JP2008284677A - Machining tool - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a machining tool which is used by being attached to instrument having no rotation driving source such as a robot arm nor supplying source of pressure air, and finely carries out machining such as deburring by tiltably rotating a cutting tool at a high speed. <P>SOLUTION: A load absorbing member 8 for absorbing a load in a fixed case 2 is arranged slidably in an axial direction through an absorbing spring 9, and a tilting supporting pin device 20 is arranged on an outer peripheral portion of an end portion of the load absorbing member 8. The tilting supporting pin device 20 is arranged so as to energize a large number of tilting supporting pins 22 in the axial direction to an end side by a spring member 23. A tilting case 4 is arranged in the fixed case on an end side of the tilting supporting pin device 20 so as to tilt in the axial direction, and a sliding case 41 is arranged in the tilting case 4 so as to slide in the axial direction against a spring member 36. A motor 6 is attached in the sliding case 41 while turning a rotation shaft to the end side, and a chuck portion 35 is attached to an end of the rotation shaft. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a processing tool that is attached to the tip of a robot arm or the like and rotates a cutting tool such as a carbide rotary bar or a shaft-type grinding wheel at a high speed by a built-in motor to perform processing such as chamfering, deburring, and lapping of a workpiece. .

2. Description of the Related Art Conventionally, as a processing tool that is detachably attached to a spindle of a machine tool such as a machining center and performs processing such as deburring, a deburring device as described in Patent Document 1 below is known. This deburring device is configured so that the main unit can be attached to the main spindle of the machine tool, and the air motor is attached to the lower part of the main unit in a slanted downward direction, and the deburring tool is attached to the tip of the drive shaft. The deburring tool is rotated by an air motor, and the tool is pressed against the work surface of the workpiece to deburr the workpiece.
JP-A-8-57758 JP 2004-175707 A

  However, the deburring device described above has a problem in that it requires a supply source of pressurized air to be supplied to the air motor because the deburring tool is driven to rotate by the air motor. Since the inclination direction of the deburring tool attached to the rotating shaft is determined by the inclination angle of the air motor, the cutting edge of the deburring tool is against the workpiece surface facing various directions. It is necessary to control the angle (orientation) of the main unit so that the direction is always appropriate, and there is a problem that the control mechanism and control program for that purpose are complicated.

  In addition, since the air motor and the deburring tool at the tip of its rotating shaft are mounted in an inclined state, the tool may not be able to smoothly tilt control over the work surface of the workpiece with various inclination angles. Depending on the angle of the processed surface, there is a problem that it is difficult to perform processing such as deburring of the edge portion of the workpiece satisfactorily and smoothly.

  In view of the above, according to the above-mentioned Patent Document 2, the present inventors attach the shank to the spindle of the machine tool in a detachable manner, and rotate the spindle to rotate the cutter attached to the shank and the holder while rotating the cutter to the shank. We proposed a machining tool that can be tilted and deburred the workpiece by rotating the cutting tool at high speed.

  In this machining tool, when the cutting tool that rotates at high speed contacts the workpiece and receives a load from the side, the holder tilts according to the load, and when the load disappears, the holder smoothly returns to the linear state. Even if there is an error between the coordinate input value at teaching and the workpiece shape, the deburring process can be performed stably and smoothly, but the spindle of the machine tool rotates as a rotational drive source. Therefore, it cannot be used for equipment that does not have a rotational drive source such as a robot arm. For this reason, it can be easily mounted on a device that does not have a rotational drive source, such as a robot arm, and the cutting tool that rotates at high speed can be tilted smoothly according to the load received from the workpiece, which ensures stable processing such as deburring. There has been a demand for a working tool that can be performed.

  The present invention solves the above-mentioned problems, can be used by mounting on a device such as a robot arm that does not have a rotational drive source or a pressure air supply source, and rotates the cutting tool at a high speed so that it can tilt, An object of the present invention is to provide a processing tool that can perform processing such as deburring and the like satisfactorily.

In order to achieve the above object, the machining tool of the present invention is provided with a tilting case that can be tilted with respect to a fixed case, a blade rotation driving motor is mounted in the tilting case, and the rotation shaft tip of the motor is attached. A processing tool for attaching a cutting tool to a provided chuck portion and rotating the cutting tool by the motor,
A load absorbing member for absorbing a load is disposed in the fixed case so as to be slidable in the axial direction via an absorption spring, and a tilt support pin device having a large number of tilt support pins is disposed. The many tilting support pins are arranged in an annular shape, and are arranged in an axial direction and biased toward the distal end side by a pin spring member, and are disposed in the fixed case on the distal end side of the tilting support pin device. The tilt case is disposed so as to be tiltable with respect to an axis, and a sliding case is disposed in the tilt case so as to be slidable in an axial direction against a spring member, and the motor is disposed in the sliding case. A pressure receiving pressure that is attached with the rotating shaft facing the distal end, a chuck portion is attached to the distal end of the rotating shaft, and the tips of the tilting support pins of the tilting support pin device are brought into contact with and supported by the base of the tilting case. A plate is attached, the pressure receiving plate and the load absorbing portion A tilting support member is disposed through the central opening of the tilting support pin device, and the tilting support member is driven and tilted when the tilting case tilts under a load, When the load disappears, it returns to the axial position together with the tilting case.

  Here, as in claim 2, the tilting support pin device of the processing tool has a large number of tilting support pins arranged on the circumference with its tip protruding in a pin case formed in an annular shape, A pin spring member for urging each tilting support pin toward the tip side is attached, and the tilting support pin device can be disposed in the fixed case in a freely rotatable state.

  According to a third aspect of the present invention, it is preferable that the tilt support pin device is rotatably disposed in the fixed case via a ball bearing.

  According to a fourth aspect of the present invention, as the spring member for biasing the sliding case, a large-diameter spring member and a small-diameter spring member are coaxially overlapped in the tilting case, and the sliding case and the motor The large-diameter spring member and the small-diameter spring member receive both the weight and the upward load that the cutting tool receives from the workpiece during operation, and the sliding case and the motor are operating downward. In addition, the cutting tool can be provided so that the small-diameter spring member receives the pushing load from the workpiece.

  According to a fifth aspect of the present invention, an upper support recess is provided at a lower portion of the load absorbing member, a lower support recess is provided at an upper portion of the pressure receiving plate, and the upper support recess of the load absorbing member and the pressure receiving plate are The tilt support member is slidably fitted between the upper support recess and the lower support recess between the lower support recess and the upper and lower surfaces of the tilt support member are convex. A concave curved surface is formed on the inner peripheral surface of the upper support concave portion and the lower support concave portion so as to be in sliding contact with the convex curved surface, and a central portion of the upper support concave portion and the lower support concave portion and the tilt support. It can be set as the structure by which the flat part which can mutually contact was formed in the center part of the upper part and lower part of a member.

  According to a sixth aspect of the present invention, a concave spherical surface can be formed as the concave curved surface of the upper support concave portion and the lower support concave portion, and a convex spherical surface can be formed as the convex curved surfaces of the upper and lower portions of the tilt support member.

  According to a seventh aspect of the present invention, the tilting case is disposed so as to be tiltable within a predetermined angle range by fitting a spherical sliding bearing provided in the fixed case and a spherical sliding member provided in the tilting case. Can do.

  According to another aspect of the present invention, a plurality of guide pins are fixed near the base of the tilt case in the fixed case, and the guide pins are tilted via the tilt support member and the pressure receiving plate. In this case, the tilting can be guided and the rotation of the tilting case can be prevented.

  Further, as in claim 9, in order to adjust the spring force of the spring member that biases the tilt support pin of the tilt support pin device, a spring force adjustment ring nut is fitted to the outer peripheral portion of the fixed case, The spring force adjusting ring nut can be configured to adjust the urging force of the tilt support pin by changing the compression load of the spring member.

  In the processing tool having the above-described configuration, the base of the fixed case is fixed to the tip of the robot arm and the like, and a carbide rotary bar, a grindstone with a shaft, and the like are attached to the chuck as a cutting tool. The cutting tool is rotated at a high speed by the rotation of the motor, and the cutting tool is brought into contact with the workpiece to perform deburring and other processing.

