Bracket working device

Abstract

The present invention proposes a support working device (1), which has a support (4) arranged protruding relative to a support carrier (3), and an end-effector fixing interface (12) is constructed on the support. The support (4) is equipped with two linear driven structures (83, 84), each of which is in engagement with one of the two drive wheels (57, 58) of the support carrier (3). The support (4) can not only be swung around a main axis (7) relative to the support carrier (3), but also can be linearly displaced at right angles to the main axis (7). By rotating the drive wheels (57, 58) in a coordinated manner, a working movement of the support (4) can be caused, which either consists of only a swiveling movement, only a linear movement, or a combination of the swiveling movement and a simultaneously superimposed linear movement.

Description

Technical Field

[0001] The present invention relates to a bracket working device, comprising a bracket carrier having a main axis and a bracket having at least one terminal effector fixing interface and extending along a bracket longitudinal axis orthogonal to the main axis, wherein the entire bracket can be swung around the main axis as the swing center relative to a bracket carrier base of the bracket carrier in a working plane orthogonal to the main axis while performing a bracket swinging motion, and is provided with a bracket drive mechanism for generating a working motion of the bracket relative to the bracket carrier in the working plane. Background Art

[0002] This type of support working device is designed as a SCARA-type robot in DE 10 2017 215 942 A1. The known robot has a base unit on which a support carrier is vertically displaceably arranged. The support carrier carries a horizontally extending articulated arm in the shape of a support. The articulated arm can be pivoted about the vertical main axis of the support carrier to enable displacement and positioning of an end-effector attachment interface, which is arranged on the articulated arm and equipped with an end-effector during operation, in a working plane perpendicular to the main axis. To enable access to any spatial point in the working plane using the end-effector attachment interface, the articulated arm is divided into a plurality of arm links that are articulated and pivotable relative to one another. The arm joints positioned between adjacent arm links are each equipped with a rotary drive unit to actively pivot the arm links relative to one another in the working plane. The drive technology in this known working device is relatively expensive. Furthermore, the articulated arm, which functions as a support, is relatively heavy due to the integrated rotary drive unit. Summary of the Invention

[0003] The present invention is based on the object of providing a support working device which enables variable positioning of the end-effector fastening interface in the working plane while maintaining a simple and cost-effective design and low weight of the support.

[0004] In order to achieve this object, in the case of a support working device in combination with the features mentioned at the outset, it is provided according to the invention that:

[0005] the entire stent is linearly movable in the working plane relative to the stent carrier body in the axial direction of the stent longitudinal axis by performing a linear movement of the stent,

[0006] - two first and second drive wheels of the support carrier are rotatably arranged on the support carrier base body so as to be twistable about the main axis as the rotation axis, said first and second drive wheels being coaxial with the main axis, wherein the first drive wheel has a first drive structure on its outer circumference lying on a circumferential line coaxial with the main axis, and the second drive wheel has a second drive structure on its outer circumference lying on a circumferential line coaxial with the main axis,

[0007] the carrier comprises two linear first and second output structures extending parallel to the carrier longitudinal axis, wherein the first output structure is in force-transmitting engagement with the first drive structure in a first engagement region, and wherein the second output structure is in force-transmitting engagement with the second drive structure in a second engagement region, wherein the first engagement region and the second engagement region are associated with diametrically opposed outer peripheral regions of the two drive gears,

[0008] - and the two drive wheels can be rotationally driven by the support drive mechanism to perform drive rotational movements independently of each other along a first rotational direction and a second rotational direction opposite thereto and can be fixed in a rotationally fixed manner in any rotational position, thereby causing a working movement of the support, which either only includes a swinging movement of the support or only includes a linear movement of the support or consists of a swinging movement of the support and a simultaneously superimposed linear movement of the support.

[0009] In this way, the end-effector attachment interface, which is arranged on the support and equipped with an application-specific end-effector during operation of the support working device, can be variably displaced and positioned in the working plane without requiring an articulated structure and a rotational drive unit integrated into the support. As a result, the support can be constructed to be extremely lightweight, providing a high load-bearing capacity and allowing high acceleration to perform the working motion. To generate the working motion, the entire support can be swiveled along the longitudinal axis of the support in the case of linear motion and / or about a main axis defining the rotation axis in the case of pivoting motion. The linear motion and the pivoting motion can be induced separately or in combination to move the end-effector attachment interface along the desired track curve in the working plane. The working motion is generated by two drive wheels that can be rotationally driven independently of each other by a drive mechanism called a support drive mechanism. These drive wheels are referred to as first and second drive wheels for better distinction and can be rotationally driven to perform a driven rotational motion in a first rotational direction and a second rotational direction opposite thereto (i.e., both in the clockwise direction and in the opposite direction). Therefore, the support drive mechanism allows for temporary, non-twistably fixed fixation of one or both drive wheels, as required. Each drive wheel drivingly cooperates with one of the support's two linear driven structures, which are referred to as first and second driven structures for better distinction. By engaging the first drive structure with the first driven structure, on the one hand, and the second drive structure with the second driven structure, on the other hand, the drive wheels can transmit a driving force acting along the longitudinal axis of the support to the linear driven structure of the support. Depending on the currently set operating state of the drive wheels (i.e., either rotating or fixed), the desired working motion results. The two drive wheels can be driven simultaneously in either the same or opposite directions of rotation. The support drive mechanism is preferably designed such that the driving rotational motion of the two drive wheels can also be performed at different rotational speeds, independent of the selected direction of rotation, i.e., one drive wheel rotates faster than the other. To temporarily maintain the current working position of the support or the end-effector fastening interface arranged thereon, the support drive mechanism can simultaneously fix the two drive wheels in a non-twistably fixed manner.

