WO2020156911A1

WO2020156911A1 - Actuated mechanism for installation in a vertical position

Info

Publication number: WO2020156911A1
Application number: PCT/EP2020/051567
Authority: WO
Inventors: Simon Aden; Kai Eggers; Eike Foremny; Arne Bloem
Original assignee: Forward Ttc Gmbh
Priority date: 2019-01-28
Filing date: 2020-01-23
Publication date: 2020-08-06
Also published as: DE102019102075A1; DE102019102075B4

Abstract

The invention relates to an actuated mechanism (1) having a base (12), which is connected by an actuated joint (14) to at least one limb (13), wherein the actuated mechanism (1) is designed to be arranged spaced apart from a substrate (3) at a vertical position (2). The actuated mechanism (1) is characterized in that the base (12) and/or the limb (13) is/are divided into two suspension elements (12a, 12b), wherein the two suspension elements (12a, 12b) are designed to be connected to each other by suspension.

Description

DESCRIPTION

Actuated kinematics for mounting in a vertical position

The present invention relates to an actuated kinematics according to the preamble of patent claim 1.

In many technical fields, robots are now used as actuated kinematics to relieve mechanical work of humans. Robots are now used in many different areas. For example, articulated arm robots are particularly widespread in industry, in particular to take on tasks in assembly, production, logistics, packaging and order picking. An articulated arm robot is usually a 6-axis actuated kinematics, which is why articulated arm robots can be used very flexibly. However, robots with fewer than six axes are also used if the required mobility of the robot can be achieved with fewer axes and thus with less effort and with lower costs for the respective application. This also applies to automation devices, which also have multiple axes and can be used for tasks to relieve mechanical work on humans.

In any case, a robot such as an articulated arm robot and an automation device usually have a plurality of mutually movable members, which can be moved by actuated joints with drives, usually with electrical drives, in a rotational or translatory manner to one another. Therefore, robots and automation devices can also be referred to collectively as drive systems or as multi-unit actuated kinematics.

Such multi-link actuated kinematics can be in a vertical position such as e.g. on a wall, on a pillar or on another fold against a surface such as installed on a floor in the fleas so that it can carry out its tasks from there. This can apply in particular to applications in which the movements of the multi-unit actuated kinematics take place at least essentially in the horizontal.

If such a multi-unit actuated kinematics are to be mounted at such a vertical position, the multi-unit actuated kinematics is usually to be lifted by at least one person or by a fever agent such as a forklift, a crane or the like and to position and align it at the desired location so that a (further) person can fasten the multi-unit actuated kinematics to the wall, for example, using screws. During this assembly process, the multi-unit actuated kinematics must be held in this position and orientation, which can be very tiring for a first person.

Depending on the design of the multi-unit actuated kinematics, the base may first have to be mounted solely at the vertical position, which can simplify these steps, since usually much less weight has to be lifted, positioned and aligned. However, the remaining links are e.g. to be mounted as an arm of the multi-unit actuated kinematics at the base, which can also lead to the efforts and requirements described above.

A disadvantage of this type of assembly of a multi-unit actuated kinematics at a vertical position is that in addition to the mechanical attachment, an electrical wiring usually also has to be carried out. Usually, an electrical connection of the multi-unit actuated kinematics to a supply network is to be established at the vertical position in order to be able to provide the required electrical energy for the operation of the electric drives of the actuated joints, the sensors, the control unit etc. of the multi-unit actuated kinematics. Furthermore, signal transmissions usually also take place between the multi-unit actuated kinematics or their control unit and other sensors, control units, data processing units and the same outside the multi-unit actuated kinematics, so that in addition to the electrical supply connection, a wired signal transmission may also be required, which must be produced during assembly is.

This applies both to multi-link actuated kinematics, which have several links, which are connected to each other by an actuated joint, as well as to simple actuated kinematics, which only have one link, which is movable with an actuated link relative to a base. The actuated joint can enable a rotational or a translatory movement.

