WO2008116524A1

WO2008116524A1 - Handling device

Info

Publication number: WO2008116524A1
Application number: PCT/EP2008/000890
Authority: WO
Inventors: Gerhard Thorwart; Rainer Armbruster; Jan Thumm
Original assignee: Festo Ag & Co. Kg
Priority date: 2007-03-23
Filing date: 2008-02-06
Publication date: 2008-10-02
Also published as: EP2104636A1; DE102007014130A1

Abstract

The invention relates to a handling device suitable for repositioning parts, wherein a handling part (6) which supports an end effector (5) can be displaced by a swivel arm kinematic (12) along a variable handling track (7). The swivel arm kinematic (12) has two articulated arms (16, 17), each having an inner shank (16a, 17a), and an outer shank (16b, 17b). The outer shanks (16b, 17b) support the handling part (6), and the inner shanks (16a, 17a) can be independently swiveled by means of a drive unit (14).

Description

handling device

The invention relates to a handling device, in particular for repositioning parts, with a handling part formed by an end effector holder or end effector, which can be displaced by a swivel arm kinematics that can be driven by a drive device along a handling path that can be varied over its course.

A handling device known from EP 1 464 596 A2 is used for repositioning parts, for example, in production and assembly technology. Its handling part carries a trained as a gripper end effector, with which can be taken over the repositioning parts. The handling part can be displaced along a predetermined handling path, wherein it is driven with the interposition of a Schwenkarmkinematik of a consisting of a fluid-operated rotary drive drive means. The Schwenkarmkinematik includes a pivotable by the drive means about a first pivot axis pivot arm which engages the handling part, which is mounted linearly displaceable on a handling arm, which in turn is pivotally mounted about a second pivot axis. The course of the handling path is predetermined by a backdrop-shaped path specification curve with which the handling part engages via a cam follower. The course of the handling path can indeed be varied in the known handling device, but only with regard to the relative angular position of its linear end sections. Fundamental changes to the path can not be made. This is determined by the shape of the path specification curve, which must also be tuned in its course specifically to the structure of Schwenkarmkinematik.

This ultimately leads to the fact that for different handling tasks hitherto also differently designed handling devices are used. For example, EP 1 272 409 B1 shows a handling device with which a U-shaped handling track can be realized which has mutually parallel end sections.

US Pat. No. 5,725,352 and US Pat. No. 6,099,238 each disclose a transport device with two articulated arms, the inner legs of which can be driven to pivot. The outer legs are mounted separately from one another and at a distance from one another on a handling part and are in engagement with one another via toothings.

An object of the present invention is therefore to

To propose measures with which different courses of a handling track can be realized more easily.

To solve this problem, it is provided that the Schwenkarmkinematik contains two each an inner leg and a hinged thereto via an intermediate joint outer leg articulated arms, wherein the intermediate joint axes are aligned parallel to each other and the two inner legs are mounted in a drive storage area such that they are around a common, parallel to the intermediate joint axes inner pivot axis are independently pivotable that Further, the two outer legs are hinged together in a spaced apart to the intermediate joints output bearing area such that they are pivotable relative to each other in a plane perpendicular to the inner pivot axis, wherein they carry the handling part in the output storage area, and that the two inner legs each having its own drive interface is assigned, via which they are independently driven by the drive means to drive pivotal movements about the inner pivot axis.

In this way, the course of the handling track to be traversed by the handling part can be predefined very simply by merely coordinated pivoting of the two inner legs of the articulated arms and varied as needed. A mechanical path specification curve is unnecessary, the course of the handling path results solely from the angular displacement of the inner legs, both simultaneously and separately from each other are pivotable, the independent pivoting mobility opens at the same time the possibility of pivoting both opposite directions as well as in the same direction. With appropriate control even different speeds of rotation of the two inner legs can be caused.

In a particularly advantageous design of the Schwenkarmkinematik performs the handling part in opposite directions, the same speed swivel movements of the two inner legs a linear movement in respect of the inner pivot axis radial direction outwards or inwards. Simultaneous swivel movements at the same speed displace the handling part on a circular path. Combinations of these pivotal movements allow the realization of virtually any Web profiles within a range between an inner and an outer arc whose position is determined by the mechanical design of the legs of the articulated arms.

The handling device can be designed so that the pivoting range of the inner leg is less than 360 °. However, a pivoting possibility of at least 360 ° or even a multiple thereof is particularly advantageous.

