Abstract: A process for manufacturing a wheel for a motor vehicle, in which a wheel spider and a rim ring are connected with one another by means of friction welding. At least one of these wheel parts consists of a magnesium alloy. The controlling of the speed of the start of the friction, of the friction and of the compression of the friction welding process, particularly of the deformation capacity, takes place as a function of physical characteristics of the magnesium alloy.

Abstract: The present invention pertains to a device for welding and/or cutting, especially for laser welding, with a welding head 7 and with a surrounding holding-down device 6 for pressing on a workpiece 4, 5 . The welding head 7 is fastened to the hand of a manipulator 2 by means of a mounting bracket 9 , wherein the welding device 1 has an equalizing device 13 with an at least uniaxial drag beating 14 for determining and correcting angle errors between the workpiece 4, 5 and the holding-down device 6 . The drag bearing 14 has one or more rails 15 and at least one beating cap 20 with a plurality of rolling bodies 16 arranged between them in an arc. The rails 15 are arranged on the mounting bracket 9, and the beating cap 20 is arranged on the holding-down device 6.

Abstract: A process and a device for the laser welding of plates (3, 4) located next to each other, which are held together with a movable clamping device (5). The feed path is measured during the closing of the clamping device (5), the thickness of the plate stack (3, 4) is calculated from this, and sent out. The welding energy is set according to the measured thickness of the plate stack. This can be achieved with an automatic control unit, which automatically sets the welding energy source (11). The welding head (2), designed as a laser focus, may be integrated within the clamping device (5) and may be fed together with same.

Abstract: A tool change device for manipulators, which have a rotary connection for fluidic supply lines of the tool. The rotary connection comprises a fixed part and a rotary part, whose contact plane is directed at right angles to the power take-off axis of rotation of the manipulator. The rotary and fixed parts have ring channels, which are arranged in concentric circles around the power take-off axis of rotation and open into cross channels. The rotary and fixed parts are flatly in contact with one another and are held together in the housing of the manipulator-side coupling part along the power take-off axis of rotation in an adjustable tensioning connection.

Abstract: The present invention pertains to a process and a device for adjusting an axis, especially an axis of rotation, wherein an adjusting sensor (4) is provided on the axis (2). A position-measuring system (1) with internal cyclic absolute signaling is provided, by means of which the mechanical zero point marking on the axis is reached, and the cyclic absolute actual position value found there is read and entered into the axis control unit (16). Starting from this, the displacement to the desired adjusted position of the adjusting sensor is calculated in the axis control unit (16), and this position is reached with the axis (2) automatically or manually. At this adjustment position, which is located in the middle of a selectable transducer cycle of the position-measuring system, the adjustment of the adjusting sensor (4) is performed.

Abstract: The invention relates to a method and a device for automatically joining and matching assemblies consisting of several components each and retained on a workpiece carrier (4) in a transfer line with retoolable machining stations (3). In the machining station (3), the assembly components are first taken off the workpiece carrier, brought into the joining position relative to each other, retained there and machined, in particular tacked or finish-welded. To carry out these various activities and to make the machining station highly flexible, the latter has several tool carriers (22, 23) which can move in at least three axes. The tool carriers (22, 23) are each disposed in a parallel plane above or below the workpiece carrier (4) so they can travel freely. The tool carriers (22, 23) support individual tools which they can change automatically at stationary or movable tool magazines (31, 33, 34).

Abstract: The invention concerns a process and a device for seeking and following a hollow weld during a shielded arc welding, especially welding with carbon dioxide gas. The welding torch is moved by a path-controlled manipulator, whereby prior to the welding the positional coordinates of one or more weld reference point of the hollow weld are found by mechanical contour probing and the actual position of the hollow weld found therefrom is saved in the path control. The lengthwise guidance is then done only through the appropriately corrected path control, only the height of the welding torch above the toe of the weld being adjusted in dependence on the welding current. The mechanical contour probing is done by contact sensing of the sides of the weld adjacent to the weld reference point, and the coordinates of the weld root point are computed from these data.