An object of the present invention is to provide an actuated kinematics, preferably a multi-link actuated kinematics, of the type described in the introduction, so that its assembly at a vertical position can be simplified and / or accelerated. This should preferably apply to mechanical assembly and / or to electrical assembly. This should preferably be implemented as inexpensively as possible. This should preferably also apply to the corresponding disassembly. At least an alternative to known mounting options for such activated kinematics, in particular such multi-unit activated kinematics, is to be created at a vertical position. The object is achieved by an actuated kinematics with the features of patent claim 1. Advantageous further developments are described in the subclaims.

The present invention thus relates to an actuated kinematics with a base which is connected to at least one link by an actuated joint, the actuated kinematics being designed to be arranged at a vertical position at a distance from a base.

Actuated kinematics, as described at the beginning, is understood to mean a mechanical system with at least two elements which are connected to one another by a drive and are movable relative to one another. These elements can be referred to as a base and as a link, so that the link can be regarded as movable relative to the base. However, the base can also itself against another element or against a surface, e.g. as a mobile base, be flexible.

A link can be understood to mean a rigid element which can be connected at one end to the base via an activated joint. As a result, the above-mentioned mobility can be achieved. In this way, at least one-part actuated kinematics can be created.

A joint is understood to mean a movable connection between two elements, as here between the link and the base. This mobility can preferably be rotational or translational, although a combined mobility can also be possible. The joint is preferably designed as a swivel joint. The joint can be driven by a drive unit, i.e. are actuated, with an electric drive being preferred, since electrical energy can be transmitted comparatively easily.

The link can also be connected to a further link or to an end effector of the actuated kinematics via a further actuated joint. In this way, a multi-unit actuated kinematics can be created. In this case, the base may be fixed relative to the limbs so that all movements of the limbs and the end effector can occur in relation to the base. In this case, the remaining links, a link and an end effector unit as well as the end effector unit and an end effector can each be connected by means of an actuated joint. The end effector can be any kind of tool, probe and the like such. B. a gripper and the same. Preferably, the multi-link actuated kinematics extends from the fixed or movable base over several links, which are connected to each other with actuated joints, and over the end effector unit to the end effector, thus forming a serial kinetic chain. A vertical position is understood to mean a position, a location or an area which is spaced apart, ie raised, in the vertical direction, ie in height, relative to a surface such as, for example, relative to a floor.

As explained at the beginning, the mounting of an actuated kinematics at such a vertical position, i.e. at a position spaced apart from a surface in the vertical direction, with effort and effort for one person. In particular, the alignment of the actuated kinematics can be complex and / or exhausting.

The actuated kinematics is therefore characterized in that the base and / or the link is or are divided into two suspension elements, the two suspension elements being designed to be connected to one another by suspension. In other words, the base, the link or both the base and the link are formed at least in two parts, it being possible for the two parts of the base and / or the link to be referred to as suspension elements. The actuated kinematics can thus be separated and interrupted at the point between the two suspension elements by hanging and connected by hanging. Here, a suspension element can be suspended in the other suspension element in order to produce an at least partially positive connection using the force of gravity and the weight of the suspension element suspended. A purely form-fitting connection may be preferred, as this will mean disassembly, i.e. the unhooking of one suspension element from the other suspension element can facilitate and accelerate.

The present invention is based on the finding that by hanging a suspension element in the other suspension element, the weight of the one suspension element is immediately absorbed by the other receiving suspension element and thus the suspension element can be held by the receiving suspension element. The receiving suspension element can be previously attached to another element such as have been installed on a substrate, which can be done more easily than previously known, since the actuated kinematics to be assembled are reduced by the weight of the suspension element to be suspended. This can enable a user to perform this assembly step more easily, quickly and / or less strenuously than previously known. By coordinating the two suspension elements with one another, the direction of the suspended suspension element relative to the receiving suspension element can be predetermined and ensured at the same time. This can also make this assembly step easier, faster and / or more error-free than previously known.

According to one aspect of the present invention, the two hanging elements have a mounting system which is designed to connect the two hanging elements to one another by hanging, the mounting system having at least one mounting receptacle and at least one mounting element, the mounting element being formed in the mounting receptacle hooked in become. The mounting element can thus be designed as a projection, as a hook or the like, to grasp the mounting receptacle from above, from the front and / or from the side, to rear-open fen and the like. This can allow a simple and or or inexpensive implementation of the mounting system by a simple mechanical means using the force of gravity and the weight of the suspended suspension element, a positive fit can be created.