Particularly advantageous embodiments of the invention will become apparent from the dependent claims.

For the drive device is recommended equipment with two independently operable drive units, one of which is drivingly coupled or coupled to one inner leg and the other with the other inner leg.

Above all, electric drives are recommended as drive units, in particular electric motors such as servomotors or stepper motors. They should be controllable at least in terms of their angle of rotation, but it is also advisable to control the speed of their Ausgangsdrehbewegun- gene. By means of an associated electronic control device can be the trajectory of the handling track as required pretend and in particular freely programmable. For example, different trajectories can be stored electronically, which can be retrieved from case to case. It is possible to provide a teach method in which the desired handling path is recorded during a programming cycle, which is then available for subsequent operations. The two outer legs can be articulated in the output storage area in principle via separate outer pivot axes on the handling part. The Schwenkarmkinematik would then for example designed as Gelenkfünfeck. However, a mechanically easier controllability and design also allows a design in which the outer legs are mounted pivotably about a common outer pivot axis relative to each other.

It is advantageous if this common outer pivot axis simultaneously acts as a pivot axis for the hinged to the two outer legs handling part. The articulated connection between the handling part and the outer legs makes it possible to design the swing arm kinematics such that the position and orientation of the handling part is not rigidly coupled to one of the outer legs, as would be the case if the handling part were firmly attached to one of the two outer legs, for example which in principle could be the case.

However, in pivotable mounting of the handling part on the outer legs, the additional provision of a coupling device which always clearly defines the pivot position of the handling part is recommended. This is particularly useful when an end effector should always assume a certain orientation, which applies, for example, to a mechanical gripper which is intended to grip and set parts to be repositioned depending on the direction. However, there are applications in which the coupling device is dispensable, for example, when kreisscheibenfδrmige elements are to be detected in the axial direction of the outer pivot axis and it does not depend on a specific orientation in their recording and delivery. Different embodiments are conceivable for the coupling device. For example, a pertinent interpretation is possible that the handling part always assumes a pivotal position, which remains constant with respect to the bisecting line extending between the two Außenschen-.

On the other hand, an interpretation to the effect would be conceivable that the spatial orientation of the handling part always remains the same regardless of the pivot position of the Schwenkarmkinematik.

Always, the handling part may be formed as Endeffektorhalter having at least one holding surface on which an end effector of any kind can be fixed, for example, a gripping device. In particular, the holding surface may be oriented so that it is oriented at right angles to the inner pivot axis or in the axial direction of the inner pivot axis.

In principle, the handling part could also be formed directly by an end effector, to which then the outer legs can be mounted directly. However, the former solution is much more variable because it allows easy retrofitting of the handling device for other handling purposes.

A particularly large work area without mutual obstruction of the various legs of the articulated arms results when the inner legs and / or the outer legs are not straight, but are curved in their longitudinal direction, wherein the concave side faces the respective other articulated arm.

The invention will be explained in more detail with reference to the accompanying drawings. In this show: 1 shows a possible first design of the handling device according to the invention in a perspective view,

FIG. 2 shows the handling device from FIG. 1 in a side view with a viewing direction according to arrow II,

FIG. 3 shows the handling device of FIGS. 1 and 2 in one

Top view in the direction of view according to arrow III, with dash-dotted lines showing various possible courses of the handling track and with dashed lines indicating various possible positions of the swing arm kinematics,

FIGS. 4 and 5

Plan views of the handling device of Figures 1 to 3 with snapshots of Schwenkarmkinematik in different positions,

Figure 6 shows another possible design of the handling device according to the invention in a perspective view, but without illustration of the drive device, and

Figure 7 shows the handling device of Figure 6 from another 2o angle.

The illustrated variants of the handling device according to the invention are equipped to reposition parts of any kind successively between different locations. Such umzupositionierendes part is indicated in the drawing 5 at 2.

During the Umpositioniervorganges the part 2 is held by a gripping device 3 suitable design. exemplary a pincer-like gripper is provided which has pivotable or displaceable gripping jaws 4 which can be actuated electrically or by fluid force in order to hold or release the part 2 as required. Further possible embodiments for a gripping device 3 would be, for example, suction gripping devices or magnetic gripping devices which can hold the part 2 to be handled by negative pressure or by magnetic force.

