Tilting mechanism

Abstract

To provide a tilting mechanism with which a spindle body can tilt even when a moment load acting on the spindle body is relatively small.SOLUTION: A tilting mechanism 10 includes: a housing 11 including a body chamber 11c extending along a reference axis 1, a spherical surface reception surface 11g1 arranged in a distal end portion of the body chamber 11c, and a contact surface 11g2; a body 13 arranged inside the body chamber 11c so as to be freely tiltable with respect to the reference axis 1, the body 13 including a first spherical surface 13b1 that contacts the spherical surface reception surface 11g1, and an abutting surface 13b2 that contacts the contact surface 11g2; an elastic body 17 that is arranged in the body chamber 11c and energizes the body 13 in a distal end direction; and a rotation stopper 15 that is arranged in the housing 11 and suppresses rotation of the body 13.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a tilting mechanism. [Background technology]

[0002] Deburring tools that can be attached to robots and the like are 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 that has a center disk, is tiltable, and is loosely fitted and 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 separator ring provided between the piston and the spring, and a flow path that supplies air between the separator 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 it difficult to move the piston. This makes it difficult to reduce the load required to tilt the spindle body.

[0004] An object of the present invention is to provide a tilting mechanism that allows the spindle body to tilt even when the moment load acting on the spindle body is relatively small. [Means for solving the problem]

[0005] A first aspect of the present invention is A housing, a body chamber extending along a reference axis; a spherical receiving surface disposed at a tip end of the body chamber; A contact surface; a housing having a body disposed inside the body chamber so as to be tiltable relative to the reference axis, a first spherical surface that contacts the spherical receiving surface; a butting surface that comes into contact with the contact surface; a body having an elastic body disposed in the body chamber and biasing the body in a distal direction; a detent disposed on the housing to prevent rotation of the body; It is a tilting mechanism having the following.

[0006] The tilting mechanism is, for example, a deburring tool, a hand, or a chuck. The attachment is, for example, a spindle body, a hand, or a chuck. The attachment is disposed at the tip of the body. The attachment may be actuated by a working fluid. The cutting tool is, for example, a cutter, a brush, or an abrasive bar.

[0007] The housing may have a flange chamber. The flange may be disposed within the flange chamber. The flange chamber may be disposed at a distal end of the housing. The flange chamber may be connected to the body chamber. The abutment surface may be disposed at a distal end of the flange. The spherical receiving surface may be disposed at a distal end of the flange.

[0008] The housing may have a case and a cover. The cover is detachably disposed at the tip of the case. The cover may have a spherical receiving surface, a flange chamber, or an abutment surface. The anti-rotation pin may have a shaft portion, a head portion, and a fastening portion. The shaft portion abuts against the receiving portion. The anti-rotation pin may fasten the cover to the case.

[0009] The center of the first spherical surface is located substantially on the reference axis 1. Here, "substantially" means within 0.5 mm, preferably within 0.2 mm, from the reference axis 1. The center of the first spherical surface is located on the attachment axis. Preferably, the center of the first spherical surface is located at the center of the flange in the thickness direction.

[0010] The anti-rotation pin may extend parallel to the reference axis. The receiving portion may extend parallel to the reference axis. The flange may have one or more receiving portions. The anti-rotation pin may be inserted into each of the receiving portions. The multiple receiving portions may be evenly spaced in the circumferential direction. The receiving portions may be holes or grooves.

[0011] The anti-rotation pin may extend perpendicular to the reference axis. A plurality of anti-rotation pins may be arranged on a pin installation plane perpendicular to the reference axis. Preferably, the pin installation plane passes through the center of the first spherical surface. A plurality of anti-rotation pins may be arranged evenly in the circumferential direction. The receiving portion may extend perpendicular to the attachment axis. The receiving portion may extend parallel to the attachment axis. The receiving portion may penetrate the flange in the direction of the attachment axis. The receiving portion, which is a receiving groove, may have an abutment surface. Preferably, the abutment surface of the receiving portion is a plane passing through the attachment axis.

