Tool holder for industrial robot arm - has pneumatically powered actuators for compensating for additional weight

摘要

A robot manipulator of the type used in industrial processes has a tool holder (3) mounted at the end of the robot arm (2). This can be in the form of a spot welding tool (4) mounted on parallel guides (5) and having a pair of electrodes (7). The assembly has a pair of pneumatically powered actuators (10,12), each with balanced masses (F1,F2). The masses are selected such that the forces applied to the assembly are in balance for all angular positions of the manipulated tool assembly. ADVANTAGE - Provides balanced force condition for all positions of robot tool.