It is also advantageous here that this form-fitting hold can be lifted again simply and / or quickly by lifting or unhooking the suspended hanging element from or from the receiving hanging element, as was the positive-locking hold. This can simplify and / or accelerate disassembly of the actuated kinematics according to the invention.

According to a further aspect of the present invention, the holder receptacle is arranged on the one hanging element which faces the vertical position, and the holding element is arranged on the other hanging element which faces away from the vertical position. In this way, the receiving hanging element can be mounted beforehand with the holder receptacle, and then the hanging hanging element can be picked up by it. In this way, the assembly described above can be implemented.

According to a further aspect of the present invention, the holding element is designed to grip around the holding receptacle vertically from above. This can make it possible to implement a form-fitting hold utilizing the force of gravity and the weight of the suspended hanging element, which at the same time can represent a secure and permanently stable hold.

According to a further aspect of the present invention, the actuated kinematics has at least one security system, preferably a plurality of security systems, which is designed to secure the two suspension elements which are connected to one another by hanging. In this way, the weight of the suspension element to be hooked in, to simplify and / or to accelerate the assembly, can initially be received by the receiving suspension element, as described above. In this state, a permanent and durable connection can then be established and the suspended state can thus be secured in order to increase safety for the environment and for people and to ensure the operability of the activated kinematics. Any mechanical securing and connecting elements and means can be used as the securing system which, taking into account the respective application, are suitable to have the properties described above and to create a secure, permanent and durable connection. For this purpose, for example, screw connections and latching hook connections can be used, as will be explained in more detail below. However, other mechanical connections can also be used as a security system, which at least partially preferably allow an exclusive, positive connection between the two suspension elements. Several security systems can also be used together. Several types of security system can also be used in combination.

According to a further aspect of the present invention, the securing system has at least one screw, the securing system has a through opening, which is formed through the one hanging element, and the securing system has a thread receptacle, which is formed in the other hanging element, the Safety system is designed so that the screw can be passed through the through hole and received by the thread holder. In other words, the suspended suspension element has the through opening and the receiving suspension element has the thread receptacle, or vice versa. In this way, a secure permanent and durable connection can be created by means of a screw connection, which connection can be released again without being destroyed.

According to a further aspect of the present invention, the securing element has at least one latching hook and one latching hook receptacle, the latching hook being arranged on one hanging element and the latching hook receptacle on the other hanging element, the securing system being designed so that the latching hook is received by the latching hook receptacle can be. This can provide a further possibility to create a secure permanent and durable connection between the two suspension elements, which e.g. can also be released non-destructively by bending the latching hook. Such a latching connection can also be produced in a specialist manner, in that the latching hook and the latching hook receptacle are each formed in one piece with the respective hanging element. Furthermore, such a locking connection can be taken quickly and easily by the locking hooks when hooking the hook-in element on the receiving hook element can be lifted by this spring-elastic and can automatically intervene in the hooked-in state of the two hook elements in the locking hook receptacle. As a result, there is no need for any action by the person and the hooked-in state can be secured immediately by the locking mechanism comprising the locking hook and locking hook receptacle.

According to a further aspect of the present invention, the actuated kinematics has at least one contacting system with two contacting elements, which are designed to be electrically conductive and / or signal-transmitting when the two suspension elements are connected to one another by being connected. As a result, the manner of assembly according to the invention allows the two suspension elements to be contacted simultaneously with the suspension. This can not only relieve the person of this activity but also prevent the contact during assembly being forgotten or incorrectly carried out. The assembly or commissioning of the actuated kinematics can also be accelerated as a result. For the electrical see power supply apply as well as for a signal transmission of the actuated kinematics, which can preferably be done electrically and / or optically.

