DE3417121A1 - Manipulating appliance - Google Patents

Abstract

In a manipulating appliance with a vertical column and an extension arm as well as a working element movable in the longitudinal direction of the extension arm as well as parallel to the column, the column carries a slide which can be moved up and down and in which the extension arm is mounted in a horizontally displaceable manner. The extension arm carries the working element firmly attached to its free end. The drives of the working element are therefore no longer attached, as previously, to the extension arm and do not load the latter but on the contrary are attached to the vertical column or the slide and thus, unlike previously, only constitute an exceptionally small bending load on the machine frame.

Description

BERG · STAPf! .-SCKWABC · .. "5AiNDMAIR

MAUERKIRCHERSTRASSE 45 "8000 MÖNCHEN 80

Attorney's file: 33 465 VI

company

Max Kettner

Packaging machine factory GmbH & Co.KG

Ottobrunnerstrasse 1

8000 Munich 83

Handling device

The invention relates to a handling device according to the preamble of claim 1.

This known handling device has a vertical column carried by a base, at its upper end a horizontal, rigid boom is attached like a gallows. There is a working element on this boom, namely in the known device, a gripper head for bottles, movably attached to and fro as well as up and down.

This boom is dimensioned so that it, for example, a packing table for bottles and a roller conveyor for containers overstretched. The gripper head can therefore pick up bottles and place them in the empty containers, such as crates,

* (089) 9882 72-74TTj / g / mä: 524560 BERG d Bank accounts: Bayer Vetninsbank Munich 453100 (BLZ 700202 70)

lelefliamrm; (cabltr) '' lelekopierei. (089) 983049 Hypo Bank Munich 44101J7850 (BLZ 70020011) Swift Code HYPO DL MM

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insert or remove empty bottles from boxes and transfer them to the bottle table.

Both the lifting drive and the travel drive for the gripper head must be attached to the boom, so that this boom not only depends on the weight of the gripper head and the bottles lifted by it, but in particular is also burdened by the significantly higher weight of the drives mentioned. Thus it is a very stable one and therefore complex construction is required.

The well-known device thus not only instructs because of the Its top mounted drive has a high overall height, but is because of the described, unfavorable Load conditions in the construction complex.

Because of the problems described, the possible uses of the known handling device are proportionate restricted.

If with a working element attached to the known handling device, then when this is completely lowered is, an activity is to be carried out that requires precise positioning of the implement comes across this leads to difficulties because the entire device is particularly easily exposed to deformations and vibrations. Even

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for this reason, the known device cannot be used universally to the same extent as it actually is would be desirable.

Based on this problem, the invention is based on the object of creating a handling device, which manages with a low overall height and despite being low Construction work is suitable for lifting larger loads and also for more precise approaching individual Positions with the work manager can be trained.

According to the invention, this object is achieved by the features of Claim 1 solved.

In this case, the boom is not, as in the known device, rigidly attached to the top of the column, but the column in turn carries a slide that can be moved up and down and carries the boom. The lifting drive for lowering the working element is therefore no longer attached to the cantilevered boom, as in the known device γ , but either to the column or possibly also to the slide, ie at a point where the column itself can easily absorb the weight of the drive.

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Furthermore, the boom is movably mounted in the slide, so that the boom is no longer, as with known device that must bear the weight of the drive, but this is now according to the invention on Slide attached. Thus has the invention Handling device of the boom only the weight of the actual working element and possibly that to carry the load raised by it. Furthermore, the working element is in turn fixed at the end of the boom appropriate.

The boom can thus be used to lift the same load as it is lifted with the known handling device could be trained much more easily. At the same time, the precision when positioning the Work element is much higher because it is firmly attached to the end of the boom. Especially if the Slide is completely lowered and the implement is in its lowest position, there is a special stable force transmission structure, so that - in contrast to the known handling device - just then the device according to the invention is able to position the working element with the greatest precision and with this working element also exert transverse forces without sacrificing the accuracy of the positioning.

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Thus, the handling device according to the invention is not only able to be equipped with a gripper head for moving bottles, but can also be used in a much more versatile manner. It can be used, for example, to load small pallets, and if the design is correspondingly large, it can also be used to load normal-sized pallets.

