Abstract: The invention relates to a device for balancing the weight carried by a robot arm of a robot. Said device comprises a fluid spring, rotably a pneumatic spring, and a control device for controlling the movements of the robot. The device is characterized by a pressure sensor which measures the pressure of the fluid of the fluid spring. Said device and the method provided for by the invention permit the exact adjustment and balancing of the movements of the robot arm.

Abstract: An interchangeable coupling is provided for removably fastening tools (2) to manipulators (3). The interchangeable coupling has two coupling parts (5, 6) with a form fit lock (7). The lock has several mobile balls (8) and a piston (11) for moving the balls. The coupling parts (5, 6) have corresponding cavities (9, 10). The cavities (9) in the tool side coupling part (5) are essentially cylindrical ball channels (30) with an oblique channel axis (31). In a locked position, these cavities (9) accommodate the blocking balls (8). The channel axis (31) preferably slopes from the robot-sided cavity (10) towards the tool side (2).

Abstract: For increasing the safety monitoring of a plant with several functional units, such as a production plant, the invention provides a method and apparatus, in which each functional unit is individually monitored or checked by its own redundant two-channel safety device. The safety devices constantly inform one another of their monitoring state. In the case of a malfunction of at least one functional unit or safety device, at least one safety-relevant actuator is operated. For achieving this objective, an apparatus is constructed with each functional unit being associated with a safety device and the safety devices are interconnected so that, in the case of a malfunction of at least one functional unit or safety device, at least one safety-relevant actuator is operated.

Abstract: The present invention pertains to a control and programming means (1) for a manipulator (2) with a manipulator control (3), a computer (4) with a graphics unit and with a portable programming device (10), which connected to the computing unit (4) by remote data transmission. The programming device (10) has a display screen (12) without a graphics card of its own, which is connected to the graphics unit (5) of the computer (4) by remote data transmission means and receives the graphic information from the said graphics unit. The graphics unit (5) preferably has a graphics card (6) with a converter (9) and an integrated serial interface (7) for remote data transmission for this purpose. The programming device (10) has a serial interface (7) for remote data transmission. The programming device (10) has a serial interface (7), which is connected to the display screen (12) via a converter (9).

Abstract: A method for handling the voltage drop, at least in the control unit of a robot with a PC control is provided that minimizes the time of a plant stoppage and avoids wasteful process interruptions. The PC control has a real time operating system for the time critical control and regulation of the robot movement and a standard PC operating system for communication with an operator. In the case of a voltage drop a battery/accumulator operation takes place with running robot movement and optionally application operations broken off or ended in a clearly defined manner. Then, working processes of the control are terminated. The contents of the working memory at the termination time concerning the real time operating system and robot control programs are stored, particularly as an image, in at least one mass memory. For restarting the robot after such a stoppage thereof the standard PC operating system is loaded in the conventional manner into the working memory and started.

Abstract: Internal high pressure forming at present takes place by exerting a pressure between sheet metal blanks fixed by a marginal weld. It has already been proposed to deform under high internal pressure sheet metal blanks merely placed on one another in a combined clamping and sealing die. Problems arise with regards to the sealing and material flow. Thus, to overcome the aforementioned disadvantages, the invention proposes a method for forming at least one workpiece under high liquid or hydraulic pressure, in which the workpiece, during pressure build-up, is initially marginally clamped in per se known manner and in the final phase of forming to the desired final shape of the workpiece (sizing) the marginal area of the workpiece is freed.

Abstract: A wearing ring, particularly for protecting a cable guidance tube on a robot, characterized in that the wearing ring has two layers, whereof one coaxially surrounds the other.

Abstract: An object oriented motion system for controlling the movement of a robotic manipulator is presented. The motion system includes a trajectory generator object for producing a stream of machine joint commands. A kinematics object is operable to provide a set of robotic arm specific functions for the trajectory generator object. A servo object provides an interface to the servo system. The stream of machine motor commands are converted by the servo object to a stream of signals that drive the servo system, thereby controlling the trajectory of the robot arm.