[0010] The end-effector fastening interface is designed to preferably releasably fasten an application-specific end-effector for a work process. Such an end-effector can be, for example, a clamp, a measuring instrument, or a welding instrument. Independent of the design of the support working device, the end-effector can be mounted directly or indirectly on the end-effector fastening interface with an intervening additional structure (e.g., a fastening adapter). The support working device is well-suited for handling tasks and can, for example, represent a robot capable of multiple tasks.

[0011] In a simple embodiment, the stent is equipped with only one single end-effector fastening interface, but can easily have multiple end-effector fastening interfaces. For example, the stent can be designed so that it protrudes beyond the stent carrier with respective stent end sections on opposite sides, and the end-effector fastening interfaces are provided in the region of these two stent end sections.

[0012] The working area, in which the end-effector fastening interface can be moved by means of a working motion, is preferably delimited by a circular or annular surface in the working plane. The shape of the working area depends primarily on the placement of the end-effector fastening interface. Preferably, a circular annular surface is obtained as the working area when the end-effector fastening interface is arranged on the longitudinal side of the stent facing the stent carrier. If the end-effector fastening interface is located on the opposite longitudinal side of the stent, facing away from the stent carrier, a circular working area can be conveniently traversed by the working motion.

[0013] The drive structures of the two drive wheels are preferably arranged adjacent to each other along the axis of the main axis. The two drive wheels preferably overlap along the main axis to provide mutual alignment and support. The two linear driven structures preferably extend in planes parallel to each other with the same offset as the drive structures.

[0014] The two driving structures and the two linear driven structures are preferably designed as meshing engagements. This allows for extremely precise positioning with the possibility of transmitting very high drive forces. However, in principle, designs for friction-fitting, force-transmitting engagements are also possible.

[0015] Preferably, the two linear driven structures are formed on a toothed rack of the support. The toothed rack is in particular a separate component with respect to a support base body of the support, which is fixed to the support base body by suitable measures (eg screw connections).

[0016] Preferably, the two drive wheels of the carrier are designed as gears with external teeth forming the associated drive structure. The two gears are expediently arranged axially behind one another in a coaxial orientation, wherein the gears are expediently supported on one another.

[0017] The support drive preferably has two drive units that can be operated independently of one another. For better differentiation, these drive units are referred to as first and second drive units. In particular, these are electrically operable drive units, such as electric stepper motors or servomotors. Alternatively, the drive units can be configured as fluid-operated drive units or as hybrid drive units.

[0018] The support working device expediently includes an electronic control unit for controlling the two drive units. The first drive unit is drivingly coupled to the first drive wheel, and the second drive unit is drivingly coupled to the second drive wheel.

[0019] The support working device is particularly designed so that the two drive wheels can be rotationally driven in the same or opposite directions by the two drive units, more precisely, not only in any temporal sequence but also simultaneously. Furthermore, operation with the same or different rotational speeds is advantageously possible. The drive units are preferably designed so that they can stop the associated drive wheel in any desired rotational position and secure it in a rotationally fixed manner for as long as desired. For rotationally fixed securing, the drive units can each be equipped with a holding brake, if necessary.

[0020] For driving cooperation with the drive unit, each drive wheel expediently has an internal toothing coaxial with the main axis of the carrier, with which the respectively associated drive unit is in meshing engagement. For example, each drive unit has a rotationally drivable drive pinion which engages in one of the two internal teeth.

[0021] The two drive units are preferably arranged on the support carrier base, that is, the drive units do not perform the working movement of the support together.

[0022] The support is preferably mounted so that it can be linearly displaced relative to the support carrier in a direction perpendicular to the main axis. For this purpose, a linear guide is provided that also oscillates with the support. In this way, the support is reliably supported, independent of the current oscillation position, to prevent forces acting transversely to the working plane.

[0023] The carrier support expediently has a support element separate from the carrier support base body, which is rotatably mounted on the carrier support base body about a main axis acting as a rotation axis. The rotational mounting is in particular independent of the two drive wheels.

[0024] The linear guide preferably has a guide rail assembly which is a component of the support and which engages with a guide structure arranged on the support element so as to be linearly displaceable in the axial direction of the longitudinal axis of the support.

[0025] It has proven to be expedient that the guide rail assembly has two guide rails extending in each case parallel to the longitudinal axis of the support, said guide rails being spaced apart from one another in the direction of extension of the working plane (that is to say at right angles to the main axis). The guide rails preferably have the same length as one another and are situated opposite one another. Each guide rail can be embodied in one piece or in multiple pieces. Each guide rail is expediently in linearly displaceable engagement with at least one guide shoe belonging to the guide structure and fixedly mounted on the support element. Preferably, each guide rail cooperates with two guide shoes spaced apart from one another in the axial direction of the longitudinal axis of the support. Preferably, the guide shoe is embodied as a sliding shoe, however, it can also be embodied as a rolling bearing shoe

[0026] The stent has, in particular, an elongated stent base body, on which at least one end-effector fastening interface is arranged. The end-effector fastening interface can be positioned arbitrarily, but it is advantageous if the end-effector fastening interface is located on one of the two longitudinal sides of the stent base body oriented in the axial direction of the main axis.

