An example of an automatic centering mechanism is shown in FIG. 9. The automatic centering mechanism 30 in FIG. 9 includes a cone-shaped receiving member 31, a linear motion mechanism 32, and a displacement sensor 33. The receiving member 31 is attached to the holder 12. The linear motion mechanism 32 includes a steel ball 32a that contacts the receiving member 31, a holding member 32b that holds the steel ball 32a, and a biasing member (not shown) such as a spring that biases the holding member 32b toward the receiving member 31. The displacement sensor 33 detects the displacement of the holding member 32b. Note that the biasing member may be air-pressured instead of a spring. The receiving member 31 and the linear motion mechanism 32 may be arranged so that their respective central axes pass through the center of rotation of the inner ring of the spherical bearing.

[0052] When the machining tool is pressed against a protrusion such as a burr, the automatic centring mechanism 30 causes the receiving member 31 to push the steel ball 32a, moving the linear motion mechanism 32, as shown in FIG. 10 . When the linear motion mechanism 32 moves, the biasing member biases the linear motion mechanism 32 toward the receiving member 31 with a force corresponding to the amount of movement of the linear motion mechanism 32. This biasing force is applied to the holder 12 as a tool centripetal force (a force that attempts to return the machining tool to its reference state). The amount of movement of the linear motion mechanism 32 is detected by a displacement sensor 33, and the detection signal is sent to a control device (not shown). The control device may be configured to change the travel speed, travel path, rotation speed, etc. of the machining tool when the detection signal sent from the displacement sensor 33 exceeds a threshold value.

[0053] The automatic centering mechanism 30 may be used in place of one or more spring members and one or more spacer members described in the above embodiment, or may be used together with one or more spring members and one or more spacer members. Note that even if the rotary processing device of the present disclosure does not have the automatic centering mechanism 30, it may be configured without one or more spring members and one or more spacer members depending on the material and application of the workpiece to be processed.

[0054] In the above embodiment, a configuration in which the first control member is an arm member and the second control member is a swinging member has been described. However, in the present disclosure, the specific configurations of the first control member and the second control member are not limited to those described in the above embodiment. For example, the first control member may be configured in a shape other than an arm shape as long as it has the first end and the second end. Furthermore, the second control member may be configured to slidably guide the second end of the first control member in the direction in which the central axis of the spherical bearing extends.

[0055] Even when the second control member is an oscillating member, if the durability of the second control member is sufficient, the oscillating shaft portion may be located downstream of the oscillating end portion in the rotational direction of the machining tool. [Explanation of symbols]

[0056] 1 Rotary processing device 11 Processing tools 12 Holder 12a upper part 12b Connection 12c bottom 13 Spherical bearings 13a Inner Circle 13b outer ring 14 Foundation 15 Control Mechanism 16 First control member 16a First end 16b Second end 16c Connection 17 Second control member 17a Swing shaft 17b Swing end 18 Shaft member 19 Spring member 20 Spacer member 22 flange 30 Automatic centripetal mechanism 31 Receiving member 32 Linear motion mechanism 32a steel ball 32b holding member 33 Displacement Sensor A First rotation axis B Central axis of spherical bearing C Rotation center of inner ring D Second rotation axis E 3rd rotation axis R Rotation direction of the tool when machining the workpiece

Claims

1. Processing tools and a holder that holds the machining tool rotatably around a first rotation axis; a spherical bearing attached to the holder and holding the holder so as to be capable of angular displacement; a base that holds the spherical bearing; a control mechanism for controlling the angular displacement movement of the holder; Equipped with the spherical bearing has an inner ring attached to the holder and an outer ring attached to the base, the control mechanism has a first control member attached to the holder and a second control member attached to the base; the first control member has a second rotation axis on an axis that is perpendicular to the central axis of the spherical bearing and passes through the rotation center of the inner ring, The second control member holds the second rotation shaft movably in the direction in which the central axis extends. Rotary processing equipment.

2. 2. The rotary processing device according to claim 1, wherein the first control member is an arm member having a first end attached to the holder at a distance from the spherical bearing in the direction in which the central axis extends, and a second end at which the second rotation shaft is provided.

3. 2. The rotary processing device according to claim 1, wherein the second control member is a swing member having a swing shaft portion rotatably attached to the base and a swing end portion rotatably attached to the second rotation shaft.

4. 4. The rotary processing device according to claim 3, wherein the swing shaft portion and the swing end portion are disposed at the same position in the direction in which the central axis extends.

5. 5. The rotary processing device according to claim 3, wherein the swing shaft portion is attached to the base downstream of the swing end portion in the rotation direction of the processing tool.

6. 5. The rotary processing device according to claim 1, further comprising one or more spring members and one or more spacer members disposed between the holder and the base around the central axis.

7. The rotary processing device according to any one of claims 1 to 4, wherein the processing tool is a deburring tool.

Images