Where this is indicated, the column can be rotated as a whole in the base be stored, so that the handling device according to the invention with its working element a relatively large Can paint over the work surface without any gaps. Thus, the device can generally be used as a manipulator in industry, for example for loading heavy machine tools with workpieces, for moving castings, for moving workpieces from one machine to the other, and also for carrying out activities in areas that are inaccessible to people, such as in

areas exposed to radiation and the like. The pillar can also be moved with the base on rails.

The inventive storage of the slide provides both on the column and on the boom by two pairs of rollers, which are opposite to each other in a roof-shaped manner Surfaces are engaged, the required precision in the movements of the device.

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Both the column and the arm of the invention Devices are preferably designed as rolled or welded hollow profiles, each two opposite one another Have roof-shaped ribs, the outer sides of which face each of the aforementioned pairs of rollers.

All that is needed is a slight milling over of the outer surfaces the roof-shaped ribs to create precise running surfaces for the rollers, so that the invention preferred profile material due to its shape not only has a particularly high flexural strength as a box profile has, but also only one I-minimum degree of post-processing requirement.

Since the layout: is moved equally horizontally in the slide and is stored in rollers, it only needs relatively less Driving forces. It would therefore be possible in principle to use printing cylinders to move the boom according to the invention to use.

But since the device according to the invention as a result of the above-described A particularly wide boom allows a particularly wide arm, it is according to another Design of advantage that a drive motor with gear is attached to the slide for its method, which engages in a rack configuration of the boom by means of a pinion. The drive motor is preferred an electric motor, but could also be used as a

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pneumatically or hydraulically operated rotary motor if the local conditions make such a drive appear advantageous.

Due to the rack / pinion arrangement, the

and retraction of the boom take place with particularly high accuracy.

Further features of the drive will be discussed further below.

As already mentioned above, the roof-shaped ribs promote the flexural rigidity of the boom and the column and by including them in a profile provide a particularly elegant solution.

According to a further embodiment of the invention, the column thus has the profile of a rectangle, the long sides are replaced by two angles, which form the roof-shaped ribs.

These are the roof-shaped ribs forming
Ribs arranged at a relatively large distance from one another, so that the column has an elongated hollow profile; if its longitudinal axis is arranged parallel to the boom, then such a column allows hand-

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■ __. .- ■■ '■ .- ■ 34 Ί V121

have bigger loads. '- * ·

For normal use of the device according to the invention, and_war especially for moving bottles and. like, it is according to an alternative embodiment of the Invention, however, preferred that by omitting the rectangular portion of said profile, only the two adjoin each other and thus, an essentially quadratic Profile is achieved, which is advantageously attached so that one of its diagonals is arranged parallel to the boom is. ·

A particularly essential and advantageous embodiment of the invention lies in the inventive design of the Sled according to claim 5: in order to achieve the particularly advantageous " To clarify the shape of this slide, it will first be described in a very simplified manner: the slide is in essentially formed from a hollow in the form of two juxtaposed cube, in which the two each other opposite square sides are missing. The slide is therefore basically made up of four adjacent redht-

Oil structure t,
angular plates ^ The upper and lower plates are broken out in the area of one cube so that they guide the column. The front and rear plates are broken out in the area of the other litter so that they guide the boom. For this purpose, the two opposite horizontal surfaces of the cuboid are each cut out on the edge that adjoins the square opening of one cube, - that they

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/ 16 '

Spanning the vertical column like a fork. On the two "prongs" of this fork, i.e. on the opposite ones Sides of the recess of each of the horizontal surfaces are opposite to each other, respectively two rollers attached, the axes of which are inclined to each other at the same angle with which the flanks of the roof-shaped ribs of the vertical column are inclined to each other. There are thus on each of the two horizontal ones A total of four rollers are arranged on the surfaces of the cube (i.e. a total of 8 for the vertical one in the case of the slide Column), which zan ^ enartia enclose the vertical column and on its four rib flanks, each roof-like in pairs are inclined to each other, expire.

