DE19811220C2 - Toy manipulator and method for positioning, assembling and / or disassembling components using a toy manipulator - Google Patents

Description

The invention relates to a toy manipulator and a method for positioning, assembly and / or Disassembly of at least one object from building blocks for a toy structure.

Toy cranes are known to be self-propelled have, i.e. can move along a plane and program-controlled especially for this movement are. However, it is not with these toy cranes possible to pick up objects through the toy crane position that can be specified in such a way that according to Default on which to position the object, the Positioning without further intervention by the player happens. In particular, it is also not known  for example, predeterminable toy structures in particular without further intervention by the player as specified of these structures with an appropriate toy crane build up, relatively quickly and reliably, so that especially the end of the game according to the respective lige building the structure, for example, by a enjoy watching them.

From the document D. Spath, J. Anders: ROCCO, a Ser vicerobot for the construction industry, in: TR TRANSFER, No. 13, 1996, pp. 18 to 22, is a service robot for the Construction industry disclosed, with the starting from one CAD model of a building a division of the building into individual walls that form the basis for a division into Form single stones. This document describes only system solutions for flexible Automation in masonry with masonry robot.

In addition, the utility model DE 295 21 292 U1 discloses an orthogonal coordinate robot by one Speed increasing device for a straight linear movement of a robot arm is formed. The Robot has a verti attached to a base kalen carrier and one on the vertical carrier move arm.

It is an object of the present invention to provide a Toy manipulator and a positioning method tion, assembly and / or disassembly of at least one Object of building blocks for a toy structure with which it is possible, according to the specifications of the corresponding positions or a structure of several objects, in particular games consisting of at least one object directions quickly, reliably and especially without a need for another To allow the player to intervene, the Handling the toy manipulator and the application of the procedure for game end simple and reliable should be.

According to the invention, a toy manipulator is used for Positioning, assembly and / or disassembly of little least an object of building blocks for a toy building indicated with a holding device with which at least one object is releasably fixable with one Positioning means with which the at least one object predeterminable locations can be positioned with a location device with which the place where at least an object can be positioned, can be specified, the Locating device at least one control means and / or control means, wherein the positioning means at least one essentially vertical trans linear linear guide and one essentially has horizontal translational linear guide and the positioning means and / or the at least one vertical linear guide detachable on a base plate can be fixed and tilted essentially by 90 °.

This toy manipulator has the advantage that the End of game can specify an object in advance can be positioned in a location that can be specified by the player, whereby in particular according to the specification of the object and the Locally the location device with its control means and / or means of regulation, in particular the Actions of the positioning means and / or the stops device controls and / or regulates, ensures that the object is positioned at the specified location. In addition, the toy manipulator is the result of Tiltability easily transportable or stowable.  

The location device preferably comprises one Computer, which makes the location for the player for example, by displaying the position (s) Objects is simplified and control of the game Tool manipulator executed quickly and reliably can be. The location device can in be at least partially integrated with the manipulator. This is preferably from the location device included an interface with a computer Electronics integrated in the manipulator connected.

If preferably using the computer at least one object that can be selected and / or specified and the associated location, which can be selected and / or can be specified in control commands for controlling the Toy manipulator is implementable, then it is for the Possible game ends, in advance, for example entire building, so to speak, virtually on his computer and especially to build up the monitor. To Build especially this entire toy building then the toy manipulator in the entire building Reality, especially due to the Ortvorga means generated control and / or control commands.

Advantageously, the selection of the object and the Place on which the object is to be positioned using an input device. Another advantage unfortunately the  Toy manipulator with a display device of the at least one object on the associated location can be represented. By this measure it is the game possible, the virtually built building, so to speak or the virtually placed objects in front of them Get the structure already shown.

The holding device preferably has a gripping means with which in particular the objects are gripped. More preferably, the holding device has Screw on. Through this preferred execution form of the holding device is an easily detachable fixed Fixation of the objects on the holding device possible.

The objects preferably point at a predetermined location a threaded hole. This threaded hole can preferably in engagement with the screw to be brought. If preferably the building blocks in upper area at least partially sloping inner surfaces have and in the lower area in a kind of negative are designed in such a way that they are each in other modules are pluggable, then it is together The building of the building blocks is not absolutely necessary completely exact positioning of the toy manipulator provided. Corresponding building blocks on others Building blocks could also be moved slightly be plugged in and still on the passport, so to speak the building blocks below. Preferably the building blocks are at least partially at the corners and / or rounded edges. Preferably not only a control of the toy manipulator is provided, but also a regulation,  which in particular on the location device and / or the positioning means and / or holding device acts.

The positioning means is preferably a toy crane.

More preferably, the positioning means has little at least one turning device for turning the manipulator around a major axis.

A second vertical is preferably translational Linear guide provided, which enables the ener Reduce the uptake of the toy manipulator. In addition, this embodiment can be faster Movement can be done and at lighter and small embodiment, in particular slim design form, even tightly nested structures be assembled.

If preferably the positioning means by means of little least one motor, in particular stepper motor, movable then, if it is assumed that the engine, and especially the stepper motor, is running properly, the respective position of the holding device can be derived.  

At least one position comparison is preferred facility provided with which a review of the Position is possible and if a disc is found panz is given the opportunity to take the position correct. Preferably, as a position comparison set up at least one light barrier in combination act provided with a coding device.

The second vertical linear guide preferably has lower area of the holding device.

The movable parts are preferably at least partly with means to stiffen the movement provided, whereby damping of the motors is achieved becomes.

According to the invention, a method for positioning, assembling and / or disassembling at least one object from building blocks for a toy structure has the following method steps:

• - Select the at least one object a definable range of objects using a Input device and / or selection device;
• - Specifying a place where at least to arrange an object;  
• - Moving a holding device at least partially in a linear direction in a Position in which it can be detachably fixed with the at least one object in a first location is;
• - Fixing the at least one object by the holding device by means of a screw binding;
• - Moving the at least one object to one second place and
• - Loosen the fixation.

