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: A driven robot arm (1) has a torque compensation unit for a motional degree of freedom (4). A separate magnetic compensation unit (9) is proposed which is independent of the robot arm drive.

Abstract: The present invention pertains to a programming device (1) for multiaxial industrial robots. The housing (2) has a display (3) and a plurality of switches and/or function keys (4). It has three or more ergonomically designed grip areas (6, 7, 8, 9), wherein grip strips (6, 7, 8) are made in one piece with two or more housing edges (25, 26), and the function keys (4) are located on these grip strips within the reach of the fingers. A joystick (14) is arranged horizontally at the lateral housing edge (26), and a grip strip (8) and a thumb ball pad (15) are located in its vicinity. The housing (2) also has one or more interfaces (16, 17) for connection to external communications means, especially external input or output devices and/or external computing units.

Abstract: Process and device for the friction welding of workpieces that consist of different materials or possess different material properties, especially different hardnesses and/or melting points. The workpieces are rotated over a limited angle of rotation of less than 1,080.degree., preferably 290.degree. to 430.degree., relative to one another during the friction process. The angle of rotation is controlled via the friction time and the switching off of the rotating drive. The more resistant workpiece is preferably rotated and is leveled off on its face before the friction welding.

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: The invention relates to a lifting device in an armoured vehicle. The lifting device comprises a holder, which can be engaged with a body to be raised, particularly a shell. A driven lifting element is also provided, by means of which the holder can be raised and lowered. In order to be able to take up and transfer in simple, flexible manner the shells, the lifting element is a cable drivable by means of a winch, which is guided on a pivotable, multicomponent articulated arm and carries the holder at its lower end. Preferably the cable passes through the articulated arm and its free end extends substantially vertically downwards, the articulated arm being pivotable substantially in a horizontal plane.

Abstract: A turret for a preferably armored wheel-mounted or tracked vehicle is provided with a weapon and a magazine from which the weapon can be supplied with ammunition in belt form. The magazine is positioned in the turret laterally alongside the weapon and level therewith. The ammunition is received in the magazine in a substantially vertical orientation and on supply to the weapon is brought into alignment therewith. In order to be able to supply in a simple and reliable manner the ammunition to the weapon, the belted ammunition is wound up spirally in the magazine, the ammunition belt running freely from the magazine to the weapon without any guidance means and is twisted or turned. Preferably, on either side of the weapon, is located a corresponding magazine, which is downwardly inclined in the ammunition belt outlet direction.

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 multiaxial manipulator (1), in which the supply lines (9, 10) for the tool (7) and for the manipulator drives (8) are led in separate bundles of lines and are connected separately. The supply lines (9, 10), led in from the outside, are connected to the relatively stationary base (2) of the manipulator (1), wherein at least the supply lines (10) for the tool (7) are then led inside the base (2) to the moving carousel (3). The supply lines (10) again exit to the outside at the carousel (3) and are then led along the moving manipulator parts (4, 5, 6) to the tool (7). The supply lines (9) for the manipulator drives (8) can also be led in a similar manner on the inside through the base (2) and then on the outside, along the manipulator parts (4, 5, 6).

Abstract: The present invention pertains to a processing station (1) for workpieces, especially vehicle bodies (2), in a transfer line (3). Changeable clamping frames (5, 6) are kept ready in magazines (7, 8), and the magazines (7, 8) are arranged on both sides in front of and/or behind the work station (29) in relation to the direction of the transfer line (3). At least one processing device (4) is arranged at the work station (29) on the side of the transfer line (3). The magazines (7, 8) are preferably designed as rotatable and upright drum magazines and are connected in pairs by a common transport device (10). The old clamping frame (5) can thus be moved from the work station (29) into one magazine (7, 8) and a new clamping frame (6) can at the same time be brought to the work station (29) by one movement.

Abstract: The invention concerns a multiaxial industrial robot (1), including of a mount (2), a rotatable and swingable rocker (3), a swingable extension arm (6) and a multi-member rotatable and swingable robot hand (8), whose members are driven by motors (10, 11, 12) arranged on extension arm (6). Extension arm (6) is mounted (27) on one side on a one-arm formed rocker (4), whereby at least two motors (10, 11, 12) are arranged next to each other on the extension arm in the direction of extension of its swinging axis (7). With a triangular arrangement, motors (10, 11, 12) are arranged with their motor axes (13) in an isosceles triangle, whose base is oriented to bearing (27) of extension arm (6).

