JP2011073092A - Tool tilting allowing mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tool tilting allowing mechanism reducing bending stress to a shaft-shaped tool. <P>SOLUTION: This tool tilting allowing mechanism tiltably connects a deburring tool 80 to a base member 13, and is energized so that the axis of the deburring tool 80 becomes parallel to the predetermined tool moving reference axis K1, and allows tilting of the deburring tool 80 by being guided by an inner surface of a tool insertion hole H1 when inserting the deburring tool 80 into the tool insertion hole H1 of a work W by advancing the base member 13 in the direction of the tool moving reference axis K1. The mechanism has a first tilting member 11 extending in the direction of the tool moving reference axis K1. A rear end part of its first tilting member 11 is connected to the base member 13 via a first universal joint mechanism 101, and a second tilting member 12 tilting integrally with the deburring tool 80 is connected to a front end part of the first tilting member 11 via a second universal joint mechanism 102. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a tool tilt permission mechanism that supports a shaft-type tool so as to be tiltable.

  Conventionally, as this type of tool tilting allowance mechanism, a shaft-type tool is connected to a base member via a universal joint mechanism, and an elastic member is urged so that the shaft-type tool is in the home position. Yes. For example, when the base member is moved while attaching the base member to the robot and pressing the side surface of the shaft-shaped tool against the outer surface of the workpiece while performing the machining, the shaft-shaped tool is tilted by the universal joint mechanism, and the outer surface of the workpiece is moved. The variation in shape was absorbed (for example, refer to Patent Document 1).

JP-A-5-301156 (paragraphs [0021], [0022], [0027], FIG. 1, FIG. 4, FIG. 7)

  By the way, the tool tilting allowance mechanism described above, when inserting a shaft-type tool into an existing tool insertion hole machined into a workpiece, can detect an error in the inclination of the actual center axis with respect to the designed center axis of the tool insertion hole. It was also used to absorb. Specifically, when the shaft-shaped tool is moved forward while being inserted into the tool insertion hole while keeping the center axis of the shaft-shaped tool aligned with the design central axis of the tool insertion hole, the shaft-shaped tool is inserted. In order to allow the tool to tilt while being guided by the inner surface of the tool insertion hole, the above-described tool tilt permission mechanism has been used.

  However, since the shaft-type tool starts to tilt when its tip end enters the tool insertion hole, the shaft-type tool tilts around the tip end. On the other hand, in the conventional tool tilting allowance mechanism described above, the tilting center of the shaft-type tool is not located at the tip but at the base end supported by the universal joint mechanism, and the universal joint mechanism moves to the side. Is not allowed. For this reason, when the shaft-shaped tool is guided by the inner surface of the tool insertion hole and starts to tilt, a situation in which a great bending stress is applied to the shaft-shaped tool can occur.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a tool tilt permission mechanism capable of reducing bending stress to a shaft-type tool.

  In order to achieve the above object, a tool tilting permission mechanism according to the invention of claim 1 connects a shaft-shaped tool to a base member so as to be tiltable, and the center axis of the shaft-shaped tool is predetermined. When the shaft type tool is inserted into the tool insertion hole of the workpiece when the base member is urged so as to be parallel to the movement reference axis and the base member is advanced in the direction of the tool movement reference axis, the shaft type tool is placed on the inner surface of the tool insertion hole. In a tool tilting allowance mechanism that allows tilting by being guided, a first extending in a tool movement reference axis direction and having a rear end portion in a forward direction of the base member coupled to the base member via a first universal joint mechanism. The tilting member is connected to the front end portion of the first tilting member via the second universal joint mechanism and tilts integrally with the shaft-type tool. A tilting member; first biasing means for biasing the first tilting member with respect to the base member to a predetermined origin posture; and a second tilting member with respect to the first tilting member to a predetermined origin posture. A tool tilting allowable mechanism comprising a second urging means for urging.

  According to a second aspect of the present invention, in the tool tilt permissible mechanism according to the first aspect, the first and second tilting members are both in the origin posture, the central axis of the shaft-type tool, and the first and second universal joint mechanisms. It is characterized in that the lever shafts connecting the tilt center points are arranged so as to be aligned on the same straight line.

  According to a third aspect of the present invention, in the tool tilting allowable mechanism according to the first or second aspect, the base member is fitted to the rear end portion of the first tilting member, and the first tilting member and the base member are fitted to each other. A first inner annular projecting wall and a first outer annular projecting wall that protrude from each other and are fitted to each other are provided, and a plurality of the first inner annular projecting wall and the first outer annular projecting wall are arranged along the circumferential direction of one fitting surface of the first inner annular projecting wall and the first outer annular projecting wall. While the protrusions are formed in a uniform arrangement, a contacted portion where a plurality of protrusions abut on the other fitting surface is formed, and one of the protrusions or the contacted surface of the contacted portion is curved. The first inner annular projecting wall can be tilted in an arbitrary direction inside the first outer annular projecting wall by making the projecting part and the contacted part point contact or line contact, and the first tilting member or the base member The first inner annular projecting wall or the first outer annular projecting wall is provided as a pair on either side of the tool movement reference axis. The first biasing means so as to sandwich the first inner annular projecting wall or the first outer annular projecting wall so that at least one of them can be reciprocated in the tool movement reference axis direction. A pair of first axial movement restricting members that are urged to form a first universal joint mechanism comprising the first inner annular protruding wall and the first outer annular protruding wall and the pair of first axial movement restricting members. The second tilting member is fitted to the front end portion of the first tilting member, protrudes from the fitting surfaces of the first tilting member and the second tilting member, and is fitted to each other and the second inner annular projecting wall An outer annular projecting wall is provided, and a plurality of projecting portions are formed in a uniform manner along the circumferential direction of one of the second inner annular projecting wall and the second outer annular projecting wall. A plurality of protrusions are in contact with each other, and one of the protrusions or the contacted part has a curved surface. Then, the projecting part and the contacted part are brought into point contact or line contact, so that the second inner annular projecting wall can be tilted in an arbitrary direction inside the second outer annular projecting wall. Two tilt members are provided as a pair, and face each other with the other second inner annular projecting wall or second outer annular projecting wall sandwiched in the tool movement reference axis direction, and at least one of the two tilting members is a tool A pair of second shaft movement restricting members that are reciprocally movable in the movement reference axis direction and are urged by the second urging means so as to sandwich the second inner annular protruding wall or the second outer annular protruding wall. And the second universal joint mechanism is characterized by the second inner annular projecting wall and the second outer annular projecting wall and the pair of second shaft movement restricting members.

  According to a fourth aspect of the present invention, in the tool tilting allowable mechanism according to the third aspect, the first tilting member has a cylindrical shape extending in the direction of the tool movement reference axis, and the base is located inside the rear end portion of the first tilting member. While the member is fitted, the second tilting member is fitted inside the front end portion of the first tilting member, and the first and second outer annular protruding walls are provided on the first tilting member, The annular projecting wall is provided on the base member, and the second inner annular projecting wall is provided on the second tilting member and protrudes from the inner surface of the first tilting member between the first and second outer annular projecting walls. An intermediate support protrusion wall is provided, and a first movable ring that faces the end surface of the first inner annular protrusion wall from the front side, and is fixed to the first movable ring and extends forward, and can move directly to the intermediate support protrusion wall. One of the first shaft movement restricting members is constituted by a plurality of guide shafts supported by the first shaft, The other first shaft movement restricting member is configured by a first fixed projecting wall that is disposed behind the first outer annular projecting wall and projects inward from the first outer annular projecting wall, and is a first biasing member. The first movable ring is urged rearward toward the first inner annular projecting wall by the means, the second movable ring is opposed to the end surface of the second inner annular projecting wall from the front side, and the rear is fixed to the second movable ring. The second shaft movement restricting member is composed of a plurality of guide shafts that extend to the intermediate support projecting wall and are movably supported by the intermediate support projecting wall, and on the front side of the second outer annular projecting wall among the first tilting members. The second fixed projecting wall that is arranged and projects inward from the second outer annular projecting wall constitutes the other second shaft movement restricting member, and the second movable ring is connected to the second inner annular projecting wall by the second urging means. It is characterized by being biased forward toward the front.