According to a further aspect of the present invention, a contacting element is designed as a plug and the other contacting element is designed as a plug receptacle, the contacting elements being arranged vertically. As a result, a plug-in connection can be used to create a secure and permanently durable electrical and signal-transmitting connection which can be produced simply and quickly at the same time and can be separated just as easily and quickly without being destroyed. The plug can be automatically inserted into the plug receptacle together with the hanging. For this purpose, the connector and the connector receptacle must be aligned vertically so that the direction of the insertion corresponds to the direction of the insertion of the connector into the connector receptacle. This also applies to disassembly.

According to a further aspect of the present invention, the contacting elements are arranged flat, the contacting elements being arranged horizontally. In other words, the contacting elements are aligned perpendicular to the vertical direction of the hooking in, so that the contacting elements of the hooking element to be hooked in are guided in the vertical direction to the contacting elements of the receiving hooking element and, in the hooked state, are arranged horizontally opposite the contacting elements of the receiving hooking element , so that the contacting elements contact each other adequately, ie touch, to establish the required electrically conductive or signal-transmitting connection. This can simplify the contacting as well as the removal of the contacting, since, in contrast to a plug connection, no force has to be overcome between the contacting partners. Nevertheless, the desired transmission of electrical energy or signals can be achieved. For this purpose, the contacting elements can be arranged on the surfaces of the hanging elements facing one another or protrude from the bodies of the hanging elements facing one another. The contacting elements can be designed as printed conductors.

According to a further aspect of the present invention, at least one contacting element is designed to be resilient to the direction of the connection with the other contacting element. In this way it can be ensured that even with manufacturing tolerances of the contacting elements and / or the hanging elements to each other, sufficient contacting between the contacting elements can be guaranteed to achieve the desired transmission of electrical energy or signals, since that spring-elastic contacting element pressed towards the other contacting element and thereby a distance can be avoided. The spring-elastic contacting element can be used, for example, as a metallic spiral be formed or have a spiral spring which can press the contacting element towards the other contacting element.

According to a further aspect of the present invention, the actuated kinematics has at least one sealing element, which is designed and arranged to seal the contacting system against external influences when the two hanging elements are connected to one another by hanging. The sealing element can preferably be resilient, e.g. be made of an elastomeric material or have an elastomeric material. This can cause external influences such as Moisture, dust and the like are kept away from the contacting system, so that the electrically conductive or signal-transmitting connection of the contacting elements can be protected from this.

According to a further aspect of the present invention, the actuated kinematics has a plurality of links, which are each connected to one another or to the base by actuated joints. One of these elements can also be an end effector or an end effector unit, as previously described. As a result, the present invention can also be applied to multi-link actuated kinematics. In this case, at least one link or the base can be divided into two and can be connected by means of suspension elements. Also, several and in particular all links, if necessary, also the base, can be designed in such a way that the assembly and disassembly of the multi-link actuated kinematics can take place in a corresponding number of sub-steps. This can further reduce the weight of the elements of the multi-section actuated kinematics that are to be handled by one person, and accordingly simplify assembly and disassembly accordingly.

This can also enable a modular structure of such a multi-link actuated kinematics, in that the person assembles individual links or multiple links together as well as an end effector or an end effector unit and the base by hooking them together to form the multi-link actuated kinematics . This can be done easily, quickly and flexibly. Furthermore, the individual elements can also be exchanged just as easily in order to change the function of the multi-part actuated kinematics or to replace a damaged element or to maintain an element. This can also apply to the end effector or the end effector unit, which can be exchanged easily and quickly in this way in order to adapt the multi-unit actuated kinematics to another task.

According to a further aspect of the present invention, the actuated kinematics is designed to carry out the movement of the link, preferably the movement of a plurality of links, particularly preferably the movement of all links, at least substantially horizontally. This can favor the connection of the two suspension elements by hanging. According to a further aspect of the present invention, the actuated kinematics has a vertical salmon, which is designed to be arranged at a fixed distance from the surface at a vertical position and to move the base vertically with respect to the vertical position. This can make it possible for the actuated kinematics to perform their movements horizontally and to make a larger working area in the vertical direction accessible for the actuated kinematics through the vertical axis. The vertical axis can preferably be implemented by a linear axis in the form of a linear drive, which can move the base in the vertical direction relative to a vertical bracket, which can be arranged, for example, on a wall as a vertical position.

