JP2022159211A - Tool floating mechanism, machining device, and machining device tool floating mechanism - Google Patents

Abstract

To provide a tool floating mechanism capable of easily measuring a tracing amount of a rotary tool when a workpiece is machined.SOLUTION: The tool floating mechanism is provided. This tool floating mechanism comprises: a holder; a rotary-driving unit; and a measurement unit. The rotary-driving unit is configured to enable fitting of a rotary tool to the tip. The rotary-driving unit is configured to be displaceable in attitude about one point on a rotational axis of the rotary-driving unit when it is inserted through the holder to be held, and the rotary tool receives a load from the lateral side. The measurement unit is configured to be able to measure a tracing amount of the rotary tool.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a tool floating mechanism, a processing device, and a tool floating mechanism for a processing device.

A tool floating mechanism capable of detecting an abnormality in which the rotational drive source changes its posture from its original posture has been disclosed (see, for example, Patent Document 1).

JP 2013-116517 A

However, with the technique disclosed in Patent Literature 1, it is difficult to measure the trace amount of the rotary tool when machining the workpiece.

In view of the above circumstances, the present invention provides a tool floating mechanism that can easily measure the amount of travel of a rotary tool when machining a workpiece.

According to one aspect of the invention, a tool floating mechanism is provided. This tool floating mechanism includes a holder, a rotary drive section, and a measurement section. The rotary drive section is configured such that a rotary tool can be attached to the distal end thereof. The rotary drive section is inserted into and held by the holder, and configured to be displaceable about a point on the rotation axis of the rotary drive section when the rotary tool receives a load from the side. The measuring unit is configured to be able to measure the tracing amount of the rotary tool.

According to the above disclosure, it is possible to easily measure the tracing amount of a rotary tool when machining a workpiece.

1 is a configuration diagram showing a processing apparatus 100; FIG. 1 is a configuration diagram showing a processing apparatus 100; FIG. 5 is a diagram showing the shape of a workpiece 500; FIG. 5 is a diagram showing the shape of a workpiece 500; FIG. FIG. 4 is a diagram showing the appearance of the tool floating mechanism 200 at the origin position; 3 is an exploded view of the tool floating mechanism 200; FIG. 4A and 4B are diagrams showing a configuration of a pressing portion 260; FIG. 3 is a plan view showing the arrangement of a measurement sensor 230 and a pressing portion 260 held by a holder 210; FIG. FIG. 9 is a cross-sectional view taken along the line BB shown in FIG. 8; 9 is a cross-sectional view taken along the line CC shown in FIG. 8; FIG. 3 is a diagram showing the shape of an end mill 300; FIG. 3 is a view of the end mill 300 viewed from the direction of an arrow 310; FIG. 5 is a diagram showing a state in which the processing apparatus 100 is processing a workpiece 500; FIG. 5 is a diagram showing a state in which the processing apparatus 100 is processing a workpiece 500; FIG. FIG. 4 is a diagram showing the appearance of the tool floating mechanism 200 when the attitude of the spindle 220 is displaced;

Embodiments of the present invention will be described below with reference to the drawings. Various features shown in the embodiments shown below can be combined with each other.

1. Overview of Processing Apparatus 100 Section 1 describes an overview of the processing apparatus 100 according to the present embodiment.

The processing device includes a housing, a rotation drive section, a flange section, a pressing section, and a pressing suppressing section. The rotary drive section is configured such that a rotary tool can be attached to the distal end thereof. The rotary drive section is inserted into and held by the housing, and configured to be displaceable about a point on the rotation axis of the rotary drive section when the rotary tool receives a load from the side. The flange portion is located inside the housing and protrudes from the side surface of the rotary drive portion. The pressing portion is configured to be able to press the flange portion. The pressing suppressing portion suppresses the pressing portion from pressing the flange portion.