This method according to the invention is particularly effective special possible, simple way toys Build structures without the end of the game must even place the objects or blocks. Further happens the releasable fixation of the object Holding device by means of a screw connection. By this measure is a secure holding of the object or a secure fixation of the object during the trans port to the selected location possible.

If advantageously to fix the object Holding device on the object at least up to Lowered a screwing device on the object is and the screwing agent in one in the object screwed arranged thread is the possibility given a secure fixation of the object.  

If advantageously the downward movement of the stops device is interrupted when placed on the object, it is guaranteed that neither the toy manipulator the object can still be destroyed.

If advantageously the downward movement of the stops device only after overcoming a predeterminable and / or adjustable force that acts on the object, is interrupted, then with relatively simple Sen sensors, such as pressure switches, a lowering the holding device until this pressure is triggered switch possible, the respective pressure or Force is preferably adjustable and / or predeterminable and thereby reduce wear of the parts involved can be counteracted.

Advantageously, screws to loosen the object from the holding device the screw from the thread arranged on the object. Favorable wise, the rotating movement of the screw means only after placing the object. Through this measure it is ensures that the object is actually during the positioning is held so that this object also do not fall out of the holding device, so to speak can and thus experiences damage.

The screw is preferably rotated only after placing the object with a specified adjustable and / or adjustable force.

The holding device is further preferably by means of moved at least one stepper motor.  

The position of the holding device is preferably included determines at least one position determination method, which makes it clear at all times in the process which position the holding device has. advantageous this is demonstrated by the positioning method determined position with the by the number of through the steps or steps performed calculated position compared. Then preferably a position control and / or correction based on the determined comparison value carried out. Through this In particular, it is ensured that the measure Position of the holding device and the corresponding Objects each in the desired position speaks.

Preferably, a predetermined one is used during disassembly Toy structure successively disassembled and especially the objects that make up the toy structure exists, filed in an object assortment. Preferably the building is created virtually with a computer. With this measure, the player can in advance on Computer create a building, according to his Wish, afterwards this building then through create the subsequent assembly process in reality is cash.

The invention is hereinafter without limitation general inventive concept based on execution examples with reference to the drawings exem Plarically described to the rest of the Disclosure of all not explained in the text The details according to the invention are expressly referred to becomes. Show it:

Fig. 1 side view of a toy crane, which is mounted on a base plate,

Fig. 2 sectional view of a rotary bearing of the rotary foot of the main vertical in side view,

Fig. 3 sectional view of a linear guide and a detail of this Liniearführung,

Fig. 4 arrangement of three linear guides (Tikale Annual General Meeting, horizontal and second vertical, which is called in the following vertical work) in plan view,

Fig. 5 shows the arrangement of the three linear guides of FIG. 1 in a view from the left;

Fig. 6 shows a part of the toy manipulator, in an arrangement which illustrates the interaction of a tool rotation, the work vertical and a tool (gripper)

Fig. 7 is a basic block in bottom view, front view, side view and top view and

Fig. 8 different examples of building blocks, such as in Fig. 8.1 a window block, Fig. 8.2 an angle block and Fig. 8.3 a stair block in a single-row embodiment.

In the following figures, the same or corresponding parts with the same reference numerals draws, so that there is no renewed performance and only the deviations in these Illustrated embodiments compared to the first embodiment will be explained.

Fig. 1 shows in side view a toy crane 110, which is mounted on a base plate 7. A worktop 8 (building board) is also arranged on the base plate 7 . The base plate is, for example, 50 cm × 50 cm in size. The crane itself consists of rotary and linear systems that are driven by electric motors, which are usually stepper motors. Control electronics enable the crane to convert external commands into motion. With the help of tool 6 (gripper), corresponding modules 100 to 103 can be picked up and stored. The base plate 7 and the movement limitation of the system in the vertical direction, such as 40 cm, represent the three-dimensional working area of the toy manipulator. A structure, in particular virtually created by a user on a screen of a computer, which is in the form of a previously loaded range of building blocks was created from files in particular, is built using the crane on a worktop 8 from blocks 100-103 from a real block assortment box . The module range is first checked using, for example, a code that is integrated in the module range box. With each newly acquired, in particular on the base plate 7 and thus interchangeable modular assortment box, which is not shown, and the associated software (with regard to the image data, the dimensions of the stones, etc.), the toy manipulator is constantly expandable. It is also possible to have the created structures dismantled by the system or by the toy manipulator and to arrange the building blocks in the building kit box. This is called cleanup mode. In this way, there are countless possibilities for reprogramming, ie virtual creation, optimization and linking or program execution, which represents the real construction work.

The worktop 8 is designed to be interchangeable, so that the various built structures can be set up at other locations and used there, for example, for decoration or as display objects.

It is preferably used to program and control the Toy manipulator a personal computer as well as a Centronics cable for data transmission.

The toy manipulator includes, in particular, a controllable crane 110 on a base plate with power and interface boards, a power supply unit for power supply, a worktop 8 , a module assortment box including modules and associated software and program software which has an operating system with a user interface for control.

This toy manipulator, it is possible to ver to perform various tasks and in particular which is an educational game system.

The toy manipulator is preferably simple and kept reliable, especially with ge struggle to create costs. It would be conceivable that Toy manipulator with an internal processor too provided instead of using a personal computer.

More common serves as an interface to the personal computer as the parallel port of the personal computer, whereby Costs would be reduced and the installation of a switch interface facecard in the computer is spared. It is natural conceivable, the toy manipulator by a Extend switch interface card.

The motors used are, in particular, stepper motors 19 , 28 , 31 , 42 , 45 , 54 and are operated in full step mode, since resonances can be compensated for, for example, by the correct selection of motor, translation, material, mass and speed, and the control is thereby greatly simplified becomes. Here, the slower working of a crane compared to a plotter is preferred. Lower speeds also result in reduced energy consumption.