[0012] The working fluid source is, for example, a compressor, a hydraulic unit, or a hydraulic unit. The working fluid is, for example, compressed air, hydraulic oil, water, or a processing coolant, preferably compressed air. The ejector is, for example, a silencer or a tank of a hydraulic unit or a hydraulic unit. The ejector ejects the working fluid. [Effects of the Invention]

[0013] According to the tilting mechanism of the present invention, the spindle body can be tilted even when the moment load acting on the spindle is relatively small. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a cross-sectional view of a tilting mechanism according to a first embodiment; [Figure 2] 1 is a cross-sectional view of the tilting mechanism of the first embodiment in use; [Figure 3] 10 is a cross-sectional view of a tilting mechanism according to a second embodiment. [Figure 4] Cross section of line IV-IV in Figure 3 [Figure 5] 10 is a cross-sectional view of a tilting mechanism according to a third embodiment. [Figure 6]10 is a cross-sectional view of a deburring tool according to a modified example of the third embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0015] First Embodiment As shown in FIG. 1, the tilting mechanism 10 of this embodiment includes a reference axis 1, a housing 11, a body 13, a locking pin 15, a spring (elastic body) 17, a seal ring (first seal) 19, a backup ring 20, a lip seal (second seal) 21, and a spindle body (attachment) 22. The tilting mechanism 10 may also include a tool axis (attachment axis) 3, an air source (working fluid source) 35, a silencer (discharger) 37, and a moving device 7. FIG. 1 is a cross-sectional view of the tilting mechanism 10 taken along a plane passing through the reference axis 1. The tilting mechanism 10 is a deburring tool. Hereinafter, the lower side of FIG. 1 will be referred to as the tip end, and the upper side of FIG. 1 will be referred to as the base end.

[0016] The tilting mechanism 10 is installed on a moving device 7. The moving device 7 is, for example, a machine tool or a robot. The robot is, for example, an orthogonal axis robot, a vertical articulated robot, a horizontal articulated robot, or a parallel link robot. The tilting mechanism 10 may be connected to an air source 35 and a silencer 37. The air source 35 supplies compressed air (working fluid) 36 to the tilting mechanism 10. The silencer 37 exhausts the compressed air 36.

[0017] The housing 11 has a columnar shape extending along the reference axis 1. The housing 11 has, for example, a cylindrical or rectangular columnar shape centered on the reference axis 1. The housing 11 has, inside, in order from the base end, a body chamber 11c, a flange chamber 11g, and a body hole 11j. The body chamber 11c, the flange chamber 11g, and the body hole 11j are connected to each other. The housing 11 has a pin hole 11h, a housing supply port 11k, and a housing discharge port 11m.

[0018] The housing 11 is divided into a case 11a and a cover 11b. The case 11a and the cover 11b are separated, for example, at the base end of the flange chamber 11g.

[0019] The body chamber 11c is a stepped cylinder centered on the reference axis 1. The body chamber 11c has a small diameter portion 11d, a large diameter portion 11e, and a spring chamber 11f. The small diameter portion 11d is a straight cylinder and is located at the base end of the body chamber 11c. The large diameter portion 11e is located in the center of the body chamber 11c and is connected to the small diameter portion 11d. The large diameter portion 11e is a straight cylinder with a larger diameter than the small diameter portion 11d. The spring chamber 11f is located at the tip end of the body chamber 11c. The spring chamber 11f is a straight cylinder with a larger diameter than the large diameter portion 11e.

[0020] The flange chamber 11g is disk-shaped and has a larger diameter than the spring chamber 11f. The flange chamber 11g has a spherical receiving surface 11g1 and an abutment surface 11g2. The spherical receiving surface 11g1 is the inner surface of the flange chamber 11g and is a right cylindrical surface centered on the reference axis 1. The abutment surface 11g2 is the tip surface of the flange chamber 11g. Preferably, the abutment surface 11g2 is a plane perpendicular to the reference axis 1.