According to the handling task to be performed, the lo handling device may be equipped with another end effector instead of the gripping device 3. For example, it could be a welding tongs that can be used for spot welding. The main area of application, however, is that of relocating loose parts between 15 different bodies, in particular in the field of manufacturing and assembly technology.

The exemplary designed as a gripping device 3 Endeffektor 5 is detachably attached to a hereinafter referred to as handling part 6 end effector holder, which in the operation of the

20 handling device along a handling path 7 is displaced to move the end effector 5 accordingly. The course of the handling web 7 shown in FIG. 3 is only one of many possible web courses. The handling device is characterized by a particularly high variability in terms of the achievable courses of the handling web 7.

At the handling part 6, a holding surface 8 is arranged, on which the end effector 5, in particular by a screw connection, can be fixed. If a handling device is always to be used only for a very specific task, it can also be divided into an end effector and an end effector. Deffektorhalter be waived, so that then the handling part 6 is formed directly from the specifically selected end effector. It is also possible to arrange a plurality of differently oriented holding surfaces 8 on the handling part 6.

The handling part 6 is held by a Schwenkarmkinematik 12, which in turn is pivotally mounted on a support body 13. On the support body 13, a motor drive device 14 is arranged, which is in drive connection with the Schwenkarmki- nematik 12 and can drive them so that the handling part 6 moves along the desired handling path 7.

The handling web 7 lies in a handling plane 15, which coincides with the drawing plane in FIG. In practice, it will usually be aligned horizontally or vertically. The actual orientation depends on the application and on the adapted mounting position of the handling device.

The Schwenkarmkinematik 12 includes two in the handling level 15 juxtaposed and directed in the handling level 15, in particular away from each other, ausknickbare first and second articulated arms 16, 17. Each articulated arm 16, 17 has an inner leg 16a, 17a and one over Intermediate joint 16c, 17c hinged thereto outer leg 16b, 17b. The joint axes of the two intermediate joints 16c, 17c, which are referred to as intermediate joint axes 18, run parallel to one another and at right angles to the handling plane 15.

At a distance from its intermediate joint 16 c, 17 c, each inner limb 16 a, 17 a on the support body 13 is about an inner pivot axis 22 parallel to the intermediate joint axes 18 pivoted. This is a common pivot axis for both inner legs 16a, 17a. The bearing is designed so that the two inner legs 16a, 17a are independently pivotable about the inner pivot axis 22. The range of this pivot bearing is referred to as a drive bearing portion 23, because from there, the pivoting movement causing drive torque is introduced into the Schwenkarmkinematik 12.

By way of example, the one inner leg 16a is seated on a first drive shaft 24 which is coaxial with the inner pivot axis 22 and which is rotatably mounted on or in the support body 13 and whose longitudinal axis coincides with the inner pivot axis 22. The other inner leg 17a is carried by a second drive shaft 25, which is exemplified as the first drive shaft 24 coaxially enclosing hollow shaft and also undergoes a pivot bearing on or in the support body 13. Via a first drive interface 26 provided on the first drive shaft 24 and via a second drive interface 27 provided on the second drive shaft 25, the inner legs 16a, 17a are in particular releasably drive-connected to the drive device 14. The drive interfaces 26, 27 may in this case be designed, for example, as toothings.

By means of the two drive interfaces 26, 27, the two inner legs 16a, 17a can be driven by the drive device 14 independently of one another to drive pivotal movements 29, 30, which are indicated by double arrows, about the inner pivot axis 22. Thus, there is no forced coupling between these two components on the drive side.

In this context, it is particularly advantageous if the drive device 14 has two separate, independent of actuatable drive units 14a, 14b, of which the one, first drive unit 14a is drivingly coupled to the first drive interface 26 and the other, second drive unit 14b is drivingly coupled to the second drive interface 27. By way of example, this takes place in the region of the first drive interface 26 via a splined connection and in the region of the second drive interface 27 via a gearwheel connection.

The two drive units 14a, 14b are expediently attached to a drive side 28 of the support body 13, which is opposite to a working side 21 in whose area the Schwenkarmkinematik 12 is located. The two drive shafts 24, 25 can protrude beyond the support body 13 on the working side 21 and there can be equipped with the two inner sleeves 16a, 17a.

