SELBSTANPASSENDE TAST-VORRICHTUNG FUER ARBEITSMASCHINEN

摘要

An automatic industrial robot is provided with an autoadaptive tactile device connected to a tool for performing at least one operation upon a workpiece. The tool is carried by a working head including a toolholder, and control means for effecting relative movement between the workpiece supporting means and the working head so as to bring a tool in the toolholder into a predetermined position relative to the workpiece subject to a certain tolerance. The toolholder is connected to the working head by a coupling which can be selectively freed to allow limited shifting of the toolholder relative to the working head and clamped so as to clamp the toolholder relative to the working head.