JP6041317B2 - Machining tools - Google Patents

Description

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

  Conventionally, as a processing tool that is attached to the tip of a robot arm or the like, attaches a cutting tool to the tip of an output shaft of a motor, rotates the cutting tool at high speed, and performs deburring processing of a product, the burrs described in Patent Document 1 below. A take-off device is known.

  In this deburring device, a cutting tool is attached to the chuck provided at the tip of the output shaft of the motor, and a tilting case containing the motor is attached to the lower part of the fixed case so that the tool can be tilted. When the workpiece is deburred, when the cutting tool contacts the workpiece and receives a load in the radial direction, the tilt case is tilted with respect to the central axis of the apparatus according to the tilt load.

  In this conventional deburring device, in order to stably tilt the tilt case when a load is applied, a large number of tilt support pins are slidable in the axial direction and arranged on the circumference in the tilt support pin case. A coil spring is externally fitted to each tilting support pin, and the tip of the tilting support pin on the circumference is brought into contact with the plane of the pressure receiving plate provided at the upper end of the tilting case, and tilting according to the tilting of the tilting case The support pin slides against the spring force of the coil spring, so that when the cutting tool touches the workpiece and receives a load in the radial direction, the tilting case is smoothed according to the tilting load. When the tool is tilted and the cutting tool is separated from the workpiece, the tilt case can be smoothly returned to the center axis position. However, this deburring device requires a large number of tilting support pins and coil springs to be assembled with high accuracy in the tilting case, which increases the number of parts and complicates the structure, thus increasing the manufacturing cost.

JP 2008-284777 A Japanese Patent No. 5122202

  On the other hand, as another deburring device, a deburring device with a floating mechanism has been conventionally proposed in Patent Document 2 above. In this deburring device, a cylindrical motor unit is tiltably disposed in a piston cylinder, a flange-shaped inner ring is attached to the outer peripheral portion of the motor unit, and the inner ring rotates around a central axis with respect to the outer ring on the fixed side. Thus, it is possible to tilt in the radial direction, and air pressure is applied to the circumferential upper surface of the inner ring. As a result, at the time of deburring operation, when a radial load is applied to the cutting tool attached to the tip of the output shaft of the motor unit, a certain degree of tilting is allowed to suppress deformation and wear of the piston cylinder and the inner ring, It is designed to receive a stable load.

  However, in this conventional deburring device, the outer peripheral surface of the inner ring attached to the outer peripheral part of the motor unit is formed in an arc shape in the axial direction, and the portion including the motor unit and the inner ring is tilted in the outer ring on the fixed side. Although it has a possible structure, basically, the tool shaft, which is the output shaft of the motor unit, is rotated on the central axis of the deburring device, and machining such as deburring is performed without almost tilting the tool shaft. It is a structure to perform.

  For this reason, in this deburring device, for example, when the workpiece hits the side surface of the cutting tool or the workpiece contacts the side surface of the cutting tool, the inner ring tilts, but the frictional resistance in the tilting direction between the inner ring and the outer ring is reduced. It is large and it is difficult for the cutting tool to tilt smoothly with a low load. For this reason, when the side part of the cutting tool makes great contact with the work, an excessive load is applied in the radial direction of the work and the cutting tool, causing a problem of damaging the work and the cutting tool.

  The present invention solves the above-described problems, and is a machining tool for machining a workpiece by rotating a cutting tool attached to the tip of a rotating spindle motor capable of tilting at a high speed, with a relatively simple structure, An object of the present invention is to provide a processing tool that has a small number of points and can perform processing such as deburring well.

In order to achieve the above object, the processing tool of the present invention comprises:
In a processing tool for processing a workpiece by pinching a cutting tool to a chuck portion attached to a rotation shaft tip of a spindle motor and rotating the cutting tool by the spindle motor,
A cylindrical piston is slidably inserted into the cylinder, and a cylindrical holder is fixed to the end of the cylinder, and a tilting ring can tilt in all directions with respect to the central axis of the cylinder in the holder. Inserted through a plurality of balls, and the spindle motor is fixed in a concentric position in the tilting ring;
A plurality of conical conical recesses for accommodating the balls are formed on the outer peripheral surface of the tilt ring at regular angular intervals, and the plurality of balls are connected to the central axis on the inner peripheral surface of the holder. A plurality of groove portions that are held so as to be able to roll in parallel are formed in parallel with the central axis at the same angular intervals as the conical concave portions,
Pressure air is supplied into the cylinder so as to urge the end surface of the cylindrical piston in a direction to contact the annular end surface of the tilt ring,
When a radial load is applied to the cutting tool and the spindle motor and the tilt ring tilt, the ball held in the conical recess of the tilt ring is parallel to the central axis in the groove of the holder. Rolling to
The tilting state of the tilting ring and the spindle motor is returned to the axial position by the air pressure in the cylinder and the holder.