Abstract: The present invention pertains to a process and a system for controlling the movements of an axis on program-controlled machines, especially industrial robots, comprising a position control unit and/or a velocity control unit and/or a power control unit. The loads acting on the axis from the outside during the operation are measured by one or several sensors. The load signal is fed back regeneratively in the sense of an increase in the position control variance and sent to the summation point of the position and/or velocity control unit. To increase or decrease the mechanical flexibility of the axis, a controllable amplifying or attenuating device is provided. The sensors may have different designs, corresponding to the loads to be measured. They are preferably directly associated with the axes.

Abstract: An apparatus for loading tubular weapons with a propellant charge chamber comprises a loading arm pivotably mounted on the pivot bearing of the barrel and having a loading tray for a shell and a rammer engaging on the shell bottom and having a drive, the shell being brought by means of the loading arm into a starting position aligned with the barrel bore axis and transported by means of the rammer into the barrel, into whose rifling it is rammed.

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: An apparatus for loading shells in tubular weapons, particularly tank howitzers, comprises a linearly guided rammer engaging on the bottom of the shell, a pretensioned spring means driving said rammer and a release mechanism acting on the rammer and absorbing the spring tension in the locked position. In order to reliably absorb high ramming forces in a clearance-free manner and so as to suddenly release the same with a limited force requirement, the release mechanism has a fixedly mounted gripper, which cooperates by a planar effective surface with a planar opposite surface on the rammer. The effective surface and the opposite surface are in each case one face of a freely rotatably mounted polyhedron and, in the locked position, are at an angle less than 90.degree. to the force vector of the spring means. For releasing the rammer, the gripper can be pivoted by a release drive acting at right angles to the force vector.

Abstract: The present invention pertains to processes and gripping devices for picking up, transporting, and depositing flexible, limp, flat workpieces (1) made of textile material, plastic, or other materials that can be grasped with needles (3). To handle such workpieces (1) rapidly and reliably even under complicated spatial conditions, needle grippers (2) are brought by a manipulating device (5) into a position parallel to the workpiece (1) and, after grasping the workpiece (1), into another position in which the horizontal projection of the workpiece is reduced and in which the workpiece (1) assumes an approximately loop-like shape, in which position the workpiece (1) is transported and deposited.

Abstract: The present invention pertains to a process and a device for cleaning parts, in particular glass panes (2) of vehicles to prepare them for subsequent treatment processes, such as application of adhesive, etc. The cleaning device (1) comprises a wiping element in the form of a cleaning band (10) which is moved relative to the part (2) to be treated. The cleaning band is guided in a loop (12) between two rolls (13 and 14) and is brought into contact with the part (2) to be treated, while the cleaning band (10) is wound off section by section and cyclically between or during the cleaning processes. To do so, an additional loop (44) is formed in the area of the loop (12) and fresh band material is wound off of the reserve roll (13). The loop (44) is subsequently eliminated and the used band material is fed to the used-material roll (14).

Abstract: The present invention pertains to a process and a device for cleaning parts, in particular glass panes (2) of vehicles to prepare them for subsequent treatment processes, such as application of adhesive, etc. The cleaning device (1) comprises a wiping element in the form of a cleaning band (10) which is moved relative to the part (2) to be treated. The cleaning band is guided in a loop (12) between two rolls (13 and 14) and is brought into contact with the part (2) to be treated, while the cleaning band (10) is wound off section by section and cyclically between or during the cleaning processes. To do so, an additional loop (44) is formed in the area of the loop (12) and fresh band material is wound off of the reserve roll (13). The loop (44) is subsequently eliminated and the used band material is fed to the used-material roll (14).

Abstract: An installation for the mechanized loading of an armored weapon with large caliber cartridges consists of a conveyor device leading from the bottom of the loading area into the turret in the rear of the breech of the weapon with a conveyor container for holding the cartridge and a continuous belt driven by a motor, a guide device which has roller sets arranged in the area of each end of the transport container and two guide tracks, each assigned to one roller set, which lead the transport container with the inserted cartridge from an approximately vertical position on the bottom of the loading area to a horizontal position, level with the weapon, in front of the breech, and a rammer, accelerating the cartridge with open weapon breech into the weapon chamber.