DE102010041466A1 - Device for e.g. pivoting heavy and bulky workpieces, for welding and assembly operations, has force unit producing rotational torque at pivoting angle of pivoting range during pivoting movement of workpiece clamping plate around axis - Google Patents

Abstract

The device (1) has a workpiece clamping plate (50) rotatably connected to an intersect (30) around a pivotal axis and pivoted over a pivoting range of 150 degrees around the pivotal axis. A force unit is fastened to the intersect during rotating movement of the workpiece clamping plate around the pivotal axis, where the force unit comprises a linear actuator. The force unit lies close to the workpiece clamping plate and produces rotational torque at a pivoting angle of the pivoting range during pivoting movement of the plate around the pivotal axis. The linear actuator is designed as a hydraulic cylinder.

Description

The invention relates to a device for positioning a workpiece, which enables a safe pivoting, lifting and processing of heavy and unwieldy workpieces.

A device for position-free positioning of a workpiece is known from the prior art and is also referred to as a manipulator, rotary or welding positioner, or positioning table. Such positioning devices are used for safe, ergonomic and flexible handling of heavy, large and unwieldy workpieces, in particular for performing welding and assembly work. In this case, the workpiece to be machined is mounted on a receiving plate and then moved by means of the positioning device in the desired lifting, rotating, and / or pivoting position.

Such a device is for example from the DE 198 03 375 C2 known. This document discloses a device for position-free positioning of a workpiece by means of a mounted on a stand, cantilevered support arm, wherein the workpiece is pivotable about two intersecting axes. The movement of the workpiece is carried out by rotation of the workpiece about two axes, wherein the intersection of the two axes is at least approximately in the center of mass of the attachable workpiece. A disadvantage of this device is that although the attached workpiece can rotate about a rotation axis of the carrier arm, it can not be moved vertically without tilting. In the case of workpieces with non-centered center of gravity, manual readjustment of the support arm angle is still necessary in order to match the intersection of the axis with the center of mass.

Another such device is made G 88 02 909 3 known and shows a workbench with a Wertstückaufspannplatte which is rotatable about its own central axis and slidably mounted by means of a sliding carriage in a pivoting device and driven by a motor. To realize a positioning device in which the platen has a minimum height in the horizontal position above the footprint or above the floor and is adjustable in vertical position with a large vertical Verstellhub, it is proposed to provide the work platen with a support frame in a sliding carriage to store which in turn is guided by motor sliding in guide rails of a swing frame. However, the resulting positioning device is structurally complex and only allows a limited tilt angle of 90 °. Furthermore, the pivoting frame limits the accessibility to the underside of the clamping plate, so that, for example, welding work on the underside of the clamped workpiece is difficult or impossible without re-clamping the workpiece.

Furthermore, so-called biaxial L-positioners are known from the prior art. Here, the attached to a vertical support column support arm of the positioner is moved vertically via a lifting slide. In addition, the support arm can be rotated about both a vertical and horizontal axis by means of a rotary mechanism attached to the lifting carriage in order to rotate the clamping plate. A disadvantage of this L-positioner is the design-related comparatively high material and space requirements and the associated high costs and limited accessibility to the workpiece.

It is therefore an object of the present invention to provide a device for positioning a workpiece, which allows the largest possible pivoting range and vertical positioning of the platen in the horizontal position at the lowest possible height above the footprint or above the ground. It is a further object of the present invention to provide a workpiece positioner with a compact, lightweight and low-maintenance construction and reduced footprint that provides good accessibility to the workpiece.

This object is achieved by a device for positioning a workpiece according to the features of patent claim 1. The dependent claims relate to advantageous embodiments of the invention.

The inventive device for positioning a workpiece (hereinafter also referred to as "positioner") comprises a ground contact element, a boom and at least one pivot arm, which is pivotally connected to the ground contact element and the boom. A ground contact element in the context of this invention allows a stable, secure recording and attachment of the positioner. A ground contact element may be formed, for example, as a base plate, which can be screwed by means of additional holes on a ground foundation and has additional mounting and mounting elements. A boom is a projecting beyond the supporting pivot arms out component.