The boilers are now vertical to accommodate the boom Areas of the cube-like Schütter, cut out in the same way, namely at that side edge on which they adjoin the other of the two openings, so that they grip the horizontal boom like a fork.

These recesses also carry roles in the same way as those recesses that span the vertical column, and the latter rollers stand with the corresponding roof-like inclined surfaces of the boom engaged.

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A total of 16 rollers are therefore attached to the slide .

The roles do not need to have exactly the position described, for example in the case when column and / or

Boom has a profile other than a square profile, e.g. a rhombic profile.

A rectangular profile, but especially a square profile however, it is preferred for both column and cantilever.

This also includes the inclination of two ribs, which are inclined towards one another in a roof-like manner, on their outside Form running surfaces, preferably at a 90 ° angle. The ribs will therefore formed by the corresponding edges of the square profile.

In the arrangement just described, what is preferred is a diagonal of the profile of the column parallel to the Cantilever arranged, and, what is also preferred, a diagonal of the profile of the boom vertical and thus arranged ρcroIlel to the column. These arrangements

are preferred for reasons of flexural rigidity, among other things.

There are . thus the boom and column face each other with one edge of their profile. The inventive The construction of the slide enables the column and the boom to lie next to one another with very little play, so that the spacing of their center lines to a minimum

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φ-

is reduced to the bending load on the column in a To keep the direction perpendicular to the extension of the boom as low as possible.

The structure described above is only a basic structure; _{In practice, the basic structure of the} slide, referred to above for simplicity as a cuboid : C ^ Lr + C ^ rw, is to extend the distances between those pairs of rollers, which are each in engagement with the same roof-shaped rib arrangement, as much as possible, by one to achieve stiffer and thus more precise guidance.

In the construction principle described, the axes of the individual rollers each extend at a 45 ° angle to that side of the box structure forming the carriage on which they are attached. In practice, however, it is advantageous to angled the respective sides in the attachment points in such a way that one is perpendicular to the axis of the respective roller extending receiving surface is created for the roller axis.

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In principle, it is possible to manufacture the rack for the preferred boom drive as a separate component and to be attached at a favorable point on the boom. According to a further embodiment the invention but this rack is worked out in the surface of the boom, namely in the edge of the the boom forming substantially rectangular or square profile beam.

In the area of the corner, especially if it is rounded, there is "enough" with such a profile large material thickness so that it is sufficient for the incorporation of the teeth that form the rack.

Straight teeth are preferred here, since their teeth are arranged perpendicular to the bending direction of the boom Form webs, so that the material removal that occurs as a result of the introduction of the toothing is not essential has a detrimental effect on the rigidity of the boom.

The toothing is preferably arranged on that edge of the boom which is closest to the column. This has the surprising side effect that the carrier is moved even closer to the column

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'can, which is an advantage for the reasons already mentioned above.

The slide according to the invention is not just a result Its construction described above is particularly light, but also particularly stiff, even if it is a welded construction is carried out, which allows simple production even in small numbers.

In order to reduce the amount of post-processing required and also the high level of post-processing according to the invention Slide inherent rigidity for the precision of the invention Utilizing the device is proposed according to a further embodiment that of the used Pairs of rollers at least one of the rollers adjustable in their position perpendicular to their running surface and also can be readjusted, so that the manufacture of the device is simplified and its service life is increased considerably, The setting is preferably made by an eccentric on which the respective roller is mounted.

If only one role can be set from each pair of rollers, then each position is the working element of the Device occupies, reproducible by the device again with high accuracy.

But if the device is controlled with control pulses.

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which were determined independently of the device, each of the roles should be designed to be adjustable, so that not only the backlash-free guidance of the boom, but also its absolute position in space can be precisely adjusted.

According to a further embodiment of the invention, the axes of the two rollers are each a pair of rollers in the associated running direction against each other by a small amount Offset, this prevents the axes of the rollers from penetrating each other.

This creates a compact structure with

short power transmission paths created. Because of this The compact structure of the slide becomes a particularly large working area for the handling device according to the invention created, which is not restricted by protruding parts of the slide.

At the same time, the configuration according to the invention enables a stable fastening of the rollers in the slide without the slide being made heavy as a result needed.

