EP0000877A1 - Manipulator for positionning workpieces or other loads - Google Patents

Abstract

1. Manipulator (1) for positioning workpieces (2) or other loads with the aid of a pivotable jib (3), on which a lifting device (4) is arranged at a fixed angle and which lifting device is provided with load holding elements (5) and means which controllably change the spacing of the load holding elements (5) from the pivot axis (6) of the jib (3), characterised in that the pivot axis (6) of the jib (3) is arranged to be substantially vertical and is allocated a hinge (7) having a controllable brake (8), that the lifting device (4) consists of an outer telescopic component (9) which is displaceable in relation to the jib (3) in the direction of the longitudinal axis of the lifting device (4) and consists of at least one inner telescopic component (11) which is axially displaceable in relation to the outer telescopic component (9) by means of a ball-type worm gear (10), that at the free end (12) of the lifting device (4) is arranged a connection block (13) so as to be rotatable about the longitudinal axis of the lifting device (4), which connection block possesses connection surfaces (14), between which and the load holding elements (5) is arranged at least one spacing element (15), on which the load holding elements (5) are rotatably and/or pivotably arranged and driving means (16) for this movement are arranged in the spacing element (15).

Description

The invention relates to an arrangement and design of screw gears with one or more ball spindles and ball nuts for converting a rotating into a reciprocating movement. Screw gears are generally used in technology for adjustment tasks, e.g. in machine tools, but also in aircraft for adjusting the flaps, extending the landing gear, etc., and as actuators for a variety of tasks.

There is now a screw gear known according to the preamble of claim 1 (DE-AS 18 05 568), in which one or more ball screws and ball nuts for converting a rotating into a reciprocating movement with torsionally elastic and / or axially elastic stops and / or Intermediate links are used as damping means for reducing peak loads, the ball nut with one of two Telescopic parts connected and secured against rotation with respect to the other telescopic part and the spindles with respect to both telescopic parts are driven by one or more brakeable drives. These special screw gears have made it possible to give these previously extremely sensitive devices greater robustness and to make them suitable for tasks in which a high switching frequency and foolproof function are expected.

In contrast to pneumatic or hydraulic cylinders, the telescopic parts of such screw gears can be made insensitive and rigid. An advantage that is normally not exploited with these devices. Screw gears have already been used to move loads in space, but these screw gears always had to be used in such a way that they were not themselves directly carriers of the load and were directly subjected to bending or other forces. With a correspondingly optimal design of the screw gears for moving large loads, the invention also intends to achieve a very light construction, and to design the screw gearing entrusted with this task itself into a particularly rigid support, and thus the use of such screw gears improved in the sense of the invention for the task of "adjusting loads in space" by an advantageous arrangement which makes it possible to use such an arrangement in many different ways, in particular also for manipulation tasks within the industrial production area.

The characterizing part of claim 1 specifies a certain arrangement in space by which it is necessary that the load to be lifted or lowered by a screw gear can be arranged at a considerable distance from the longitudinal axis of the screw gear without the bending forces on the screw gear influence the position of the load in the room and the function of the screw gear too strongly. The load is also given the opportunity to move in circular paths with respect to the screw gear, and further degrees of freedom of movement are added by combination with other elements.

The sub-claims 2 to 5 are refinements of the teaching given in claim 1.

The claim 6 relates to the formation of a screw transmission, which is particularly advantageous because it is made up of very simple basic elements, forms a very resistant carrier and thus a foolproof function with little production effort, especially in arrangements according to the invention, but also about this Orders beyond, ensures. Refinements are contained in claims 7, 8 and 9.

The claim 10 relates to a screw gear as a clamping element for collets or the like. That is, for such in combination with holding members, which can be used extremely advantageously within the scope of the invention but also beyond. Hydraulic or pneumatic devices are mostly used to clamp holding members such as collets and the like. Also electrically operated, for. B. with magnets or other actuated organs have been proposed. The absolute foolproofness that is required today for safety reasons has so far not allowed the use of such electrical clamping devices. Through the invention, a screw gear, which is preferably designed according to the information of the invention, is used as a carrier of the collets and actuates the clamping jaws with its plunger, being between the plunger and the latter Lift mechanism are interposed. The collet must make do with a small stroke of the ram, the outer tube of the screw gear must be suitable for welding connecting elements and be able to transmit large forces, elastic workpieces or slightly elastic workpieces must also be held securely, extraordinarily high clamping forces with relatively simple and spatially small aids are generated, the clamping forces generated must be approximately the same over the entire stroke of the ram. The invention solves all of these problems according to claim 10 and the following claims 11, 12, particularly advantageous arrangements, which also have significance beyond the scope of the invention, are set out in claims 13 and 14.

The special design of the collet itself, that is to say independent of the actual clamping elements by which it is acted upon, is shown in claim 15 with its subordinate claim 16. The particular kinematics laid down here are particularly suitable for the use of screw gears as clamping elements, but are can also be used in addition.

In the case of arrangements for moving loads, it is particularly advantageous within the scope of the invention if low-voltage motors are used in certain danger areas in which people can come into contact with live parts.

The claim 18 is concerned with a swivel mechanism which, as a modular element, also has to accomplish the task of unlimited rotation of a part supplied with current conductors, since each angle limitation in a swivel mechanism causes considerable functional restrictions.

