Abstract: The invention relates to a multiaxis robot with at least one gear associated with a robot axis and having a gearbox with positional retaining strips for fixing control cams for monitoring the swivel angle of the robot axis, the retaining strips having a substantially arcuate construction with an inner circumference roughly corresponding to the outer circumference of the gearbox and the retaining strips can be frontally braced against one another for fixing on the gearbox.

Abstract: A robot with at least one at least partly externally positioned protective hose, particularly a cable guidance hose receiving robot tool supply cables has a winding guide located in the vicinity of a tool assembly flange for winding and unwinding the protective hose length necessary as a function of the tool positions.

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: 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: 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: 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: 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.

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: 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: 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.