  According to this machining tool, the tilting ring is inserted into the holder through a plurality of balls so that the tilting ring can tilt in all directions with respect to the central axis of the cylinder, and the spindle motor is fixed at a concentric position in the tilting ring. A plurality of conical conical recesses for accommodating the balls are formed on the outer peripheral surface of the ring at regular angular intervals, and the plurality of balls are held on the inner peripheral surface of the holder so as to be able to roll in parallel with the central axis. Since a plurality of grooves are formed in parallel with the central axis at the same angular interval as the conical recess, the tilting ring including the spindle motor smoothly tilts with a very light load when a radial load is applied to the cutting tool. . Moreover, pressurized air is supplied into the cylinder so as to urge the end face of the cylindrical piston in a direction to contact the annular end face of the tilt ring, and when the tilt ring is tilted, the tilt is axially positioned with an appropriate force. It can be made to act in the direction to restore.

  For this reason, when machining the workpiece while the cutting tool is in contact with the workpiece and receiving a load in the radial direction during machining, an appropriate contact force can be applied to perform deburring, etc., and excessive contact force can be applied to the workpiece. Deburring of the workpiece can be performed satisfactorily without giving and damaging it. Also, unlike the conventional tilting mechanism, the structure can be simplified without using a large number of tilting support pins and coil springs that require high dimensional accuracy. The manufacturing man-hours can be reduced, and the manufacturing cost can be suppressed.

  Here, it is preferable that the groove portion on the inner peripheral surface of the holder is formed in parallel with the central axis so that the cross section is substantially semicircular or substantially triangular. According to this, the frictional resistance at the time of tilting of the tilting ring can be reduced.

  Here, it is preferable that a curved bulging portion having a substantially arc-shaped cross section is formed on the annular end surface of the tilt ring so as to be in contact with the end surface of the cylindrical piston. According to this, when the tilt ring tilts and contacts the end surface of the cylindrical piston, the contact frictional resistance can be further reduced, and the tilt ring can be tilted and restored to the axial position more smoothly.

  Here, the outer peripheral surface of the cylindrical piston is brought into sliding contact with the inner peripheral surface of the cylinder through a slight gap without using a rubber seal material such as rubber packing, and the pressure air is passed through the slight gap. It is preferable to be configured to flow. According to this, when the cylindrical piston slides during tilting of the tilting ring and the spindle motor, the sliding friction resistance of the cylindrical piston can be minimized and the tilting ring and the spindle motor can be tilted more smoothly.

  Here, it is preferable that the holder is provided with an exhaust passage capable of adjusting and exhausting the pressure air supplied into the cylinder and flowing into the holder to adjust the residual pressure of the air in the holder. According to this, in addition to the adjustment of the air supply pressure, the residual pressure in the cylinder chamber and the holder can be adjusted with high accuracy. Workpieces can be processed.

  A machining tool is used with a cutting tool directed in an arbitrary direction, such as a downward, upward, or horizontal orientation when processing a workpiece. For this reason, according to the various attitude | position states of such a processing tool, the influence which the own weight of a piston, a tilting ring, and a spindle motor has on the contact friction resistance of a tilting ring and a cylindrical piston changes a lot. Therefore, by adjusting the exhaust pressure from the exhaust passage along with the air supply pressure according to the posture of such a processing tool, the residual pressure in the holder and the cylinder is adjusted, regardless of the posture of the processing tool, When the tilt ring is tilted, the spindle motor and the cutting tool can be tilted and restored to the axial position extremely smoothly, and the workpiece can be machined stably and satisfactorily.

  According to the machining tool of the present invention, a machining tool for machining a workpiece by rotating a cutting tool attached to the tip of a tiltable spindle motor at high speed is manufactured with a relatively simple structure and a small number of parts. The spindle motor can be stably tilted when the cutting tool and the workpiece are in contact with each other, and the machining can be performed satisfactorily.

It is a front view of the processing tool which shows one Embodiment of this invention. It is a longitudinal cross-sectional view of the processing tool. FIG. 3 is a sectional view taken along line III-III in FIG. 2. It is IV-IV sectional drawing of FIG. It is an enlarged vertical sectional view showing a portion near the tilt ring. (A) is a top view of a holder, (b) is the BB sectional drawing. (A) is a plan view of the tilting ring, (b) is a front view thereof, (c) is a CC sectional view thereof, and (d) is a DD sectional view thereof. It is a front view which shows the use condition of a processing tool. It is a longitudinal cross-sectional view at the time of tilting of a spindle motor and a tilting ring. It is a longitudinal cross-sectional view at the time of the upward sliding of a spindle motor, a tilting ring, and a cylindrical piston. It is a longitudinal cross-sectional view of the processing tool of other embodiment. It is a front view which shows the use condition of the processing tool.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the machining tool 1 has a chuck portion 20 attached to a rotating shaft 8 a of a spindle motor 8, a cutting tool 10 such as deburring is sandwiched between the chuck portion 20, and the cutting tool 10 is driven by rotation of the spindle motor 8. Is a tool that performs high-speed rotation of workpieces to perform deburring, chamfering, lapping, etc.

