DE19604123C2 - Modular manipulator for connection to mobile tools - Google Patents

Description

(Definition of terms: In order to identify the rotary movements around the three spatial axes of the coordinate system, this patent application refers to the rotary designations of aviation, which are:
Rotation about the horizontal longitudinal axis Z-axis [of the aircraft] is described with the term taxi. Turning around the horizontal transverse axis X-axis [of the aircraft] is described as tilting and turning around the vertical axis Y-axis [of the aircraft] is described as yawing.

The horizontal longitudinal axis becomes the Z axis as a designation of the orientation direction applied to the mounting surface with the term mounting direction.

In order to identify the linear movements along the three axes of the spatial coordinate system, the linear movements are described as follows:
The linear movement back and forth on the horizontal longitudinal axis (Z axis) in the assembly direction is described with the term distance. The linear movement to the right and left on the horizontal transverse axis (X-axis) transverse to the assembly direction is described with the term pushing and the linear movement up and down along the vertical Y-axis with the terms lifting and lowering.

To confuse the direction of movement and axis position information to prevent all the following descriptions refer to a neutral, inactive position and location of the individual modules, module groups or the Manipulator.)  

The invention relates to a multi-part manipulator for manipulating a Component that can be attached to a mobile working device by means of a coupling, with a tool with brackets for holding the component, whereby for precise linear movement of the component in all three directions of the Cartesian Coordinate system on the implement side, three linear modules to form a linear module Group are grouped together, following the linear module group a transverse axis to be tilted transversely to the assembly direction is arranged, and the tilting mast at its tool end at least two rotary modules combined to form a rotary module group Rotation axes arranged 90 ° to each other with the tool for holding the Component should be connected.

The assembly of plate-shaped and / or rod-shaped components is when they are in their spatial dimensions are large and / or heavy in their weights, of make several people at the same time, the components, such as large areas Plates or long rods, beams or frames and the like in the required Position, hold there and fasten. Such works are due to the large dimensions and the high weights of such components difficult and tiring. There is also work for those with this persons involved a considerable risk of accidents and the danger that such plates or rods could be damaged during assembly work.

From DE-OS 42 42 667 is a multi-part attachment for a mobile Known implement that is releasably attached to the front of the implement. The Front attachment has a device-side connection part for connecting the Attachment device on the implement and an on-site support part with brackets for picking up, moving, holding and releasing the component as well as intermediate parts between the connecting part and the supporting part, the connecting parts being together and are movably connected to the connecting part and the support part. At the device-side end of the header, a lifting module is arranged that with the To connect the implement and to the implement by means of a Lifting drive adjustable in height (Y-axis) and in the desired height is definable. There is also a sliding module at the front of the lifting module both sides (X-axis) slidably supported and by means of a sliding drive slidable and lockable in a desired side position. To the  A spacing module is provided by means of a sliding module Lengthening drive in the longitudinal direction (Z axis) to extend or to shorten and hold in the desired position.

In addition, a tilting module can be tilted at the front of the spacing module (rotating around the X axis) and tilted by means of a tilt drive and lock in the desired tilt position. Between the sliding module and a rolling module (rotating around the Z axis) is provided for the spacing module. In addition, there can be a distance module and a tilt module Yaw module (rotating around the Y axis) can be arranged. The tilt module exists of a rocker arm and a support arm, the rocker arm at its lower end in a tilting bearing on the spacer module or on the yaw module is tiltably mounted and at the upper end via an upper tilt bearing with the Support arm is connected to tilt.

Suction cups, electromagnets or. Are attached to the support arm mechanical brackets are provided in the form of brackets or the like distributed on the support arm in a certain pattern or on a certain Grids are arranged.

In US-PS 3 598 263 is a multi-part attachment for a forklift described, being on the prongs of the height-adjustable carriage A platform is provided on the lift truck, on which a yaw plate (rotating around the Y axis) is supported.

On the yaw plate are two parallel to each other along the X axis running lower guide rails provided, on which two upper Guide rails are arranged which carry a frame. The lower Guide rails are at the piston rod end by means of a Crossbar connected to each other. In the middle between the two lower ones Guide rails is a hydraulically actuated, double-sided pressurizable cylinder parallel to the guide rails provided, the Piston rod on the crossbar and its cylinder on the one above the two Upper guide rails arranged sliding plate is attached so that this by actuating the hydraulic cylinder to the right across the installation direction and can be moved to the left.

