Abstract: A multi-axial industrial robot having a compact modular design for the drive system, which can be varied in numerous ways. The robot consists of a column or stand (1), with a rocker arm (7) swingably supported thereon and an outrigger (9) swingably supported on the rocker arm. The modular construction system is achieved by locating in the rocker arm (7) the oscillatory drive (26) for the outrigger (9), as well as the oscillatory drive (16) for the arm itself. Preferably, in the rocker arm are housed the complete drives (16, 26) with only the off-drive members (21, 31) protruding outwardly. Off-drive members (21, 31) are centered and connected non-rotatably with the stand (1) and the outrigger (9). As a result, the rocker arm (7) rotates about the fixed off-drive member (21) with respect to the housing. Drives (16, 26) consist each of a motor (11, 13) and a two-step timing-belt drive (17, 20 and 27, 30), whose second step can be a gear transmission.

Abstract: To supply the implement, mostly a welding tool, of a manipulator (1), with energy, the invention, instead of running the supply lines in the known manner from a fixed point in a large, freely suspended loop directly to the tool, provides an external suspension of a line bundle (10) along the constructional assemblies of the manipulator. In accordance with the invention, this line bundle (10) is held in place and guided in tubular casings (13) which are disposed at the individual assemblies (3-5) of the manipulator (1), with inserts (19) being provided in these casings (13) for receiving and holding lines of unequal size (parallel with each other) which are adapted to the various functions of the manipulator and can quickly be exchanged.

Abstract: A production line for working on a succession of workpieces has a transporter or conveyor defining a longitudinal path for carrying and displacing the succession of workpieces in longitudinal stop-and-go steps through a succession of stations generally longitudinally equispaced along the path, respective machines at the stations for lifting the workpieces off the conveyor and working on the workpieces as same are stopped between transport steps, and a lifter at at least one of the stations for raising the workpieces thereof off the conveyor and holding them clear thereof between transport steps. Thus some of the stations are merely holding or nonworking stations where nothing is done to the workpieces. The machines at this or these stations can be adapted to work only on other types of workpieces mixed in with the production run, or only on certain of the workpieces for custom work.