[0021] The body hole 11j has a diameter smaller than that of the flange chamber 11g and opens to the tip of the housing 11. The pin hole 11h extends parallel to the reference axis 1. The pin hole 11h extends from the tip of the housing 11 to the flange chamber 11g. The pin hole 11h may pass through the cover 11b and reach the case 11a. For example, the pin hole 11h is a blind hole that is disposed through the base end surface of the flange chamber 11g. The pin hole 11h may have an internal thread 11h1. The internal thread 11h1 may be disposed on the base end side of the flange chamber 11g. Multiple pin holes 11h are disposed evenly around the circumference.

[0022] The housing supply port 11k is disposed at the base end of the housing 11. The housing supply port 11k extends along the reference axis 1 and is connected to the body chamber 11c. For example, the housing supply port 11k is connected to the center of the bottom of the small diameter portion 11d. The housing supply port 11k is connected to the air source 35. The housing outlet 11m is disposed on the outer periphery of the housing 11 and is connected to the body chamber 11c. For example, the housing outlet 11m is connected to a cylindrical surface that is the side surface of the small diameter portion 11d. The housing outlet 11m is connected to the silencer 37.

[0023] The body 13 has a right cylindrical shape centered on the tool axis (attachment axis) 3. The body 13 is arranged in the body chamber 11c so as to be able to swing freely. The body 13 has, in order from the tip, a tip portion 13a, a flange 13b, a central portion 13c, a stepped portion 13f, a base end portion 13d, and a second spherical surface 13e. The tip portion 13a, the flange 13b, the central portion 13c, the stepped portion 13f, the base end portion 13d, and the second spherical surface 13e are connected to one another. The body 13 may have one or more body supply ports 13g, one or more body discharge ports 13h, and an attachment chamber 13j.

[0024] The tip portion 13a is cylindrical and connected to the tip side of the flange 13b. The tip portion 13a may protrude from the housing 11.

[0025] The flange 13b has a first spherical surface 13b1, an abutting surface 13b2, and a rotation prevention hole (receiving portion) 13b3. The first spherical surface 13b1 is a spherical surface centered on a center 13k. The center 13k is located on the tool axis 3. The first spherical surface 13b1 abuts against the spherical receiving surface 11g1. The diameter 12 (see FIG. 2) of the first spherical surface 13b1 is substantially the same as or slightly smaller than the diameter 14 (see FIG. 2) of the spherical receiving surface 11g1. Specifically, the diameter 12 is 95% to 100%, preferably 97% to 100%, for example 97% to 99% of the diameter 14. The center 13k is located at the center of the flange 13b in the thickness direction. The center 13k is located substantially on the reference axis 1. The abutting surface 13b2 is located at the tip of the flange 13b. The cross section of the anti-rotation hole 13b3 is circular or rectangular.

[0026] The central portion 13c and the base end portion 13d are right cylinders centered on the tool axis 3. The diameter of the base end portion 13d is smaller than the diameter of the central portion 13c. The central portion 13c and the base end portion 13d are connected by a step portion 13f. The step portion 13f is, for example, a flat surface. The step portion 13f may also be a conical surface or a spherical surface. The central portion 13c is arranged in the large diameter portion 11e or the spring chamber 11f. The base end portion 13d is arranged in the small diameter portion 11d.

[0027] The second spherical surface 13e is disposed at the base end of the body 13. The second spherical surface 13e is a spherical surface centered on a center 13k. That is, the first spherical surface 13b1 and the second spherical surface 13e are concentric.