The positioner further includes a height adjustment mechanism for raising or lowering the boom. For this purpose, a first linear actuator with the ground contact element and the pivot arm is connected such that a Lifting movement of the linear actuator causes a pivoting movement of the pivot arm and thus a lifting movement of the boom. A linear actuator in the sense of this invention is, for example, a double-acting hydraulically or pneumatically driven lifting cylinder. The first linear actuator may also be in the form of two or more juxtaposed lifting cylinders.

Preferably, the at least one pivot arm is designed as a pair of parallelogram guided pivot arms which are pivotally connected via four parallelogram-like arranged hinge points with the ground contact element and the boom. This parallelogram kinematics ensures that the boom passes through. Tilting the pivot arms can be raised or lowered, while maintaining a predetermined by the hinge points alignment, for example, a horizontal orientation, retains. As a result, a reliable lifting and lowering of the boom can be realized solely by the first linear actuator, without an additional pivot correction mechanism for the boom is necessary.

The positioning device according to the invention further comprises a workpiece clamping plate for receiving a workpiece, which is countersunk rotatable on the boom about a pivot axis and about a pivoting range of at least 150 ° about the pivot axis is pivotable. Preferably, the platen is pivotable about the pivot axis over a pivoting range of 170 °, more preferably by 180 °. A large swivel angle allows the machining of all sides of a clamped workpiece without re-clamping, for example, to carry out welding work on the underside of the workpiece. The boom ensures that the pivot axis is displaced outwards and has a dependent on the diameter of the platen minimum distance from the rotary arm, so that the platen does not abut against the rotary arm even at a pivoting angle of for example 180 °.

Furthermore, the device according to the invention comprises a power means fixed to the boom, which generates a torque applied to the workpiece clamping plate during a rotational movement of the workpiece mounting plate about the pivot axis about the pivot axis and thereby causes the pivotal movement of the workpiece mounting plate about the pivot axis. In other words, the force means according to the invention ensures that there is no dead center in any angular range of the pivoting range at which the acting force vector intersects the pivot axis and in which the force means can exert no torque on the workpiece clamping plate with respect to its pivot axis.

The power means fixed to the boom may be formed by a second linear actuator pivotally mounted on the boom in combination with a four-bar linkage, wherein the movement of the extendable portion of the second linear actuator is coupled via a four-bar linkage to the workpiece platens. A four-bar linkage according to this invention consists of four pivot points and three in a plane pivotally connected connecting members, consisting of a rotary arm, connected to a coupling, which in turn is pivotally connected to an auxiliary arm. The extendable portion of the second linear actuator may engage a hinge connecting the auxiliary arm to the coupling. About a pivot pin which is rotatably mounted on the boom about the pivot axis and rotatably connected to the rotary arm of the four-bar linkage, the torque of the rotary arm is transmitted to the platen. The platen can be rotatably connected via a attached to her rotary member or connecting element with the pivot pin and thus rotatably connected to the rotary arm of the four-bar linkage. Preferably, the rotary arm at the location of the pivot axis on the boom and the auxiliary arm is rotatably articulated to an auxiliary bearing on the boom. These two hinge points form the bridge or the base of the four-bar linkage.

The pivotable mounted on the boom second linear actuator can generate a torque and thereby the pivotal movement of the workpiece clamping plate about the pivot axis via the four-bar linkage in each pivot angle of the pivoting range. As a result, a dead center, in which the longitudinal axis of the second linear actuator intersects the pivot axis, is avoided. This allows a very large swivel range of up to 180 ° can be achieved. Another advantage of using the four-bar linkage is that the available torque remains substantially constant over the entire pivoting range or at least within a predefined range. This allows a uniform, absolutely smooth swivel movement of the workpiece clamping plate.

Furthermore, the boom may comprise two parallel arranged boom plates, which are arranged on both sides of the second linear actuator. This makes possible. a particularly compact design, since the linear actuator can be mounted inside the boom. Preferably, the boom plates arranged in parallel have a rounded front region in order to allow the clamping plate to swing around the boom as closely as possible. Furthermore, the four-bar linkage may be formed as a double-jointed quadrilateral with two identical four-bar linkages, which are each arranged between the boom plates and on both sides of the linear actuator. This allows a high swing and support stability at the same time as compact as possible construction of the pivot mechanism. Instead of accommodating the linear actuator in the interior of the boom, they can also be pivotally mounted on the outside of the boom.