[0027] Preferably, the support base is a hollow body, in the interior of which the two linear driven structures are arranged. An advantageous guide rail assembly is conveniently fixed to the support base, wherein the guide rail assembly is preferably also located in the interior of the hollow support base.

[0028] Preferably, the stent has two first and second stent end sections that are axially opposite each other along the stent longitudinal axis. The stent is movable between two axial end positions, in which a respective one of the two stent end sections is located in the region of the stent carrier. Preferably, at least one end-effector fastening interface is arranged in the region of one of the two stent end sections.

[0029] The support carrier can be fixed in a fixed position in any manner during the operation of the support working device, for example, fixed to a supporting wall or fixed to a supporting frame. In a particularly advantageous design, the support working device has a base unit, which is, for example, fixed or fixable on a foundation and the support carrier is supported on the base unit in such a manner that the support carrier can perform linear stroke motion relative to the base unit along the axial direction of the main axis. The support carrier drive mechanism preferably present realizes the generation of the stroke motion mentioned above so that the support carrier and thus the support placed thereon can be positioned in different stroke positions. In this way, the working plane can be shifted parallel to the axial direction of the main axis. The working area that can be covered by the end-effector fixed interface is significantly expanded in this way.

[0030] Preferably, the support working device is constructed in such a way that the travel motion of the support carrier can be performed independently of the working motion of the support, that is, the two motions can be performed not only sequentially but also simultaneously.

[0031] The stand working device is preferably equipped with an electronic control unit which is designed to actuate the stand drive and the preferably also present stand carrier drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The invention is explained in more detail below with reference to the attached drawings, in which:

[0033] Figure 1 The preferred embodiment of the support working device according to the present invention is shown in an isometric diagram.

[0034] Figure 2 Based on Figure 1 The sight direction of arrow II and half of it corresponds to the direction from Figure 3 The longitudinal section along the cutting line II-II shows a front view of the support working device,

[0035] Figure 3 The basis for showing the support working device is from Figure 2 A longitudinal section along the section line III-III of FIG. 1 , wherein the portion framed by the dotted line is further enlarged and depicted separately,

[0036] Figure 4 Shown according to Figure 2 and 3 The longitudinal section of the cutting line IV-IV,

[0037] Figure 5 Shown according to Figure 2 The longitudinal section of the stepped section line VV,

[0038] Figure 6 Shown from Figures 1 to 5 Detailed illustration of a support, wherein the support base is illustrated only with dashed lines and wherein the area framed with dashed lines is also illustrated individually again enlarged and broken away, and

[0039] Figures 7 to 9 corresponding to Figure 5 The sectional illustrations of show different possibilities for carrying out the working movement of the support, wherein further working positions of the support attainable by the working movement are each illustrated by dashed lines. DETAILED DESCRIPTION

[0040] The support working device 1 according to the invention, which is depicted by way of example in the figures, expediently comprises a working unit 2 having a support carrier 3 and a support 4 carried by the support carrier 3 .

[0041] The support carrier 3 can be provided with a fixing mechanism by which it can be fixed at the location of use to a suitable external support structure, for example, a support wall or a support frame. Preferably, however, the support working device 1 is equipped with an additional base unit 5, which is designed for fixing at the location of use and to which the working unit 2 is fixed via the support carrier 3. The base unit 5 has a support fixing interface 6, by means of which the base unit can be fixed to an external support structure, for example, the foundation of a production building, when the support working device 1 is in the ready-to-operate state.

[0042] The support carrier 3 extends along an imaginary main axis 7. In the preferred operating position of the support working device 1 illustrated in the figures, the main axis 7 extends vertically.

[0043] The support 4 has a longitudinal extension with a support longitudinal axis 8. The support longitudinal axis 8 runs orthogonally to the main axis 7, wherein the support longitudinal axis 8 advantageously intersects the main axis 7. Thus, the support 4 projects horizontally from the support carrier 3, for example.

[0044] An end-effector fastening interface 12 is formed on the support 4. This end-effector fastening interface is typically located at a radial distance from the support carrier 3 relative to the main axis 7. The support 4 has a lower longitudinal side 13 oriented in the axial direction of the main axis 7, exemplarily facing the base unit 5, and an upper longitudinal side 14 opposite thereto. Preferably, the end-effector fastening interface 12 is located on the lower longitudinal side 13; however, it can also be easily positioned on the upper longitudinal side 14 or at another location on the support 4, for example, also at an end face.

[0045] In contrast to the exemplary embodiment described, the stent 4 can have a plurality of end-effector fastening interfaces 12 .

[0046] The end effector fixing interface 12 is configured to Figure 3 An end effector 15 , illustrated with a dashed line in the figure, is fixed thereto, with the aid of which the work is to be carried out. The end effector 15 is designed to be application-specific and can be, for example, a gripper with which an object 16 can be gripped and its position changed.

[0047] The end-effector fastening interface 12 is preferably configured to detachably fasten the end-effector 15 so that the end-effector 15 can be replaced at any time. Alternatively, it can also be provided that the end-effector 15 is non-detachably mounted on the end-effector fastening interface 12 .