The program for controlling and operating the system should look to the player as  multimedia surface represent a simple and advanced type of programming and esp special operation allowed.

In Fig. 1, a pivot bearing 11 is shown on a torsionally rigid base plate 7 with which it surrounds the bearing flange 63 assembled. In the bearing flange are two ball bearings 65 , which are held by a Di punch ring 64 on the outer ring at a distance, pressed and glued. By a countersunk screw 62 and corresponding washers, the bearing hub 61 is firmly drawn into the ball bearing 65 and sets festge. As a result, the two ball bearings on the inner rings are pressed together and the bearing play is reduced to essentially zero, and at the same time a certain stiffness of the entire rotary bearing 11 is achieved, which serves as damping for the stepper motor 19 . As a result, sufficient stability of the device for a main rotation 1 , which is hereinafter referred to only as the main rotation, which is the lowest supporting element, even under great stress due to the horizontal transverse linear guide 3 , which is hereinafter referred to as "horizontal", in outer area even in the uppermost position of the main vertical calipers 2 , i.e. with the greatest possible leverage, guarant. This measure increases the accuracy of the toy manipulator.

The countersunk screw 62 is glued in to prevent loosening when the pivot bearing rotates. On the bearing hub 61 , a mounting plate with a toothed belt tensioning device 17 is firmly mounted.

The force of the stepping motor 19 is transmitted in this construction example by the pinion 15 fixed on the motor shaft to the spur gear 14 , which is guided by the bearing flange 18 . The spur gear 14 is firmly connected to the small toothed belt pulley 13 . From here, the further power transmission takes place via the flat toothed belt to the large toothed belt pulley 9 , which is firmly seated on the bearing flange 63 . Thus, the bearing hub 61 itself and the device built on it Vorrich or the corresponding entire system is caused to rotate.

Furthermore, the large coding pulley 10 sits on the large toothed belt pulley 9 , which could also be referred to as a slotted pulley. Upon rotation of the main rotation 1 and thus the rotation of the mounting plate 17 to which the fork light barrier 12 is attached, the large coding disk is queried accordingly for translucent or opaque sections which are arranged, for example, at a distance of 5 °. The toy manipulator or the device that counts the output control codes, i.e. the steps that the stepping motor 19 should have carried out, compares the number of steps that are in a fixed relationship to a calculated angle of rotation at all times with the real one angular position. For example, a high (light transmission) and a transition to low (no light transmission) at 40.5 ° are determined using the fork light barrier at 40 ° rotation of the main rotation. This assignment from high to low and from low to high to the corresponding angular positions is stored in the program, for example in the form of a table (array). If the fork light barrier measured a transition from high to low at 40 ° when positioning the main rotation, this would be treated as an error. As a result, any incorrect positioning, which can be caused in particular by violent stopping, bumping or by failure of mechanical and / or electronic components, is registered.

The fork light barrier is regularly or continuously from Program queried, d. H. even if the main rotation makes no movement. This can be the case with the inclusion of a block by the tool or the Holding device happen, the position regarding rotation must be retired. Also during this dormant position comparison carried out.

The constant comparison of positions by constant Comparison of the real with the calculated position every movement, such as at a standstill, has the immediate one Registration of incorrect positions as well as mechanical also result in electronic component failures, so that the system or the toy manipulator itself is subject to a permanent system check.

A little later it is described how the toy manipulator lator moves on error detection.

On the mounting plate 17 , two bearing blocks with shaft 16 are arranged, which have the function of hinges and after loosening the two locking screws on the opposite side, which are not shown in FIG. 1, enable the main vertical 2 and thus the entire crane to tilt , This ensures that the entire system fits into a flat box for the purpose of transportation. On the opposite side there is also a code plug-in connection through which the power supply for the system leads, which means that the device cannot be operated in the transport position.

The main vertical 2 comprises a linear guide 24 which in this exemplary embodiment is exactly perpendicular, that is to say at an angle of 90 ° to the main rotation 1 , and thus to the base plate 7 . The linear guide is designed here as a triangular hollow profile aluminum, since it is light, stable and inherently non-rotatable and, thanks to the triangular shape, has very good guiding properties and a smooth surface. A linear guide slide 22 moves on the linear guide 24 .

As shown in Fig. 3, which encloses approximately Linearfüh carriage 22 with its inner surfaces, which also have the typical triangular shape, the Linearfüh tion 24th At the upper and lower ends of the guide slide, Teflon strips 67 are attached to two inner sides. Due to the prestressed spring steel sheet 66 located on the opposite third side, which is also provided with Teflon strips 67 at the upper and lower ends on the side facing the linear guide, play and maintenance-free guidance of the guide carriage 22 to the linear guide 24 is possible.

In addition, this type of guidance is easy to move and can absorb large forces, which itself in a play-free position forces. By this measure is ensures precise positioning.

The rotary movement produced by a stepper motor 28 is transmitted via the compensating coupling 29 to the spindle 26 , which is guided through the spindle bearing 27 at the upper end. The desired linear movement takes place via the spindle nut 21 , which is connected to the linear guide slide, in this case the upward or downward movement.

With the aid of the coding strip 25 arranged in parallel to the linear guide 24 and the fork light barrier 23 which is firmly connected to the linear guide carriage, the position comparison is carried out as in the main rotation, but not in terms of angles but rather in terms of length, typically in millimeters.

On the linear guide slide 22 , the linear guide 34 is fixedly or detachably fixed laterally at an angle of 90 °, ie parallel to the base surface 7, with the aid of the connecting elements 68 . The linear guide 34 is part of the horizontal translational linear guide, which is called "horizontal 3 " for short.

The connecting elements 68 are constructed in such a way that, despite the various movements of the individual system components, they allow cladding by housing parts and an orderly cable routing without losing stability. The horizontal 3 is essentially identical to the main vertical 2 for the essential components. It is only necessary to use a smaller cross section due to the lower force absorption and the weight reduction that is achieved as far as possible. The arrangement of the individual components is shown in FIGS. 1, 3, 4 and 5.

