| 摘要 |
The invention relates to the guidance, by a jig, of the tool or of another working member of a robot. According to the invention, the tool, fixed in a sleeve 9, and its touching needle 6, are mounted in the tool carrier of the robot, by means of a link with two degrees of freedom, consisting for example of two articulated parallelograms P1 and P2 which are coupled in such a way that their respective planes are always perpendicular to one another; this link allows the spindle A1 of the tool carrier to move away from the spindle A2 of the tool, whilst remaining parallel to it, only when the touching needle 6 is stopped by the guide profile 7a of the jig 5; during the movement which follows, there is compression of at least one of the elastic members r1 to r4, which therefore applies 6 against 7a during machining. The invention may be applied to the automation of machining, control, drawing, etc. operations. <IMAGE>
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