  According to a fifth aspect of the present invention, in the tool tilting allowable mechanism according to the fourth aspect, the intermediate support projecting wall is formed on the intermediate support projecting wall, extends in the tool movement reference axis direction, and has an opening at the rear end surface of the intermediate support projecting wall. A first fluid pressurizing hole, a plurality of first pressurizing shafts inserted in the first fluid pressurizing holes so as to be linearly movable and pressed against the first movable ring from the front, and the first fluid pressurizing holes; Compressed fluid as first urging means encapsulated inside and urges the plurality of first pressurizing shafts toward the rear, and a first tilt from each first fluid pressurization hole formed in the first tilt member. A first fluid supply passage extending to the outer surface of the member; and an opening of the first fluid supply passage which is disposed on the outer surface of the first tilting member and normally closes and opens when pressure is applied from the outside. A first check valve that allows supply of compressed fluid into the fluid supply path, and an intermediate support protruding wall; A plurality of second fluid pressurizing holes extending in the tool movement reference axis direction and having an opening on the front end surface of the intermediate support projecting wall, and second movable rings inserted into the respective second fluid pressurizing holes so as to be linearly movable. And a plurality of second pressurizing shafts pressed from the rear, and compression as second urging means enclosed in each second fluid pressurizing hole and urging the plurality of second pressurizing shafts forward A fluid, a second fluid supply path formed in the second tilting member and extending from each second fluid pressure hole to the outer surface of the second tilting member, and a second fluid disposed on the outer surface of the first tilting member. It is characterized in that it includes a second check valve that normally closes the opening of the supply passage and opens when pressure is applied from the outside to allow the supply of compressed fluid into the second fluid supply passage.

  A sixth aspect of the present invention is the tool tilt allowing mechanism according to the fifth aspect, wherein the first fluid supply path is arranged outside the plurality of first fluid pressurizing holes and in the direction in which the plurality of first fluid pressurizing holes are arranged. A first bus channel extending to the first bus channel, a plurality of first branch channels communicating between the first bus channel and the plurality of first fluid pressurizing holes, and a first tilting member extending from the first bus channel. The first basic flow path extending to the outer surface, the first check valve is provided at the opening of the first basic flow path, and the second fluid supply path is outside the plurality of second fluid pressurizing holes. A second bus passage extending in a direction in which the plurality of second fluid pressurization holes are arranged, and a plurality of second branch passages communicating between the second bus passage and the plurality of second fluid pressurization holes. And a second trunk passage extending from the second bus passage to the outer surface of the second tilting member, and the second check valve is provided at the opening of the second trunk passage. A.

  A seventh aspect of the present invention is the tool tilt permissible mechanism according to any one of the fourth to sixth aspects, wherein the plurality of guides extend parallel to the central axis of the first tilt member and pass through the intermediate support protrusion wall. A plurality of guide shafts of the first movable ring are inserted into some of the plurality of guide holes, while a plurality of guide shafts of the second movable ring are inserted into the remaining plurality of guide holes, The first movable link is formed with an interference avoidance hole for avoiding interference with a plurality of guide shafts of the second movable link when projecting rearward of the intermediate support projecting wall. Is characterized in that when a plurality of guide shafts of the first movable link protrude forward of the intermediate support protrusion wall, an interference avoidance hole is formed to avoid interference with them.

  According to an eighth aspect of the present invention, in the tool tilting permissible mechanism according to any one of the fourth to seventh aspects, the opposing surfaces of the pair of first shaft movement restricting members and the pair of second Annular ridges are formed on the opposing surfaces of the shaft movement restricting members, and the tip surfaces of the annular ridges are curved surfaces that bulge so that the center in the width direction protrudes. Has characteristics.

  According to a ninth aspect of the present invention, in the tool tilting allowable mechanism according to any one of the fourth to eighth aspects, the base member has a cylindrical shape, and the second tilting member is formed from the outer surface of the cylindrical portion. (2) A structure in which the inner annular projecting wall protrudes and the rear end portion of the shaft-type tool is rotatably supported by a bearing provided inside the cylindrical portion, and the motor is attached to the rear end portion of the cylindrical portion The rotating shaft of the shaft and the rear end portion of the shaft-shaped tool are connected to each other so as to be integrally rotatable inside the cylindrical portion.

  According to a tenth aspect of the present invention, in the tool tilting allowable mechanism according to the ninth aspect, the rear end surface of the base member has a bottomed bottom, a front open cylindrical shape, and has an inner space wider than the inside of the base member. The rear end cover is attached, the motor is disposed inside the rear end cover, and the motor cable is led out from a cable insertion hole formed through the rear end cover.

  An eleventh aspect of the present invention is the tool tilting permissible mechanism according to any one of the fourth to tenth aspects, wherein the second tilting member projects forward from the second inner annular projecting wall and has a circular cross section in the front end. The first tilting member has a front end outer cylinder portion that protrudes forward from the second outer annular protruding wall, and has a front end dustproof made of an elastic body between the front end inner protrusion portion and the front end outer cylinder portion. The base member includes a ring and has a rear-end inner protrusion that protrudes rearward from the first inner annular protrusion wall and has a circular cross section, and the first tilting member protrudes rearward from the first outer annular protrusion wall. It has an end outer cylinder part, and is characterized in that a rear end dustproof ring made of an elastic body is provided between the rear end inner protrusion and the rear end outer cylinder part.

[Invention of Claim 1]
The tool tilt permission mechanism according to claim 1 is connected to the base member via the first universal joint mechanism at the rear end portion of the first tilt member extending in the tool movement reference axis direction. Since the second tilting member is connected to the front end portion via the second universal joint mechanism, the shaft-type tool supported by the second tilting member may be translated to the side of the tool movement reference axis. It can be tilted around an arbitrary point in an arbitrary direction, and can be tilted in an arbitrary direction while moving to the side of the tool movement reference axis. Accordingly, the shaft-type tool can be changed in posture and position in an arbitrary direction and position according to the tool insertion hole, and the shaft is operated by the operation of the first and / or second universal joint mechanism at that time. The bending stress on the forming tool can be released and reduced.

[Invention of claim 2]
According to the tool tilting allowable mechanism of claim 2, the first and second tilting members are both in the origin posture, and connect the central axis of the shaft-type tool and the tilting center points of the first and second universal joint mechanisms. Since the lever shaft is aligned on the same straight line, the shaft-type tool can be tilted in the same manner in all directions.

[Invention of claim 3]
The first universal joint mechanism may be a cardan joint, a Rzeppa joint, or the like, or, as in claim 3, a first inner ring projecting from the mating surfaces of the first tilting member and the base member A plurality of protrusions are formed on one fitting surface of the protruding wall and the first outer annular protruding wall, and a contacted portion where the plurality of protruding portions are in contact with the other fitting surface is formed. A structure in which the first inner annular projecting wall can be tilted in an arbitrary direction inside the first outer annular projecting wall by making point contact or line contact with the contacted portion may be employed. In this case, the pair of first shaft movement restricting members provided on either the first tilting member or the base member, and the other first inner annular projecting wall or first outer annular projecting wall by the first biasing means. The first tilting member can be biased to a predetermined origin posture with respect to the base member. The same applies to the second universal joint mechanism.

[Invention of claim 4]
When the first and second universal joint mechanisms are configured as in claim 3, an intermediate support projecting wall projecting from the inner surface of the first tilting member is provided as in the configuration of claim 4, and the first inner annular projecting wall is provided. The plurality of guide shafts of the first movable ring opposed to the front side and the plurality of guide shafts of the second movable ring opposed to the second inner annular projection wall from the rear side can be directly moved to the common intermediate support projection wall. By supporting and urging the first movable ring toward the first inner annular projecting wall, the first tilting member can be urged toward the origin posture with respect to the base member, and the second movable ring is The second tilting member can be biased to the original posture with respect to the first tilting member by biasing toward the two inner annular projecting walls.

[Invention of claim 5]
According to the configuration of claim 5, the first tilting is performed by filling the first and / or second fluid pressurizing hole with the compressed fluid from the outside via the first and / or second check valve. The biasing force for biasing the member and / or the second tilting member to the origin posture can be easily changed.

[Invention of claim 6]
According to the configuration of claim 6, by filling the first basic flow path with the compressed fluid from one first check valve, the plurality of first fluid pressurizing holes can be filled with the compressed fluid at a time. it can. Similarly, by filling the second basic flow path with the compressed fluid from one second check valve, the plurality of second fluid pressurizing holes can be filled with the compressed fluid at a time.

