DE10151631B4 - Movement and / or positioning device - Google Patents

Abstract

Movement and / or positioning device with a movement platform (2), a plurality of guide slides (5, 6, 7, 8) and at least two first guide tracks (3a, 4a), the individual guide slides (5, 6, 7, 8) connected to the movement platform (2) by means of at least one coupling member (9) and can be moved independently of one another along the at least two first guideways (3a, 4a), characterized in that the movement platform (2) has a constant orientation in a first movement plane, wherein the movement platform (2) is guided at least by means of two coupling links (9) arranged parallel to one another, each individually articulated on a common guide carriage (5, 6, 7, 8) and each individually articulated on the movement platform (2), and wherein a number of guide slides (5, 6, 7, 8) exceed a number of degrees of freedom of movement of the movement platform (2) in the first movement plane igt.

Description

The present invention relates to a movement and / or positioning device according to the preamble of claim 1, which in particular for fast moving and positioning objects such as processing units or objects in a movement level is applicable.

Known motion devices often use arrangements several interconnected and building on each other moving platforms for moving and positioning processing units or objects with a serial construction of corresponding axes of movement of the movement platforms. Such movement devices with a serial structure can two movement platforms for moving objects in a movement plane exist, whereby a first movement platform, the so-called basic movement platform, which along a first axis of movement in a predetermined position is movable, a second movement platform, which along a second movement axis is movable into a predetermined position wearing. These axes of movement are usually aligned orthogonally to one another. On The second movement platform is the object to be moved, for example arranged a processing unit or an object.

When moving the sequentially Movement platforms then become the basic movement platform move to a specified position and then the second movement platform connected to the basic movement platform orthogonal to the direction of movement of the basic movement platform into a desired one Position of the processing unit or the object moved.

Such serial arrangements are realized for example in conventional machine tools, the drive axles of such a conventional machine tool build on each other. This means that a first axis is a subsequent second axis arranged orthogonal to the first axis mitträgt. Over a such serial arrangement ensures that the axes are orthogonal are aligned with each other and an alignment of the machine axes coincides with an alignment of the workpiece axes.

Accordingly, it is with such serial arrangements necessary when moving or positioning the movement and / or positioning device a combined To move mass of all the movement platforms of the same, making such Movement and / or positioning devices have low dynamics with movement or positioning. In addition, possibly occurring movement or positioning errors due to the coupled Movement of both movement platforms to each other during the movement or summed up positioning. To minimize such sum errors, are high accuracy requirements for the corresponding on a Components involved in the movement of such serial arrangements provided, which means a high manufacturing cost and high manufacturing costs justified are. Furthermore, such serial arrangements are small Number of identical components, i.e. repetitive components, on, which reduces the manufacturing effort and related Manufacturing costs even more increase.

Furthermore, movement and / or Positioning devices with parallel structures are known. Such Parallel structures. consist of at least one movement platform, the so-called tool platform, and a rack platform, which by cable carriers are interconnected. This also includes the general as Hexapods designated movement and / or positioning devices, which six guide chains each with six degrees of joint freedom, one joint per chain designed as a drive is. The drive of the guide chains is designed as a rotary or thrust drive, which is in the rack platform stored or in the guide chain is integrated.

Thus, hexapods have gear technology six degrees of freedom, comparable to those described above serial arrangements.

However, such hexapods require a high manufacturing outlay, especially with regard to on the spatially movable joints, combined with high manufacturing costs. A high one Effort is also with regard to a calibration, that is, a determination the location of the spatial Hinge points necessary. It is also used for control and monitoring a movement or positioning with hexapods a high control and in particular also a high level of metrological effort is required.

The need arises To move parallel kinematics, the frame platform and the Tool platform are moved, that's what one speaks of hybrid kinematics. The movement and / or positioning devices are comparable masses to be moved with serial arrangements. Also kick for the Parallel kinematics Comparable problems regarding a sum error the serial kinematics.

With parallel kinematics also occur dependent from a position of the guide chains fluctuations in gear ratios in the work area and the stiffness.

Another known embodiment parallel arrangements are the so-called scissors kinematics, with Scissors kinematics should be noted that these are in addition to the aforementioned disadvantages, a pronounced fluctuation in the gear ratios and the rigidity of the guide chains exhibit.