Several exemplary embodiments and further advantages of the invention are explained below in conjunction with the following figures. It shows:

Figure 1 is a perspective schematic representation of an actuated kinematics according to the invention in the suspended state according to a first embodiment.

Fig. 2 shows the representation of Figure 1 in the separated state.

3 shows the representation of FIG. 2 from a different perspective;

4 shows a perspective schematic illustration of an actuated kinematics according to the invention in the separated state according to a second exemplary embodiment;

5 shows a perspective schematic illustration of an actuated kinematics according to the invention in the separated state according to a third exemplary embodiment;

6 shows a perspective schematic illustration of an actuated kinematics according to the invention in the suspended state according to a fourth exemplary embodiment; and

Fig. 7 is a perspective schematic representation of an actuated kinematics according to the invention in the suspended state according to a fifth embodiment.

The above Figures are viewed in Cartesian coordinates. A longitudinal direction X extends, which can also be referred to as depth X. A transverse direction Y extends perpendicular to the longitudinal direction X, which can also be referred to as the width Y. Perpendicular to both the longitudinal direction X and the transverse direction Y extends a vertical direction Z, which is also referred to as height Z who can.

Fig. 1 shows a perspective schematic representation of an actuated kinematics 1 according to the invention in the suspended state according to a first embodiment. Fig. 2 shows the representation of Fig. 1 in the separated state. FIG. 3 shows the representation of FIG. 2 from a different perspective.

The actuated kinematics 1 has a base 12 on which a plurality of links 13 are arranged. The links 13 are each other and opposite the base 12 by an actuated joint 14 in Form of an actuated hinge 14 connected together. Each actuated swivel joint 14 has a drive 14, which can perform a rotational movement between the respective links 13 or ge relative to the base 12. An end effector 15 is connected to the members 13 and to the base 12 via the actuated swivel joint 14. In this way, the end effector 15 can be positioned and oriented horizontally relative to the base 12. The corresponding Glie of the 13, actuated swivel joints 14 and the end effector 15 can also be referred to collectively as an arm 13-15, as a robot arm 13-15 or as a manipulator 13-15.

The base 12 can also be moved linearly in the vertical direction Z by means of a vertical axis 10, 11, so that the working space which can be reached by the end effector 15 can be enlarged. The vertical axis 10, 11 is formed by a linear axis 11 in the form of a linear drive 11 in combination with a vertical bracket 10. The vertical bracket 10 is fixed in the illustration of FIG. 1 on a wall 2 as a vertical position 2, so that the vertical bracket 10 can also be referred to as a wall bracket 10. By means of the linear drive 11, the base 12 together with the arms 13-15 can be moved in the vertical direction Z with respect to a base 3 such as e.g. be proceeded to a floor 3.

This creates a multi-unit actuated kinematics 1, which can also be referred to as a drive system 1, a robot 1 or a manipulator 1. In particular, the multi-unit actuated kinematics 1 can be used in this form as a charging device 1 to carry out an automatic electrical charging of an electric vehicle by means of the endefector 15 in the form of a charging plug 15. Alternatively, the multi-link actuated kinematics 1 can also represent an automation device 1.

So far, the multi-section actuated kinematics 1 would have to be attached to the wall 2 as part of two people. For this purpose, one person would have to hold the multi-unit actuated kinematics 1 on the wall 2 at a desired position and in a desired orientation, while the other person would hold the wall bracket 10 of the multi-unit actuated kinematics 1 e.g. would mount on the wall 2 using screws. In this case, the first person would have to hold the desired position, in particular in the vertical direction Z, and the alignment of the multi-link actuated kinematics 1 until the assembly has been completed by the second person. This can be very stressful for the first person. Furthermore, electrical cabling of the multi-unit actuated kinematics 1 would then also have to be carried out, which can be a not inconsiderable outlay.