The horizontal position detection or its comparison takes place according to the position registration on the Main vertical.

The rotary movement of the motor shaft of the stepping motor 31 is transmitted via the compensating coupling 30 to the spindle 33 , which is guided through the spindle bearing 32 at the outer end. The desired linear movement, namely a forward and backward movement, takes place via the spindle nut 36 , which is firmly connected to the linear guide slide 37 . It makes sense to provide the speed of the horizontal linear guide carriage 37 as the fastest in the toy manipulator, since this is used most frequently and the distance covered is the greatest. Possibly. A corresponding regulation could be provided, which makes it possible to drive at high speeds at long distances and to regulate the speed accordingly when approaching the end position. A corresponding regulation can be carried out for every motor.

The couplings used in the system or in the toy manipulator are used in particular to compensate for axial tolerances. For the horizontal 3 a Spindelan drive was chosen due to a simple and inexpensive design, although for example other drives, such as those by longitudinal toothed belts, would be conceivable.

The vertical 4 serves to carry out work over obstacles, for. B. low-lying building blocks in the building blocks assortment or to put down or work behind obstacles, such as already constructed parts of the building, which, however, must not exceed a certain height, which corresponds to the maximum stroke of the working vertical or the working vertical in combination with the main vertical enable. Working vertical 4 increases the overall stroke of the system. In addition, due to their low intrinsic mass and its located in Lot gravity relative to the main vertical work Vertical 4 operates energy-saving more slowly. The working vertical 4 is arranged at an angle of 90 ° to the horizontal 3 , that is parallel to the main vertical 2 , and is at an angle of 90 ° to the base plate 7 .

It is important that perpendicularity and parallelism activity of the individual modules to one another and in relation to the base plate is essentially adhered to Allow positioning accuracy.

In contrast to the other two linear systems, the connecting guide 68 of the linear guide carriage 59 of the vertical 4 is laterally attached to the linear guide carriage 37 of the horizontal 3 . As a result of this measure, the linear guide 40 is vertically movable.

The cross section of the vertical guidance system Working vertical is even lower, so the strength recording is correspondingly small. In addition, through this measure enables deep-lying building blocks smallest form from shaft-like surroundings filing such. B. small blocks below can be found in a compartment of the modular range box.

The linear guide carriage 59 is held vertically, ie along its guide and the side facing the main vertical 2 , in the middle over a full length in a certain width. This is shown in Fig. 4. As a result, the rack 39 , which is fastened on the linear guide 59 , is granted an unimpeded passage during movements of the working verticals.

The pinion of the stepping motor 42 which is stuck on the motor shaft engages through the recess in the linear guide carriage 59 in the rack 39 and thus causes its vertical movement, that is to say its upward and downward movement, upon rotation. In the case of the working vertical, a slightly modified attachment of the coding strip 41 to the linear guide 40 is also provided in order to keep the space requirements of the working vertical as low as possible. The fork light barrier 43 is attached to the upper end of the linear guide carriage 59 .

The connecting element is at the upper end of the linear guide 40 as shown in Fig. 1 and Fig. 6 is shown, positioned 50 which tation already in the region of the Werkzeugro or holding device 5, the imaging rotationally in the following work is called 5 falls. Two guide bushings are 50/1 integrated on the outer sides of the connecting element 50th These serve to receive the guide pins 46 , which are connected to the stepper motor 45 and thus guide it in a vertically movable manner.

The rotary movement of the motor shaft of the stepper motor 45 is transmitted to the tool 6 via the compensating coupling 49 on the shaft or the pipe 52 , which is guided vertically displaceably through the bushing 60 at the lower end of the linear guide 40 . Thus, the tool rotation 5 and the tool 6 stuck to it in the lower region can be moved vertically and is in its lower position due to its own weight.

As soon as the tool 6 when driving down the main vertical 2 of the vertical 4 or both encounters obstacles such as existing building blocks or structures, a vertical displacement of the tool rotation 5 begins in the upward direction. As a result, the sensor or microtastor 51 previously occupied by the left guide pin 46 is released. This change in status is registered by the system immediately and results in an immediate stop of all movements. It is therefore only possible to move the sensor 51 upward again.

By this measure, by giving in to the Tool rotation when placing the tool is only low stress on all system components reached.

The angular position of the tool 6 is compared via the fork light barrier 47 , which queries and compares the coding disks 48 attached to the motor shaft of the stepping motor 45 .

The following is again briefly on the functional way of the coding discs of the rotational movements and Coding strips of the linear movements are received.

It is initially assumed that there is a change from opaque to translucent surface on the coding strip every 5 degrees. Opaque creates a low (0) and translucent a high ( 1 ). This means that a low is generated every 10 ° and high every 5 °. The end positions are defined, for example, by being on z. B. 20 ° are opaque and thus no change of value takes place after 5 °. So there will be a low continuously and after z. B. 6 ° this would be recognized as the end position. In the event of a voltage or component failure, a high would be read in continuously, which the system would recognize as an error if the 5 ° difference was exceeded. Due to the known direction of rotation, which results from the corresponding control commands, the position of the end position is also known.

The game performs by reversing the rotation tool manipulator so many steps until a high read can be. This is the zero position.

Was the toy manipulator just turned on and the motion component is already in one unknown end position and would the tax movement in executed the wrong direction, which after 6 ° none changed data reading, this would be as Driving over the end position can be recognized and a Output of the control commands for the reverse direction until the change to high is noticed. Based on the direction of rotation it is then known whether this is the Is zero position for this movement system or whether the Zero position at the opposite range of motion is looking for.

Proceed accordingly with the linear system. Here could e.g. B. a change from high to low every 5 mm occur.