Furthermore, from to form the preamble of the claim 1 relied upon EP 0 868 964 A1 Spatial, kinematically determined machine kinematics are disclosed with which a platform (a workpiece or a tool carrier) can be moved in space, with a number of degrees of freedom in each case corresponding to a number of drives. Especially those in the 6 and 6a machine kinematics shown has a platform with a three-sided base. A rod S3 is arranged on each of the three side surfaces or platform. Each of these rods S3 is part of a four-bar link with rods S1 to S4. Two of the rods S1 to S4 are connected at their ends in an articulated manner at the articulation points GP1 and GP4 via ball joints. Because of the common attachment to the platform, the rods S3 are positively guided. The individual quadrilaterals are thus coupled to one another via the platform. The articulation points of the rods S3 are at the same time part of two immediately adjacent articulated quadrilaterals, whereby the respectively adjacent articulated quadrilaterals each share an articulation point and there is a coupling of the platform and a limitation of the movement possibilities thereof. In each case the rod S1 parallel to the rod S3 of each of the four-bar linkages is mounted on a rotary motor D. Each rotary motor D is in turn mounted on a linear drive A1 to A3, the individual linear drives A1 to A3 being supported in a longitudinally movable manner on a linear guide G1 to G3 fixed to the frame, and these linear guides G1 to G3 being arranged parallel to one another.

A parallel tour of the three with each other the articulated quadrilaterals described is however not possible. Accordingly, the platform is not parallel in one plane of movement guided.

In addition, from the DE 199 63 863 A1 a processing system for the machining of free-form surfaces of workpieces with two processing devices is known. The processing devices are of identical design and (at least mechanically) independent of one another. The processing devices each have a cross-beam and a cross slide, a so-called headstock being mounted on a cross slide, and the cross slide being arranged on a cross-beam. In its end regions, the crossbar is in each case mounted on a machine frame which is arranged on both sides of a workpiece table, the crossbar being displaceable along the machine room.

Furthermore, from WO 99/32256 A1 a machine tool for machining elongated workpieces is known, being the workpiece clamped in a holder in the holder around its longitudinal axis is rotatable and machinable with a tool spindle, and wherein the tool spindle in a unit supporting the tool spindle is included. The machine tool has three guide carriages on which with the unit carrying the tool spindle each via a Handlebars are connected. Two of the slides are for storage the unit supporting the tool spindle on a machine frame provided, these two guide carriages along a common guide rail are displaceable, whereby the unit carrying the tool spindle is shiftable in the X-Z plane. The third slide is like this on the tool spindle or the unit supporting the tool spindle articulated that a Rotation of the tool spindle around the Y axis is made possible.

It is the task of the present Invention to provide a movement and / or positioning device which is quick and precise parallel guide of an object in a movement plane with a low manufacturing technology Effort.

This object is achieved by a Movement and / or positioning device with the features of Claim 1 solved.

The movement and / or positioning device according to the invention has a movement platform, a plurality of guide carriages and at least two first guideways on, with the individual carriage by means of at least one coupling link with the movement platform connected and along the at least two first guideways each independently are movable from one another, the movement platform being a constant one Orientation in a first plane of movement, the Movement platform at least by means of two parallel to each other arranged, each individually on a common guide carriage articulated and individually on the movement platform articulated coupling links is guided, and a number on guide slides a

Number of degrees of freedom of movement exceeds the movement platform in a first movement plane.

By forming a parallel guidance using of the two parallel couplers, it is with the movement according to the invention and / or positioning device possible in an advantageous manner To move the movement platform in the first movement plane or to position, taking the orientation of the movement platform remains in the plane of motion.

In addition, the movement according to the invention and / or positioning device approximately constant stiffness independently from a position of the guide chains in the work room.

Since the number of guide slides exceeds the number of degrees of freedom of movement of the movement platform, the movement and / or posi tioning device accordingly has a redundant number of independently movable guide slides, the movement and / or positioning device includes at least one redundant guide chain. Accordingly, there are far-reaching possibilities for optimizing the movement and / or positioning device, in particular with regard to rigidity or dynamics of the movement of the movement and / or positioning device.

In addition, the movement according to the invention enables and / or positioning device in a simple manner Integration of a direct measuring system for measuring the position of the movement platform.

The movement and / or positioning device according to the invention also has a large number of similarly shaped components (repetitive components) on, whereby the manufacturing costs compared to known movement and / or Positioning devices with a small number of repetitive components are significantly reduced. As a result, manufacturing costs are particular across from known serial movement devices reduced.

According to a particularly preferred embodiment point the carriage the movement and / or positioning device in each case at least a linear degree of freedom.

According to a particularly preferred embodiment has the movement and / or Positioning device three guide carriages on, at least one of the three guide carriages using each two coupling elements arranged parallel to each other with the movement platform connected is.

According to another, also particularly preferred embodiment the movement and / or positioning device has four guide carriages on, at least two of the four guide carriages using two Coupling elements arranged parallel to one another with the movement platform are connected.