  When the tip side surface of the blade that rotates at high speed comes into contact with, for example, the edge portion of the workpiece and the blade receives a load from the side, the tilting case tilts from the axis of the shaft center relative to the fixed case according to the load. The cutting tool at the tip of the chuck rotates at a high speed in a tilted state, and the cutting tool comes into contact with the burr generated on the edge part of the workpiece and the burr is removed. At this time, the pressing force by which the cutting tool presses the work surface of the workpiece The tilting support pin device is caused by the force of a large number of tilting support pins pressing the pressure receiving plate at the base of the tilting case, and the tilting operation of the tilting case is stably performed by the action of the tilting support member. For this reason, the pressing operation to the workpiece processing surface of the cutting tool rotating at high speed becomes smooth, and processing such as deburring can be performed satisfactorily.

  Further, when the tilting case is tilted with respect to the fixed case, a vertical load is applied to the tilting support member due to the tilting of the tilting support member in the tilting support pin device, and this load is better by the absorption spring provided on the load absorbing member. To be absorbed. In addition, the cutting tool may receive an axial push-up force from the workpiece during processing, but such a push-up force of the blade is absorbed by the spring member that urges the sliding case in the tilting case in the axial direction and rotates at high speed. The blade can be operated stably without applying an excessive load to the cutting tool.

  On the other hand, when the cutting tool moves away from the workpiece, the rotational load of the cutting tool decreases rapidly, and when the tilting case returns from the tilted state to the axial position, the tilting case reacts and the tilting case and the cutting tool are violated (randomly shaken). The phenomenon tends to occur. However, in this machining tool, a large number of tilting support pins of the tilting support pin device act so as to press the tip of the pressure receiving plate at the upper part of the tilting case via the pin spring member, and the absorption spring via the load absorbing member. Therefore, the tilt returning operation is stabilized. In addition, since the tilting support pin device is rotatably accommodated in the fixed case via the ball bearing, the cutting tool moves away from the workpiece, and its rotational load decreases rapidly, and the tilting case is moved to the axial position. When returning, the tilting support pin device moves smoothly in the circumferential direction, and it is possible to effectively prevent the tilting case and the blade from moving up.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a front view of the machining tool, FIG. 2 shows a longitudinal sectional view thereof, and FIGS. 3 and 4 show transverse sectional views thereof.

  The machining tool 1 is generally mounted by fixing the upper portion (base) of a fixed case 2 to the tip of a robot arm or the like, and the tilt support pin device 20 and the tilt support member are mounted on the lower portion in the fixed case 2. 5 is disposed in the lower fixed case 3 attached to the lower part of the fixed case 2, the base of the tilt case 4 is tiltably disposed via the spherical plain bearing 30, and is slidable in the tilt case 4. The motor 6 is mounted in the provided sliding case 41, the chuck part 35 of the blade tool is mounted on the tip of the rotating shaft protruding downward (front end side) from the motor 6, and the blade tool 39 mounted on the chuck part 35 is fastened by the motor 6. It is configured to rotate and perform deburring.

  Here, the upper part of the machining tool is the upper part of the machining tool in FIG. 1, the lower part shows the lower part in FIG. 1, the base part of the machining tool means the upper part, and the tip part of the tool is located in the lower part.

  The fixing case 2 is formed in a substantially cylindrical shape, and a fixing screw hole 2a for fixing to a robot arm or the like is formed on the upper surface (base) thereof. In the fixing case 2, the load absorbing member 8 has an absorption spring 9 attached. It is inserted so as to be movable up and down within a predetermined range. The load absorbing member 8 is formed in a substantially cylindrical shape, a large-diameter flange portion is provided at the lower portion, and an upper support recess portion 8a is formed at the center of the lower portion. The upper support recess 8a is formed in a substantially truncated cone recess shape, a concave curved surface 8b is formed on the inner peripheral surface thereof, and a circular flat portion 8c is formed in the center.

  An absorption spring (coil spring) 9 is disposed in the upper portion of the cylindrical load absorbing member 8 and urges the load absorbing member 8 downward. Basically, when the tilting case 4 is tilted with respect to the fixed case 2, the absorption spring 9 applies a vertical load to the tilting support member 5 due to the tilting of the tilting support member 5 in the tilting support pin device 20. The load is absorbed by the absorption spring 9. Further, the absorption spring 9 absorbs an impact force applied from below through the tilt support member 5, the load absorption member 8, and the tilt case 4 during operation, and further, when the tilt case 4 tilts or when the axis returns. It absorbs the vibration load of the load absorbing member 8 and the like, and cooperates with the tilting support pin device 20 to prevent the tilting case 4 and the like from vibrating at the time of tilting return and uneasy swinging.

  The tilt support member 5 is disposed below the upper support recess 8 a of the load absorbing member 8, and the upper end portion of the tilt support member 5 is fitted into the upper support recess 8 a of the load absorbing member 8. The tilting support member 5 is formed in a thick cylindrical shape, and as shown in FIG. 5, the upper end portion and the lower end portion thereof are each formed in a substantially truncated cone shape.

  Convex curved surfaces 5a and 5c are formed on the circumferential surface of the substantially frustoconical portion of the tilting support member 5, and the flat portions 5b and 5d have flat surfaces perpendicular to the axial direction at the center. Is formed. The convex curved surfaces 5a and 5c are formed from a part of a spherical surface. Further, a pressure receiving plate 16 is disposed below the tilting support member 5, and a lower support recess 16 a is formed in the center of the pressure receiving plate 16 with a form that can be fitted to the lower end portion of the tilting support member 5. The pressure receiving plate 16 is fitted on the upper flange portion 45 of the tilting case 4.

  As shown in FIG. 5, the lower support recess 16a of the pressure receiving plate 16 is formed in a substantially truncated conical recess shape, similar to the upper support recess 8a, and a concave curved surface 16b is formed on the inner peripheral surface thereof. Is formed with a circular flat portion 16c. The tilt support member 5 is disposed between the load absorbing member 8 and the pressure receiving plate 16 so as to be tiltable, and its upper end is rotatably fitted in the upper support recess 8a of the load absorbing member 8, and its lower end. Is rotatably fitted in the lower support recess 16a of the pressure receiving plate 16.

  As shown in FIG. 8, when the tilt case 4 is tilted, the tilt support member 5 tilts by sliding the upper end portion and the lower end portion thereof with respect to the upper support recess portion 8a and the lower support recess portion 16a. The convex curved surface 5a at the upper end portion of the load absorbing member 8 is formed corresponding to the concave curved surface 8b of the upper support concave portion 8a of the load absorbing member 8 and is in close contact therewith, and the flat portion 5b is formed corresponding to the flat portion 8c. Close contact is possible. Therefore, when the tilting case 4 is tilted, as shown in FIG. 8, when the fitting of the convex curved surface 5a and the concave curved surface 8b and the fitting state of the flat portion 5b and the flat portion 8c are shifted within a predetermined angle range, Due to the biasing force of the pin support member 22 of the tilt support pin 22, etc., the structure can automatically return to a stable fitted state, that is, the tilt support member 5 can be returned to the neutral axial position with respect to the load absorbing member 8. Yes.

  Similarly, the convex curved surface 5c at the lower end of the tilting support member 5 is formed corresponding to the concave curved surface 16b of the lower support concave portion 16a of the pressure receiving plate 16, and the flat portion 5d is flat. It is formed corresponding to the portion 16c and can be in close contact. For this reason, as shown in FIG. 8, when the tilt case 4 is tilted, the tilt support member 5 tilts, and the fitting of the convex curved surface 5c and the concave curved surface 16b and the fitting of the flat portion 5d and the flat portion 16c are predetermined. When the angle is deviated within the angular range, the tilting support member 5 can be automatically and stably returned to the neutral axial position with respect to the pressure receiving plate 16 by the biasing force of the pin spring member 23 of the tilting support pin 22 described below. is there. Thereby, the tilting operation of the tilting case 4 described later and the returning operation to the axial position are smoothly performed.

  The tilting support member 5 is formed as a thick cylindrical member as described above. However, the tilting support member 5 requires a thick portion at the upper end and lower end thereof, so It is also possible to reduce the weight by forming the peripheral wall thin.