The housing has the same configuration as the holder 210 described later. The housing is configured to be able to hold the rotary drive section, the flange section, the pressing section, and the pressing suppressing section. The housing is connected to the arm tip of the robot in the processing device. The housing transmits the driving force of the robot transmitted from the tip of the arm to the entire tool floating mechanism. The tool floating mechanism is rotatable about a virtual axis extending from the tip of the arm to the tool floating mechanism according to the transmitted driving force. The housing may be made of resin. The housing is formed in the shape of a sleeve, and is configured to be able to hold the rotary drive section, the flange section, the pressing section, and the pressing suppressing section inside the sleeve.

The processing device includes a plurality of pressing units. The pressing suppressing portion suppresses a portion of the pressing portion from pressing the flange portion.

The pressing part has a stopper. The pressing suppressing portion suppresses the pressing portion from pressing the flange portion by abutting against the stopper.

The pressing part has a rod. The pressing suppressing portion is a plate-like member having a hole. The rod is configured to be able to press the flange by being inserted through the hole. The pressing suppressing portion suppresses the pressing portion from pressing the flange portion by abutting against the stopper.

A rotary tool is a cutting tool for cutting a workpiece. The rake angle of the rotary tool is of negative shape. The rake angle of the rotary tool is changed according to the cutting amount of the workpiece.

The information processing system includes a reader, a calculator, and a generator. The reading unit reads work data relating to the measured shape of the work. The calculation unit calculates a displacement amount, which is a difference between the workpiece data and the prestored master data relating to the shape of the master. The generator generates machining path data by adding the displacement amount and arbitrary parameters to the master data.

Optional parameters include contact pressure on the workpiece.

Optional parameters include the direction of contact pressure on the workpiece.

The information processing system includes an acquisition unit. The acquisition unit acquires the coordinates of the work based on the measured feature points and inclination of the work. A feature point is an arbitrary point on the surface of the work, and a tilt is the tilt of the work viewed from the feature point.

A feature point is a vertex of a workpiece.

The feature points are three points on the surface of the workpiece. The acquisition unit acquires the coordinates of the work based on the center of gravity of the work determined from the feature points.

The information processing method is an information processing method executed by a computer. The information processing method causes a computer to execute each step in the information processing system.

The program causes the computer to execute each step in the information processing system.

2. Configuration of Processing Apparatus 100 Section 2 describes the configuration of the processing apparatus 100 according to the present embodiment.

1 and 2 are configuration diagrams showing the processing apparatus 100. FIG. The processing apparatus 100 includes a robot 101 , a tool floating mechanism 200 , an end mill 300 (rotary tool), and a work support base 400 .

2.1 Configuration of Robot 101 A section 191 is provided.

The support base 110 is arranged at the bottom of the robot 101 and supports the robot 101 as a whole. The base end portion 120 is arranged above the support base 110 . Base end portion 120 is connected to arm support portion 130 via joint portion 140 , and is configured to be able to swing arm support portion 130 about a virtual axis extending vertically from the center of base end portion 120 .

The arm support portion 130 is connected to the upper side of the base end portion 120 via the joint portion 140 . Arm support portion 130 is configured to be able to support arm 150 via joint portion 160 . The joint portion 140 is connected between the base end portion 120 and the arm support portion 130, and supports the arm around a virtual axis extending vertically from the center of the base end portion 120 in accordance with the driving force of a motor (not shown). The portion 130 is configured to be swingable.

Arm 150 is connected to arm support portion 130 via joint portion 160 and is formed to extend upward at the origin position. Arm 150 is connected to arm distal end 170 via joint 180 . Arm 150 is configured to be swingable about a virtual axis horizontally extending from the center of joint 160 with joint 160 as a movable axis in accordance with the driving force of a motor (not shown).

Arm tip portion 170 is connected to arm 150 via joint portion 180 and is formed to extend obliquely downward at the origin position. The arm tip portion 170 is connected to the attachment portion 190 via the joint portion 191 . Arm distal end portion 170 is configured to be swingable about a virtual axis extending horizontally from the center of joint portion 180 with joint portion 180 as a movable axis in accordance with the driving force of a motor (not shown).

