Abstract: The invention relates to a mobile security basic control device (15) of a robot (1), comprising a hand-held housing (16), an emergency stop switching means (17) arranged at the housing (16), a communication device (18) for establishing a link in terms of control between the mobile security basic control device (15) and a robot controller (12) of the robot (1), and further comprising a holder (19) connected to the housing (16), which is designed to mount the mobile security basic control device (15) on a mobile terminal (20). Said mobile terminal has a terminal control system (21) and a multi-touchscreen (22), which is designed to transmit inputs to the terminal control system (21) via the multi-touchscreen (22).

Abstract: A bearing assembly includes a bearing flange and a flange receptacle having a longitudinal axis, which comprise a mutual axial stop and a fixing for securing the mutual stop position. The fixing is designed as a wedge-type clamp which can be actuated transversely, in particular radially, to the longitudinal axis. The wedge-type clamp clamps the bearing flange and the flange receptacle axially into the mutual stop position. The bearing assembly may be, for example, provided for a robot and its rotary body.

Abstract: A manipulator system includes a manipulator configured for guiding an instrument. The system furthermore includes a controller configured to actuate the manipulator such that the instrument is pressed with a pressing force against a human body. A force reduction input device is provided separately from the manipulator and is operable by an operator to reduce the pressing force.

Abstract: A device for measuring mechanical changes includes at least one first resistor which is designed to convert a mechanical change into a change of its resistance value and at least one operational amplifier, wherein the at least first resistor and the operational amplifier are connected such that the at least first resistor serves as input resistance for the operational amplifier and the operational amplifier provides or can provide a measurement result at an output. The first resistor is for example a strain gauge that can be secured to a component.

Abstract: A head piece and a welding tool, in particular an FSW tool, equipped therewith, and a welding method. The head piece has a through-opening for a plasticizing welding means, in particular a rotating welding pin. The head piece also has a profiled end face which faces the workpiece during welding and has end face regions of different heights and a sloping shoulder, which conducts the plasticized material of the workpiece and connects the end face regions.

Abstract: A voltage converter, which is configured as a step-down converter for reducing an input direct voltage to an output direct voltage lower than the input direct voltage, includes a first step-down converter circuit arrangement, having a first semiconductor switching element with a first control input, a first coupled choke having a first freewheeling diode, and a first input capacitor and a first output capacitor. A second step-down converter circuit arrangement, includes a second semiconductor switching element having a second control input, a second coupled choke having a second freewheeling diode, and a second input capacitor and a second output capacitor. An associated control device controls the voltage converter.

Abstract: A robot arm includes multiple links and joints connecting the links to one another in an articulated manner, wherein, in cooperation with the joints, the links are designed to carry and move a load in space. The joints can be automatically adjusted by motors of the robot arm to move the links. At least one first link has a first casing and a neighboring second link has a second casing. The casings are designed to transfer respective forces and torques resulting from the weight of the robot arm itself and/or the load to the neighboring link. The first casing and/or the second casing has a deformation element designed to form a buffer body in a joint space between the first and second casings, which is changed due to an adjustment of the associated joint. The buffer body at least substantially or completely fills the changeable joint space.

Abstract: The invention relates to a method for controlling an automation assembly which has a robot assembly with at least one robot (10) and a detection means assembly with at least one detection means (21-23), said method having the following at least partly automated steps: providing (S10) a first sequence of first ordinate data (q1, q2, dq2/dt, ?1, ?2) assigned to successive first abscissa points (t) on the basis of first training data (q1, q2, ?1, X2); identifying (S20) a first event point (tE) within the first abscissa points of the first sequence; and determining (S30) a first event criterion on the basis of the first sequence and the first event point.

Abstract: The invention relates to an arrangement for connecting a charging plug to a charging interface of a vehicle, with a moving apparatus with a plurality of controllable movement axes; a tool which can be positioned by means of the moving apparatus relative to the vehicle and is configured to hold the charging plug, the tool having a centering device for centering the charging plug within the tool and a controllable tool movement axis for moving the charging plug independently of the movement axes of the moving apparatus; wherein the tool with the charging plug centered therein can be positioned in a predetermined relative position with regard to the charging interface by means of the moving apparatus and the charging plug can subsequently be connected with the charging interface by using the tool movement axis.

Abstract: A delta robot includes a robot base, an end effector carrier that can be positioned in space, and three parallelogram articulated couplings which connect the end effector carrier to the robot base and are designed to connect the end effector carrier in a displaceable manner while maintaining its orientation in space relative to the robot base. Each parallelogram articulated coupling can be displaced, driven by a motor, to automatically move the end effector carrier, wherein each motor can be braked by means of a brake in order to automatically stop the end effector carrier and/or to hold the end effector carrier in its present position. The end effector carrier comprises at least one input device connected to the brakes by control technology and designed to release the brakes in an actuated switching state of the input device such that the end effector carrier is manually displaceable.

