Abstract: Disclosed is a robot-controlled optical measurement array (1) comprising an optical sensor (2) that is fastened to a spacer (3). Reference marks (22) are provided on the spacer (3) and/or on a sensor (2) housing (2?). Said optical measurement array (1) is calibrated by means of an auxiliary device (13) that is placed on the optical measurement array (1) and is provided with a sensor target (16) which is disposed on the auxiliary device so as to lie within one measurement space (17) of the optical sensor (2) when the optical measurement array (1) and the auxiliary device (13) are in the assembled state. In order to calibrate the optical measurement array (1), measured values of the sensor target (16) are generated with the aid of the sensors (2), said measured values being used for calculating the three-dimensional position of the sensor coordinate system (10) in relation to the sensor target (16).

Abstract: A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.

Abstract: A seat assembly for a motor vehicle includes a central support element, fixed essentially vertically in a vehicle cabin to which the seats are fitted. The seat assembly includes connector bodies arranged at one end of the support element for fixing to a part of the cabin, the connector bodies permitting a displacement of the assembly along a longitudinal axis of the vehicle.

Abstract: A transport device and a method for transporting motor vehicle body parts (4) is provided. The transport device (49) includes a transportable frame (51) with at least one preferably bar-shaped supporting device (55) for receiving the parts (4) in a stack (5). The transport device (49) includes a loading device (56) which allows individual parts (4) to be put on the supporting device (55) at a loading position (47) and allows delivery of the stack (5) of parts to an unloading position (48) where the stack (5) of parts is pushed off the supporting device (55).

Abstract: The invention relates to a method for overlaying AR objects on an environmental image representing the environment. According to said invention, a depth image of the environment is recorded from a point of vision; the representation of an AR object to be placed in the environmental image is modified in terms of how it appears from the point of vision at a pre-defined spot in the environmental image; it is determined how the parts of the AR object facing the point of vision are arranged in relation to an associated image point of the depth image, from the point of vision; at least the representation of parts of the AR object is modified in a pre-determined manner in relation to the apparent depth in the image; and the thus processed AR object is overlayed on the environmental image. The invention also relates to a device for overlaying AR objects on an environmental image displaying the environment, said device comprising corresponding elements for carrying out said method.

Abstract: A method for moving a multi-axis or multi-axle handling system, particularly for orienting a hand of an industrial robot, with a gripping tool connected to a hand is characterized in that the movement is performed in such a way that movement-dependent moments on an article held by the gripping tool are largely eliminated and that essentially only normal forces act between the article and the gripping tool. An apparatus according to the invention is used for performing the method. This permits a safe and speed-optimized movement of handling articles, particularly during palletizing and commissioning, which leads to corresponding economic cost advantages.

Abstract: A device for positioning components to be joined together, such as car body components, is characterized by at least one movable central module and a plurality of arms, movable in space and connected thereto and which in each case have at least one holding element for holding the components. By means of the inventive method for the positioning of the components to be joined together and for the performance of which the said device is particularly suitable, the components are held from a position within a desired arrangement of the components to be joined. In this way the assembled components during a subsequent tacking together and optionally further downstream production processes such as welding or the like, are accessible in optimum manner from the outside. Further advantages of the method according to the invention are a limited space requirement and possible balancing of the production process.

Abstract: A manufacturing plant (1) is provided for vehicle body parts (2, 3). The manufacturing plant includes a number of processing stations (4, 5, 6, 7, 8, 9, 10), which are situated one behind the other along a transfer line (22), and of a number of multiaxial robots (18, 19). In at least one processing station (4, 5, 6, 7, 8, 9, 10), one or more handling robots (18) for transporting parts is/are arranged on at least one axis of travel (20, 21). Next to the handling robot (18), one or more processing robots (19) is/are displaceably arranged on the same axis of travel (20). Working locations (11, 12) are arranged on both sides of a common axis of travel (20), whereby another common axis of travel can be provided on the rear side of the working locations.

Abstract: A lift machine comprises a base, a support for supporting a load above the base, a lift actuator operatively connected between the base and the support for raising and lowering the support relative to the base, and a support stabilization mechanism operatively connected between the base and the support for stabilizing the support relative to the base during raising and lowering of the support by the lift actuator. The support stabilization mechanism comprises a pair of opposed linkages, with each of the pair of opposed linkages having a lower torque tube link and an upper torque tube link. The lower torque tube link has a torque tube operatively pivoted to the base. The upper torque tube link has a torque tube operatively pivoted to the support.