According to the invention, the base 12 is therefore designed in two parts. Thus, the base 12 of the multi-link actuated kinematics 1 has a first, wall-side suspension element 12a and a second, arm-side suspension element 12b, which together form the base 12. The first hanging element on the wall 12a is movable by the linear drive 11 in the vertical direction Z, while the second arm-side suspension element 12b is connected to the first actuated swivel joint 14 of the arms 13-15.

The two suspension elements 12a, 12b can be connected to one another by means of a mounting system 16. The first, wall-side suspension element 12a has a wall-side mounting receptacle 16a, which is why the first, wall-side suspension element 12a can also be referred to as a receiving suspension element 12a. The second arm-side suspension element 12b has a corresponding holding element 16b, which is why the second arm-side suspension element 12b can also be referred to as a suspension element 12b.

According to the first embodiment of FIGS. 1 to 3, the second, arm-side, hanging element 12b in its upper region facing the first, wall-side receiving element 12a has a hook-shaped projection. The first, wall-side, receiving suspension element 12a has a corresponding web-like projection in the vertical direction Z and wall 2 has a recess as a wall-side mounting receptacle 16a, both of which are connected to the hook-shaped projection of the mounting element 16b of the second, arm-side mounting element 12b to be attached to match.

According to the invention, the multi-link actuated kinematics 1 can thus be separated into the vertical axis 10, 11 together with the first, wall-side, receiving suspension element 12a and into the arm 13-15, including the second, arm-side, suspension element 12b. Then the wall bracket 10 can be mounted on the wall 2, which, compared to the known assembly described above, can be done much easier, faster and more gently for the person holding it.

Subsequently, the second arm-side hanging element 12b can be hung in the vertical direction Z from above into the first wall-side receiving element 12a. This can take place through the form-fitting interplay of the mounting element 16b of the second arm-side hanging element 12b with the mounting receptacle 16a of the first wall-side mounting element 12a, so that the second arm-side hanging element 12b due to its weight and the gravity of the first, wall-side, can accommodate the suspension element 12a. In this way, the base 12 can be joined together and the second arm-side hanging element 12b including the arm 13-15 can be easily, quickly and securely mounted by hanging.

The two suspension elements 12a, 12b also have a contacting system 17, which consists of a wall-side contacting element 17a and an arm-side contacting element 17b. In the first embodiment of FIGS. 1 to 3, the contacting elements 17a, 17b are each formed as flat contacts which are located in the transverse direction Y and in the vertical direction. tion Z extend. As a result, the contacting elements 17a, 17b are aligned with one another in a horizontal direction, here in the longitudinal direction X. The contacting elements 17a, 17b are arranged in the vertical direction Z at the same height and in the transverse direction Y at the same width, so that the contacting elements 17a, 17b in the suspended state of the base 12 lie directly opposite one another in the longitudinal direction X and one another in the longitudinal direction Contact X, ie touch.

Via the contacting contacting elements 17a, 17b, an electrical energy supply of the arms 13-15 can be achieved as well as a signal transmission. Here, the individual contacts of the arm-side contacting element 17b of the second, arm-side, suspended suspension element 12b are designed to be resilient in the longitudinal direction X, so that the contacts of the arm-side contacting element 17b are pressed against the contact of the wall-side contacting element 17a to ensure contacting.

On the side of the first, wall-side, receiving suspension element 12a, a sealing element 19 is arranged, which is arranged in a ring-shaped manner around the wall-side contact element 17a. The sealing element 19 is designed as an elastomeric sealing element 19 in order to close a gap in the longitudinal direction X between the two hanging elements 12a, 12b and thus the contacting system 17 against external influences such as e.g. To protect moisture, dust and the like.

Fig. 4 shows a perspective schematic representation of an actuated kinematics 1 according to the invention in the separated state according to a second embodiment. The multi-link actuated kinematics 1 according to the second embodiment differs from the multi-link actuated kinematics 1 according to the first embodiment in that in this case two hook-shaped mounting elements 16b are used on the second arm-side suspension element 12b, which are spaced apart in the transverse direction Y. and extend in the longitudinal direction X sufficiently to engage behind the first wall-side suspension element 12a in the vertical direction Z from above in the suspended state. The first, wall-side suspension element 12a has two corre sponding mounting receptacles 16a in the form of depressions which receive the two hook-shaped mounting elements 16b. This also enables a form-fitting hold and quick assembly, etc., as described above.

