| 摘要 |
PURPOSE:To minimize arm displacement and prevent breakage of a drill by applying urging force in the substantially same direction as a reaction produced by drilling work at an extreme end of the robot arm of an industrial robot used for drilling work. CONSTITUTION:A robot arm 2 has an L shaped base 4 and a guide 5 disposed at its end and an urging bar 11 disposed below it, the base and the guide being provided with a drilling unit 6. When the lower end of the urging bar 11 comes in contact with a workpiece W, the extreme end of the arm 2 is urged upward by such an urging body as a coil spring. Although the robot arm 2 inclines downward due to the weight of the drilling unit 6, the dead weight of the arm and backlash in general, it is incliningly displaced upward by a reaction produced when a drilling starts, thus bending moment is applied to a drill and breaks it. However, urging the arm in advance in this manner minimizes the displacement of the arm and prevents breakage of a drill.
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