[0028] The attachment chamber 13j is disposed at the tip of the body 13. The attachment chamber 13j has, for example, a right cylindrical shape. The body supply port 13g is disposed at the base end of the second spherical surface 13e. The body supply port 13g extends along the tool axis 3. The body supply port 13g is connected to the attachment chamber 13j and the housing supply port 11k. The body outlets 13h are arranged on the cylindrical surface of the base end 13d. For example, a plurality of body outlets 13h are arranged evenly around the circumference. The body outlets 13h are connected to the attachment chamber 13j and the housing outlet 11m.

[0029] The body 13 is biased by a spring 17. When the body 13 is not tilted from the reference axis 1, the abutment surface 13b2 abuts against the contact surface 11g2.

[0030] The anti-rotation pin 15 has, in order from the tip, a head 15b, a shaft 15a, and a fastening portion 15c. The anti-rotation pin 15 is bolt-shaped. The anti-rotation pin 15 secures the cover 11b to the case 11a. The head 15b abuts against the cover 11b. The fastening portion 15c has a male thread and is fastened to the female thread 11h1. The shaft 15a abuts against the anti-rotation hole 13b3.

[0031] The spring 17 is a compression coil spring. The spring 17 is disposed between the spring chamber 11f and the flange 13b. The spring 17 may be guided by the inner wall surface of the spring chamber 11f or the central portion 13c. The spring 17 biases the body 13 in the distal direction. The elastic body may be, for example, rubber or a three-dimensional spring instead of spring 17. Spring 17 may be disposed between small diameter portion 11d and step portion 13f. Multiple springs 17 may be disposed between flange chamber 11g and flange 13b.

[0032] The seal ring 19 has, for example, a circular or X-shaped cross section. The seal ring 19 is, for example, a ring made of synthetic rubber or natural rubber. The seal ring 19 is disposed on the base end surface of the small diameter portion 11d. The seal ring 19 seals the gap between the small diameter portion 11d and the second spherical surface 13e. Compressed air 36 passes through the inside of the seal ring 19 and is supplied from the housing supply port 11k to the body supply port 13g. The seal ring 19 separates the housing supply port 11k from the housing discharge port 11m. The backup ring 20 has, for example, a rectangular cross section. The backup ring 20 is disposed radially outward of the seal ring 19. The backup ring 20 holds the seal ring 19. The backup ring 20 is, for example, a resin ring.

[0033] The lip seal 21 is disposed at the base end of the large diameter portion 11e. The lip seal 21 has a lip that abuts against the stepped portion 13f. The lip seal 21 seals the gap between the body chamber 11c and the body 13.

[0034] The spindle body 22 has a tool casing 23, a spindle motor 25, a spindle 27, and a main bearing 28. The spindle body 22 is attached to the body 13. The tool casing 23 has a hollow cylindrical shape and is disposed in the attachment chamber 13j.

[0035] The spindle motor 25 is disposed in the tool casing 23. The spindle motor 25 is a fluid motor, preferably an air motor. The spindle motor 25 is connected to the body supply port 13g and the body discharge port 13h. The spindle motor 25 is rotated by compressed air 36 supplied from the body discharge port 13h, and discharges the compressed air 36 via the body discharge port 13h. The main shaft 27 is supported on the tool casing 23 by a main bearing 28. The main shaft 27 is connected to a main shaft motor 25. The main shaft 27 is rotated by the main shaft motor 25. A tool bit 29 is attached to the main shaft 27. The tool bit 29 has a cutting edge 29a.

[0036] The contact surface 11g2 may be a right circular cone surface centered on the reference axis 1. In this case, the butting surface 13b2 may be a right circular cone surface centered on the tool axis 3. In this case, the contact surface 11g2 and the butting surface 13b2 have the same apex angle.

[0037] When the spindle body 22 is not a fluid device, the housing supply port 11k, the body supply port 13g, the seal ring 19, the backup ring 20, the housing discharge port 11m, the body discharge port 13h, the lip seal 21, and the second spherical surface 13e may be omitted.