  An annular tilt support pin device 20 is disposed around the tilt support member 5, and each tilt support pin 22 of the device is pressed onto the pressure receiving plate 16 on the lower side. The tilt support pin device 20 is a device for supporting the upper portion of the tilt case 4 described below so as to be tiltable in all directions and to be able to return to the axial position. A large number of tilt support pins 20 are supported in the annular pin case 21. The pin 22 protrudes downward (front end side) and is urged by a pin spring member 23.

  The pin case 21 of the tilting support pin device 20 is attached to the lower side of the ball bearing 15 disposed in the lower part of the fixed case 2 and is arranged in the lower part of the fixed case 2 so as to be rotatable via the ball bearing 15. It is installed. The lower portion of the tilting support pin device 20 is supported by an annular presser plate 17, and the presser plate 17 is fitted inside the flange portion at the lower end of the fixed case 2. One or two presser plates 17 can be used.

  When the tilting case 4 tilts within the lower fixed case 3 or when the rotational load of the cutting tool 39 decreases sharply and returns to the axial position from the tilted state, the tilting support pin device 20 has the above configuration. When turning force acts on the tilting support pin device 20, the pin case 21 rotates in an arbitrary direction via the ball bearing 15. As a result, the linear return operation of the tilt case 4 and the motor 6 is performed smoothly. The ball bearing 15 is formed by stacking two annular and plate-like ball races on top and bottom, and a large number of metal balls are accommodated in an annular groove formed inside the ball race.

  As shown in FIG. 3, the pin case 21 of the tilting support pin device 20 mounted in the fixed case 2 via the ball bearing 15 is formed in a substantially annular shape. Tilt support pins 22 are arranged on the circumference at intervals of 15 degrees, with the tip protruding downward. These tilting support pins 22 are disposed so as to uniformly press and support the circumference of the pressure receiving plate 16 of the tilting case 4 disposed on the lower side (tip side) thereof. Each tilt support pin 22 is mounted with a pin spring member (coil spring) 23 so as to urge the tilt support pin 22 downward, and each tilt support pin 22 is disposed in each pin case 21. The pin spring member 23 is biased downward, and its tip protrudes downward.

  Each pin spring member 23 is fitted and attached to the outer periphery of each tilt support pin 22, and a spring force is provided between the flange portion provided at the intermediate portion of the tilt support pin 22 and the annular moving spring seat 24. It is installed in the state that caused. The moving spring seat 24 is disposed so as to be movable in the vertical direction (axial direction) within the pin case 21, and holes for accommodating the 24 pin spring members 23 are formed at corresponding positions, and each hole is tilted and supported. The pin 22 is inserted and the upper end of the pin spring member 23 is locked.

  The moving spring seat 24 can adjust its spring force by rotating the spring force adjusting ring nut 11 of the spring pressure adjusting mechanism 10. The spring pressure adjustment mechanism 10 includes a spring force adjustment ring nut 11 that moves up and down in response to a rotation operation, and a movable ring that is disposed below the spring force adjustment ring nut 11 and that can move up and down while preventing rotation. 12, and a plurality of connecting pins 13 that protrude from the inside of the moving ring 12 and are connected to the outer peripheral portion of the moving spring seat 24.

  The spring force adjusting ring nut 11 has a female threaded portion on the inner side thereof, is screwed into a male threaded portion provided on the large diameter portion of the fixed case 2 and moves up and down by being rotated. The moving ring 12 is arranged so as to be movable up and down inside the cover cylinder 14 covering the lower part of the fixed case 2. A ball bearing 12a is interposed between the spring force adjusting ring nut 11 and the moving ring 12, so that the rotating operation of the spring force adjusting ring nut 11 is smooth.

  Although not shown, one steel ball is disposed in the hole in the moving ring 12, and the steel ball is pressed against the concave portion on the spring force adjustment ring nut 11 side by a spring member to be biased. A moderation feeling and a stopper function at the time of rotation operation can be provided. The connecting pin 13 protruding from the inside of the moving ring 12 is inserted into a long hole formed in the lower outer peripheral portion of the fixed case 2 and is prevented from moving in the circumferential direction with respect to the fixed case 2 and moves up and down. It is possible. The coupling pin 13 and the moving spring seat 24 are loosely engaged so that the tilt support pin device 20 can freely move in the circumferential direction via the ball bearing 15.

  In the spring pressure adjusting mechanism 10 having the above configuration, when the spring force adjusting ring nut 11 is rotated, the spring force adjusting ring nut 11 and the moving ring 12 are moved up and down (in the axial direction) as shown in FIGS. Accordingly, the moving spring seat 24 connected via the connecting pin 13 moves in the same direction. As a result, when the moving spring seat 24 moves down, the spring force of the pin spring member 23 (the biasing force that biases the tilting support pin 22 downward) increases, and when the moving spring seat 24 moves up. The spring force of the pin spring member 23 decreases.

  The lower fixing case 3 is fixed to the lower side (front end side) of the fixing case 2 by screwing or fitting. As will be described later, the tilt case 4 is accommodated in the lower fixed case 3 so as to be tiltable, and the pressure receiving plate 16 is fixed to the upper portion (base) of the tilt case main body 40 in the tilt case 4. The tilt case 4 includes a tilt case main body 40 and a cover 42 that covers the outer periphery of the tilt case main body 40.

  The pressure receiving plate 16 is located on the lower side (front end side) of the pin case 21, and a lower support recess 16 a is formed at the center of the upper surface. The lower support concave portion 16a is formed as a circular concave portion, and a concave curved surface 16b is formed on the inner peripheral surface, and a flat portion 16c is formed at the center bottom portion.

  As described above, the convex curved surface 5c at the lower end of the tilting support member 5 is formed corresponding to the concave curved surface 16b of the lower support concave portion 16a so as to be in close contact with the flat portion 5d. Correspondingly formed, closely contacted and inserted. Therefore, as shown in FIG. 8, when the tilting case 4 is tilted, if the fitting of the convex curved surface 5c and the concave curved surface 16b and the fitting of the flat portion 5d and the flat portion 16c are shifted within a predetermined angle range, Therefore, the tilted support member 5 can be returned to the neutral axial position with respect to the pressure receiving plate 16.

  The tilt case 4 and the pressure receiving plate 16 are disposed in the lower fixed case 3 so as to be tiltable in all directions from a vertical posture along the axis. When the tilt case 4 and the pressure receiving plate 16 are tilted in all directions, the 24 tilt support pins 22 and the pin spring member 23 are uniformly biased in a direction to return the tilt case 4 and the pressure receiving plate 16 to the vertical posture. Acts like

  That is, when the cutting tool 39 attached to the chuck portion 35 at the tip of the rotating shaft of the motor 6 comes into contact with the work surface of the workpiece, the cutting tool 39 is pushed in the tilting direction, and the tilting case 4, the motor 6, and the cutting tool 39 tilt. At this time, the pressing force applied to the machining surface by the cutting tool 39 is uniformly generated in the entire circumferential direction by the pin spring member 23 of each tilting support pin 22, and when the pressing force becomes zero, the inclination is It will return to a straight line state smoothly. In this way, the spring force of the pin spring member 23 of the tilt support pin 22 acts as a pressing force on the machining surface of the cutting tool 39, so that the spring force of the pin spring member 23 is the spring pressure adjusting mechanism 10 described above. Thus, the work W is adjusted to be strong when it is hard like steel and weak when it is soft like aluminum.

  The tilting case main body 40 is formed in a substantially cylindrical shape having a flange portion 45 at the upper part (base part), and has a predetermined position via a spherical sliding bearing 30 and a spherical sliding member 43 at an axial center position in the upper part of the lower fixing case 3. It is arranged so as to be tiltable at an angle. An annular spherical sliding bearing 30 is fixed inside the lower fixed case 3, and a spherical sliding member 43 fixed to the outer peripheral portion of the tilting case body 40 is rotatably fitted inside the spherical sliding bearing 30. . Thus, as shown in FIG. 8, the tilting case main body 40 has the axis S of the center axis of the fixed case 2 and the lower fixed case 3 (axis axis S about the center point of the spherical sliding bearing 30 and the spherical sliding member 43. (Center) O can be tilted in the entire circumferential direction within a predetermined angular range θ (for example, about 5 °).