The mounting portion 190 is connected to the distal end portion of the arm distal end portion 170 via the joint portion 191 . The mounting portion 190 is connected to the tool floating mechanism 200 . The mounting portion 190 is configured to rotate the tool floating mechanism 200 about a virtual axis extending from the mounting portion 190 to the tool floating mechanism 200 according to the driving force of a motor (not shown).

2.2 Configuration of tool floating mechanism 200 and a pressure suppressing plate 270 (press suppressing portion). Holder 210 has a configuration similar to that of the housing described above. Details of the tool floating mechanism 200 will be described later.

2.3 Configuration of End Mill 300 The end mill 300 (rotary tool) is an example of a cutting tool for cutting the workpiece 500 . Details of the end mill 300 will be described later.

2.4 Configuration of Work Support Base 400 The work support base 400 includes a connecting portion 410 , a proximal end portion 420 , a turntable 430 and a clamp 440 .

Connecting portion 410 is configured to be able to connect proximal end portion 120 and proximal end portion 420 . The connecting portion 410 is configured so that the entire work supporting table 400 can swing about a virtual axis extending horizontally from the center of the connecting portion 410 according to the driving force of a motor (not shown) transmitted from the work supporting table 400. be done.

The base end portion 420 is configured to be able to support the turntable 430 . The base end portion 420 is arranged below the turntable 430 at the origin position. The base end portion 420 may be formed in a polygonal prism shape.

The rotating table 430 is a table for fixing the workpiece 500 to be processed by the processing apparatus 100 . Turntable 430 is configured to be rotatable about a virtual axis extending from proximal end 420 to turntable 430 . The turntable 430 may be formed in a disc shape.

Clamp 440 is a tool for fixing workpiece 500 to turntable 430 . The clamp 440 is attached to the top surface of the turntable 430 .

2.5 Shape of Work 500 FIGS. 3 and 4 are diagrams showing the shape of the work 500. FIG. In this embodiment, the workpiece 500 has a curved shape. Work 500 may correspond to, for example, a part of the body of an automobile. The shape of the workpiece 500 is not particularly limited, and various shapes are illustrated in the drawings for convenience of explanation. The processing apparatus 100 is preferably used for processing a workpiece 500 having a curved surface shape.

3. Details of Tool Floating Mechanism 200 In Section 3, details of the tool floating mechanism 200 will be described. The tool floating mechanism 200 may be a machining device tool floating mechanism used in the machining device 100 . The tool floating mechanism for processing apparatus includes a holder 210, a spindle 220 (rotational drive section), and a measurement sensor 230 (measurement section). The spindle 220 is configured such that the end mill 300 (rotary tool) can be attached to the rotation output portion 221 . The spindle 220 is inserted through and held by the holder 210, and configured to be displaceable about a point on the rotation axis of the spindle 220 when the end mill 300 receives a load from the side. The measurement sensor 230 is configured to be able to measure the trace amount of the end mill 300 .

FIG. 5 is a diagram showing the appearance of the tool floating mechanism 200 at the origin position. 6 is an exploded view of the tool floating mechanism 200. FIG. FIG. 7 is a diagram showing the configuration of the pressing portion 260. As shown in FIG. FIG. 8 is a plan view showing the arrangement of the measurement sensor 230 and the pressing portion 260 held by the holder 210. As shown in FIG. 9 is a cross-sectional view taken along the line BB shown in FIG. 8. FIG. FIG. 10 is a cross-sectional view taken along line CC shown in FIG. FIG. 11 is a diagram showing the shape of the end mill 300. FIG. FIG. 12 is a view of the end mill 300 viewed from the direction of arrow 310. FIG.

