Tool bracket, deburring tool having a 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 the tool bracket, and a deburring method.

Background Art

[0002] A deburring tool attached to a robot or the like is known (for example, Japanese Patent Application Laid-Open No. 2020-66120; hereinafter, Patent Document 1). The deburring tool of Patent Document 1 has a cylindrical housing, a center disk, a spindle body that is tiltable and is loosely fitted and supported in the housing, a piston that presses the center disk toward the tip side, a spring that biases the piston toward the tip side, 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

Problems 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, and the piston may become difficult to move. Therefore, it has been difficult to reduce the load required for the spindle body to tilt. An object of the present invention is to provide a tool bracket and a deburring tool including the tool bracket in which the spindle body can tilt even when the moment load acting on the spindle body is relatively small.

Means for Solving the Problems

[0004] A first aspect of the present invention is a housing having a cylinder chamber extending in the cylinder axis direction, a piston that is biased in the tip direction by a compressible fluid and reciprocates in the cylinder chamber, the piston having an acting portion disposed at the tip portion, a tilt body having a tilt axis, disposed in the cylinder chamber, and tiltable with respect to the cylinder axis, A tilting body having a centering portion positioned at the base end and in contact with the working portion, the centering portion pushing out the piston with the cylinder axis as the line of action when the tilting axis is tilted from the cylinder axis, It is a tool bracket having [a certain feature].

[0005] A second aspect of the present invention is, The tool bracket and, A spindle body to which a rotating tip tool can be attached, comprising a spindle body arranged on the tilting body and tilting integrally with the tilting body, This is a deburring tool that has [a specific feature / ability].

[0006] A third aspect of the present invention is, A compressible fluid pushes the tilting body toward the tip via the piston. When the tip tool contacts the workpiece and is subjected to a moment load, the tilting body tilts around a single point where the head surface located at the tip of the tilting body contacts the seating surface located at the tip of the housing. Against the pressure of the compressible fluid, the tilting body pushes out the piston with the cylinder axis as its line of action. The tip tool, integrated with the tilting body, deburrs the workpiece while tilting along the shape of the workpiece. This is a deburring method.

[0007] The piston biases the tilting body toward the tip due to fluid pressure. The cylinder chamber may have a cylinder section and a guide section. The cylinder section is connected to a fluid port and is located at the tip. The guide section is located at the base end. The piston may have a head and a sleeve. The head slides against the cylinder. The sleeve is guided by a guide.

[0008] The contact projection may be, for example, a ball or a pin. The contact projection may also have a convex spherical surface that contacts the working part.

[0009] The anti-rotation mechanism includes an anti-rotation body and a receiving part. The anti-rotation body may be, for example, a ball or a pin. The anti-rotation body is located on either the housing or the tilting body. The receiving part is located on the other of the housing or the tilting body. The anti-rotation body and receiving groove located on the tilting body tilt together with the tilting body. A gap is provided between the anti-rotation body and the receiving groove. Preferably, multiple anti-rotation mechanisms are provided. Either the anti-rotation body or the receiving groove located on the housing is arranged rotationally symmetrically with respect to the cylinder axis. The other anti-rotation body or receiving groove located on the tilting body is arranged rotationally symmetrically with respect to the tilting axis.

[0010] The anti-rotation mechanism may have a bulge. The bulge may have a transmission sphere. The bulge positioned on the tilting body may be located on a plane that passes through the tilting center and is perpendicular to the tilting axis. The bulge positioned on the housing may be located on a plane that passes through the tilting center when the tilting body is not tilting and is perpendicular to the cylinder axis. The receiving groove located in the housing may extend along the cylinder axis.