The lifting drive can basically be a hydraulic one or a pneumatic cylinder which is arranged between the base and the carriage.

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This cylinder could advantageously also be arranged inside the column.

It would also be possible to attach a rotary motor to the base. _%

According to a further embodiment, however, it is advantageous that the lifting drive for the carriage and the boom is mounted on top of the column and "preferably comprises a motor with a reduction gear. This arrangement still provides a lower overall height than the known device mentioned at the beginning has, but has the advantage that the area of the base in which the working area of the working element lies, is kept free. In addition, the lifting drive at the top of the column only loads it very little, because it is essentially only subjected to pressure in its longitudinal direction, but not also to bending.

In this case, the slide is preferably connected to the lifting drive via a pull chain, which is preferably a Has reduction gear and a sprocket.

This reduction gear could be designed to be self-locking, according to a further embodiment however, it is advantageous to use a counterweight whose dead weight corresponds to that of the carriage, the boom,

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of the working element and an average load raised by it. This means that it is sufficient to use a motor with a relatively low power as the drive motor, and as a result of the particularly smooth mounting of the slide according to the invention, a rapid movement of the slide and thus of the boom, the implement and the load being handled is achieved.

The motor and transmission gear are preferably horizontal arranged so that they only slightly affect the overall height of the device.

In the preferred design of the rack in the boom, its drive has a geared motor with a vertical Axle and straight-toothed pinion. This gear motor is attached to the carriage, according to a further embodiment of the invention on that side of the slide which is facing away from the work element, see above that the movement of the working element very close to the slide is not hindered by this drive,

Furthermore, the drive is on that side of the boom on which the column is located; here lies preferably the geared motor over the boom, so that the lowering of the slide allows to the base and is not hindered by the drive.

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Since the drive motor is attached to the side of the slide, it is at a certain distance from the column; this distance is preferably greater than the distance by which the brought the lifting drive protruding laterally so that the slide can be driven up to the lifting drive without that the two drives collide with each other. The inventive attachment of the drives enables thus an extraordinarily long stroke distance for the working element, without a particularly large overall height for the 'device would therefore be required.

According to a further embodiment of the invention, coding elements are on the column and / or the boom attached, opposite which reading devices are attached to the slide. The coding elements can in the simplest case be blocks, while the reading devices attached to the shoulders are roller scribers are. In this case, only the switching elements required for extending and retracting the boom are preferably on Slide attached because the drive motor for the boom is also located on the slide and through this Arrangement on a number of control lines can be dispensed with, which would otherwise be between a stationary control unit and the sled would be required.

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But it is also possible to use codings in the form of coding to provide marks or coding strips, which enable the digital control of the slide.

But as far as - and how this is preferred - between the there is a reproducible drive connection for the respective drives and the slide or the boom, it is according to an alternative embodiment of the invention It is also advantageous to have codings, in particular a counting disk and a reading device opposite this, to be provided directly on the drive. This training is particularly advantageous for the linear actuator.

Another problem not yet addressed above is the arrangement of the supply lines for the Work tool, especially if it is one Gripper head for bottles; such tools are often controlled with compressed air lines, which Must have a relatively large inside diameter so that the gripper head does not open too slowly Responds to pressure changes. It has been inevitable that the pressure lines when lowering the Gripper head have reached the work area swept over by this.

According to a further embodiment of the invention are now the supply lines for the working element in the

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Relocated inside the boom; thus the work area swept over by the work element is completely free of any supply lines.

At the other end of the Flexible connecting lines are connected to the supply lines located in the boom. ___

These connecting lines are in accordance with a further embodiment of the invention preferably not with a stationary control device, but with the carriage itself connected, which carries a connection unit, which in turn is only then connected to a stationary control unit is. This arrangement has the advantage that not even on the side of the column remote from the working element flexible lines, which move during operation of the device, are arranged in the floor area, which are a source of danger could represent for staff and also increase the installation space for the device according to the invention would.

According to a further embodiment of the invention, the column and / or bracket are provided with end stops which limit the slide movement in the event of a control failure or adjustment work.