The holder 210 is configured to be able to hold the spindle 220 , the measurement sensor 230 , the gimbal portion 240 , the flange portion 250 , the pressing portion 260 and the pressing suppression plate 270 . Holder 210 is connected to mounting portion 190 via joint portion 191 . The holder 210 transmits the driving force of the robot 101 transmitted from the mounting portion 190 to the tool floating mechanism 200 as a whole. The tool floating mechanism 200 is configured to be rotatable about a virtual axis extending from the mounting portion 190 to the tool floating mechanism 200 according to the transmitted driving force. The holder 210 may be made of resin. The holder 210 is formed in the shape of a sleeve and configured to be able to hold each part of the tool floating mechanism 200 inside the sleeve.

The spindle 220 is integrally equipped with a speed reducer (not shown) coaxially at the tip of a motor (not shown). The spindle 220 is configured such that the end mill 300 can be attached to a rotation output portion 221 (tip portion) protruding from the tip of the speed reducer. The spindle 220 is inserted through the holder 210 and held by the gimbal portion 240, and is configured to be displaceable about a point on the rotation axis of the spindle 220 when the end mill 300 receives a load from the side. . Spindle 220 may be constructed from a zinc alloy. The spindle 220 is formed in a cylindrical shape.

The flange portion 250 is provided for measuring the tracing amount of the end mill 300 . The flange portion 250 is positioned inside the holder 210 and configured to protrude from the side surface of the spindle 220 . The flange portion 250 may be made of the same material as the spindle 220 .

The gimbal section 240 is a biaxial gimbal. The gimbal part 240 is composed of an outer gimbal shaft 241 and an inner gimbal shaft 242, and the outer gimbal shaft 241 and the inner gimbal shaft 242 are arranged so as to be perpendicular to each other on the same plane. The gimbal portion 240 is held by the holder 210 and holds the spindle 220 . The gimbal section 240 is configured to be able to change the attitude of the spindle 220 around a point on the rotation axis of the spindle 220 .

The tool floating mechanism 200 includes multiple pressing portions 260 . In this embodiment, six pressing portions 260 are arranged at regular intervals. The pressing portion 260 has an air cylinder 261 , a rod 263 and a stopper 262 . The air cylinder 261 performs linear motion by supplied compressed air. The linear motion causes the rod 263 to extend and contract. Rod 263 (pressing portion 260 ) is configured to be able to press flange portion 250 . More specifically, the rod 263 is configured to be able to press the flange portion 250 by being inserted into a rod through hole 271 (hole portion) described later. The stopper 262 is configured to be able to come into contact with a pressure restraining plate 270, which will be described later.

The pressing suppression plate 270 (pressing suppression portion) is a plate-like member having a rod through hole 271 (hole). The pressing suppression plate 270 is configured to be able to suppress the flange portion 250 from being pressed by a part of the pressing portion 260 by coming into contact with the stopper 262 . The pressing restraining plate 270 is arranged between the pressing portion 260 and the flange portion 250 . The pressure suppressing plate 270 may be made of resin. The pressure suppressing plate 270 is a donut-shaped plate-like member with its central portion hollowed out.

The measurement sensor 230 is configured to be able to measure the trace amount of the end mill 300 based on the distance between the measurement sensor 230 and the flange portion 250 . In this embodiment, three measurement sensors 230 are arranged at regular intervals. The measurement sensor 230 may be a known laser distance sensor.

The end mill 300 may be a roughing ball end mill or a nicked ball end mill. End mill 300 is configured to be able to cut workpiece 500 . The end mill 300 is attached to the rotation output portion 221 of the spindle 220 in the tool floating mechanism 200. As shown in FIG. The end mill 300 may be constructed from high speed tool steel. The end mill 300 has a bottom cutting edge 320 and a peripheral cutting edge 321 at its tip.

