Abstract: An improved system for the automatic recovery of play between a worm and a worm gear, particularly in welding robots, the system being formed by at least one resilient member of the cup spring type or the like, acting perpendicularly to the axis of rotation of the worm.

Abstract: A robot carrier structure constituted by a portal wagon movable on rails and laterially supported by a pair of carriages each comprising a pair of wheels longitudinally coupled by motion transmission means actuated in synchronism by an electric motor. Further the two electric motors of the pair of carriages are so connected as to constitute an electric axis. Each wheel has a structure adapted to ensure a high adherence to the rail, particularly due to the provision of a pair of rings of elastomeric material engaging the rolling surface of the rail.

Abstract: A robot carrier structure constituted by a carriage movable on rails and supported on four wheels two of which are mounted on a driven shaft and two are idle wheels. Each drive wheel has a structure adapted to ensure a high adherence to the rail, particularly due to the provision of a pair of rings of elastomeric material in engagement with the rolling surface of the rail. Engagement means movable laterally on the rail are provided to increase the adherence of the drive wheels.

Abstract: An automatic tool changing mechanism for industrial robots, comprising a coupling device mounted on a toolholder head of the robot, and a connection plate complementary to the coupling device and firmly secured to the tool, this latter being accommodated in a toolholder magazine. Fixing of the two parts to each other is effected by rotation of a segmental crown gear mounted on the toolholder head and driven by actuator means mounted on the toolholder magazine. The mechanism further comprises a plurality of electrical and fluid connections energized simultaneously with the mechanical connection of the two parts and interrupted automatically on their separation.

Abstract: An industrial robot having several axes of movement and comprising a base mounted for linear or pivotal movement, a pair of angularly movable parallelogram leverages and a toolholder head movable by the leverages and supporting a tool such as a welding torch. The toolholder head has two degrees of freedom of pivotal movement. The tool supported thereby is centered in a fixed point of focus irrespective of the position of the toolholder head and the tool can be adjusted without changing this point of focus merely by adjusting the toolholder head without adjusting other axes of movement of the robot.

Abstract: An industrial robot having several axes of freedom of movement and comprising an operating members supporting arm pivotally mounted at the top of a supporting column for movement about a horizontal axis from a horizontal angular medium position under the control of a linear actuator pivotally connected with one end to the supporting column and the other to the supporting arm. Preferably the linear actuator is an electromechanical jack having a worm and lead nut, the worm being rotatably mounted within an elongated housing and driven by a motor secured to the housing and the lead nut being coupled to an outer tubular jacket.

Abstract: A tool holder head, particularly for supporting a welding yoke or gun in a welding machine, enables the welding gun to be moved in three degrees of freedom. The head comprises a bushing rigidly mounted on a movable support member of the machine and three hollow shafts movably mounted one within the other in the bushing and each driven by a separate motor and connected by gear means to a tool support.