  A flange portion 45 is formed in the upper portion (base portion) of the tilt case body 40 in the tilt case 4 and, as shown in FIG. 4, six guide grooves 46 are formed in the flange portion 45 at intervals of 60 degrees on the circumference. Has been. As shown in FIG. 4, six guide pins 31 are erected on the inner side of the lower fixing case 3 at the circumferential positions corresponding to the guide grooves 46, and these guide pins 31 are engaged with the respective guide grooves 46. The tilt of the tilt case 4 is guided by the guide pins 31.

  Although the tilting of the tilting case 4 is guided by the engagement between the guide pin 31 and the guide groove 46, there is a slight gap in the engagement. When the direction changes, the tilting case 4 may slightly shake in the circumferential direction due to the reaction and vibration at that time. At this time, the movement of the tilting case 4 is transmitted to the tilting support pin device 20, but the tilting support pin device 20 is rotatably arranged via the ball bearing 15 as described above. Vibration or rampage during tilting or returning of the motor 6 due to rattling or the like in the circumferential direction is effectively prevented by the action of the ball bearing 15 or the like.

  Further, as described above, the pressure receiving plate 16 is mounted on the flange portion 45 at the top of the tilt case body 40, and the twelve tilt support pins 22 of the pin case 21 are tilted in the tilt direction or tilt of the tilt case 4 as shown in FIG. Regardless of the angle, all the pins are always in contact with the pressure receiving plate 16. A cover 42 is attached from the middle part to the lower part of the tilt case main body 40 so as to cover it, and a cylindrical sliding case 41 is inserted into the tilt case main body 40 so as to be slidable in the vertical direction.

  As shown in FIG. 2, an engagement groove 41a is formed in a part of the outer peripheral surface of the inner sliding case 41, an engagement hole 40a is formed in the tilting case body 40 at the corresponding position, and the engagement groove 41a. One engaging steel ball 44 is fitted in the engaging hole 40a, and the sliding case 41 can slide up and down with respect to the tilting case main body 40 within the range of the engaging groove 41a. In the sliding case 41, the motor 6 is coaxially mounted with its rotating shaft directed downward (front end side).

  The axis of the rotation shaft of the motor 6 coincides with the axis of the fixed cases 2 and 3 when the tilting case 4 is in a non-tilting vertical state, that is, on the axis O. For example, a brushless DC motor capable of rotating at a high speed of about 60000 rpm is used as the motor 6, the tip of the rotating shaft of the motor 6 protrudes downward, and a chuck portion 35 for a cutting tool is attached to the tip of the rotating shaft. For example, the chuck portion 35 has a chuck nut screwed onto the outside of the collet chuck, and the blade 39 is fastened and fixed by turning the chuck nut.

  Between the upper end (base) of the sliding case 41 with the motor 6 mounted therein and the base of the tilting case main body 40, a spring member (coil spring) 36 for absorbing the lifting force attaches the sliding case 41 downward. It is installed at once. As a result, when the motor 6 and the sliding case 41 receive an upward load through the cutting tool 39, the motor 6 and the sliding case 41 move upward within the range of the engaging groove 41a against the urging force of the spring member 36, and the cutting tool The structure absorbs the axial push-up force and impact force transmitted from 39.

  On the other hand, when cutting off the burrs on the back side of the hole of the workpiece, as shown in FIG. 10, a cutting tool 39a such as an umbrella-shaped shaft whetstone is used, and the upper surface (shoulder portion) of the blade tool 39a of this shaft whetstone. With, cut the burr behind the hole in the workpiece. In this case, the cutting tool 39a receives a load in the distal direction (downward) during processing. For this reason, when the cutting tool 39a receives a load in the front end direction during processing, a lower load is applied between the lower end (front end) of the sliding case 41 and the inside of the front end of the cover 42 as shown in FIG. An absorbing spring member (coil spring) 37 is mounted by urging the sliding case 41 upward.

  The power line of the motor 6 inserted into the sliding case 41 and accommodated in the tilting case main body 40 passes through the inner space of the tilting support member 5 from the inner space to the tilting case main body 40 and passes through the inner space of the load absorbing member 8. And is drawn upward from the opening of the upper part (base part) of the fixed case 2. When a pressure air tube for air cooling is connected to the motor 6, the pressure air tube is also pulled out along the power line.

  Next, operation | movement of the processing tool 1 of the said structure is demonstrated. As shown in FIG. 9, the processing tool 1 is attached to the tip of the robot arm RA with the base of the fixing case 2 using the fixing screw hole 2 a. The chuck portion 35 at the front end of the rotating shaft of the motor 6 is made of, for example, a carbide rotary bar, a grindstone with a shaft, or the like according to the processing to be performed (for example, deburring, cutting or polishing of an acute angle portion). A cutting tool 39 is attached. The workpiece W of the workpiece is fixed on the processing table.

  When the workpiece W is small, the workpiece W can be fixed to the tip of the robot arm RA and the processing tool 1 can be fixed on the processing table. In this case, the machining tool 1 is fixed on the machining table with the chuck portion 35 facing upward or sideways, and the workpiece W is moved by the robot while contacting the cutting tool 39 of the machining tool 1 to perform deburring. Do.

  Depending on the material of the workpiece W, the spring force adjusting ring nut 11 of the spring pressure adjusting mechanism 10 is rotated to adjust the spring force of the pin spring member 23 of the tilt support pin device 20. For example, when the workpiece is hard like steel, the spring force of the pin spring member 23 of the tilt support pin 22 increases the pressing force of the tilt support pin 22, and the pressing force to the machining surface when the cutting tool 39 is tilted is increased. When the workpiece is soft, such as aluminum, the spring force adjustment ring nut 11 of the spring pressure adjustment mechanism 10 is turned counterclockwise to move the moving ring 12 upward (base side), and the pin spring member 23 The spring force, that is, the pressing force of the tilting support pin 22 is reduced, and the pressing force on the processing surface when the cutting tool 39 is tilted is adjusted to be small. On the other hand, when the workpiece is hard like steel, the spring force adjusting ring nut 11 of the spring pressure adjusting mechanism 10 is rotated clockwise to move the moving ring 12 downward (to the tip side), and the spring of the pin spring member 23 is moved. The force, that is, the pressing force of the tilting support pin 22 is increased, so that the pressing force on the processing surface when the cutting tool 39 is tilted is largely adjusted.

  When performing deburring using a robot, the robot is taught in advance in the teaching mode in the same way as normal robot operation, and coordinate data necessary for the operation is acquired. In such a teaching mode, while controlling the posture and movement of the robot arm RA, the cutting surface of the cutting tool 39 is moved along the processing line of the workpiece W so as to properly contact the burr of the workpiece W, and the movement is performed. Coordinate data is captured and stored according to the trajectory.

  In actual deburring and the like, the coordinate data stored at the time of teaching is read out, and the robot arm RA is operated and processed. When a processing operation such as deburring is started and the motor 6 is started, the rotating shaft, the chuck portion 35, and the cutting tool 39 are rotationally driven at a high speed of, for example, about 30000 rpm.

  As shown in FIG. 9, when the workpiece W is fixed on the machining table and the machining tool 1 is attached to the robot arm RA, the cutting tool 39 that rotates at high speed is moved by the operation of the robot arm RA to move the edge portion of the workpiece W. Deburring is performed such that the edge 39 of the workpiece W is scraped off by the blade 39 rotating at a high speed while moving the blade 39 based on the coordinate data.

  During processing, when the tip side surface of the cutting tool 39 rotating at high speed comes into contact with the edge portion of the workpiece W and the cutting tool 39 receives a load from the side, as shown in FIG. 3 is tilted from the axis of the tool axis O by an angle corresponding to the load within an angle range of a maximum tilt angle of about 5 degrees. At this time, the tilting case 4 rotates around the center point of the spherical surface via the spherical sliding bearing 43 with respect to the lower fixed case 3, and with this rotation, as shown in FIG. The tilting support member 5 interposed between the members 8 tilts in the direction opposite to the tilting case 4 around the middle point.