In this embodiment, the end mill 300 has the following shape. The outer diameter of the end mill 300 is 6.0 mm. The end mill 300 has six bottom cutting edges 320 and six peripheral cutting edges 321 . The shapes of the bottom cutting edge 320 and the peripheral cutting edge 321 are right cutting edges. The direction of twist of the bottom cutting edge 320 and the peripheral cutting edge 321 is right-handed. The peripheral cutting edge 321 is formed in an uneven wave shape. A vertical rake angle 330 of the peripheral cutting edge 321 is 15°. An outer rake angle 340 (rake angle) of the end mill 300 has a negative shape and is changed according to the cutting amount of the workpiece 500 . A peripheral rake angle 340 of the peripheral cutting edge 321 is 15°. A peripheral flank 350 of the peripheral cutting edge 321 is 1.0 mm. The peripheral relief angle 360 of the peripheral cutting edge 321 is 8°.

4. Action Section 4 describes the action of the present embodiment.

13 and 14 are diagrams showing a state in which the processing apparatus 100 is processing the workpiece 500. FIG. FIG. 15 is a diagram showing the appearance of the tool floating mechanism 200 when the attitude of the spindle 220 is displaced.

The processing apparatus 100 cuts the work 500 while pushing the end mill 300 into the work 500 . The end mill 300 receives a reaction force from the work 500 against the pushing force (pressing force) to the work 500 . The attitude of the spindle 220 is displaced about a point on the rotation axis of the spindle 220 by the reaction force from the workpiece 500 received by the end mill 300 . That is, the end mill 300 follows the workpiece 500 .

The measurement sensor 230 measures the distance to the flange portion 250 . The measurement sensor 230 transfers the measured distance signal to a control unit (not shown). The controller calculates the trace amount of the end mill 300 based on the transferred distance signal. The control unit generates an adjustment signal for adjusting the amount of air supplied to the air cylinder 261 of the pressing unit 260 based on the calculated tracing amount and preset work processing conditions. The controller causes the generated adjustment signal to be forwarded to a source of compressed air (eg, compressed air line, compressor, etc.). According to this control, the pressing force of the end mill 300 against the workpiece 500 can be adjusted.

The pressing portion 260 is configured to be able to press the flange portion 250 by a predetermined distance out of the maximum extension distance of the rod 263 . If the compressed air is further supplied to the air cylinder 261 when the rod 263 is extended by a predetermined distance, the extension distance of the rod 263 tends to exceed the predetermined distance. In this case, the rod 263 of the pressing portion 260 does not reach the flange portion 250 because the stopper 262 is caught on the outer edge portion of the rod through hole 271 .

That is, in a state in which the spindle 220 is tilted by the end mill 300, some of the pressing portions 260 press the flange portion 250, while the remaining pressing portions 260 do not press the flange portion 250 (unable to press). Therefore, the pressing force of the pressing portion 260 to the flange portion 250 is unbalanced. Therefore, since the spindle 220 is tilted in the direction in which the pressing force is applied by some of the pressing portions 260, the spindle 220 attempts to return to the origin. When the spindle 220 is not tilted, it remains as it is.

Since the gimbal part 240 is a two-axis gimbal, the two rotation axes are perpendicular to each other on the same plane. The gimbal portion 240 can stably hold the posture of the spindle 220 even when some pressing portions 260 do not press the flange portion 250 .

Since the peripheral rake angle 340 of the end mill 300 has a negative shape, when the end mill 300 is pushed into the workpiece 500, the cutting resistance generated on the peripheral cutting edge 321 is greater than when the peripheral rake angle 340 of the end mill 300 has a positive shape. lower. That is, in the case of the negative shape, the cutting resistance becomes lower, so even if the end mill 300 is pressed into the workpiece 500 with the same pressing force, the negative shape results in a smaller cutting amount than the positive shape. Therefore, the processing apparatus 100 can adjust the cutting amount of the workpiece 500 based on the amount of air supplied to the air cylinder 261 of the pressing portion 260 and the calculated tracing amount.