There is a vertical one on the upper guide rail facing the forklift standing U-shaped profile provided, two on top of each other Hydraulic cylinders are hinged about the X axis. With the  other upper guide rail are two arranged parallel to each other Guide profiles connected, between which the lower hydraulic cylinder fixed lying on top and the upper hydraulic cylinder guided laterally and sliding vertically are held so that the hydraulic cylinders move in or out evenly a linear movement back and forth in the assembly direction as well as at different actuation of the hydraulic cylinders by a few degrees achievable tilting movement in both directions around the X axis is possible.

At the two piston rod ends of the tilt drive is a linkage and a rotary bearing arranged a holding device on which several suction cups for Holding a sheet of glass are provided. The holding frame is on one The pivot pin can be rotated manually through 360 ° and at a certain angle two pins can be fixed, which snap into an opposite grid circle can be brought.

The entire unit is one by means of the yaw washer on both sides limited angle rotatable by hand, the angle of rotation of the spatial Conditions regarding the arrangement of this front attachment with regard to the forklift is limited.

The hydraulic unit with electric drive shown is used only for Actuate the three hydraulic cylinders which perform the linear movements along the X and Enable the Z axis and the minimal tilting movement around the X axis. All other possible movements of the component than rotary movements around the Y and Z-axis are to be performed via muscle strength and via predetermined pin holes and Secure pins and clamps.

As this attachment is only for use with a forklift provided, the height adjustment along the Y axis is not part of the Attachment device is only possible with the forklift.

Furthermore, the illustrated constructive and ergonomic structure of the Attachment device no exact manipulation of a component.

From FR-PS 1 316 425 an attachment for a forklift is known by means of the forklift's own carriage on the lift of the forklift in height is adjustable. The slide is around its vertical Y axis on both sides hydraulically rotatable by a certain limited amount. On the front The end of the carriage is a connector with an upper and a lower joint provided, with a hydraulic cylinder in the upper joint and in the lower Articulated a tab is arranged to be tiltable and the hydraulic cylinder  and the flap articulated around the other at its respective ends 180 ° turned connector are connected. The two connecting parts, the The hydraulic cylinder and the bracket form a quadrilateral joint. At the front of the front connector is a holding plate with holding devices to hold and provided a large-area workpiece.

If the piston rod extends accordingly, it is on the front one Connection part provided holding plate parallel to the floor level and at all retracted piston rod aligned perpendicular to the floor level. By doing The lifting carriage is on both sides of the vertical axis Hydraulic cylinders are provided that rotate slightly to the left and right cause.

This attachment can only be raised and lowered to a certain limited amount can be rotated around a vertical axis and around a horizontal axis Transverse axis from a position parallel to the corridor plane to a position perpendicular to To tilt the corridor level.

From DE-AS 10 06 794 a stacking device with a chassis is known a lifting mast is provided on the front end of the lifting carriage is guided adjustable in height. Here the mast belongs together with the Lift carriage directly to the stacking device, i.e. to the mobile working device. Approximately horizontally on the lifting slide of the mast is a frame-shaped Auxiliary mast arranged on which a carriage equipped with a load carrier in the longitudinal axis of the auxiliary mast can be moved. The auxiliary mast also provides the carriage and the load carrier is an attachment that as Distance module is formed.

In this case, the mobile implement consists of the chassis, the mast and the lifting carriage, while the attachment from the auxiliary mast, the carriage and the load carrier. The separation between the mobile implement and the attachment thus runs between the lifting carriage and the lifting mast the device-side hinge end of the auxiliary mast. The mast and its Lift carriages are fixed, non-removable parts of the implement and belong to them therefore not a front attachment. You also cannot assign the additional device will.

This attachment only allows movement in the longitudinal direction of the Auxiliary mast or in the vehicle's longitudinal direction. A lifting of the load carrier with this Attachment device is not possible, rather lifting is done using the lifting carriage of the  Lift mast, i.e. by means of the mobile working device. With this well-known Stacking device, it is possible to take loads with the load carrier, these raise or lower, move along the auxiliary mast, if necessary then move with the implement and finally set it down again.