  The tilting of the tilting case 4 and the tilting support member 5 is performed against the urging force of the pin spring members 23 of the large number of tilting support pins 22 that press the pressure receiving plate 16. The tilting case 4 is likely to vibrate and swing due to the influence of the high-speed rotation operation 6. However, since the load absorbing member 8 is biased toward the cutting tool 39 at the tip by the absorption spring 9, vibration and swinging of the tilting support member 5 are caused in the pin spring member 23 of the tilting support pin 22 and the load absorbing member 8. Is absorbed well by the cooperation of the absorption spring 9.

  Thus, since the vibration and swinging of the load absorbing member 8 and the tilting support member 5 when the tilting case 4 including the motor 6 and the cutting tool 39 tilts are absorbed by the absorption spring 9 and the pin spring member 23, When the cutting tool 39 comes into contact with the workpiece W and the cutting tool 39 tilts together with the tilting case 4, the tilting case 4 can be smoothly tilted, and when the tilting load disappears, the tilting case 4 can be smoothly returned to the axial position.

  Further, when the edge of the workpiece W comes into contact with the tip side of the blade 39 rotating at high speed, the axial pushing force received by the blade 39 from the workpiece is absorbed by the spring member 36 on the sliding case 41 and is stable. Can be processed. Further, as shown in FIG. 8, the tilting case 4 including the cutting tool 39 and the motor 6 is tilted, and the tip side portion of the cutting tool 39 applies an appropriate contact load to the burr portion of the workpiece W, thereby removing the burr. The pressing load when the tip side of the cutting tool 39 presses the workpiece W is applied to the pressure receiving plate 16 on the tilting case main body 40, and a large number of tilting motions including the pin spring members 23 in the tilting support pin device 20 are provided. Absorbed by the support pins 22. Since many of these tilting support pins 22 are arranged on the circumference, even when the tilting case 4 including the cutting tool 39 and the motor 6 is tilted in any direction, a similar load can be stably applied. The deburring of the workpiece W can be performed satisfactorily.

  As described above, the spring force of the pin spring member 23 of the 24 tilt support pins 22 in the tilt support pin device 20 acts as a press load against the work W of the cutting tool 39. The force to be generated is a spring separate from the absorbing spring 9 or the spring member 36 that absorbs the axial force of the motor 6 and the tilting support member 5 as described above, and is used for a number of pins arranged on the circumference. Since it is provided by the spring member 23, the force with which the cutting tool 39 presses the workpiece W can be generated stably.

  Furthermore, when the cutting tool 39 is separated from the workpiece W, the tilting state of the tilting case 4 including the cutting tool 39 and the motor 6 can be smoothly returned to the axis of the tool axis. In particular, when the cutting tool 39 moves away from the workpiece W, the rotational load of the motor 6 decreases rapidly, and when the tilting load is removed to return to the axial center position, the return operation of the tilting case 4 including the cutting tool 39 and the motor 6 that rotate at high speed. It becomes unstable and rampant, and the tilting case 4 including the cutting tool 39 and the motor 6 operates so as to swing at random, and a state in which it is difficult to return to the axial position is likely to occur.

  However, in the present machining tool, as described above, the axial impact force and vibration generated in the load absorbing member 8 and the tilting support member 5 are absorbed by the absorbing spring 9, and the pushing load received by the cutting tool 39 from the workpiece W is tilted. Since the force that is absorbed by the spring member 36 in the case body 40 and the tilting case 4 returns to the axial position from the tilted state is absorbed by the pin spring member 23 in the independent tilting support pin device 20, When the cutting tool 39 moves away from the workpiece W, the tilting case 4 including the cutting tool 39 and the motor 6 can return to a straight line very smoothly without being violated.

  Further, since the tilting support pin device 20 is disposed in a free state and is mounted via a ball bearing 15 in a free state, the tilting support pin device 20 freely moves in the circumferential direction during tilting, and the tilting case 4 The tilting case 4 including the motor 6 and the cutting tool 39 can be smoothly returned to the linear state.

  In the above embodiment, a deburring tool is used as the cutting tool 39. However, a lapping grindstone or a grinding tool can be used to perform lapping or chamfering grinding.

  11 and 12 show a working tool according to an embodiment in which the spring pressure adjusting mechanism is not provided. This machining tool is not provided with a spring pressure adjustment mechanism, and the pin spring member of the tilting support pin device is replaced with a spring member having a different spring force according to the type and hardness of the workpiece. is there.

  As shown in FIG. 11, the fixing case 52 is formed in a substantially cylindrical shape, and a fixing screw hole 52 a for fixing to a robot arm or the like is formed on the upper surface (base) thereof, and load absorption is performed in the fixing case 52. The member 58 is inserted through the absorption spring 59 so as to be movable up and down within a predetermined range. The load absorbing member 58 is formed in a substantially cylindrical shape, and an upper support recess 58a is formed in the lower center thereof. The upper support recess 58a is formed in a substantially truncated cone recess shape, a concave curved surface 58b is formed on the inner peripheral surface thereof, and a circular flat portion 58c is formed in the center. The concave curved surface 58b is a concave spherical surface that constitutes a part of the spherical surface.

  An absorption spring (coil spring) 59 is disposed in the upper portion of the cylindrical load absorbing member 58 and urges the load absorbing member 58 downward. Basically, when the tilting case 54 tilts with respect to the fixed case 52, the absorption spring 59 applies a vertical load to the tilting support member 55 due to the tilting of the tilting support member 55 in the tilting support pin device 50. The load is absorbed by the absorption spring 59. Further, the absorption spring 59 absorbs an impact force applied from below through the tilt support member 55, the load absorption member 58, and the tilt case 54 during operation, and further, when the tilt case 54 tilts or when the axis returns. It absorbs the vibration load of the generated load absorbing member 58 and cooperates with the tilting support pin device 50 to prevent the tilting case 54 from vibrating at the time of tilting and the uneasy swinging.

  The tilt support member 55 is disposed below the upper support recess 58a of the load absorbing member 58, and the upper end portion of the tilt support member 55 is fitted into the upper support recess 58a of the load absorbing member 58. The tilting support member 55 is formed in a cylindrical shape with a thin intermediate portion, and as shown in FIG. 11, the upper end portion and the lower end portion thereof are each formed in a substantially truncated cone shape.

  Convex curved surfaces 55a and 55b are formed on the circumferential surface of the substantially frustoconical portion of the tilting support member 55, and flat portions 55c and 55d have flat surfaces perpendicular to the axial direction at the center thereof. Is formed. The convex curved surfaces 55a and 55b are formed from a part of a spherical surface and are convex spherical surfaces. Further, a pressure receiving plate 66 is disposed below the tilting support member 55, and a lower support recess 66 a is formed in the center of the pressure receiving plate 66 with a form that can be fitted to the lower end portion of the tilting support member 55. The pressure receiving plate 66 is fitted on the flange portion 85 at the top of the tilting case 54.

  As shown in FIG. 11, the lower support recess 66a of the pressure receiving plate 66 is formed in a substantially truncated cone recess shape like the upper support recess 58a, and a concave curved surface 66b is formed on the inner peripheral surface thereof. It is formed from a portion and is a convex spherical surface. A circular flat portion 66c is formed at the center. In the concave curved surface 66b, the tilting support member 55 is disposed so as to be tiltable between the load absorbing member 58 and the pressure receiving plate 66, and its upper end is rotatably fitted in the upper supporting recess 58a of the load absorbing member 58. The lower end of the pressure receiving plate 66 is rotatably fitted in the lower support recess 66a.

  As shown in FIG. 11, when the tilt case 54 tilts, the tilt support member 55 tilts by sliding the upper end portion and the lower end portion thereof with respect to the upper support recess portion 58a and the lower support recess portion 66a. A convex curved surface 55a at the upper end is formed corresponding to the concave curved surface 58b of the upper support concave portion 58a of the load absorbing member 58 and is in close contact therewith, and a flat portion 55c is formed corresponding to the flat portion 58c. Close contact is possible. Therefore, when the tilting case 54 is tilted, as shown in FIG. 12, the fitting of the convex curved surface 55a and the concave curved surface 58b and the fitting state of the flat portion 55c and the flat portion 58c are shifted within a predetermined angle range. Due to the biasing force of the pin support member 62 of the tilt support pin 62, the tilted support member 55 can automatically return to the neutral axial position with respect to the load absorbing member 8, that is, the tilt support member 55. Yes.