The claim 19 has independent character again, because it relates to an extremely important, horizontally articulated subdivision in the context of the invention as a suspension for the screw gears, by means of which the arrangement according to the invention can be moved in further degrees of freedom, in total in a horizontal plane . It is particularly important here that every degree of freedom must be able to be driven and braked.

Claim 20 once again summarizes important features of the invention which are important in the context of the application of the invention to a manipulator.

Within the scope of the object of the invention is also the movement of large loads, for example several tons above lifting heights of many meters, wherein the load can be arranged eccentrically to the actual lifting device or the holding members and thus large bending forces occur. It is now known that a rod, shaft or tube, such as a ball screw, has only very limited bending stiffness under compressive forces, which of course decreases with increasing length. However, even with great lengths, tensile forces can be transmitted in approximately the same order of magnitude in various length ranges. It is also clear that spindles can only exert large compressive forces with a corresponding length if they are chosen to be appropriately thick. However, this makes them unusable for tasks such as those on which the invention is based. The weights are getting too big. The screw gear used for lifting purposes, which itself is to be moved, must be extremely lightweight. The teaching according to claim 21 provides a solution here, while claim 22 shows a corresponding alternative. This also includes claim 23.

The teachings according to claims 21 to 27 all serve the design of screw gears in the sense of The task is to convert these into the most rigid support elements possible so that loads can be moved eccentrically via the screw gears, as well as being able to handle larger loads with only slightly increased manufacturing costs and, above all, being able to move these larger loads even with large strokes. This task could not be solved with conventional design principles. While with short strokes it is possible to expect ball screws to have relatively high pressure forces in relation to their diameter, this possibility decreases quickly with increasing stroke lengths. Three ball spindles with a length of five meters, for example, which together can only handle 100 tons of static and dynamic loads when subjected to tension, cost about a tenth of a specially manufactured ball screw, which as a single ball screw can also transmit the same load as compressive force. This simple consideration illuminates the importance of the above-mentioned claims, which show two construction methods. One is that the tappet surrounds the support of the bearing, that is, a column that is firmly connected to the drive, as a telescopic part that can be pushed out, while the other solution, in a conventional design, guides the tappet within a support tube for the bearing that is firmly connected to the drive. No matter how the design is chosen, the ball screws are each completely relieved of bending forces. The designer can therefore choose any bending stiffness of the carrier chosen by the screw gear.

Claim 27 makes it possible to assemble a device of larger overall length and long stroke from several shorter standard devices, the drive elements forming stiffening nodes of a bamboo-like carrier. The lifting speeds add up or add up, depending on the switching of the individual devices. Lifting speeds can be achieved that would otherwise be unthinkable. The teaching of the An is particularly advantageous pronoun 27 in combination with the aforementioned features of the invention.

Claim 28 provides an example of a teaching for a hand-held handling device, in which the control possibility of such a device is shown, the application of such a control also being able to go beyond the scope of the invention. This control is particularly suitable for a handling device with an articulated arm boom as a suspension.

By the invention, the conditions have been created to move even larger loads in the space defined and non-positively, so that, to name just one example, within the load range of 250 kg to 2 tons at lifting heights of up to 5 meters, with the help of Screw-driven, the load can be moved or fixed and held in space.

• Figuren 1, 2, 5 und 7 der erfindungsgemäßen Anordnung und Ausbildung von Schraubengetrieben, eine vergrößerte Darstellung der Halteorgane aus der perspektivischen Darstellung nach Figur 4, während
• die Figur 3 wesentliche Einzelheiten eines erfindungsgemäßen Schraubengetriebes mit Lasthalteorganen darstellt. Die Ausbildung einer Spannzange 31 zeigt Fig. 4 A.
• Die Figur 6 ist eine Draufsicht zu Figur 7 und erläutert nur den Bewegungsablauf, ohne Einzelheiten darzustellen.
• Die Figuren 8 und 9 erläutern die Anordnung der Lasthalteorgane an dem Stößel. Diese Erläuterung wird durch die Figuren 11 und 12'ergänzt, wobei diese noch Einzelheiten, Anordnung und Ausbildung der Lasthalteorgane zeigt. Hierzu gehört auch die Figur 13.
• Die Figur 14 zeigt in einer Querschnittsdarstellung die Ausbildung des Antriebes des ersten Schraubengetriebes und seine Ausbildung, während
• die Figur 15 nur eine Kugelumlaufmutter auf einer Kugelspindel mit dämpfungselastischem Anschluß und Führungsmitteln zeigt, wie sie bei einer Ausführungsform nach Figur A ggf. ausgebildet sein könnte.
• Die Figuren 16, 17, 18, 19 und 20 sind schematische Darstellungen baulicher Anordnungen von Schraubengetrieben für große Lasten und große Hübe, deren Kenntnis für das Verständnis des Erfindungsumfanges erforderlich ist.
• Die Figuren 21, 22 und 23 ergänzt durch die Figuren 24, 25 und 26 sind von besonderer Bedeutung. Die Figur 21 zeigt die herkömmliche Bauform mit in einem Rohr geführten Stößel unter Verwendung der Merkmale der Erfindung, während die Figuren 22 und 23 den Stößel als äußeres Teleskopteil ausgebildet haben. Dies gilt auch für die Figuren 24 und 25.
• Die Figur 26 ist in gewisser Weise mit den Figuren 17 bis 24 vergleichbar, da eine Dreiecksanordnung von Trägersäulen gewählt wurde.
• Die Figur 27 zeigt die Hindereinanderanordnung von mehr als zwei Einzelschraubengetrieben, während die Figur 28 eine Ausführung mit zwei kombinierten Einzelschraubengetrieben zeigt.
• Die Figuren 29 und 30 zeigen eine Steuerungsvorrichtung für eine erfindungsgemäße Anordnung, beispielsweise bei Handlinggeräten, die von Hand geführt werden müssen.

