| 摘要 |
PURPOSE:To receive rotational reaction force and vibration with a floating arm of a robot so that a heavy work may be carried out with a simple mechanism, by moving the floating arm in a plane orthogonal to the rotary axis of a tool, for positioning and securing of the arm, so that the tool is axially moved to carry out the work. CONSTITUTION:By driving a drive arm 16 of a robot 2 to move a dril 7 to a predetermined position, the drill 7 is rotated after a floating arm 5 is locked by operating brakes 10, 11 in accordance with a signal indicating the completion of a positioning operation, and an air cylinder 21 is operated to lower the drill 7 for drilling. After the drilling at that section is completed, the drill 7 is lifted up by means of the air cylinder 21, and as well the brakes 10, 11 are released to move the drill 7 to the other desired position for drilling in substantially the same manner. Accordingly, rotational reaction force and vibration which are effected during drilling, are transmitted to the arm 5 through a guide mechanism 6 and are received by the rigidity of the arm 5 and the brakes 10, 11 thereby no large rigidity is required for any part of the robot 2. |