[0011] When the moment load applied to the spindle body is small, the head surface contacts the seating surface, and the tilt axis and the cylinder axis substantially coincide. [Effects of the Invention]

[0012] According to the tool bracket and deburring tool 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 drawing]

[0013] [Figure 1] Longitudinal cross-sectional view of the deburring tool in Embodiment 1 when not tilted. [Figure 2] Sectional view along line II-II in Figure 1 [Figure 3] Enlarged view of part III in Figure 2 [Figure 4] Longitudinal cross-sectional view of the deburring tool in the tilted state of Embodiment 1 [Figure 5] Cross-sectional view taken along line V-V of FIG. 4 [Figure 6] Longitudinal sectional view of the burr removal tool of Embodiment 2 [Figure 7] Longitudinal sectional view of the burr removal tool of Embodiment 3 [Figure 8] Longitudinal sectional view of the burr removal tool of Embodiment 4 [Figure 9] Enlarged view of portion IX of FIG. 8 [Figure 10] Cross-sectional view taken along line X-X of FIG. 8 [Figure 11] Longitudinal sectional view of the burr removal tool of Embodiment 5 [Figure 12] Cross-sectional view taken along line XII-XII of FIG. 11

Mode for Carrying Out the Invention

[0014] <Embodiment 1> As shown in FIG. 1, the burr removal tool 10 of the present embodiment has a tool bracket 13 and a spindle body 11. FIG. 1 is a cross-sectional view taken along line I-I of FIG. 2. FIG. 1 shows a state where the spindle body 11 is not tilted. In FIG. 1, the cylinder shaft 2 (see FIG. 4) and the tilting shaft 3 (see FIG. 4) coincide with each other. The burr removal tool 10 is connected to a robot 6 or an air source 8.

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

[0016] The housing 15 has, in order from the base end, a cylinder chamber 15a, a seating surface 15c, and a tip opening 15d. The housing 15 is attached to the tip of the arm of a robot 6, for example. As shown in Figure 2, the housing 15 may have a rectangular parallelepiped shape. The cylinder chamber 15a is positioned around the cylinder axis 2. As shown in Figure 1, the cylinder chamber 15a has a cylinder portion 15a2 and a small-diameter guide portion 15a1. The cylinder portion 15a2 is positioned 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 at the base end of the housing 15. The seating surface 15c is positioned at the tip of the housing 15. The seating surface 15c is a plane perpendicular to the cylinder axis 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 towards the tip.

[0017] The housing 15 has a fluid port 15f. The fluid port 15f is connected to the cylinder section 15a2. The fluid port 15f is connected to an air source 8. The air source 8 supplies compressed air to the cylinder section 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 within the cylinder portion 15a2. The recess 21d increases in diameter as it progresses towards the tip. 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 that increases in diameter as it progresses towards the base end. The base end opening 21c is connected to the recess 21d. The seal 21e is mounted on the outer cylindrical surface of the head portion 21b. The seal 21f is attached to the outer cylindrical surface of the 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 located at the base end of the tilting body 17. The convex spherical surface 17a abuts against and slides against 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 located at the tip of the tilting body 17. The head surface 17b is, for example, a plane. The plane 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 straight cylinder. The through hole 17d is on the inner surface of the sleeve 17c. The through hole 17d is centered on the tilting shaft 3 and penetrates the tilting body 17. The through 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 rotatably supported on the body 11a about the tilt axis 3. The tip tool 1 is mounted on the spindle 11b. The spindle motor 11c is located on the body 11a and connected to the spindle 11b. For example, the spindle motor 11c rotates the spindle 11b in rotational direction 5 (counterclockwise when viewed from the tip direction).

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

[0022] As shown in Figures 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. Multiple receiving grooves 19a are arranged in 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 a rectangular groove extending parallel to the cylinder axis 2 and has a rectangular cross-section. The contact surface 19a1 is the side surface of the receiving groove 19a opposite to the rotation direction 5. The contact surface 19a1 is a plane passing through the cylinder axis 2.

[0023] Multiple 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 contact 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 there are 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 bulging portion 19b2. The shaft portion 19b1 is inserted into the pin hole 19c. The bulging portion 19b2 protrudes radially from the tilting body 17. There is play (gap) between the bulging portion 19b2 and the receiving groove 19a. Preferably, the anti-rotation pin 19b has a contact spherical surface 19b3.

[0024] The base end cover 27 covers the space between the base end surface of the housing 15 and the spindle body 11. The base end cover 27 prevents foreign matter, cutting coolant, etc. from entering the space between the cylinder chamber 15a or base end opening 21c and the spindle body 11.