  As shown in FIG. 2, the processing tool 1 has a cylinder 2 that serves as a case body. A cylindrical piston 3 is slidably inserted into the cylinder 2, and a tilt ring 5 is tilted at the end of the cylinder 2. A holder 4 that can be held is fixed, and a vertically long elongate spindle motor 8 is fixed to the concentric position in the tilt ring 5. As shown in FIG. 9, the spindle motor 8 has a space around the inside of the cylinder chamber 21 and the cylindrical piston 3 of the cylinder 2 so as to be able to tilt together with the tilting ring 5 within a predetermined angular range (α). Arranged.

  A mounting bracket 9 is fastened and fixed to the upper portion of the cylinder 2 by a fixing screw 9a. As shown in FIG. 8, the processing tool 1 is attached to the tip of the robot arm RA through the mounting bracket 9. As shown in FIGS. 11 and 12, the processing tool 1 </ b> A can be fixedly installed with the cutting tool 10 sandwiched between the chuck portions 20 facing upward. In this case, the workpiece W is attached to the robot arm RA. While attaching the tip and moving the workpiece W, the necessary portion of the workpiece W is brought into contact with the cutting tool 10 of the machining tool 1A to perform machining.

  The spindle motor 8 is provided with a motor part at the upper part (terminal side) in a long vertically long cylindrical case, and a rotating shaft 8a directly connected to the output shaft of the motor part is provided in the lower part (tip side) of the cylindrical case. The rotary shaft 8a is directly driven by an angular bearing. A chuck portion 20 is attached to the tip of the rotating shaft 8a, and a cutting tool 10 for deburring or the like is sandwiched between the chuck portion 20 and the like. Thereby, the cutting tool 10 attached to the tip of the processing tool 1 is rotated at a high speed by the spindle motor 8. For example, a brushless DC motor capable of rotating at a high speed of about 60000 rpm is used for the motor unit, and the chuck unit 20 is attached to the tip of the rotating shaft 8 a of the spindle motor 8. For example, the chuck portion 20 has a chuck nut screwed to the outside of the collet chuck, and the cutter tool 10 is fastened and fixed by turning the chuck nut.

  As shown in FIG. 2, a cylinder chamber 21 is formed in the cylinder 2, and a cylindrical piston 3 having a large-diameter flange portion 31 is inserted into the cylinder chamber 21 from the lower side. It is slidably inserted. The tilting ring 5 is disposed just below the large-diameter flange portion 31, and the cylindrical piston 3 moves within the cylinder 2 within a predetermined range in accordance with the tilting or vertical movement of the spindle motor 8 and the tilting ring 5. Slides in the vertical axis direction.

  An air supply pipe 7 is connected to the cylinder 2, and pressurized air is supplied to the cylinder chamber 21 through the air supply pipe 7. The air pressure supplied from the air supply pipe 7 to the cylinder chamber 21 is applied to the periphery of the upper portion of the flange portion 31 of the cylindrical piston 3, and the cylindrical piston 3 is always moved downward by the air pressure, that is, the tilt ring 5 is lowered from above. Energize to press. The spindle motor 8 is inserted inside the cylindrical piston 3, passes through the cylindrical piston 3 so as to be tiltable through the surrounding space, and is attached to the tilting ring 5 by the clamp member 11.

  As described above, at the lower end of the cylinder 2, the holder 4 that holds the tilt ring 5 so as to be tiltable is fastened and fixed from below by the fixing screw 49. As shown in FIG. 6, the holder 4 is formed in a cylindrical shape, and a holder chamber 42 is formed therein. On the inner side surface of the holder 4, as shown in FIG. 6, there are eight groove portions 41 for holding the ball 6 in a rollable manner in the axial direction (vertical direction) at an angular interval of 45 °, for example. They are formed in parallel. As shown in FIG. 6, these groove portions 41 are formed in a substantially semicircular cross section so that when the tilt ring 5 is tilted, the ball 6 rolls smoothly in the groove portion 41. In addition, the groove part 41 can also form a cross section in a substantially triangular shape, and is made into the cross-sectional shape which makes the frictional resistance at the time of rolling of the ball | bowl 6 small, when the tilting ring 5 tilts.

  In the holder chamber 42 of the cylindrical holder 4, the tilting ring 5 fixed to the outer periphery of the spindle motor 8 is passed through a plurality of balls 6 (here, eight balls arranged at an angular interval of 45 °). And can be tilted. As shown in FIG. 7, the tilt ring 5 is formed in an annular shape, and a spindle motor 8 is inserted and fixed in an inner circular space. A plurality of conical conical recesses 51 are formed on the outer peripheral surface of the tilt ring 5 so as to store and hold the balls 6 as shown in FIG. Eight of these conical recesses 51 are formed at an angular interval of 45 °, similarly to the groove 41 provided inside the holder 4, and each ball 6 is held by the conical recess 51 and the groove 41 so as to be sandwiched from inside and outside. It has a structure.