This results in an arrangement several scissors kinematics, with a spatial orientation of the movement platform due to the parallel guides) in the first plane of movement even when the slide is displaced preserved. It should be noted that in this embodiment a very effective way of Stiffness optimization, in particular increasing the stiffness of the Movement and positioning device results.

The coupling links are preferably in each case by means of a first articulated connection with the movement platform and connected to the respective guide carriage by means of a second articulated connection, the individual first and second articulations each have a degree of freedom of rotation.

So are advantageous simple joints in contrast to the aforementioned spatial joints of the parallel ones Kinematics enabled. Nevertheless, there is an arrangement comparable to scissors kinematics, being a spatial orientation the movement platform in the first movement level, even with relocations the guide carriage preserved. Accordingly, the movement platform can be the displacement of the first and the second crossbar in the plane of movement be moved or positioned, with an orientation of the movement platform in the plane of motion by the constant distance between the first and the second crossbeam if there is no displacement the guide carriage done, is retained. If there is a distance between the first and the second crossbeam changed, can orient the movement platform in the first movement plane to be influenced. This results in a further possibility of influencing the movement and / or positioning of the movement platform.

The present movement and / or Positioning device can also have damping elements, being the damping elements on the first articulated connections and / or on the second articulated connections and / or can be arranged integrated in the coupling links.

The individual coupling links can continue invariable in length accomplished his. Alternatively, at least one of the coupling elements can be changed in length be formed, the variable in length Coupling element a variable length unit having.

The guide slides preferably know each have a drive unit connected to the same, wherein the drive units, in particular linear actuators, such as linear motors, pneumatic or hydraulic cylinders, hydraulic motors or Have servomotors.

As already explained above, the Number of slides and thus also the number of drive units the number of degrees of freedom of movement the movement platform exceeds and consequently the movement and / or positioning device has redundant number of drive units, there are far-reaching optimization options the movement and / or positioning device, in particular in With regard to a drive power used to move the guide carriage Drives.

The at least two first guideways of the guide carriage are advantageously parallel to or in the first plane of movement arranged the movement platform.

According to a preferred exemplary embodiment, the movement and / or positioning device has exactly two first guideways, one of the two first guideways having an egg ner first crossbar and the corresponding further first guide track is connected to a second crossbar, and wherein at least two of the guide carriages are movable along one of the two first guide tracks.

Preferably the first and the second crossbar aligned parallel to each other.

According to a preferred embodiment the movement and / or positioning device are the first and the second cross-member each along at least a second guideway movably supported, a distance between the first and the second crossbar fixed or changeable is.

The second guideway can essentially aligned perpendicular to the first and the second crossbar his.

Preferably, the movement and / or Positioning device exactly two second guideways, each support the first and second crossbar.

In another embodiment are the sledges formed as a cross slide, the guide slides each along one of the first guideways and along a third track, which are arranged transversely to the respective first guideway is, are displaceable, and wherein a movement of the guide carriage along the respective third guideways a movement of the slide overlaid along the respective first guideways is. The third guideways the guide carriage are advantageously each substantially perpendicular to the first guideways the guide carriage arranged.

Hence the motor platform additionally also advantageously for movement in the first movement plane fast and precise relocatable in a second plane of movement.

It is advantageous if a control device to control and coordinate the individual drive units the guide carriage and / or the drive units of the first and the second crossbar and / or the variable-length coupling element is provided.

This will advantageously possible the Mechanism of movement and / or positioning devices electronically to brace and measuring systems bring in or connect to the device.

The movement and / or positioning device preferably includes an optical and / or inductive measuring system to detect a position of the movement platform and / or the guide carriage.

The movement platform preferably has a holding device, in particular for holding a tool, of a workpiece or a piece to be moved on.

Further preferred embodiments of the Movement and / or positioning device are in the corresponding other dependent claims explained.

The extension is shown below of preferred embodiments in connection with the associated Drawings closer explained. In this shows:

1 1 shows a schematic representation of a top view of an exemplary embodiment of the present movement and / or positioning device,

2 1 shows a schematic representation of a top view of a further exemplary embodiment of the present movement and / or positioning device,

3 is a schematic representation of relative movements between a first and a second crossbar of the movement and / or positioning device according to 2 .