[Invention of Claim 7]
According to the configuration of the seventh aspect, the first movable ring is formed with an interference avoidance hole for avoiding interference with the plurality of guide shafts of the second movable ring when they protrude rearward of the intermediate support projecting wall. Since the same interference avoidance hole is also formed in the second movable ring, the plurality of guide shafts of the first and second movable rings can be connected without worrying about interference with the opposite movable ring. Each can be lengthened, and the linear motion of the first and second movable rings can be stabilized.

[Invention of Claim 8]
According to the configuration of the eighth aspect, the pair of first shaft movement restricting members and the first inner annular projecting wall or the first outer annular projecting wall sandwiched therebetween are in line contact, and are in surface contact. Compared to the case where the first universal joint mechanism is operated smoothly. Similarly, the pair of second shaft movement restricting members and the second inner annular projecting wall or the second outer annular projecting wall sandwiched between them will be in line contact, compared with the case of surface contact. Thus, the second universal joint mechanism operates smoothly.

[Invention of Claims 9, 10 and 11]
According to the structure of Claim 9, a shaft type tool can be rotationally driven with a motor. According to the configuration of claim 10, the motor is protected by the cylindrical cover attached to the rear end surface of the base member. Furthermore, according to the structure of Claim 11, the situation where a foreign material is pinched | interposed into the 1st and 2nd universal joint mechanism by the front end dustproof ring and the rear end dustproof ring can be prevented.

The sectional side view of the deburring unit provided with the tool tilt permission mechanism concerning one embodiment of the present invention. Perspective view of deburring tool Side view of deburring tool Front view of second outer annular projecting wall and second inner annular projecting wall Front view of intermediate sleeve Side sectional view of the vicinity of the guide hole in the intermediate sleeve Side sectional view of the vicinity of the fluid pressure hole in the intermediate sleeve Perspective view of front end joint ring, front end retaining ring and tilting ring A perspective view of the first and second movable rings and the intermediate sleeve Rear end joint ring, rear end retaining ring and perspective view of base member Side sectional view of the deburring unit in a state in which the second tilting member is tilted with respect to the first tilting member. Side sectional view of the deburring unit with the first tilting member tilted with respect to the base member Side sectional view of the deburring unit when the deburring tool is inserted into the tool insertion hole inclined with respect to the tool movement reference axis Conceptual diagram of the deburring unit when the deburring tool is inserted into the tool insertion hole inclined with respect to the tool movement reference axis Conceptual diagram of the deburring unit when the deburring tool is inserted into the tool insertion hole that is offset with respect to the tool movement reference axis The conceptual diagram which showed the modification of the tool tilting permission mechanism of this invention

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows a deburring unit 10 provided with a tool tilt permission mechanism according to the present invention. This deburring unit 10 includes, for example, a deburring tool 80 that can be tilted as a “shaft-shaped tool” according to the present invention, and the deburring tool 80 is provided in a tool insertion hole of a workpiece W (see FIG. 13). Used when inserted into H1 (see FIG. 13). The front side in the advancing direction when the deburring tool 80 is inserted into the tool insertion hole H1 is referred to as the front side in the constituent parts of the deburring unit 10 described below, and the opposite side is referred to as the rear side.

  As shown in FIG. 2, the deburring tool 80 is a shaft with a circular cross section, and a predeburring cutter 81 is formed by recessing a plurality of circumferential positions at the outer edge corner of the front end into a vertical groove shape. Yes. In addition, rectangular holes 82 are formed at a plurality of positions in the circumferential direction near the tip on the side surface of the deburring tool 80, and a movable piece 83 is disposed in each rectangular hole 82. Each movable piece 83 is provided with a deburring protrusion 84 that protrudes outward from the front end portion, with the rear end portion connected to the opening edge of each rectangular hole 82. When the movable piece 83 is tilted inward, the deburring protrusion 84 is accommodated in the rectangular hole 82, and when the movable piece 83 is tilted outward, the deburring protrusion 84 protrudes outward from the side surface of the deburring tool 80.

  As shown in FIG. 3, a flow path 80 </ b> R is formed in the shaft core portion of the deburring tool 80 from the rear end portion to the front end position. Then, a fluid (for example, a coolant liquid) is supplied to the flow path 80R from the rear end side of the deburring tool 80, and the movable piece 83 is urged outward by the fluid pressure.

  The deburring tool 80 is rotationally driven by the motor 85 shown in FIG. 1, and a spindle 88 is provided between the motor 85 and the deburring tool 80. The spindle 88 includes a plurality of bearings (not shown) inside a cylindrical spindle sleeve 86, and the relay shaft 87 is rotatably supported by the spindle sleeve 86 by these bearings. One end of the relay shaft 87 protrudes from the front end surface of the spindle sleeve 86, and a deburring tool 80 is fixed to the end of the relay shaft 87 so as to be integrally rotatable. Further, a rear end flange 86R protrudes laterally from the rear end portion of the spindle sleeve 86, and a stator of the motor 85 is fixed to the rear end flange 86R with bolts. The shaft and the rear end portion of the relay shaft 87 are key-connected.

  In the shaft core portion of the relay shaft 87, a flow path (not shown) is formed from the front end to the intermediate portion, and the flow path of the relay shaft 87 and the flow path 80R of the deburring tool 80 are in communication. Further, a flow path (not shown) is also formed in the spindle sleeve 86, the rear end portion of the flow path is located on the rear surface of the rear end flange 86R, and the front end portion is located in the intermediate portion in the axial direction of the spindle sleeve 86. . The flow path of the relay shaft 87 and the flow path of the spindle sleeve 86 are communicated with each other by a rotary joint mechanism provided in the spindle sleeve 86. A coolant liquid supply pump is connected to the rear end of the flow path of the spindle sleeve 86 via a tube (not shown). Thus, the coolant liquid can be supplied to the flow path 80R of the deburring tool 80 while the deburring tool 80 is rotationally driven by the motor 85.

  The tool driving body 80H including the deburring tool 80, the spindle 88, and the motor 85 is supported on the base member 13 of the deburring unit 10 so as to be tiltable. Specifically, the base member 13 includes a base sleeve 13A that is loosely fitted to the outside of the rear end portion of the spindle 88, and the cylindrical first tilting member 11 that is fitted to the outside of the base sleeve 13A. A range from the position near the rear end of the spindle 88 to the front end is covered from the outside. The rear end portion of the first tilting member 11 is connected to tilt with respect to the base member 13, and the front end portion of the spindle 88 is connected to the front end portion of the first tilting member 11 so as to be tiltable. Thus, the tool tilting permissible mechanism according to the present invention is configured to connect the deburring tool 80 to the base member 13 so as to be tiltable.

  As shown in FIG. 10, the base member 13 is provided with a case fixing platen 13B that protrudes laterally from the rear end of the base sleeve 13A, and a part of the outer edge of the case fixing plate 13B is bent forward at a right angle. Thus, the base fixing portion 13C is formed. The base sleeve 13A has a cylindrical shape, and a first inner annular projecting wall 71 according to the present invention projects laterally from a front end portion thereof.

  As shown in FIG. 1, a rear end cover 37 is attached to the rear surface of the base fixing platen 13B. The rear end cover 37 has a cylindrical shape with a bottom at the rear end and an open front, and an inner space wider than the inner side of the base sleeve 13A is provided on the inner side. A cable insertion hole (not shown) is through-locked on the side surface of the rear end cover 37. And the motor 85 is accommodated in the rear end cover 37, and the cable of the motor 85 is pulled out from the cable insertion hole. Note that a dustproof treatment is applied to the gap between the cable insertion hole and the cable.

  From the position near the front end on the outer surface of the spindle 88, the second inner annular protruding wall 72 according to the present invention protrudes laterally. The second inner annular projecting wall 72 and the spindle sleeve 86 constitute the second tilting member 12 according to the present invention. More specifically, the spindle sleeve 86 forms the “cylindrical portion of the second tilting member” according to the present invention, and the spindle sleeve 86 is integrally formed with a front end flange 86 </ b> F projecting laterally from the outer surface. . A tilt ring 89 is fixed to the front end flange 86F with a bolt, and the tilt ring 89 forms a second inner annular projecting wall 72 of the second tilt member 12.