A further embodiment of the force means according to the invention can be realized by a second and a third linear actuator with their extendable sections are each pivotally articulated at the bottom to the workpiece mounting plate. The second and third linear actuators can be articulated directly to the underside or also be connected via another component to the underside of the clamping plate. In this case, the non-extendable region of the second and third linear actuator is pivotally articulated on the boom.

Preferably, the extendable portions are such that offset below or pivotally hinged to an underside of the workpiece mounting plate, that the pivot axis is cut in each pivot position of the workpiece clamping plate only by at most one of the linear actuators. This arrangement ensures that at a certain angular range, in which one of the two linear actuators is at a dead center with respect to the pivot axis, the second linear actuator generates a voltage applied to the platen torque and thereby can overcome the dead center of the other linear actuator.

Furthermore, the force means according to the invention with a second and a third linear actuator can also be realized in that the second and third linear actuator are pivotally articulated in its non-extendable area on the boom and in a partial region of the pivoting area by a counter-movement of their extendable sections a pivotal movement of the workpiece clamping plate cause. Preferably, the transition from co-rotating to counterpropagating movement of the extendable portions of the second and third linear actuators occurs at the pivot point at which the pivot axis is cut by one of the linear actuators. This allows an optimal design of the linear actuators and thus a compact design. Furthermore, the boom may comprise two parallel arranged boom plates, which have a rounded front portion. Preferably, the second and third linear actuators are arranged centrally between the boom plates.

The boom for receiving the offset to the platen linear actuators has four hinge points, which are determined by the pivot point of the pivot axis, the pivot point of the second and third linear actuator and by the two hinge points on which the pivot arms are hinged. It is particularly advantageous if these four hinge points are arranged diamond-shaped, as this allows a compact design of the boom plates. It is particularly advantageous if the boom plate is also diamond-shaped and formed with rounded corners at the four hinge points, since then the workpiece mounting plate can swing around tightly around the boom.

To increase the carrying stability, the parallelogram guided pivot arms are preferably provided on both sides of the first linear actuator and connected via a support plate on which the movable part of the linear actuator is articulated.

Furthermore, the pivotal movement of the pivot arms can perform a pivoting range of 0 ° to at least 50 ° to a bottom surface. Further preferably, the pivoting range is 0 ° to at least 60 °. This allows the realization of a particularly compact height when retracting the pivot arms to a pivoting range of 0 ° and a close-to-ground clamping of workpieces.

In summary, the present invention provides a device for position-free positioning of a workpiece, which allows the largest possible pivoting range and is characterized by a very compact, low-maintenance design that allows good access from all sides to the clamped workpiece and an optimized working space. The inventive combination of a large pivoting range with a power means attached to the boom, which generates a voltage applied to the workpiece clamping plate during a rotational movement of the workpiece clamping plate about the pivot axis in each pivoting angle of the pivoting range allows safe, stable and smooth pivoting of the fitted with a workpiece platen below Avoiding a dead center. Preferably, the force means according to the invention is realized as a coupled to a four-bar linkage linear actuator, which is pivotally mounted on the boom. More preferably, the force means according to the invention in the form of at least two. Realized linear actuators, which are mounted offset on the underside or below the workpiece clamping plate, so that always at least one linear actuator can compensate or overcome a dead center of another linear actuator.

Preferred embodiments of the present invention will now be described by way of example and by way of example with reference to the accompanying drawings.

1A and 1B show schematically a perspective view and a side view in section in a raised state of the positioning device according to an embodiment of the present invention;

1C and 1D schematically show a side view in section in a lowered state and a plan view of the positioning device according to an embodiment of the present invention;

2A - 2E show schematically different pivoting positions of the workpiece clamping plate of the positioning device according to an embodiment of the present invention;

3A and 3B schematically show a plan view and a perspective view of a positioning device according to another embodiment of the present invention;

3C shows a side view in section of a positioning device in the retracted state according to an embodiment of the present invention; and

4A - 4D show different pivotal positions of the workpiece clamping plate of the workpiece clamping plate of the positioning device according to an embodiment of the present invention.