  Similarly, the convex curved surface 55b of the lower end portion of the tilting support member 55 is formed corresponding to the concave curved surface 66b of the lower support concave portion 66a of the pressure receiving plate 66, and the flat portion 55d is flat. It is formed corresponding to the portion 66c and can be in close contact. For this reason, as shown in FIG. 12, when the tilt case 54 tilts, the tilt support member 5 tilts, and the fitting of the convex curved surface 55b and the concave curved surface 66b and the fitting of the flat portion 55d and the flat portion 66c are predetermined. When the angle is deviated within the angular range, the tilting support member 55 can be automatically and stably returned to the neutral axis position with respect to the pressure receiving plate 66 by the biasing force of the pin spring member 63 of the tilting support pin 62 described below. is there. As a result, the tilting operation of the tilting case 54 and the returning operation to the axial position described later are smoothly performed.

  Although the tilting support member 55 is formed as a thick cylindrical member as described above, it requires a thick portion at the upper end portion and the lower end portion thereof, so the intermediate outer peripheral portion or the intermediate inner peripheral portion of the tilt support member 55 is required. The wall thickness is made thin to reduce weight.

  An annular tilt support pin device 50 is disposed around the tilt support member 55, and each tilt support pin 62 of the device is pressed onto a pressure receiving plate 66 on the lower side. This tilt support pin device 50 is a device for supporting the upper part of the tilt case 54 described below so that it can tilt in all directions and return to the axial position. The pin 62 protrudes downward (tip side) and is urged by a pin spring member 63.

  The pin case 61 of the tilting support pin device 50 is attached to the lower side of the ball bearing 65 disposed in the lower portion of the fixed case 52 and is disposed in the lower portion of the fixed case 52 via the ball bearing 65 so as to be rotatable. It is installed. The lower portion of the tilting support pin device 50 is supported by an annular presser plate 57, and the presser plate 57 is fitted inside the flange portion at the lower end of the fixed case 2. One or two presser plates 57 can be used.

  With the above-described configuration, the tilt support pin device 50 tilts when the tilt case 54 tilts within the lower fixed case 53, or when the rotational load of the blade 79 decreases sharply and returns to the axial position from the tilted state. When the rotational force acts on the support pin device 50, the pin case 61 rotates in an arbitrary direction via the ball bearing 65. As a result, the linear return operation of the tilt case 54 and the motor 56 is performed smoothly. The ball bearing 65 is configured by stacking two annular and plate-like ball races on top and bottom, and a large number of metal balls are accommodated in an annular groove formed inside the ball race.

  The pin case 61 of the tilt support pin device 50 mounted in the fixed case 52 via the ball bearing 65 is formed in a substantially annular shape. For example, 24 tilt support pins 62 are 15 degrees in the pin case 61. Are arranged on the circumference with the tip protruding downward. These tilting support pins 62 are disposed so as to uniformly press and support the circumference of the pressure receiving plate 66 of the tilting case 54 disposed on the lower side (tip side) thereof. Each tilt support pin 62 is mounted with a pin spring member (coil spring) 63 so as to urge the tilt support pin 62 downward, and each tilt support pin 62 is disposed in each pin case 61. The pin spring member 63 is biased downward, and its tip protrudes downward.

  Each pin spring member 63 is fitted and attached to the outer peripheral portion of each tilt support pin 62, and a spring force is generated between the flange portion provided in the middle portion of the tilt support pin 62 and the upper portion of the pin case 61, The tilting support pin 62 is mounted in a state of being biased downward. As a result, 24 tilt support pins 62 are urged downward in the pin case 61 by the pin spring member 63 in a state where the tips protrude downward on the circumference at intervals of 15 degrees. Arranged.

  The pin case 61 is rotatably mounted via a ball bearing 65 in the fixed case 52, and the vertical position in the fixed case 52 greatly affects the support operation of the 24 tilt support pins 62. It is necessary to finely adjust the positioning according to the dimensional error (dimensional variation). For this reason, in order to adjust the vertical position of the ball bearing 65 in the fixed case 52, the adjustment ring screw 64 provided with a screw on the outer peripheral portion is screwed on the upper portion of the ball bearing 65 so as to move up and down by rotation. It is installed. The adjustment ring screw 64 is provided with a fixing screw in the axial direction, and the adjustment ring screw 64 is fixed after adjusting the vertical position of the pin case 61 via the ball bearing 65 by the rotation of the adjustment ring screw 64. It is fixed with screws.

  The lower fixing case 53 is fixed to the lower side (front end side) of the fixing case 52 by screwing or fitting. As will be described later, a tilting case 54 is tiltably accommodated in the lower fixing case 53, and a pressure receiving plate 66 is fixed to an upper portion (base) of the tilting case main body 80 in the tilting case 54. The tilt case 54 includes a tilt case main body 80 and a case cover 87 and a tip cover 82 that cover the outer periphery of the tilt case main body 80.

  The pressure receiving plate 66 is located on the lower side (tip side) of the pin case 61, and a lower support recess 66a is formed at the center of the upper surface. The lower support recess 66a is formed as a circular recess, and a concave curved surface 66b is formed on the inner peripheral surface, and a flat portion 66c is formed at the center bottom. The concave curved surface 66b constitutes a concave spherical surface that forms a part of the spherical surface.

  As described above, the convex curved surface 55b at the lower end of the tilting support member 55 is formed in close contact with the concave curved surface 66b of the lower support concave portion 66a, and the flat portion 55d is in contact with the flat portion 66c. Correspondingly formed, closely contacted and inserted. Therefore, as shown in FIG. 12, when the tilting case 54 is tilted, if the fitting of the convex curved surface 55b and the concave curved surface 66b and the fitting of the flat portion 55d and the flat portion 66c are shifted within a predetermined angular range, Therefore, the tilted support member 55 can be returned to the neutral axial position with respect to the pressure receiving plate 66.

  The tilt case 54 and the pressure receiving plate 66 are disposed in the lower fixed case 53 so as to be tiltable in all directions from a vertical posture along the axis. When the tilt case 54 and the pressure receiving plate 66 are tilted in all directions, the 24 tilt support pins 62 and the pin spring member 63 are uniformly biased in a direction to return the tilt case 54 and the pressure receiving plate 66 to the vertical posture. Acts like

  That is, when the cutting tool 79 attached to the chuck portion 75 at the tip of the rotating shaft of the motor 56 comes into contact with the work surface of the workpiece, the cutting tool 79 is pushed in the tilting direction, and the tilting case 54, the motor 56, and the cutting tool 79 tilt. At this time, the pressing force applied to the machining surface by the cutting tool 79 is uniformly generated in the entire circumferential direction by the pin spring member 63 of each tilting support pin 62, and when the pressing force becomes zero, the inclination is It will return to a straight line state smoothly. In this way, the spring force of the pin spring member 63 of the tilt support pin 62 acts as a pressing force on the processing surface of the cutting tool 79.

  The tilting case main body 80 is formed in a substantially cylindrical shape having a flange portion 85 at the upper portion (base portion), and has a predetermined position via a spherical sliding bearing 70 and a spherical sliding member 83 at an axial center position in the upper portion of the lower fixing case 53. It is arranged so as to be tiltable at an angle. An annular spherical sliding bearing 70 is fixed inside the lower fixed case 53, and a spherical sliding member 83 fixed to the outer peripheral portion of the tilting case main body 80 is rotatably fitted inside the spherical sliding bearing 70. . Accordingly, as shown in FIG. 12, the tilting case main body 80 has a center axis O (the center axis O () of the fixed case 52 and the lower fixed case 53 with its axis S as the center point of the spherical sliding bearing 70 and the spherical sliding member 83. It can be tilted in the entire circumferential direction within a predetermined angle range (for example, about 5 °) from the axis.

  A flange 85 is formed on the tilt case 54 at the upper part (base) of the tilt case main body 80, and six guide grooves 86 are formed in the flange 85 at 60 degree intervals on the circumference. Inside the lower fixed case 53, guide pin mounting rings 72 are mounted at circumferential positions corresponding to the guide grooves 86, and the six guide pins 71 are spaced on the guide pin mounting ring 72 at intervals of 60 degrees. The guide pins 71 engage with the guide grooves 86, and the tilt of the tilt case 54 is guided by the guide pins 71.