[0048] The support carrier 3 has a support carrier base body 17. The entire support 4 can be pivoted relative to the support carrier base body 17 about the main axis 7 in a working plane 18 perpendicular to the main axis 7. The pivoting movement of the support 4 that occurs here is referred to as a support pivoting movement 22 and can optionally occur in a first pivoting direction 22a or in a second, opposite pivoting direction 22b, that is, optionally in a clockwise direction or counterclockwise. The main axis 7 forms the pivoting center or pivoting axis for the support pivoting movement 22.

[0049] Independent of the support pivoting movement 22, the entire support 4 can be moved linearly in the working plane 18 relative to the support carrier body 17. The linear movement possible here is oriented in the axial direction of the support longitudinal axis 8 and is referred to as support linear movement 23. The support linear movement 23 can optionally be carried out in a first linear direction 23a or in a second linear direction 23b opposite thereto.

[0050] During a purely linear movement 23 of the support, the distance of the end-effector fastening interface 12 from the main axis 7 changes. During a purely pivoting movement 22 of the support, this distance remains constant and the end-effector fastening interface 12 moves along a circular arc, so that only the angular position of the end-effector fastening interface 12 in its circumferential direction relative to the main axis 7 changes. The position occupied by the end-effector fastening interface 12 is referred to as the working position.

[0051] By performing the support pivoting movement 22 and the support linear movement 23, more precisely either sequentially in time or simultaneously superimposed, the working position of the end-effector fastening interface 12 can be varied two-dimensionally within the working plane 18. In other words, the working movement 24 that can be performed by the support 4 either includes only the support pivoting movement 22, only the support linear movement 23, or consists of the support pivoting movement 22 and the support linear movement 23 superimposed thereon.

[0052] To generate the working movement 24, the support working device 1 is equipped with a support drive 25. The support drive 25 is exemplarily an electric drive 25, but can also be easily designed as a fluid-operated or electrofluidic drive.

[0053] Preferably, the support drive mechanism 25 is a rotation drive mechanism.

[0054] The support drive mechanism 25 preferably includes two drive units 26 and 27 that are independent of each other, which are also referred to as a first drive unit 26 and a second drive unit 27 for better distinction.

[0055] The support drive 25 is expediently arranged on the support carrier base. This applies, for example, to both drive units 26 and 27. The support carrier base 17 has a bottom side 28 oriented in the axial direction of the main axis 7 and, for example, facing the base unit 5. The support drive 25 is preferably mounted on the support carrier base 17 in the region of the bottom side 28.

[0056] The support 4 is advantageously mounted so that it can pivot relative to the support carrier base body 17 with the interposition of a support element 32 of the support carrier 3 that is separate relative to the support carrier base body 17. The support element 32 is mounted on the support carrier base body 17 so that it can rotate about the main axis 7, while the support 4 is arranged on the support element 32 so that it cannot pivot. As a result, the support element 32 and the support 4 form a pivot unit that always uniformly executes the pivoting movement 22 of the support.

[0057] The support element 32 is preferably plate-shaped and oriented with a plate plane parallel to the working plane 18. Preferably, the support element 32 is rotatably mounted on the support carrier base body 17 in the region of the upper side 29 of the support carrier base body 17, which is axially opposite the lower side 28. By virtue of this rotatable mounting, the support element 32 is simultaneously supported so that its rotational mobility represents the only degree of freedom of movement relative to the support carrier base body 17.

[0058] For the rotational support of the support element 32, there is, for example, a rolling bearing which is called a first rolling bearing 33 for better differentiation, which is located with its inner ring on a bearing sleeve 34 of the support carrier base 17 and the support element 32 is placed with a bearing recess 35 and, for example, pressed onto its outer ring.

[0059] The holder 4 is fixed to the support element 32 by means of a linear guide 36 that also performs the holder's pivoting movement. The linear guide 36 is provided to enable the holder's linear movement 23 . The holder 4 is supported by the linear guide 36 so as to be displaceable relative to the support element 32 and, therefore, also relative to the holder carrier body 17 perpendicular to the main axis 7 , thereby enabling the holder's linear movement 23 . This means that during the holder's linear movement 23 , the holder 4 is displaced not only relative to the holder carrier body 17 but also relative to the support element 32 .

[0060] The stent 4 has a stent base 37, which preferably has an elongated outer shape and extends along the stent longitudinal axis 8. For example, the stent base 37 is designed as a hollow body that at least partially encloses a base interior 38. The stent base 37 expediently extends beyond the stent carrier base 17 at the top 29. Advantageously, the stent base 37 is shaped like a cap, in accordance with the described embodiment, and has a slot-like opening 42 in the region of the lower longitudinal side 13, through which the stent carrier 3 with the stent carrier base 17 projects into the base interior 38. The width of the slot-like opening 42 is dimensioned such that the stent 4 can perform its linear stent movement 23 without being hindered by the stent carrier 3. During the linear stent movement 23, the axial position of the stent carrier base 17 relative to the stent 4 changes within the slot-like opening 42.

[0061] The support base 37 has a first axial end section 43 and a second axial end section 44 spaced apart therefrom in the axial direction of the support longitudinal axis 8. The slot-shaped opening 42 exemplarily begins in the region of the first axial end section 43 and extends to the second axial end section 44, wherein the end-effector fastening interface 12 is exemplarily arranged axially at the second axial end section 44 so as to be connected to the slot-shaped opening 42.

