Abstract: An omnidirectional wheel has a hub that is rotatable around a rotational axis, and two wheel discs connected to the hub and spaced coaxially on the hub. A number of roller bodies are located between the wheel discs, evenly distributed around a circumferential edge of the wheel. The respective roller axes of the roller bodies are aligned at a diagonal angle relative to the rotational axis, and are each supported in a freely rotating manner between the wheel discs at opposite ends thereof. Each roller body is mounted in a freely rotating manner in respective modules respectively attached to the wheel discs.

Abstract: A method and system for loading a loading carrier, in particular pallets, with packages by means of an automated manipulator, a model of a package stack on the loading carrier is automatically determined, an initial desired position for a package in the mode is determined, the package stack is detected on the loading carrier, a deviation between the detected package stack and the model is determined, the package is placed by the manipulator, and the steps are repeated until a termination criterion is reached.

Abstract: Method and arrangement for the acquisition of measurement data of a vehicle (4) traveling through a radar field (2), wherein a reflector (7) is arranged in the radar field (2). Direct and indirect reflection signals are received from the vehicle (4), and direct and indirect measurement data are derived which are suited to be checked for correlation with one another so as to rule out measurement of the vehicle (4) through bent beam reflection.

Abstract: A method for the automatic palletizing of stable package stacks includes the steps of virtual generation of multiple follow-up configurations by adding packages to at least one initial configuration, assessment of these follow-up configurations, and pursuit of follow-up configurations that are assessed as good as initial configurations. These steps are repeated until a termination criterion is satisfied. The follow-up configurations are assessed on the basis of different partial stack heights, towers and/or overbuildings. Another version of the method includes the steps of virtual generation of a package stack, and determination of a characteristic stability value of a package of a layer of a virtual package stack on the basis of the characteristic stability value of packages on which the package rests.

Abstract: Tool-changing system, storage device for this purpose and method for coupling a tool to a robot arm. The invention relates to a tool-changing system for an industrial robot, with a robot-side coupling device (100) provided in a robot arm, with at least one tool (70a, 70b) couplable to the robot-side coupling device (100) and having a tool-side coupling device (76a, 76b), and with a storage device (10) for receiving the at least one tool (76a, 76b) in the non-coupled state. The invention relates, furthermore, to a storage device suitable for this purpose and to a coupling method which can be carried out by means of the tool-changing system. According to the invention, the storage device comprises a base (12), securing means (32a, 32b) for securing the robot-side coupling device (100) and feeding means (50a, 50b) which are designed for generating a relative movement of the robot-side coupling device (100) and of the tool-side coupling device (76a, 76b) with respect to one another in a coupling direction (2).

Abstract: A transfer device for transferring product stacks has a connecting element for connecting the transfer device to a transport device, and the transfer device has a number of receiver regions therein, that each receive a product stack. Each receiver region has guide elements with spring-loaded closure elements, and a plate that is movable in a spring-loaded manner toward the closing elements along the direction of the guide elements. When the transfer device with the product stacks therein reaches its transfer destination, the product stacks are pushed from the transfer device by the plates by spring force.

Abstract: A method for automated commissioning of bundles includes providing different source palettes and palettizing at least one target palette, with bundle layers of different source palettes being individualized and/or magazined in alternation and/or with variable predetermination, and/or bundles or bundle groups being magazined and/or demagazined in stacks before palettizing of the target palette, and/or the target palette is selectively palettized with at least one non-individualized bundle layer of a source palette.

Abstract: A method according to the invention for operating a manipulator, in particular a robot (1), includes the following steps: determining (S10) parameters (c?, c?) of an exactly positioned manipulator model (M) with various nominal loads (m?, m?); specifying parameters (c) of the manipulator model on the basis of which the manipulator is operated, depending on a payload (m) of the manipulator (S20); and operating the manipulator on the basis of the manipulator model (S30, S40).

Abstract: In a method for spacing bundles of a bundle layer by means of a manipulator gripper with at least one support base that engages bundles and a stop for the placement of bundles, separation between an edge of the support base and the stop is reduced, by a placement motion of the support base in a placement direction that is superimposed on the relative motion of the support base and the stop and is synchronized with this relative motion.