[0038] The tilting mechanism 10 in use will be described with reference to Fig. 2. Fig. 2 shows a cross-sectional view of the tilting mechanism 10 in a state where the bit 29 is in contact with the workpiece 5 and the spindle body 22 is tilted. First, the air source 35 supplies compressed air 36 to the spindle motor 25 via the housing inlet 11k, the body chamber 11c, and the body inlet 13g. This causes the spindle motor 25 to rotate the spindle 27 and the tool bit 29. The compressed air 36 is discharged from the spindle motor 25 via the body outlet 13h, the body chamber 11c, the housing outlet 11m, and the silencer 37. The anti-rotation hole 13b3 abuts against the shaft portion 15a of the anti-rotation pin 15, preventing rotation of the body 13. Next, the moving device 7 brings the cutting blade 29a into contact with the side surface of the workpiece 5. The body 13 receives a moment load from the workpiece 5. At this time, the abutting surface 13b2 moves away from the abutting surface 11g2 against the elastic force of the spring 17 and the pressure of the compressed air 36. The first spherical surface 13b1 contacts the spherical receiving surface 11g1. The body 13 then tilts about the center 13k. The second spherical surface 13e comes into contact with the seal ring 19 and rotates while crushing the seal ring 19.

[0039] According to the tilting mechanism 10 of this embodiment, the body 13 is biased toward the tip by the elastic force of the spring 17 and the pressure of the compressed air 36. When no moment load is acting on the spindle body 22, the abutting surface 13b2 abuts against the abutting surface 11g2. The first spherical surface 13b1 is guided by the spherical receiving surface 11g1. Therefore, the center 13k of the first spherical surface 13b1 is located very close to the reference axis 1. This makes the tool axis 3 and the reference axis 1 substantially coincident. Here, "substantially coincident" means that the tool axis 3 and the reference axis 1 are parallel and that the deviation between the tool axis 3 and the reference axis 1 is sufficiently small compared to the cutting depth of the cutting edge 29a in the workpiece 5. For example, the deviation of the tool axis 3 from the reference axis 1 is within 0.5 mm, preferably within 0.2 mm.

[0040] Since the first spherical surface 13b1 abuts against the spherical receiving surface 11g1, the body 13 can tilt smoothly around the center 13k of the first spherical surface 13b1. The second spherical surface 13e comes into contact with the seal ring 19. The second spherical surface 13e is positioned so as to compress the seal ring 19. The second spherical surface 13e and the first spherical surface 13b1 share a common center 13k, and the body 13 tilts around the center 13k. Therefore, even when the body 13 tilts, the compression of the seal ring 19 is kept approximately uniform. As a result, the seal ring 19 biases the body 13 toward the tip evenly around its circumference.

[0041] The housing supply port 11k and the body supply port 13g are separated from the housing discharge port 11m and the body discharge port 13h by a seal ring 19. Therefore, the pressure of the compressed air 36 supplied to the spindle body 22 is maintained.

[0042] Second Embodiment As shown in Figures 3 and 4, the tilting mechanism 100 of this embodiment has a housing 111, a body 113, a locking pin 115, a spindle body 22, a spring 17, a seal ring 19, a backup ring 20, and a lip seal 21.

[0043] The housing 111 has a body chamber 11c, a flange chamber 11g, a body hole 11j, a pin hole 111h, a housing supply port 11k, and a housing discharge port 11m. The pin hole 111h is perpendicular to the reference axis 1 and is disposed on a pin installation plane 111q. The pin hole 111h has an internal thread 111h1.

[0044] The anti-rotation pin 115 is bolt-shaped. The anti-rotation pin 115 has, in order from the outside in the radial direction, a head 115b, a fastening portion 115c, and a shaft portion 115a. The shaft portion 115a is a right cylinder. The head 115b abuts against the housing 111. The fastening portion 115c is a male thread that is fastened to the female thread 111h1. As shown in FIG. 4, the pin hole 111h and the anti-rotation pin 115 extend radially. The center of the anti-rotation pin 115 is offset on the pin installation plane 111q from the abutment surface 113b4 (described later) by a radius 116 of the shaft portion 115a in the direction opposite to the rotation direction 4 of the main shaft 27. The shaft 115a may have a bulge (not shown) that is, for example, spherical.