At a distance from their intermediate joints 16c, 17c, the two outer legs 16b, 17b are hinged together in an output bearing area 32. In principle, the articulation points can be arranged at a distance from one another on an intermediate member connecting the two outer legs 16b, 17b. However, the embodiment shown in which there is a direct articulated connection between the two outer limbs 16b, 17b is more advantageous, with a common articulation axis designated as an outer pivot axis 33. With respect to this common outer pivot axis 33, which runs parallel to the inner pivot axis 22, the outer legs 16b, 17b are pivotable relative to one another. The pivoting plane therefore in turn extends at right angles to the inner pivot axis 22 and coincides with the handling plane 15 mentioned above. The articulated connection to the intermediate joints 16c, 17c and to the output-bearing area 32 can be done, for example, by a respective hinge pin, which connects the mutually articulated legs pivotally with each other.

The two inner legs 16a, 17a are between their bearings - so between one side of the inner pivot axis 22 and on the other hand, the associated intermediate joint axis 18 - expediently the same length. An identical length between the associated intermediate joint axis 18 and the outer pivot axis 33 is also in the outer legs 16b, 17b, wherein the length is suitably greater than that of the inner legs 16a, 17a.

In both exemplary embodiments, both the inner legs 16a, 17a and the outer legs 16b, 17b have a straight longitudinal course. As indicated in phantom in FIG. 5, either the inner legs 16a, 17a or the outer legs 16b, 17b or both the inner and outer legs 16a, 17a; 16b, 17b to be arched in their longitudinal direction, wherein the concave side of the opposing articulated arm 16, 17 faces. Such a curvature allows an increase of the detectable from the handling path 7 working area to the inner pivot axis 22 out because here the handling part 6 without mutual interference of the inner and outer legs 16a, 16b; 17a, 17b relatively far radially to the inner pivot axis 22 can approximate.

In Figure 3, the possible working area 39 of the handling part 6 is marked by dash-dotted lines. The outer boundary forms an outer circle 34, the inner boundary of a concentric inner circle 35, each with the inner pivot axis 22 as the center. The outer circle 34 defines the farthest distance of the outer pivot axis 33 from the inner neren pivot axis 22 at maximum elongated articulated arms 16, 17, while the inner circle 35 defines the minimum distance between the outer pivot axis 33 and the inner pivot axis 22 at maximum kinked articulated arms 16, 17, s be the two inner legs 16a, 17a in these two positions driven by the drive device 14 in the same direction at the same speed, the handling member 6 moves on a respective handling path, which coincides with the relevant circle 34, 35.

In Figure 3, the configuration of the articulated arms 16, 17 taken when the outer pivot axis 33 is on the outer or inner circle 34, 35 is dashed at 16 ', 17'; 16 ', 17' 'are additionally indicated in FIGS. 4 and 5 show in addition other pivoting positions of the articulated arms 16, 17 with respect to the inner pivot axis 22 with different degrees of bending.

An intermediate position is currently shown in FIG. 3, in which the outer pivot axis 33 lies in the working region 39 20 defined between the outer circle 34 and the inner circle 35. If both inner legs 16a, 17a are swiveled in the same direction at the same speed, the handling track 7 is an intermediate circuit 36 located between the outer circle 34 and the inner circle 35.

It is in the embodiments of advantage that both 5 inner legs 16a, 17a are pivotable in both directions of rotation and in each case by at least 360 °. In this way, the handling track 7 may be a single or multiple passable circular path. However, the feasible swivel angle can also be less than 360 °, so that 0 the working area is limited instead of circles by circular arcs. As a handling trajectory 7, each trajectory between the outer circle 34 and the inner circle 35 can be traveled, the course shown in Figure 3 is only one of virtually infinite many possible. The selectable trajectory is 5 so flexible because the inner leg 16a, 17a are driven by the drive means 14 not only in the same direction, but also in opposite directions to pivotal movements, which also has the ability to hold an inner leg 16a or 17a and only the other inner leg 17a, 16a lo to pivot, and further wherein there is also the possibility to perform at simultaneous pivoting different speeds of rotation in the two inner legs 16a, 17a.

The radial distance of the handling part 6 from the inner pivot axis 22 is determined by the angular relative position between the two inner legs 16a, 17a. The smaller this angle, the more stretch the articulated arms 16, 17 and move the handling part 6 further outward from the inner pivot axis 22 away.

The already mentioned, mutually independent operation of the two drive units 14a, 14b creates a high variability in the specification of the handling part 6 to be traversed by the handling path 7. As an example, the two drive units 14a, 14b formed by electric drives, although 5 also fluid drives could be used both pneumatic and hydraulic nature. As with electric drives, servo drives with position control are also recommended for fluid drives.