  As shown in FIG. 4, the outer edge portion of the second inner annular protruding wall 72 is flatly cut at a plurality of positions (for example, six locations) in the circumferential direction of the circle when viewed from the front, so that the arc-shaped non-sliding contact portion 72A and flat sliding contact portions 72B (corresponding to “contacted portions” according to the present invention) are alternately arranged and evenly arranged. Further, as shown in FIG. 6, when the second inner annular projecting wall 72 is viewed from the lateral direction (direction orthogonal to the axial direction), the outer surface of each sliding contact portion 72B becomes the second inner annular projecting toward the rear. The circular arc surface is inclined so as to approach the axial center of the wall 72 and bulge outward. Each non-sliding contact portion 72A is flat when the second inner annular projecting wall 72 is viewed from the lateral direction (direction orthogonal to the axial direction), although not shown.

  Similarly to the non-sliding contact portion 72A and the sliding contact portion 72B in the second inner annular protruding wall 72, the non-sliding contact portion 71A and the sliding contact are also provided on the outer edge portion of the first inner annular protruding wall 71 as shown in FIG. A portion 71B is provided. Further, as shown in FIG. 6, the sliding contact portion 71B of the first inner annular projecting wall 71 is reverse to the sliding contact portion 72B of the second inner annular projecting wall 72, and is first as it goes forward. The arcuate surface is rounded so as to be entirely inclined so as to approach the axial center of the inner annular projecting wall 71 and bulge outward.

  As shown in FIG. 1, the intermediate portion of the first tilting member 11 is formed by a substantially cylindrical intermediate sleeve 20, and the rear end face of the intermediate sleeve 20 and the rear end joint ring 21 shown in FIG. A front end joint ring 23 and a front end stop ring 24 shown in FIG. 8 are overlapped and bolted to the front end face of the intermediate sleeve 20 while the end stop ring 22 is overlapped and bolted. As shown in FIG. 1, the rear end joint ring 21 protrudes inward from the inner surface of the rear end portion of the intermediate sleeve 20 to form the first outer annular protruding wall 61 according to the present invention. 1 It is fitted to the outside of the inner annular protruding wall 71. The rear end retaining ring 22 projects further inward from the rear end joint ring 21 to form the first fixed projecting wall 51 according to the present invention, and is locked to the rear end surface of the first inner annular projecting wall 71. . Similarly, the front end joint ring 23 constitutes the second outer annular projecting wall 62 according to the present invention and is fitted to the outside of the second inner annular projecting wall 72 of the base member 13, and the front end retaining ring 24 is the main end retaining ring 24. The second fixed projecting wall 52 according to the invention is configured and locked to the front end surface of the second inner annular projecting wall 72.

  As shown in FIG. 4, when viewed from the front, the inner edge portion of the second outer annular protruding wall 62 has a substantially trapezoidal slidable contact portion 62B (in the “projection portion” of the present invention) inward from a plurality of positions in the circumferential direction of the circle. And the sliding contact portions 62B and the arc-shaped non-sliding contact portions 62A are alternately arranged and evenly arranged. Further, as shown in FIG. 6, when the second outer annular protruding wall 62 is viewed from the lateral direction (direction orthogonal to the axial direction), the non-sliding contact portion 62A and the sliding contact portion 62B are both flat. Then, the second outer annular projecting wall 62 is fitted to the outside of the second inner annular projecting wall 72, and the sliding contact portion 62 </ b> B of the second outer annular projecting wall 62 is slidable contacting portion 72 </ b> B of the second inner annular projecting wall 72. The non-sliding contact portion 62A of the second outer annular projecting wall 62 is in a state of floating from the non-sliding contact portion 72A of the second inner annular projecting wall 72. Here, the sliding contact portion 62B of the second outer annular projecting wall 62 is flat when viewed from the side, while the sliding contact portion 72B of the second inner annular projecting wall 72 has an arcuate surface. The parts 62B and 72B are in line contact with each other. Thereby, for example, the inner side of the second outer annular projecting wall 62 is in the same principle as when a ring that makes line contact with all six inner surfaces of a cylinder having a regular hexagonal cross section can be tilted in any direction within the cylinder. Thus, the second inner annular projecting wall 72 can tilt in any direction, and the main part of the second universal joint mechanism 102 according to the present invention is configured. The second universal joint mechanism 102 connects the second tilting member 12 to the first tilting member 11 so as to tilt in any direction.

  Similar to the non-sliding contact portion 62A and the sliding contact portion 62B of the second outer annular protruding wall 62, the non-sliding contact portion 61A and the sliding contact portion are also formed on the inner edge surface of the first outer annular protruding wall 61 as shown in FIG. 61B, and as shown in FIG. 6, the first outer annular projecting wall 61 is fitted to the outside of the first inner annular projecting wall 71, and the sliding contact portion 61B of the first outer annular projecting wall 61 is the first inner Although not shown, the non-sliding contact portion 61A of the first outer annular projecting wall 61 is in a state of floating from the non-sliding contact portion 71A of the first inner annular projecting wall 71. ing. Thus, the first inner annular projecting wall 71 can be tilted in any direction inside the first outer annular projecting wall 61, and the main part of the first universal joint mechanism 101 according to the present invention is configured. The first universal joint mechanism 101 connects the first tilting member 11 to the base member 13 so as to tilt in any direction.

  As shown in FIG. 1, the tilt center point P <b> 1 of the first universal joint mechanism 101 (the tilt center point of the first tilt member 11 with respect to the base member 13) is a first inner annular shape on the center axis of the base member 13. The tilt center point P2 of the second universal joint mechanism 102 (the tilt center point of the second tilt member 12 with respect to the first tilt member 11) is located in the vicinity of the projecting wall 71 on the central axis of the first tilt member 11. It is located in the vicinity of the second inner annular protruding wall 72. A line connecting the tilt center points P <b> 1 and P <b> 2 corresponds to the lever shaft 11 </ b> J according to the present invention, and the lever shaft 11 </ b> J coincides with the center axis of the first tilt member 11.

  As shown in FIG. 6, an annular protrusion 52 </ b> T is formed from the inner edge portion of the second fixed protrusion wall 52 toward the rear end surface of the second inner annular protrusion wall 72. The tip surface of the annular protrusion 52T has a curved surface shape that bulges so that the center in the width direction protrudes most. When the second tilting member 12 assumes a predetermined origin posture with respect to the first tilting member 11, specifically, the central axis of the deburring tool 80 and the central axis of the first tilting member 11 (the lever shaft 11J). ) Are aligned in a straight line, the tip surface of the annular protrusion 52T and the front end surface of the second inner annular protrusion wall 72 are in line contact with each other, and the second tilting is performed from the origin posture. When the member 12 tilts with respect to the first tilting member 11, the tip surface of the annular protrusion 52T and the front end surface of the second inner annular protrusion wall 72 are in point contact. Similarly, an annular protrusion 51T is formed to project from the inner edge of the first fixed protrusion wall 51 toward the front end face of the first inner annular protrusion wall 71, and the tip face of the annular protrusion 51T is also wide. It has a curved shape that bulges so that the center of the direction protrudes the most. When the first tilting member 11 assumes a predetermined origin posture with respect to the base member 13, specifically, the central axis of the first tilting member 11 and the central axis of the base sleeve 13A in the base member 13 are straight. When the origin posture is aligned on the line, the tip surface of the annular ridge 51T and the rear end surface of the first inner annular projection wall 71 are in line contact, and when tilted from the origin posture, they are in point contact. Become.

  As shown in FIG. 1, an intermediate support protruding wall 16 protrudes inward from an axial intermediate portion of the intermediate sleeve 20 of the first tilting member 11. In addition, a first movable ring 25 is provided between the intermediate support protrusion wall 16 and the first outer annular protrusion wall 61, and between the intermediate support protrusion wall 16 and the second outer annular protrusion wall 62, A second movable ring 26 is provided. As shown in FIG. 9, a plurality of guide shafts 25 </ b> S extending forward from the first movable ring 25 and a plurality of guide shafts 26 </ b> S protruding rearward from the second movable ring 26 are both formed on the intermediate support protruding wall 16. It is supported so that it can move directly.