[0045] As shown in FIG. 3, the body 113 has a tip portion 13a, a flange 113b, a central portion 13c, a base end portion 13d, a second spherical surface 13e, a step portion 113f, a body supply port 13g, and a body discharge port 13h.

[0046] The flange 113b has a first spherical surface 13b1, an abutment surface 13b2, and an anti-rotation groove (receiving portion) 113b3. In a normal state where the abutment surface 13b2 abuts against the abutment surface 11g2, the center 13k is located on the pin installation plane 111q. The anti-rotation groove 113b3 penetrates the flange 113b in a direction parallel to the tool axis 3 (the vertical direction in FIG. 3). As shown in FIG. 4, the anti-rotation groove 113b3 has a rectangular cross section when viewed in the direction of the tool axis 3. The anti-rotation groove 113b3 has an abutment surface 113b4. The face width 114 of the anti-rotation groove 113b3 is slightly larger than twice the radius 116 of the shaft portion 115a. The anti-rotation groove 113b3 extends radially. The anti-rotation groove 113b3 is offset from the abutment surface 113b4 on the pin installation plane 111q in the opposite direction to the rotation direction 4. The abutment surface 113b4 is the surface of the anti-rotation groove 113b3 in the rotation direction 4. The abutment surface 113b4 is a plane that passes through the tool shaft 3. The abutment surface 113b4 abuts against the shaft portion 115a. The step portion 113f is a spherical surface having a center 13k.

[0047] The tilting mechanism 100 of this embodiment has a rotation prevention pin 115 that extends radially. This makes it easier to make the tilting mechanism 100 smaller. It also makes it easier to increase the tilting range compared to the tilting mechanism 10 of embodiment 1. When the body 113 tilts, the rotation prevention groove 113b3 slides at the contact portion with the rotation prevention pin 115. This promotes smooth tilting of the body 113.

[0048] In the tilting mechanism 100 of this embodiment, the stepped portion 113f is a spherical surface having a center 13k. Therefore, even when the body 13 tilts, there is almost no change in the inclination of the lip of the lip seal 21. This allows the body 13 to tilt smoothly. In addition, the life of the lip seal 21 is extended.

[0049] <Third embodiment> As shown in FIG. 5, the tilting mechanism 200 of this embodiment includes a housing 211, a body 213, a spring 17, a locking pin 15, and a spindle body (attachment) 222.

[0050] The housing 211 has a case 211a and a cover 11b. The case 211a has a body chamber 211c. The body chamber 211c has a small diameter portion 211d, a large diameter portion 11e, and a spring chamber 11f. The small diameter portion 211d penetrates the base end surface of the case 211a. The case 211a has a shape in which the base end of the case 11a of the first embodiment is cut away up to the tip side of the small diameter portion 11d. The case 211a does not have a flow path for the compressed air 36.

[0051] The body 213 has a central portion 13c, a flange 13b, a tip portion 13a, and an attachment chamber 213j. The attachment chamber 213j extends along the tool shaft 3 and penetrates the body 213. The body 213 has a shape in which the base end portion 13d of the body 13 in the first embodiment is removed and the attachment chamber is penetrated. The body 213 does not have a flow path for the compressed air 36.

[0052] The spindle body 222 has a tool casing 223, a main bearing 228, a spindle 227, and a spindle motor 225. The tool casing 223 passes through the attachment chamber 213j. The spindle motor 225 is disposed at the base end of the tool casing 223. The spindle motor 225 is, for example, an electric motor. The spindle 227 is supported by the tool casing 223 via the main bearing 228 and connected to the spindle motor 225. The tool bit 29 is attached to the spindle 227.