  Although the tilting of the tilting case 54 is guided by the engagement between the guide pin 71 and the guide groove 86, there is a slight gap in the engagement, so that the tilting angle and the tilting of the tilting support member 55 are reduced. When the direction changes, the tilting case 54 may slightly shake in the circumferential direction due to the reaction and vibration at that time. At this time, the movement of the tilting case 54 is transmitted to the tilting support pin device 50, but the tilting support pin device 50 is rotatably arranged via the ball bearing 65 as described above. Vibration or rampage during tilting or returning of the motor 56 due to rattling or the like in the circumferential direction is effectively prevented by the action of the ball bearing 65 or the like.

  A pressure receiving plate 66 is mounted on the flange portion 85 at the top of the tilt case main body 80, and all of the 24 tilt support pins 62 of the pin case 61 are always pressure-received regardless of the tilt direction or tilt angle of the tilt case 54. It abuts against the plate 66. The tip cover 82 and the case cover 87 are attached so as to cover from the middle part to the lower part of the tilting case main body 80, and a cylindrical sliding case 81 is inserted into the tilting case main body 80 so as to be vertically slidable in the axial direction. .

  A small-diameter spring member 76 (a coil spring having a small wire diameter and a small winding diameter) and a large-diameter spring member (a coil spring having a large wire diameter and a large winding diameter) 77 are disposed in the tilting case main body 80 on the tip side. It arrange | positions so that it may urge. The small-diameter spring member 76 and the large-diameter spring member 77 are disposed so as to overlap on the same axis. The large-diameter spring member 77 has its spring force set to be stronger, and the small-diameter spring member 76 has its spring force set to be weaker than the spring force of the large-diameter spring member 77. Is longer than the large-diameter spring member 77.

  When the sliding case 81 and the motor 56 are directed downward, the sliding case 81 is locked by the engaging steel ball 84 in the engaging groove 81a as shown in FIG. The compression load is slightly applied. Then, during operation in such a downward state, when the cutting tool 79 receives a pushing load from the workpiece, the small diameter spring member 76 receives the load so that the sliding case 81 and the motor 56 are raised by an appropriate width. It has become.

  On the other hand, when the sliding case 81 and the motor 56 are directed upward, the sliding case 81 and the motor 56 compress the small-diameter spring member 76 and the large-diameter spring member 77 by a small length by their own weight. When the cutting tool 79 receives a pressing load from the workpiece during the operation in such an upward state, the sliding case 81 and the motor 56 are lowered by an appropriate width, and this load is applied to the large-diameter spring member 77 and the small-diameter spring member. 76 receives and absorbs. Further, as shown in FIG. 11, an engagement groove 81a is formed in a part of the outer peripheral surface of the inner sliding case 81, and an engagement hole 80a is formed in the tilting case body 80 at the corresponding position. One engaging steel ball 84 is fitted in the groove 81a and the engaging hole 80a, and the sliding case 81 can slide up and down with respect to the tilting case main body 80 within the range of the engaging groove 81a. Yes. A motor 56 is coaxially mounted in the sliding case 81 with its rotating shaft directed downward (front end side).

  The axis of the rotation axis of the motor 56 coincides with the axis of the fixed cases 52 and 53 when the tilting case 54 is in a non-tilting vertical state, that is, on the axis O. A brushless DC motor capable of high-speed rotation is used as the motor 56, the tip of the rotation shaft of the motor 6 protrudes downward, and a chuck portion 75 for a cutting tool is attached to the tip of the rotation shaft. The chuck portion 75 has, for example, a chuck nut screwed to the outside of the collet chuck, and fastens and fixes the cutting tool 79 by turning the chuck nut.

  The power line of the motor 56 inserted into the sliding case 81 and accommodated in the tilting case main body 80 passes through the tilting case main body 80 from the inner space to the inner space of the tilting support member 55 and passes through the inner space of the load absorbing member 58. And is drawn upward from the opening of the upper part (base part) of the fixed case 52. When a pressure air tube for air cooling is connected to the motor 56, the pressure air tube is also pulled out along the power line.

  Next, the operation of the processing tool having the above configuration will be described. In the same manner as described above, the processing tool is attached using the fixing screw hole 2a while the base of the fixing case 52 is applied to the tip of the robot arm. The chuck portion 75 at the tip of the rotating shaft of the motor 56 has a cutting tool 79 such as a carbide rotary bar or a shaft-equipped grindstone according to the processing to be performed (for example, deburring, cutting or polishing of an acute angle portion). Is attached. The workpiece of the workpiece is fixed on the processing table.

  When the workpiece W is small, the workpiece W can be fixed to the tip of the robot arm RA and the processing tool 1 can be fixed on the processing table as shown in FIG. In this case, the cutting tool 1 of the chuck portion 75 is faced upward or sideways, the processing tool 1 is fixed on the processing table, and the workpiece W is moved by the robot while contacting the cutting tool 79 of the processing tool 1 to deburr. Perform processing.

  When the workpiece W is fixed on the machining table and the machining tool 1 is attached to the robot arm RA, in the machining tool 1, while the cutting tool 79 is driven to rotate at a high speed by the rotation of the motor 56, The processing tool 1 is moved to bring the cutting tool 79 into contact with the edge portion of the workpiece W, and while the cutting tool 79 is moved based on the coordinate data, the cutting tool 79 that rotates at high speed is moved along the edge portion of the workpiece, so Deburring is performed by operating to scrape off.

  During the processing, when the tip side surface of the blade 79 rotating at high speed comes into contact with the edge portion of the workpiece W and the blade 79 receives a load from the side, as shown in FIG. 53 is tilted from the axis of the tool axis O by an angle θ corresponding to the load within an angle range of a maximum tilt angle of about 5 degrees. At this time, the tilting case 54 rotates around the center point of the spherical surface with respect to the lower fixed case 53 via the spherical sliding bearing 83, and along with this rotation, as shown in FIG. The tilting support member 55 interposed between the members 58 tilts in the direction opposite to the tilting case 54 around the middle point.

  The tilting of the tilting case 54 and the tilting support member 55 is performed against the biasing force of the pin spring members 63 of the many tilting support pins 62 that press the pressure receiving plate 66. The tilting case 54 is likely to vibrate and swing due to the influence of the high-speed rotation operation 56. However, since the load absorbing member 58 is urged toward the cutting edge 79 by the absorbing spring 59, the tilting support member 55 is vibrated or swung within the pin spring member 63 of the tilting support pin 62 and the load absorbing member 58. It is absorbed well by the cooperation of the absorption spring 59.

  Thus, since the vibration and swinging of the load absorbing member 58 and the tilting support member 55 when the tilting case 54 including the motor 56 and the blade 79 tilts are absorbed by the absorption spring 59 and the pin spring member 63, When the cutting tool 79 comes into contact with the workpiece and the cutting tool 79 tilts together with the tilting case 54, it tilts smoothly, and when the tilting load disappears, the tilting case 54 can be smoothly returned to the axial center position.

  Further, when the edge of the workpiece comes into contact with the tip side of the blade 79 rotating at a high speed, the axial pushing force received by the blade 79 from the workpiece is absorbed by the small-diameter spring member 76 on the sliding case 81 and is stable. Can be processed. Further, as shown in FIG. 12, the tilting case 54 including the cutting tool 79 and the motor 56 is tilted, and the tip side portion of the cutting tool 79 applies an appropriate contact load to the burr part of the workpiece, removing the burr. A pressing load when the tip side portion of the cutting tool 79 presses the workpiece is applied to the pressure receiving plate 66 on the tilting case main body 80, and a number of tilting support pins having the pin spring members 63 in the tilting support pin device 50. 62 is absorbed. Since a large number of these tilting support pins 62 are arranged on the circumference, even when the tilting case 54 including the cutting tool 79 and the motor 56 tilts in any direction, the same load can be stably applied. And the deburring of the workpiece can be performed satisfactorily.