4 2 shows a schematic illustration of two exemplary embodiments of a guide carriage of the present movement and / or positioning device,

5 is a schematic three-dimensional representation of a further embodiment of the present movement and / or positioning device, and

6 a side view of the present movement and / or positioning device according to 5 ,

In 1 An embodiment of the present movement and / or positioning device is shown, which in particular for the fast and precise movement and positioning of a movement platform 2 is provided in a first movement plane, the first movement plane being arranged horizontally in the exemplary embodiment shown. The movement platform 2 also has a receiving device (not shown), in particular for receiving a tool, a workpiece or a piece goods to be moved, the movement platform 2 in particular also be equipped with a holder for a tool holder, possibly with a work spindle for executing an additional vertical movement. The movement platform 2 has a rectangular cross-sectional area in the exemplary embodiment shown.

In 1 is such a workpiece to be machined by the dashed outline 2a indicated, which is designed as a flat plate with a rectangular cross-sectional area. This is with the movement platform 2 connected. The cross-sectional area of the workpiece 2a is eccentric to a longitudinal axis M of the movement platform 2 that the axis of symmetry of the motion platform 2 corresponds, arranged.

However, the present movement and / or positioning device is not limited to that in FIG 1 shown embodiment with respect to the cross-sectional area of the movement platform 2 or an orientation of the movement platform 2 regarding the workpiece 2a , or the cross-sectional area of the workpiece. Depending on the specific application, for example with regard to the design of a workpiece 2a , an available installation space or a required work space is the cross-sectional area and / or the orientation of the movement platform 2 adaptable without essential changes of the present movement and / or positioning device being necessary.

The movement and / or positioning device has a plurality of eight coupling elements connected in parallel in the exemplary embodiment shown 9 on which is the motion platform 2 with the individual guide slides 5 . 6 . 7 . 8th connect, the present movement and / or positioning device having a plurality of four slide carriages connected in parallel in the exemplary embodiment shown 5 . 6 . 7 . 8th having. The movement platform points 2 on a lateral surface of the same a plurality of first exemplary articulated connections shown in FIG 9a on which is the motion platform 2 individually with the coupling links 9 connect, the coupling links 9 also via a second articulation 9b with the individual guide slides 5 . 6 . 7 . 8th are connected.

As a result, each of the eight coupling links 9 a first articulated connection 9a and a second articulation 9b on, the first and second articulations 9a . 9b in the exemplary embodiment shown in each case a degree of freedom of rotation in each case about an axis perpendicular to the first movement plane and thus about a vertical axis which is perpendicular to the longitudinal extent of the coupling links 9 is arranged.

Here are the first and second articulations 9a . 9b in the in 1 illustrated embodiment executed as hinge joints.

This in 1 The exemplary embodiment shown has four guide carriages of the same design 5 . 6 . 7 . 8th whose properties are explained in detail below. A longitudinal extension of the individual coupling links defines this 9 a respective distance between the individual guide carriages 5 . 6 . 7 . 8th and the movement platform 2 ,

The coupling links 9 are in the in 1 Embodiment shown executed invariable in length.

In addition, the coupling links 9 in one for the longitudinal extension of the individual coupling links 9 vertical plane, ie in the 1 Embodiment shown a vertical plane, formed as flat units with a rectangular cross-sectional area, with a width of the cross-sectional area of the coupling links 9 is significantly less than the height of this cross-sectional area. The width of the cross-sectional area of the coupling links relates here 9 on an edge thereof, which is arranged parallel to the first plane of movement and the height of the cross-sectional area of the coupling links 9 on another edge thereof, which is arranged perpendicular to the first plane of movement. The height of the cross-sectional area of the coupling links is correspondingly 9 vertically and essentially perpendicular to the longitudinal extent of the coupling links 9 between the respective slide 5 . 6 . 7 . 8th and the movement platform 2 arranged.

In this configuration, the coupling links 9 point the coupling links 9 a high rigidity perpendicular to its longitudinal extent and thus a high rigidity perpendicular to a first plane of movement of the movement platform 2 on. The high rigidity brings about a high load-bearing capacity of the present movement and / or positioning device with a simultaneous high dynamic of the (very precise) positioning movement.

Depending on the specific application, in particular in the case of restrictions with regard to an available installation space combined with specifications for a required work space of the present movement and / or positioning device, the coupling links can 9 However, they can also be designed as rod-shaped structures with, for example, rectangular, polygonal, elliptical or circular cross-sectional areas, without the present movement and / or positioning device having to be changed significantly.

In the in 1 shown embodiment is each of the four guide carriages, 5 . 6 . 7 . 8th via two coupling links aligned parallel to each other 9 with the movement platform 2 connected. Here are the parallel coupling links 9 on the lateral surface of the movement platform 2 about the first articulations 9a hinged. Via the second articulation 9b are the coupling links 9 with the individual guide slides 5 . 6 . 7 . 8th connected. Accordingly, each of the guide slides forms 5 . 6 . 7 . 8th together with movement platform 2 a scissors kinematics, with the high number of coupling links 9 the stiffness of the present movement and / or positioning device is also determined and increased accordingly.