[0062] The support base 37 has two side walls 45, 46 which are opposite each other in the direction of the support pivoting movement 22. The two side walls 45, 46 have inner surfaces 47, 48 which face each other.

[0063] The linear guide 36 has a guide rail assembly 52 having two guide rails 53, 54, each with a linear longitudinal extension. Each guide rail is fixed to one of the two inner surfaces 47, 48 of the side walls 45, 46, for example, by means of fixed screw fasteners. The two guide rails 53, 54 extend parallel to the longitudinal axis 8 of the support and are spaced apart from one another in the direction of the working plane 18 and, more precisely, in the direction of the pivoting of the support 4. The two guide rails 53, 54 are preferably of equal length and extend between the two axial end sections 43, 44 of the support base 37.

[0064] The two guide rails 53, 54 are preferably at the same height as the support element 32 in the axial direction of the main axis 7. The support element 32 has two side surfaces 55 that are opposite each other in the direction of the support pivoting movement 22, and on each of which a guide structure 56 of the linear guide mechanism 36 is arranged. Each of the two guide rails 53, 54 extends beside one of the two side surfaces 55 of the support element 32 and is in linearly displaceable engagement with the guide structure 56 located there.

[0065] By way of example, each guide structure 56 comprises two guide units, individually referred to as guide shoes 56 a , 56 b , which are arranged adjacent to one another in the axial direction of the carrier longitudinal axis 8 and are each simultaneously engaged with the respectively associated guide rail 53 , 54 .

[0066] The guide joints between the guide structure 56 and the guide rails 53, 54 are each designed as sliding bearings or rolling bearings. For example, a ball-circulating guide can be implemented here. In any case, the guide joints are selected such that the support base 37 has no freedom of movement relative to the support element 32 except for its axial mobility along the support longitudinal axis 8. Instead, it is supported immovably by the support element 32 in all other directions.

[0067] In the figures, the holder 4 is shown in a first axial end position, in which the end-effector fastening interface 12 is at a maximum distance from the main axis 7 and in which the holder 4 projects on one side beyond the holder carrier 3. In this case, a first axial end section 43 of the holder base body 37 is located in the region of the holder carrier base body 17.

[0068] Within the scope of the stent linear movement 23, the stent 4 can be displaced so that it protrudes beyond the stent carrier 3 with the two axial end sections 43, 44 (hereinafter also referred to as stent end sections 43, 44), as shown in Figure 8 As illustrated by the dotted line in FIG.

[0069] To generate the support pivoting motion 22 , two drive wheels 57 , 58 are arranged on the support carrier base 17 so as to be rotatable independently of one another. For better differentiation, the two drive wheels 57 , 58 are also referred to below as the first drive wheel 57 and the second drive wheel 58 . The two drive wheels 57 , 58 are oriented coaxially with respect to one another, with their central longitudinal axes correspondingly coinciding with the main axis 7 . Preferably and by way of example, the two drive wheels 57 , 58 are arranged axially one behind the other.

[0070] The first drive wheel 57 is exemplarily located below the second drive wheel 58 in the direction towards the base unit 5 .

[0071] By way of example, the two drive wheels 57 , 58 surround a bearing sleeve 34 , which projects upward from a preferably plate-shaped base section 62 of the support carrier base body 17 . The base section 62 extends radially beyond the bearing sleeve 34 circumferentially.

[0072] Each drive wheel 57, 58 is advantageously rotatably supported on the support body 17 via a dedicated rolling bearing. For better differentiation, the rolling bearing present for supporting the first drive wheel 57 is designated as the second rolling bearing 63 and the rolling bearing present for supporting the second drive wheel 58 is designated as the third rolling bearing 64.

[0073] The second rolling bearing 63 and the third rolling bearing 64 suitably coaxially surround the associated drive wheels 57, 58 at their outer circumference, wherein the rolling bearings rest with their inner rings on the relevant drive wheels 57, 58 and are supported with their outer rings on the support carrier base 17, which is preferably constructed in multiple parts for simplified assembly of the second rolling bearing 63 and the third rolling bearing 64.

[0074] Preferably, the two drive wheels 57, 58 are stepped at their axially facing end sides, wherein the drive wheels are axially joined to each other at a distance. Each drive wheel can be rotated independently of the other drive wheel relative to the support carrier body 17.

[0075] The first drive wheel 57 has a first drive structure 65 on its radial outer periphery. The second drive wheel 58 has a second drive structure 66 on its radial outer periphery. The first drive structure 65 is located on a first circumferential line 65a coaxial with the main axis 7, and the second drive structure 66 is located on a second circumferential line 66a coaxial with the main axis 7. Each drive structure 65, 66 is preferably annular in shape and extends around the associated drive wheel 57, 58.

[0076] Preferably, the diameters of the two drive structures 65 , 66 are equal to each other.

[0077] The two drive structures 65, 66 are expediently designed as toothings, which is suitable for the described embodiment. Exemplarily, the two drive wheels are designed as gears with external toothings 69 forming the respective drive structures 65, 66. The toothings are in particular straight toothings.