Abstract: The invention relates to a mounting device for the automatic assembly of prefabricated parts or such as aggregates to a car body from below. For this purpose the aggregates 14 are arranged centeredly, but removably on installation plates 12, which are mounted liftably and in the lifted position floatingly yielding on a mounting frame 9. The aggregates 14 are penetrated by vertical centering journals of the installation plates 12. The protruding part 24 of the centering journal 17 is tapered in its face region and serves to enter an assigned centering bore of the car body 1 while the mounting frame is lifted. As the installation plate 12 is mounted floatingly on the mounting frame 9 in this phase, the aggregate arranged on it moves automatically into an assembly position in which an automatic process can take place.

Abstract: A head assembly for a manipulator has a rear segment rotatable about an inner axis fixed relative to the manipulator and extending through the rear segment, an intermediate segment supported on the rear segment for rotation about an intermediate axis defined by the rear segment and intersecting the inner axis at an acute intermediate angle open away from the rear segment, and a front segment having a holder adapted to carry a tool and suppported on the intermediate segment for rotation about an outer axis fixed relative to the intermediate segment, extending through the front segment, and intersecting the intermediate axis at an acute outer angle open away from the intermediate segment. A drive rotates the intermediate and outer segments on the inner and intermediate segments about the respective intermediate and outer axes.

Abstract: An a manipulator having a pair of main elements pivoted together at a main axis has a drive having a motor mounted on one of the elements and having a motor output, and first, second, and third stepdown transmissions connecting this output with continuous-mesh force transmission to the other element. The first stepdown transmission has an input wheel connected to the motor output, an output wheel, and a toothed belt interconnecting the input and output wheels. The second stepdown transmission has a rotary input element connected to the output wheel, and a rotary output element noncoaxially associated with the input element and connected thereto. The third stepdown transmission has an output gear connected to the other element centered on the main axis, and an input gear rotatable about a gear axis offset from the main axis and having two axially separate halves relatively rotatable about the gear axis and both meshing with the output gear.

Abstract: The invention is a further development of the gear-head unit for a manipulator described in German Open Patent Application No. 34 28 748. In order to increase the radius of action and range of applicability of the gear-head unit a structural arrangement with three concentric drive axes and four allowed rotational motions of front, intermediate and rear segments of the manipulator is set forth. These front, intermediate and rear segments are pivotally mounted together about first and second inclined pivot axes which are inclined to each other and to the main drive shaft axis. Along these inclined pivot axes two hollow drive shafts connected with each other extend which are supported by reduction gears in the front and/or intermediate segments. Because of that simultaneous opposing rotational motions of the intermediate and rear segments can be obtained from a single drive motor.

Abstract: The invention concerns a manipulator (1) which is able to automatically receive the tool holder (7), to clamp it and to set it down again, in order thus to make possible a rapid changing of different tools. For this purpose, the last drive element (6) of the manipulator (1) as well as the tool holder (7) are provided with coupling parts (8,9) and with cooperating screw systems (16,17). The manipulator-side screw system (17) is mounted via an operating element (11) for rotation at a second operating element (10) which forms a rotation barrier (13) with the tool holder (7) as the coupling parts (8,9) come together. The screwing process is actuated by rotation of the last drive member (6). The two operating elements (10,11) are furthermore non-rotationally connected through a fixing mechanism (20). This rotation lock is abolished as soon as the rotation barrier (13) between the operating part (10) and the tool holder (7) becomes effective.

Abstract: The invention relates to the production of a guidance system (9, 14) for two machine parts (1, 2) which are movable relative to each other and are interconnected through this guidance system. To protect this guide track (9) disposed on the first machine part (1) from the track dust, grease, oil and the like, it is disposed in an almost completely closed guide channel. This guide channel is accessible only from the top through a slot engaged by guide elements (14) of the other machine part (2). The slot is covered on the one hand by the housing of machine part (2), and in the area outside of this housing it is closed by a belt (4). The guide track (9) is thus closed to the outside in any position of the machine part (2). If a toothed belt drive (3) is used, the toothed belt (4) acts as driving and covering element at the same time.

