| 摘要 |
The unit is mounted on an arm of the robot. To enable a drill bush 21 of a nose piece 20, for guiding a drill 12, to be adjustably moved into exactly registering relation with a bore of a template 22 laid on a workpiece 13, the nose piece 20 is mounted on a first cylindrical member 18 which is mounted on a second cylindrical member 25 through a first compliance mechanism comprising elastic support members 29 which constitute oblique links of a trapezoidal link mechanism having an imaginary intersection of the oblique links at a front end of the drill bush 20. The drill bush 20 can therefore make a swinging motion about the intersection. The second cylindrical member 25 is mounted on a guide plate 34 through contact by a laterally slidable flange 26 forming a second compliance mechanism which enables the second cylindrical member and hence the drill bush to adjustably move in a radial direction of a rotational shaft 10 of the drilling unit. Each compliance mechanism can be locked against use by respective actuated pin units 31, 37. After adjustment of the nose bush 20 in the template bore, angular rotation of the nosepiece 20 occurs to bayonet lock with bolts 24. <IMAGE> |