Two of the slides that are in 1 left of the motion platform 2 arranged guide carriage 5 . 6 , are along a straight first guideway 3a displaced. This first track 3a on a first cross-beam 3 is arranged, has a guide rail, in each of which a corresponding counterpart of the guide carriage 5 . 6 intervenes. Here is the crossbar 3 on the end faces of the same on two second guideways 13 . 14 supported.

Between the guideway of the first guideway 3a and the corresponding counterpart of the slide 5 . 6 linear actuators are each arranged as drive devices, the linear actuators being connected to a central control unit (not shown). In the exemplary embodiment shown, the linear actuators comprise linear motors. The sledge 5 . 6 are along the first guideway 3a each can be moved independently of one another, the control unit sending start / stop signals or a time interval between these start / stop signals connected to a movement speed curve in this time interval to the drive units.

An actual position of the guide carriage is via a measuring system which is not shown in detail 5 . 6 along the first guideway 3a detectable, the measuring system preferably comprising optical or inductive displacement sensors.

Two more slides, which in 1 right of the motion platform 2 arranged guide carriage 7 . 8th , are along another, also straight first guideway 4a on a second crossbar 4 is arranged, movable. The second crossbar 4 is parallel to the first crossbar in the embodiment shown 3 arranged and at the ends thereof on the two second guideways 13 . 14 supported.

The further guideway 4a also has a guide rail into which correspondingly shaped counterparts of the guide carriage 7 . 8th intervention. Between the guideway of the other guideway 4a and the carriage 7 . 8th are in turn linear actuators for independent movement of the slide along the track 4a provided, the drive units being connected to the central control unit and a position of these guide carriages being determinable via the (optical or inductive) measuring system.

The present movement and / or However, the positioning device is not based on the configuration described of the drive units with linear motors limited. Likewise, as Drive units pneumatic or hydraulic cylinders, hydraulic Motors or servomotors are used.

The first guideway 3a the first crossbar 3 and the first guideway 4a the second crossbar 4 are in the in 1 shown embodiment aligned parallel to each other.

From the above consideration it also follows that the in 1 left of the motion platform 2 arranged guide carriage 4 . 6 form double scissors kinematics for movement in the first movement plane. In the 1 right of the motion platform 2 arranged guide carriage 7 . 8th also form an independent double pair of scissors for movement in the first movement plane.

It is also clear from the preceding statements that each of the four guide slides 5 . 6 . 7 . 8th via a separate parallel guide consisting of two parallel coupling links 9 with the movement platform 2 connected is. Accordingly, the orientation of the movement platform remains 2 constant in the plane of motion.

In the embodiment according to 1 instructs each of the sledges 5 . 6 . 7 . 8th a degree of freedom of movement. The movement platform 2 has only two degrees of freedom. Thus, the moving or positioning device in the in 1 Embodiment shown a redundant number of guide carriages (movement units), which results in an over-determination and thus optimization possibilities of the motion sequences, the drive power and the rigidity.

There is also the possibility the mechanism over to electronically tension the control unit (or control units).

Through the exclusive movement of the guide slides 5 . 6 . 7 . 8th along two first guideways 3a . 4a there is also a simple possibility of a position and / or orientation of the movement device 2 measure directly.

Furthermore, the described design of the coupling links 9 realizes a thermosymmetrical structure, whereby an orientation of the movement platform is not dependent on different heating of assemblies of the movement and / or positioning device.

In 2 Another embodiment is shown. In this exemplary embodiment too, the movement and / or positioning device has two parallel first guideways 3a . 4a on the corresponding first and second cross members 3 . 4 are arranged, each with two guide carriages 5 . 6 respectively. 7 . 8th along the first two guideways 3a . 4a are relocatable.

As already related to 1 is also described in the in 2 illustrated embodiment, the first crossbar 3 at one end thereof on a first of the two second guideways 13 supported. At the corresponding opposite end of the first crossbar 3 is the same on the other of the two second guideways 14 supported.

The second crossbar 4 , which in this embodiment are parallel to the first crossbar 3 is aligned at one end thereof on the first of the two second guideways 13 supported. The corresponding opposite end of the cross member 4 is on the other of the two second guideways 14 supported.

The two second guideways 13 . 14 , are parallel to each other and perpendicular to the crossbars 3 . 4 aligned.

Over between the first crossbar 3 or the second crossbar 4 and the two second guideways 13 . 14 Drive units, in particular linear actuators, arranged in the contact area thereof are the first and the second crossmember along the second guideways 13 . 14 displaced.

