Furlan, Gianmarco

Articulated robot assembly for machining pieces (100), which comprises a support structure (2), a rotary table (3), which is rotatably mounted on the support structure (2), around a first rotation axis (R), and on which a piece (100) to be machined is intended to be placed. The assembly further comprises a robot (4), which is provided with a support base, intended to be placed on the ground, and an articulated arm (41), which is mounted on the support base and comprises a main portion (42), mounted in an articulated manner on the support base, a rotatable portion (43), which is rotatably mounted on the main portion (42), around a second rotation axis (T), and a machining tool, mounted on the rotatable portion (43) of the articulated arm (41), and actuatable in rotation in order to machine the piece (100) mounted on the rotary table (3). The assembly further comprises first compensation means (5), which are mounted on the robot (4), between the main portion (42) and the rotatable portion (43), in order to compensate for the movement of the rotatable portion (43) with respect to the main portion (42) around the second rotation axis (T) and comprise two first reaction elements (51, 52), pliable along a first movement direction (Y), and a first centering element (53), interposed to size abuttingly between the two first reaction elements (51, 52). Wherein the first two first reaction elements (51, 52) are configured to exert a first reaction force (Fr1) on the first centering element (53), predetermined, to maintain it in an initial position, while the first centering element (53) is movable against the first reaction elements (51, 52), which are susceptible to plying along the first movement direction (Y), and are configured to return the first centering element (53) to the initial position.