  Further, as shown in FIG. 9, the tilting ring 5 in the holder 4 has a predetermined angular range (for example, α = 5 °) in all directions with the central axis (axis line) C of the cylinder 2 and the cylindrical piston 3 as a reference axis. It can be tilted. As shown in FIG. 4, a slight gap is formed in the holder chamber 42 of the holder 4 between the groove 41, the ball 6, and the conical recess 51, and the tilting ring 5 tilts smoothly through the ball 6 without rattling. It has a structure that can be done. Further, as shown in FIG. 5, a curved bulge 52 having a substantially arc-shaped cross section is formed on the annular upper end surface of the tilt ring 5 so as to be in contact with the lower end surface of the cylindrical piston 3.

  In the tilt ring 5, as shown in FIGS. 2 and 5, a vertically long spindle motor 8 is disposed so as to penetrate a concentric position and is fixed by a fixing ring 12. The fixing ring 12 is fixed to the outer peripheral portion of the spindle motor 8 by an annular wedge 13, and the fixing ring 12 is fastened and fixed to the lower surface of the tilting ring 5 with a fixing screw 14 from below. Further, as shown in FIGS. 2 and 5, an annular clamp member 11 that supports the tilt ring 5 from below is fastened and fixed to the lower side of the holder 4 by a fixing screw 49. As shown in FIG. 5, the annular clamp member 11 is formed so that a convex ring portion 15 protrudes upward on the inner peripheral portion, and the tilt ring 5 has a lower surface convex at the lowest position. At the time of tilting, a part of the tilting ring 5 is supported by a part of the convex ring part 15 as shown in FIG.

  Further, as shown in FIG. 3, an exhaust pipe 17 is connected to the holder 4 in order to release the internal air pressure (residual pressure). As described above, pressurized air is supplied from the air supply pipe 7 into the cylinder chamber 21 and the holder 4 of the cylinder 2, and when the tilting ring 5 and the spindle motor 8 are tilted, the spindle motor 8 is moved to the position of the axis C by the air pressure. However, the pressure air is supplied from the air supply pipe 7 and the adjusted flow rate of air is exhausted from the exhaust pipe 17 of the holder 4 so that the air pressure in the cylinder chamber 21 and the holder 4 is reduced. According to the use posture etc. of the processing tool 1, it can adjust now favorably.

  That is, as shown in FIG. 2, when the processing tool 1 is disposed with the cutting tool 10 sandwiched by the chuck portion 20 facing downward, the tilting ring 5 fixed to the outer peripheral portion of the spindle motor 8 is within the holder 4. The cylindrical piston 3, the tilting ring 5, and the spindle motor 8 are held on the convex annular portion 15 of the clamp member 11 by being held on the convex annular portion 15 (FIG. 5) of the clamp member 11 in a horizontal state. When the radial load is applied to the cutting tool 10 as shown in FIG. 9, the tilt ring 5 and the spindle motor 8 tilt very lightly and smoothly return to the axis C position. It has become.

  The pressure air supplied into the cylinder 2 acts to return the tilting of the tilting ring 5 and the spindle motor 8 to the position of the axis (center axis) C of the processing tool 1. When the cutting tool 10 comes into contact with the workpiece and receives a radial force during the machining, it acts as a reaction force. Therefore, by adjusting the supply pressure (supply amount) and the exhaust amount, the air pressure in the holder 4, that is, the residual pressure, is adjusted, and the air pressure applied to the upper surface of the tilt ring 5 is adjusted, so that the tilt ring 5, that is, the cutting tool 10. The minimum pressure that can reduce the tilt reaction force and can smoothly restore, that is, return tilt. In this way, the residual pressure in the tilt ring 5 is adjusted, the restoring force of the tilt ring 5 and the spindle motor 8 to the neutral axis C position, and the reaction force (pressing force) of the blade 10 on the workpiece during tilting. Is adjusted so that deburring and other processing can be performed satisfactorily without damage.

  As shown in FIG. 8, the processing tool 1 is attached to the tip of the robot arm RA and performs a process such as deburring by bringing the cutting tool 10 into contact with the workpiece W, but it is not always used in a vertical state. Used in various postures such as upward, downward, and sideways. For this reason, the supply pressure (supply amount) of the pressurized air supplied to the cylinder 2 depends on the operating posture of the machining tool 1 (upward, downward, sideways, etc.) and the material of the workpiece (hard steel, soft aluminum) Etc.), and at the same time, the exhaust amount from the exhaust pipe 17 is also adjusted according to those conditions, and the residual pressure in the cylinder chamber 21 and the holder chamber 42 of the holder 4 is adjusted. For example, in the usage posture of the processing tool 1 shown in FIG. 8, the cutting tool 10 is in a downward posture as a main posture, so that the weights of the cylindrical piston 3, the tilting ring 5, and the spindle motor 8 are restored to the upper surface of the tilting ring 5 as they are. The supply pressure and the exhaust amount are adjusted so that the residual pressure in the cylinder chamber 21 and the holder chamber 42 of the holder 4 is minimized.

