Kuka Schweissanlagen + Roboter Gmbh

Industriewerke Karlsruhe-augsburg Aktiengesellschaft

Kuka Schweissanlagen Gmbh

Roboter Gmbh

Kuka Gmbh

Kuka Schweissanlagen + Robotor Gmbh

Kuka Schweissaniagen Gmbh

Industriewerke Karlsruhe Augsburg Ag Zweigniederlassung Keller & Knappich

Kuka Schweissanlangen

Kuka Schweibanlagen + Roboter Gmbh

Kuka Schweissanlgen + Roboter Gmbh

Kuka Schweissanlegen & Roboter Gmbh

Ernst Zimmer

Karel Mazac

Peter Rippl

Thomas Sturm

Johann Maischberger

Botho Kikut

Georg Hartmann

Kurt Wiedemann

Helmut Obermeier

Franz Kainz

Josef Stadler

Karl L Binder

Heinz Meyer

A flanging or hemming device ( ) is provided with an external flanging unit ( ) and/or an internal flanging unit ( ) as well as a clamping device ( ). The clamping device ( ) has one or more leading pressing and clamping elements ( ) which are movable or deformable and can be adjusted in accordance with the place or time and/or force with which they act on the workpiece or work-pieces ( ). The pressing and clamping elements ( ) are notably elastically deformable. They can also comprise a spring ( ) or be fluidically pre-stressed.

Flanging device with pressing and clamping elements

The present invention pertains to a hemming device,with a hemming head,, which has one or more hemming tools,, divided into segments,through,in the case of a plurality of hemming tools, wherein the hemming tool or hemming tools is/are provided with a hemming edge,rotating in the operating position. The hemming device,also has a stroke drive for generating the hemming stroke and an adjusting device,for withdrawing and extending the segments,through,, which has an adjusting drive,, which moves all segments,through,simultaneously. The segments have adapted contact surfaces,, which have a contact angle &agr; of 20&deg; to 50&deg;. The adjusting drive,is preferably designed as a crank mechanism.

Bordering device

Tool change device for manipulators

Multiaxial manipulator

Processing station for workpieces, especially vehicle bodies, in a

Multiaxial industrial robot

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). In conjunction with freely programmable actuators for the independent motion of the individual tool carriers (22, 23), new sets of tools can be put together in mosaic fashion for the various activities and in the event of an assembly type change-over.

Method for automatic joining and machining

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. For this purpose, the welding torch can swivel in its mounting and is provided with a switching disc which lifts away upon contact with the weld sides by deflection of the welding torch and sends a switching signal.

Process and a device for finding and following a hollow weld in shielded

Device for automatic joining and machining

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. The drive has an intermediate shaft extending along the intermediate axis, an outer shaft extending along the outer axis, angle gearing interconnecting the intermediate and outer shafts for joint synchronous rotation, an intermediate stepdown transmission with a high stepdown ratio of N:1 connected between the intermediate shaft and the intermediate segment for relatively slowly rotating the intermediate segment relative to the intermediate shaft, and an outer stepdown transmission with a high stepdown ratio of (N+/-1):1 connected between the outer shaft and the front segment for relatively slowly rotating the intermediate segment relative to the intermediate shaft. The factor N is a whole number of revolutions.

Manipulator-head drive assembly

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.

Transport device for a welding wire, particularly for robots

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. A shaft has an outer end connected to one of the gear halves and an inner end connected to the output element of the second transmission. A sleeve surrounding the shaft has an outer end connected to the other gear half and an inner end connected to the output element of the second transmission. The sleeve and shaft are of generally the same torsional elasticity between their inner and outer ends. A slip-adjusting unit is effective between the inner ends of the shaft and sleeve for maintaining opposite torsional stresses in the sleeve and shaft.

Manipulator drive with slip-eliminating adjustment

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. In the rear segment an output drive shaft attached to a front plate for a tool holder is rotatably mounted which is driven by coupled intermediate drive shafts guided through the hollow drive shafts.

Gear unit for a manipulator

Multi-purpose industrial robot

Device for the automatic gripping and releasing of a tool holder in a

Growing community of inventors

Friedberg, Germany

Ernst Zimmer