Abstract: A machining system and unit, especially a welding cell, is provided for use for the machining of workpieces (2), especially body parts of vehicles. The machining system has one or more machining stations (15, 16) with robots (18, 19, 20) and at least one rotation or turning station (5), which has at least two work stations (6, 7) for carrying out different operations simultaneously. The turning station (5) has at least two said multiaxially movable turning units (8, 9) arranged next to one another with said gripping tools (11, 12, 13). The working areas (10) intersect each other at the work stations (6, 7).

Abstract: A laser device (6) and a corresponding operating method are provided. The laser device (6) is provided with a laser tool (7) including a laser lens system (13) with focussing and collimating lenses and, optionally, a divergent lens (35) and a connector (19) for an optical fiber (11) with a fiber decoupling point (12). The focal length (Ff) of the focussing lens (14) is altered by adjusting the optical separation (b) of the fibre decoupling point (12) from the collimating lens (15) by means of an adjuster device (21).

Abstract: A process and a device for controlling the pressing force of the electrodes [of an] electrode holder driven by means of an electric motor, especially of an industrial robot, during the welding operation characterized in that the motor position is controlled or that a means for controlling the position of the electric motor is provided.

Abstract: To improve the operation of robots in installations reprogramming and emptying an operating sequence to be performed by them, the invention provides a method and a device for visualizing computer-assisted information in an image of the real environment on a viewing device, in which there is a determination of the position and orientation or pose of the image receiving device and that robot-specific informations corresponding to this determination are faded over the image of the real environment on the viewing device.

Abstract: In a method for controlling the movement of a manipulator associated with an interpretation of a given point sequence of poses (positions and orientations) by splines, the motion components are separately parameterized. Thus, marked, subsequent changes to the orientation of robot axes have no undesired effects on the Cartesian movement path of the robot. Suitable algorithms are provided for orientation control by using quaternions or Euler angles.

Abstract: A method for machining workpieces by means of a multiaxial manipulator, such as an industrial robot, with a tool moved proportionally by a control unit of the manipulator and which can perform characteristic movements with several degrees of freedom is characterized in that the degrees of freedom of the tool are evaluated together with the degrees of freedom of axes of the manipulator in real time for moving a tool tip (TCP) in accordance with a predetermined, continuous machining path or a portionwise continuous machining geometry (step function) and for determining a movement of the manipulator. The invention also proposes a device suitable for performing the aforementioned method, in which the tool and a tool tip, during workpiece machining, are movement-controllable by the manipulator control unit. In this way it is possible to drastically reduce the overall machining time.

Abstract: A machining system and unit, especially a welding cell, is provided for use for the machining of workpieces (2), especially body parts of vehicles. The machining system has one or more machining stations (15, 16) with robots (18, 19, 20) and at least one rotation or turning station (5), which has at least two work stations (6, 7) for carrying out different operations simultaneously. The turning station (5) has at least two multiaxially movable turning units (8, 9) arranged next to one another with said gripping tools (11, 12, 13). The working areas (10) intersect each other at the work stations (6, 7).

Abstract: A method for controlling a plant, such as an industrial production plant with a plurality of working units, such as industrial robots or the like, using at least one programmable logic control (PLC), is characterized in that historical process data are fed into an input area of the PLC and processed by a PLC program logic. An apparatus suitable for performing the method according to the invention has a real time information server for acquiring, archiving or transferring in each case specific historical process data with respect to the plant and a data stream controller for the flexible transfer of archived process data to at least one programmable logic control PLC for controlling the plant, wherein the output data of the PLC can be fed back into the latter.

Abstract: To improve the exchange of data between controls of machines, particularly robots, a method is provided for the exchange of such data, wherein a first control produces an instruction to be transmitted with data to be sent to a second control and with an identification representing the second control. The instruction to be transmitted is provided with an identification of the first control, wherein the first control sends the instruction to be transmitted to the second control, wherein the second control evaluates the data of the instruction and wherein the second control provides the first control with an acknowledgment.

Abstract: The present invention is a system for controlling exclusive access by control programs (30) to system resources (52).

Abstract: A method and a device are provided for pressure welding, in particular for the friction welding or magnetic arc welding of workpieces (2, 3). The actual length of one or both workpieces (2, 3) and a potential length deviation (DELTA 1) from a target value is measured. If a length deviation exists, the target value of at least one parameter, in particular of the friction length, friction duration, arcing time or forge force is modified. A correction factor C, by which the length deviation (DELTA 1) is multiplied, is determined for this modification. The pressure welding device (1) includes a corresponding measuring unit (12) for determining workpiece lengths and length deviations. The controller (13) comprises an arithmetic unit (14) for setting and modifying target values, taking into account the correction factor C.