  On the other hand, in the use posture in which the cutting tool 10 faces upward as in the processing tool 1A shown in FIG. 11, during tilting, the weights of the cylindrical piston 3, the tilting ring 5, and the spindle motor 8 are within the cylinder chamber 21 and the holder 4. When the residual pressure in the holder chamber 42 is increased, the pressure air supply pressure (supply amount) and the residual pressure are adjusted to be high, and when the working tool 1 is used in a lateral orientation, the pressure air supply pressure (supply) Amount) and the residual pressure are adjusted to intermediate values.

  The spindle motor 8 of the machining tool 1 shown in FIG. 2 is tilted by inserting its rotating shaft 8a downward into the cylindrical piston 3 in the cylinder 2 with the tilting ring 5 attached to the outer periphery thereof. The holder 4 is fitted to the outer periphery of the ring 5 via the eight balls 6, the annular clamp member 11 is fitted, and the holder 4 is fastened and fixed to the lower surface of the cylinder 2 using the fixing screw 49.

  A chuck portion 20 is attached to the tip of the rotating shaft 8a below the spindle motor 8. Depending on the type of processing, the chuck portion 20 holds a cutting tool 10 such as a carbide rotary bar or a grindstone with a shaft. A soft dustproof cover 19 is attached between the clamp member 11 and the lower part of the spindle motor 8. Similarly, a soft dustproof cover 18 is provided around the spindle motor 8 between the mounting bracket 9 and the upper part of the spindle motor 8. It is attached to cover.

  Next, the operation of the machining tool 1 having the above-described configuration will be described. As described above, the machining tool 1 is attached to the tip of the robot arm RA via the attachment bracket 9 as shown in FIG.

  The chuck part 20 at the tip of the processing tool 1 has a cutting tool 10 such as a carbide rotary bar or a shaft-mounted grindstone, for example, depending on the process to be performed (for example, deburring, cutting or polishing of an acute angle part). Is attached. As shown in FIG. 8, the workpiece W of the workpiece is fixed on a machining table, for example.

  Further, the supply pressure (supply amount) and the exhaust amount of pressurized air supplied into the cylinder 2 are adjusted according to the material of the workpiece W (hard steel, soft aluminum, etc.), and the inside of the cylinder chamber 21 and the holder 4 are adjusted. The residual pressure of the air pressure in the holder chamber 42 is adjusted. For example, when the work is hard like steel, the exhaust amount from the exhaust pipe 17 is minimized, the supply amount (supply pressure) of pressurized air is increased, and the residual pressure in the holder chamber 42 is adjusted to be high. When the work is soft such as aluminum, the amount of exhaust from the exhaust pipe 17 is increased, the amount of supply of pressurized air (supply pressure) is decreased, and the residual pressure in the holder chamber 42 is adjusted to be lower.

  As shown in FIG. 8, when deburring is performed using a robot, the robot is taught in advance in the teaching mode in the same manner as a normal robot operation, and coordinate data necessary for the operation is acquired. In such a teaching mode, while controlling the posture and movement of the robot arm RA, the cutting surface of the cutting tool 10 is moved along the processing line of the workpiece W so as to properly contact the burr of the workpiece W, and the movement is performed. Coordinate data is captured and stored according to the trajectory.

  At the time of playback, the coordinate data stored at the time of teaching is read, and the robot arm RA is controlled to perform processing. When processing operation such as deburring is started and the spindle motor 8 is started, the rotating shaft 8a, the chuck portion 20, and the cutting tool 10 are rotationally driven at a high-speed rotation of about 60000 rpm, for example.

  As shown in FIG. 8, when the workpiece W is fixed on the machining table and the machining tool 1 is attached to the robot arm RA, the edge portion of the workpiece W is moved by moving the cutting tool 10 that rotates at high speed by the operation of the robot arm RA. Deburring is performed so that the burrs at the edge portion of the workpiece W are scraped off by the cutting tool 10 rotating at high speed while moving the cutting tool 10 based on the coordinate data.

  At the time of processing, when the tip side surface of the blade 10 rotating at high speed comes into contact with the edge portion of the workpiece W and the blade 10 receives a load from the side (radial direction), as shown in FIG. 5 is tilted with respect to the cylinder 2 by an angle corresponding to the load within the angle range of the maximum inclination angle α from the axis C of the tool. At this time, the tilt ring 5 tilts in the load direction around the center point S in the tilt ring 5 with respect to the axis C via the eight balls 6 in the holder 4.

  This tilting of the tilting ring 5 is performed against the downward biasing force of the cylindrical piston 3 due to the air pressure in the cylinder chamber 21. At this time, the influence of the high-speed rotation operation of the spindle motor 8 in the tilting ring 5 is also affected. Thus, the tilting ring 5 is likely to vibrate and swing. However, since an appropriate air pressure is applied to the cylinder chamber 21 of the cylinder 2 and the holder chamber 42 of the holder 4, vibrations and swings of the tilt ring 5 are well absorbed, and abnormal vibrations of the spindle motor 8 Oscillation is prevented.