There can be a distance between the first and the second crossbar 3 . 4 to be changed. The first and the second crossbar are also 3 . 4 can be moved (together) at a constant distance.

In 3 are the above-described movement possibilities of the first and the second crossbar 3 . 4 clarified together or relative to each other via the movement arrows A and B shown therein.

The illustrated movement arrows A illustrate an embodiment in which each of the cross members 3 . 4 along the second guideways 13 . 14 can be shifted independently of the other crossbar, which results in the relative movement of the crossbar 3 . 4 to each other and / or relative to the second guideways 13 . 14 is created.

Consequently, there is a distance between the first and the second crossbar 3 . 4 freely selectable and influenceable, which means another movement and positioning option for the movement platform 2 in addition to the movement or positioning option by means of the guide chains, which each have a driven guide carriage and an associated coupling link 9 or the associated coupling links 9 include. This results in a variable distance between the cross members 3 . 4 another way of optimizing the movement of the movement platform 2 in the first plane of movement.

The movement arrow B also shown shows in connection with that through the line 16 symbolized the connection between the crossbeams, which did not change in length 3 . 4 an alternative embodiment, wherein the cross members 3 . 4 at a constant distance along the second guideways 13 . 14 be moved. Through this movement arrow B and the schematically indicated length-variable connecting device 16 is the possibility of movement with a fixed distance between the crossbars 3 . 4 clarified.

Such a design of the support with a fixed distance between the cross members 3 . 4 is exemplary in 5 shown with the side stand 11 , what a 5 is arranged in the foreground, and the side stand 12 which in 5 is arranged in the background, each formed as a U-shaped carrier with two arms and a base connecting the arms. In this case there is one drive unit per second guideway 13 or 14 sufficient to ensure the displacement of the present movement and / or positioning device.

The further features of the two exemplary embodiments according to 3 correspond to those related to 1 described features.

In the in 2 The exemplary embodiment shown are those along the first guideway 3a the first crossbar 3 arranged guide carriage 5 . 6 , so the in 2 left of the motion platform 2 shown guide carriage, each via a parallel guide, ie over two coupling links 9 with the movement platform 2 connected. The two along the other first guideway 4a the second crossbar 4 arranged guide carriage 7 . 8th , so the in 2 right of the motion platform 2 shown guide carriage, however, are each via a coupling link 9 with the movement platform 2 connected. Accordingly, the guide carriages arranged on the left form 5 . 6 double scissors kinematics, each with a parallel guide, and the one on the right of the movement platform 2 arranged guide carriage 7 . 8th form another double scissors kinematics.

Even with such kinematics according to in 2 The embodiment shown is an orientation of the movement platform 2 constant in the first plane of movement. This in turn results in a redundant number of driven guide carriages 5 . 6 . 7 . 8th , which results in overdetermination and thus opportunities for optimization.

In the in 2 illustrated embodiment grip the guide carriage 5 . 6 . 7 . 8th again in guide rails of the first guideways 3a . 4a , However, the sledges are 5 . 6 . 7 . 8th in the in 2 illustrated embodiment formed as a cross slide, whereby a uniform lowering of the guide carriage from the first plane of movement is possible. This results in a second, substantially perpendicular plane of movement to the first described plane of movement of the movement platform 2 ,

The sledge 5 . 6 . 7 . 8th point in the in 2 The illustrated embodiment each has a movement element designed as a square hollow profile 8b on that with the coupling links 9 connected is. This movement element 8b is in a similar hollow profile, the guide element 8a , which includes the movement element 8b however not fully included. The movement element 8b is in this leadership element 8a , which represents a third guideway, transverse to the first guideways 3a . 4a movable. Movement along the third guideways is accomplished by drive means that are individually associated with the moving elements 8b connected.

However, the present movement and / or positioning device is not based on the above-described configuration of the cross section of the 8b as a square hollow profile and the comprehensive guide element 8a set as a corresponding hollow profile. Without major changes on the front Having to make lying cross slide system, the cross-sectional area of the moving element 8b also circular, elliptical or polygon. That this comprehensive management element 8a then has a corresponding cross-sectional area to fulfill the admission and management function. Again, linear actuators, in particular linear motors, as well as hydraulic and pneumatic cylinders, stepper motors, spindle arrangements, servomotors can be used as drive units.

Below the in 2 Movement and / or positioning device shown is a machine table 15 for picking up or putting down an object moved with the movement and / or positioning device, for example a shaped sheet metal part or the workpiece 2a indicated.

