Abstract: Disclosed herein are embodiments of an articulated robot wrist. One embodiment comprises a first body comprising first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a second body comprising first and second ends, the 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, the 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 form an angle substantially of 90° with respect 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: 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: An electric spot welding head for a multi-axis industrial robot that has a compact configuration, particularly in a longitudinal direction that goes from the end of the head for the attachment to the robot wrist towards the welding electrodes. This result is achieved primarily by the fact that the electrical transformer mounted on the head has its output connected to the electrode-holding arms arranged, respectively, on a front wall of the body of the transformer and on an end wall of the body of the transformer, for the connection to the electrode-holding arms of the head. The structure of the welding head is completely covered by a casing having a rear opening for connection to the robot wrist and a front opening from which the electrode arms of the welding head protrude.

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: A robot system having a manual guide device connected to the robot in wireless data communication with a portable terminal for use in programming the robot.

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 centre for welding the component on the body structure; and a conveying line for carrying to and from the welding centre 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 centre, for constraining it to the body structure according to a mutual positioning whereby the component is in the proper position of assembly.

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 embodiments of an articulated robot wrist. One embodiment comprises a first body comprising first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a second body comprising first and second ends, the 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, the 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 form an angle substantially of 90° with respect 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: 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: 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. 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: 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: Device for remote laser welding of metal sheet structures comprises an anthropomorphous robot onto whose wrist is mounted an accessory device carrying a focusing head for the laser beam coming from a laser source, as well as means for oscillating the pointing direction of the focused laser beam around one oscillation axis. During welding the robot shifts the accessory device along a given trajectory and at a given speed, while the pointing direction of the focused beam is oscillated to as to allow the area of structure that is lighted by the laser beam to shift at a speed and/or along a trajectory not depending directly on the shifting trajectory and speed of the accessory device carried by the robot.

Abstract: A machining unit, particularly for machining the surface of cylindrical cavities, has a tool-holder assembly, including an electric actuator for adjustment of the radial tool position. The control signals of the actuator are transmitted to said actuator by a stationary electronic control unit via a wireless communication system. Also provided on board the tool-holder assembly is a system for electrical supply of the actuator, constituted, for example, by one or more batteries or else by an electrical-generation microsystem that exploits a portion of the flow of the high-pressure lubricant-coolant that is fed into the machining area.

Abstract: An articulated robot includes a wrist carrying a flange for attachment of an apparatus to be carried by the robot. The wrist comprises a first support mounted on a robot component that is rotatable about a first axis, a second support rotatably mounted on the first support about a second axis inclined with respect to the first axis, and a third support rotatably mounted on the second support about a third axis, inclined with respect to the second axis. A first motor carried by the first support drives the rotation of the second support, and a second motor carried by the second support drives the rotation of the third support, which ends with the flange for attachment of the apparatus to be carried by the robot.

Abstract: A method for monitoring performance of at least one task in controlled equipment is disclosed herein. The method includes collecting a series of signals associated with the at least one task, at least some of the signals in the series define timing values for the at least one task. comparing each of at least some of the timing values to a reference value, generating an accumulated variance value based on the comparisons and selectively generating a predictive failure indication based on the generated accumulated variance value.

Abstract: A cell for automated assembly operations, in particular for the assembly of components and accessories of multi-cylinder internal-combustion engines, includes a device for referencing the piece and clamping it in position, which includes a plate, provided with reference elements that are to engage, said plate being raisable vertically to take up the engine, setting the engine at a distance from the conveying device. The raisable plate is carried by a slide, which is mounted mobile in a direction parallel to the longitudinal direction of the line. The aforesaid slide is mounted so that it can slide on a supporting structure, which is in turn mounted oscillating about an axis parallel to the longitudinal direction of the conveying line on a structure that is rigidly connected to the fixed frame of the cell.

Abstract: A cell for automated assembly operations, in particular for the assembly of parts of multicylinder internal-combustion engines, has manipulator members that are designed for simultaneous assembly of a plurality of elements on a work piece and that are adjustable for varying the distance between the positions of said elements.

Abstract: A plurality of stretches of laser weld are executed on a structure to be welded by means of a device for focusing and orientation of the laser beam, which is associated to a component element of a manipulator robot. The focusing head is kept in the proximity of, but not closely adjacent to, the different areas to be welded and can consequently follow a simplified path, whilst the device for orientation of the laser beam aims the latter on the different areas of the structure to be welded, so that the speed of travel of the laser beam spot along the longitudinal direction of the weld stretch is independent from the speed of travel of the robot end element.

Abstract: A robot system (X-Z) includes a plurality of manipulators (1x-2x, 1y-2y, 1w-2w, 1z-2z) and a portable terminal (3), said terminal being able to connect to the manipulators in wireless mode. The system is conceived so as to enable the terminal (3) to connect to a first manipulator (1x-2x) in a programming mode (Main) and, during the same session, to connect to a second manipulator (1w, 2w) in a monitoring mode (Secondary).

Abstract: Motor-vehicle bodies or sub-assemblies thereof are assembled in a welding-assembly station with the aid of frames arranged at the two sides of the conveying line that traverses the station, said frames being provided with fixtures for locating and clamping the various parts of the body. The side frames are moved between their operative position in the station and an inoperative position at a distance from the station with the aid of multi-axis manipulating robots. Said robots, however, do not carry the frames up to their final operative position for assembling the body, but rather unload them on two rigid structures, which are prearranged at the two sides of the line and are movable in a transverse direction with respect thereto between an open condition and a closed condition. The movable structures, once they have received the frames from the robots in their open condition, displace into their closed condition, thus carrying the frames into their final operative position.