Abstract: A method for controlling a robot arrangement having at least one robot includes monitoring the robot arrangement using multiple safety monitoring functions activated in parallel, and steps, which may be repeated multiple times during execution of an application of the robot arrangement, of: selecting a subset of process parameters from a prescribed set of process parameters on the basis of a prescribed rule arrangement having at least one selection rule, and adjusting this selected subset of process parameters to avoid violation of at least one of the safety monitoring functions.

Abstract: A gripper includes at least one first gripper finger adjustably mounted to a gripper main body by a gripping finger mount, at least one second gripper finger cooperating with the first gripper finger, and a motor-drivable transmission configured to adjust the at least one first gripper finger relative to the gripper main body and the at least one second gripper finger such that a clamping force is generated, whereby an article can be held in a clamped manner by the gripper. The transmission includes a first transmission member connected to the first gripper finger, and a second transmission member mounted on the gripper main body by a transmission-member bearing arrangement having a first transmission member bearing configured to absorb the transmission-bearing reaction force that acts in a direction of the clamping force. The transmission-member bearing arrangement includes a sensor configured to sense the transmission-bearing reaction force.

Abstract: A robot arm with a robot-hand drive device, which has at least three electric motors arranged in an arm boom of the robot arm for driving a multi-axis robot hand of the arm boom, each electric motor having an electric rotor, each of which has a motor shaft. The at least three electric motors are arranged in the interior of a common housing cylinder block, in such a way that each rotor lies in a separate cylinder sector of the housing cylinder block, more specifically with its respective motor shaft running parallel to the center axis of the housing cylinder block, said axis running longitudinally along the arm boom.

Abstract: A robot arm has a transmission output-side mating running surface on which a dynamic contact seal that seals off the transmission casing in a lubricant-tight manner is seated. A gap is determined by a main bearing arrangement between an upstream link and a downstream link, to which an output flange of a joint torque sensor is coupled, is sealed off by means of a further dynamic seal, with the objective of increasing the accuracy of the torque measurement by optimizing the secondary force flows.

Abstract: A method for controlling a robot includes applying a setpoint force to a contact point; measuring a contact stiffness at the contact point; and slowing down the moving robot using its drives and/or braking the robot to apply the setpoint force to the contact point by the slowing down and/or slowed down robot depending on the measured contact stiffness, wherein the robot is slowed down before the setpoint force is reached.

Abstract: The invention relates to a method for checking a collision between a driverless transport vehicle (1) and a further driverless transport vehicle during planning of a movement of at least the driverless transport vehicle (1). The invention further relates to a driverless transport vehicle (1) and to a system having a plurality of driverless transport vehicles.

Abstract: A method for monitoring a robot includes monitoring a safety condition and operating the robot in a limitation operating mode for as long as the monitored safety condition is not fulfilled. A deceleration of the robot is commanded and monitored in the limitation operating mode for as long as the robot exceeds a velocity limit.

Abstract: A hand-held robot operating device combination has: an autonomous safety-related basic control device that includes a housing, a safety-relevant switching means on the housing, and a communication device for connecting the autonomous safety-related basic control device for control purposes to a controller of a robot; an autonomous mobile terminal that includes a terminal controller and at least one terminal position sensor designed to sense positional data in respect of the autonomous mobile terminal in at least one of the degrees of freedom thereof; and a holder designed to mechanically connect the autonomous safety-related basic control device to the autonomous mobile terminal in a manually detachable combined arrangement so as to form the hand-held robot operating device combination; the autonomous safety-related basic control device includes at least one basic-control position sensor which is designed to sense positional data in respect of the autonomous safety-related basic control device in at least one

Abstract: A robot gripper includes a first gripper finger and at least one second gripper finger, a gripper main body, a base element mounted for rotation about a first rotational axis relative to the gripper main body by a first rotary joint, and an intermediate element mounted for rotation relative to the base element by a second rotary joint. The gripper further includes a finger carrier carrying the first gripper finger and mounted for rotation relative to the intermediate element by a third rotary joint, namely about a third rotational axis, and a drive device that is separate from the first, second, and third rotary joints. The drive device is supported against the gripper main body and is configured to adjust the finger carrier relative to the second gripper finger with a drive force that is introduced into the finger carrier by the drive device.

Abstract: The invention relates to a robot arm (2), having a plurality of joints (5) and a plurality of links (4), which each connect two adjacent joints (5) to one another, wherein at least one of said links (4) has a human-machine interface (6), comprising at least one display means (7, 7.2), which is designed to display at least one system state of the robot arm (2) and/or of a control device (3) connected in terms of control technology to the robot arm (2), and comprising at least one input means (8), which is designed to supply at least one manual input via the human-machine interface (6) to the robot arm (2) and/or to a control device (3) connected in terms of control technology to the robot arm (2), wherein the at least one input means (8) comprises a tactile sensor surface (8.1) arranged on an outer casing wall (M) of the link (4) and the at least one display means (7, 7.2) comprises a display surface (7.1) superimposed on the tactile sensor surface (8.1).