From the German utility model 92 00 663 is an attachment for one mobile forklift known, the header has a frame that with connect the forks of the forklift. Also has the attachment a receiving device for receiving and delivering to be transported Objects, the receiving device with the frame around a horizontal Axis is rotatably connected. The receiving device has gripping elements for holding plate-shaped mounting elements. It also provides that the horizontal axis is aligned transversely to the direction of travel of the forklift and that the receiving device is also rotatable about a vertical axis. The horizontal axis and the vertical axis can be in a first intermediate piece the receiving device can be held, rotatable about the vertical axis with the Frame and around the horizontal axis with the rest of the cradle connected is. This makes it possible to attach mounting plates when building Simplify cold rooms and cold stores.

With this front attachment it is only possible to pick up plates and by three To rotate axes. An exact positioning of such plates is with the Attachment device not possible, rather it is for the exact positioning of the plates positioning with the forklift carrying the attachment of the plates, that is to say to drive precisely with the forklift. For this a particularly experienced forklift driver is required to work with such Assembly work must be constantly present. It is therefore not enough to use the Forklift just drive close to the assembly site and the precise positioning with the front attachment.

From the German Offenlegungsschrift 25 15 562 is an attachment for Forklift with a mast known for vertical displacement that without additional support measures are operational. This arrangement is made that on the fork carriage of the forklift a telescopic, at an angle adjustable boom is provided, at the end of an angle adjustable Working platform is articulated, the platform with a hydraulic, by the respective angle adjustment device of the boom positively controlled  Tilt correction device is held in a horizontal position. There are elements provided the mechanical, hydraulic and electrical Drive devices of the header with the corresponding die mechanical, hydraulic or electrical energy supplying energy sources of the Pair the forklift.

In the German utility model 76 35 851 is a device for recording a body, in particular a plate described, one on one Conveyor vehicle attachable frame is provided for receiving a Drive motor, a pneumatic pump and a hydraulic unit , and wherein on the frame a tiltable by means of a working cylinder Suction plate is articulated by means of a joint.

From German utility model 88 13 516 is a forklift with in Guides of the fork carriage by means of a drive forks that can be moved across the fork and with an additional device for coupling containers or the like, preferably for holding containers for storing dangerous substances and Known liquids. This arrangement is made so that around the foot area the forks are tiltable lever-shaped pads provided by a Drive from your inactive one folded onto the forklift mast The position on the fork tines can be lowered and positively coupled with them and on their inner sides or areas facing each other Shaped pieces and / or pins or the like for positive coupling the containers have.

According to one known from German utility model 91 07 033 Fastening device for a attachable to a forklift attachment a device mounting plate with a tine mounting device on it Bottom edge and spaced clamping jaws above the Tine pickup device is provided, of which at least one clamping jaw is designed to be displaceable in height. The height-adjustable jaw is open arranged a bolt whose end protruding from the jaw one The opening of the device mounting plate extends through and on the one eccentric disc is rotatably arranged, the clear diameter of the opening larger than that The diameter of the bolt is.  

EP 0 311 869 A1 describes a manipulator for handling heavy loads known, especially from loosely one above the other in scale formation Winding wound printed products, with a holding device on one free end of a tilted relative to the vertical by a position angle Axis of rotation or a rigid support arm inclined at an angle, which on a mounting device are attached, is held, the holding device is rotatable or tiltable relative to the mounting device. The position angle lies here between the axis of rotation or the support arm and a horizontal plane between 30 and 60 °.

The invention has for its object a multi-part manipulator for to create mobile work tools with which it is possible to produce components in the form of bulky panels and long straps or frames to lift and close position without the need for this precise positioning with the Tool itself is to be performed, it is sufficient to use the components by means of Bring the implement only in the vicinity of the assembly point, with the Manipulator all rectilinear in a linear module group Movements, namely lifting and lowering along the Y-axis, move laterally to the mounting direction along the X axis and longitudinal displacement in Assembly direction along the Z axis as well as in a rotary module group chamfered rotary movements, which at least consist of two rotary movements is to be carried out.

So that a perfect picking up and mounting of the components is made possible and the individual movement groups are not mutually exclusive in their movements the linear and the rotational movement groups or -module groups over one, a space between the module groups creating tilting mast connected.

The tipping mast is on the implement side on one of the linear modules of the Linear module group through one to a horizontal transverse to the mounting direction directional X-axis, tilting mast tilt module connected.