In 4 is that related to 2 described design of the guide carriage 5 . 6 . 7 . 8th illustrated as a cross slide, the left half of the 4 schematically a guide slide designed as a cross slide 8th is shown.

The possibility of movement of the guide carriage which has already been clearly described above 8th along the first guideway 4a the crossbar 4 is represented by the movement arrow C.

The further possibility of movement of the movement element 8b which with the coupling link 9 connected and in the guide element 8a is movably received is also shown schematically. This second possibility of movement, ie the possibility of movement across the first guideway 4a , is by the further movement arrow D, which is a possibility of movement of the movement element 8a indicates clarifies.

In 4 is in the right part the above related 1 described execution of the guide carriage 7 with the possibility of movement according to the movement arrow C along the first guideway 4a schematically shown as an alternative to training as a cross slide.

In 5 is an embodiment of the present movement and / or positioning device according to the 2 or 3 depicted in a three-dimensional representation. The in 5 U-shaped side stand shown in the foreground 11 supports the first and the second crossbar 3 . 4 on the second track in the foreground 14 from. The in 5 U-shaped side stand shown in the background 12 supports the first and the second crossbar 3 . 4 on the second track in the background 13 from. Accordingly, there is a distance between the cross members 3 . 4 structurally predetermined, comparable to the above-described length-variable connecting device 16 ,

Out 5 are furthermore the movement elements already described above with square hollow profiles together with the corresponding guide elements of the individual guide slides designed as hollow profiles 5 . 6 . 7 . 8th removable.

Furthermore, the longitudinal extent of the movement platform is in this representation 2 in the vertical direction, ie perpendicular to the first plane of movement, and the formation of the movement platform can be recognized as a hollow profile.

There is also an articulation of the coupling links 9 on the guide elements of the slide 5 . 6 . 7 . 8th clearly removable. Each of the coupling links 9 via a hinge joint with two articulation points on the movement platform 2 and on the movement elements of the corresponding guide carriages 5 . 6 . 7 . 8th hinged.

In addition, the formation of the coupling links 9 clearly as a flat unit perpendicular to the first plane of movement. Due to this flat design of the coupling links 9 the rigidity of the present movement and / or positioning device is significantly increased compared to normal bars.

In 6 is that in 5 Three-dimensional embodiment shown shown in a side view.

The longitudinal extension of the square profiles the cross slide along with the movement along the third guideways good to see.

In 6 is also the formation of the second guideway 14 in a forehead area of a support 14a recognizable.

The in connection with the above description of the 1 to 6 Drive units described can include all known types of drives for linear movements. In particular, the guide carriages can be connected to linear actuators such as linear motors or servomotors or hydraulic motors or hydraulic or pneumatic cylinders.

A common feature of the exemplary embodiments described above is that they have parallel kinematics with redundant drives, ie that a number of drives or guide slides which are connected to these drives is greater than a degree of freedom of the kinematics of the movement of the movement platform 2 especially in the first plane of movement.

The coupling links have been described above 9 described as unchangeable flat units. However, it is also possible to design one or more or all of the coupling links to be variable in length, thereby making it possible to change the orientation of the movement platform in the first movement plane.

Furthermore, by introducing damping elements between the coupling links 9 and the carriage 5 . 6 . 7 . 8th or between the coupling links 9 and the movement platform 2 or integrated into the coupling links 9 the dynamic behavior can be further optimized.

Through the training described, esp in particular, the identical design (identical design) of the coupling links 9 a thermosymmetrical structure is realized.

Claims (20)