  Specifically, as shown in FIG. 9, the second movable ring 26 has an annular shape, and a shaft attachment hole 26 </ b> A is formed at a position that divides the circumferential direction into, for example, three equal parts. Each shaft attachment hole 26A penetrates the second movable ring 26 in the front-rear direction, and is provided with an intermediate small-diameter portion having a small inner diameter at the intermediate portion. As shown in FIG. 6, one end portion of the guide shaft 26S is inserted into the shaft attachment hole 26A from the intermediate support protrusion wall 16 side, and is abutted against the intermediate small diameter portion of the shaft attachment hole 26A. A female screw hole is formed at the center of one end of the guide shaft 26S, and a bolt inserted into the shaft mounting hole 26A from the opposite side of the intermediate support projecting wall 16 is fastened to the female screw hole of the guide shaft 26S, thereby The intermediate small diameter portion of the shaft mounting hole 26A is fixed between the shaft portion and the guide shaft 26S. The head portion of the bolt is accommodated in the shaft attachment hole 26A and does not protrude from the end surface of the shaft attachment hole 26A. As shown in FIG. 9, interference avoiding holes 26 </ b> B are formed at intermediate positions between the adjacent shaft mounting holes 26 </ b> A and 26 </ b> A in the second movable ring 26. The inner diameter of each interference avoidance hole 26B is slightly larger than the outer diameter of the guide shaft 26S.

  An annular protrusion 26 </ b> T is formed on the end face of the second movable ring 26 that faces away from the intermediate support protrusion 16 so that the entire inner edge protrudes away from the intermediate support protrusion 16. As shown in FIG. 6, the tip surface of the annular ridge 26T has a curved surface shape that bulges so that the center in the width direction protrudes most. As in the case of the annular protrusion 52T, when the second tilting member 12 is in the home position with respect to the first tilting member 11, the rear end surface of the annular protrusion 26T and the rear of the second inner annular protrusion 72 are provided. When the second tilting member 12 tilts with respect to the first tilting member 11 from the origin posture, the end surface comes into point contact.

  As shown in FIG. 9, the first movable ring 25 has the same shape as the second movable ring 26. As with the second movable ring 26, the guide shaft 25S is fixed to the first movable ring 25, and an annular protrusion 25T is formed. The first movable ring 25 is disposed in the front-rear direction opposite to the second movable ring 26, and each guide shaft 25S protruding from the first movable ring 25 is connected to the interference avoidance hole 26B of the second movable ring 26. The guide shafts 26 </ b> S that are arranged on the same axis and protrude from the second movable ring 26 are arranged on the same axis as the interference avoidance hole 25 </ b> B of the first movable ring 25. When the first tilting member 11 is in the origin posture with respect to the base member 13, the tip surface of the annular protrusion 25T and the front end surface of the first inner annular protrusion wall 71 are in line contact with each other, and the origin When the second tilting member 12 tilts with respect to the first tilting member 11 from the posture, it is in a point contact state.

  As shown in FIG. 5, six guide holes 16 </ b> A are formed in the intermediate support protrusion wall 16 at positions that divide the circumferential direction into six equal parts. As shown in FIG. 6, the guide hole 16A penetrates the intermediate support protruding wall 16 back and forth, and the guide shaft 25S of the first movable ring 25 is disposed in one of the six guide holes 16A. The guide shafts 26S of the second movable ring 26 are inserted into the remaining three guide holes 16A from the front. Further, the guide shaft 25S of the first movable ring 25 passes through the guide hole 16A and protrudes forward from the front end surface of the intermediate support protrusion wall 16, and similarly, the guide shaft 26S of the second movable ring 26 is illustrated in FIG. However, it protrudes rearward from the rear end face of the intermediate support protruding wall 16. The protruding portions of the guide shafts 25S and 26S are accommodated in the interference avoidance holes 25B and 26B of the first and second movable rings 25 and 26 in a loosely fitted state. Thereby, the plurality of guide shafts 25S, 26S of the first and second movable links 25, 26 can be lengthened without worrying about interference with the movable ring 26 (25) on the opposite side. In addition, the linear motion of the second movable links 25 and 26 can be stabilized.

  A cylindrical sliding metal 16M is embedded in the inner surface of the guide hole 16A to reduce the sliding friction between the guide shafts 25S and 26S and the inner surface of the guide hole 16A.

  For example, three fluid pressurizing holes 16B are formed between the adjacent guide holes 16A and 16A in the intermediate support protruding wall 16, respectively. Half of the fluid pressurizing holes 16B group corresponds to the “first fluid pressurizing hole” according to the present invention, and as shown in FIG. 7, only the rear end face of the intermediate support projecting wall 16 is provided. On the other hand, the remaining half of the intermediate support protrusion wall 16 corresponds to a “second fluid pressurizing hole” according to the present invention, and is open only on the front end face of the intermediate support protrusion wall 16 although not shown. The fluid pressurizing holes 16 </ b> B at the front end opening and the fluid pressurizing holes 16 </ b> B at the rear end opening are alternately arranged along the circumferential direction of the intermediate support protruding wall 16.

  In each fluid pressurizing hole 16B, the pressurizing shaft 27 is inserted so as to be linearly movable, the opening is closed, and the compressed fluid is sealed, and a sealing process is performed to prevent leakage of the compressed fluid. . Specifically, the intermediate support protruding wall 16 is in a state in which it is fitted from the rear to the inside of the intermediate sleeve 20 and joined to the rear end face of the sleeve internal flange 20A. It consists of a joining disk 29 fixed with bolts. The fluid pressurizing hole 16B is formed across the sleeve inner surface flange 20A and the joining disk 29, and has an inner diameter on the opening side. Furthermore, the inner bush 30 and the compression coil spring 31 are accommodated in the fluid pressurizing hole 16B in a state where the sleeve inner flange 20A and the joining disk 29 are separated. In the inner bush 30, the fluid pressurizing hole 16B has a cylindrical shape and is fitted to the opening end side of the fluid pressurizing hole 16B, and the inner bush 30 has an inner diameter smaller than that of the open end of the fluid pressurizing hole 16B. ing. The inner bush 30 is constantly pressed against the stepped surface on the open end side of the fluid pressurizing hole 16B by the urging force of the compression coil spring 31. Ring grooves are respectively formed on the inner side surface and the outer side surface of the inner bush 30. From the opening of the fluid pressurizing hole 16B by seal rings 30A and 30B (for example, O-rings, oil seals) accommodated therein. The compressed fluid is prevented from leaking. A seal ring 30C (for example, an O-ring) is also provided on the joint surface between the sleeve inner flange 20A and the joint disk 29 so as to surround the fluid pressurizing hole 16B.

  One end portion of the pressurizing shaft 27 is provided with a stepped head portion 27H having a large diameter. The pressurizing shaft 27 is in a fluid pressurizing hole until the head portion 27H comes into contact with the end surface of the inner bush 30. 16B is inserted. Further, at the position where the head portion 27H is in contact with the end surface of the inner bush 30, the other end surface of the pressurizing shaft 27 is in a state of being separated from the inner surface of the fluid pressurizing hole 16B. Thereby, the pressurizing shaft 27 receives the pressure of the compressed fluid in the fluid pressurizing hole 16B and is urged so as to protrude from the fluid pressurizing hole 16B. Then, the first movable ring 25 is pressurized rearward by the pressure shaft 27 accommodated in the fluid pressure hole 16B at the rear end opening, and the annular protrusion 25T of the first movable ring 25 becomes the first inner annular protrusion wall. 71 is pressed.

  By the pressing of the first movable ring 25 described above, the first tilting member 11 is biased to the origin posture. Specifically, when an external force is applied to the first tilting member 11 and the first tilting member 11 is tilted from the origin posture, the first movable ring 25 is pushed relatively forward by the first inner annular projecting wall 71 to be the first. The distance between the movable ring 25 and the first fixed projecting wall 51 is widened, the contact portions of the annular ridges 25T and 51T with respect to the front and rear end surfaces of the first inner annular projecting wall 71 become points, and these point contact portions are 180 degrees. It is arranged at a distant position. As a result, the pressing force of the first movable ring 25 against the first inner annular projecting wall 71 acts as a couple force applied to the first inner annular projecting wall 71 from the annular ridges 25T, 51T, and the first tilting member 11 is The base member 13 is biased so as to return to the origin posture. When the first tilting member 11 is in the original posture, the contact portions of the annular ridges 25T and 51T with respect to the front and rear end faces of the first inner annular projection wall 71 are both circular contact lines as described above. The force is lost, and the first tilting member 11 is held in the origin posture. Similarly, the second movable ring 26 is also urged to the original posture with respect to the first tilting member 11 by the pressurizing shaft 27 accommodated in the fluid pressurizing hole 16B of the front end opening.