5. Effect Section 5 describes the effect of this embodiment.

In one aspect of the present embodiment, the tool floating mechanism 200 includes a holder 210, a spindle 220 (rotation drive section), and a measurement sensor 230 (measurement section). The spindle 220 is inserted into and held by the holder 210, and when the end mill 300 receives a load from the side, it is centered at one point on the rotation axis of the spindle 220. , and the measurement sensor 230 is configured to be able to measure the trace amount of the end mill 300 . According to this aspect, the calculation formula for calculating the trace amount of the end mill 300 can be simplified compared to the case where the attitude of the spindle 220 does not change around one point on the rotation axis. Therefore, since the load for calculating the trace amount of the end mill 300 can be reduced, the trace amount of the end mill 300 when machining the workpiece 500 can be measured easily and quickly. According to such an aspect, it is possible to realize soft machining as if a human were to manually process the workpiece 500 .

In one aspect of this embodiment, the tool floating mechanism 200 includes a gimbal portion 240 , which is held by the holder 210 and holds the spindle 220 . According to this aspect, the posture of the spindle 220 during processing of the workpiece 500 can be stably maintained. That is, the gimbal section 240 can prevent the posture of the spindle 220 from wobbling during processing of the workpiece 500 .

In one aspect of the present embodiment, the gimbal section 240 is assumed to be a two-axis gimbal. According to this aspect, since the two rotation axes can be perpendicular to each other on the same plane, it is possible to change the attitude of the spindle 220 about one point on the rotation axis with a simple configuration.

In one aspect of the present embodiment, the tool floating mechanism 200 includes a flange portion 250, the flange portion 250 is positioned inside the holder 210 and configured to protrude from the side surface of the spindle 220, and the measurement sensor 230 is configured to: Based on the distance between the measurement sensor 230 and the flange portion 250, the trace amount of the end mill 300 can be measured. According to this aspect, since it is possible to measure the tracing amount of the end mill 300 using the flange portion 250 projecting from the side surface of the spindle 220, it is possible to measure the tracing amount of the end mill 300 with a simple configuration. .

In one aspect of the present embodiment, the tool floating mechanism 200 includes a pressing portion 260 and a pressing suppression plate 270 (pressing suppression portion). The pressing portion 260 is configured to be able to press the flange portion 250 . The pressing suppression plate 270 is configured to be able to suppress the pressing of the pressing portion 260 against the flange portion 250 . According to this aspect, it is possible to prevent the pressing force of the pressing portion 260 from being continuously applied to the flange portion 250 . That is, it is possible to prevent the posture of the spindle 220 from returning to the origin position due to the pressing portion 260 continuing to press the flange portion 250 .

In one aspect of the present embodiment, the tool floating mechanism 200 includes a plurality of pressing portions 260, and the pressing suppression plate 270 is configured to be able to suppress the flange portion 250 from being pressed by a part of the pressing portion 260. and According to this aspect, even if the plurality of pressing portions 260 as a whole operate to press the flange portion 250 by supplying the compressed air, some of the plurality of pressing portions 260 do not move. As for 260, the pressing force to the flange portion 250 is suppressed. That is, it is possible to prevent the posture of the spindle 220 from returning to the origin position due to the plurality of pressing portions 260 as a whole continuing to press the flange portion 250 .

In one aspect of the present embodiment, the pressing portion 260 has a stopper 262 , and the pressing restraining plate 270 contacts the stopper 262 to prevent the flange portion 250 from being pressed by the pressing portion 260 . shall be According to this aspect, it is possible to prevent the posture of the spindle 220 from returning to the origin position due to the pressing portion 260 continuing to press the flange portion 250 with a simple configuration.

In one aspect of the present embodiment, the pressing portion 260 has a rod 263, the pressing suppression plate 270 is a plate-like member having a rod through hole 271 (hole), and the rod 263 is inserted into the rod through hole 271. The pressing prevention plate 270 is configured to be able to press the flange portion 250 by being inserted, and the pressing suppression plate 270 is configured to be able to suppress the pressing of the flange portion 250 by the pressing portion 260 by abutting against the stopper 262 . According to this aspect, it is possible to prevent the posture of the spindle 220 from returning to the origin position due to the pressing portion 260 continuing to press the flange portion 250 with a simple configuration.