[0025] The tip cover 25 covers the space between the tip surface of the housing 15 and the spindle body 11 or 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] Referring to Figures 1 to 5, the usage state of the deburring tool 10 will be described. Figures 4 and 5 show the deburring tool 10 performing deburring of the workpiece 7. Figure 4 is a cross-sectional view taken along line IV-IV in Figure 5. As shown in Figures 4 and 5, the workpiece 7 has burrs 7a. Here, the dashed line of the burr 7a in Figure 5 indicates the shape of the removed portion. The side surface of the workpiece 7 has a curved surface that is convex toward the deburring tool 10 when viewed from the base end direction along the cylinder axis 2. The burrs 7a protrude from the side surface of the workpiece 7. The spindle 11b rotates in the rotational direction 5. The air source 8 supplies compressed air to the cylinder chamber 15a.

[0027] As shown in Figure 1, when the tip tool 1 is separated from the workpiece 7, the tip tool 1 is not subjected to a large moment load F1 (see Figure 4). The piston 21 moves to the tip due to compressed air supplied to the cylinder chamber 15a. At this time, the head surface 17b contacts the seat surface 15c. This suppresses tilting of the spindle body 11. The tilt axis 3 then substantially coincides with the cylinder axis 2. At this time, since the head surface 17b and the seat surface 15c are planar, the tilt axis 3 is easily stabilized.

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

[0029] Next, the tip tool 1 is brought into contact with the workpiece 7 to deburr it. As shown in Figure 5, the robot 6 moves the housing 15 along a straight trajectory 41 from position 15p to position 15q. Then, as shown in Figures 4 and 5, the spindle body 11 tilts, and the tip tool 1 moves from position 1p to position 1q, tracing a trajectory 42 that follows the shape of the side surface of the workpiece 7. The tip tool 1 shaves off the burr 7a.

[0030] As shown in Figure 4, when a moment load F1 acts on the tip tool 1, the tilting body 17 and the spindle body 11 attempt to tilt together around a point 43 on the circumference of the head surface 17b. Then, with the convex spherical surface 17a in contact with the recess 21d, it pushes the piston 21 upward towards the base end. At this time, the tilting body 17 tilts while the convex spherical surface 17a slides against the recess 21d. The tilting center 17e moves towards the base end along the cylinder axis 2. The recess 21d has a circular cross-section centered on the cylinder axis 2. Therefore, the convex spherical surface 17a and the recess 21d are in contact substantially around the entire circumference. The tilting body 17 pushes 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 that the tilting body 17 exerts on 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. Since the piston 21 receives a biasing force F2 along the cylinder axis 2, the tilting of the piston 21 is suppressed. Therefore, the piston 21 can move smoothly along the cylinder axis 2. Furthermore, the piston 21 biases the tilting body 17 toward the tip due to the pressure of the compressed air. Therefore, the tilting body 17 maintains contact with the seating surface 15c.

[0031] As the tilting shaft 3 tilts away from the cylinder shaft 2, the bulging portion 19b2 and the receiving groove 19a come into contact with each other while twisting. In this embodiment, since the contact spherical surface 19b3 makes point contact with the contact surface 19a1, the contact resistance between the bulging portion 19b2 and the receiving groove 19a is small. Therefore, the tilting body 17 can tilt 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 when the tilt axis 3 substantially coincides with the cylinder axis 2. As mentioned above, the head surface 17b contacts the seat surface 15c, which helps stabilize the posture of the spindle body 11. Therefore, it is easier for the operator to teach the robot 6. In addition, because the posture of the tilt axis 3 is stable when the robot 6 moves the deburring tool 10, contact between the deburring tool 10 and the workpiece 7, safety fence, or operator is suppressed.

[0033] <Embodiment 2> As shown in Figure 6, the deburring tool 100 of this 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 Embodiment 1. The other configurations of the tool bracket 113 are substantially the same as those of the tool bracket 13 of Embodiment 1.

[0034] The piston 121 includes a sleeve 21a, a head portion 21b, a base opening 121c, a recess (operating portion) 121d, a seal 21e, and a seal 21f. The base opening 121c is connected to the recess 121d. The base opening 121c and the recess 121d are cylindrical boreholes centered on the cylinder shaft 2. The inner diameters of the base opening 121c and the recess 121d may be the same.