Abstract: In a method and device for automated welding using a positioning device, in particular a welding robot, a welding pose is occupied by the positioning device in a regulated manner, and the welding pose is flexibly held during the closing of an electrode holder, during the welding process and/or during the opening of the electrode holder.

Abstract: Disclosed is a trailer for traffic monitoring that comprises means which enable the wheels to be raised and lowered as well as at least one system for detecting and documenting red light and/or speed infringements arranged in such a way that it can be integrated into the body of the trailer.

Abstract: In a method and apparatus for moving a free-swinging load that is suspended relative to a suspension point, a first path along which the load should be moved from a starting point to a destination, with a first location-dependent velocity, is provided to a processor. In the processor, a second path is automatically determined along which the suspension point should be moved with a second location-dependent velocity to cause the load to move along the first path from the starting point to the destination with the first location-dependent velocity. A movement-imparted mechanism, connected to the suspension point, is automatically controlled from the processor to move the freely-suspended load from the starting point to the destination by moving the suspension point along the second path with the second location-dependent velocity.

Abstract: Method for producing a known fixed spatial relationship between a laser scanner and a digital camera for monitoring traffic, wherein the laser scanner axis and the optical axis of the digital camera are aligned relative to one another only roughly, and the spatial relationship between a scanner coordinate system (1) defined by the position of the laser scanner and orientation of the laser scanner axis and a camera coordinate system (3) defined by the position of the digital camera and orientation of the optical axis of the digital camera is calculated computationally based on the measured values and the image of a vehicle driving through the monitoring area.

Abstract: In a computerized device for processing a robot control program, at least one local area of a robot path of a robot is displayed at a display screen, the robot path containing a support point that is to be modified. The display screen also shows the support point, as well as a path course therethrough and at least one direction also proceeding through the support point perpendicularly to the path course. An input device allows a user to modify the path course by modifying the position of the support at the display screen.

Abstract: A manipulator, in particular a small robot, has at least two motor mutually movable limbs with a motion axis of both limbs being acted on by an axle drive that has an external rotor motor, a position transmitter and a transmission. The transmission has at least one planetary gear set with a center gear and at least one planet meshing with it that also meshes with a ring gear and is mounted on a planet carrier. One of both limbs of the manipulators is torque proof connected with the ring gear and is mounted by this radial and/or axially, and the other is torque proof connected by both limbs of the manipulator with the planet carrier and is mounted by this radial and/or axially.

Abstract: In a robot system, and a method for operating a robot system, for loading general cargo units, a gripper unit of the robot is operated to stack the general cargo units in a stack, by movements controlled by a computerized control unit. In order to avoid unstable loading patterns, the computerized control unit automatically determines the loading pattern of the stack of general cargo units, and also automatically determines at least one characteristic that represents the stability of the loading pattern.

Abstract: A method for regulation of a multi-axis automated manipulator, in particular of a robot, includes flexible regulation of at least one guide axis, and rigid regulation of at least one additional axis, and determining a desired value of the at least one additional axis on the basis of a real value of the guide axis.

Abstract: The present invention relates to a method and a device for automatically stacking tires (4) on a support (1). According to the method, geometrical data of the tires (4) and/or a digital model of the tires (4) is provided, based on the geometrical data and/or the tire model and a predefinable size of the support (1), an algorithm calculates a stacking pattern for the tires (4) on the support (1) by taking into account a predefined size of the support, said stacking pattern making it possible to store the largest possible number of tires (4) in a stable manner on the support (1). Positional data of the tires (4) are adopted from the stacking pattern and associated trajectories of a handling device for stacking the tires (4) are generated and stored according to the stacking pattern.

Abstract: The invention relates to methods for referencing a drive position of an electric drive (20) of at least one gripper half (14, 16) of a production gripper (10, 12) in a closed position of two gripper halves (14, 16) and a system of a production gripper (10, 12), in particular a welding tongs (12), clinch tongs or crimping tool and a respective control device for operating the production gripper (10, 12), which is set up to carry out such a method.