[0078] Each drive wheel 57, 58 can be rotationally driven by the support drive 25. In this way, the first drive wheel 57 can be driven in a first drive rotational movement 67, indicated by a double arrow, and the second drive wheel 58 can be driven in a second drive rotational movement 68, also indicated by a double arrow. Each drive rotational movement 67, 68 can be driven selectively in a first rotational direction 72 or in a second, opposite rotational direction 73, that is, both in a clockwise direction and in a direction counter to the clockwise direction. In the illustrated embodiment, the first rotational directions of the two drive movements 67, 68 have the same orientation, and thus the corresponding opposite second rotational directions 73 also have the same orientation.

[0079] To obtain the required drive torque, the first drive gear 57 has a first internal toothing 74 coaxial with the main axis 7, and the second drive gear 58 is provided on its inner circumference with a second internal toothing 75 also coaxial with the main axis 7. The two drive gears 57, 58 are preferably designed as hollow gears for this purpose.

[0080] The two drive units 26, 27 extend from the bottom side 28 into the drive wheel assembly, wherein the first drive unit 26 is drivingly coupled to the first internal toothing 74 and the second drive unit 27 is drivingly coupled to the second internal toothing 75. For the driving coupling, each drive unit 26, 27 has, by way of example, an output pinion 76 that can be rotationally driven both in the clockwise direction and counterclockwise, which meshes with the associated internal toothing 74, 75.

[0081] When the drive unit 26 , 27 is actuated, its output pinion 76 is driven rotationally, resulting in a first or second driving rotational movement 67 , 68 due to the meshing engagement with one of the two internal teeth 74 , 75 .

[0082] In the illustrated embodiment, each drive unit 26 , 27 has an electric motor 77 with an output shaft 78 , on which a corresponding output pinion 76 is located.

[0083] To control the operation of the support drive 25, the support working device 1 expediently includes an electronic control unit 82, which is, for example, electrically connected to the two drive units 26, 27. The two drive units 26, 27 can be controlled by the electronic control unit 82 not only to drive the rotational movement 67, 68 but also to stop the rotational movement in a manner that cannot be rotated, so as to fix the associated drive wheels 57, 58 in a rotationally fixed manner relative to the support carrier body 17 for as long as desired. Each drive unit 26, 27 expediently has an encoder associated with it, which can detect the rotational position of the output pinion 76, so that each drive wheel 57, 58 can be rotated as desired and positioned precisely with respect to the rotational angle.

[0084] To generate the support pivoting movement 22, the two drive wheels 57, 58 cooperate via their drive structures 65, 66 with one of the two linear output structures 83, 84 of the support 4, which for better differentiation are also referred to as the first output structure 83 and the second output structure 84. This cooperation comprises, for example, a toothed engagement which is achieved by the two output structures 83, 84 being designed as rack-like toothings 89 which are in meshing engagement with the outer toothing 69 of the respectively associated drive wheels 57, 58, which acts as the drive structure 65, 66.

[0085] According to an embodiment not shown, the linear output structures 83, 84 can be formed integrally in the support base 37. However, in order to achieve high strength, it is advantageous if each of the two linear output structures 83, 84 is formed on one of the two racks 85, 86, which are fixed to the support base 37 by suitable fixing means.

[0086] Each toothed rack 85 , 86 can be constructed in one piece or in multiple pieces from a plurality of toothed rack segments arranged axially relative to one another.

[0087] In the case of a support base 37 designed as a hollow body (as is the case exemplarily), the two linear follower structures 83, 84 are preferably located together with the guide rail assembly 52 in the base interior 38. Each follower structure 83, 84 is arranged on one of the two inner surfaces 47, 48 of the side walls 45, 46.

[0088] The two linear output structures 83 , 84 extend parallel to the longitudinal axis 8 of the support.

[0089] The two linear driven structures 83, 84 extend tangentially through the drive structures 65, 66 cooperating therewith, wherein the first driven structure 83 is in a force-transmitting engagement with the first drive structure 65 in a first engagement region 87 and the second driven structure 84 is in a force-transmitting engagement with the second drive structure 66 in a second engagement region 88. Figure 5 As clearly explained, outer peripheral regions of the two drive wheels 57 , 58 diametrically opposite each other are assigned thereto.

[0090] However, the two output structures 83 , 84 are offset relative to one another in the axial direction of the main axis 7 , wherein the offset corresponds to the axial offset of the two drive structures 65 , 66 of the drive wheels 57 , 58 . Figure 3 Make this clearly seen.

[0091] Accordingly, the drive structures 65 and 66 of the two drive wheels 57 and 58 are located in adjacent planes along the axial direction of the main axis 7, and the same applies to the two driven structures 83 and 84. These planes extend parallel to the working plane 18. In other words, the two drive structures 65 and 66, on the one hand, and the two driven structures 83 and 84, on the other hand, are arranged offset relative to each other along the axial direction of the main axis 7.

[0092] Depending on the current direction of rotation of the drive wheels 57, 58, the first or second linear output structure 83, 84 engaged therewith is driven in a linear motion along the axis of the support longitudinal axis 8 (i.e., either in the first linear direction 23a or in the second linear direction 23b). Depending on the relationship in which the two drive wheels 57, 58 are rotated relative to one another, a pure linear support motion 23, a pure pivoting support motion 22, or a combined linear and pivoting motion resulting from the superposition of the linear support motion 23 and the pivoting support motion 22 results as the working motion 24.

[0093] exist Figures 7 to 9 1 and 2 illustrate different possible operating phases of the support working device 1 , from which some of the multiple possible embodiments of the working movement 24 of the support 4 emerge.