By way of example, the two drive units 14a, 14b each contain an electric motor designed as a servomotor, which can approach various predefinable positions and then these as long as desired. The output rotational movements of the electric motors 37, which are transmitted to the inner legs 16a, 17a, are expediently controllable and, in particular, also controllable not only with respect to the angular position but also with respect to the rotational speed. A rotary encoder 38 integrated into the respective drive unit 14a, 14b detects the current rotational position, from which it is possible to deduce the current position of the handling part 6. For the evaluation of the measured data, the drive units 14a, 14b are expediently connected to an electronic control device 42, from which the drive signals for the drive units 14a, 14b originate and which is expediently freely programmable, so that the handling device can be used universally.

i5 Instead of servo motors and stepper motors causing less technical effort can be used. Especially when a high dynamic in the movements is desired, however, the use of servomotors is recommended.

In principle, the handling part 6 could be rigidly attached to only one of the outer legs 16b or 17b. However, in order to be more independent of the instantaneous position of the outer legs 16b, 17b in the spatial orientation of the handling part 6, it is advisable to mount the handling part 6 in an articulated manner with respect to both outer legs 16b, 17b in such a way that, in principle, with respect to each of the outer legs 16b , 17b in the handling plane 15 is pivotable. Particularly advantageous is the exemplary design is classified, in which the two outer legs 16b, 17b articulated 0 connecting outer pivot axis 33 at the same time defines the hinge axis for the pivotally supported handling part 6. The outer pivot axis 33 thus acts as a common pivot axis for the mutual pivotable mounting between the handling part 6 and the two outer legs 16b, 17b.

As end effector 5, as in the exemplary embodiment of FIGS. 6 and 7, a suction gripper or magnetic gripper is used whose working side 43 is oriented in the axial direction of the outer pivot axis 33, ie at right angles to the handling plane 15 (see, for example, FIG. 6). and, furthermore, if there is no need for special orientation for removing and depositing an object to be handled, the handling part 6 can be freely rotatably or pivotally mounted on the two outer legs 16b, 17b via the outer pivot axis 33. This applies, for example, for the implementation of circular disk-shaped components. For most applications, however, one will prefer a stable relative position of the handling part 6. To make this possible, both embodiments are equipped with a coupling device 44, which is supported by the Schwenkarmkinematik 12 and that when passing through a handling path 7 of the

20 handling part 6 angularly defined relative to the outer pivot axis 33 assumed relative position.

In the embodiment of Figures 1 to 5, the coupling device 44 includes a rigidly connected to the handling part 6, radially in the direction of the inner pivot axis 5 22 projecting guide arm 45. In the axial direction of the inner

Viewed pivot axis 22, ie in a plan view according to Figure 3, the guide arm 45 projects between the two outer legs 16b, 17b.

On the guide arm 45 engages a guide member 46, the 0 relative to the guide arm 45 in respect to the inner

Swivel axis 22 is displaceable radial direction. The Ver- Sliding axis 47 intersects both the inner pivot axis 22 and the outer pivot axis 33rd

On the guide member 46, two wishbone 48 are pivotally mounted. The pivot bearing is in particular designed so that for the two wishbones 48 a common

Swivel axis 52 is defined, which lies on the displacement axis 47 and parallel to the inner pivot axis 22 extends.

Furthermore, one of the two transverse links 48 is articulated on one outer leg 16b and the other on the other outer leg 17b. The corresponding pivot points can be seen at 53, the joint axes defined by them are in turn parallel to the inner pivot axis 22.

In this way, there is a four-bar linkage whose joints by the outer pivot axis 33, the common pivot axis 52 of the control arm 48 and the two hinge points 53 is defined. This constellation has the consequence that the handling part 6 is always supported with respect to the outer legs 16b, 17b in such a way that a pivoting movement assumed relative to the angular bisector 54 extending between the two outer legs 16b, 17b remains constant, independently of that between the two two outer legs 16b, 17b when kinking or stretching the articulated arms 16, 17 occurring angle changes. The above-mentioned displacement axis 47 lies on the bisector 54.

A repositioning part 2 can thus always be accommodated and set down independently of the angular position of the swivel arm kinematics 12 taken with respect to the inner swivel axis 22 in the context of a linear radial movement with respect to the inner swivel axis 22. It makes sense the support surface 8 to be arranged so that their surface plane is oriented at right angles to the bisector 54.