The invention is explained in more detail below with reference to drawings. Show it

• Figures 1, 2, 5 and 7 of the arrangement and design of screw gears according to the invention, an enlarged view of the holding members from the perspective view of Figure 4, while
• 3 shows essential details of a screw transmission according to the invention with load holding members. 4 A shows the design of a collet 31.
• FIG. 6 is a top view of FIG. 7 and only explains the sequence of movements without showing any details.
• Figures 8 and 9 explain the arrangement of the load holding members on the plunger. This explanation is given by Figures 11 and 12 'completed, which still shows details, arrangement and design of the load holding members. This also includes Figure 13.
• FIG. 14 shows a cross-sectional illustration of the design of the drive of the first screw gear and its design while
• FIG. 15 shows only a ball nut on a ball screw with an elastic connection and guide means, as it could possibly be formed in an embodiment according to FIG.
• Figures 16, 17, 18, 19 and 20 are schematic representations of structural arrangements of screw gears for large loads and large strokes, the knowledge of which is necessary to understand the scope of the invention.
• Figures 21, 22 and 23 supplemented by Figures 24, 25 and 26 are of particular importance. FIG. 21 shows the conventional design with a plunger guided in a tube using the features of the invention, while FIGS. 22 and 23 have designed the plunger as an outer telescopic part. This also applies to Figures 24 and 25.
• FIG. 26 is somewhat comparable to FIGS. 17 to 24, since a triangular arrangement of support columns was chosen.
• FIG. 27 shows the mutual arrangement of more than two single screw gears, while FIG. 28 shows an embodiment with two combined single screw gears.
• FIGS. 29 and 30 show a control device for an arrangement according to the invention, for example in handling devices which have to be guided by hand.

In the case of an arrangement of screw gears 7 and 7 ', an arm 6 serves as the suspension, which is pivotably connected to the arm 5 via a joint 26, swivel mechanism 22, brake 27, motor 80, which in turn is connected via the joint 26', axis 2, Carrier member 1 and with the swivel mechanism 22, brake 27 and motor 80 is fastened to a wall, for example. The screw gear 7 is fastened with its outer telescopic part 4 in a clamping block 81 which, for example, has a toothed crank mechanism 83 which engages with a toothed rack 82 in order to adjust the outer telescopic part 4 vertically. In addition, however, a swivel mechanism 22 'with the drive elements 18 can be installed in the cavity within the support profile of the arm 6 and carry out a propeller-like pivoting of the outer telescopic part 4 and thus of the screw gear 7 so that the load packed by the holding members 9 over the arm 6 pivoted up and from there can be pushed up by the screw gear 7.

On the plunger 11, which forms the extendable telescopic part 4 ', a bearing body 15 is rotatably fastened, from which, for example, a support bracket 84 extends for special purposes. The bearing body 15 forms connection surfaces 16, to which, for example, the screw gear 7 'can be connected with its drive elements 18, preferably pivotable by at least 90 °. In this case, the holding members 9 form a pull-off and press-in device 12. The screw gear 7 'can serve as a spacer 17.

In FIG. 2, the arm 6 is broken off and, instead of the toothed crank mechanism 83, an additional lifting device 28 is provided, with which the actual screw gear mechanism is used Can be adjusted in height. ^* The lifting device 28 can be any actuator 25. In Figure 1 it is shown that a pivot mechanism 22 has pivoted the second screw gear 7 'by 90 °, so that the holding members 9 can push a shaft 86 out of a workpiece 85. The function of a collet 31 is shown in FIG. 3. A drive block 71 with a motor 80 and a closed-circuit brake 27 'is connected to a shaped tube which forms the outer telescopic part 4. The ball screw 70 is guided with the spindle guide 87 within the plunger 11. The ball nut 10 is housed within the plunger 11. The circular plunger is positively guided in the outer telescopic part 4 with the sliding block 14 and the sliding guide bush 61. In the plunger 11, a sleeve 202 is inserted by means of an internal thread 65. A connecting part 200 is guided inside the sleeve and has a flange 88, on the two sides of which plate spring assemblies 79 are arranged in the sleeve 202 in a prestressed manner. The connecting part 200 ends in a fork head 203, the bolt 204 of which engages the ends 216 of the inner legs 214 via elongated holes 217. Movement of the legs 214 in one direction or the other changes the force ratio only minimally. Beams 215 are welded to the outer telescopic part 4. The angle levers 210 with their jaw levers 211 and their inner legs 214 are mounted at 212 on the carriers 215 at the intersection of these legs. Form plates 230 are rotatably supported by ball bearings and, as shown by arrows, can be swiveled or moved from the inside to the outside.