The tool 6 is attached to the lower end of the tool shaft shaft 52 . This includes a miniature geared motor 54 , on whose vertically downward-pointing motor shaft the threaded spindle 57 is seated. The guide bushings 55, which are laterally attached to the small gear motor 54 and optionally integrated, serve to receive the guide pins 69 , which in turn are anchored in the molded part 56 and thereby guide it vertically. The molded part fixes the building blocks when holding. Due to the pressure springs on the guide pins 69 , the molded part 56 is held at an appropriate distance from the geared motor 54 , in such a way that the lower surface of the molded part with the lower threaded spindle plane surface, which is characterized by a large phase (see FIG. 6 ), concludes. The shaped pins at the upper end of the guide serve as a stop for this. The compression springs have such a low spring force that they are below the dead weight of the tool rotation 5 . This means that when the back pressure is applied to the tool from below, the compression springs only give way before the tool rotation carries out a vertical shift. A reflex coupler 70 is embedded in the molded part 56 . As a result, the system is able to recognize the presence or absence of a component on the tool 6 . A microswitch 53 is arranged in the upper area of the tool. This interrupts the voltage supply to the small gear motor 54 when the module is picked up and thus serves as a limit switch. For example, a diode arranged in parallel now only allows the reverse direction of rotation, whereby the storage of the module is possible.

The following is the inclusion and storage of the blocks described.

In the exemplary embodiment which is explained here, the tool 6 can only pick up, fix or hold and store a component 100 to 103 . For the further description it is assumed that the toy manipulator has been positioned to such an extent that the tool is at a certain distance and perpendicular to the block to be picked up. The angular position of the tool rotation has already been corrected for the module position and the availability of the tool itself has been confirmed, that is to say that a query to the reflex coupler 70 has shown that no module is present.

Through a block specified in the program step is only in a procedure that is responsible for this branches whose commands are processed.

First, the work vertical is driven down. During this movement, the height at which the molded part of the tool dips into the counter-hollow mold 72 present in each module is reached at some point. Any minor misalignments are compensated for by the oblique side surfaces of the molded part and the oblique inner surfaces of the hollow shape of the block that are now opposite them. By further moving the working verticals, the block is fixed and the molded part of the tool is thus moved in the direction of the miniature gear motor. Now the compression springs on the guide pins give way to the downward movement. However, this only happens as long as the threaded spindle 57 of the tool does not strike the generously lowered threaded bore 73 of the module opposite it. As soon as this happens, the tool rotation rotates vertically as the downward movement continues.

Next, the sensor or microswitch 51 is released, whereby the toy manipulator responds with an immediate stop of the downward movement. So that the threaded spindle of the tool with a ge know pressure, namely essentially the mass of the tool rotation, on the threaded bore of the block. In this example, the threaded spindle and the block threaded bore are typically right-handed.

A short left turn of the tool threaded spindle follows in order to exclude a possibly unfavorable thread approach. The block pick-up begins with the subsequent clockwise rotation of the threaded spindle of the tool. As a result, that is, the screwing of the tool spindle into the module, the tool rotation previously raised by the placement is lowered, so that the sensor 51 is then occupied again. This is answered by the system or the toy manipulator by lifting the stop of the downward movement, that is to say that the working vertical moves downward again. In this system, however, this speed is greater than the screwing-in movement taking place at the same time, so that a renewed vertical displacement of the tool rotation and with it a renewed release of the sensor 51 and thus a connected stop of the downward movement of the working vertical goes hand in hand.

By further screwing the tool spindle into the module, the tool rotation is lowered again and thus the sensor 51 is reassigned so that the method just described takes place again.

In the meantime, the tool spindle has penetrated so far into the stone that the molded part of the tool and with it the guide pins have reached the upper position and the right-hand rotation of the tool spindle is switched off by the assigned microswitch 53 . The vertical downward movement is stopped by the vertical displacement of the tool rotation. Thus, the entire system of the toy manipulator is inferior to a movement stop at this moment, which is recorded over time and, after a period of time, sets all the movements necessary for taking up the blocks. This completes the inclusion of the block and further program or control steps can be carried out.

In reality, the individual movements just described are essentially as parallel movements of the Perceivable by gamers, as this in no time expire.

The advantages of the module admission just described are that when the program is aborted or Ab switch the system safely on the tool are attached and secondly this is a requirement for extended building blocks that is a lock to each other and to the work surface because the threaded spindle of the Tools in the stone further power-intensive lifting work can do.

Next, the block is positioned at the point specified by the user. To describe the storage of the stone is assumed that it is at a certain height and plumb to the storage location. The angular position of the tool rotation and thus the position of the module (parallelism of the side edges of the module / storage location) has already been made accordingly. Preferably, the profile shape or hollow shape of the block surface is identical to the work surface, so that the placement criteria stone on stone and stone on work surface are essentially the same, so that for the sake of simplicity the placement of the stone on another is described below. In the block storage procedure that is now to be carried out, the controlled downward movement of the working vertices and thus the block are guided vertically to the storage location. The sloping profile surfaces 71 of the lower edge of the building block and the now opposing sloping inner profile surfaces 72 of the upper edge of the stone already lying make it possible to compensate for incorrect positions when assembling the building blocks. By further downward movement of the working verticals, the stone to be put down is fixed on the existing block. After the module that is still on the tool has been seated, in order to give in to the vertical movement, the working rotation is displaced vertically, as a result of which the sensor 51 is released. This causes the movement to stop. Next, the toy manipulator is instructed to drive the work vertical up until the sensor 51 reports occupancy. As soon as a corresponding assignment is registered by the sensor 51 , the upward movement of the working vertical is stopped in order not to raise the module again. Now, by turning the threaded spindle to the left, the tool begins to unscrew from the threaded hole in the stone, causing the stone itself to be pressed onto its surface, the lower stone. This pressure force leads to the lifting of the working rotation and thus to the release of the sensor 51st

There is now another vertical upward movement of the working vertical, which is stopped by the sensor 51 being occupied. During this time, the tool spindle continues to rotate out of the block. Due to the relaxing compression spring 69 , the molded part 56 of the tool is pressed into the upper inner profile 72 of the component that is not yet completely separated from the tool, and thus ensures that the component is adjusted. When the block is picked up and stored, it is fixed in place by the hollow shape of the base and by the molded part of the tool lying on the stone with a certain amount of pressure.