1A shows a perspective view of a positioning device according to an embodiment with a four-bar linkage. The positioning device 1 is by means of a ground uplift element 10 Stable arranged on a floor surface. The ground resistance element 10 is designed as a riot plate, which has boreholes 11 can be bolted or riveted to a workshop floor. On the bottom plate are still support plates 12 . 13 appropriate.

On the bottom plate 10 are in the middle two identical hydraulic cylinders 70a . 70b that the linear actuator 70 form, mounted. The hydraulic cylinders 70a . 70b are centered between the support plates 12 articulated with the bottom plate 10 connected. The extendable pistons of the cylinders 70a . 70b stand with the swivel arms 20 over a support plate 25 in connection. An extension and retraction of the cylinders 70a . 70b leads to a pivoting of the pivot arms 20 opposite the bottom plate 10 ,

At the swivel arms 10 is one of two outrigger plates 31 existing boom 30 hinged. The extension plates 31 are in each case at the upper end of the pivot arms 20 attached pivotally. The boom serves as a carrier and spacer for the workpiece clamping plate 50 , At the clamping plate 50 Workpieces (not shown) can be clamped up to a payload of several tons. For this purpose, the platen 50 made of steel at its workpiece receiving surface and at its lateral edge portions numerous system holes and / or thread 53 on. 1A shows the workpiece clamping plate 50 in a lower swivel end state, so that the work piece (not shown) attached to the work plate would be oriented toward the bottom plate. The surface of the workpiece clamping plate has the shape of a regular octagon. In other embodiments (not shown), the platen has a circular or rectangular shape. The dimensioning of the positioner 1 , Such as the size of the platen, the lifting height, and the lifting force of the linear actuators used can be designed differently depending on the application.

The workpiece clamping plate sits on a mounted on its underside bearing ring 100 , Inside the bearing ring 100 There is a known from the prior art ball slewing ring of an electric motor 110 is driven by a gear with adjustable rotational speeds, so that the workpiece clamping plate 50 can perform continuous rotational movements about an axis perpendicular to the clamping surface in one or the other direction of rotation. This rotation mechanism of the pivot plate is known from the prior art and carried out in the usual way. The drive motor 110 for the slewing ring for rotating the workpiece plate is in an open plate housing 111 edged. The plate attached to the slewing ring also serves as a turning piece 51 , which has a tensile force for exerting a pivoting movement on the clamping plate 50 transfers.

The workpiece clamping plate 50 is about a turning piece 51 swiveling with the boom 30 connected. In 1D indicated by dashed lines is the pivot axis 60 around which the platen 50 when performing a pivoting movement rotates. A pivot axis in the sense of this invention is an imaginary straight line, which defines the axis of rotation about which the workpiece clamping plate rotates or pivots. This in 1A shown turning piece 51 is on the bearing ring 100 attached. The turning piece could also be directly on the clamping plate 50 or another connection piece with the clamping plate 50 be connected.

Another linear actuator 80 is at the joint 63 swiveling on the extension plates 31 attached. The extendable section 82 of the hydraulic actuator designed as a linear actuator 80 is at a four-bar linkage 40 coupled. The four-bar linkage 40 consists of a rotary arm 41 , a paddock 42 and an auxiliary arm 43 , The coupling connects 42 the swivel arm 41 and the auxiliary arm 42 swiveled together. The four-bar linkage 40 is designed as a double-jointed quadrilateral with two mutually parallel four-bar linkages. The extendable section 82 of the second linear actuator engages a joint 62 that the auxiliary arm 43 with the paddock 42 connects to. Furthermore, a pivot pin 60 ' provided (in 1A not visible), around the pivot axis 60 rotatably mounted and rotationally fixed with the rotary arm 41 connected is. The rotary arm 41 is at the location of the pivot axis and the auxiliary arm 43 at an auxiliary warehouse 61 on the boom 30 rotatably articulated. The workpiece clamping plate 50 is about the turned part 51 rotatably on the pivot pin 60 ' and thus rotationally fixed to the rotary arm 41 coupled to the four-bar linkage. As a result, over the entire pivoting range of 180 °, the thrust movement of the linear actuator 80 over the four-bar linkage to the workpiece clamping plate 50 coupled. The transmission of the lifting movement of the cylinder 80 by means of the four-bar linkage 40 in a torque, the pivotal movement of the workpiece clamping plate 50 around the pivot axis 60 is described in more detail below with reference to 2A - 2E explained for different pivot positions.