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The subject matter of the invention is explained in greater detail, for example, with the aid of the attached schematic drawing.

In the drawing shows:.

1 shows a view of the handling device according to the invention,

Fig. 2 is a side view of the device shown in Fig. 1,

3 shows a basic illustration of the inventive Sledge,

FIG. 4 shows a less schematic representation of the slide shown in FIG. 3, and

5 shows a partially sectioned side view of the slide according to the invention.

In Fig. 1 is the embodiment of an inventive Handling device shown in the view; this device has a base 1, which is in an exact horizontal position is aligned and is supported on a hall floor 2.

The base 1 is preferably constructed from box girders. In the middle of the base 1 is a column 3 in a vertical position

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Location appropriate. This column 3 is constructed from a hollow support with a square profile, one of which Edge is facing the viewer and its diagonal is thus in the plane of the drawing.

On the top of the column 3 a horizontal bracket 4 is attached, which carries a gear box 5, a horizontally lying electric motor 6 is flanged to its rear side.

- ■ * The output shaft of the transmission 5 extends in parallel to the plane of the drawing and carries a sprocket 7 on which a counting log 8 is placed, which is passed through a fork light barrier 9 runs through. Counting barrier 8 and light barrier 9 deliver a series of pulses to a control unit, which calculates the exact position of the carriage 10 from the received pulses.

Inside the column 3 there is a counterweight 11, the weight of which is that of the carriage 10, the boom 12 and a handling device (not shown in the drawing).

A chain link 13 is located on the upper side of the carriage 10. A roller chain is located on this chain link 13 14 (only indicated schematically) attached, which in front of the edge of the column 3 facing the viewer

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runs above, ver runs over the sprocket 7 down into the interior of the column 3 and is attached to the top of the counterweight 11 there.

The slide 10 has an essentially square outer contour and is described in connection with FIG. 3 to 5 described in more detail.

The boom is horizontally displaceable in the carriage 10 12 out, and the carriage 10 has a number of rollers (not shown in Fig. 1), some of which run on the viewer facing running surfaces 15, 16, which extend in the longitudinal direction of the boom 12 and are milled into the surface.

The boom 12 has a profile with a substantially square Cross-section and rounded corners, one of which faces the viewer.

At the end of the boom 12 shown on the right in FIG. 1 a working element, preferably a gripper head, can be attached.

On the side of the carriage 10 facing away from this end, that is to say the left side, there is a boom drive motor 17 arranged with a concentrically flanged gear 18, both of which have a vertical axis.

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On the underside and exactly at that height that corresponds to the front edge of the boom 12 facing the viewer, however, behind this, a pinion 19 is arranged, which is mounted on the output shaft of the gearbox 18 is.

It will now go to FIG. 2.

In Fig. 2, base 1, column 3 and console 4 can be seen, as well as the exact position of the gearbox 5, the lifting motor 6 .- ·

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and the arrangement of the lifting chain 14.

In Fig. 2 the view of the device shown in the direction of the boom 12 is shown, from the side of the Boom drive motor 17 seen here.

It can be clearly seen that in the edge of the arm 12 facing the pinion 19 a rack toothing 20 is incorporated, which is shown in Fig. 5 more clearly.

As can be seen in Fig. 2, the carriage 10 has on its Top and bottom each have a horizontally and over the greatest width of the column 3 extending Arm 21 (upper arm) and 22 (lower arm). On the opposite, not for the viewer similar arms are attached to the visible side of column 3

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arranges.

The side of the slide 10 facing the viewer
is formed by a vertical plate 23 which has an arm 24 that extends over the boom 12 and an arm 25 that engages under it. On the arms

roles are stored, which will be described in more detail in connection with FIGS. These roles are running on treads, two of which (15, 16) are visible in FIG.

In the interior of the boom 12 there are lines or channels
Visible for receiving lines, which are used to supply a working element to be connected, in particular a gripper head.

The carriage 10 is shown in a very highly schematic form in FIG. 3, specifically in an oblique view, with the The direction of view compared to that of FIG. 2 downwards and to the left (in FIG. 2) was relocated.