As soon as the threaded spindle has completely left the threaded hole of the block, the pressure created by unscrewing, which was responsible for increasing the tool rotation, is eliminated. The module is now actually stored; however, this condition must still be recognized by the toy manipulator and / or the system. This happens because the sensor 51 no longer changes the state due to the absence of vertical strokes and therefore can no longer be registered by the system. After a predetermined time has elapsed without any further event message, the working vertical is moved up a few millimeters, neglecting sensor 51 , in order to register confirmation by sensor 70 and its non-assignment that the module has been successfully deposited. Now the uninterrupted left rotation of the tool spindle is stopped.

On the base plate 7 , a clipboard is net angeord, which is not shown in the figures. This clipboard is used for intermediate storage of building blocks, so that the user and the toy manipulator himself has a large number of options for intermediate storage and redeployment of building blocks.

The largest area on the base plate occupies the Worktop. The structures of Spiel are on it Tool manipulator created. So it is, so to speak Foundation of the buildings. The size of the structures is only by the dimensions of the worktop and the maximum Lifting height of the toy manipulator and in particular the  Tool limited. The worktop is made with the help of Adjustments, such as pens, on one specified surface of the base plate. On Twisting the side edges and the surfaces (top / bottom) is excluded by this adjustment. So that is the worktop in both its size, position and the position of their side edges for the toy manipulator Are defined. Furthermore, the worktop is off interchangeable. With the appropriate labeling on It is the other place on or on the worktop Users still possible after many years create connections between building and software and further programming and corresponding others Execute construction options.

It is of course also a way to get this data from System in an EEPROM, i.e. in an electrical be write writable and erasable memory chip, which is integrated in the worktop and so stored data without operating voltage for years includes. This hard drive would therefore be for everyone Construction action described by the system and the current one Save the status of the construction work.

A modular assortment box is a further essential component, which, however, is also not shown in the figures. This block assortment box can be placed on the base plate at a predetermined position by adjustments. This box has relatively high side walls, which, however, must not exceed the free lifting height of the working vertical, since it must be ensured that a module located at the bottom of the range can be reached by the tool without the horizontal touching down. The module assortment box is divided into various compartments in which different module types can be stored. In the case of non-stackable block shapes, it is necessary to create a compartment for each block. The subjects are cleverly laid out in such a way that it is impossible to place the modules in other subjects that do not correspond to the module type. Also in the Bausteinsor timentskasten, as with the clipboard and the countertop, the floor is adapted to the shape of the blocks, so that here too, the stones are precisely adjusted. Each assortment box contains the building blocks necessary for the construction of a building or part of the building blocks required for large buildings. A coded plug is cleverly attached to the bottom of the assortment box, which engages in a socket when the box is placed on the base plate, so that the toy manipulator is able to read the assortment. With each block assortment box, it is possible to include software that should be installed by the toy manipulator before the blocks are used. The corresponding software contains the following data:

• 1. Number and name of the modular range box,
• 2. Identification code for the connector, so that the game witness manipulator before and / or during the real construction management can query whether the correct module range ment box and therefore the right components are,
• 3. Shape and dimensions of the blocks in a table are recorded accordingly,
• 4. Name and number of the module,  
• 5. Location of the various building blocks in the assortment box,
• 6. Number of modules per subject, d. H. Number of each current block types,
• 7. defined access point ( 74 ) per block type for the tool and
• 8. Image data of each block type, so that this from all possible perspectives or from the X, Y or Z direction can be viewed.

A basic module is outlined in FIG. 7, which represents the smallest module available to the system.

The lower inclined mold surfaces 71 are in their side lengths a little bit smaller than the inner mold surfaces 72 above, so that when the building blocks are placed on one another, the base surface of the mold 71 of the upper stone lying below rests firmly on the base surface of the inner mold 72 of the lower stone. This means that even with high block stacks there is a defined height, ie the total height is equal to the addition of the individual block heights. Due to the shape 71 , 72 , the stones adjust themselves when they are put together and thus ensure good lateral support. In the event of minor incorrect positions of the system when the block is being deposited, the oblique shaped surfaces 71 prevent hard placement on the edges of blocks which have already been deposited.

In Fig. 8, three examples of building blocks are outlined for better understanding, with far more complicated shapes are possible. Each stone has a specific location that is used for the tool to pick it up. This defined access point 74 is equipped with the threaded bore 73 , in which the tool spindle 57 can then screw in and thus releasably bind the stone to itself. The access point 74 is advantageously arranged at the highest point and as far as possible to the center of the module. The location of the access point 74 is important for the programming or the specification of the building blocks to their locations at which these building blocks are to be stored, and the corresponding program execution of the toy manipulator.

Areas of the base plate used for the toy manipulator lator can not be reached, for the Unterbrin electronics.

The linear movements are in one execution for example, especially with pulse-powered equals current motors driven and allow a fault free operation, although for example the voltage at parallel start of several movements by up to 2 volts can break in. Modern integrated circuits in Connect with stepper motors as drive elements ment a reasonable solution for control and / or Regulation implementation in movements for this toy nipulator. The electronics are here so out puts that directly over the usual parallel port of the PC Control and regulation without additional hardware of the 6 motors in the toy crane at the same time can be run, each individual engine individually in its speed (speed of individual motion systems acceleration / deceleration) is adjustable and all tasks for recording the Positions and reading the code connections (construction stone range) must be met.  