As a guide member 46, for example, a guide roller formed by a roller bearing is provided which runs in a slot formed in particular as a slot of the guide arm 45.

The exemplary embodiment of FIGS. 6 and 7 is equipped on the drive side, that is to say including the drive device 14 and the electronic control device 42 associated therewith, in the same way as the handling device of FIGS. 1 to 5, so that reference is made to the statements there. The essential difference is limited to the design of the coupling device 44, which here supports the handling part 6 in such a way that angle changes with respect to the bisector 54 are possible when passing through a handling web 7, but instead the spatial orientation assumed with respect to the carrier body 13, independent of the swivel position the Schwenkarmkinematik 12 remains constant. The support surface 8 thus changes at no time their orientation taken in space, as long as the support body 13 itself does not change its orientation.

To realize this, the coupling device 44 is equipped with an intermediate between the support body 13 and the handling part 6 coupling gear 56. Its preferred design is explained below.

The coupling mechanism 56 includes an external gear axis 57 coaxial with the outer pivot axis 33, non-rotatably connected to the handling part 6. It also comprises an intermediate gear arrangement with two idler gears 58, 59, which are coaxial with one of the two intermediate joint axes 18 and rotate rotationally fixedly. are firmly connected to each other, but at the same time are freely rotatable relative to the associated inner leg 16a and outer leg 16b. Finally, there is still a support body toothing 60 fixedly arranged on the support body 13 and extending around the inner pivot axis 22. The latter retains its position on the supporting body 13 unchanged, regardless of the pivoting position of the inner legs 16a, 17a.

The support body toothing 60 may be realized in the manner indicated by dash-dotted lines in Figure 2. It is, for example, a toothing concentric with the inner pivot axis 22, which surrounds the first drive shaft 24 and in turn is enclosed by the second drive shaft 25. In Figures 5 and 6, it is largely covered by the one outer leg 16b.

A self-contained external toothed belt 63 wraps around the external gear 57 and the one intermediate gear 58. A likewise self-contained internal toothed belt 64 wraps around the other intermediate gear 59 and the carrier toothing 60.

If, for example, the swivel arm kinematics 12 is pivoted counterclockwise with respect to the inner pivot axis 22 without changing the position between the two inner legs 16a, 17a, the handling part 6, due to the coupling gear 56, rotates relative to the outer legs 16b, 17b Pivoting movement in a clockwise direction about the outer pivot axis 33, so that the spatial orientation to the support body 13 does not change overall.

It is understood that the coupling device 44 can also be realized in other ways than shown. There were only the particularly preferred embodiments explained.

Claims

claims

1. Handling device, in particular for repositioning parts, with a handling part (6) formed by an end effector holder or end effector which can be driven by a swiveling arm kinematics device (14) which can be driven by means of a drive device (14) along a handling path (7) which can be varied over its course. displaceable, characterized in that the Schwenkarmkinematik (12) two each an inner leg (16a, 17a) and via an intermediate joint (16c, 17c) hinged thereto outer leg (16b, 17b) having articulated arms lo (16, 17), wherein the intermediate joint axes (18) are aligned parallel to one another and the two inner limbs (16a, 17a) are mounted in a drive bearing region (23) at a distance from the intermediate joints (16c, 17c) in such a way that they move about a common axis to the intermediate joint axes (16). 18) pa- i5 rallele inner pivot axis (22) are independently pivotable that further, the two outer legs (16 b, 17 b) in one to the intermediate articulated (16c, 17c) spaced output bearing area (32) are hinged together so that they are in one to the inner

20 pivot axis (22) perpendicular plane can be pivoted relative to each other, wherein they in the output bearing area (32) carry the handling part (6), and that the two inner legs (16a, 17a) each have their own drive interface (26, 27) is associated through which they are driven independently by the drive 5 (14) Pivoting movements about the inner pivot axis (22) are drivable.

2. Handling device according to claim 1, characterized in that it is equipped with a drive device (14),

5, the two independently operable drive units (14a, 14b) which are each drivingly connected to one of the two drive interfaces (26, 27).

3. Handling device according to claim 2, characterized in that the two drive units (14a, 14b) are designed as electric locomotives.

4. Handling device according to claim 3, characterized in that the electric drives each having an electric motor (37), whose output rotational movements are controllable at least in terms of the angle of rotation and expediently also with respect to the i5 rotational speed.