  As described above, vibration and swinging when the tilting ring 5 including the spindle motor 8 and the cutting tool 10 tilts is absorbed by appropriate air pressure in the cylinder chamber 21 and the holder chamber 42, and the cutting tool 10 contacts the workpiece W. When the cutting tool 10 tilts together with the tilting ring 5 and the spindle motor 8, the tool 10 tilts smoothly, and the cutting tool 10 moves away from the workpiece W. When the tilting load disappears, the residual pressure in the cylinder chamber 21 and the holder chamber 42 is The spindle motor 8 can be smoothly returned to the axis C position.

  Further, the appropriate air pressure applied to the cylinder chamber 21 and the holder chamber 42 is uniformly applied to the upper surface of the flange portion 31 of the cylindrical piston 3 and the upper surface of the tilting ring 5, so that the cutting tool 10 is tilted in the tilting direction. Regardless, it is possible to generate a uniform restoring force on the tilting ring 5 including the spindle motor 8 and to bring the cutting tool 10 into contact with the workpiece W by the restoring force, and to perform good deburring and the like.

  On the other hand, when the tip of the cutting tool 10 hits the upper surface of the work W and the cutting tool 10 receives an upward push-up force from the work W, as shown in FIG. Through the ball 6, the inside of the holder chamber 42 of the holder 4 is lifted in a horizontal state and operates to push up the upper cylindrical piston 3. At this time, the tilt ring 5 and the cylindrical piston 3 rise smoothly against an appropriate residual pressure uniformly applied to the cylinder chamber 21 and the holder chamber 42. For this reason, the axial push-up force that the blade 10 receives from the workpiece W is satisfactorily absorbed, and damage to the blade 10 can be avoided.

  In this way, the tilting ring 5 in the holder 4 tilts smoothly through the eight balls 6 arranged on the outer periphery thereof, and the restoring force at the time of tilting is supplied into the cylinder chamber 21 and the holder chamber 42. Therefore, when the blade 10 is separated from the workpiece W, the blade 10 is tilted including the blade 10 and the spindle motor 8. The tilted state of the ring 5 can be smoothly returned to the axis of the tool.

  In the above-described embodiment, a deburring tool is used as the cutting tool 10, but lapping or chamfering can be performed using a lapping grindstone or a grinding tool.

  11 and 12 show a processing tool 1A according to another embodiment. As shown in FIG. 11, the processing tool 1 </ b> A is used by attaching the cutting tool 10 upward on a stand 60. In the description of the processing tool 1A of this embodiment, the same components as those of the processing tool 1 of the above-described embodiment are denoted by the same reference numerals as those in FIGS.

  As shown in FIG. 12, the processing tool 1 </ b> A is formed by attaching a stand 60 to the lower part. The cutting tool 10 is held upward by the chuck part 20 provided at the upper part, and the stand 60 is fixed on a base or the like. The workpiece W is attached to the tip of the robot arm RA, and while moving the workpiece W, a necessary portion of the workpiece W is brought into contact with the cutting tool 10 of the processing tool 1A to perform deburring processing or the like.

  As shown in FIG. 11, the cylinder 2 is fixed on the stand 60 by a fixing screw 9a. A cylindrical piston 3 is slidably inserted into the cylinder 2, and a holder 4 that holds the tilt ring 5 in a tiltable manner is fixed to the upper portion of the cylinder 2. In the tilt ring 5, a vertically long and long spindle motor 8 is penetrated and fixed at a concentric position. The spindle motor 8 is arranged together with the tilt ring 5 with a space around the cylinder chamber 21 and the cylindrical piston 3 of the cylinder 2 so as to be tiltable within a predetermined angle range.

  As shown in FIG. 11, a cylinder chamber 21 is formed in the cylinder 2, and the cylindrical piston 3 having a large-diameter flange portion 31 slides in the cylinder chamber 21 so that the flange portion 31 is inserted from above. Inserted as possible. The tilting ring 5 is disposed in contact with the large-diameter flange portion 31 so that the cylindrical piston 3 moves within the cylinder 2 within a predetermined range in accordance with the tilting or vertical movement of the spindle motor 8 and the tilting ring 5. Slide in the vertical axis direction.

  An air supply pipe 7 is connected to the cylinder 2 so as to supply pressurized air to the cylinder chamber 21 of the cylinder 2. The air pressure supplied to the cylinder chamber 21 through the air supply pipe 7 is applied around the flange portion 31 on the outer peripheral portion of the cylindrical piston 3, and the cylindrical piston 3 is biased upward by this air pressure. The spindle motor 8 is inserted inside the cylindrical piston 3 and penetrates through the cylindrical piston 3 so as to be tiltable through the surrounding space.

  On the upper part of the cylinder 2, a holder 4 that holds the tilt ring 5 so as to be tiltable is fastened and fixed from above by a fixing screw 49. The holder 4 is formed in a cylindrical shape, and a holder chamber 42 is formed inside. Further, on the inner peripheral surface of the holder 4, eight groove portions 41 for holding the ball 6 so as to be able to roll are formed in parallel with the axial direction (vertical direction) at an angular interval of 45 °, for example. . These groove portions 41 are formed in a substantially semicircular or substantially triangular cross section, and when the tilt ring 5 is tilted, the balls 6 smoothly roll in the groove portions 41 with very little frictional resistance. Yes.