In one aspect of the present embodiment, the end mill 300 (rotary tool) is a cutting tool for cutting the workpiece 500, the rake angle of the end mill 300 has a negative shape, and the rake angle of the end mill 300 is used to cut the workpiece 500. subject to change according to quantity. According to this aspect, for example, it is possible to provide the tool floating mechanism 200 capable of cutting by 2 mm no matter how much the end mill 300 is pushed into the workpiece 500 . That is, based on the amount of air supplied to the air cylinder 261 of the pressing portion 260 and the calculated profiling amount, the workpiece 500 can be cut by a predetermined amount regardless of the amount of pushing of the end mill 300 .

In one aspect of the present embodiment, the processing device 100 is provided with an end mill 300 (rotary tool) and a tool floating mechanism 200 . According to this aspect, the processing apparatus 100 can easily measure the trace amount of the end mill 300 when processing the workpiece 500 by including the tool floating mechanism 200 .

In one aspect of the present embodiment, the tool floating mechanism 200 is a processing device tool floating mechanism used in the processing device 100, and the processing device tool floating mechanism includes a holder, a rotation drive section, and a measurement section. , the rotary drive part is configured to be able to attach a rotary tool to the tip thereof, the rotary drive part is held by being inserted into the holder, and when the rotary tool receives a load from the side, the rotary drive part rotates. It is configured such that the posture can be displaced about one point on the axis, and the measurement unit is configured so as to be able to measure the trace amount of the rotary tool. According to such an aspect, the tool floating mechanism 200 can be suitably used in the processing apparatus 100.

It may be provided in each aspect described below.
The tool floating mechanism, wherein the tool floating mechanism includes a gimbal portion, the gimbal portion being held by the holder and holding the rotation drive portion.
In the tool floating mechanism, the gimbal section is a two-axis gimbal.
In the tool floating mechanism, a flange portion is provided, and the flange portion is positioned inside the holder and configured to protrude from the side surface of the rotation drive portion, and the measurement portion is configured to include the measurement portion and the flange portion. and a tool floating mechanism configured to be able to measure the tracing amount of the rotary tool based on the distance from the
The tool floating mechanism includes a pressing portion and a pressing suppressing portion, the pressing portion being capable of pressing the flange portion, and the pressing suppressing portion pressing the flange portion against the pressing portion. A tool floating mechanism configured to be able to suppress the
In the tool floating mechanism, a plurality of the pressing portions are provided, and the pressing suppressing portion is configured to be capable of suppressing the flange portion from being pressed by a part of the pressing portion.
In the tool floating mechanism, the pressing portion has a stopper, and the pressing suppressing portion contacts the stopper so as to suppress the flange portion from being pressed by the pressing portion. Tool floating mechanism.
In the tool floating mechanism, the pressing portion has a rod, and the pressing suppressing portion is a plate-like member having a hole, and the rod is inserted through the hole to be able to press the flange portion. The tool floating mechanism, wherein the pressing suppressing portion is configured to be able to suppress pressing of the flange portion by the pressing portion by abutting against the stopper.
In the tool floating mechanism, the rotary tool is a cutting tool for cutting a work, the rake angle of the rotary tool has a negative shape, and the rake angle of the rotary tool varies depending on the cutting amount of the work. , modified, tool floating mechanism.
A processing device, comprising: a rotary tool; and the tool floating mechanism.
A tool floating mechanism for a processing device used in a processing device, comprising: a holder; a rotation drive section; The portion is inserted into and held by the holder, and configured to be displaceable about a point on the rotation axis of the rotary drive portion when the rotary tool receives a load from the side. The part is a tool floating mechanism for a processing device, configured to be able to measure a tracing amount of the rotary tool.
Of course, this is not the only case.