To illustrate the force means and pivoting mechanism according to the invention, the remaining components, such as feeders, connecting lines and the like, which are carried out in the usual way, not further illustrated.

1B shows the embodiment of the positioning in a side view in section. 1B shows that the swivel arms 20 in pairs are parallelogram guided, each with two equally long pivot arms 21 . 22 attached to the ground-rearing element 10 at the rear end of the support plate 12 swiveled at the joints 13 are attached. The swivel arms 21 and 22 are hinged at their upper end with a boom plate 31 at the joints 33 connected. The joints 33 the outrigger plate, of which up 1B only the lower joint 33 is visible, have the same distance as the lower joints 13 , so that the swivel arms 21 and 22 arranged and guided parallelogram. 1B also shows the support plate 25 at which the lower linear actuator 70 with its extendable section 72 is articulated. The support plate 25 is on the swivel arms 21 . 22 welded. 1B also shows the four-bar linkage 40 in which the rotary arm 41 rotatably with the pivot pin 60 ' communicates. The auxiliary arm 43 is at the auxiliary joint 61 rotatably mounted and has a curved, boomerang-shaped configuration, which is a particularly advantageous power guide in the auxiliary arm 43 allows, as well as a particularly compact, space-saving design of the four-bar linkage 40 allows. At the joint 62 that the auxiliary arm 43 with the paddock 42 connects, engages the piston of the linear actuator 80 at.

1C shows a side view in section of the positioning device 1B in a lowered state and illustrates the advantageous compact design of the positioning and the low lowering position on the footprint, so that workpieces with high height can be easily edited by a worker. In addition, the low drop height facilitates the loading of heavy workpieces.

The present embodiment with a double four-bar linkage 40 is in 1D illustrated again in a plan view. The dashed line again illustrates the pivot axis 60 , The four-bar linkage 40 is in two versions on both sides of the extendable section of the linear actuator 80 and on the inside of the boom plates 31 arranged. The rotary arm 41 of the four-bar linkage 40 is non-rotatable with the pivot pin 60 ' connected, in turn, rotatably the rotary member 51 is attached, which is the rotational movement of the pivot pin 60 ' to the clamping plate 50 coupled. The connection plate 25 containing the left and right side pivot arms 20 connects with each other, at the same time serves as a cover of the incoming and outgoing piston of the linear actuators 70a and 70b ,

The 2A to 2E illustrate how the linear actuator 80 in each swivel angle of the swivel range on the workpiece clamping plate 50 generates applied torque and thereby causes the pivotal movement of the workpiece clamping plate about the pivot axis.