Figure 4 shows a perspective view. Here it can be seen how an operator actuates a master switch 111 with which the function of the screw gear 7 and the screw gear 7 'and thus the holding member 9 is controlled by the operator. As an an example a furnace 110 was drawn into which the workpiece is to be inserted.

The holding members 9 of FIG. 4 show an enlarged illustration of FIG. 4 A. Spindles (not shown) drive a drive pinion 127 and this drives the adjustment of a bearing plate 30, so that a swivel mechanism 22 "is created.

In FIG. 5, instead of the lifting mechanism 28, actuator 25 shown in FIG. 2, the lifting and lowering of the entire cantilever arm 3 with the partial arms 5 and 6 is shown via a lifting spindle 32 which is mounted in upper and lower spindle tension bearings 33. In addition, it is shown as a special feature that the entire support member can also be rotatably supported via a ball slewing ring 89. Special drive means, swivel mechanism 22 can be provided for this. The arrangement of spacer elements 18, drive elements and tensioning mechanisms 23 will be explained later.

In addition to Figure 5, Figure 6 shows only a top view, the motion sequences and the joints.

FIG. 7 now supplements the teaching according to FIG. 5. The joints 26, 26 'are provided with additional lifting devices 28, which can have a configuration similar to that of the first screw gears 7.

The perspective view according to FIG. 8 shows an exploded view of the arrangement of the drive elements 18, swivel mechanisms 22 'and bearing body 15 on the tappet 11 according to the invention. The bearing body 15 is rotatable relative to the tappet 11, which, as can be shown later, also by means of a Swivel mechanism 22 'with power distributor (slip ring body 220) can go on. The motor 80 is attached to one of the connection surfaces 16 of the bearing body 15 by means of screws 91, it being possible for this to take place that, as shown by arrows, pivoting by 360 ⁰ can be made depending on the task. The motor housing 90 of the motor 80 is in turn coupled to drive elements 18, gear housing 92 or spacer elements 17 with a current distributor 220, to which a connecting cable 154 leads to the brush holder 153. The current distributor 220 with its housing 24 is also a bearing body. A powerful drive shaft 219 emerges from it and the cables connected to it, which can now pivot with the axis. A sleeve 155 can be plugged onto the drive shaft 219, which in turn can be connected to the collet unit 225, in which two screw gears 7 'are arranged so that they overlap each other so that their collets 31 with the outer legs 213 of the jaw lever 211 point in different directions and can now turn propeller-like with the axis. The tensioning opening is designated by 218, while the screw gear 7 'forms the actual tensioning mechanism 23. It is important that the mold plates 230 can pivot about the holding pins 231 and thus can clamp both from the inside out and from the outside in.

FIG. 9 shows a slightly changed arrangement. The lower connection surface of the bearing body 15 has been used here.

FIG. 10 shows the current distributor 220 with the housing 24, which is designed as a slip ring body, in a sectional illustration, see FIG. 8. The connection means 154 are introduced into the brush holder 153 and ultimately lead the current over this and the slip rings up to the flange 234 and thence to the collets 31. The powerful shaft bearings 221 make the current distributor 220 a bearing body 15.

FIGS. 11 and 12 show that a slip ring body 220 or Power distributor 220 can be provided, which can then immediately form the bearing body 15 but does not necessarily have to. The vertical bearing body 15 is connected to a slip ring body 220 in a horizontal arrangement, which in turn is designed as a power distributor 220 and carries on its drive shaft 219 a pinion which is in drive connection via a toothed belt 223 with a corresponding pinion of a gear shaft 224 and thus a swivel gear 222 forms.

On the drive shaft 219, the collet unit 225 is arranged in a propeller-like manner above the sleeve 155, as has already been shown in a similar form in FIG. You can see the handwheels 237 and the screw gear 7 '. Further details can be seen in FIG. 11. Here, the handwheels 237 are arranged such that they can turn the drive elements 95, 80, 90, 21, the bearing being carried out via the shaft bearings 221 within the power distributor 220 or bearing body 15. The closing plane of the collets 31 can thus be adjusted in the direction of the arrow about the center axis shown, and each position can be determined via the brake shoe 235, brake disk 236. These disc brakes are primarily assigned as a component to other swivel mechanisms. Above all, you can replace the brakes 27 on the joints 26, 26 ', for which extremely high braking forces are required.

FIG. 11 also shows a limit switch 43 that may be required. The current distributor 220 is practically a connection block 232 and is fastened on the end face to the current distributor 220, which in turn serves as a bearing body 15 on the plunger 11. This arrangement is preferred if only one collet 31 is provided.

FIG. 13 does not require any description, since here only the redesign of a collet according to FIG. 3 with two Clamping jaws should be shown in one with three clamping jaws.

In FIG. 14, the limit switch 43 was shown rotated by 90 ° in order to be able to show its function better. In practice, the limit switch 43 is a flat housing since the screw shaft 7 is arranged on the side faces of the drive shaft.