  In the holder chamber 42 of the cylindrical holder 4, a tilting ring 5 fixed to the outer periphery of the spindle motor 8 is disposed via eight balls 6 so as to be tiltable. The tilt ring 5 is formed in an annular shape, and a spindle motor 8 is inserted into the inner circular space and fixed. A conical conical recess 51 is formed on the outer peripheral surface of the tilt ring 5 so as to store and hold the ball 6. Eight of these conical recesses 51 are formed at an angular interval of 45 °, similarly to the groove 41 provided inside the holder 4, and each ball 6 is held by the conical recess 51 and the groove 41 so as to be sandwiched from inside and outside. Is done.

  The tilt ring 5 in the holder 4 can be tilted in a predetermined angle range in all directions with the central axis C (axis line) of the cylinder 2 and the cylindrical piston 3 as a reference axis. In the holder chamber 42 of the holder 4, a slight gap is formed between the groove 41, the ball 6, and the conical recess 51, and the tilt ring 5 tilts smoothly through the ball 6 without rattling. The cylindrical piston 3 in the cylinder 2 comes into contact with the upper surface of the convex annular portion 52 below the tilting ring 5 located above the cylindrical piston 3 and supports the tilting ring 5 with low friction. ing.

  In the tilt ring 5, as shown in FIG. 11, a vertically long and long spindle motor 8 is disposed so as to penetrate a concentric position and is fixed by a fixing ring 12. The fixing ring 12 is fixed to the outer peripheral part of the spindle motor 8 by an annular wedge 13, and the fixing ring 12 is fastened and fixed to the upper surface of the tilting ring 5 from above by a fixing screw 14. Further, on the upper side of the holder 4, an annular clamp member 11 that supports the tilt ring 5 from the upper side is fastened and fixed by a fixing screw 49. The annular clamp member 11 is formed such that a convex annular portion protrudes downward on the inner peripheral portion, and the tilting ring 5 has its upper surface in contact with the convex annular portion at the uppermost position. At the time of tilting, a part of the tilting ring 5 is supported by a part of the convex annular part.

  Further, an exhaust pipe 17 is connected to the holder 4 in order to release the internal air pressure (residual pressure). Pressure air is supplied from the air supply pipe 7 into the cylinder 2 and the holder 4, and when the tilting ring 5 and the spindle motor 8 are tilted, a restoring force that causes the spindle motor 8 to return to the axis C position is generated by the air pressure. While supplying the pressure air from the air supply pipe 7 and exhausting the air with the adjusted flow rate from the exhaust pipe 17 of the holder 4, the air pressure in the cylinder 2 and the holder 4 depends on the use posture of the processing tool 1 </ b> A and the like. Adjusted.

  Next, the operation of the machining tool 1A having the above configuration will be described. The machining tool 1A is fixed on a machining table or the like via a stand 60 with the cutting tool 10 facing upward as shown in FIG. Is fixedly held and attached to the tip of the robot arm RA. It is also possible to fix the processing tool 1A on the processing table with the cutting tool 10 facing sideways.

  At the time of machining, as shown in FIG. 12, the workpiece W is moved by the operation of the robot arm RA, the tip side surface of the blade 10 rotating at high speed comes into contact with the edge portion of the workpiece W, and the blade 10 is lateral (radial direction). 9, the spindle motor 8 and the tilting ring 5 are tilted with respect to the axis (center axis) C by an angle corresponding to the load with respect to the cylinder 2 as in the case shown in FIG. 9. At this time, the tilt ring 5 tilts in the load direction around the center point S in the tilt ring 5 with respect to the axis C via the eight balls 6 in the holder 4. At this time, the cylindrical piston 3 that supports the tilting ring 5 from below is pressed upward by the air pressure supplied into the cylinder chamber 21, so that the tilting of the tilting ring 5 is caused by the air pressure in the cylinder chamber 21. The cylindrical piston 3 is slightly pushed down by the tilting of the tilting ring 5, which is performed against the upward biasing force of the cylindrical piston 3.

  At this time, an appropriately adjusted air pressure is applied to the cylinder chamber 21 of the cylinder 2 and the holder chamber 42 of the holder 4, and the cylindrical piston 3 supports the tilting ring 5 by receiving the air pressure. For this reason, the tilting ring 5 smoothly tilts according to the radial load received by the cutting tool 10, and vibrations and swings when the cutting tool 10 contacts or when the cutting tool 10 leaves the workpiece W are well absorbed, Deburring of the workpiece W is performed satisfactorily by the contact of the blade 10 that rotates at high speed with the workpiece W.

  Thus, the vibration and swinging of the cutting tool 10 during processing are absorbed by the appropriate air pressure in the cylinder chambers 21 and 22 and the holder chamber 42 being applied to the tilting ring 5 via the cylindrical piston 3, When the cutting tool 10 comes into contact with the workpiece W, it smoothly tilts together with the tilting ring 5 and the spindle motor 8 in accordance with the radial load. When the cutting tool 10 moves away from the workpiece W and the tilting load disappears, the cylinder chamber 21 The spindle motor 8, the tilting ring 5, and the cutting tool 10 can be smoothly returned to the position of the axis C by the internal air pressure.