[0035] When the tilting body 17 is tilted, the convex spherical surface 17a contacts the opening at the base end of the recess 121d substantially around its entire circumference. At this time, the convex spherical surface 17a biases the recess 121d with the cylinder axis 2 as its line of action. The tilting body 17 then pushes the piston 121 upward towards the base end.

[0036] <Embodiment 3> As shown in Figure 7, the deburring tool 200 of this 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 Embodiment 1. The other configurations of the tool bracket 213 are substantially the same as those of the tool bracket 13 of Embodiment 1.

[0037] The piston 221 includes a sleeve 21a, a head portion 21b, a base end opening 221c, a recess (operating portion) 221d, a seal 21e, and a seal 21f. The piston 221 has a rounded shape at the inner edge of the lower end of the piston 21 of Embodiment 2. In other words, the inner surface of the lower end of the piston 221 is an annular body (troid) generated from a quarter circle with the cylinder axis 2 as the center. The inner surface of the lower end of the piston 221 can also be said to be ring-donut shaped. The longitudinal cross-section of the lower end of the piston 221 is a circular arc that is convex inward.

[0038] When the tilting body 17 is tilted, the convex spherical surface 17a comes into contact with the recess 221d substantially around its entire circumference. At this time, the convex spherical surface 17a biases the recess 221d with the cylinder axis 2 as its line of action. The tilting body 17 then pushes the piston 221 upward towards the base end. Because the recess 221d is rounded, damage to the convex spherical surface 17a is suppressed.

[0039] <Embodiment 4> As shown in Figure 8, the deburring tool 300 of this embodiment includes a tool bracket 313 and a spindle body 11. The tool bracket 313 has a piston 321 instead of the piston 21 of Embodiment 1. The tool bracket 313 also has a rotation stopper 319 instead of the rotation stopper 19 of Embodiment 1. The other configurations of the tool bracket 313 are substantially the same as those of the tool bracket 13 of Embodiment 1.

[0040] The piston 321 includes a sleeve 21a, a head portion 21b, a base end opening 321c, a recess (operating portion) 321d, a seal 21e, and a seal 21f. The recess 321d is a concave spherical surface centered on the tilting center 17e and having 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 Figures 9 and 10, the anti-rotation device 319 has a flange 319c and an anti-rotation pin 319b. The flange 319c may be integrally formed with the tilting body 17. The flange 319c passes through the tilting center 17e and extends perpendicularly to the tilting axis 3. The flange 319c has a plurality (eight in this embodiment) of receiving grooves (receiving portions) 319a. The receiving grooves 319a are notches extending radially inward from the outer circumference of the flange 319c. The receiving grooves 319a have a contact surface 319a1. The contact surface 319a1 is a plane that passes through the tilting axis 3. The plurality of receiving grooves 319a are arranged symmetrically with respect to the tilting axis 3. The receiving grooves 319a may also be rectangular through holes in plan view.

[0042] The anti-rotation pin 319b extends parallel to the cylinder shaft 2 and is positioned 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 ellipsoidal. Preferably, the anti-rotation pin 319b is supported by the housing 15 on both sides of the bulge 319b2. The bulge 319b2 is positioned within the receiving groove 319a. There is play between the bulge 319b2 and the receiving groove 319a. When the spindle 11b rotates, the bulge 319b2 comes into contact with the contact surface 319a1. The bulge 319b2 makes point contact with the contact surface 319a1.

[0043] When the tilting body 17 is tilted, the convex spherical surface 17a comes into substantially full contact with the recess 321d. At this time, the convex spherical surface 17a biases the recess 321d with the cylinder axis 2 as its line of action. The tilting body 17 then pushes the piston 321 upward towards the base end. Because the convex spherical surface 17a and the recess 321d are in surface contact, this facilitates the movement of the tilting center 17e along the cylinder axis 2.

[0044] <Embodiment 5> As shown in Figures 11 and 12, the deburring tool 400 of this embodiment includes a tool bracket 413 and a spindle body 11. The tool bracket 413 has a piston 421 instead of the piston 21 of Embodiment 1. The tool bracket 413 also has a tilting body 417 instead of the tilting body 17 of Embodiment 1. The other configurations of the tool bracket 413 are substantially the same as those of the tool bracket 13 of Embodiment 1.