The rotor 93 is seated on the rotor shaft 40 of the electric motor 80 in the motor housing 90 within the stator winding 94. The motor compartment is closed off by the bearing cover 95. A idle current brake 27 'then adjoins the rotor shaft 40 and to this a drive wheel 96 mounted on the shaft end or on a shaft end which can be coupled to the rotor shaft. This drives a drive belt 42 via the drive wheel 96' and thus a rolled spindle 97 this spindle is seated by a nut 98. This acts on switching elements 99 via corresponding cam systems. The switching elements 99 can be displaced by means of screw spindles 250 via handles 251.

The motor housing 90, which is open at the bottom, is closed by a cover 252 which, as a bearing cover, supports the output shaft end of the motor and at the same time has a recess on its underside which forms part of a gear housing or a gear housing section 92. The other part of this housing is formed by a turning of the bearing body 15 '. If several reduction stages of the planetary gear 45 are required, corresponding intermediate pieces are used. The output shaft journal is the carrier of the transmission sun gear and is connected to it via plug connection 44. Since the structure of planetary gears is known, this need not be described in more detail. The planet gear carrier 160 is connected to the plug pin 48 of the intermediate shaft 47 via the plug connection 44 ′. This intermediate wave has a flange 51 which is clamped between the ball bearing inner rings 50 in order to be able to transmit compressive and tensile forces. The intermediate shaft forms a threaded bush 49 on the driven side, into which a corresponding threaded end of the ball screw 70 is screwed and secured. An end-side recess 52 in the bearing body 15 'serves to attach the non-circular outer tube 55 (corresponding to telescopic part 4) via the foot 54 and corresponding screws 56. A plate 53 is inserted between the foot 54 and the bottom of the cutout, which is provided with a damping cushion 57 Vulcanization is connected, wherein a stop plate 59 is also vulcanized on the top of the damping cushion. The damping cushion (57, 57 ') tapers conically in order to have play in the event of deformation. The ball nut 10 can be stopped by the damping cushion 57 when it hits the stop plate 59, the peak forces being reduced. The recirculating ball nut is screwed to a sliding block carrier 64, which carries the sliding block 14, via the internal thread 68. The slide carrier 64 itself ends in a threaded sleeve, the external thread of which is screwed into the internal thread 65 of the plunger and thus presses the slide block against an end flange 66 of the slide block carrier via an inserted disk 67. The spindle end is guided over the spindle guide piece 87 within the tappet.

The plunger 11 is guided in the sliding guide bush 61, the inner end 62 of which is connected to a carrier of the damping cushion 57 '. The plunger 11 is a simple, smooth, circular tube, provided at both ends with an internal thread 34, 65. The upper internal thread 65 serves to connect the ball nut 10 via the sliding block carrier 64, while the lower internal thread 34 serves to connect an intermediate shaft mounted in the bearing body 15.

Figures 15 and 15a show a ball screw 70 with ball nut 10, which only needs to transmit tensile forces. It is supported at both ends in spindle train bearings 33. These leave little axial play. The ball nut 10 carries two lateral connecting parts 113 with torsionally elastic damping pads 77 and the parts 112 for connection to the tappet with the rollers 13, roller bearings 73. The rollers 13 run in slots 123 of a column 72 firmly connected to the drive parts.

A square tube 121 composed of two profiles forms the plunger 11 and surrounds the square tube 116, which forms the column 72 and has the slots 123 in which the rollers 13 are guided. The column 72 carries the upper spindle tension bearing 33 at its free end (not shown).

In FIG. 16, the slotted square tube 116 is now formed by four tubes 114, the individual columns 74 which are fixed to the drive elements e.g. 71 connected pillar 72 form. At their upper end they carry the bearing bracket 75 and the upper tension bearing 33 of the spindle 70 (not shown). The webs 115 serving as a connection to the ball nut 70 and firmly connected to the plunger 11 correspond to the connecting parts 113, 77 and 112 in FIG. 15, only these are arranged in a cross shape. The plunger 11, consisting of a square tube 116, is itself guided once again in a third telescopic part 76, which, like the individual columns 74, is rigidly connected to the drive blocks 71. Such a telescopic part 76 can be used to carry the bending forces, but it can also be just a simple protective tube.

FIG. 17 shows a side view of a plunger 11 in its end region. If possible, the pestle should be Release forces via damping-elastic intermediate links. For this purpose, the force-transmitting part is an axially movable connecting eye 117 damped in both directions by plate spring assemblies 79. This connecting eye 117 can also be seen in plan view in FIGS. 18 and 19. Otherwise, the plunger 11 according to FIG. 17 corresponds to the top view according to FIG. 19, which in turn shows approximately the same structure with FIG. 21.

In FIG. 18 it was shown in a simplified top view that the invention opens up a wide range of design variations. As in FIGS. 17 and 19, the plunger 11 is formed by individual columns 74 arranged in a triangle. However, these are located outside the carrier 75 of the upper spindle tension bearing 33, which can be formed by a triple-slotted triangular tube or three angle brackets.

FIG. 20 is intended to show that inside the plunger 11 forming an outer tube, ball nuts 10 can be connected in a damping-elastic manner to the inside of the plunger tube, while the individual columns 74 carry the upper spindle tension bearing 33 as in FIG. 22, in which the plunger 11 is formed by a triangular tube .

