Abstract: A method for mounting side doors on motor-vehicle bodies involves detecting—by means of optoelectronic systems—a plurality of dimensions measured along coordinates X, Y, Z, on the body and on the door units, with the aid of the proper references, for qualifying the geometric conditions of the coupling between the doors and the cooperating door receiving seats. On the basis of the detected dimensions, the method determines the mounting positions of each pair of hinge elements to be secured to the body and to the doors for accurate fit. The method involves mounting the hinge elements on the body in the determined positions, and mounting the doors on the body by connecting the body hinge elements and the door hinge elements to each other by simultaneously inserting articulation pins in seats, without requiring further operations for adjusting and recording geometrical settings.

Abstract: A plurality of different types of components is fed to a production line or cell by means of a conveyor for recirculating a plurality of pallets on which said components are carried. The conveyor comprises a horizontal carousel for recirculating the pallets along an endless path. The conveyor is able to cause the pallets to circulate in any of the two circulation directions, and the direction of circulation of the pallets is changed according to the type of component required by the production line or cell in each step of operation, in such a way as to carry a component of the type required to the production line or cell in the shortest possible time. The conveyor comprises a single chain-tensioning device designed to tension the chain properly whenever the direction of movement of the chain is reversed.

Abstract: A hemming head device and method for hem forming one or more edges of deformable material. The hemming head device includes dual biasing spring members which provide a resistive force whether the hemming wheel is in a push hemming operation on an exterior joint edge or in a pull hemming operation on an interior joint edge. The device further includes a quick connect device for selectively connecting hemming wheels and other forming devices to the head and a gauge to measure the relative position or resistive force applied on the forming member by the biasing members. A method for hem forming a workpiece using dual biasing spring members is also disclosed.

Abstract: A chain-tensioning device comprises at least one main chain-tensioning sprocket wheel on which a chain engages, a main spring that urges a shaft of the main chain-tensioning sprocket wheel in a direction of tensioning of the chain, and an auxiliary cam element that engages a cam-follower element operatively connected to the shaft of the main chain-tensioning sprocket wheel so as to tend to push this shaft in the tensioning direction under the action of auxiliary elastic means. The auxiliary cam element automatically recovers any play that is generated owing to wear of the chain and prevents a movement of the chain-tensioning sprocket wheel in a direction opposite to the tensioning direction. In a variant, two main chain-tensioning sprocket wheels are provided, each having a respective auxiliary cam element. The two auxiliary cam elements may form part of a single pivoted lever.

Abstract: In an accumulation pallet conveyor (1) with an upper horizontal conveying run (1A) and a lower horizontal return run (1B) the pallets are carried by respective pallet-carrying members (P1) drawn by an endless chain (2). Each pallet-carrying member (P1) has at least one sprocket wheel (3) that engages without turning the chain (2) along the horizontal runs of the conveyor for drawing the respective pallet-carrying member (P1) together with the chain. In the case where a pallet-carrying member is stopped in position along a horizontal run of the conveyor (1) the aforesaid sprocket wheel carried by the pallet-carrying member (P1) starts to turn, enabling movement of the chain with respect to the pallet-carrying member (P1). In the curved stretches of the chain, at each end of the conveyor, the movement of the pallet-carrying member (P1) is caused by an engagement finger (F) that engages the chain and couples therewith only in said curved stretches of the chain.

Abstract: In a method for assembling a component on a motor-vehicle body structure, a device is set with a manipulator into a condition of connection with a component placed in a pick-up position, according to a predetermined mutual positioning; the component is gripped with the device to connect the component thereto; the device connected to the component is carried with the manipulator to a motor-vehicle body structure that is located in a position, on a conveying line, upstream of a centre for welding or fixing the component on the body structure; the component is constrained with the device to the body structure according to a mutual positioning whereby the component comes to occupy the proper position of assembly; the device is supported with the body structure; and with the device supported by the body structure, the body structure is conveyed with the conveying line to the center.

Abstract: A plant for assembling mechanical parts on bodies of motor-vehicles comprises an endless conveying line and a plurality of pallets movable along the conveying line, each receiving mechanical parts of the motor-vehicle along a first section of the line. Means for loading a respective motor-vehicle body on a respective pallet at a loading station, located at the beginning of a second section of the conveying line, downstream of the abovementioned first section with reference direction of movement of the pallets are provided. At least one bolting station for bolting the mechanical parts on the respective body along the abovementioned second section is provided. The abovementioned second section of the line is superimposed to the first section and aligned therewith, so that the pallets move along a closed loop in a vertical plane, moving along the upper section in a direction opposite to their direction of movement along the lower section.

Abstract: In an industrial robot, the electronic drive devices for the electrical supply and control of electric motors of the robot are distributed on the robot structure, each being adjacent to the respective electric motor. The electronic drive devices are connected in series to each other and to a central processing unit. In this series connection an Ethernet line is included for communication of the electronic drive devices with the central processing unit. Thanks to this series connection, the robot harness is dramatically simplified and the operations for its replacement are consequently easier and faster. The structure of the connectors between the robot and the control unit is also greatly simplified.