[0094] exist Figure 7 During the operating phase, the two drive wheels 57, 58 are driven simultaneously and at the same speed to perform drive rotational movements 67, 68 in the same direction along the second rotational direction 73, thereby obtaining the following working movement 24, which only includes a simple bracket swinging movement 22 along the first swinging direction 22a oriented along the first swinging direction 22a.

[0095] Figure 8The operating phase of FIG shows drive wheels 57 and 58 driven in opposite directions, wherein first drive wheel 57 performs a first drive rotational movement 67 in a second rotational direction 73 and second drive wheel 58 performs a second drive rotational movement 68 in a first rotational direction 72. The rotational speeds are equal. This results in a working movement 24 that consists solely of a linear movement 23 of the support in a first linear direction 23a.

[0096] exist Figure 9 In the operating phase, the first drive wheel 57 performs a first driving rotational movement 67 in the second rotational direction 73, while the second drive wheel 58 is fixed in a rotationally fixed manner, which is indicated by a stop symbol at 92. The drive arrangement causes a linear movement 23 of the support in a first linear direction 23a and simultaneously causes a pivoting movement 22 of the support in a first pivoting direction 22a, so that the working movement 24 is caused by the superposition of the two aforementioned movements.

[0097] In order to stop the support 4 in the desired operating position, the two drive wheels 57 , 58 are locked in a rotationally fixed manner by the support drive 25 .

[0098] Given the different rotational speeds of the two drive wheels 57 , 58 , different types of superpositions of the support pivoting movement 22 and the support linear movement 23 result as the working movement 24 .

[0099] An advantageous optional configuration of the support working device 1 allows the position of the working plane 18 to be varied, more precisely, in particular continuously, along the axial direction of the vertical axis. In this way, the working area for the end effector 15 mounted on the end effector fastening interface 12 can be spatially expanded.

[0100] By way of example, this configuration option is achieved by mounting the support carrier 3 on the base unit 5 in a linearly displaceable manner such that the support carrier can perform a linear stroke movement 93 relative to the base unit 5, as indicated by the double arrow, in the axial direction of the main axis 7. The stroke movement 93 is possible in both axial directions. In the exemplary operating state, the stroke movement 93 is oriented vertically.

[0101] The stroke movement 93 involves the entire working unit 2 . That is, during the stroke movement 93 , not only the holder 4 but also the holder carrier 3 is displaced and positioned as desired in the axial direction of the main axis 7 .

[0102] For precise stroke movement 93, support carrier 3 is supported on base unit 5 so that it can be displaced in the axial direction of main axis 7. This displaceable support is realized, for example, by means of a support tube 94 of support carrier 3, which is fixed to support carrier base body 17 and extends coaxially with main axis 7 downward.

[0103] The support tube 94 is immersed in the interior space 95 of a tubular support projection 96 which is open at the end and is an integral part of the base unit 5. By means of the anti-twist mechanism, the support tube 94 and thus the entire support carrier 3 are fixed in a rotationally fixed manner relative to the base unit 5 without restricting the stroke mobility.

[0104] A support carrier drive 97 belonging to the base unit 5 cooperates in a driving manner with the support tube 94 in order to generate the stroke movement 93. By way of example, the support carrier drive 97 is designed as a spindle drive and comprises a drive motor 98, by which a threaded spindle 99 extending coaxially with the spindle axis 7 in the direction of the support base 37 can be driven bidirectionally according to a double arrow 101. A spindle nut 100 is located on the outer thread of the threaded spindle and is connected to the support tube 94 in a rotationally fixed manner.

[0105] By rotating the threaded spindle 99 by means of the drive motor 98 , the spindle nut 100 including the support tube 94 fixed thereto can be moved in the axial direction of the spindle axis 7 , resulting in a stroke movement 93 of the working unit 2 .

[0106] The support carrier drive 97 is expediently electrically coupled to the electronic control unit 82 , which can thus control both the working movement 24 of the support 4 and the stroke movement 93 of the entire working unit 2 .

Claims

1. A stent working device comprising a stent carrier (3) having a main axis (7) and a stent (4) having at least one end-effector fixing interface (12) and extending along a stent longitudinal axis (8) orthogonal to the main axis (7), wherein: The entire support (4) can be swung in a working plane (18) orthogonal to the main axis (7) relative to a support carrier base (17) of the support carrier (3) around the main axis (7) as a swivel center while performing a support swivel movement (22), and is provided with a support drive mechanism (25) for generating a working movement (24) of the support (4) relative to the support carrier (3) in the working plane (18), It is characterized by: - the entire stent (4) is linearly movable in the working plane (18) relative to the stent carrier base (17) in the axial direction of the stent longitudinal axis (8) by performing a stent linear movement (23), - two drive wheels of the support carrier (3) are rotatably arranged on the support carrier base (17) so as to be twistable about the main axis (7) as the rotation axis, said two drive wheels being coaxial with the main axis (7), wherein a first drive wheel (57) of the two drive wheels has a first drive structure (65) on its outer periphery which is located on a first circumferential line (65a) coaxial with the main axis (7), and a second drive wheel (58) of the two drive wheels has a second drive structure (66) on its outer periphery which is located on a second circumferential line (66a) coaxial with the main axis (7), - the support (4) has two linear driven structures extending parallel to the longitudinal axis (8) of the support, wherein a first driven structure (83) of the two driven structures is in a force-transmitting engagement with the first drive structure (65) in a first engagement region (87) and wherein a second driven structure (84) of the two driven structures is in a force-transmitting engagement with the second drive structure (66) in a second engagement region (88), wherein the first engagement region (87) and the second engagement region (88) are assigned to diametrically opposed outer peripheral regions of the two drive wheels, - and the two drive wheels can be rotationally driven by the support drive mechanism (25) to perform drive rotational movements (67, 68) independently of each other along a first rotational direction (72) and a second rotational direction (73) opposite thereto and can be fixed in a rotationally fixed manner in any rotational position, thereby causing a working movement (24) of the support (4), which either only includes the support swinging movement (22) or only includes the support linear movement (23) or consists of the support swinging movement (22) and the simultaneously superimposed support linear movement (23).