FIG. 21, comparable to FIGS. 17 and 19, shows once again in perspective view the possibility of dividing the plunger 11 into a plurality of individual columns 74 and guiding them in the upper bearing bracket 75, in which the upper spindle tension bearing 33 of the ball screw 70 is also arranged.

In FIG. 22, the ball nuts 10 or the one ball nut 10 shown is accommodated in the tappet tube cover 118, which is penetrated by the individual columns 74, which in turn are firmly anchored on the drive block 71. Between the bottom At the end of the plunger 11 and the drive block 71, there is a variable free space 124 which can be closed off by bellows 125 or the like or by a further guide tube as a third telescopic part 76. The pillars 74 carry at their upper end the bearing bracket 75 for the upper spindle tension bearing 33, which can be guided with guide stones, rollers 122, 126 or the like in the interior of the tappet tube.

Figure 23 shows a very simple embodiment of the actuator. Similar to FIG. 16, the plunger 11 is formed by a square tube 121, to which the ball nuts 10 or spindle nuts 10 'are fastened, similar to that in FIG. The square tube 121 or rectangular tube 152 comprises a double T-beam 150 and is guided thereon. The double T-beam 150 ends in a manner not shown at its upper end in a closing piece as a bearing bracket 75 which carries the spindle tension bearings 33 for the two ball spindles 70 or lifting spindles 32. An outer tube 76, not shown, can be provided as a third telescopic part. The recirculating ball nuts protrude into channels 151.

In FIG. 24, the plunger 11 is in turn a closed triangular tube, surrounded by an outer protective tube, telescopic part 76. The ball nut 10 includes the spindle 70 and is embedded in a triangular support body 119. Its angular ends are connected to the plunger 11 via torsionally elastic damping means 120. The individual columns 74 serve to guide the plunger 11 and are therefore movable relative to the plunger and the carrier of the ball nut 10.

FIG. 25 shows a variant of FIG. 16. The individual columns 74 are square tubes 121, these are guided through the guide rollers 122 relative to the tappet 11, which also forms a square tube 121, and rollers 13 can also be used be provided between the square tubes 12 which are mounted on the webs 115.

FIG. 26 is intended to show that the individual columns 74 which form the plunger 11 on the one hand and those which form the other telescopic part can be shaped in such a way that together they form approximately a closed circle which is still surrounded by a third telescopic part 76 can.

FIG. 27 shows the connection in series of individual actuating devices 7 "in any design, in particular, however, in which the ball screws are only loaded in tension. The drive blocks 71 form nodes of a bamboo-like beam in such a way that bending forces can be expected of the overall beam, which can be expected from the same The lifting speeds of the individual actuators can add up or subtract if the direction of movement is reversed. This can be very important if, for example, actuators are to move large loads slowly but small loads very quickly. The total transferable tensile or compressive forces in the combination of a plurality of 7 "screw gears are not significantly different from those of individual devices, but stroke lengths and speeds can be achieved which previously achieved only with great effort were noticeable.

FIG. 28 shows the combination of two individual devices by connecting two drive blocks 71 to one another. The cut plunger 11 and cut third telescopic part 76 allow a view of the bearing bracket 75 of the upper spindle tension bearing 33. In this illustration it is again clear that the spindle 70 is only supported in tension bearings 33 and transmits tensile forces in both directions, so that they are not subjected to bending can. The bearing bracket 75 is guided, for example, via guide rollers 122 within the tappet 11. A ball screw can be used in standard dimensions that are manufactured in series. It behaves like a rope under tension.

If this is not sufficient because a longer stroke is required, several 7 "screw gears can be connected in series. All bending forces and all compressive forces are taken over by the telescopic parts. As was previously the case, one would be very thick to transmit larger forces with large strokes To have special spindles manufactured, such an arrangement would cost a multiple of the one according to the invention, so screw gears for large forces and large strokes have so far been inferior to hydraulic cylinders and have not been used in large numbers.

FIGS. 29 and 30 show a control device for an application example, for example a handling device. The swivel mechanism 22 and possibly the brakes 27 'should be able to be handled by the operator by means of the servo forces which he transfers to the device. A slide 104 is guided in guides 107 in the longitudinal direction of the outer cantilever arm part 6. The slide 104 has a slot 102 which is gripped by a lever or guide body 101 provided with a handle. An induction core 105 is fastened to the slide 104 and fits into an induction coil 103 which acts on a sensor 106. The guide body 101 is embedded in a rubber cushion, spring cushion or the like 100, the restoring forces of which must correspond to the forces to be exerted by the operator for handling. If, for example, the guide body 101 is moved transversely to the slide 104, the operator can choose whether he wants the joint 26 ′ of the inner cantilever arm part only to pivot the outer arm relative to the inner arm, or whether it brakes both joints to pivot the extended arm. In both cases, hardly any forces are required. The paths of the induction core within the coil are always proportional to the required angular speeds and / or swiveling forces.