  FIG. 11 shows a state in which the first tilting member 11 is in the original posture with respect to the base member 13, and the second tilting member 12 is tilted forward and downward with respect to the first tilting member 11. In FIG. 12, the first tilting member 11 tilts forward with respect to the base member 13, and the second tilting member 12 tilts forward with respect to the first tilting member 11. The state is shown.

  As shown in FIG. 5, valve mounting bases 20 </ b> D and 20 </ b> D are formed to protrude from the outer surface of the intermediate sleeve 20 at two positions that are 180 degrees apart. A first check valve 41 is attached to one valve mounting base 20D, and a second check valve 42 is attached to the other valve mounting base 20D. Then, the first check valve 41 can be used to supply the compressed fluid to the plurality of fluid pressurizing holes 16B at the rear end opening at a time, while the second check valve 42 can be used to supply the plurality of fluids at the front end opening. The compressed fluid can be supplied to the pressurizing hole 16B at a time. Specifically, the branch supply path 32 extends outward from all the fluid pressurizing holes 16 </ b> B along the radial direction of the first tilting member 11. Further, as shown in FIG. 7, the branch supply path 32 of the fluid pressurizing hole 16B in the rear end opening is disposed at a position closer to the front end in the joining disk 29, while the fluid pressurizing hole 16B in the front end opening is not shown. The branch supply path 32 is arranged at a position near the rear end of the joining disk 29. The first basic flow is located at a position where the branch supply path 32 group of the fluid pressurizing hole 16B of the rear end opening is attached to the fitting surface between the inner surface of the intermediate sleeve 20 and the outer surface of the joining disk 29. A path 33 is formed, and all of these branch supply paths 32 are connected to the first basic flow path 33. Further, the second basic flow path is located at the position where the branch supply path 32 group of the fluid pressurizing hole 16B of the front end opening is attached to the fitting surface between the inner surface of the intermediate sleeve 20 and the outer surface of the joining disk 29. 34 is formed, and all of the branch supply paths 32 are connected to the second basic flow path 34.

  A terminal passage 33S extending from the first trunk passage 33 is formed on one of the valve mounting bases 20D and is opened to the outside, and the first check valve 41 is screwed and fixed to the opening. Yes. The other valve mounting base 20D is formed with a terminal flow path 34S extending from the second main flow path 34 and opened to the outside, and the second check valve 42 is screwed and fixed to the opening. Yes. With this configuration, by filling the first basic flow path 33 with the compressed fluid from the first check valve 41, it is possible to fill the fluid pressurizing holes 16B with all the rear surfaces open at once. Similarly, by filling the second basic flow path 34 with the compressed fluid from the second check valve 42, it is possible to fill the compressed fluid into the second fluid pressurizing holes 16B all open at the front at a time. it can.

  In addition, a seal ring 30E for partitioning the first and second basic flow paths 33 and 34 is provided on the fitting surface between the inner surface of the intermediate sleeve 20 and the outer surface of the joining disk 29, and the first Seal rings 30D and 30F are also provided in front of the basic flow path 33 and also in the rear of the second basic flow path 34, and thereby, from the fitting gap between the inner surface of the intermediate sleeve 20 and the outer surface of the joining disk 29. Prevents leakage of compressed fluid.

  As shown in FIG. 1, the front end of the first tilting member 11 is provided with a front end dust-proof ring 35 for dust prevention with the second tilting member 12, and the rear end of the first tilting member 11. Is provided with a dust-proof ring 36 at the rear end for dust-proofing with the base member 13. The dust-proof rings 35 and 36 at the front and rear ends prevent foreign matter from being caught between the first and second universal joint mechanisms 101 and 102. Specifically, a part of the second fixed projecting wall 52 is extended to a position adjacent to the tip of the spindle sleeve 86. The front end dust-proof ring 35 is an annular elastic body having a rectangular cross section, and is fitted between the inner surface of the second fixed projecting wall 52 and the outer surface of the spindle sleeve 86. When the second tilting member 12 tilts with respect to the first tilting member 11, the front end dustproof ring 35 is compressed and deformed. Further, an annular wall 51K is formed on the rear end surface of the first fixed protruding wall 51 so as to surround the base member 13 from the side, and the rear end dust-proof ring 36 is a circle having a rectangular cross section like the front end dust-proof ring 35. It forms an annular shape and is fitted between the annular wall 51K and the spindle sleeve 86. When the first tilting member 11 tilts with respect to the base member 13, the rear end dustproof ring 36 is compressed and deformed.

  This completes the description of the configuration of the deburring unit 10 of the present embodiment. Next, taking the case where the deburring unit 10 is used in an automatic machining system using a robot as an example, the effect of the tool tilting permission mechanism according to the present invention provided in the deburring unit 10 will be described.

  This automatic machining system includes a deburring robot 90 (see FIG. 1), a drilling robot (not shown), and a workpiece fixing jig (not shown) that fixes the workpiece. As shown in FIG. 1, a deburring unit 10 is attached to the tip of the deburring robot 90 as described above, and a drill and a tip cone-shaped chamfering tool (not shown) are attached to the tip of the drilling robot. A drilling unit having a motor for rotationally driving them is attached. When the automatic machining system is activated, the drilling robot sets the center axis of the drill to the tool movement reference axis K1 set in advance for the workpiece W (see FIG. 13A) fixed to the jig. The drill is moved forward by matching, the tool insertion hole H1 is drilled in the workpiece W, the drill is retracted, and the opening edge of the tool insertion hole H1 is chamfered with a chamfering tool.

  Next, after the drilling robot retracts the chamfering tool from the workpiece W, the deburring robot 90 uses the above-mentioned tool movement reference axis as the center axis of the deburring tool 80 as shown in FIG. The deburring tool 80 is advanced in accordance with K1, and the deburring tool 80 is inserted into the tool insertion hole H1 of the workpiece W as shown in FIG. At this time, the deburring tool 80 is driven to rotate.

  Here, the tool insertion hole H1 of the workpiece W is drilled at a set position, and the deburring robot 90 can align the center axis of the deburring tool 80 with the tool movement reference axis K1 without error. Then, the deburring tool 80 is inserted into the tool insertion hole H1 without receiving insertion resistance. However, actually, when the drill is abutted against both surfaces of the workpiece W, the drill is slightly deformed, and the tip of the drill is slightly inclined in a random direction with respect to the tool movement reference axis K1, so that the tool insertion hole H1. Will be drilled. Moreover, neither the drilling robot nor the deburring robot can completely match the center axis of the drill or deburring tool 80 with the tool movement reference axis K1. The center axis of the tool 80 is inclined in a random direction with respect to the tool movement reference axis K1, is displaced (offset), or is inclined and displaced. As a result, when the deburring tool 80 is inserted into the tool insertion hole H1, the central axis of the deburring tool 80 is inclined or deviated in an arbitrary direction with respect to the central axis of the tool insertion hole H1. It can happen that it is tilted and shifted.

  However, the deburring unit 10 of the present embodiment includes the tool tilting permission mechanism according to the present invention, so that the deburring tool 80 can be smoothly inserted into the tool insertion hole H1. Specifically, as shown in FIG. 13A, the center axis of the tool insertion hole H1 is inclined downward with respect to the tool movement reference axis K1, and the center axis of the tool insertion hole H1 and the tool movement reference axis K1 , The deburring robot 90 moves forward with the center axis of the deburring tool 80 aligned with the tool movement reference axis K1 without error. Assuming that the deburring unit 10 has been completed, the operational effects of the deburring unit 10 will be described below.

  In this case, when the robot 90 moves the base member 13 in the axial direction of the tool movement reference axis K1 and the tip of the deburring tool 80 enters the tool insertion hole H1, the deburring is performed as shown in FIG. The tool 80 is guided by the tool insertion hole H1, and tilting of the deburring tool 80 starts with the center P3 of the opening of the start end of the tool insertion hole H1 as the tilting center.