In order to manipulate the inclined position of the implement during assembly Component can be compensated for at the tool end of the tilting mast arranged rotary module group from at least one to a horizontal transverse to  Assembly direction directed X axis to rotating tilt module and around Horizontal roll module rotating longitudinally in the direction of assembly educated.

To meet the requirements that may be required for many assembly processes and tools Yaw around a Y axis perpendicular to the corridor plane in both To realize directions of rotation, this can either be done in the rotary module group Integrated yaw axis in connection to the one connected to the linear module group Allow tilting module of the tilting mast, or in an independent external Yaw module z. B. to realize a working platform, the internal yaw axis or external yaw axis in both directions of rotation total yaw movements of should allow at least 180 °.

Accordingly, the internal yaw module is advantageously between the tilt module on the mast side and the rotary module group on the tool side arranged.

Thus, in connection with the aforementioned movement possibilities, Any direction of assembly at least hemispherical around the Z axis Positioning of the component possible.

Of particular importance in this context is that the linear movements of the intended spatial movement space in one Group are brought together, their linear module arrangement with each other is arbitrary within the group except for constructive issues and not is to be interrupted by rotary movements, since otherwise, Rotational movements of e.g. B. 90 ° carried out between the linear movements be composed of linear movements along an axis from before would form two different linear movements along two axes, so that a spatial linear movement during the rotation of the linear movements along a spatial axis, is not possible or in one direction of movement a linear movement can be carried out twice.

The arrangement of the required rotary movements is more than two different axes of rotation advantageously also in one Summarize rotary motion group, which advantageously in Installation direction is to be arranged in connection to the linear movement group, however  can also be provided in front of the linear movement group.

If only one or two rotary movements are required, the arrangement is that Linear motion group to determine the intended use. over this group formation, it is additionally ensured that only the least required linear or rotary movements to form one in and around all three manipulator working with spatial axes, it is therefore sufficient to plan each movement only once, unless ergonomically or operational or additional reasons, or working separately, coaxial movements are required.

This object is inventively z. B. solved by the rolling module an internal yaw drive is expanded, which is between the tilt axis of the Tilt mast and the roll axis is arranged and about the central longitudinal axis of the Tilt mast in both directions and in any position is hold and thus forms a rotary module group of yaw and roll module.

The same object is achieved in that in Tool direction following the three linear modules Linear module group of the tilting mast consisting of two arranged parallel to each other Tilting axes with roll axis adjoining them in the mounting direction are provided is, the tilting mast at its linear module group end in one Tilt bearing mounted on a linear module so that it can be tilted transversely to the mounting direction and at the tool end via an upper tilt bearing with the in Direction of assembly adjoining roll module, which offset by 90 ° Has axis of rotation longitudinally in the mounting direction is connected, so that in this case at the upper end of the tilting mast, by two horizontal ones, each offset by 90 ° spatial axes rotatable tilt-roll module group is formed.

To achieve the same object according to the invention, it can also be provided that that the tool-side tilt axis by an internal yaw drive that between the tilting axis on the linear module group side and the tilting axis of a tilting / Roll module group is arranged around the central longitudinal axis of the tilting mast in both To turn directions and to hold in any position and that the Tilt mast at its end on the linear module group about a tilt axis on one Linear module tiltable mounted transversely to the mounting direction and on  tool-side end via a yaw-tilt and adjoining in the mounting direction Roll axis of the yaw / tilt / roll module in three axes offset by 90 ° connected is.

Furthermore, it is provided that for positioning and fastening the components the fitter should always be in the immediate vicinity of the component, which assumes that the manipulator is made as narrow as possible in the mounting direction must be, since the fitter is otherwise not in the component in front can achieve in a work-related manner. This is especially true if over Floor level is to be mounted and the manipulator on a work platform is coupled.

Also on the negative extension of the lever arm to the implement (especially forklift trucks) with the resulting increased risk of accidents due to the larger overturning moment, it takes the smallest possible and is also light decisive design of the manipulator according to the invention Influence.

In a further embodiment of the invention, the distancing movement of the Manipulator can also be designed without a spacer module. This happens in the Kind that the distancing movement is controlled, within the in this case required modules coupled, to be executed interdependently, simultaneous movement of the two tilting modules of the tilting mast and the Lifting modules is executed so that they are assembled Movement of the three aforementioned modules a linear distance movement along the Z axis in the direction of assembly.