Claims (28)

1. Arrangement and design of screw gears (7, 7 ') with one or more ball screws (70) and ball nuts (10) for converting a rotating into a reciprocating movement with torsionally elastic (sliding block 14) and / or axially elastic stops (77 , 78) and / or intermediate links as damping means for reducing peak loads, the ball nut (70) being connected to one of two telescopic parts (4, 4 ') and secured against rotation with respect to the other telescopic part and the spindles with respect to both telescopic parts (4, 4' ) are driven by one or more brakeable drives, characterized in that
that at least a first or more combined first screw gear (7) is connected on the one hand within a vertical plane to one of the telescopic parts (4, 4 ') with a fixed suspension or arm (6) movable within a horizontal plane and
that the telescopic part (4 ') that can be pushed in and out carries a bearing body (15) and / or swivel mechanism (22') with a vertical swivel axis, to the connecting surfaces (16) of which spacer elements (17) can be connected, the load-holding members (9) in either a perpendicular and / or wear a horizontal distance from the axis of the screw gear (7), and in particular
that the load-holding members (9) are arranged on second screw gears (7 ') and can be tensioned by these collets (31) or the like, at least one energy accumulator (disk spring assemblies 79) being interposed between them and the screw gear (7'). 2. Arrangement of screw gears according to claim 1, in which as a coupling means between the bearing body (15) or a swivel mechanism (22 ') mounted directly on the tappet (11), spacer elements (17) are used which are drive elements (18) designed as modular elements of the same cross section. 3. Arrangement of screw gears according to claim 1 or 2, in which the telescopic part (4) of the screw gear (7) via its longitudinal displacement and / or rotation enabling means (terminal block 81) is connected to the suspension (arm 6). 4. Arrangement of screw gears according to one or more of claims 1 to 3, in which the longitudinally displaceable telescopic parts (4) via a toothed crank mechanism (83) and / or another parallel screw gear (7). 5. Arrangement of screw gears according to one or more of claims 1 to 4, with on the suspension (arm 5 and / or 6) preferably installed within a hollow profile, one or more swivel mechanisms (22) is (are) provided. 6. Formation of a screw gear, in particular according to one or more of claims 1 to 5, characterized in that
that the outer telescopic part (4) is a non-circular outer tube (55), preferably a square tube, and that on the inner surfaces of this tube a sliding block (14) made of damping-elastic material is guided, which in turn is axially immovable with the ball nut (10) and the inner plunger end (Thread 65) is connected that the plunger (11) is a circular tube, at the two ends of which internal threads (34, 65) are arranged, which on the one hand for connecting the ball nut (10) via the Sliding block support (64) and on the other hand for connecting further elements, e.g. B. the bearing body (15) - serve. 7. Formation of a screw transmission according to claim 6, in which a quiescent current brake (27 ') is arranged on the rotor shaft (40) of an electric drive motor (41) which is preferably designed as a pole-changing high-pole motor, and the shaft (40) via a drive belt (42) or the like is connected to a limit switch (43) and at the other end the shaft (40) is connected via a plug-in connection (44) to a single or multi-stage planetary gear (45) which in turn is connected to one in a plug-in connection (44 ') separate bearing body (46) is coupled with an intermediate shaft (47) which is mounted in a tension and pressure-resistant manner, which is designed on the gear side as a plug pin (48) and on the opposite side as a threaded bushing (49) and a flange (51) clamped between the ball bearing inner rings (50) having. 8. Formation of a screw transmission according to claim 6 or 7, wherein the tension and compression bearing (29) receiving the housing portion of the bearing body (15 ') on the end face in a recess (52), a plate (53) and the foot (54) of the non-circular outer tube (55), which is screwed to the bearing body (15 ') (screws 56), and that the plate (53) is a cushion (57), the rubber part (58) between two plates (plate (53), stop plate (59)) is vulcanized. 9. Formation of a screw transmission according to one or more of claims 6 to 8, in which a sliding block carrier (64) with the internal thread (65) of the Plunger (11) is screwed, and the slide block (14) with its radial end flange (66) is clamped against a disc (67) and even has an internal thread (68) into which the ball nut (10) is screwed. 10. Formation of a screw gear in combination with holding members, in particular according to one or more of claims 1 to 9, characterized in that
that a plurality of plate spring assemblies (79) are biased opposite to each other against the connection part (200) of the energy accumulator. 11. Formation of a screw gear with holding members, preferably collet according to one or more of claims 1 to 9, in particular according to claim 10; in which a controllable brake (27 ') is assigned to the ball spindle (70) in such a way that it brakes the spindle (70) before the motor (80) switches off, such that
that the bias of the energy accumulator is retained. 12. Collet with screw drive according to claim 11, in which the controllable brake is a closed-circuit magnetic brake (27 '), which is de-energized via a displacement and / or force-dependent switching or control element before the engine is switched off and thus occurs, whereby the and / or force-dependent switching element is followed by a time-dependent element, such that
that first the brake engages after the input of the travel and / or force-dependent switching pulse and only then does the engine switch off. 13. Arrangement of collets, especially for screw gears according to one or more of the patent sayings 1 to 12, characterized,
that two or more collets (31) are connected together to form a collet unit (225) in such a way that their clamping openings (218) point in different directions, the screw gears (7 ') assigned to them preferably overlapping in length. 14. Screw gear for collets, in particular according to claim 13, characterized in