Fig. 5 shows a perspective schematic representation of an actuated kinematics 1 according to the invention in the separated state according to a third embodiment. The multi-link actuated kinematics 1 according to the third embodiment differs from the multi-link actuated kinematics 1 according to the first embodiment in that in this case the contacting system 17 has a plug 17b which is arranged within the hook-shaped projection of the holding element 16b and in which vertical direction Z is oriented downwards. Corrective The wall-side mounting receptacle 16a has a plug receptacle 17a, which is oriented upwards in the vertical direction Z. If the second arm-side hook-in element 12b is now hung in the vertical direction Z from above onto the first, wall-side, receiving hook-in element 12a, the plug 17b is hereby simultaneously inserted into the plug receptacle 17a, so that in this way too contact can be made.

Fig. 6 shows a perspective schematic representation of an actuated kinematics 1 according to the invention in the suspended state according to a fourth embodiment. The multi-unit actuated kinematics 1 according to the fourth exemplary embodiment differs from the multi-unit actuated kinematics 1 according to the first and third exemplary embodiments in that in this case an additional safety system 18 is provided in order to secure the suspended state. The securing system 18 has four threaded receptacles 18c on the part of the first, wall-side, receiving suspension element 12a. The securing system 18 also has, on the part of the second, arm-side, a suspended suspension element 12b, four through openings 18b, which in the suspended state of the suspension elements 12a, 12b coincide with the four threaded receptacles 18c of the first, wall-side, suspension element 12a. Thus, four screws 18a, which also belong to the securing system 18, can be passed through the four through openings 18b of the second, arm-side, suspended hook-in element 12b and screwed into the four threaded receptacles 18c of the first, wall-side, female hook-in element 12a, around the two hook-in elements 12a , 12b to secure in the suspended state. The four screws 18a can be loosened and removed again in order to disassemble the second, hanging-in suspension element 12b on the arm side.

Fig. 7 shows a perspective schematic representation of an actuated kinematics 1 according to the invention in the suspended state according to a fifth embodiment. The multi-link actuated kinematics 1 according to the fifth exemplary embodiment differs from the multi-link actuated kinematics 1 according to the first and third exemplary embodiments in that in this case an alternative additional securing system 18 is provided in order to secure the suspended state. In the transverse direction Y on both sides, the first, wall-side, receiving suspension element 12a has a catch hook receptacle 18e. The second, hook-in hook-in element 12b has corresponding snap hooks 18d for this purpose, which in the hooked-in state secure the two hook-in elements 12a, 12b by latching. This enables a quicker and simpler securing than the securing system 18 of the fourth exemplary embodiment in FIG. 6. In particular, automatic securing when attaching the second, arm-side, suspended suspension element 12b can take place on the first, wall-side, receiving suspension element 12a, so that the Person does not have to do this. The latching connection of the security system 18 according to the fifth exemplary embodiment from FIG. 7 can be released again non-destructively by lifting the latching hooks 18d. REFERENCE SIGN LIST (part of the description)

X longitudinal direction; depth

Y cross direction; width

Z vertical direction; height

1 (multi-part) actuated kinematics; Drive system; (Articulated arm) robots; Manipulator; Automation equipment; Charger

10 vertical bracket; Wall bracket

11 linear axis; linear actuator

12 base

12a first, wall-side, receiving suspension element

12b second arm-side, hook-in or hook-in hook-in element

13 links

14 actuated (rotary) joints; Drives

15 end effector; Charging plug

13-15 arm; Robotic arm; manipulator

16 mounting system

16a wall-side mounting receptacle of the mounting system 16

16b arm-side mounting element (s) of the mounting system 16

17 contacting system

17a wall-side contacting element of the contacting system 17; Contacts; Plug receptacle me

17b arm-side contacting element of the contacting system 17; Contacts; plug

18 Security system

18a screws of the security system 18

18b through openings of the security system 18

18c thread receptacles of the securing system 18

18d locking hooks of the security system 18

18e locking hook receptacle of the security system 18

19 sealing element

2 vertical position; wall

3 underground; ground

Claims

PATENT CLAIMS

1. Actuated kinematics (1) with a base (12), which is connected by an actuated joint (14) with at least one link (13), the actuated kinematics (1) being designed at a vertical position (2) towards one

To be arranged at a distance from the subsurface (3), characterized in that the base (12) and / or the link (13) is / are divided into two hanging elements (12a, 12b), the two hanging elements (12a, 12b) being formed are connected to each other by hanging.