  As described above, the spring force of the pin spring member 63 of the 24 tilt support pins 62 in the tilt support pin device 50 acts as a press load against the work of the cutting tool 79. Is a separate spring from the absorption spring 59 or the small-diameter spring member 76 and the large-diameter spring member 77 that absorbs the axial force of the motor 56 and the tilting support member 55, and a large number of pin springs arranged on the circumference. Since it is provided by the member 63, the force with which the cutting tool 79 presses the workpiece can be generated stably. Furthermore, when the cutting tool 79 is separated from the workpiece, the tilting state of the tilting case 54 including the cutting tool 79 and the motor 56 can be smoothly returned to the axis O of the tool axis.

  Further, when the cutting tool 79 is separated from the workpiece, the rotational load of the motor 56 is rapidly reduced, and when the tilting load is removed to return to the axial center position, the return operation of the tilting case 54 including the cutting tool 79 and the motor 56 rotating at high speed is performed. It becomes unstable and rampant, and the tilting case 54 including the cutting tool 79 and the motor 56 operates so as to swing at random, and a state in which it is difficult to return to the axial position easily occurs. However, in this processing tool, the axial impact force and vibration generated in the load absorbing member 58 and the tilting support member 55 are absorbed by the absorbing spring 59, and the push-up load received by the cutting tool 79 from the work is small in the tilting case body 80. The force that is absorbed by the spring member 76 and the large-diameter spring member 77 and the tilting case 54 returns to the axial center position from the tilted state is absorbed by the pin spring member 63 in the independent tilt support pin device 50. When the cutting tool 79 moves away from the workpiece, the tilting case 54 including the cutting tool 79 and the motor 56 can return to a straight line very smoothly without being violated.

  Further, since the tilt support pin device 50 is disposed in a free state and is mounted via a ball bearing 65 in a free state, the tilt support pin device 50 moves freely in the circumferential direction during tilting, and the tilt case 54 The tilting case 54 including the motor 56 and the cutting tool 79 can be smoothly returned to the linear state.

  Further, in this processing tool, since the tilting support pin device 50 is not provided with a spring pressure adjusting mechanism, the pin spring member 63 can be replaced with a spring member having a different spring force according to the hardness of the workpiece. However, by not providing the spring pressure adjusting mechanism, the structure of the peripheral portion of the tilting support pin device 50 is simplified, and further, the tilting support pin device 50 is arranged in the circumferential direction via the ball bearing 65. It will be in a state where it can move more freely.

  As described above, according to the processing tool of the present invention, the many tilting support pins of the tilting support pin device act so that the tip of the tilting support pin is pressed against the pressure receiving plate above the tilting case via the spring member, and the tilting support is provided. Since the member stabilizes the operation at the time of tilting and returning together with the load absorbing member, and the tilting support pin device is rotatably accommodated in a fixed case via a ball bearing, the rotational load of the cutting tool When the tilting case is changed and the tilting case returns to the linear posture, the tilting support pin device can be smoothly moved in the circumferential direction, and the tilting case and the blade can be effectively prevented from being ramped up.

It is a front view of the processing tool which shows one Embodiment of this invention. It is a longitudinal cross-sectional view of the processing tool. FIG. 3 is a sectional view taken along line III-III in FIG. 2. It is IV-IV sectional drawing of FIG. It is an enlarged vertical sectional view showing a portion near the tilting support member. It is a longitudinal cross-sectional view of the state which rotated the spring force adjustment ring nut of the spring pressure adjustment mechanism. It is a longitudinal cross-sectional view at the time of a tilting case rising with a cutting tool receiving a lifting force. It is a longitudinal cross-sectional view of a state where the cutting tool is tilted by receiving a load from the side. It is explanatory drawing which shows the use condition of a processing tool. It is a longitudinal cross-sectional view of the processing tool of the state which has arrange | positioned the spring member to the lower side of a sliding case. It is a longitudinal cross-sectional view of the processing tool of other embodiment. It is a longitudinal cross-sectional view of a state where the cutting tool is tilted by receiving a load from the side. It is explanatory drawing which shows the use condition of a processing tool.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Processing tool 2 Fixed case 3 Lower fixed case 4 Tilt case 5 Tilt support member 5a Convex curved surface 5b Flat part 5c Convex curved surface 5d Flat part 6 Motor 8 Load absorption member 8a Upper support recessed part 8b Concave curved surface 8c Flat part 15 Ball bearing 16 pressure receiving plate 16a lower support recess 16b concave curved surface 16c flat part 20 tilt support pin device 21 pin case 22 tilt support pin 31 guide pin 35 chuck part 39 cutting tool 40 tilt case body 41 sliding case

Claims (9)

The tilting case is disposed so as to be tiltable with respect to the fixed case, a motor for driving the blade rotation is mounted in the tilting case, the blade is mounted on the chuck portion provided at the tip of the rotating shaft of the motor, and the blade is A machining tool that is rotationally driven by a motor,
A load absorbing member for absorbing a load is disposed in the fixed case so as to be slidable in the axial direction via an absorption spring, and a tilt support pin device having a large number of tilt support pins is disposed. The many tilting support pins are arranged in an annular shape, and are arranged in an axial direction and biased toward the distal end side by a pin spring member, and are disposed in the fixed case on the distal end side of the tilting support pin device. The tilt case is disposed so as to be tiltable with respect to an axis, and a sliding case is disposed in the tilt case so as to be slidable in an axial direction against a spring member, and the motor is disposed in the sliding case. A pressure receiving pressure that is attached with the rotating shaft facing the tip side, a chuck portion is attached to the tip of the rotating shaft, and the tips of the tilting support pins of the tilting support pin device are brought into contact with and supported by the base of the tilting case A plate is attached, the pressure receiving plate and the load absorbing portion And a tilting support member is disposed through the central opening of the tilting support pin device. A machining tool that returns to the axial position together with the tilting case when the load disappears.   The tilt support pin device includes a pin case formed in an annular shape, and a plurality of tilt support pins arranged on the circumference with their tips protruding, and pins that bias the tilt support pins toward the tip side. The machining tool according to claim 1, wherein a spring member is mounted and the tilt support pin device is disposed in the fixed case in a freely rotatable state.   2. The processing tool according to claim 1, wherein the tilt support pin device is rotatably disposed in the fixed case via a ball bearing.   As the spring member for urging the sliding case, a large-diameter spring member and a small-diameter spring member are coaxially overlapped in the tilt case, and the large-diameter spring member faces the tilt case and the motor upward. The small-diameter spring member is provided so that the cutting tool receives a push-up load from the workpiece while the tilting case and the motor are directed downward. Item 1. The processing tool according to Item 1.   An upper support recess is provided at a lower portion of the load absorbing member, a lower support recess is provided at an upper portion of the pressure receiving plate, and the upper portion of the load absorbing member is interposed between the upper support recess and the lower support recess of the pressure receiving plate. The tilt support member is slidably fitted to the upper support recess and the lower support recess with the upper and lower portions thereof, and the surfaces around the upper and lower portions of the tilt support member are formed as convex curved surfaces. And a concave curved surface that is slidable on the convex curved surface is formed on the inner peripheral surface of the lower support concave portion, and the central portions of the upper support concave portion and the lower support concave portion and the upper and lower central portions of the tilting support member, The processing tool according to claim 1, wherein flat portions that can contact each other are formed.   6. The machining tool according to claim 5, wherein concave spherical surfaces are formed as concave curved surfaces of the upper support concave portion and the lower support concave portion, and convex spherical surfaces are formed as upper and lower convex curved surfaces of the tilt support member. .   2. The tilting case is arranged to be tiltable within a predetermined angle range by fitting a spherical sliding bearing provided in the fixed case and a spherical sliding member provided in the tilting case. Machining tools.   A plurality of guide pins are fixed near the base of the tilt case in the fixed case, and the guide pins guide the tilt when the tilt case tilts via the tilt support member and the pressure receiving plate, and The machining tool according to claim 1, wherein rotation of the tilting case is prevented.   In order to adjust the spring force of the spring member that urges the tilt support pin of the tilt support pin device, a spring force adjustment ring nut is fitted to the outer periphery of the fixed case, and the spring force adjustment ring nut is rotated. 2. The processing tool according to claim 1, wherein the biasing force of the tilt support pin is adjusted by changing the compression load of the spring member.

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