Movement and / or positioning device with a movement platform ( 2 ), a plurality of guide slides ( 5 . 6 . 7 . 8th ) and at least two first guideways ( 3a . 4a ), with the individual guide carriages ( 5 . 6 . 7 . 8th ) by means of at least one coupling element ( 9 ) with the movement platform ( 2 ) connected and along the at least two first guideways ( 3a . 4a ) can each be moved independently of one another, characterized in that the movement platform ( 2 ) has a constant orientation in a first movement plane, the movement platform ( 2 ) at least by means of two mutually parallel, individually on a common guide carriage ( 5 . 6 . 7, 8th ) articulated and individually on the movement platform ( 2 ) articulated coupling links ( 9 ) and a number of guide carriages ( 5 . 6 . 7 . 8th ) a number of degrees of freedom of movement of the movement platform ( 2 ) in the first plane of movement. Movement and / or positioning device according to claim 1, characterized in that the guide carriage ( 5 . 6 . 7 . 8th ) each have at least one linear degree of freedom of movement. Movement and / or positioning device according to one of claims 1 to 4, characterized in that the coupling members ( 9 ) each with a first articulation ( 9a ) with the movement platform ( 2 ) and by means of a second joint connection ( 9b ) with the respective slide ( 5 . 6 . 7 . 8th ) are connected, the individual first and second articulated connections ( 9a . 9b ) each have at least one degree of freedom of rotation. Movement and / or positioning device according to one of claims 1 to 6, characterized in that the individual coupling elements ( 9 ) are of constant length. Movement and / or positioning device according to one of claims 1 to 6, characterized in that at least one of the coupling links ( 9 ) is variable in length, the variable-length coupling element ( 9 ) has a variable-length unit. Movement and / or positioning device according to one of claims 1 to 8, characterized in that the guide carriage ( 5 . 6 . 7 . 8th ) each have a drive unit connected to the same, the drive units in particular having linear actuators, pneumatic or hydraulic cylinders, hydraulic motors, linear motors or servomotors. Movement and / or positioning device according to one of claims 1 to 9, characterized in that the at least two first guideways ( 3a . 4a ) the slide ( 5 . 6 . 7 . 8th ) parallel to or in the first plane of movement of the Movement and / or positioning device according to claim 1 or 2, characterized by three guide carriages ( 5 . 6 . 7 . 8th ), at least one of the three guide carriages ( 5 . 6 . 7 . 8th ) by means of two coupling links arranged parallel to each other ( 9 ) with the movement platform ( 2 ) connected is. Movement and / or positioning device according to claim 1 or 2, characterized by four guide carriages ( 5 . 6 . 7 . 8th ), with at least two of the four guide carriages ( 5 . 6 . 7 . 8th ) by means of two coupling links arranged parallel to each other ( 9 ) with the movement platform ( 2 ) are connected. Movement and / or Pasitioniervorrichtung according to claim 5, characterized by damping elements, wherein the damping elements on the first joint connections ( 9a ) and / or at the second articulations ( 9b ) and / or in the Kappelglieder ( 9 ) are integrated. Movement and / or Pasitioniervorrichtung according to claim 11, dadurah characterized in that the first and the second crossbar ( 3 . 4 ) are aligned parallel to each other. Movement and / or positioning device according to claim 11 or 12, characterized in that the first and the second crossbar ( 3 . 4 ) each along at least one second guideway ( 13 . 14 ) are movably supported, with a distance between the first and the second crossbar ( 3 . 4 ) is fixed or changeable. Movement and / or positioning device according to claim 13, characterized in that the second guideway ( 13 . 14 ) substantially perpendicular to the first and / or the second crossbar ( 3 . 4 ) is aligned. Movement and / or positioning device according to claim 13 or 14, characterized exactly two second guideways ( 13 . 14 ), which each have the first and the second crossbar ( 3 . 4 ) support. Movement and / or positioning device according to claim 16, characterized in that the third guideways of the guide carriage ( 5 . 6 . 7 . 8th ) essentially perpendicular to the first guideways ( 3a . 4a ) the slide ( 5 . 6 . 7 . 8th ) are arranged. Movement platform ( 2 ) are arranged. Movement and / or positioning device according to one of claims 1 to 10, characterized by exactly two first guideways ( 3a . 4a ), one of the first guideways ( 3a ) with a first crossbar ( 3 ) and the corresponding further first guideway ( 4a ) with a second crossbar ( 4 ) are connected, and at least two of the guide carriages ( 5 . 6 . 7 . 8th ) along one of the first two guideways ( 3a . 4a ) are movable. Movement and / or positioning device according to one of claims 1 to 15, characterized in that the guide carriage ( 5 . 6 . 7 . 8th ) are designed as cross slides, the guide slides each along the first guideways ( 3a . 4a ) and along to the first guideways ( 3a . 4a ) vertical third guideways are displaceable, and wherein a movement of the guide carriage ( 5 . 6 . 7 . 8th ) along the respective third guideways of a movement of the guide carriages ( 5 . 6 . 7 . 8th ) along the respective first guideways ( 3a . 4a ) is superimposed. Movement and / or positioning device according to one of claims 12 to 17, characterized by a control device for controlling and coordinating the individual drive units of the guide carriages ( 5 . 6 . 7 . 8th ) and / or the drive units of the first and the second crossbar ( 3 . 4 ) and / or the variable-length coupling element. Movement and / or positioning device according to one of claims 1 to 18, characterized by an in particular optical and / or inductive measuring system for detecting a position of the movement platform ( 2 ) and / or the guide carriage ( 5 . 6 . 7 . 8th ). Movement and / or positioning device according to one of claims 1 to 19, characterized in that the movement platform ( 2 ) a holding device, in particular for holding a tool, a workpiece ( 2a ) or a piece goods to be moved.