2. Actuated kinematics (1) according to claim 1, characterized in that the two hanging elements (12a, 12b) have a mounting system (16) which is designed to connect the two hanging elements (12a, 12b) by hanging them together, the Bracket system (16) at least one bracket receptacle (16a) and at least one

Has mounting element (16b), the mounting element (16b) being designed to be suspended in the mounting receptacle (16a).

3. Actuated kinematics (1) according to claim 2, characterized in that the holder receptacle (16a) is arranged on the one hanging element (12a) which faces the vertical position (2), and the holding element (16b) on the other hanging element (12b) is arranged, which faces away from the vertical position (2).

4. Actuated kinematics (1) according to claim 2 or 3, characterized in that the mounting element (16b) is designed to grip around the mounting receptacle (16a) vertically from above.

5. Actuated kinematics (1) according to one of the preceding claims, characterized by at least one security system (18), preferably a plurality of security systems (18) which is designed to secure the two suspension elements (12a, 12b) connected to one another by suspension.

6. Actuated kinematics (1) according to claim 5, characterized in that the securing system (18) has at least one screw (18a), the securing system (18) has a through opening (18b) which through the one hanging element (12b) is formed, and the securing system (18) has a threaded receptacle (18c) which is formed in the other hanging element (12a), the securing system (18) being designed so that the screw (18a) passes through the through opening ( 18b) can be guided through and can be received by the thread holder (18c).

7. Actuated kinematics (1) according to claim 5 or 6, characterized in that the securing element (18) at least one latching hook (18d) and a latching hook receptacle

(18e), the latching hook (18d) being arranged on one hanging element (12b) and the latching hook receptacle (18e) on the other hanging element (12a), the securing system (18) being designed so that the latching hook (18d) can be picked up by the locking hook receptacle (18e).

8. Actuated kinematics (1) according to one of the preceding claims, characterized by at least one contacting system (17) with two contacting elements (17a, 17b), which are formed in the interconnected state by hooking the two hooking elements (12a, 12b) electrically to be connected to one another in a conductive and / or signal-transmitting manner.

9. Actuated kinematics (1) according to claim 8, characterized in that a contacting element (17a; 17b) is designed as a plug (17b) and the other contacting element (17a; 17b) as a plug receptacle (17a), wherein the contacting elements (17a; 17b) are arranged vertically aligned.

10. Actuated kinematics (1) according to claim 8, characterized in that the contacting elements (17a; 17b) are arranged flat, wherein the contacting elements (17a; 17b) are arranged horizontally aligned.

11. Actuated kinematics (1) according to claim 8 or 10, characterized in that at least one contacting element (17a; 17b) is resilient to the direction of the connection with the other contacting element (17a; 17b).

12. Actuated kinematics (1) according to one of claims 8 to 11, characterized by at least one sealing element (19) which is designed and arranged, the contacting system (17) in the connected state by hanging the two suspension elements (12a, 12b) to seal against external influences.

13. Actuated kinematics (1) according to one of the preceding claims, characterized in that the actuated kinematics (1) has a plurality of links (13), each of which by actuated joints (14) with one another or with the base (12) are connected.

14. Actuated kinematics (1) according to one of the preceding claims, characterized in that the actuated kinematics (1) is designed, the movement of the link (13), preferably the movement of several links (13), particularly preferably the movement of all links (13) to be carried out at least essentially horizontally.

15. Actuated kinematics (1) according to one of the preceding claims, characterized by a vertical axis (10, 11) which is designed to be arranged at a fixed distance from the base (3) at the vertical position (2) and the base (12 ) to move vertically relative to the vertical position (2).