Abstract: A method determines the servicing requirements of axes of a robot arm of an industrial robot. The data of a movement sequence of at least one axis during at least one working cycle of the industrial robot is made available. The rotational movements of the at least one axis are established on the basis of the data, and a servicing interval for the at least one axis is determined by an assessment of the rotational movements established. A system for determining a servicing requirement performs the method.

Abstract: A method determines the wear of axles of a robot arm of an industrial robot. A torque profile of at least one axle taken during at least one working cycle of the industrial robot is used as a basis for an analysis. The torque profile is analyzed for portions of the torque profile that exceed a previously fixed torque band, and current axial wear is determined by assessing the frequency and/or the curve profile of the portions of the torque profile. A system is provided for determining the wear.

Abstract: A method assesses a state of at least one axial joint of an industrial robot, on the basis of data of a mechanical backlash present at the axial joint of the industrial robot, a state of wear of the axial joint being determined. On the basis of data of a torque profile, a first loading state of the axial joint is determined at the axial joint during at a first working cycle of the industrial robot. On a basis of data of a movement sequence at the axial joint during a second working cycle of the industrial robot, a second loading state of the axial joint is determined. An assessment of the state is carried out by pre-assessing the state of wear, the first loading state and the second loading state and a subsequent comparison with an empirically obtained comparison value matrix.

Abstract: A method measures the backlash at an axial joint of an industrial robot having a first and a second robot knuckle that are movably connected to each other in a direction of rotation by the axial joint. A load-transmitting device applies a predeterminable force alternately in a measuring line to the first robot knuckle, connected to the free end of a robot arm. A deflection sensor measures the deflection of the first robot knuckle at a predetermined distance from the axis of rotation of the axial joint, and an evaluation device connected to the displacement sensor calculates a turning angle of the first robot knuckle as a measure of a backlash present at the axial joint, taking into account the geometrical arrangement data in the measurement of the deflection sensor and the industrial robot and also the measured deflection.

Abstract: A method determines the servicing requirements of axes of a robot arm of an industrial robot. The data of a movement sequence of at least one axis during at least one working cycle of the industrial robot is made available. The rotational movements of the at least one axis are established on the basis of the data, and a servicing interval for the at least one axis is determined by an assessment of the rotational movements established. A system for determining a servicing requirement performs the method.

Abstract: A method measures the backlash at an axial joint of an industrial robot having a first and a second robot knuckle that are movably connected to each other in a direction of rotation by the axial joint. A load-transmitting device applies a predeterminable force alternately in a measuring line to the first robot knuckle, connected to the free end of a robot arm. A deflection sensor measures the deflection of the first robot knuckle at a predetermined distance from the axis of rotation of the axial joint, and an evaluation device connected to the displacement sensor calculates a turning angle of the first robot knuckle as a measure of a backlash present at the axial joint, taking into account the geometrical arrangement data in the measurement of the deflection sensor and the industrial robot and also the measured deflection.

Abstract: A method assesses a state of at least one axial joint of an industrial robot, on the basis of data of a mechanical backlash present at the axial joint of the industrial robot, a state of wear of the axial joint being determined. On the basis of data of a torque profile, a first loading state of the axial joint is determined at the axial joint during at a first working cycle of the industrial robot. On a basis of data of a movement sequence at the axial joint during a second working cycle of the industrial robot, a second loading state of the axial joint is determined. An assessment of the state is carried out by pre-assessing the state of wear, the first loading state and the second loading state and a subsequent comparison with an empirically obtained comparison value matrix.

Abstract: A method determines the wear of axes of a robot arm of an industrial robot. A torque profile of at least one axis taken during at least one working cycle of the industrial robot is used as a basis for an analysis. The torque profile is analyzed for portions of the torque profile that exceed a previously fixed torque band, and current axial wear is determined by assessing the frequency and/or the curve profile of the portions of the torque profile. A system is provided for determining the wear.

Abstract: Substituted olefins of the formula (I) ##STR1## are prepared by reaction of a compound of the formula (II) ##STR2## with a compound of the formula (III)R--CH--CH.sub.2in the presence of an organic and/or inorganic palladium salt as a catalyst using water and/or an alcohol as a solvent, the substituents and indices being defined in the disclosure.

Abstract: Symmetrical diaryl-acetylenes can be prepared by reacting an aryl halide with acetylene in the presence of a palladium catalyst and a base. If the acetylene is introduced into the liquid reaction mixture using a high intensity gas dispersion means, the aryl halide used can be an aryl bromide.

Abstract: Sulphonic acids of bis-styrylbiphenyls, which are useful optical brighteners, are obtained in good yields in a simple manner by reacting styrene compounds with 4,4'-dibromobiphenyl-3,3'-disulphonic acids or their salts in the presence of bases and palladium catalysts.The bis-stilbene compounds have the formula: ##STR1## where at least one of the rings A or B contains a sulfonic acid group.

Abstract: Low-melting polymers containing at least one Z-configured stilbene group are produced by reaction of Z-configured bifunctional stilbene compounds with bifunctional monomers, oligomers or relatively high molecular weight components at temperatures in the range from -30.degree. to 250.degree. C., optionally in the presence of organic solvents and/or diluents and/or catalysts, the Z-configuration of the stilbene units remaining intact. The low-melting polymers may be processed by standard methods to moldings of various kinds which may be converted by treatment of temperatures of 250.degree. to 500.degree. C. and/or by irradiation at wavelengths of 200 to 800 nm into high-melting plastics articles of high heat resistance.

Abstract: New Z-stilbene compounds and a process for their preparation are disclosed wherein the compounds correspond to the following formulae: ##STR1##