Furthermore, this spacing in the mounting direction is also possible in that the tilting mast consists of two parallel, equally long tilting mast parts, which when distancing with its lower pivot points on one leg of the on the Linear module group and with their upper pivot points on one leg of the upper roll or tilt / roll module is connected, form a parallelogram, so that only the height compensation along the Y axis still has to be adjusted, to carry out the spacing movement horizontally back and forth in the assembly direction to be able to.  

This leads to a manipulator of the type mentioned above, which aforementioned invention task fully accomplished. This ensures that a unwieldy component can be held in any position in the room, it it is irrelevant how or on which inclined, inclined, sloping or the mobile implement is standing on an uneven surface.

For example, a forklift can be considered as a mobile working device. At The use of a forklift can, if necessary, be installed on the floor Lift module and the internal yaw module are dispensed with because of the forklift even in its front area or with its lifting mast a lifting module as well represents a yaw module over its usually very ending curve radius, so that a manipulator intended for a forklift truck without the Lift module and the yaw module only one linear module group with one Sliding module and a distance module for the two remaining spatial coordinate directions and at least one tilting module and one Has rolling module.

In case of using a telescopic mast truck, truck loading crane, truck crane or a mast or mast climbing frame as a mobile working device on a lifting and yaw module can not be dispensed with, so that one for one Telescopic mast truck, truck loading crane, mobile crane or scaffold provided Manipulator all three rectilinear modules, namely the lifting module, the Sliding module and the spacing module must have and above it In addition, the three rotary modules, namely the yaw module, at least that on the Linear module group hinged tilt module and the rolling module must have so regardless of the location of the truck loading crane or truck crane or the Scaffolding platform from the manipulator arranged on it manipulating component can be kept in any spatial position.

To even without a fitter in a potentially hostile environment or out other reasons to be able to use the manipulator, it is possible to operate this with a radio remote control, or advantageously to operate computer-aided controls, either via a Radio remote control or via a permanently installed on the manipulator, usually computer-aided control can be shut down.  

In addition to the possibility of the modular manipulator including its auxiliary units and to couple mechanic tools into the power supply of the implement and thereby to supply the required energy is provided that a independent energy module, which in addition to a hydraulic unit also with a generator, compressor or vacuum pump and is preferably driven by an internal combustion engine, if necessary Task takes over. For this purpose, the energy module can be standardized Couplings of the individual system components at every sensible point of the modular manipulator system can be integrated to then the Power supply for the required modules, auxiliary units and assembly tools to take over, so that an assembly independent of other energy sources is possible.

Provided that one or the other module with auxiliary units for its drive or the like should be equipped, the energy cell z. B. only from a hydraulic unit driven by an internal combustion engine, which drives the module's auxiliary units or the like. Also in In this application example, it makes sense if the drive of the energy cell is over the implement can be done.

The drives of the individual modules can be mechanical, electrical, hydraulic or pneumatic drives or manual drives.

Advantageously, it can also be provided that on the receptacle for Component mounts as component mounts Devices with suction cups, Electromagnets or mechanical mounts in the form of brackets or The like are provided on the component holder in a certain Patterns are distributed or arranged on a certain grid.  

In the following, the invention is probably based on what is probably the most common Embodiment consisting of a manipulator with a linear module group and subsequent rotary module group explained in more detail. It shows

Fig. 1 is a front view of the manipulator according to the invention formed in the, in active position,

Fig. 2 is a side view of the manipulator in the direction of arrow II of FIG. 1,

Fig. 2A is an enlargement of Fig. 2 below the line AB,

Fig. 2B is an enlargement of FIG. 2 above the line AB,

Fig. 3 is a plan view of the manipulator in the direction of arrow III of Fig. 1,

Fig. 4 is a side view of the manipulator when picking up a component,

The multi-part manipulator shown in the drawing is for an implement determined, for example for a forklift or a mobile crane or a truck Loading crane. The multi-part manipulator is not in the drawing in detail to attach the work tool shown detachably.

As can be seen in particular from FIGS. 1, 2 and 2A, the manipulator has a device-side connecting part, which consists of an upper support beam 10 and a lower clamping beam 11 and is connected to a connecting part 12 of the mobile working device, not shown in the drawing . On the upper beam 10 , a movable support beam 13 is provided parallel to the support beam 10 . Similarly, it is also provided below a bar 14 a of this parallel-arranged support beam 15, the two beams 10 and 14 enclose between them a plate 16 and the support beam 13 and 15 between them a plate 16 a.

