Abstract: A freely programmable multi-axis articulated manipulating arm unit having arm elements disposed along different longitudinal axes especially for use as an industrial robot is provided with a drive system and a brake system for each of individual rotational or translational axes; the drive systems belonging to the rotational or translational axes of the manipulating arm unit are each provided with a hydraulically actuated locking brake which functions in a play-free manner, when in the operating braking state. Each of these brakes fixes adjacent arm-elements with respect to each other. Said adjacent arm elements are able to move about the rotational axes relative to each other when the said brakes are not operative. The arm elements are fixed directly in every position, that is, without the use of intermediate elements.

Abstract: In each drive direction of a degree of freedom, or in each of the drive directions of several degrees of freedom, the industrial robot is provided with an absolute measured value transmitter or transducer and a relative measured value transmitter which give the instantaneous position of the drives. Should the signal put out by the absolute measured value transmitter not fall within a preselected range of a first window circuit, the robot will be switched off via the control because the robot is moving in a unpermitted working region. The reference position can be chosen with the aid of a second window circuit whose window lies within the range of the first window circuit.

Abstract: A method for automatically controlling the operation of a rod-working apparatus of the type including a rod-feeding unit which feeds towards a cyclically operating work tool a certain length of rod per work cycle of the tool. There are selected a minimum and a maximum distance through which a rod to be fed towards the work tool is to be permitted to advance per work cycle of the tool. A rod is fed towards and into the range of operation of the tool. The actual distance advanced by the rod during a work cycle of the tool is determined. It is also determined whether the actual distance of advancement falls within the range defined between the preselected minimum and maximum distances. When the actual distance falls outside such range, operation of the rod-feeding unit is terminated.

Abstract: A bar loading machine for the automatic feeding of bars to an automatic screw machine or other bar machine includes a bar-engaging device, a feed chain for driving the bar-engaging device, a start switch arrangement for sensing the arrival of the leading end of a bar, and a feed control arrangement. The feed control arrangement establishes the feed distance required for properly positioning the leading end of the bar in the bar machine, and includes first and second distance-measuring arrangements which successively and independently of each other control the movement of the feed chain. The first distance-measuring device includes a fixed stop arrangement for limiting the feeding of a bar.