Abstract: A plant for assembling mechanical parts on bodies of motor-vehicles comprises an endless conveying line and a plurality of pallets movable along the conveying line, each receiving mechanical parts of the motor-vehicle along a first section of the line. Means for loading a respective motor-vehicle body on a respective pallet at a loading station, located at the beginning of a second section of the conveying line, downstream of the abovementioned first section with reference direction of movement of the pallets are provided. At least one bolting station for bolting the mechanical parts on the respective body along the abovementioned second section is provided. The abovementioned second section of the line is superimposed to the first section and aligned therewith, so that the pallets move along a closed loop in a vertical plane, moving along the upper section in a direction opposite to their direction of movement along the lower section.

Abstract: An industrial robot including a robot chain of elements, a robot wrist bearing a tool (100) and a continuous internal passage through which one or more cables and/or pipes for the power supply and/or the fluid supply to the tool. The cables and pipes continue without interruption through the passage and through a flange of the robot up to respective connections of said tool, whereby the cables and pipes are arranged completely inside the robot and inside the tool, without the need to provide separate cables and pipes of the tool connected to the cables and the pipes of the robot at the flange of the robot.

Abstract: A manipulator robot for industrial production lines including a support structure and two robot arms mounted to the support structure at declining and diverging angles from one another. In one example, each robot arm includes six robot body portions connected in series and rotatable relative to one another. The improved robot design provides significant advantages in the flexibility, movement and modality of the robot for exemplary use in industrial production lines.

Abstract: Disclosed herein are systems for assembly of a component, in particular a roof panel, on a motor-vehicle body structure. One system comprises a device designed to clamp the component on the body structure in the proper position; a center for welding the component on the body structure; and a conveying line for carrying to and from the welding center a succession of the body structures. The clamping device is provided with means for gripping the component and comprises first manipulator means for bringing the device into connection with the component in a pick-up position according to a predetermined mutual positioning, and for carrying the device connected to the component to a body structure that is located in a position on the conveying line, upstream of the welding center, for constraining it to the body structure according to a mutual positioning whereby the component is in the proper position of assembly.

Abstract: An articulated robot wrist includes a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis. The first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes result substantially aligned with one another.

Abstract: Disclosed herein are embodiments of an articulated robot wrist which can comprise a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis, wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.

Abstract: Methods for controlling at least two robots having respective working spaces, including at least one region in common are disclosed. The working space of each robot is modelled by defining one or more interference regions each constituted by an elementary geometrical figure. The interference regions are classified as: prohibited interference regions, defined as regions of space where the presence of the robot must without fail always be inhibited; monitored interference regions, defined as regions of space where the presence of the robot is accepted, but controlled, the robot being pre-arranged for sending a signal to the central control unit whenever it enters a monitored region and whenever it exits from a monitored region; and hybrid interference regions that are able to change between a status of monitored region and a status of prohibited region as a function of an input signal to the robot sent by said central control unit.

Abstract: In a framing system for framing motor-vehicle bodies or sub-assemblies thereof, the body to be framed is located and clamped in position during the assembling operations by side locating and clamping structures (8). Each of these structures comprises a rigid supporting structure (82) including a base platform (82a) and a frame (81) which carries locating and clamping devices (D). The base platform (82a) is dimensioned in the direction parallel to a body conveyor line with a standard length proportionated to the length of the longest body type on which the system is to operate. Pillars (82b) for supporting the frame (81) are mounted on the platform (82a) at positions which are selected between different possible positions, displaced relative to each other longitudinally and/or transversely. Thus, the side locating and clamping structures (8) can be configured easily for different types of body and the system is able to operate on body types having also very relevant differences in length and/or width.

Abstract: A system for loading and unloading piece-carrying containers (C) in an industrial plant, comprising: a station (2) for loading and unloading said containers; a workstation (3) to which the loaded containers are brought and at which the pieces are taken from said containers; and a turret (6), which can turn about a vertical axis and is designed to exchange with one another a first container in said workstation and a second container in said loading and unloading station, through a predetermined movement of rotation of said turret, said system being characterized in that, in order to carry out said exchange of said first and second containers, said turret is configured for lifting said first and second containers so as to release them and pick them up from said stations.

Abstract: Method for mounting side doors on motor-vehicle bodies, wherein the doors are connected to the body by means of a pair of hinges each providing a pivot for support and articulation of the door. Each hinge is constituted by a body (fixed) element connected to the body and a door (movable) element connected to the door, as well as by a pin for their mutual rotational articulation.

Abstract: A plurality of different types of components is fed to a production line or cell by means of a conveyor for recirculating a plurality of pallets on which said components are carried. The conveyor comprises a horizontal carousel for recirculating the pallets along an endless path. The conveyor is able to cause the pallets to circulate in any of the two circulation directions, and the direction of circulation of the pallets is changed according to the type of component required by the production line or cell in each step of operation, in such a way as to carry a component of the type required to the production line or cell in the shortest possible time. The conveyor comprises a single chain-tensioning device designed to tension the chain properly whenever the direction of movement of the chain is reversed.

Abstract: Disclosed herein are embodiments of an An articulated robot wrist. One embodiment comprises a includes a first body, a second body and a third body. The first body comprising includes first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a. The second body comprising includes first and second ends, the first end being rotatably mounted on said the second end of said the first body around a second axis inclined angled with respect to said the first axis; and a. The third body comprising includes a first and a second end, the first end being rotatably mounted on said the second end of said the second body around a third axis inclined angled with respect to said the second axis. The first and third axes form an angle substantially of 90° with respect to said the second axis, and wherein in. In at least one position of said the robot wrist said the first and third axes are substantially aligned with each other.