The carriage 10 has the vertical plate 23, also shown in FIG. 2, which supports the column 3 (not in FIG. 3
shown) partially embraced on the side facing the viewer.

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On the other side of the column 3 and parallel to the plate 23, a second, vertical plate 26 is attached.

In the embodiment of FIG. 2, these two plates are for the purpose of saving weight and material strongly cut out. For comparison, it should be noted that in Fig. 3 the upper left part of the plate forms the arm 21 in FIG. 2, while the lower left part of the plate 23 forms the arm 22 of FIG. ~~ "~

On the facing surfaces of the two plates 23, 26 and near their free left end are close the respective upper and lower edge each of two mutually inclined by 90 °, opposite to each other in pairs or almost opposite rollers formed roller pairs R arranged.

The square profile of the column 3 is encompassed by these roles R shown, two superimposed Rollers R in engagement with one of the (milled over to form a running surface) outer surface of the square profile of the column 3 are engaged.

As the comparison with FIG. 2 shows, the distance between the ones attached to the arms 21 and 22 is in fact Rollers (not visible in Fig. 2) are much larger in order to enable proper guidance.

As can be seen from Fig. 3, the carriage 10 has a horizontal upper plate 27 and one parallel to this lower plate 28 on. These two plates are on their left side in Fig. 3, that is, in that area that of the column 3 is traversed, cut out accordingly to allow the column 3 to pass through.

At their right end in Fig. 3, the two plates 27, 28 are designed in the same way as the two "" " Plates 23, 26 at their left end, but offset by 90 °. Thus are also to those facing each other Surfaces of the plates 27, 28 on both sides of mutually opposite pairs R of mutually inclined at an angle Rollers attached, which can be clearly seen in Fig. 2 and which run on corresponding running surfaces 15, 16, which are milled into the outer surface of the bracket formed from a square profile material are.

Analogously to the plates 27, 28, the plates 23, 26 are also close to those intended for receiving the boom 12 Rolls R cut out to allow its passage.

In practice, the free edges of the plates 27, 28 are like those free edges of the plates 23, 26 for Weight and material savings cut out so that

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ultimately only the arms visible in FIG. 2 on the side of the plates 27, 28 facing the viewer 24, 25 remain, which carry the roles R.

The distance between the arm shown in FIG. 3 - from this arm horizontally on the other side of the column 3 opposite arm, the position of which is indicated schematically in Fig. 3 with 25 ', is approximately the same Distance between the two arms 21 and 22 (see Fig. 2}.

In Fig. 3, the track 29 of a vertical center plane through the carriage 10 is also shown schematically, which extends parallel to the boom 12. As can be seen, the plates 23, 26 are from the side of the boom as well as the plates 27 and 28 cut out from the side of the column 3 at least up to this plane 29.

In Fig. 4, the structure of the carriage 10 is shown in a less schematic form in an oblique image, namely from a viewing direction which is relocated to the right and upwards compared to that in FIG. 2. Here is just the dem Front part of the slide 10 facing the viewer is shown; there are thus only the "plates" 23, 27 and visible.

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Instead, the arms .21, 22, 24 and 25 are clearly visible. As can be seen, the arms have processes which have mutually intersecting surfaces arranged at right angles to one another, the cutting edges of which each facing the boom 12 and the column 3. These surfaces carry the rollers R in such a way that whose axes extend perpendicular to the surfaces. The center plane 30 is vertical and is perpendicular to the plane 29 in FIG. The more precise structure of the carriage 10 is shown in FIG. The view in FIG. 5 corresponds to that in FIG. 2, but on an enlarged scale, with the carriage 10 partially cut.

In Fig. 5, the reference numeral 3 'denotes the central axis of the column 3, which is for a clearer overview is not shown in FIG. 5 for the sake of clarity.

The boom drive 17, 18 shown in FIG. 2 is also omitted; they are only schematically the central axis 17 'of the drive and the pinion 19 are shown.

In Fig. 5 is first the ~ exact cross section of the boom 12 recognizable.

This boom 12 is formed from a tube with a square profile with rounded corners. The contour of the original raw profile is still rounded in the

Outer contours on the right, upper and lower outside of the boom 12 received.