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

[0046] The tilting body 417 comprises a body 417f, a ball (contact projection) 417a, a head surface 17b, and a sleeve 17c. The body 417f is a hollow straight cylinder. The base end of the body 417f may be a frustoconical shape. The body 417f has a plurality (n) of ball support holes 417g, where n is an integer of 3 or more (in this embodiment, n=3). The ball support holes 417g are spherical. The ball support holes 417g are arranged n times symmetrically around the tilting axis 3.

[0047] The balls 417a are each positioned in the ball support holes 417g. The balls 417a roll on the recesses 421d. Each ball 417a contacts the recess 421d and rolls on the spherical surface of the recess 421d. Therefore, the tilting body 417 can tilt relative to the piston 421 around 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 effectively holds the balls 417a at equal intervals. Alternatively, 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 makes contact with the recess 321d at n points. When the tilting body 417 is tilted, the ball 417a biases the recess 421d with the cylinder axis 2 as its line of action. The tilting body 17 then pushes the piston 421 upward towards the base end. The ball 417a and the recess 421d make point contact, and the ball 417a rolls. This facilitates the movement of the tilting center 17e along the cylinder axis 2.

[0049] The present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. All technical matters included in the technical concept described in the claims are covered by the present invention. The embodiments described above are preferred examples, but those skilled in the art can realize various alternatives, modifications, variations, or improvements from the contents disclosed herein, and these are included in the technical scope described in the appended claims. [Explanation of symbols]

[0050] 1 Tip tool 2 Piston shafts 3 Tilt axis 7. Object 13, 113, 213, 313, 413 Tool Brackets 15 Housing 15cm seat 15f Fluid Port 17, 117, 217, 317, 417 tilting body 17a, 117a, 217a, 317a, 417a Centering section 17b Head surface 21, 121, 221, 321, 421 pistons 21d, 121d, 221d, 321d, 421d Working part

Claims

1. A housing having a cylinder chamber extending in the direction of the cylinder axis, A piston biased toward the tip by a compressible fluid and reciprocating within the cylinder chamber, comprising a piston positioned at the tip and having a recess with a circular cross-section, A tilting body having a tilting axis, positioned within the cylinder chamber, and tiltable relative to the cylinder axis, A tilting body having a convex spherical surface positioned at the base end and in contact with the recess, which pushes out the piston with the cylinder axis as the line of action when the tilting axis is tilted from the cylinder axis, It has, The tilting axis passes through the tilting center of the convex spherical surface, Tool bracket.

2. A housing having a cylinder chamber extending in the direction of the cylinder axis, A piston that is biased toward the tip by a compressible fluid and reciprocates within the cylinder chamber, the piston having an action part located at the tip, A tilting body having a tilting axis, positioned within the cylinder chamber, and tiltable relative to the cylinder axis, A tilting body having a centering portion positioned at the base end and in contact with the working portion, the centering portion pushing out the piston with the cylinder axis as the line of action when the tilting axis is tilted from the cylinder axis, It has, If n is an integer of 3 or more, the centering portion has contact protrusions arranged n times symmetrically with respect to the tilt axis, The working part is a concave spherical surface having its center on the cylinder axis. Tool bracket.

3. The housing has a seating surface located at its tip, The tilting body has a head surface located at its tip that contacts the seating surface when the tilting axis substantially coincides with the cylinder axis. The tool bracket according to claim 1 or 2.

4. The seating surface is a plane perpendicular to the cylinder axis, The head surface is a plane perpendicular to the tilt axis. The tool bracket according to claim 3.

5. The tilting body is fitted with a spindle body to which a rotating tip tool can be attached, The tilting body and the housing are further provided with a rotation stopper that is positioned between them to suppress the rotation of the tilting body about the cylinder axis, The tool bracket according to claim 1 or 2.

6. The anti-rotation device is positioned on the tip side of the cylinder chamber. The tool bracket according to claim 5.

7. A tool bracket according to claim 1 or 2, A spindle body to which a rotating tip tool can be attached, comprising a spindle body arranged on the tilting body and tilting integrally with the tilting body, A deburring tool having the following features.

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