2A shows a side view in section of an embodiment of the positioning device in a first pivot end position, in which the workpiece clamping plate 50 is oriented horizontally and with its workpiece receiving surface 54 pointing upwards. The lifting cylinder 80 is in the retracted state and in a horizontal pivot position. When the lifting cylinder is extended, the lifting piston transmits over the joint 62 the lifting force of the cylinder 80 to the four-bar linkage 40 that is about the pivot axis 60 and the auxiliary camp 61 turns, so that the auxiliary arm 43 turns counterclockwise. In a second pivot position, the in 2 B Illustrated is the platen 50 pivoted about 45 ° relative to the first pivot position. The pivotally mounted linear actuator 80 has swung upwards with his retractable piston from the horizontal. 2 B shows that the cylinder piston 82 essentially perpendicular to the auxiliary arm 43 attacks, in turn, as a lever arm torque on the coupling member 42 exercises. Upon further extension of the reciprocating piston 82 he turns auxiliary arm 43 and the rotary arm 41 continue counterclockwise. The movement of the rotary arm 41 that with the pintle 60 ' rotatably connected, generates a on the workpiece clamping plate 50 applied torque. 2C shows a pivotal position at which the platen 50 90 ° from the horizontal is twisted. Also in this position, the reciprocating piston of the cylinder is substantially perpendicular to the auxiliary arm 43 , 2D illustrates another pivotal position at which the platen 50 by a further 45 ° counterclockwise from the position in 2C is pivoted. 2E shows finally a lower pivot end position, wherein the platen 50 is pivoted against the initial position by 180 ° and that on the platen 50 attached workpiece (not shown) would face downwards. This pivotal position is particularly advantageous for working on the underside of the workpiece welds. The linear actuator 80 is located in 2E in an extended position.

The different pivot positions in the 2A to 2E illustrate how the advantageous orientation of the four-bar linkage and the pivotal mounting of the linear actuator 80 in every swing angle a good angle of attack of the cylinder piston 82 on the auxiliary arm 43 results so that the lifting force of the linear actuator can be translated into a torque. The linear actuator leads during the in the 2A - 2E illustrated pivoting movement of 180 ° first a pivoting movement in a clockwise direction and then in a counterclockwise direction. The use of the four-bar linkage 40 avoids a so-called dead center of the linear actuator 80 in which the direction of movement of the linear actuator would intersect the pivot axis. In this position, the linear actuator could not transmit torque due to a missing lever. The present design also allows a particularly low maintenance and cost-effective design of the positioning device.

3A shows a further embodiment of the present invention, in which the on. Ausleger 30 fixed power means by two linear actuators 90A . 90B realized in their non-extendable area 91A . 91B swiveling on the boom 30 are hinged and with their extendable section 92A . 92B so offset on a bottom 52 the workpiece clamping plate 50 pivotally hinged are that the pivot axis 60 in each pivot position of the workpiece clamping plate 50 only by at most one of the linear actuators is cut. The two linear actuators 90A . 90B are over joint bushes 94A . 94B on a hinge pin 95 hinged. The extendable sections 92A and 92B are offset at different places at the bottom 52 the clamping plate 50 hinged. The other components of the positioning device 2 are formed substantially identical to those of the preceding embodiment and are therefore not described in detail.

3B shows in a perspective view that the boom two parallel boom plates 31 Includes a rounded front area 32 have, and that the linear actuators 90A . 90B in the middle between the extension plates 31 are arranged. Furthermore, the boom plates 31 four points of articulation each 32A . 32B . 32C . 32D on, passing through the articulation point 32A the pivot axis 60 and the articulation point 32B of the linear actuators and through the two pivot points 32C . 32D on which the pivot arms 20 are articulated. These four pivot points 32A . 32B . 32C . 32D are arranged diamond-shaped. The extension plates 31 are also diamond-shaped, so that the riot plate 50 with a pivoting movement of 180 °, without abutting the extension plates 31 is pivotable around.

The positioning device 3 out 3B is in 3C shown in a retracted state. Similar to the embodiment with the four-bar linkage, this embodiment also allows a compact design and low lowering position.

The operation of the double linear actuator 90 , wherein the linear actuators 90A and 90B offset at the bottom of the platen 50 or on a support plate below the platen 50 are attached in the 4A to 4E Illustrated for different pivot positions. 4A shows a first pivot end position, wherein the platen 50 pivoted in a horizontal position and facing upward. The second linear actuator 90A is in an outer end area of the bottom 52 the clamping plate 50 over the support ring 100 attached. On the other hand, the linear actuator 90B offset in the direction of the middle of the plate.

