| 摘要 |
The invention relates to a return device for tools (11) of industrial robots, such as welding robots (1), which comprises a connection (6) for insertion of the return device into the force flow between the tool and a seat of the industrial robot occurring during a collision, and deflection means (43, 44) which are functionally linked with a tool and are deflected in the event of a collision. The return device is provided with a restoring unit (40) which automatically returns the tool along a return path from a point of deflection reached due to a collision to a predetermined desired position, especially the reference point, whereby the restoring unit builds up a returning force during deflection. The aim of the invention is to increase the return precision in the case of a collision. For this purpose, the restoring unit has a force/distance characteristics that results, before the desired position is reached, in an increase in return force to a restoring force when the deflection means is returned along the return path. |