2. The support working device according to claim 1, characterized in that: On the one hand, the first drive structure (65) of the first drive wheel (57) and the second drive structure (66) of the second drive wheel (58) and on the other hand, the linear first driven structure (83) of the bracket (4) engaged with the first drive structure (65) and the linear second driven structure (84) of the bracket (4) engaged with the second drive structure (66) are arranged offset relative to each other along the axial direction of the main axis (7).

3. The support working device according to claim 1 or 2, characterized in that: The two drive structures and the two linear driven structures are configured as meshing parts that engage with each other, wherein the first drive structure (65) and the first driven structure (83) engage with each other, and the second drive structure (66) and the second driven structure (84) engage with each other.

4. The support working device according to claim 3, characterized in that: The two linear driven structures of the support (4) are formed on the racks (85, 86) of the support (4).

5. The support working device according to claim 3, characterized in that: The two drive wheels of the support carrier (3) are configured as gears.

6. The support working device according to claim 1, characterized in that: The support drive (25) has two drive units that can be electrically and / or fluidically actuated independently of one another, wherein a first drive unit (26) of the two drive units is drive-coupled to the first drive wheel (57), and a second drive unit (27) of the two drive units is drive-coupled to the second drive wheel (58).

7. The support working device according to claim 6, characterized in that: The two drive wheels each have an inner toothing (74, 75) coaxial with the main axis (7) of the support carrier (3), and the corresponding associated drive unit is in meshing engagement with the inner toothing.

8. The support working device according to claim 6 or 7, characterized in that: The two drive units are arranged on the support carrier base (17).

9. The support working device according to claim 1, characterized in that: The support (4) is supported in a linearly displaceable manner perpendicular to the main axis (7) relative to the support carrier (3) by a linear guide (36) which also performs the support pivoting movement (22).

10. The support working device according to claim 9, characterized in that: The support carrier (3) has a supporting element (32) which is rotatably mounted on the support carrier base body (17) with the main axis (7) as the rotation axis in a manner that allows rotation independently of the two drive wheels.

11. The support working device according to claim 10, characterized in that: The support (4) has a guide rail assembly (52) of the linear guide mechanism (36), which is in linearly displaceable engagement with a guide structure (56) arranged on the support element (32) in the axial direction of the longitudinal axis (8) of the support.

12. The support working device according to claim 11, characterized in that: The guide rail assembly (52) has two guide rails (53, 54) extending parallel to the longitudinal axis (8) of the support and spaced apart from each other along the extension direction of the working plane (18), and the guide rails are respectively in linearly displaceable engagement with at least one guide shoe (56a, 56b) belonging to the guide structure (56) and fixedly arranged on the support element (32).

13. The support working device according to claim 11 or 12, characterized in that: The stent (4) has an elongated stent base body (37), on which at least one end-effector fastening interface (12) is arranged.

14. The support working device according to claim 13, characterized in that: The support base is a hollow body, and the two linear driven structures are arranged in the inner space (38) of the hollow body.

15. The support working device according to claim 13, characterized in that: The guide rail assembly (52) is fixed to the bracket base (37).

16. The support working device according to claim 1, characterized in that: The support (4) has two support end sections (43, 44) that are opposite to each other in the axial direction of the support longitudinal axis (8) and can be moved between two axial end positions, in which a respective one of the two support end sections (43, 44) is positioned in the area of ​​the support carrier (3).

17. The support working device according to claim 1, characterized in that: The support working device has a base unit (5), the support carrier (3) is supported on the base unit in a displaceable manner in order to perform a stroke movement (93) in the axial direction of the main axis (7), and the support working device has a support carrier drive mechanism (97), through which the support carrier (3) can be driven to perform the stroke movement (93) together with the support (4) and can be positioned in different stroke positions.

18. The support working device according to claim 1, characterized in that: The support working device has an electronic control unit (82), to which the support drive (25) is connected.

19. The support working device according to claim 13, characterized in that: The at least one end-effector fastening interface (12) is arranged on one of the two longitudinal sides (13, 14) of the support base (37) oriented in the axial direction of the main axis (7).

20. The support working device according to claim 14, characterized in that: The hollow body is designed in a hood-like manner with a slot-like opening (42), through which the support carrier (3) protrudes.

21. The support working device according to claim 16, characterized in that: At least one end-effector fastening interface (12) is arranged in the region of one of the two stent end sections (43, 44).

22. The support working device according to claim 17, characterized in that: The support working device has an electronic control unit (82), to which the support drive (25) and the support carrier drive (97) are connected.

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