The movements of the toy manipulator are in Dependent on the inputs of the user, the contrary taken and evaluated, controlled. The task the data processing takes over with this execution example a personal computer, on which one for this developed program is installed and the one parallel interface using a printer cable with the system or the toy manipulator via the Socket of an interface board is connected. The elec tronics of the example is for connection to a unidirectional interface designed, can but also with a bidirectional parallel operate interface. So the toy manipu lator with any PC that has a printer connection to read and control. That in each case the corresponding program is the operating system and provides the user with a graphical user interface on the Screen available so that a comfortable Programming and operation is guaranteed.

The following action items are available to the user in the main window of the program:

• 1. Manual control
• 2. Manual programming
• 3. Virtual programming (screen programming)
• 4. Program Editor
• 5. Start execution

With manual control, the user has the poss the system via the mouse and / or one Joystick to control the keyboard. By appropriate Operation can be in directions of movement and speed toy manipulator.  

With manual programming, the user has the Possibility of running through the operation Movements of the toy manipulator step by step save in files. By this measure everyone is States reproducible at any time. With this type of Operation of the toy manipulator is possible Drive clean up mode.

In the so-called screen programming, the Users the opportunity to remove the building blocks from the sorti on the screen in the desired end position to lay on the screen and gradually by filing of building blocks a virtual building on the monitor produce. All illogical actions are under ent systematic output of instructions from the system or Computer not accepted. The so put together The building is then after the start of the processing is initiated by the toy manipulator.

The toy manipulator moves such that a Building block, for example in the virtual building was used, corresponding to the specified position tion. In order not to be against blocks that have already been stored drive when moving the toy manipulator in the X and Y directions, i.e. horizontally, this in the vertical direction so high that the Toy manipulator not with one already set up or collapsed stone. That is, here the highest stone is taken as the reference point. Only when the correct X and Y values are available, i.e. H. the correct horizontal values, becomes a vertical one Movement started down. In cleanup mode, the Correspondingly created file only from the back read in front so that started with the last step will and the procedures for the module admission and  - levy can be exchanged. Here the building blocks, that make up the building, one by one from work plate removed and placed in the assortment box.

The program editor enables the user to Editing data files and thus execution by optimizing the toy manipulator. It is possible to make single movements to complex movements link.

If there are missing stones in the assortment box or missing posi tioning on the worktop by, for example The execution of the control program creates obstacles stopped and appropriate notices issued. The The user now has the option of using the system or the Let the toy manipulator move to the zero position and after eliminating the problem the program continue to execute.

At any time of processing by the toy mani For example, pulator can be any key on the PC keyboard serve as a kind of "emergency stop".  

LIST OF REFERENCE NUMBERS

1

Main rotation facility

2

main Vertical

3

horizontal

4

Vertical work

5

tool rotation

6

Tool

7

baseplate

8th

countertop

9

large toothed belt pulley with toothed flat belt

10

large coding disk (position comparison main rotation)

11

pivot bearing

12

Light barrier

13

small toothed belt pulley

14

large spur gear (possibly for further reduction)

15

small spur gear (possibly for further reduction)

16

Bearing blocks with shaft for tilting the device

17

Mounting plate with toothed belt tensioning device (elongated holes)

18

Bearing flange (in case of reduction)

19

Stepper motor (main drive rotation)

20

Housing (cladding)

21

Spindle nut (main vertical)

22

Linear guide slide (main vertical)

23

Fork light barrier (main vertical)

24

Linear guide (main vertical)

25

Coding strips (position comparison of main verticals)

26

Spindle (main vertical)

27

spindle bearings

28

stepper motor

29

Flexible coupling

30

Flexible coupling

31

stepper motor

32

spindle bearings

33

Spindle (horizontal)

34

Linear guide (horizontal)

35

Coding strips (horizontal position comparison)

36

Spindle nut (horizontal)

37

Linear slide (horizontal)

38

Fork light barrier (horizontal)

39

rack

40

Linear guide (working vertical)

41

Coding strips (position comparison of working verticals)

42

Stepper motor with pinion (drive of the work vertical)

43

Fork light barrier (work vertical)

44

Bellows (for protection)

45

Stepper motor (drive of the tool rotation)

46

Guide pins (for vertical displacement)

47

Fork light barrier (tool rotation)

48

small coding disk (position comparison tool rotation)

49

Flexible coupling

50

Connection element with guide bushes

50

/

1

guide bushings

51

Microswitch or sensor

52

vertically displaceable head rotation shaft or tube

53

Microswitch or sensor (prevents the tool from getting stuck when the block is picked up)

54

Small gear motor (DC voltage)

55

guide bushings

56

Molded part for fixing the building blocks

57

screw

58

Cover for coding strips

59

Linear guide carriage (working vertical)

60

Socket for guidance

61

bearing hub

62

countersunk

63

Lagerflansch

64

spacer

65

ball-bearing

66

Spring steel sheet

67

Teflon strips

68

fasteners

69

Guide pins with compression springs

70

Reflex coupler (to detect whether there is a block in the tool)

71

lower sloping side surface (profile surfaces)

72

upper sloping inside surface (hollow profile surfaces)

73

Block threaded hole

74

defined access point of the tool

100

building block

101

window component

102

angle block

103

stair module

110

Toy crane

Claims (30)