[0053] The tilting mechanism 200 of this embodiment can be configured compactly, and therefore can be suitably applied to a scraper-type deburring tool (attachment) 322 (see FIG. 6). 6, the deburring tool 322 has a tool casing 223, a main bearing 228, a main shaft 227, a cover 326, and a tool tip 329. The cover 326 covers the base end of the tool casing 223. The tool tip 329 is attached to the main shaft 227. The tool tip 329 has a scraper 329a. The scraper 329a has a semicircular arc shape and has a scraper blade on the inside of the arc. If the scraper-type deburring tool 322 is attached to the tilting mechanism 200, the tilting mechanism 200 does not have a drive unit, and therefore can be configured compactly and inexpensively.

[0054] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present invention, and all technical matters included in the technical ideas described in the claims are subject to the present invention. The above-described embodiments are preferred examples, 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 appended claims. [Explanation of symbols]

[0055] 1 Reference axis 10, 100, 200 tilting mechanism 11, 111, 211 Housing 11c, 211c body room 11g1 spherical receiving surface 11g2 Contact surface 13, 113, 213 Body 13b1 1st sphere 13b2 Abutment surface 17 Spring (elastic body) 15, 115 Anti-rotation pin (anti-rotation)

Claims

1. A housing, a body chamber extending along a reference axis; a spherical receiving surface disposed at a tip end of the body chamber; A contact surface; a housing having a body disposed inside the body chamber so as to be tiltable relative to the reference axis, a first spherical surface that contacts the spherical receiving surface; a butting surface that comes into contact with the contact surface; a body having an elastic body disposed in the body chamber and biasing the body in a distal direction; a detent disposed on the housing to prevent rotation of the body; A tilting mechanism having

2. The abutment surface is disposed at a front end portion of the body chamber, The abutment surface is disposed at the tip of the body. The tilting mechanism according to claim 1 .

3. The spherical receiving surface is a right cylindrical surface. The tilting mechanism according to claim 1 or 2.

4. The abutment surface is a plane perpendicular to the reference axis. The tilting mechanism according to any one of claims 1 to 3.

5. The body chamber includes an elastic chamber. The elastic body is disposed in the elastic body chamber and is guided in either the elastic body chamber or the body. The tilting mechanism according to any one of claims 1 to 4.

6. The body is an outer peripheral surface that is the first spherical surface; The abutting surface disposed at the tip; a flange having a The tilting mechanism according to any one of claims 1 to 5.

7. An attachment attached to the body, a spindle to which a tool bit can be attached, the spindle being rotatably supported by the body; a spindle motor connected to the spindle and disposed in the body; and further comprising an attachment having The tilting mechanism according to any one of claims 1 to 6.

8. the housing has a housing supply port connected to a base end of the body chamber, the housing supply port supplying hydraulic fluid to the body chamber; the body has a body supply port disposed at a base end of the body, the body supply port being connected to the housing supply port; the tilting mechanism includes a first seal disposed in the body chamber, the first seal connecting the housing supply port and the body supply port and sealing a gap between the body chamber and the body; The tilting mechanism according to any one of claims 1 to 7.

9. the body has a second spherical surface at a base end that contacts the first seal and is concentric with the first spherical surface; The tilting mechanism according to claim 8.

10. the housing has a housing discharge port connected to the body chamber, the housing discharge port being separated from the housing supply port and the body supply port by the first seal; the body has a body discharge port connected to the attachment and the body chamber; The tilting mechanism includes: a second seal disposed distally of the housing outlet and the body outlet, the second seal sealing a gap between the housing and the body; The tilting mechanism according to any one of claims 1 to 9.

11. The body has a receiving portion disposed on the flange, The detent is disposed on the housing and inserted into the receiving portion. The tilting mechanism according to any one of claims 1 to 10.

12. the spindle motor is connected to the body supply port and rotated by the working fluid; The tilting mechanism according to any one of claims 1 to 10.

13. The spindle motor is connected to the body discharge port. The tilting mechanism according to claim 10.

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