  Further, when the lower surface of the work W hits the tip of the cutting tool 10 and the cutting tool 10 receives a downward pressing force from the work W, the tilting ring 5 is attached to the holder via the eight balls 6 arranged around the work W. The inside of the four holder chambers 42 is moved down in a horizontal state and operates to push down the lower cylindrical piston 3.

  At this time, the tilting ring 5 and the cylindrical piston 3 are smoothly lowered against an appropriate residual pressure uniformly applied to the cylinder chamber 21 and the holder chamber 42. For this reason, the pressing force in the axial direction that the cutting tool 10 receives from the workpiece W is well absorbed, and damage to the cutting tool 10 can be avoided.

  Thus, the tilting ring 5 is inserted into the holder 4 via the plurality of balls 6 so as to be tiltable in all directions with respect to the central axis of the cylinder 2, and the spindle motor 8 is fixed at a concentric position in the tilting ring 5. A conical concavity 51 for accommodating each of the balls 6 is formed on the outer peripheral surface of the tilting ring 5 at a predetermined angular interval. The plurality of balls 6 are parallel to the central axis on the inner peripheral surface of the holder 4. Since a plurality of groove portions 41 that are held so as to be able to roll are formed in parallel with the central axis at the same angular intervals as the conical recess portion 51, a tilting ring including the spindle motor 8 is applied when a radial load is applied to the cutting tool 10. Can be tilted smoothly with a very light load through the ball. Moreover, since pressurized air is supplied into the cylinder 2 so as to urge the end face of the cylindrical piston 3 in contact with the annular end face of the tilt ring 5, the tilt of the tilt ring 5 is tilted. A restoring force can be applied in a direction to restore the axial position with an appropriate force.

  For this reason, when processing the workpiece W while the cutting tool 10 is in contact with the workpiece W and receiving a load in the radial direction during processing, an appropriate contact force can be applied to perform deburring, etc. The workpiece W can be satisfactorily deburred and the like without damaging the workpiece. Also, unlike the conventional tilting mechanism, the structure can be simplified without using a large number of tilting support pins and coil springs that require high dimensional accuracy. The manufacturing man-hours can be reduced, and the manufacturing cost can be suppressed.

DESCRIPTION OF SYMBOLS 1 Processing tool 2 Cylinder 3 Cylindrical piston 4 Holder 5 Tilt ring 6 Ball 7 Air supply pipe 8 Spindle motor 8a Rotating shaft 9 Mounting bracket 10 Cutting tool 11 Clamp member 12 Fixing ring 13 Annular wedge 15 Convex ring part 17 Exhaust pipe 18 Dust-proof cover 19 Dust-proof cover 20 Chuck part 21 Cylinder chamber 31 Flange part 41 Groove part 42 Holder room 51 Conical recess 60 Stand

Claims (5)

In a processing tool for processing a workpiece by pinching a cutting tool to a chuck portion attached to a rotation shaft tip of a spindle motor and rotating the cutting tool by the spindle motor,
A cylindrical piston is slidably inserted into the cylinder, and a cylindrical holder is fixed to the end of the cylinder, and a tilting ring can tilt in all directions with respect to the central axis of the cylinder in the holder. Inserted through a plurality of balls, and the spindle motor is fixed at the same axial center position in the tilt ring,
A plurality of conical conical recesses for accommodating the balls are formed on the outer peripheral surface of the tilt ring at regular angular intervals, and the plurality of balls are connected to the central axis on the inner peripheral surface of the holder. A plurality of groove portions that are held so as to be able to roll in parallel are formed in parallel with the central axis at the same angular intervals as the conical concave portions,
Pressure air is supplied into the cylinder so as to urge the end surface of the cylindrical piston in a direction to contact the annular end surface of the tilt ring,
When a radial load is applied to the cutting tool and the spindle motor and the tilt ring tilt, the ball held in the conical recess of the tilt ring is parallel to the central axis in the groove of the holder. Rolling to
A machining tool, wherein the tilting state of the tilting ring and the spindle motor is returned to the axial position by the air pressure in the cylinder and the holder.   The processing tool according to claim 1, wherein the groove portion on the inner peripheral surface of the holder has a substantially semicircular or substantially triangular cross section and is formed in parallel with the central axis.   2. The machining tool according to claim 1, wherein a curved bulging portion having a substantially arc-shaped cross section is formed on the annular end surface of the tilt ring so as to be in contact with the end surface of the cylindrical piston.   The outer peripheral surface of the cylindrical piston is configured to be slidably contacted with the inner peripheral surface of the cylinder through a slight gap without using a rubber seal material, and pressure air flows through the slight gap. The processing tool according to claim 1, characterized in that:   An exhaust pipe for exhausting the pressure air is connected to the holder, and the residual pressure of the air in the holder is adjusted by exhausting the pressure air supplied into the cylinder and flowing into the holder from the exhaust pipe. The machining tool according to claim 4, wherein:

Images