To move the manipulator transversely to the mounting direction to the right and left, the gear 17 held in the bearing bar 13 and meshing in the bearing bar 10 is rotated in the corresponding direction.

On the beam 13 , an upper cross housing 18 is shown , each with a right-hand and left-hand spindle 19 and 19 a arranged in this ( 18 ). Likewise, a lower cross housing 20 is provided with two spindles 21 and 21 a arranged therein.

As shown in particular in FIG. 3, the spindles 19 and 19 a are mounted in the cross housing 18 over the entire length of the cross housing 18 . The spindles 19 , 19 a, 21 and 21 a are four rods with an external thread 23 , which are to be driven via two chain wheels 24 by means of a chain, not shown.

Two spacer arms 25 and 25 a are on their linear module side provided two superimposed bearing points 27 and 27 a via four support rollers 26 and 26 a held therein in four grooves within the bearing beams 13 and 15 and at their tipping mast ends on a spacer housing 28 and 28 a stored in two superimposed pivot bearings 29 and 29 a.

Two times two tabs 30 and 30 a are mounted in bearings 31 and 31 a arranged on the bearing beams 13 and 15 and in bearings 32 and 32 a arranged on the spacer rocker 25 and 25 a in the central region thereof.

At the connections 33 and 33 a of the spacer housing 28 attack two lifting cylinders 34 and 34 a, which are connected to the lifting housing 37 , 37 I, 37 II.

The connection between the spacer housing and the lifting housing takes place via two vertical guides 35 and 35 a, which are arranged between the spacing housing 28 and the lifting housing 37 , 37 I, 37 II.

The relationships in FIG. 3 on the left and right of the plane of symmetry 36 are shown largely symmetrically and identically above. When turning the spindles 19 , 19 a, 21 and 21 a through the chain wheels 24 , the four support rollers 26 and 26 a move in the same relationship to each other, whereby the bearings 29 and 29 a on the lines 39 and 39 a evenly in the direction the arrows 40 and 40 a move forward in the assembly direction because the parallel movement in the direction of arrows 40 and 40 a is predetermined by the structural connection of the four tabs 30 and 30 a with the two spacer arms 25 and 25 a.

With reverse rotation of the spindles 19 , 19 a, 21 and 21 a, the spacer housing 28 and 28 a moves back again, that is to say in the opposite direction to the arrows 40 and 40 a. This means that the spacer housing 28 and 28 a with all the components connected to it can be moved forwards and backwards in the direction of the double arrow 40 b in the mounting direction.

A tilting mast 38 is provided between the left part 37 I and the right part 37 II of the lifting housing 37 .

For lifting and lowering the tilting mast 38 , hydraulic plunger cylinders 34 and 34 a are provided, which are fastened to the spacer housing 28 and 28 a and to the lifting housing 37 , with which the manipulator is oriented in the direction of the double arrow 41 upwards and downwards along a line perpendicular to the floor level vertical axis.

In FIG. 4, the manipulator is shown in an active position. The spacer arms 25 , 25 a are moved forward in the direction of the arrows 40 , 40 a and carry the tilting mast 38 at the front. The tilting mast 38 has at its lower end a joint 48 , around which the upper part of the tilting mast 38 can be tilted back and forth in the direction of the double arrow 50 .

On the tilting mast 38 , a lifting housing 37 , 37 I, 37 II is arranged with a joint 51 , on which the cylinder 52 of a thrust piston drive 53 is pivotally mounted, the piston rod 54 of which is pivotably supported in a joint 55 on the tilting mast 38 , as a result of which the tilting movement in the direction of the double arrow 50 of the freely movable end of the tilting mast 38 is possible.

At the upper end of the tilting mast 38 , a tilting / rolling module 42 is provided with which, on the one hand, the connection plate 47 can be rolled clockwise and counterclockwise about a longitudinal axis oriented in the mounting direction, that is to say in both directions of the double arrow 44 . In addition, the connecting plate 47 of the tilting / rolling module 42 is to be tilted up and down in the direction of the double arrow 46 about a transverse axis 45 oriented transversely to the mounting direction. The connection plate 47 of the tilt / roll module 42 has one or more interchangeable tools 56 with which the components 57 to be manipulated can be picked up, held, moved and dispensed. The connecting plate 47 can be turned in both directions of the double arrow 44 to both sides by means of a hydraulic roller drive shown in more detail in FIG. 2B.