Abstract: A head assembly for a manipulator has an inner part, an intermediate part, and an outer part adapted to hold a tool. The inner part can rotate on the manipulator about an inner axis defined thereby whereas the intermediate part rotates on the inner part about an intermediate axis defined by the inner part and intersecting the inner axis at an acute intermediate angle open away from the inner part. The outer part rotates on the intermediate part about an outer axis defined by the intermediate part and intersection the intermediate axis at a point offset from the inner axis and at an acute outer angle open away from the intermediate part. In no position of head assembly can any of the pivot axes--inner, intermediate, or outer--be coaxial with any of the other pivot axes. The intermediate pivot and drive includes a shaft extending along the inner axis from the inner part. In addition there is another shaft extending along the intermediate axis in the intermediate part and gears rotationally couple the shafts.

Abstract: A head assembly for a manipulator has, as is known, an inner part, an intermediate part, and an outer part having a holder adapted to carry a tool. An inner pivot and drive unit rotates the inner part on the manipulator about an inner axis defined thereby. An intermediate pivot and drive unit rotates the intermediate part on the inner part about an intermediate axis defined by the inner part and intersecting the inner axis at an intermediate angle not equal to 90.degree. and open away from the inner part. An outer pivot and drive unit rotates the outer part on the intermediate part about an outer axis defined by the intermediate part and intersecting the intermediate axis at a point and at an outer angle not equal to 180.degree. and open away from the intermediate part. The outer drive and pivot unit includes a stepdown transmission in the intermediate part and normally also another such stepdown transmission in the inner part.

Abstract: An improvement of a device for protecting manipulators against collision with other objects. Two discs are held in spaced relationship by spacer balls applied thereagainst on the periphery. The discs are urged toward each other and the gap is adjustable. If due to a collision, the position of the spacer balls is changed, the discs move toward each other, thereby causing actuation of a switch and a disconnection of the drive.

Abstract: Workpieces of unequal configuration are to be treated within an assembly line. For this purpose, suitable clamping frames are provided to hold the workpieces. These are moved about a common axis which extends laterally above an assembly line direction. While the upper edge of each individual clamping frame is hinged to an element which is rotatable about the axis, the lower edge is guided in a fixed guideway toward a working position. A common guideway length of two fixed guideways is movable into the working position transversely to the assembly line direction.

Abstract: A brake effective between a rotating part and a non-rotating part has a substantially nondeformable brake disk secured to one of the parts, centered on an axis, and having a pair of axially oppositely directed brake-disk faces. A housing is secured to the other of the parts, at least partially surrounds the brake disk, and has a pair of end walls having wall faces axially confronting the respective disk faces. Respective brake elements are limitedly axially displaceable between the wall faces and the respective disk faces and engageable with the respective disk faces. Formations on the elements and housing prevent the elements from rotating relative to the housing. Spring packs between the brake elements and the respective wall face urge the elements with a substantially constant force axially together into braking engagement with the disk. Seals between the brake elements and housing define a pressurizable chamber between the brake elements.

Abstract: For the controlled slowdown of a translatory or rotary machine part to arrest same in a predetermined stop position of an entrained load, the part being driven by an electric motor against a countervailing torque, a trial run is used with a constant motor torque (less than the countervailing torque) to determine a deceleration characteristic under conditions duplicating those of a subsequent production run. The deceleration characteristic is registered in the form of discrete positional values detected at successive instants, these values being stored in a memory for consecutive readout at corresponding instants in a production run and comparison with actual load positions to provide an error signal for the adjustment of the motor torque. A specific embodiment serves to control the final position of a rotary workpiece holder in friction welding.

Abstract: A first succession of workpieces is displaced along a first conveyor path past a work station in steps and a second succession of workpieces is displaced past the work station in steps synchronously with the first succession along a second conveyor path crossing the first path at an intersection adjacent the work station. The workpieces of the first and second successions are alternately arrested adjacent the work station so that as a workpiece of one succession is arrested adjacent the station the workpieces of the other succession are moving and vice versa. A tool at the station works alternately on the arrested workpieces. Thus as a workpiece of one succession is being held stationary and worked on a workpiece of the other succession is being removed from adjacent the station and replaced with the following workpiece of the other succession. The workpieces are transported horizontally generally at the same level and the paths cross at the intersection generally at a right angle.