  Here, FIG. 14 shows a simplified deburring unit 10 that performs the same operation as in FIG. 13, and for the sake of explanation, the inclination angle of the central axis of the tool insertion hole H1 with respect to the tool movement reference axis K1 is emphasized. It is shown. As shown in the change from FIG. 14A to FIG. 14B, when the tip of the deburring tool 80 enters the tool insertion hole H1, the deburring tool 80 is moved to the tool as shown in FIG. It is guided by the insertion hole H1 and tilts with the center P3 of the opening of the start end of the tool insertion hole H1 as the tilting center, and the rear end side rises from the front end of the deburring tool 80. At this time, the first and second universal joint mechanisms 101 and 102 are actuated together to tilt the first tilting member 11 into the forwardly raised posture, thereby allowing the rear end of the deburring tool 80 to rise. As in the prior art, no large bending stress is applied to the deburring tool 80. Further, when the robot 90 further advances the base member 13 along the tool movement reference axis K1, the deburring tool 80 enters the tool insertion hole H1, and as shown in FIG. The inclination angle of the member 11 with respect to the tool movement reference axis K1 gradually decreases. When the deburring tool 80 is inserted into the tool insertion hole H1 by a predetermined insertion amount, the rotational driving direction of the deburring tool 80 is reversed in the tool insertion hole H1, or the deburring tool 80 is moved back and forth. The deburring tool 80 is then removed from the tool insertion hole H1.

  Next, as shown in FIG. 15A, the deburring robot 90 is deburred in a state where the center axis of the tool insertion hole H1 is shifted to a position moved in parallel downward with respect to the tool movement reference axis K1. The operation and effect of the deburring unit 10 when the centering axis of the deburring tool 80 can be advanced with the tool movement reference axis K1 aligned with no error will be described. In this case, the tip of the deburring tool 80 is in sliding contact with the upper portion of the chamfered slope of the opening of the start end of the tool insertion hole H1, and the deburring tool 80 is translated downward as shown in FIG. At this time, the first and second universal joint mechanisms 101 and 102 are actuated together to tilt the first tilting member 11 into the forwardly lowered posture, thereby allowing parallel movement of the deburring tool 80 downward. A large bending stress is not applied to the deburring tool 80.

As described above, the tool tilting allowance mechanism in the deburring unit 10 of the present embodiment has the first universal joint mechanism 101 at the rear end portion of the first tilting member 11 extending in the axial direction of the tool movement reference axis K1. Since the second tilting member 12 is coupled to the front end portion of the first tilting member 11 via the second universal joint mechanism 102, the second tilting member 12 is coupled. The deburring tool 80 can be translated to the side of the tool movement reference axis K1, tilted about an arbitrary point in an arbitrary direction, and the tool movement reference axis K1. It can also be tilted in any direction while moving sideways. Accordingly, the deburring tool 80 can be changed in posture and position in an arbitrary direction and position according to the tool insertion hole H1, and the first and / or second universal joint mechanisms 101 and 102 at that time can be changed. The bending stress to the deburring tool 80 can be released and reduced by the operation of.
[Other Embodiments]
The present invention is not limited to the above-described embodiment. For example, the embodiments described below are also included in the technical scope of the present invention, and various other than the following can be made without departing from the scope of the invention. It can be changed and implemented.

  (1) In the above-described embodiment, the first tilting member 11 and the second tilting member 12 are in the origin posture, the central axis of the deburring tool 80, and the tilting centers of the first and second universal joint mechanisms 101 and 102. As shown in FIG. 16A, the lever shaft 11J (see FIG. 1) connecting the points P1 and P2 is aligned on the same straight line, but the first tilting member 11 and the second tilting member 12 are in the origin posture. Furthermore, the center axis L1 of the shaft-type tool 110 is offset with respect to the lever axis L2, or the center axis L1 of the shaft-type tool is inclined with respect to the lever axis L2, as shown in FIG. It may be configured. With this configuration, the shaft-type tool can be easily tilted with respect to a predetermined direction. On the other hand, according to the configuration of the embodiment, the shaft-type tool (deburring tool 80) can be tilted in the same manner in all directions.

  (2) In the above embodiment, the annular protrusions 25T and 51T are in line contact with the first inner annular protrusion wall 71, and the annular protrusions 26T and 52T are in line contact with the second inner annular protrusion wall 72. However, they may be configured to be in surface contact. However, when the annular ridges 25T, 51T and the like are in line contact with the first inner annular protrusion wall 71 and the like as in the above embodiment, the first and second smoother than in the case of surface contact. The universal joint mechanisms 101 and 102 can be operated.

  (3) In the above-described embodiment, the first and second tilting members 11 and 12 are biased to the origin posture by the pressure of the compressed fluid. However, the first and second tilting members 11 and 12 may be biased by an elastic body. In this case, for example, a compression coil spring or a disc spring as an elastic body is inserted into the guide shafts 25S and 26S and compressed and deformed between the first and second movable rings 25 and 26 and the intermediate support protruding wall 16. Alternatively, a compression coil spring or a disc spring may be accommodated in the fluid pressurizing hole 16B, and the pressurizing shaft 27 may be urged so as to be pushed out from the fluid pressurizing hole 16B. If the first and second tilting members 11 and 12 are biased to their original positions by the pressure of the compressed fluid as in this embodiment, the biasing force can be easily adjusted from the outside.

  (4) The shaft-type tool according to the present invention is not limited to the deburring tool of the above embodiment, and may be a reamer, an inspection tool for inspecting roundness or surface roughness, and the like. . Further, the shaft-type tool is not limited to a processing hole drilled by a drill, and may be a molding hole of a casting or a resin molded product.

  (5) The first and second universal joint mechanisms 101 and 102 may be other than the configuration of the above-described embodiment, specifically, for example, a cardan joint, a Rzeppa joint, or the like.

  (6) In the embodiment, the base sleeve 13A of the base member 13 is fitted inside the first tilting member 11, but conversely, the base member 13 is fitted inside the base sleeve 13A. It may be.

DESCRIPTION OF SYMBOLS 10 Deburring unit 11 1st tilting member 11J, L2 Lever shaft 12 2nd tilting member 13 Base member 13A Base sleeve 16 Intermediate support protrusion wall 16A Guide hole 25T, 26T, 51T, 52T Annular protrusion 20 Intermediate sleeve 25 First movable Ring 25B, 26B Interference avoidance hole 25S, 26S Guide shaft 26 Second movable ring 27 Pressurizing shaft 32 Branch supply path 37 Rear end cover 41 First check valve 42 Second check valve 51 First fixed protruding wall 52 Second Fixed protruding wall 61 First outer annular protruding wall 61B Sliding contact portion (protruding portion)
62 2nd outer side annular protrusion wall 62B Sliding contact part (protrusion part)
71 1st inner side annular protruding wall 71B Sliding contact part (contacted part)
72 2nd inner side annular protruding wall 72B Sliding contact part (contacted part)
80 Deburring tool (Shaft type tool)
85 Motor 86 Spindle sleeve 87 Relay shaft 88 Spindle 90 Robot 101 First universal joint mechanism 102 Second universal joint mechanism 110 Shaft type tool H1 Tool insertion hole K1 Tool movement reference axis W Workpiece

Claims (11)