From the illustration according to FIG. 1 it follows that the manipulator laterally ( 22 ) on a transverse axis on both sides, from FIG. 3 on a longitudinal axis oriented in the mounting direction to the front and rear ( 40 b) and gladly. Fig. 1 and 2 along a plane perpendicular to the corridor arranged vertical axis up and down (41) is to be shifted. In addition, the tilting mast 38 can be tilted forwards and backwards ( 50 ) by means of the joint 48 and the push piston drive 53 in the mounting direction. In addition, the tilting / rolling module 42 makes it possible to roll the component 57 to be manipulated about a longitudinal axis oriented in the mounting direction and about a transverse axis transverse to the mounting direction and horizontally.

With the manipulator 49 shown in FIGS. 1 to 4, all linear movements and all circular movements with the exception of yawing about the vertical axis are thus possible, which, if necessary, can be realized either by the implement itself (not shown) or by other yawing devices.

Reference list

10th

Support beam

11

Clamping bar

12th

Connector

13

Bearing beam

14

bar

15

Bearing beam

16

plate

16

a plate

17th

gear

18th

Cross housing

19th

spindle

19th

a spindle

20th

Cross housing

21

spindle

21

a spindle

22

Double arrow

23

thread

24th

Sprockets

25th

Spacer arm

25th

a spacer arm

26

Support rollers

26

a support rollers

27

Bearing points

27

a bearing points

28

Spacer housing

28

a Spacer housing

29

camp

29

a camp

30th

Tabs

30th

a tabs

31

camp

31

a camp

32

camp

32

a camp

33

connection

33

a connection

34

Lifting cylinder

34

a lifting cylinder

35

guide

35

a leadership

36

Plane of symmetry

37

Lift housing

37

I left part of the lifting housing

37

II right part of the lifting housing

38

Tilting mast

39

line

39

a line

40

arrow

40

a arrow

40

b Double arrow

41

Double arrow

42

Tilt / roll module

43

Longitudinal axis

44

Double arrow

45

Transverse axis

46

Double arrow

47

Connection plate

48

joint

49

Manipulator (basic device)

50

Double arrow

51

joint

52

cylinder

53

Thrust piston drive

54

Piston rod

55

joint

56

Tool

57

Component

Claims (7)

1. Manipulator ( 49 ) for manipulating a component ( 57 ) which can be attached to a mobile working device ( 12 ) by means of a coupling ( 10 , 11 ) with a tool ( 56 ) with holders for holding the component ( 57 ), wherein For the exact linear displacement of the component ( 57 ) in all three directions of the Cartesian coordinate system ( 22 , 40 b, 41 ) on the implement side ( 12 ), three linear modules are combined to form a linear module group and are then connected to the linear module group by one oriented transversely to the mounting direction transverse axis is disposed on canting-tilting mast (38) and the tilting mast (38) at its tool-side end (47) via at least two combined into a rotary module group rotary modules by 90 ° to each other arranged pivot axes (43, 45) with the tool (56 ) is connected to hold the component ( 57 ). 2. Manipulator ( 49 ) according to claim 1, characterized in that the rotary module group consists of a tilting module ( 45 ) and a rolling module ( 43 ), the tilting module side ( 38 ) being arranged the tilting module ( 45 ). 3. Manipulator ( 49 ) according to claim 1, characterized in that the rotary module group consists of one, starting from the tilting mast ( 38 ) arranged in a row yaw, tilting ( 45 ) and rolling module ( 43 ). 4. manipulator ( 49 ) according to any one of claims 1 to 3, characterized in that the order of the individual linear modules ( 22 , 40 b, 41 ) is arbitrary within the linear module group. 5. manipulator ( 49 ) according to claim 2, characterized in that the linear distance movement ( 40 b) on the simultaneous and dependent movements of the linear vertical module ( 41 ) and two tilting modules ( 48 , 45 ) is to be carried out. 6. Manipulator ( 49 ) according to one of claims 1 to 5, characterized in that the tilting mast ( 38 ) consists of two parallel, equally long tilting mast parts which form a parallelogram. 7. Manipulator ( 49 ) according to one of claims 1 to 6, characterized in that the mobile working device ( 12 ) is designed as a mast with a working platform.