Abstract: A clamping device (1) is disclosed for one or several workpieces (2), especially bodywork parts. The clamping device (1) includes one or several clamps (4) which can be positioned on a clamping table. Several parts can be displaced along at least one axis. The clamps (4) comprise a positioning device (13) and a fixing device (10). The positioning device (13) has a height adjustment system (21) and/or angle adjustment system (22) and/or lateral adjustment system (4b). To allow for stepless adjustment over a wide range the positioning device (13) has a coarse adjustment system (43) and a fine adjustment system (44). The fixing device (10) can be configured as a clamping device (35) and simultaneously include the lateral adjustment system (4b).

Abstract: A trajectory generation system is provided for operating a robot in response to a motion command. The robot is a multi-jointed manipulator with an end-effector that traverses a trajectory. A Cartesian trajectory generator converts the motion command into a requested Cartesian positions vector and a requested Cartesian velocities vector. A Jacobian matrix of the manipulator defines the relationship between the manipulator joint velocities vector and the manipulator Cartesian velocities vector. A requested joint velocities vector is computed from the requested Cartesian velocities vector by way of the inverse of the Jacobian matrix. The requested joint velocities vector defines a planned state vector for the manipulator.

Abstract: For shaping small radii in edge and corner regions of preformed workpieces or blanks, the invention provides for a postforming of exclusively said edge and corner regions by high liquid pressure. For performing the method an apparatus has a die part (forming insert) with expansion spaces constructed in its edge and corner regions.

Abstract: A process and a device are provided for determining the working voltage of welding current sources 25. The working voltage is determined partly outside the output terminals 23, 24 of the welding current source 25. The tap 2 is preferably performed on the wire electrode 16 or on the wire feed roller 17 of a wire electrode 16. The other tap 3, 4 may be performed on the workpiece 21, a workpiece connection 22 or on an output terminal 24 of the welding current source 25 or alternatively in the welding current source 25.

Abstract: A tube holder, particularly for holding a protective tube for cables on a robot, with two mutually articulated half-shells closable by a lever provided with a spring clip, is characterized in that on either side of the lever are formed radially extending protective ribs, which cover the circumferential contour of the lever in the closed position thereof

Abstract: A robot has a plurality of components which can pivot relative to each other, in particular robot arms. Changes in separation between individual points of the robot thereby occur. This must be taken into consideration when guiding the operation cables for robot elements and in particular robot tools. The cables must be capable of accommodating length changes while being loaded to as little extent as possible during motion of the robot so that they have high durability and are not prematurely damaged. In accordance with the invention, a robot having cables extending at least partially on the outside, in particular operation cables for robot tools such as a welding tool, has cables guided in a substantially circular loop at the height of a robot arm which can pivot about an axis of the robot.

Abstract: The present invention pertains to a hemming device 1 with a hemming head 6, which has one or more hemming tools 8, 9, divided into segments 12 through 16 in the case of a plurality of hemming tools, wherein the hemming tool or hemming tools is/are provided with a hemming edge 11 rotating in the operating position. The hemming device 1 also has a stroke drive for generating the hemming stroke and an adjusting device 22 for withdrawing and extending the segments 12 through 16, which has an adjusting drive 23, which moves all segments 12 through 16 simultaneously. The segments have adapted contact surfaces 17, which have a contact angle &agr; of 20° to 50°. The adjusting drive 23 is preferably designed as a crank mechanism.

Abstract: In order to simplify assembly of a robot hand to a robot arm, the invention is a device for driving a robot hand on a robot arm having a plurality of cardan shafts with which the cardan shafts are borne at their ends distant from the hand on a bearing plate which can be displaced relative to the robot arm.

Abstract: In order to simply introduction of cables extending out of the base of a robot the arms thereof, the invention provides for a robot having a base and a carrousel plate located thereon having an opening for passage of the cables, wherein the opening is configured as a slot (7, 8, 9) extending in an inward direction from the peripheral edge of the carrousel plate (3).

Abstract: In order to guide a cable for a robot in a protective fashion while facilitating simple insertion of protected cables in a robot arm, in particular a robot arm bearing a hand arbor motor, having a cable guide channel extending substantially along the robot arm and having a sideward opening along its entire length.