The running surfaces 15, 16 are milled into this outer contour, as are these on the other side of the Cantilever 12 opposite running surfaces (no reference numerals). - '

Each of the treads is engaged with a roller R.

The left edge in the drawing, facing column 3 of the boom 12 is machined and designed as a rack 20 with which the pinion 19 is in engagement.

As can be seen from the drawing, are supported on the four running surfaces that are each at right angles to one another 12 four rollers R off so that the boom 12 is completely defined in the plane of the drawing in FIG. 5, but perpendicular to this plane of the drawing with little resistance is displaceable, this displacement movement being initiated by the rotation of the pinion 19.

The rollers R are each designed as roller bearings, the outer surface of the respective outer rim being the Forms the running surface of the rollers.

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The upper arm of the side plate 23 of the carriage .10 is ,, as can already be seen from FIG. 4, cranked downwards and has two surfaces 31 inclined at an angle to one another, 32 on. Here, surface _31 is the running surface 15 of the boom 12 facing and extends parallel to this. The surface 32 extends perpendicular to the Running surface 15 (and parallel to the running surface 16).

This surface 31 has a vertical bore into which a pin-like axis 35 is inserted, which at its free end carries a roller R1 which is in engagement with that running surface of the boom 12, which the running surface 16 is diametrically opposite.

As can be seen, the pin carrying the roller R1 has 3 5 an axially parallel, circular cylindrical but eccentric extension 33 attached to this, which is received in the bore in the arm 24.

The entire roller attachment 35, 33 is so solid braced by a screw connection to the angled part of the arm 24 that the eccentric 33 is not can move out of its position.

The free, the surface 32 forming the end of the arm 24 carries a roller R2 with the running surface

is in engagement, the shaft of which is seated in a bore in the arm 24.

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The same arrangement is on the underside of the boom 12 before.

The roles R1 and R2 form a "pair of roles" in the context of the present application; as can be seen here the rollers, seen in the longitudinal direction of the boom 12, slightly offset to prevent - that cut the axes mutually.

The roller arrangement on the underside of the boom 12 corresponds to that just described, so that the separate Description unnecessary.

An analogous roller arrangement is also available on the arms 21, 22 or the one on the other side of the column 3, in the Drawing arms not shown attached. -----

As can be seen in FIG. 5, supply lines 34 run in the interior of the boom 12 for the one at the free end working element attached to the boom.

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Claims (1)