100 : processing device 101 : robot 110 : support base 120 : base end 130 : arm support 140 : joint 150 : arm 160 : joint 170 : arm tip 180 : joint 190 : mounting 191 : joint 200 : Tool floating mechanism 210 : Holder 220 : Spindle 221 : Rotation output part 230 : Measurement sensor 240 : Gimbal part 241 : Outer gimbal shaft 242 : Inner gimbal shaft 250 : Flange part 260 : Pressing part 261 : Air cylinder 262 : Stopper 263 : Rod 270 : Pressing suppression plate 271 : Rod through hole 300 : End mill 310 : Arrow 320 : Bottom cutting edge 321 : Peripheral cutting edge 330 : Corner 340 : Corner 350 : Peripheral flank 360 : Peripheral flank 400 : Work support base 410 : Connection part 420: Base end 430: Rotating table 440: Clamp 500: Work

Claims (11)

A tool floating mechanism,
comprising a holder, a rotation drive section, and a measurement section,
The rotary drive unit is configured such that a rotary tool can be attached to the tip,
The rotary drive section is inserted into and held by the holder, and configured to be displaceable about a point on the rotation axis of the rotary drive section when the rotary tool receives a load from the side. ,
The measurement unit is configured to be able to measure a tracing amount of the rotary tool.
Tool floating mechanism. A tool floating mechanism according to claim 1, wherein
Equipped with a gimbal section,
The gimbal section is held by the holder and holds the rotation drive section.
Tool floating mechanism. A tool floating mechanism according to claim 2, wherein
The gimbal section is a two-axis gimbal,
Tool floating mechanism. In the tool floating mechanism according to any one of claims 1 to 3,
Equipped with a flange,
The flange portion is positioned inside the holder and configured to protrude from the side surface of the rotary drive portion,
The measuring unit is configured to be able to measure a trace amount of the rotary tool based on the distance between the measuring unit and the flange.
Tool floating mechanism. A tool floating mechanism according to claim 4, wherein
comprising a pressing portion and a pressing suppressing portion,
The pressing portion is configured to be able to press the flange portion,
The pressing suppressing portion is configured to be able to suppress pressing of the flange portion by the pressing portion.
Tool floating mechanism. A tool floating mechanism according to claim 5, wherein
A plurality of the pressing parts are provided,
The pressing suppressing portion is configured to be able to suppress pressing of the flange portion by a part of the pressing portion.
Tool floating mechanism. In the tool floating mechanism according to claim 5 or claim 6,
The pressing portion has a stopper,
The pressing suppressing portion is configured to be capable of suppressing pressing of the flange portion by the pressing portion by abutting against the stopper.
Tool floating mechanism. A tool floating mechanism according to claim 7, wherein
The pressing part has a rod,
The pressure suppressing portion is a plate-like member having a hole,
The rod is configured to be able to press the flange portion by being inserted through the hole,
The pressing suppressing portion is configured to be capable of suppressing pressing of the flange portion by the pressing portion by abutting against the stopper.
Tool floating mechanism. In the tool floating mechanism according to any one of claims 1 to 8,
The rotary tool is a cutting tool for cutting a workpiece,
The rake angle of the rotary tool is a negative shape,
The rake angle of the rotary tool is changed according to the cutting amount of the workpiece,
Tool floating mechanism. A processing device,
A rotating tool and a tool floating mechanism according to any one of claims 1 to 9,
processing equipment. A tool floating mechanism for a processing device used in the processing device,
comprising a holder, a rotation drive section, and a measurement section,
The rotary drive unit is configured such that a rotary tool can be attached to the tip,
The rotary drive section is inserted into and held by the holder, and configured to be displaceable about a point on the rotation axis of the rotary drive section when the rotary tool receives a load from the side. ,
The measurement unit is configured to be able to measure a tracing amount of the rotary tool.
Tool floating mechanism for processing equipment.

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