Gripper robot assembly with undercut device and balanced Accutune

摘要

The invention concerns a welding clamp-robot with self-adapting relieving and balancing device comprising two tool-holder arms (2', 3') designed to be brought closer together under the action of a main actuator (1), so that said tools can clamp between them a subassembly to be assembled, an auxiliary balancing actuator being provided for relieving one (2'') of the tools relative to said subassembly and to bring back one of the arms, called reference arm (2'), in an abutting position recessed relative to said subassembly after a balancing phase during which said tool has been placed in contact with said subassembly, said auxiliary actuator being mounted therefor between a fixed supporting part (5) and said reference arm. The invention is characterised in that the auxiliary actuator consists of an electric motor (13) servo-controlled by an electronic control and associated with a mechanical movement transmission system (14) of the reference arm (2') and a position sensor connected to the electronic control, which is designed to control automatically the torque of said motor or its speed, respectively during the assembling and relieving phases of the corresponding tool (2'').