Expectations 1. - Handling device with one carried by a base Vertical column, one carried by the column horizontal boom and one carried by the boom, movable up and down in the longitudinal direction of the boom Working element, e.g. a gripper head for bottles, characterized in that a slide can be moved up and down on the column (3) (10) is provided, that the boom (12) in the slide (10) can be moved horizontally is stored, that if necessary the column (3) is rotatably mounted on the base (1) ^{about its vertical axis (3 1),} EPQ COPV, * 1 (.IHS) I 9K8 '.' 7? t Ii-h-ni.imiti · (ι, itili-1 ioifi (0H9I 9830 49 Bank clerk: Bayei Vereinstiank Miiiwhen 453100 (Is; 7 700 ^ 0? 'Oi Hypn UiinK Munich 4410 VJiB ¹ M (BL / 701) 200111 i-vvitt Cock · Hirl'U Dt MK' that the column (3) is designed as a preferably rolled or welded hollow profile, which two forms opposing roof-shaped ribs, on which the slide (10) by means of two pairs of rollers arranged along the column (3) at a distance from one another (R) can be moved by means of a drive (5, 6), and that the boom (12) is preferably rolled or welded Is a hollow profile, which is also provided with two opposing roof-shaped longitudinal ribs (15, 16) is formed, which between each two opposing pairs of rollers (R) of the carriage (10) are led. 2. Apparatus according to claim 1, characterized in that for moving the boom (12) on the slide (10) Drive motor (17) with gear (18) sits, which by means of a pinion (11) into a rack formation (20) of the boom (12) engages. 3. Device according to one of the Ansprnah ^ 1 or ^ er 2, characterized in that that the column (3) in the "principle" uas the profile of a rectangle has, the long sides of which are replaced by two angles which form the roof-shaped ribs. EPO GOPY 4. - Device nar.h one of claims 1 or 2, characterized in that: characterized in that the column i3) has a square profile. · 5. Device according to one of claims 1 to 4, characterized characterized in that the basic load-bearing element of the carriage (10) consists in principle of four plates (23, 26, 27, 28) consists that two of the plates (23, 26) along two edges of a rectangle of the one containing this rectangle Level, protrude vertically and at their ends facing away from the rectangle (e.g. 21, 22) two pairs of rollers. (R) wear, with which the carriage (10) runs on the column (3) that the other two plates (27, 28) longitudinally of the other two edges of the rectangle from the plane mentioned in the direction of Abragrichtung of the first two mentioned Plates protrude vertically in the opposite direction and at their ends facing away from the rectangle (e.g. 24, 25) Carry two pairs of rollers (R) at a distance, in which the boom (12) is guided in a longitudinally displaceable manner, and that the two pairs of plates (23, 26 and 27, 28) at their abutting corners with one another in one piece are connected. 6. Apparatus according to claim 5, characterized in that the connection areas at the abutting corners of the plate pairs (23, 26 and 27, 28) are reinforced. EPO COPY 7. Device according to one of claims 1 to 6, characterized in that the between the pairs of rollers (R) running guide surfaces (15, 16) of the column (3) and arm (12) each enclose a right angle with the adjacent guide surface (16, 15). 8. Device according to one of claims 1 to 7, characterized in that the boom (12) rectangular profile, preferably has a square profile. 9. Apparatus according to claim 8, characterized in that the rack formation (20) is incorporated into an edge of the boom (12). 10. Apparatus according to one of claims 8 or 9, characterized in that the square profile of the boom (12) has a vertical diagonal. 11. Apparatus according to one of claims 1 to 10, characterized in that of the pairs of rollers (R) running on the column (3) and / or the boom (12) at least one in each case in a direction perpendicular to that surface (15, 16 ) _t on which it runs, preferably by an eccentric (33), can be set and readjusted. 12. Apparatus according to any one of claims 1 to 11, characterized in that the. Axes of the two rollers (R1, R2) one pair of rollers each in the associated EPO COPY direction are offset from each other. 13. .Device according to one of claims 1 to 12, characterized characterized in that the lifting drive for the slide. (10) and the bracket (12) on the top (console 4) the column (3) is attached and preferably a preferably horizontal motor and a reduction gear having. ' 14. Apparatus according to claim 13, characterized in that the carriage (10) is connected to the lifting drive (5, 6) via a chain (14). 15. Apparatus according to claim 14, characterized by one attached to the chain (14) inside the column (3) sliding counterweight (11). 16. Apparatus according to claim 15, characterized in that the drive motor (17) for moving the boom (12) is attached to that end of the carriage (10), the is turned away from the working element that the rack formation (20) on that of the column (3) closest Part of the boom (12) is arranged that the pinion (19) has a vertical axis (17 '), and that the Drive motor (17) with gear (18) is attached next to the column (3) and laterally above the boom (12). EPOCOPY - Great. Device according to one of Claims 1 to 16, characterized by coding elements, preferably contact pieces, attached or formed on the column (3) and / or the boom (12), and reading devices, preferably roller switches, attached to the carriage (10) opposite the coding elements. 18. Device according to one of claims 1 to 16, characterized in that on the drives (5, 6 or 17, 18) for the carriage (10) and / or the boom (12) coding devices, preferably a counter disc ( 8), as well as reading devices located opposite these, preferably a fork light barrier (9) _; are arranged. 19. Apparatus according to any one of claims 1 to 18, characterized in that the supply lines (34) for the working elements are arranged in the interior of the boom (12) and on its facing away from the working elements The end is connected via flexible connecting lines to a connection unit attached to the slide (10) are, which in turn is connected to a stationary control unit via flexible connecting lines. 20. Device according to one of claims 1 to 19, characterized by end stops on the column (3) and / or the Extension arms (12) which limit the movement of the carriage (10) or the extension arm (12). EPO CQPY