Metallurgic casting installation

A metallurgic casting installation comprising a robot, wherein said robot comprises a handling tool coupled to an arm of the robot by a coupling element, said coupling element comprising,

• a tool interface rigidly coupled to the handling tool and
• a robot interface rigidly coupled to the arm of the robot,
• a) wherein the compliance of the coupling element can be controlled such that upon application of a load onto the tool interface, the tool interface can be moved relative to the robot interface, by translation along and/or rotation about one or more of a first, second and third orthogonal spatial axes X1, X2, X3,
• b) wherein the coupling element is resilient in that upon release of the load, the tool interface returns to a reset position relative to the robot interface corresponding to a reset distance Dr separating the tool interface and the robot interface,
• c) wherein the coupling element comprises at least one anchor rod extending along a longitudinal axis Z1,
• wherein the anchor rod comprises a fixed end rigidly fixed to a first interface consisting of the robot interface or the tool interface, the first interface defining a plane (X2, X3), transverse to the longitudinal axis Z1 of the rod;
• wherein the anchor rod comprises an anchoring end portion inserted in a passage of a second interface consisting of the other of the robot interface and the tool interface, the anchor rod and the passage being free to move in translation with respect to one another, such as to move the tool interface away from and towards the robot interface at least along the first axis X1;
• wherein the passage comprises an abutting portion, with a diameter smaller than the diameter of the anchoring end portion, for abutting against the anchoring end portion to limit the distance the tool interface can be moved away from the robot interface to a maximal distance D1;
• and
• wherein the coupling element comprises a compliant element with an adjustable compliance level, said compliant element being located between said robot interface and said tool interface, said compliant element configured to be in contact with both said robot interface and said tool interface, and said compliant element coupled to at least one of said robot interface and said tool interface and;
• d) wherein the compliant element of the coupling element is a closed inflatable chamber with a deformable wall, wherein the closed inflatable chamber can be inflated to a variable pressure up to a pressure wherein the distance between said tool interface and said robot interface is equal to the maximal distance D1.