4B shows the positioning device in a pivot position, wherein the platen 50 in comparison to the swivel position of 4A is pivoted by 45 ° in the counterclockwise direction. In this position is the linear actuator 90A in its maximum extended state and intersects the pivot axis 60 with its extendable section 92A , In this position is the linear actuator 90A at a dead center where he has no torque on the platen 50 can exercise because he has no remaining lever with respect to the pivot axis 60 having. The offset arranged on the underside of the platen third linear actuator 90B cuts the pivot axis 60 However, not in this pivot position, so that by further extension of the linear actuator 90B of the Dead center of the linear actuator 90A can be overcome and a uniform, further pivotal movement in the counterclockwise direction is possible. 4C Accordingly, shows a third pivot position at which the platen 50 in comparison to the starting position in 4A is pivoted by 90 °.

Another pivotal position is in 4D illustrated, in which now the third linear actuator 90B at a dead center, there is its extendable section 92B the pivot axis 60 cuts. In this pivot position, however, is now the second linear actuator 90A in a pivoted position, which is the pivot axis 60 does not cut and can be made by retracting the extendable section 92A the dead center of the third linear actuator 90B overcome. 4E shows a lower pivot position, which is compared to the initial position pivoted by 180 ° about the pivot axis.

The individual features of the invention are of course not limited to the described combinations of features in the context of the presented embodiments and can also be used in other combinations depending on predetermined device parameters. In particular, the pairwise parallelogram guided pivot arms can also be replaced by a single pivot arm, which is not guided parallelogram. Although this has the disadvantage that the horizontal position of the boom 30 when pivoting the swivel arm 20 not automatically maintained. However, this can be compensated and corrected by a correspondingly controlled counter-pivoting movement of the jib, for example realized by the force means according to the invention. Furthermore, the positioner according to the invention can be equipped with a so-called teach-in control, in which in addition to a manual operation of the positioning a teach-in operation and a program run operation are possible. While in manual manual mode, the positioning can be manually raised and pivoted manually via an operating device, different stroke rotational and pivot positions are approached during learning operation and stored when reaching the desired position. Thus, for example, a sequence of desired movement sequences of the positioning device can be taught and retrieved automatically later in the program run and automatically approached.

The embodiments shown in the figures have three axes for performing a pivoting, lifting, and a rotary movement: the pivot axis 60 , the lifting axis, the horizontal through lower the articulation points 13 of the rotary arm 20 runs; and the axis of rotation of the platen, which is perpendicular to the clamping surface. According to a further embodiment, the positioner according to the invention without rotary mechanism (ball slewing ring and electric motor 110 ) educated.

Furthermore, it is possible, even in the 1A illustrated embodiment with the four-bar linkage with a third linear actuator, which is parallel to the second linear actuator 80 is arranged to provide. As a result, the linear actuators can be made smaller, or alternatively, a higher lifting force can be generated. Furthermore, the concrete design and shape of the elements of the positioning device, such as the shape of the rotary member 51 , the jib 60 or the shape of the pivot arms 20 not limited to the illustrated embodiment, but may also be changed according to requirements.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 19803375 C2 [0003]
• DE 88029093 U [0004]

Claims (12)