5. Handling device according to claim 4, characterized in that the electric motors are designed as servomotors or stepping motors.

6. Handling device according to claim 4 or 5, characterized marked records 20 that each electric motor (37) is associated with a rotary encoder (38).

7. Handling device according to one of claims 1 to 6, characterized by an electronic control device (42) for controlling the drive means (14). 5

8. Handling device according to claim 7, characterized in that the electronic control device (42) with respect the desired handling path (7) is freely programmable.

9. Handling device according to one of claims 1 to 8, characterized in that the two outer legs (16 b,

5 17b) are mounted in the output bearing area (32) in such a way that they are pivotable relative to one another about a common outer pivot axis (33) parallel to the inner pivot axis (22).

10. Handling device according to one of claims 1 to 9, characterized in that the handling part (6) is pivotally connected to the two outer limbs (16b, 17b) in such a way that it is movable relative to each outer limb (16b, 17b) to the inner pivot axis (22) is pivotable perpendicular plane.

i5 11. Handling device according to claim 10 in conjunction with claim 9, characterized in that the handling part (6) on the two outer legs (16b, 17b) with respect to these acting as a common pivot axis outer pivot axis (33) is pivotally mounted.

20 12. Handling device according to claim 10 or 11, characterized in that with respect to the outer limbs (16b, 17b) pivotable handling part (6) one of the Schwenkarmkinematik (12) carried coupling device (44) engages, which when passing through the handling path ( 7) defined by 5 the handling part (6) relative to the outer legs (16b, 17b) assumed pivot position.

13. Handling device according to claim 12, characterized in that the coupling device (44) in such a way with respect to the two outer legs (16b, 17b) the handling part (6). supports that the relative to the between the two outer legs (16b, 17b) extending bisecting line (54) assumed pivot position of the handling part (6) regardless of between the two outer legs (16b, 17b) occurring 5 occurring angle changes remains constant.

14. Handling device according to claim 13, characterized in that the coupling device (44) contains a guide arm (45) projecting away from the handling part (6), on which a guide element (46) in radial direction relative to the inner pivot axis (22) is slidably mounted, on which two wishbones (48) are hinged, of which one is also articulated on one outer leg (16b) and the other also on the other outer leg (17b).

15. Handling device according to claim 14, characterized marked i5 net, that extends the guide arm (45) in the direction of the bisecting line (54).

16. Handling device according to claim 14 or 15, characterized in that the guide element (46) in a slot of the guide arm (45) running guide role corresponding

20 stops.

17. Handling device according to claim 12, characterized in that the inner pivot axis (22) is stationary with respect to a support body (13) is arranged, wherein the coupling device (44) supports the handling part (6) such that des sen-5 relative to the supporting body ( 13), regardless of the position of the swivel arm kinematics (12), the spatial orientation remains constant.

18. Handling device according to claim 17, characterized in that the coupling device (44) a between the support body (13) and the handling part (6) interposed coupling gear (56).

19. Handling device according to claim 18, characterized in that the coupling gear (56) one of a Innenschen-

16b) and an outer toothed belt (63) carried by the outer leg (16b) hinged thereto, both coaxial with one associated with the intermediate hinge axis (18) and relative to the two legs (16a, 16b); 16b) are engageable with each other such that the inner toothed belt (64) is engaged with a support body gear (60) fixedly arranged with respect to the support body (13) External toothed belt (63) with a fixed to i5 the handling part (6) outer gear.

20. Handling device according to one of claims 1 to 19, characterized in that the handling part (6) is designed as Endeffektorhalter and at least one for attaching an end effector (5) suitable holding surface (8)

20 points.

21. Handling device according to claim 20, characterized in that the holding surface (8) is oriented in the axial direction of the inner pivot axis (22) or in a radial direction to the inner pivot axis (22). 5

22. Handling device according to one of claims 1 to 21, characterized in that the inner legs (16a, 17a) and / or the outer legs (16b, 17b) are curved in their longitudinal direction, wherein the concave side of each opposing articulated arm (16, 17 ) is facing.

23. Handling device according to one of claims 1 to 22, characterized in that on the one hand, the inner legs (16a, 17a) and on the other hand, the outer legs (16b, 17b) between their bearing points (22, 33, 16c, 17c) formed gleichse long with each other are.

24. Handling device according to one of claims 1 to 23, characterized in that the end effector (5) is designed as a gripping device.