1. Toy manipulator for positioning, assembly and / or disassembly of at least one object ( 100 , 101 , 102 , 103 ) of building blocks for a toy structure
a holding device ( 6 ) with which at least one object ( 100 , 101 , 102 , 103 ) can be detachably fixed,
a positioning means ( 110 ) with which the at least one object ( 100 , 101 , 102 , 103 ) can be positioned at predeterminable locations,
a location specification device with which the location at which the at least one object ( 100 , 101 , 102 , 103 ) can be positioned can be specified, the location specification device comprising at least one control means and / or regulating means,
wherein the positioning means ( 110 ) has at least one substantially vertical translational linear guide ( 2 , 4 ) and a substantially horizontal translational linear guide ( 3 ) and the positioning means ( 110 ) and / or the at least one vertical linear guide ( 2 ) on a base plate ( 7 ) can be detachably fixed and tilted essentially by 90 °. 2. Toy manipulator according to claim 1, characterized records that the location device a computer includes. 3. Toy manipulator according to claim 2, characterized in that by means of the computer the least least one object ( 100 , 101 , 102 , 103 ) that can be selected and / or specified, and the associated location that can be selected and / or is specifiable, can be implemented in control commands for controlling the toy manipulator. 4. Toy manipulator according to claim 3, characterized in that the selection of the object ( 100 , 101 , 102 , 103 ) and the location on which the object ( 100 , 101 , 102 , 103 ) is to be positioned by means of an input device is noticeable. 5. Toy manipulator according to claim 2 or 3, characterized in that the computer has a display device with which the at least one object ( 100 , 101 , 102 , 103 ) can be displayed on the associated location. 6. Toy manipulator according to one of claims 1 to 5, characterized in that the holding device ( 6 ) has a gripping means ( 56 ). 7. Toy manipulator according to one of claims 1 to 6, characterized in that the holding device has a screwing means ( 57 ). 8. Toy manipulator according to claim 7, characterized in that the objects ( 100 , 101 , 102 , 103 ) have a threaded bore ( 73 , 74 ) at a predetermined point. 9. Toy manipulator according to claim 8, characterized in that the objects ( 100 , 101 , 102 , 103 ) have at least partially inclined inner surfaces ( 72 ) in the upper region and are formed in a kind of negative shape in the lower region such that they are each in other objects are pluggable. 10. Toy manipulator according to one of claims 1 to 9, characterized in that the positioning means ( 110 ) is a toy crane. 11. Toy manipulator according to one of claims 1 to 10, characterized in that the positioning means ( 110 ) has at least one rotating device ( 1 ) for rotating the manipulator about a main axis. 12. Toy manipulator according to claim 1, characterized in that a second vertical translatory linear guide ( 4 ) is provided. 13. Toy manipulator according to one of claims 1 to 12, characterized in that the positioning means ( 110 ) by means of at least one motor ( 19 , 28 , 31 , 42 , 45 , 54 ), in particular stepper motor, is movable. 14. Toy manipulator according to one of claims 1 to 13, characterized in that at least one position comparison device ( 23 , 25 ; 35 , 38 ; 41 , 43 ) is provided. 15. Toy manipulator according to claim 14, characterized in that the position comparison device ( 23 , 25 ; 35 , 38 ; 41 , 43 ) comprises at least one light barrier in cooperation with a coding device. 16. Toy manipulator according to one of claims 12 to 15, characterized in that the second linear guide ( 4 ) in the lower region has the holding device ( 6 ). 17. Toy manipulator according to one of claims 1 to 16, characterized in that the movable parts are at least partially provided with means ( 61 , 62 , 65 ; 66 , 67 ) for making the movement difficult. 18. Method for positioning, assembling and / or disassembling at least one object ( 100 , 101 , 102 , 103 ) of building blocks for a toy structure with the following method steps:

• - Selecting the at least one object ( 100 , 101 , 102 , 103 ) from a predefinable object range by means of an input device and / or a selection device;
• - Specifying a location at which the at least one object ( 110 , 101 , 102 , 103 ) is to be arranged;
• - Moving a holding device ( 6 ) at least partially in a linear direction into a position in which it can be releasably fixed to the at least one object ( 100 , 101 , 102 , 103 ) at a first location;
• - Fixing the at least one object ( 100 , 101 , 102 , 103 ) by the holding device ( 6 ) by means of a screw connection ( 57 , 73 , 74 );
• - Moving the at least one object ( 100 , 101 , 102 , 103 ) to a second location and
• - Loosen the fixation.

19. The method according to claim 18, characterized in
that to fix the object ( 100 , 101 , 102 , 103 )
the holding device ( 6 ) is lowered onto the object ( 100 , 101 , 102 , 103 ) at least until a screwing means ( 57 ) rests on the object ( 100 , 101 , 102 , 103 ) and
the screwing means ( 57 ) screws into a thread ( 73 , 74 ) arranged in the object. 20. The method according to claim 19, characterized in that the downward movement of the holding device ( 6 ) is interrupted when resting on the object ( 100 , 101 , 102 , 103 ). 21. The method according to claim 20, characterized in that the downward movement of the holding device ( 6 ) is only interrupted after overcoming a predetermined and / or adjustable force which acts on the object ( 100 , 101 , 102 , 103 ). 22. The method according to claim 19, characterized in that for releasing the object ( 100 , 101 , 102 , 103 ) from the holding device ( 6 ), the screw means ( 57 ) from the in the object ( 100 , 101 , 102 , 103 ) Unscrew the arranged thread ( 73 , 74 ). 23. The method according to claim 22, characterized in that the rotational movement of the screwing means ( 57 ) only takes place after the object ( 100 , 101 , 102 , 103 ) has been put on. 24. The method according to claim 23, characterized in that the rotational movement of the screwing means ( 57 ) only takes place after the object ( 100 , 101 , 102 , 103 ) has been set with a predeterminable and / or adjustable force. 25. The method according to any one of claims 18 to 24, characterized in that the holding device ( 6 ) is moved by means of at least one stepping motor ( 45 , 54 ). 26. The method according to claim 25, characterized in that the position of the holding device ( 6 ) is determined with at least one position determination method. 27. The method according to claim 26, characterized in that the position determined by the position determination method be compared with the position calculated by the number of steps performed by the stepper motor (s) ( 19 , 28 , 31 , 42 , 45 , 54 ). 28. The method according to claim 27, characterized in that a position control and / or correction due a determined comparison value is carried out. 29. The method according to claim 18, characterized in that the objects ( 100 , 101 , 102 , 103 ), of which the toy structure consists, are successively stored in an object assortment when the toy structure is dismantled. 30. The method according to claim 18, characterized in that the toy structure initially with a virtual Computer is created and then real by a Toy crane using control and / or regulation routines is built up.