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 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: 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: 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: The invention relates to a method and a device for automatically joining and matching assemblies consisting of several components each and retained on a workpiece carrier (4) in a transfer line with retoolable machining stations (3). In the machining station (3), the assembly components are first taken off the workpiece carrier, brought into the joining position relative to each other, retained there and machined, in particular tacked or finish-welded. To carry out these various activities and to make the machining station highly flexible, the latter has several tool carriers (22, 23) which can move in at least three axes. The tool carriers (22, 23) are each disposed in a parallel plane above or below the workpiece carrier (4) so they can travel freely. The tool carriers (22, 23) support individual tools which they can change automatically at stationary or movable tool magazines (31, 33, 34).

Abstract: The invention concerns a process and a device for seeking and following a hollow weld during a shielded arc welding, especially welding with carbon dioxide gas. The welding torch is moved by a path-controlled manipulator, whereby prior to the welding the positional coordinates of one or more weld reference point of the hollow weld are found by mechanical contour probing and the actual position of the hollow weld found therefrom is saved in the path control. The lengthwise guidance is then done only through the appropriately corrected path control, only the height of the welding torch above the toe of the weld being adjusted in dependence on the welding current. The mechanical contour probing is done by contact sensing of the sides of the weld adjacent to the weld reference point, and the coordinates of the weld root point are computed from these data.

Abstract: The invention relates to a mounting device for the automatic assembly of prefabricated parts or such as aggregates to a car body from below. For this purpose the aggregates 14 are arranged centeredly, but removably on installation plates 12, which are mounted liftably and in the lifted position floatingly yielding on a mounting frame 9. The aggregates 14 are penetrated by vertical centering journals of the installation plates 12. The protruding part 24 of the centering journal 17 is tapered in its face region and serves to enter an assigned centering bore of the car body 1 while the mounting frame is lifted. As the installation plate 12 is mounted floatingly on the mounting frame 9 in this phase, the aggregate arranged on it moves automatically into an assembly position in which an automatic process can take place.

Abstract: An improved friction-welding process for effecting a joint between steel and nodular graphite-containing cast iron by using (i) a short friction-generating time so as to minimize diffusion of carbon into steel and (ii) an elevated forging pressure so as to effect a quantitative ejection of carburized melt but avoid formation of a weld laminate, is provided, as well as a nodular graphite-containing cast iron of grade 40.3 S, suitable for use in friction-welding and comprising about 280-320 graphite nodules per mm.sup.2, 280-300 ferrite grains per mm.sup.2 and a spherulite proportion of about at least 95% by weight of the graphite precipitations.

Abstract: A head assembly for a manipulator has a rear segment rotatable about an inner axis fixed relative to the manipulator and extending through the rear segment, an intermediate segment supported on the rear segment for rotation about an intermediate axis defined by the rear segment and intersecting the inner axis at an acute intermediate angle open away from the rear segment, and a front segment having a holder adapted to carry a tool and suppported on the intermediate segment for rotation about an outer axis fixed relative to the intermediate segment, extending through the front segment, and intersecting the intermediate axis at an acute outer angle open away from the intermediate segment. A drive rotates the intermediate and outer segments on the inner and intermediate segments about the respective intermediate and outer axes.

Abstract: The invention relates to a transport device for welding wire feed for welding equipment, in particular arc sheild-gas welding tools on manipulators. The welding wire is transported from a magazine or reel with the aid of two separate drives. The main drive determines the feed and it is mounted near the application welding die, while the auxiliary is arranged spaced therebehind. The motor of the main drive is controlled to a constant speed corresponding to the selected feed, while the auxiliary drive acts on the welding wire with slip. The motor of the auxiliary drive is also controlled to a constant speed, the speed adjustment of the drives being, however, control-technologically connected for maintenance of a certain difference of the transport speeds.

Abstract: An a manipulator having a pair of main elements pivoted together at a main axis has a drive having a motor mounted on one of the elements and having a motor output, and first, second, and third stepdown transmissions connecting this output with continuous-mesh force transmission to the other element. The first stepdown transmission has an input wheel connected to the motor output, an output wheel, and a toothed belt interconnecting the input and output wheels. The second stepdown transmission has a rotary input element connected to the output wheel, and a rotary output element noncoaxially associated with the input element and connected thereto. The third stepdown transmission has an output gear connected to the other element centered on the main axis, and an input gear rotatable about a gear axis offset from the main axis and having two axially separate halves relatively rotatable about the gear axis and both meshing with the output gear.

Abstract: The invention is a further development of the gear-head unit for a manipulator described in German Open Patent Application No. 34 28 748. In order to increase the radius of action and range of applicability of the gear-head unit a structural arrangement with three concentric drive axes and four allowed rotational motions of front, intermediate and rear segments of the manipulator is set forth. These front, intermediate and rear segments are pivotally mounted together about first and second inclined pivot axes which are inclined to each other and to the main drive shaft axis. Along these inclined pivot axes two hollow drive shafts connected with each other extend which are supported by reduction gears in the front and/or intermediate segments. Because of that simultaneous opposing rotational motions of the intermediate and rear segments can be obtained from a single drive motor.

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: The invention relates to a device for welding of metallic parts with tubular cross section with an electric arc, having at least two magnets with the same polarity, surrounding the weld seam line annularly with their pole faces. In such a welding device, the pole faces are easily contaminated with weld splashes, during welding. Such contamination has a negative influence on the electric arc path and the weld seam line is deteriorated. In order to avoid such contamination, the invention proposes that the pole faces (4) be provided each with a covering protection ring (5), presenting an inner surface (7) inclined towards the weld seam line.

Abstract: The invention concerns a manipulator (1) which is able to automatically receive the tool holder (7), to clamp it and to set it down again, in order thus to make possible a rapid changing of different tools. For this purpose, the last drive element (6) of the manipulator (1) as well as the tool holder (7) are provided with coupling parts (8,9) and with cooperating screw systems (16,17). The manipulator-side screw system (17) is mounted via an operating element (11) for rotation at a second operating element (10) which forms a rotation barrier (13) with the tool holder (7) as the coupling parts (8,9) come together. The screwing process is actuated by rotation of the last drive member (6). The two operating elements (10,11) are furthermore non-rotationally connected through a fixing mechanism (20). This rotation lock is abolished as soon as the rotation barrier (13) between the operating part (10) and the tool holder (7) becomes effective.

Abstract: The invention relates to the production of a guidance system (9, 14) for two machine parts (1, 2) which are movable relative to each other and are interconnected through this guidance system. To protect this guide track (9) disposed on the first machine part (1) from the track dust, grease, oil and the like, it is disposed in an almost completely closed guide channel. This guide channel is accessible only from the top through a slot engaged by guide elements (14) of the other machine part (2). The slot is covered on the one hand by the housing of machine part (2), and in the area outside of this housing it is closed by a belt (4). The guide track (9) is thus closed to the outside in any position of the machine part (2). If a toothed belt drive (3) is used, the toothed belt (4) acts as driving and covering element at the same time.

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.