A shaft-type tool is tiltably connected to the base member, and a central axis of the shaft-type tool is urged so as to be parallel to a predetermined tool movement reference axis. In a tool tilting permissible mechanism that allows the shaft-shaped tool to be tilted while being guided by the inner surface of the tool insertion hole when the shaft-shaped tool is inserted into the tool insertion hole of the workpiece by being advanced in the axial direction.
A first tilting member extending in the tool movement reference axis direction and having a rear end portion in the forward direction of the base member coupled to the base member via a first universal joint mechanism;
A second tilting member coupled to the front end of the first tilting member via a second universal joint mechanism and tilting integrally with the shaft-shaped tool;
First biasing means for biasing the first tilting member with respect to the base member to a predetermined origin posture;
And a second biasing means for biasing the second tilting member to a predetermined origin posture with respect to the first tilting member.   Both the first and second tilting members are in the origin posture, and the central axis of the shaft-type tool and the lever shaft that connects the tilting central points of the first and second universal joint mechanisms are on the same straight line. The tool tilt allowing mechanism according to claim 1, wherein the tool tilt allowing mechanism is arranged in a line. The base member is fitted to the rear end portion of the first tilting member,
Providing a first inner annular projecting wall and a first outer annular projecting wall that protrude from the mating surfaces of the first tilting member and the base member and are fitted together,
A plurality of protrusions are formed in a uniform manner along the circumferential direction of one fitting surface of the first inner annular protruding wall and the first outer annular protruding wall, while the plurality of protrusions are formed on the other fitting surface. Forming a contacted part with which the part comes into contact, making one contact surface of the protruding part or the contacted part into a curved surface shape, and bringing the protruding part and the contacted part into point contact or line contact The first inner annular projecting wall can be tilted in any direction inside the first outer annular projecting wall;
A pair of either the first tilting member or the base member is provided, and the other first inner annular projecting wall or first outer annular projecting wall is sandwiched in the tool movement reference axis direction. And at least one of the first urging means so as to reciprocate in the tool movement reference axis direction and sandwich the first inner annular projecting wall or the first outer annular projecting wall. A pair of biased first shaft movement restriction members are provided;
The first universal joint mechanism is composed of the first inner annular projecting wall and the first outer annular projecting wall and the pair of first shaft movement restricting members,
Fitting the second tilting member to the front end of the first tilting member,
Providing a second inner annular projecting wall and a second outer annular projecting wall that project from the mating surfaces of the first tilting member and the second tilting member and are fitted to each other,
A plurality of protrusions are formed in a uniform manner along the circumferential direction of one fitting surface of the second inner annular protruding wall and the second outer annular protruding wall, while the plurality of protrusions are formed on the other fitting surface. Forming a contacted part with which the part comes into contact, making one contact surface of the protruding part or the contacted part into a curved surface shape, and bringing the protruding part and the contacted part into point contact or line contact The second inner annular projecting wall can be tilted in an arbitrary direction inside the second outer annular projecting wall;
A pair of either the first tilting member or the second tilting member is provided, and the other second inner annular projecting wall or the second outer annular projecting wall is interposed in the tool movement reference axis direction. The second biasing means so as to sandwich the second inner annular projecting wall or the second outer annular projecting wall so that at least one of them can reciprocate in the tool movement reference axis direction. A pair of second shaft movement restriction members urged by
The said 2nd universal joint mechanism was comprised from the said 2nd inner side annular protruding wall and the said 2nd outer side annular protruding wall, and the said 1st pair of 2nd axis | shaft movement control member, The Claim 1 or 2 characterized by the above-mentioned. Tool tilting tolerance mechanism. The first tilting member has a cylindrical shape extending in the tool movement reference axis direction, and the base member is fitted inside the rear end portion of the first tilting member, while the front end of the first tilting member The second tilting member is fitted inside the portion,
The first and second outer annular projecting walls are provided on the first tilting member,
The first inner annular protruding wall is provided on the base member,
The second inner annular protruding wall is provided on the second tilting member,
Providing an intermediate support projecting wall projecting from the inner surface of the first tilting member and disposed between the first and second outer annular projecting walls;
A first movable ring opposed to the end face of the first inner annular projecting wall from the front side, and a plurality of guide shafts fixed to the first movable ring and extending forward and supported by the intermediate support projecting wall so as to be capable of linear movement One of the first axial movement restricting members is configured, and the first tilting member is disposed on the rear side of the first outer annular projecting wall and projects inward from the first outer annular projecting wall. The other first shaft movement restricting member is constituted by the first fixed protruding wall,
Urging the first movable ring backward toward the first inner annular projecting wall by the first urging means;
A second movable ring opposed to the end face of the second inner annular projecting wall from the front side, and a plurality of guide shafts fixed to the second movable ring and extending rearward and supported by the intermediate support projecting wall so as to be capable of linear movement One of the second shaft movement restricting members is configured, and the first tilting member is disposed on the front side of the second outer annular projecting wall and protrudes inward from the second outer annular projecting wall. The second fixed movement wall constitutes the other second shaft movement restricting member,
The tool tilting allowable mechanism according to claim 3, wherein the second movable ring is urged forward by the second urging means toward the second inner annular projecting wall. A plurality of first fluid pressurizing holes formed in the intermediate support projecting wall, extending in the tool movement reference axis direction, and having an opening in a rear end surface of the intermediate support projecting wall;
A plurality of first pressure shafts inserted into the respective first fluid pressure holes so as to be linearly movable and pressed against the first movable ring from the front;
A compressed fluid as the first urging means enclosed in each first fluid pressure hole and urging the plurality of first pressure shafts backward;
A first fluid supply path formed in the first tilting member and extending from each first fluid pressurizing hole to an outer surface of the first tilting member;
Supplying the compressed fluid into the first fluid supply path, which is disposed on the outer surface of the first tilting member and normally closes the opening of the first fluid supply path and opens when pressure is applied from the outside. A first check valve that permits
A plurality of second fluid pressurizing holes formed in the intermediate support projecting wall and extending in the tool movement reference axis direction and having an opening in a front end surface of the intermediate support projecting wall;
A plurality of second pressurizing shafts inserted into the respective second fluid pressurizing holes so as to be linearly movable and pressed against the second movable ring from behind;
Compressed fluid as the second urging means enclosed in each second fluid pressure hole and urging the plurality of second pressure shafts forward;
A second fluid supply path formed in the second tilting member and extending from each second fluid pressurizing hole to an outer surface of the second tilting member;
Supplying the compressed fluid into the second fluid supply path which is disposed on the outer surface of the first tilting member and normally closes the opening of the second fluid supply path and opens when pressure is applied from the outside. The tool tilting allowable mechanism according to claim 4, further comprising a second check valve that allows The first fluid supply path includes a first bus passage extending outside the plurality of first fluid pressurization holes in a direction in which the plurality of first fluid pressurization holes are arranged, and the first bus passage A plurality of first branch passages communicating with the plurality of first fluid pressurizing holes; and a first basic passage extending from the first bus passage to an outer surface of the first tilting member. The first check valve is provided in an opening of the first basic flow path,
The second fluid supply path includes a second bus channel extending outside the plurality of second fluid pressurization holes in a direction in which the plurality of second fluid pressurization holes are arranged, and the second bus channel. A plurality of second branch passages communicating with the plurality of second fluid pressurizing holes, and a second basic passage extending from the second bus passage to the outer surface of the second tilting member. The tool tilting allowable mechanism according to claim 5, wherein the second check valve is provided in an opening of the second basic flow path. A plurality of guide holes extending in parallel with the central axis of the first tilting member and penetrating the intermediate support protrusion wall are provided, and the plurality of guide shafts of the first movable ring are provided in a part of the plurality of guide holes. On the other hand, the plurality of guide shafts of the second movable ring are inserted into the remaining plurality of guide holes,
The first movable ring is formed with an interference avoidance hole for avoiding interference with the plurality of guide shafts of the second movable ring when projecting rearward of the intermediate support projecting wall,
The second movable ring is formed with an interference avoidance hole for avoiding interference with the plurality of guide shafts of the first movable ring when protruding forward of the intermediate support protruding wall. The tool tilting permission mechanism according to any one of claims 4 to 6, wherein the tool tilting permission mechanism is provided.   Annular ridges are formed on the mutually opposing surfaces of the pair of first axis movement restricting members and the mutually opposing surfaces of the pair of second axis movement restricting members, respectively. The tool tilting allowable mechanism according to any one of claims 4 to 7, wherein the distal end surface has a curved shape that bulges so that a center in the width direction protrudes. The base member has a cylindrical shape,
The second tilting member has a structure in which the second inner annular protruding wall projects from the outer surface of the cylindrical portion, and a rear end portion of the shaft-type tool is rotatable by a bearing provided on the inner side of the cylindrical portion. The rotating shaft of a motor attached to the rear end portion of the cylindrical portion and the rear end portion of the shaft-shaped tool are connected to each other so as to be integrally rotatable inside the cylindrical portion. The tool tilting allowable mechanism according to any one of claims 4 to 8.   The rear end surface of the base member has a cylindrical shape with a rear end bottomed and open front, and has a wider inner space than the inner side of the base member, and the motor is mounted on the inner side of the rear end cover. The tool tilting allowable mechanism according to claim 9, wherein the tool tilting permission mechanism is arranged, and the cable of the motor is led out from a cable insertion hole penetratingly formed in the rear end cover. The second tilting member has a front end inner projection that projects forward from the second inner annular projection wall and has a circular cross section,
The first tilting member has a front end outer cylinder portion protruding forward from the second outer annular projecting wall,
A front end dust-proof ring made of an elastic body is provided between the front end inner protrusion and the front end outer cylinder,
The base member protrudes rearward from the first inner annular protruding wall and has a rear end inner protruding portion having a circular cross section,
The first tilting member has a rear end outer cylindrical portion protruding rearward from the first outer annular protruding wall,
The tool tilt according to any one of claims 4 to 10, further comprising a rear end dustproof ring made of an elastic body between the rear end inner protrusion and the rear end outer cylinder. Tolerance mechanism.

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