that the drive elements (17) of the screw gear (7 ') are so articulately adjustable transversely divided (housing parts 232, 234, 21) that the closing levels of the collets (31) are adjustable. 15. Collet, in particular for screw gears according to one or more of claims 1 to 15, characterized in
that two clamping jaw levers (211) designed as angle levers (210) are mounted at the intersection (212) of the legs (213, 214) on a carrier (215) fastened to the screw gear (7 ') so that their mutually facing legs (214) in approximately in alignment and with their ends (216) via elongated holes (217) or the like are connected to the connecting part (200) in tension and / or pressure. 16. Collet according to claim 15 in the form plates (230) serve as abutment members on the workpieces and are rotatably mounted on ball bearings with or around their holding pins (231) and can be pivoted and / or repositioned by 180 ° with respect to their clamping lever levers. 17. Arrangement of screw gears for lifting and lowering a load and screw gears for tensioning load-holding members or collets, characterized in that that all of the screw gear (7) height-adjustable electric motors (80) are low-voltage motors with about 40 to 60 volts. 18. slewing gear as a connecting element between screw gears with unlimited angular rotation, characterized in that the motor (80) is connected in a known manner a reduction gear with a large reduction and attached to the gear housing parallel to this, the housing of a power distributor (220), the shaft of which is attached transmits the torque to pivotable parts, a chain or toothed belt (223) being connected between the transmission output shaft and the power distributor shaft. 19. Arrangement of screw gears for moving loads; in particular for those according to one or more of claims 1 to 18, characterized in that
that the suspension (arm 6) is a flying below a centrally mounted, pivoting arm (5) and
that the arm joints are assigned drive motors or swivel mechanisms (22) which are provided with controllable brakes (27) and in particular
that the drive elements (18) provided on the screw gear (7) are arranged at right angles to the screw gear, preferably within the hollow support formed by the arm (6), such that
that the screw gear (7) and its drive ends above the arm (6) and this can be pivoted through 360 °. 20. Arrangement of screw gears on a manipulator or the like according to one or more of the patent claims 1 to 19, characterized,
that at the end of the plunger (11) of the angularly rigid to the suspension (arm 6) extending screw gear (7) a manually adjustable and / or motor-driven swivel mechanism (22) bearing body (15) is arranged and at least with respect to this and / or the swivel mechanism spacer means (17) can be pivoted about 90 ° via a drive swivel mechanism or by hand, these spacer means form engine parts (18), in particular a swivel mechanism (22 ') for pivoting a collet unit (225) of screw gears (7'), actuate the load-holding members (9), in particular collets (31), power distributors (220) being provided between the plunger (11) and the connecting parts and between the swivel mechanism (22) and the screw gears (7 ') to be swiveled. 21. Arrangement of screw gears on a manipulator or the like, in particular according to one or more of claims 1 to 20, characterized in that
that the motor (80) driving the ball screw (70) drives the drive pinion (127) of a swivel mechanism for the load holding members (9) directly or via a parallel shaft. 22. Screw gears with one or more motor-driven spindles, preferably ball spindles with recirculating ball nuts, the spindles being driven and the nuts secured against rotation together with the plunger forming an extendable telescopic part, in particular for arrangements of screw gears according to one or more of claims 1 to 20 , characterized in that an upper spindle tension bearing (33) is arranged in a bearing bracket (75) and that the bearing bracket ^* (75) forms a rigid, possibly composed of individual columns (74) telescopic unit and
that the plunger (11) forming individual columns (74) penetrate the bearing bracket (75). 23. Screw gear with a spindle loaded only on tension, preferably a ball screw and an upper bearing bracket (75), characterized in that
that the bearing bracket (75) and the individual columns (74) supporting it are preferably surrounded by parts of the tappet (11) in a tube-like manner, and
that the support body (119) forming the tappet tube end (118) for the ball nuts on the individual columns (74) of the column (72) is guided or penetrated by them. 24. Screw gear, in particular according to one or more of claims 1 to 23, characterized in
that the outer telescopic part (4) forms the plunger (11) and preferably a further load-bearing telescopic part (76) overlapping with the plunger is provided. 25. Screw gear, in particular according to claim 24, with several ball screws and ball nuts, characterized in that
that the plunger (11) is formed by a rectangular tube (152) which encloses a double-T-beam (150), which is the spindle tension bearing (33) and the ball nuts on the inner walls of the rectangular tube (152) attached in the Canals (151) protrude. 26. Screw transmission according to claim 22, 23 or 24, in particular according to one or more of claims 1 to 21, characterized in
that three individual columns (74) of the column (72) and / or the plunger (11) form triangles with one another. 27. Screw gear, in particular according to one or more of claims 1 to 26, characterized in
that several screw gears (7 ¹¹ ) are aligned with each other via their drive blocks (71) like a bamboo knot. 28. manipulator, handling device or the like, in particular according to one or more of claims 1 to 26, characterized in that
that sensors for detecting the strength and direction of bending forces acting on the plunger (11) by an operator are arranged on the screw gear (7) and these are assigned to the swivel mechanisms (22) for the joints (26, 26 '), being a sensor a guide body (101) or the like acted upon concentrically by restoring forces (spring cushion 100), which engages in a slot (102), arranged transversely to the extension of the outer arm (6), of a slide (104) guided in the longitudinal direction of this arm (6) which in turn moves either the induction coil (103) or the induction core (105) of a sensor (106).

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