Device for positioning a workpiece, comprising - a ground contact element ( 10 ); - a boom ( 30 ); - Parallelogrammartig guided pivot arms ( 20 ), which are arranged via parallelogram-like joint points ( 21 ) with the ground-rearing element ( 10 ) and the boom ( 30 ) are pivotally connected; A first linear actuator ( 70 ) associated with the ground-rearing element ( 10 ) and the swivel arms ( 20 ) is connected such that a lifting movement of the linear actuator ( 70 ) a lifting movement of the boom ( 30 ) causes; - a workpiece clamping plate ( 50 ) attached to the boom ( 30 ) about a pivot axis ( 60 ) is rotatably articulated and over a pivoting range of at least 150 ° about the pivot axis ( 60 ) is pivotable; and - one on the boom ( 30 ) fixed power means, during a rotational movement of the workpiece clamping plate ( 50 ) about the pivot axis ( 60 ) in each pivot angle of the pivoting area on the workpiece clamping plate ( 50 ) attached. Generates torque and thereby the pivoting movement of the workpiece clamping plate ( 50 ) about the pivot axis ( 60 ) causes. Apparatus according to claim 1, characterized in that the force means one on the boom ( 30 ) pivotally mounted second linear actuator ( 80 ), and the movement of the extendable section ( 82 ) of the second linear actuator ( 80 ) via a four-bar linkage ( 40 ) consisting of a rotary arm ( 41 ), a paddock ( 42 ) and an auxiliary arm ( 43 ) to the workpiece clamping plate ( 50 ) is coupled. Apparatus according to claim 2, characterized in that a pivot pin ( 60 ' ) is provided, which around the pivot axis ( 60 ) rotatably mounted and rotationally fixed with the rotary arm ( 41 ) connected is; that the swivel arm ( 41 ) at the location of the pivot axis ( 60 ) and the auxiliary arm ( 43 ) at an auxiliary warehouse ( 61 ) on the boom ( 30 ) are rotatably articulated; that the extendable section ( 82 ) of the linear actuator ( 80 ) at a joint ( 62 ), which is the auxiliary arm ( 43 ) with the paddock ( 42 ) connects, attacks; and that the workpiece clamping plate ( 50 ) via a rotating part ( 51 ) by means of the pivot pin ( 60 ' ) on the pivot axis ( 60 ) with the rotary arm ( 41 ) of the four-bar linkage ( 40 ) is rotatably connected. Apparatus according to claim 2 or 3, characterized in that the boom ( 30 ) two parallel outrigger plates ( 31 ), which has a rounded front area ( 32 ) and on both sides of the second linear actuator ( 80 ) are arranged; and that the four-bar linkage ( 40 ) as a double-jointed quadrilateral with two identical four-bar linkages ( 40A . 40B ) formed between the extension plates ( 31 ) and on both sides of the linear actuator ( 80 ) are arranged. Apparatus according to claim 1, characterized in that the force means a second ( 90A ) and a third ( 90B ) Linear actuator, which in its non-extendable range ( 91A . 91B ) pivotable on the boom ( 30 ) and with their extendable section ( 92A . 92B ) offset below the workpiece clamping plate ( 50 ) are hinged pivotally, that the pivot axis ( 60 ) in each pivot position of the workpiece clamping plate of at most one of the linear actuators ( 90A . 90B ) is cut. Apparatus according to claim 1 or 5, characterized in that the force means a second ( 90A ) and a third ( 90B ) Linear actuator, which in its non-extendable range ( 91A . 91B ) pivotable on the boom ( 30 ) are articulated and in a partial area of the pivoting area by an opposite movement of your extendable sections ( 92A . 92B ) a pivoting movement of the workpiece clamping plate ( 50 ) cause. Apparatus according to claim 6, characterized in that the transition from a co-rotating to an opposite movement of the extendable portions of the second and third linear actuators ( 90A . 90B ) then takes place when the pivot axis ( 60 ) of one of the linear actuators ( 90A . 90B ) is cut. Device according to one of claims 5-7, characterized in that the boom ( 30 ) two parallel boom plates ( 31 ), which has a rounded front area ( 32 ) and the second and third linear actuators ( 90A . 90B ) in the middle between the extension plates ( 31 ) are arranged. Device according to at least one of the preceding claims 5-8, characterized in that the four pivot points of the boom ( 32A . 32B . 32C . 32D ), through the articulation point ( 32A ) of the pivot axis ( 60 ), the articulation point ( 32B ) of the linear actuators and by the two hinge points ( 32C . 32D ), on which the swivel arms ( 20 ), are fixed, are arranged in a diamond shape. Device according to at least one of the preceding claims, characterized in that the parallelogram-like guided pivot arms ( 20 ) on both sides of the first linear actuator ( 70 ) are present and via a support plate ( 25 ) at which the movable part ( 72 ) of the linear actuator ( 70 ) is hinged and the first Linear actuator ( 70 ) is designed as a pneumatic or hydraulic cylinder pair. Device according to at least one of the preceding claims, characterized in that the pivoting movement of the pivot arms ( 20 ) can perform a pivoting range of 0 ° to at least 70 ° to a floor surface. Device according to at least one of the preceding claims 2-3, characterized in that the second linear actuator ( 80 ) is designed as a pneumatic or hydraulic cylinder pair, which on opposite sides of the boom ( 30 ) are arranged.

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